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Tolerant Control
By
MS Thesis
In
Electrical Engineering
Lahore-Pakistan
Spring, 2016
COMSATS Institute of Information Technology
A Thesis Presented to
In partial fulfillment
of the requirement for the degree of
MS (Electrical Engineering)
By
Spring, 2016
Implementation of Wind Turbine System for Fault
Tolerant Control
Supervisor
By
Supervisor: ______________________________________________
Dr. Mirza Tariq Hamayun
Electrical Engineering / Lahore
HoD: ______________________________________________
Dr. Sobia Baig
HoD (Electrical Engineering/ Lahore)
Declaration
I Muhammad Zohaib Hassan Shah (FA13-MSEE-015) hereby declare that I have produced
the work presented in this thesis, during the scheduled period of study. I also declare that I
have not taken any material from any source except referred to wherever due that amount
of plagiarism is within acceptable range. If a violation of HEC rules on research has
occurred in this thesis, I shall be liable to punishable action under the plagiarism rules of
the HEC.
____________________________
Muhammad Zohaib Hassan Shah
FA13-MSEE-015
Certificate
It is certified that Muhammad Zohaib Hassan Shah (FA13-MSEE-015) has carried out all
the work related to this thesis under my supervision at the Department of Electrical
Engineering, COMSATS Institute of Information Technology, Lahore and the work fulfills
the requirement for award of MS degree.
Supervisor:
___________________________
Dr. Mirza Tariq Hamayun
Assistant Prof.
Head of Department:
_____________________________
Dr. Sobia Baig.
<<Dept. Of Electrical Engineering>>
DEDICATION
All the greatness and knowledge belongs to ALLAH Almighty, I am very thankful to my
creator to give me ability and strength to accomplish this research thesis.
Especially grateful to my supervisor, Dr. Mirza Tariq Hamayun., who has always been a
support and encouragement to me technically as well as morally.
Love to my family, specially my mother and father for their encouragement, love and
support.
Thanks to my friends, Junaid Anwar, Azhar Majeed and few others for helping me in few
issues related to this research work.
The key attribute of Fault Tolerant Control (FTC) system is to maintain the stability of
system in the presence of faults. In this thesis a fault tolerant control scheme is proposed
to evaluate the performance of wind turbine using nonlinear sliding mode control scheme
in the presence of faults in the actuators of wind turbine system. A nonlinear benchmark
model of a wind turbine is considered and a nonlinear controller is designed in the
simulation environment to improve the stability and reliability of the wind turbine system.
CHAPTER 1............................................................................................................ 0
INTRODUCTION .................................................................................................. 0
CHAPTER 2............................................................................................................ 5
CHAPTER 3.......................................................................................................... 15
CHAPTER 4.......................................................................................................... 26
CHAPTER 5.......................................................................................................... 41
CHAPTER 6.......................................................................................................... 64
CONCLUSION ..................................................................................................... 64
REFERENCE: ...................................................................................................... 66
LIST OF FIGURES
Introduction
0
In growing demand of energy production, wind turbines are the one of the most suitable
energy source. The demands for their reliability is very high, so their off time should be
minimum.
In case of Pakistan, where there is an acute energy short fall, wind turbines can play a very
important role in fulfilling the growing demand of electricity. Wind is a natural resource
and Pakistan is very suitable country for wind turbines as here the average wind speed for
the entire year is above 7 m/sec which is considered to be very suitable parameter for wind
turbine. An overview of Wind speed in different parts of Pakistan is given in Fig. 1. Few
wind turbines have already been installed and operational at different sites while work at
other projects is in progress. So wind speed is a blessing for this country which must be
exploited to meet current energy demand.
1
The wind energy is becoming a leading energy source. Power generation of megawatt sizes
wind turbine are available but are very expensive. So their shutdown time should be
minimum to produce power as much as possible. The wind turbines reliability must be high
to mitigate for higher installation cost. In this perspective research work has been carried
on wind turbine system. There are various research domains in wind turbine for instance
conventional as well as non-conventional techniques, Fault Tolerant Control (FTC) and
Fault Detection and Isolation (FDI) has been used to tackle wind turbines malfunctioning.
A benchmark model of wind turbine has been presented in [1]. This benchmark model has
been designed and used by a professional organization (K K Electronic from Denmark) for
their various research projects. In [1] PI controller has been used as the underlying
controller. Some more advanced models of wind turbine have been presented recently. In
[21] well-recognized FAST (aero elastic wind turbine simulator designed by NREL)
software based wind turbine model has been presented, and the faults were observed in
both sensors and actuators. Wind turbine model was implemented in FAST while faults of
sensor and actuator were implemented within the Simulink environment. A very simplified
wind turbine model is introduced in [22], where rotor speed has been adjusted through
pitch angle control of turbine using PID, PID controller was used to eliminate steady state
error and adjust overshoot of the system. To make it simple gear box model was eliminated.
In [23] a pitch angle control of blades has been presented to maintain the constant rpm and
power generation. In addition to that research report by NREL [25], a practical control
design of wind turbine has been discussed. The classical and modern control design
approaches have been compared. Modern control techniques like Disturbance
Accommodating Control (DAC). Simulation tools likes FAST, AeroDyn, ADAMS,
DUWECS (simulation tools) are discussed briefly in this research report.
