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Design and Control of the Pitch of Wind Turbine through PID
Article in International Journal of Engineering and Technology · September 2017
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International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 04 Issue: 09 | Sep -2017 www.irjet.net p-ISSN: 2395-0072
Design and Control of the Pitch of Wind Turbine through PID
Silpa Baburajan1, Dr. Abdulla Ismail2
1Graduate Student, Dept. of Electrical Engineering, Rochester Institute of Technology, Dubai, UAE
2Professor, Dept. of Electrical Engineering, Rochester Institute of Technology, Dubai, UAE
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Abstract - Recently, the renewable energy, especially wind aerodynamics and other loads across the blades. The
energy, has been paid much attention due to the energy aerodynamics and other loads contribute to fatigue failure
shortage and environmental concern. As the penetration of which results in decrease in the lifespan and efficiency of
the wind energy into the electrical power grid is extensively the wind turbine [5]. With the help of good pitch angle
increased, the influence of the wind turbine systems on the controllers, the lift profile of the rotor blades can have
frequency and voltage stability becomes more and more altered which results in reduction of the aerodynamics
significant [1]– [4]. Wind turbine rotor bears different types and other loads across the blades. This mechanism uses
of loads; aerodynamic loads, gravitational loads and the fact that much of the fatigue causing loads are partly
centrifugal loads. These loads cause fatigue and vibration in deterministic, periodic and vary slowly over a fixed time
blades, which cause degradation to the rotor blades. These [7]. Therefore, in this thesis the main goal is to design an
loads can be overcome and the amount of collected power optimum controller to control the pitch angle of the wind
can be controlled using a good pitch controller (PC) which turbine system so that the loads on the blades are reduced.
will tune the attack angle of a wind turbine rotor blade into Reduction in the loads on the blades will ultimately help to
or out of the wind. Each blade is exposed to different loads improve the performance, efficiency and power output
due to the variation of the wind speed across the rotor daily of the wind turbine.
blades. For this reason, individual electric drives can be used
in future to control the pitch of the blades in a process called 3. Control Techniques of Wind Turbine System:
Individual Pitch Control. In this thesis work, a mathematical
model of wind turbine (pitch control system) is developed It The wind energy captured by the turbine can be
and is controlled using a PID controller. The simulation increased by the following two control strategies: pitch
results show that the Adaptive PID controller has the control and stall control. The initial step in both strategies
optimum response as it controls the pitch system as well as is to check the turbine’s power output several times per
the disturbances and uncertain factors associated with the second using an electronic controller. In case the output
system. power is too high, a signal is send to the blade pitch
mechanism because of which the rotor blades turn slightly
Key Words: Energy, Wind-Power, Pitch Angle, PID out of the wind, adapting the attack angle. Once the wind
Controller. drops, these blades are turned back into the wind.
Turbines with this type of control mechanism is known as
1. INTRODUCTION pitch controlled wind turbines.
Energy crisis is the one of the biggest problems faced by In the stall control technique, the rotor blades are fixed
people in the twenty-first century. The increase in the onto the hub at a fixed angle. But the geometry of the rotor
demand for electric energy along with the availability of blade is aerodynamically designed in such a way that it
limited fossil fuels have together contributed to the need ensures that from the moment the wind speed becomes
for shifting from the human dependency on conventional too high, it is caused turbulence on the side of the rotor
resources for energy to the renewable energy resources. blade which is not facing the wind, creating a stall which
There are three important renewable energy resources prevents the lifting force of the rotor blade from acting on
available to us: solar, gravitational and geothermal energy. the rotor [1]. In the modern turbines, the pitch control
Wind energy is one of the indirect consequence from the technique is used because it helps in controlling the output
incident solar energy, promoting air circulation between power simultaneously operating at variable speed to
hot and cold zones [1]. The kinetic energy present in the control tip speed ratio and so the power extraction for
wind can be converted to mechanical energy by using a different wind speeds [8].
wind turbine and further into electrical energy by using
wind turbine generator. 4. Model of the Wind Turbine System
2. MOTIVATION The block diagram of a typical wind turbine system
model is shown in the figure below [6]. In the following
To increase the power capacity of the wind turbine, larger sections, the pitch actuator model and the drive terrain
rotors are being built which causes an increase in model are explained.
© 2017, IRJET | Impact Factor value: 5.181 | ISO 9001:2008 Certified Journal | Page 657
International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 04 Issue: 09 | Sep -2017 www.irjet.net p-ISSN: 2395-0072
Table 1: Parameters of Wind Turbine
Figure 1: Wind Turbine System Feedback Control
System Model
5. Pitch Actuator Model
The pitch actuator is used to turn blades along their
longitudinal axis. The actuator model describes a dynamic
behavior between a pitch demand, from the pitch
controller and measurement of pitch angle [6]
6. Drive Terrain Model
The change in pitch angle is given by
This is the required Transfer Function. The value of
time constant of pitch actuator, T p can be calculated from
initial parameters of Wind Turbine [6] shown in Table I.
Figure 2: Mechanical model of drive train
The parameters taken while modelling the drive train are
shown in Table 2.
