Master Thesis Work

Science and

Control of a wind turbine equipped with a variable rotor resistance

Hctor Lpez Carballido

CHALMERS UNIVERSITY OF TECHNOLOGY UNIVERSITY OF GOTHENBURG May 2009

CONTROL OF A WIND TURBINE EQUIPPED WITH A VARIABLE ROTOR RESISTANCE

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Contents
What? Why? Work done Results Conclusions

CONTROL OF A WIND TURBINE EQUIPPED WITH A VARIABLE ROTOR RESISTANCE

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Variable rotor resistance

Torque (Tm)

What happens when we increase the rotor resistance?

7000 6500 6000 5500 2.5

Gear box

3.5

4.5

IM
Power electronics

Grid

Time(s)
Current (A)
1400 1300 1200 1100 2.5

External rotor resistances

3.5

4.5

Time(s) R. speed (rad/s)

320 318 316 314 2.5

- Nominal rotor resistance - Rotor resistance fixed to 2 times the nominal value - Rotor resistance fixed to 3 times the nominal value

3.5

4.5

Time(s)

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Example of the response of the induction machine due to a step in the rotor resistance
Torque (Tm)
6500 6000 5500 5000

2.5

3.5

4.5

5.5

Time(s)
1250

Current (A)

1200 1150 1100 1050 2 2.5 3 3.5 4 4.5 5 5.5 6

R. speed (rad/s)

Time(s)
315.8 315.7 315.6 315.5 315.4 2 2.5 3 3.5 4 4.5 5 5.5 6

Time(s)

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Model and reduced order model

1230 1220 1210

10 5 0

1200

Current (A)

Current (A)
2 2.5 3 3.5 4 4.5 5

1190 1180 1170 1160

-5 -10 -15 -20

1150 1140 1130 1.5

-25 -30

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

Time(s)

Time (s)

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Block diagram of the controller

Current (A)
1600 1550 1500 80 90 100 110 120 130 140

isqref
Controller

RR

Time(s)
Induction Machine

isq

High-pass Filter

Current (A)

0.5

-0.5 80

90

100

110

120

130

140

Time(s)

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1250 1200 1150 1100 10 100

Cut-off frequency?
- Cut-off frequency 0.1 Hz - Cut-off frequency 0.5 Hz - Cut-off frequency 1 Hz

Current (A)

High-pass filter

11

12

13

14

15

16

17

18

19

20

Time(s) Current(A)
0 -100 -200 10

11

12

13

14

15

16

17

18

19

20

Time(s)
40

Current(A)

20 0 -20 -40 10

- Cut-off frequency 1 Hz - Cut-off frequency 3 Hz - Cut-off frequency 5 Hz

11

12

13

14

15

16

17

18

19

20

Time(s)
4

Current(A)

- Cut-off frequency 10 Hz - Cut-off frequency 20 Hz - Cut-off frequency 30 Hz

2 0 -2 -4 10 11 12 13 14 15 16 17 18 19 20

Time(s)

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Double integrator
7000 6800 6600 6400

Tg,Ts (Nm)

6200 6000 5800 5600 5400 5200 5000 1 2 3 4

- Shaft torque - Generated torque

5 6 7 8 9 10
x 10
-3

Time(s)
1300 1280 1260 1240

- Controlled system - Uncontrolled system

Rr(Omh)
1 2 3 4 5 6 7 8 9 10

3.2 3.1 3 2.9 2.8 2.7 2.6 2.5 2.4 2.3 2.2

Current (A)

1220 1200 1180 1160 1140 1120 1100

Time(s)

10

Time(s)

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Double integrator (Real shaft torque curves)

Torque(Nm)
8000 7500 7000 20

Torque(Nm)

8500

8000

- Shaft torque - Generated torque

7500

- Shaft torque - Generated torque

22 24 26 28 30 32 34 36 38 40

7000 120

122

124

126

128

130

132

134

136

138

140

Time(s)
Current (A)

Time(s)

Current (A)

1700 1600 1500 1400 20

1600 1500 1400 1300 120

- Controlled system - Uncontrolled system

- Controlled system - Uncontrolled system

22 24 26 28 30 32 34 36 38 40

122

124

126

128

130

132

134

136

138

140

Time(s)

Time(s) Rotor R. (Ohm)

4 x 10
-3

Rotor R. (Ohm)

4 3.5 3

x 10

-3

3.5

2.5 20

22

24

26

28

30

32

34

36

38

40

Time(s)

3 120

122

124

126

128

130

132

134

136

138

140

Time(s)

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Power quality improvement (flicker emission reduction)

1st gap Withvariable rotorresistance controller Without controller Fixedrotor resistanceto3.6 m Fixedrotor resistanceto5.4 m 2nd gap 3rd gap 4th gap 5th gap Average

0,48 0,895

0,4 0,575

0,41 0,585

0,335 0,52

0,395 0,59

0,404 0,633

0,69

0,475

0,495

0,415

0,5

0,515

0,61

0,44

0,46

0,385

0,46

0,471

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Mechanical stresses reduction

Lower mechanical stresses means longer lifetime for the turbine Reduction in the magnitude of the high- frequency components of the electromechanical torque These components where moved to the low frequencies where does not affect so much to the mechanical stresses
10
2

Torque (Nm)

10

10

- Controlled system - Uncontrolled system

10
-1

10

-2

10

-1

10

10

Frequency (Hz)

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Energy losses in the induction machine

The higher the average of the variable rotor resistance the higher the losses in the induction machine
10000

9000

Copper losses (W)

8000

7000

6000

5000

4000

3000 20

40

60

80

100

120

140

160

180

Time(s)
- Variable rotor resistance - Nominal rotor resistance - Rotor resistance fixed to 2 times the nominal value

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Cut-off frequency and proportional gain

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Cut-off frequency vs flicker reduction

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Flicker reduction with regard to the uncontrolled system

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Final specifications
Cut-off frequency = 20 Hz Kp = 0.3 Rr0 = 1.8e-3 m

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Conclusions
Flicker reduction between 35%-60% Flicker reduction strongly related with the turbulence intensity of the shaft torque Reduction of the mechanical stresses

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ANY QUESTION?