Fault tolerant control system [18] is of high importance as it has tendency to mitigate the
effects of faults in wind turbine for the continuous operation. In [27], observer based fault-
tolerant control approach for sensors and actuators fault is implemented. The author of this
paper uses 5MW reference wind turbine [28] specifications for observer based fault
tolerant control.
2
1.1 Motivation:
In order to overcome the limitations of traditional feedback control, fault tolerant control
schemes are the best alternative during fault scenarios. In wind turbine the most often faults
are related to actuators [32].Therefore, wind turbine pitch actuators and sensors are often
the topic of the FDI (Fault Detection and Isolation) and FTC (Fault Tolerant Control)
research works. This research work is based on designing the fault tolerant control scheme
for wind turbine system and the possible faults in actuators of pitch system are considered
to see their effects on system performance. A nonlinear sliding mode control technique is
implemented to cope with actuator faults. The aim of this research is to minimize the effect
of actuator faults while keeping the power generation at max reference value of 4.8MW.
Benchmark model of wind turbine [1] is used for research purpose. Pitch actuators and
power generation results are compared with PI and LQR an end objective of this research
work.
This research thesis has been organized in a six different chapters as follows.
In chapter 2 its a system description of a wind turbine and modelling of its subsystem is
discussed, like wind, drive train, generator model, sensors and controller model.
In chapter 3 different possible faults in wind turbine system are mentioned which includes
actuator faults and sensor faults that could occur in drive train, pitch system or gear box of
wind turbine etc. The severity and sequence of occurrence of actuator faults has also been
discussed in this chapter.
In chapter 4 fault tolerant control approach for the pitch system has been presented. Control
modes and switching criterion between these control modes are discussed. Sliding mode
controller has been chosen for this research work. Design procedure for SMC has been
described and necessary condition for sliding mode is mentioned. Designed LQR is
implemented on the wind turbine model, later to that SMC is implemented on the very
same wind turbine model.
3
In chapter 5 the simulations results of SMC are compared with PI and LQR considering
the same scenario given in [1] in the fault free as well as the faulty environment. Finally at
the end concluding remarks are given and some future research works are suggested.
4
Chapter 2
5
In this chapter wind turbine components will be described in detail. This chapter is inspired
from benchmark model of wind turbine presented in [1].
The parts of wind turbine system can be seen in Fig 2 and are described in below
alphabetical order as inspired from [2].
6
Anemometer measures the wind speed. The wind turbine in this system operates between
3 to 25 m/s of wind speed.
Brakes are used to forcefully stop the wind turbine in times of very high wind speed.
Gearbox transfers the low torque from wind energy to high torque required by the
generator.
Generator produces the required power of 4.8MW by conversion of wind energy to the
electrical energy.
Hub and rotor blades makes the rotor of the wind turbine. And particularly in hub wind
turbine pitch system is installed to maximize the power generation during variation of wind
speed.
Nacelle is at the top the wind turbine tower and it comprises of low speed, high speed shaft,
gearbox, generator and brakes.
Tower holds the nacelle and the rotor. Tall tower will generate more power.
Wind vanes are installed in wind turbine system to measure the wind speed and wind
turbines are oriented accordingly to attain maximum power generation.
Wind turbines are complicated machines and a very simple PI control scheme is
implemented in benchmark model of wind turbine. [1]. In this research work conventional
PI control scheme is replaced with a well-recognized SMC control scheme.
The wind turbine mathematical models are described as follows.
7
The parameters given in Fig 3 has been defined in Table 1.
The wind model is constituted using four different wind speeds. At hub height, wind speed
is measured by anemometer and it is referred as Vhub(t). The wind speed at the blade tips,
are represented as Vw1(t), Vw2(t), and Vw3(t). respectively and these wind speeds can vary
by the tower shadow and wind shear effects, while Vhub (t) depends only the two terms in
Eq. (2.1).
8
2.2.1.1 Mean Wind (Vm):
The mean wind speed varies with height above mean sea level and the average time
interval; a standard reference elevation is 10 m and a standard time interval is 1 h
Mean wind speed has been calculated by a slowly altering wind sequence and it is acquired
by processing a set of measured wind data with low-pass filter. The implementation of
mean wind has been discussed in [3].
Where = cos( ()), is the position of three blades. and H are two aerodynamic
parameters.
1 () = ()
2
2 () = () +
3
4
3 () = () +
3
The wind model parameters are shown in Table 2.
H r0
0.12 81m 1.5m
9
the distance between the blade and the tower. The tower shadow effect of wind is
calculated as follows:
r(t)
m.
Vts,i (t) = ( + V) (2.3)
3.r2
Where
R2 r0 2
= 22
(R2 + r0 2 )sin(r, i(t))2 + k 2 )
(r0 2 R2 )(r0 2 sin(r, i(t))2 + k 2 )
2 2
V = 2 k
R2 sin(r, i(t))2 + k 2
( 1). r0 2
m= 1+
8. H 2
(i 1). 2
(i 1). 2 r (t) +
r, i(t) = r (t) + floor ( 3 ) . 2
3 2
In which Cq ( (t), (t)) is a plot which is influenced by the tip speed ratio (t) and pitch
angle (t). The Cq plot is given in Fig. 4.