© 2017, IRJET | Impact Factor value: 5.181 | ISO 9001:2008 Certified Journal | Page 658
International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 04 Issue: 09 | Sep -2017 www.irjet.net p-ISSN: 2395-0072
Table 2: Mechanical Model Parameters of Drive Train
Figure 3: Simulink diagram of PID Controller
Implementation
The dynamics of drive-train are described by following
differential equations
Figure 4: PID Controller Parameters
10. Simulation and Result of System without
Controllers
The figures below show the Simulink model of wind
turbine without any controllers and the output graph
Figure 5: Wind Turbine System Without Controllers
This is the required first order Transfer function of
Drivetrain. This can also be represented as
Thus, the mathematical model of wind turbine is derived.
7. Implementation of Conventional PID Controller
The Simulink model of wind turbine pitch control system
with conventional PID Controller is shown in Fig. 3 and the
control parameters for the PID controller are shown in
Fg.4.
Figure 6:The unit step response of wind turbine
without controllers
© 2017, IRJET | Impact Factor value: 5.181 | ISO 9001:2008 Certified Journal | Page 659
International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 04 Issue: 09 | Sep -2017 www.irjet.net p-ISSN: 2395-0072
We see that the desired output is not reached as well From the Table above, we can see that the PID controller
Settling time very high. Also the Overshoot and gives a better control for the pitch angle of the wind
Undershoot is high. Hence, we need to implement turbine system.
controller to overcome these drawbacks.
15. CONCLUSIONS AND FUTURE WORK
11. Simulation of the Plant with PID Controller
In this paper, we developed the wind turbine pitch control
system mathematical model and simulated with PID
controller using MATLAB/Simulink to achieve optimum
response. The PID controller produces the response with
lower delay time and rise time, but it has slight
oscillations. In future, one can use artificial neural
networks to control the pitch angle of the wind turbine
system and check its performance with the Adaptive Fuzzy
PID controller. Also, Individual pitch control method can
be used along with the Adaptive Fuzzy PID controller to
improve the overall performance of the system.
REFERENCES
[1]. Civelek, Zafer, Ertuğrul Çam, Murat Lüy, and Hayati
Mamur. "Proportional–integral–derivative Parameter
Optimisation of Blade Pitch Controller in Wind Turbines
by a New Intelligent Genetic Algorithm." IET Renewable
Power Generation 10.8 (2016): 1220-228.
Figure 7:The unit step response of wind turbine with
PID controller
[2] C. Tan and H. Wang, "A Review on Pitch Angle Control
Strategy of Variable Pitch Wind Turbines", Advanced
The unit step response of wind turbine pitch control
Materials Research, vol. 772, pp. 744-748, 2013.
system is shown in Fig. 17. Time domain specifications are
observed from the response graphs and tabulated in Table
[3] Dunne, F. "Optimizing Blade Pitch Control of Wind
6. With PID controller, we observed less rise time, settling
Turbines with Preview Measurements of the Wind." Order
time and peak overshoot when compared to the wind
No. 10108716 University of Colorado at Boulder, 2016.
turbine model without any controllers.
Ann Arbor: ProQuest. Web. 4 Feb. 2017.
14. Comparison of Simulation Results of the Plant with
[4]. Han, Bing, Lawu Zhou, Fan Yang, and Zeng Xiang.
and without using PID Controller
"Individual Pitch Controller Based on Fuzzy Logic Control
for Wind Turbine Load Mitigation." IET Renewable Power
Table 3:Comparison of Time Domain Specifications of
Generation 10.5 (2016): 687-93. Kozak, Peter. "Blade Pitch
Pitch Control System for Unit Step Input Using
Optimization Methods for Vertical-axis Wind Turbines."
Thesis. ProQuest Dissertations Publishing, n.d. 2016.
[5] Jason T Brown. Montana environmental information
centre. http://meic.org, 2013.
[6] Novak P, Ekelund T, Jovik I, and Schmidt Bauer B.
"Modeling andControl of Variable-Speed Wind-Turbine
Drive-System Dynamics,"IEEE Control Syst Mag 1995;
15(4), pp. 28-38.
[7] Sharma, R.D. (2013). ‘Feedforward Learning Control
for Individual Blade Pitch Control of Modern Two-Bladed
Wind Turbines’.
[8] S.Suryanarayanan, A.Dixit, "Control of Large Wind
Turbines: Review and Suggested Approach to
© 2017, IRJET | Impact Factor value: 5.181 | ISO 9001:2008 Certified Journal | Page 660
International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 04 Issue: 09 | Sep -2017 www.irjet.net p-ISSN: 2395-0072
Multivariable Design", Proc. of theAmerican Control
Conference 2005, Portland, USA, pp. 686-690.
BIOGRAPHIES
Silpa Baburajan obtained her B.SC
Electrical Engineering degree from
American University of Sharjah
(2015) and is currently pursuing
her Master’s degree in Electrical
Engineering, specializing in Control
System, at Rochester Institute of
Technology (RIT), Dubai Campus.
Dr Abdulla Ismail obtained his
B.Sc. (’80), M.Sc. (’83), and Ph.D.
(’86) in electrical engineering, from
the University of Arizona, U.S.A.
Currently, he is working as a
professor in the Electrical
Engineering Department and
assistant to the President at the
Rochester Institute of Technology,
Dubai, UAE
© 2017, IRJET | Impact Factor value: 5.181 | ISO 9001:2008 Certified Journal | Page 661
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