10
Fig. 4: Plot of Cq, tip speed ratio and pitch angle
In order to model the wind turbine blades a very simple model is considered. The torque
acting on each blade is equal to the one third of the provided torque by three blades. This
can be expressed as:
R3 Cq ((t),(t))Vw,i (t)2
r (t) = 13 (2.5)
6
2
= 2 2 (2.6)
+2. .+
This pitch system model is connected to all three pitch actuators. In case of no fault, the
damping parameter of all the three pitch actuators is identical. However, in case of actuator
fault, their parameter will different from one another. The parameters and the specifications
of faulty system are discussed in detail in chapter 3 of this research thesis. The blade and
pitch system parameters are given in Table 3.
11
Table 3: Blade and Pitch system model parameters [1]
R wn
rad Kg
57.5m 0.6 11.11 1.225
s m3
1
(t) = r (t) (t)
Ng g
The values of drive train model are given in Table 4.
Bdt Br Bg Ng
Nms Nms Nms
775.49 7.11 45.6 95
rad rad rad
Kdt dt Jg Jr
Nms
2.7.109 0.97 390kg. m2 55.106 kg. m2
rad
The parameter abbreviations are given at the start of research work in introductory pages.
The power delivered by the generator can be calculated as follows in Eq. 2.10
12
Pg (t) = g . g (t)g (t) (2.10)
In above equations gc is the generator/converter model parameters while g is the
efficiency of generator. And their values are given in Table 5.
gc gc
rad
50 0.98
s
13
Table 6: Sensor model parameters [1]
mw w mwr wr mwg wg
m m rad m rad rad
1.5 0.5 0 0.025 0 0.05
s s s s s s
mg g mPg Pg m
0 Nm 90 Nm 0W 1.103 W 0o 0.2o
14
Chapter 3
15
The aim of this chapter is to recognize the actuator faults on the wind turbine and to define
their consequence on the overall system performance. In this research work only wind
turbine actuator faults are considered. The faults in different parts of wind turbine system
are sub grouped accordingly.
It can be seen from Fig. 5 that the faults in pitch actuators of three wind turbine blades
could be any of the form like hydraulic leakage/ pressure drop, high air content in hydraulic
oil, valve jammed, pump wear and pump blockage. These faults and their effects are further
discussed in this chapter.
16
3.2 Drive Train Faults:
In wind turbine system drive train assembly contains generator speed sensors and gear box.
The generator speed is measured through two generator speed sensors g 1 , g 2. The
fault in generator speed sensors will influence the pitch position measurements and
generator torque reference as their calculations are based on these generator speed
measurements. The origin of faults in low speed, high speed shaft and Gear box is of
mechanical in nature like bearing wear, misalignment or tooth wear respectively. These
faults will result in non-uniform rotation and low efficiency of wind turbine.
17
Unbalance Changed Changed Out of
Rotor
Rotation Efficiency Dynamics Control
Pitch Offset x
Fixed Pitch x
Pitch Not Pitched x
actuator
Full Pitched x
(1 2, 3,)
Random Pitched x
Slower Actuation x
Blade Lower Efficiency x
(1 2, 3, ) Changed aerodynamics x
Low Random
Pitch controller (1,2,3) Biased output High output
output output
Biased output x
Pitch
Fixed output x x
Sensor
Random output x
(1,2,3)
No Output x x
Random No
Pitch Sensor (1,2,3) Biased output Fixed output
output output
Internal Fault x x x x
18
3.4 Pitch Actuator Faults Assessment:
In this section, pitch actuator faults, their occurrence and severity will be assessed as
referred from [3]. Severities of these faults has been found through simulations with fault
incorporation on wind turbine model. In order to avoid the disruption of flow in research
work, only the results of these simulations are discussed.
Wind turbine pitch actuator faults have been classified on the basis of probability of their
occurrence and severity. Their consequences are scaled from 1-10. The criticality matrix
as defined by [7] tells priority level to handle any occurred fault in wind turbine as shown
in Fig. 7.
3.4.1 Occurrence:
Occurrence is the frequency of fault on a scale from 1 (unlikely) to 10 (inevitable).
Occurrence and its interpretation is mentioned in Table 7 which is based on [3], [8]. The
likelihood of occurrence ranking number has a meaning rather than a mere value.
19
Table 7: Occurrence evaluation criteria [3], [8]
3.4.2 Severity:
Severity is an assessment of the criticality of the end effect by the fault. And it apply to
the effects only. A possible severity ranking index scheme on a scale from 1 to 10 is shown
in Table 8 which is based on [3], [8]. In most of the literature the severity scheme has been
referred to automotive industry because FEMA was first incorporated by automotive
industry. But later engineers designed severity scheme for wind turbine faults as discussed
below.
20
Turbine/item operable, but at reduced level of performance.
High 7
Customer dissatisfied.
Turbine/item operable, but comfort/convenience item(s)
Moderate 6
inoperable. Customer experiences discomfort.
Turbine/item operable, but comfort/convenience item(s)
Low operable at reduced level of performance. Customer 5
experiences some dissatisfaction.
Fit and finish/squeak and rattle item does not conform.
Very low 4
Defect noticed by most customers.
Fit and finish/squeak and rattle item does not conform.
Minor 3
Defect noticed by average customer.
Fit and finish/squeak and rattle item does not conform.
Very minor 2
Defect noticed by discriminating customer.
None No effect. 1
21
3.4.4 Pitch Actuator Redundancy Analysis:
In the benchmark model of wind turbine system [1], there are no redundant pitch actuators
available. Therefore the fault tolerant control approach has become much more complex
and tedious task during non-availability of redundancy and in wind turbine system the most
common failure is in fact because of malfunctioning of actuators [32]. The various FDI and
FTC schemes were implemented on benchmark model of the wind turbine, the results of
these control schemes have been summarized in [31] where it states that sensors faults are
accommodated in better way than that of actuator faults. This might be due to the fact that
all the sensors are physically redundant, while the actuators have no redundancy.
If the actuator redundancy would be available in this model then different control schemes
like use of virtual actuators or control allocation could be used as described in [33] and
[13] respectively. In this thesis sliding mode controller has been implemented and it is
shown in results (chapter 5) that how SMC cope with the actuator faults.
22
wn 3 3
High Air Content in Oil F2 rad
5.73 0.45
s
23
Pitch Actuators Step Response
Normal-Fault Free
1.2
Hydraulic Leakage Fault
High Air Content in Oil Fault
1
0.6
0.4
0.2
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time (Sec)
Fig. 8: Step response for faulty and fault free pitch system
The time domain performances against Fig. 8 can be seen in Table 11.
Table 11: Time domain performance parameters
Fault Free Hydraulic Leakage High Air Content in
System Fault Oil Fault
Rise Time (sec) 0.1670 0.8431 0.2702
Settling Time (sec) 0.5350 1.3742 1.4564
Overshoot (%) 9.4773 0.1524 20.5193
Peak 1.0948 1.0015 1.2052
Peak Time (sec) 0.3523 2.1096 0.6072
24
in the pitch system with increase of its value for 30sec with uniform rate. Then for next 40
sec fault is present in this system with its full value and the fault value decreases with
uniform rate for next 30 sec. in this way the fault is active for total of 100sec. Time line of
both the faults is given in Fig. 9.
So far in this part of research work, faults, their effects and occurrence has been discussed.
In the next chapter controller design methodology will be discussed in detail to tackle these
faults, and results will be shown and analyzed in the last chapter of this research work.
25
Chapter 4
26
A benchmark model of 4.8MW wind turbine [1] is considered. In this research work
nonlinear sliding mode control scheme is designed and implemented. The results of SMC
has been compared with existing benchmark model of wind turbine which is implemented
through PI controller. In this chapter control strategy, requirements and implementation of
sliding mode controller in the presence of two actuator faults will be discussed in detail.
It is clear from the above Fig: 10 that wind energy generates power during very narrow
wind speed zones. In zone 1 power production is zero when wind energy will be less than
3 m/s and this point is called as cut in value of wind speed. Wind turbine will be shut down
below this value, since the operational cost surpasses the power generation cost. Zone 2 is
referred as partial load or power optimization region. The main control objectives in this
region is to obtain optimal value of power production. Zone 3 is a full load or constant
power production zone, the main control objective i.e. constant and maximum power
production, is obtained through pitching of wind turbine blades in the presence of pitch
27
controller. Similar to zone 1, zone 4 is also shut down region of wind turbine, when the
wind speed exceed the cut out point it is hazardous to operate the wind turbine, so wind
turbine is forcefully shutdown to protect it from structural overloads. Therefore zone 1 and
zone 4 are not of concern in this research work, while zone 2 and zone 3 will be described
further with respect to their control mode 1 and control mode 2 respectively.
28
Fig. 11: Cp plot with respect to pitch angle and tip speed ratio [6]
This optimal value is attained in mode 1 by adjusting the pitch angle reference to zero (r=
0) and the torque reference g,r is calculated as follows:
29
SMC is implemented in this research work because of its tremendous property of
robustness against matched uncertainties. Controller design, methodology and
implementation strategy is discussed in detail in chapter 5.
In Mode 1 the controller starts to operate. The control mode shifts from Mode 1 to 2 if
[] [] []
where is the nominal generator speed and Pg is measured power generation.
Pr Kopt
rad rad
162 15 4.8.106 Watt 1.2171
s s
Switching criterion for both the control modes and controller configuration can be seen in
the Fig. 10. Faults considered on both the actuators 2 and 3 can be seen in Fig 12. The fault
tolerant controller considered in this research work will be further discussed in next section.
30
Fig. 12: Structure of implemented controller
31
with actuator faults which can be effectively modeled as matched uncertainties [13].
However it experiences chattering phenomena.
Reaching Phase: In which system states reaches the sliding surface. The time in
reaching phase should be minimum as robustness against matched uncertainties is not
guaranteed in the reaching phase.
Sliding mode: In which the trajectories evolves according to the dynamics defined
by the sliding surface.
1. During a sliding mode the system behaves as reduced order system. [10], [11], [13].
2. The stability of the closed-loop sliding motion depends only on these n-m
nonnegative eigenvalues.
3. The stability and the performance of the closed loop sliding motion depends on the
choice of the sliding surface.
4. During sliding mode the sliding motion is insensitive to matched uncertainties.
In SMC system states are forced to reach the sliding surface at time ts and afterwards they
stay there as can be seen in the phase portrait of the Fig. 13.
32
Fig. 13: Sliding surface
A very important condition in the sliding mode is to verify the reachability condition,
which guarantees the existence of the sliding mode on the sliding surface. Once sliding is
achieved and maintained, robustness against matched uncertainties is guaranteed.
|| (4.1)
ref is provided by the pitch system sliding mode controller while m is the output of the
transfer function. The above transfer function is expressed in state space form as:
0 1 0
[ ] = [ ] [ ] + [ 2 ]
2n 2. wn n
m
Y=[1 0] [ ]
m
33
The values for and wn are given in Table 10 of chapter 3. Sliding mode control design
requires full state information. If the information of all the states is not available then
observer will be required to estimate remaining unavailable states.
So the first step is to check the observability and controllability of the plant specifically;
the pair (A, B) is controllable and pair (A, C) is observable.
From the matrix it is clear that only the pitch angle is available at the output while the other
state i.e. angular velocity will be observed with the help of suitable observer.
34
LQR Controller LQR has also been chosen in this research work for comparison purpose.
The prerequisite of LQR is that the system pair (A, B) should be controllable.
Controllability of second order function has already been checked in previous section i.e.
both the states of system are controllable as well as observable. The generic control
diagram for LQR controller is shown in Fig. 14.
The next step in LQR controller design is to design the state feedback control matrix K
through Matlab command lqr which requires the parameters of two matrices Rlqr and
Qlqr that maintains the control effort (u) and error (e) respectively. Rlqr is a control effort
while Qlqr is tuning parameter to minimize the error. In the case of second order pitch
control system following parameters have been chosen for designing LQR.
Rlqr = [1]
35
1
2
0
Qlqr = [90 ]
1
0
92
The Matlab built in LQR command has been used which gives:
1.5
1
Error Value
0.5
-0.5
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
Time (Sec)
36
The error between the estimated and measured state decays to zero in less than 0.1 sec
when step input is applied to the system.
37
Whereas the time ts is referred during reaching phase i.e. the time that the state trajectories
take to reach the sliding surface.
Second step in the design procedure is to design a control law which has normally two
parts linear and nonlinear as given:
The nonlinear part of the control input is of discontinuous in nature forcing the sliding
motion on the sliding surface S, and the linear part which is normally the nominal
equivalent control and is responsible to maintain sliding motion on sliding surface. Linear
part of control input is given as:
The control law (4.7) including linear and nonlinear parts is given as:
Where sgn (.) is the signum function and has the property that sgn () = || and is a
modulation gain for sliding mode controller.
The state space model of the pitch system is:
0 1 0
[ ] = [ ][ ] + [ ] (4.10)
123.4321 13.3320 123.4321
m
Y=[1 0] [ ] (4.11)
m
After a state transformation and using the Matlab command Canon, the above system
can also be written as:
13.3320 1 0
[ ] = [ ] [ ] + [ ] (4.12)
123.4321 0 1
38
m
Y=[123.4321 0] [ ] (4.13)
m
In (4.6) G= [G1 G2] it is recommended to make the value of GB=1; so G2 has chosen to
be 1 while G1 is a tuning parameter and the best result of SMC has find out to be at:
G1 =6
And it make G matrix as:
. G = [6 1]
Using the fact that GB=1 and inv (GB) =1, the control input equation (4.9) shall be
simplified as:
The control law given in the Eq. (4.15) is implemented in Matlab for all three pitch system
of wind turbine.
In the sliding mode controller the best response for the pitch system is at = 0.001
In the final design procedure the designed controller u(t) must satisfy the reachability
condition which is a sufficient condition to ensure that the system state trajectories will
converge towards the sliding surface. Specifically the reachability condition is defined as:
< 0 or ||
where is positive scalar number. The simulations results of implemented LQR controller
and Sliding mode controller shall be discussed in next chapter.
To ensure that control law (4.9) satisfy the reachability condition, the sliding dynamics are
written as:
= Gx (t)
39
= G[Ax + Bu]
= GAx(t) + GBu(t)
Substitute the value of control law from 4.4.3 in to above equations, where GB=1
= GAx(t) (GA)x(t) (t, x)sgn()
= (t, x)sgn()
= (t, x) sgn () (4.16)
we know that: sgn () = ||
The Eq. (4.16) becomes:
= (t, x) || (4.17)
Hence the Eq. (4.17) satisfy the reachability condition and guarantees that sliding motion
will happen.
40
Chapter 5
41
The model of wind turbine system as described in [1] is implemented through PI controller
in the literature. In this research work the same benchmark model of wind turbine has been
implemented for LQR and SMC controllers for comparison purpose. The two fault
scenarios in actuators are considered i.e. hydraulic pressure drop / leakage and fault of high
air content in hydraulic oil. Though system is not recommended to run for long time during
hydraulic leakage but in this research work 50% of persistent hydraulic pressure drop has
been incorporated for 100sec, and fault of high air content in oil is abrupt which has been
incorporated for another 100sec Controllers response will be analyzed in the presence of
these actuator faults. In this chapter simulations of few important design parameters will
also be presented.
42
Wind Speed Sequence
30
25
15
10
0
0 500 1000 1500 2000 2500 3000 3500 4000 4500
Time (Sec)
160
Measured Generator Speed (rad/s)
140
120
100
80
60
40
0 500 1000 1500 2000 2500 3000 3500 4000 4500
Time (Sec)
43
Measured Generator Speed - LQR Control Scheme
180
140
120
100
80
60
40
0 500 1000 1500 2000 2500 3000 3500 4000 4500
Time (Sec)
180
Measured Generator Speed (rad/s)
160
140
120
100
80
60
40
0 500 1000 1500 2000 2500 3000 3500 4000 4500
Time (Sec)
44
5.2.1 Step Response of Pitch Actuators:
In this subsection step response of three implemented controllers on pitch system is
discussed. The structure of implemented controllers is given in Fig 12. In fact there are
three wind turbine blades having their individual pitch actuators and each actuator is
controlled through its own pitch controller. In this scheme two actuators of wind turbine
blades have been assumed to be faulty, infected with hydraulic leakage and high air content
fault at different time spans. The step responses of three actuators in the presence of
considered three different as mentioned are given in Fig 18a, b, c.
Step Response of Pitch Actuator 1 - Fault Free
1.2
1
Pitch Actuator Angle (Deg)
0.8
LQR Control Scheme
PI Control Scheme
0.6 SMC Control Scheme
Step Input
0.4
0.2
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time (Sec)
The Fig. 18a shows the step response of a healthy system where it can be seen that original
system which has been implemented with PI controller in [1] is much oscillatory with large
steady state error, whereas in LQR and SMC, the response is not oscillatory and steady
state error is equal to zero. The response of LQR and SMC is nearly similar in case of
healthy system.
45
Step Response of Pitch Actuator 2 - Hydraulic Leakage Fault
1.4
1.2
0.8
LQR Control Scheme
PI Control Scheme
0.6 SMC Control Scheme
Step Input
0.4
0.2
0
0 0.5 1 1.5 2 2.5 3
Time (Sec)
In Fig. 18b step response of faulty pitch actuator 2 has been taken which is infected with
hydraulic leakage fault. It can be seen that after implementing LQR and SMC the response
has been improved with very less steady state error as compared to PI controller. While
comparing between LQR and SMC, the response using SMC is bit faster as compared to
that of LQR, It reaches the desired output much faster.
Step Response of Pitch Actuator 3 - High Air Content Fault
1.2
1
Pitch Actuator Angle (Deg)
0.8
LQR Control Scheme
PI Control Scheme
0.6 SMC Control Scheme
Step Input
0.4
0.2
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time (Sec)
Fig. 18c: Step response of faulty (high air content in oil) pitch actuator 3
In Fig. 18c step response of faulty pitch actuator 3 is shown in the presence of high air
content in oil in pitch actuator 3. The simulation results using LQR and SMC are much
better than that of PI controller. Response of PI controller is very oscillator with a large
46
steady state error, whereas LQR and SMC compensate oscillations and close to zero steady
state error is achieved. If a comparison is to be established between LQR and SMC, SMC
is faster than LQR. Using SMC the steady state value reaches faster than its counterpart
with the very same peak.
Kp Ki
4 1
The simulation results of pitch actuator can be seen from Fig 19a, b, c, d, e. The plot a
shows the reference value of pitch angle, when pitch reference is set to zero then it means
system is operating in control mode 1, whereas when the system is pitching then the
reference value of pitch system will be other than zero and 4.8MW power generation will
be achieved. The plot b, c and d of Fig. 19 show the response of three pitch actuators
1, 2 and 3 respectively against reference input. It can be seen that PI is not following the
reference values rather there is large over shoot and steady state error. While plot e shows
the power generation output of the system during the time span of 2700 to 3500 sec. it is
known from Fig. 9. that fault of hydraulic leakage is present in pitch actuator 2 from 2900
to 3000sec. whereas the fault of high air content in oil is present in the pitch actuator 3
47
from 3400 to 3500 sec. the considered time span of 2700 to 3500 sec cover the both fault
scenarios.
Pitch Actuators Reference-PI Control Scheme
14
12
Pitch Actuator Angle Reference (Deg)
10
-2
-4
2700 2800 2900 3000 3100 3200 3300 3400 3500
Time (Sec)
(a)
12
10
Pitch Actuator Angle (Deg)
-2
-4
2700 2800 2900 3000 3100 3200 3300 3400 3500
Time (Sec)
(b)
48
Pitch Actuator 2-Hydraulic Leakage Fault-PI Control Scheme
14
Hydraulic Leakage
Fault
12
10
-2
-4
2700 2800 2900 3000 3100 3200 3300 3400 3500
Time (Sec)
(c)
Pitch Actuator 3-High Air Content Fault-PI Control Scheme
14
High Air Content
Fault
12
10
Pitch Actuator Angle (Deg)
-2
-4
2700 2800 2900 3000 3100 3200 3300 3400 3500
Time (Sec)
(d)
6
x 10 Generated Power - PI Control Scheme
5
4.5
Generated Power (Watt)
3.5
3
Hydraulic Leakage High Air Content
Fault Fault
2.5
2700 2800 2900 3000 3100 3200 3300 3400 3500
Time (Sec)
(e)
Fig. 19: Deflections of pitch actuators and generated power using PI Control scheme
49
In Fig. 19 the faults are present in the pitch actuator 2 and 3. The response of the faulty
actuators is different than that of healthy pitch actuator in the same time span whereas all
the three pitch actuators are also not following the reference input and there is a large steady
state error. Plot (e) show the results of power generation in the presence of PI control
scheme, where red highlighted circles shows the large oscillation in the power generation
response and these large oscillations are very dominant in faulty time zone i.e. 2900 to
3000sec and 3400 to 3500 sec.
12
Pitch Actuator Angle Reference (Deg)
10
-2
-4
2700 2800 2900 3000 3100 3200 3300 3400 3500
Time (Sec)
(a)
50
Pitch Actuator 1-Fault Free-LQR Control Scheme
14
12
10
-2
-4
2700 2800 2900 3000 3100 3200 3300 3400 3500
Time (Sec)
(b)
Pitch Actuator 2-Hydraulic Leakage Fault-LQR Control Scheme
14
12 Hydraulic Leakage
Fault
10
Pitch Actuator Angle (Deg)
-2
-4
2700 2800 2900 3000 3100 3200 3300 3400 3500
Time (Sec)
(c)
Pitch Actuator 3-High Air Content Fault-LQR Control Scheme
14
High Air Content
Fault
12
10
Pitch Actuator Angle (Deg)
-2
-4
2700 2800 2900 3000 3100 3200 3300 3400 3500
Time (Sec)
(d)
51
6
x 10 Generated Power - LQR Control Scheme
5
4.5
3.5
2
2700 2800 2900 3000 3100 3200 3300 3400 3500
Time (Sec)
(e)
Fig. 20: Deflections of pitch actuators and generated power using LQR Control scheme
The Fig. 20 shows that during LQR controller, reference signal is tracked in contrary to
that of PI controller but there are very large oscillations during time span 2800 to 2870sec
as the pitch actuators reference has not been properly calculated and the control modes are
continuously switching, therefore a very large oscillations are felt. The plot e shows the
power generation during a time span of 2700 to 3500 sec when the faults are present in the
system. The power generation in LQR control scheme is satisfactorily better in comparison
to that of PI control scheme except during a very high oscillating time as highlighted.
52
Pitch Actuators Reference-SMC Control Scheme
14
12
-2
-4
2700 2800 2900 3000 3100 3200 3300 3400 3500
Time (Sec)
(a)
12
10
Pitch Actuator Angle (Deg)
-2
-4
2700 2800 2900 3000 3100 3200 3300 3400 3500
Time (Sec)
(b)
12 Hydraulic Leakage
Fault
10
Pitch Actuator Angle (Deg)
-2
-4
2700 2800 2900 3000 3100 3200 3300 3400 3500
Time (Sec)
(c)
53
Pitch Actuator 3-High Air Content Fault-SMC Control Scheme
14
10
-2
-4
2700 2800 2900 3000 3100 3200 3300 3400 3500
Time (Sec)
(d)
6
x 10 Generated Power - SMC Control Scheme
5
4.5
Generated Power (Watt)
3.5
2.5
Hydraulic Leakage High Air Content
Fault Fault
2
2700 2800 2900 3000 3100 3200 3300 3400 3500
Time (Sec)
(e)
Fig. 21: Deflections of pitch actuators and generated power using SMC control scheme
It can be seen that results during SMC are nearly identical to that of LQR controller during
the fault incorporation times while there are very large oscillations in LQR control scheme
during 2800 to 2870 sec and these oscillations have degraded the performance of LQR. In
SMC there are no such oscillations present in the whole actuator responses as well as of
power generation results. The simulation results in SMC are comparable much better to
LQR and PI control scheme with a very almost zero steady errors and overshoots.
54
5.3 Power Generation Results:
In this section power generation results with respect to three different control strategies
will be presented. In case of wind turbine the most important aspect is power generation.
Therefore the efficiency of controller can be judged by the power generation in wind
turbine systems
4.5
4
Generated Power (Watt)
3.5
2.5
1.5
0.5
0
0 500 1000 1500 2000 2500 3000 3500 4000 4500
Time (Sec)
x 10
6 Generated Power - PI Control Scheme
5
4.95
4.9
Generated Power (Watt)
4.85
4.8
4.75
4.7
4.65
4.6
4.55
4.5
2500 3000 3500 4000 4500
Time (Sec)
55
The Fig. 22 shows the power generation of wind turbine during PI control scheme. It can
be seen that the generated power has very large oscillations few due to wind speed
disturbances and others due to the low performance of control strategy.
x 10
6 Generated Power - LQR Control Scheme
5
4.5
4
Generated Power (Watt)
3.5
2.5
1.5
0.5
0
0 500 1000 1500 2000 2500 3000 3500 4000 4500
Time (Sec)
x 10
6 Generated Power - LQR Control Scheme
5
4.95
4.9
Generated Power (Watt)
4.85
4.8
4.75
4.7
4.65
4.6
4.55
4.5
2500 3000 3500 4000 4500
Time (Sec)
Fig. 23 shows the power generation using LQR control scheme where it can be seen that
the results of LQR controller are stable than PI control scheme except high oscillations for
56
few secs from 2800 sec to 2870 sec but over all its result are much better than PI controller
as the power generation is very constant in LQR control scheme.
x 10
6 Generated Power - SMC Control Scheme
5
4.5
4
Generated Power (Watt)
3.5
2.5
1.5
0.5
0
0 500 1000 1500 2000 2500 3000 3500 4000 4500
Time (Sec)
x 10
6 Generated Power - SMC Control Scheme
5
4.95
4.9
Generated Power (Watt)
4.85
4.8
4.75
4.7
4.65
4.6
4.55
4.5
2500 3000 3500 4000 4500
Time (Sec)
57
It can be seen that SMC results on power generation are far superior to PI and LQR control
schemes in the presence of actuators faults due to its robustness feature. In addition to fault
tolerance property of SMC power generation of 4.8 MW is very stable in comparison to
other control scheme.
58
Pitch Actuator 1-Fault Free-PI Control Scheme
14
12
10
-2
-4
2700 2800 2900 3000 3100 3200 3300 3400 3500
Time (Sec)
12
10
Pitch Actuator Angle (Deg)
-2
-4
2700 2800 2900 3000 3100 3200 3300 3400 3500
Time (Sec)
12
10
Pitch Actuator Angle (Deg)
-2
-4
2700 2800 2900 3000 3100 3200 3300 3400 3500
Time (Sec)
59
Pitch Actuator 2-Hydraulic Leakage Fault-PI Control Scheme
14
12
10
-2
-4
2900 2910 2920 2930 2940 2950 2960 2970 2980 2990 3000
Time (Sec)
12
10
Pitch Actutaor Angle (Deg)
-2
-4
2900 2910 2920 2930 2940 2950 2960 2970 2980 2990 3000
Time (Sec)
12
10
Pitch Actuator Angle (Deg)
-2
-4
2900 2910 2920 2930 2940 2950 2960 2970 2980 2990 3000
Time (Sec)
60
In case of pitch actuator 2 which is faulty during the time span of 2900 to 3000sec. The
hydraulic leakage fault is present in pitch actuator 2. The comparison results of pitch
actuator can be seen in Fig. 25b, where it is clear that results of pitch actuator 2 during PI
controller is different than LQR and SMC. PI controller is not following its reference input
as according to Fig. 19, so PI response is having large steady state error whereas the
simulation results of LQR and SMC are nearly similar over time span of 2900 to 3000 sec
when fault is present in the system. Their results are slightly different during starting time
of 2900 sec as highlighted. From Fig. 21 it was concluded that SMC is tracking its reference
value very efficiently.
In pitch actuator 3, high air content fault of 15% was introduced during the time span of
3400 to 3500 sec. In Fig 25c comparison of three adopted control schemes has been
presented over pitch actuator 3 results. A very slight difference in response of two
controllers can be detected. But overall response of SMC is much better with respect to PI
controller in view of performance.
12
10
Pitch Actuator Angle (Deg)
-2
-4
3400 3410 3420 3430 3440 3450 3460 3470 3480 3490 3500
Time (Sec)
61
Pitch Actuator 3-High Air Content Fault-LQR Control Scheme
14
12
10
-2
-4
3400 3410 3420 3430 3440 3450 3460 3470 3480 3490 3500
Time (Sec)
12
10
Pitch Actuator Angle (Deg)
-2
-4
3400 3410 3420 3430 3440 3450 3460 3470 3480 3490 3500
Time (Sec)
62
6
x 10 Generated Power - PI Control Scheme
5
4.95
4.9
4.8
4.75
4.7
4.65
4.6
4.55
4.5
2500 3000 3500 4000 4500
Time (Sec)
6
x 10 Generated Power - LQR Control Scheme
5
4.95
4.9
Generated Power (Watt)
4.85
4.8
4.75
4.7
4.65
4.6
4.55
4.5
2500 3000 3500 4000 4500
Time (Sec)
6
x 10 Generated Power - SMC Control Scheme
5
4.95
4.9
Generated Power (Watt)
4.85
4.8
4.75
4.7
4.65
4.6
4.55
4.5
2500 3000 3500 4000 4500
Time (Sec)
Fig. 26: Generated power in PI, LQR, and SMC control scheme
63
Chapter 6
Conclusion
64
6.1 Conclusion:
It is concluded that SMC is far more robust than PI and LQR control schemes and showed
very promising results with respect to power generation. Power generation performance
has been enhanced in SMC because of its consistency and also control mode shifting is
very less. After SMC, LQR results are satisfactory in comparison to PI control scheme.
65
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