Control of Wind Power Plants

Control of wind power plants
Poul Sørensen, Professor

Anca D. Hansen, Senior Researcher
Braulio Barahona, (former) Post Doc
DTU – Excellence since 1829
MISSION
DTU will develop and create value
using the natural sciences and the
technical sciences to benefit society
DTU Wind Energy, Technical University of Denmark 2015-08-06
1
DTU organization
DTU Wind Technology Expertise
Composites and Materials Mechanics
Materials Science and Characterisation

Wind Energy Division
Fluid Mechanics
Test and Measurements
Materials Research Division

Wind Turbines Structures
Aerolastic Design
Fluid Dynamics
Meteorology
Composite Mechanics Wind Energy Systems
2
Control issues
• List purposes of controlling wind power plants:
4 wind turbine types
GB GB
ASG ASG
TR TR
QC ~ =
C CH
= ~
L
Type 1 GSC LSC
CR
Type 3
GB
GB
ASG SG/
~ =
ASG C CH
= ~
TR L
GSC LSC TR
QC
VRR
Type 4
Type 2
GSC: Generator side converter

ASG: Asynchronous generator LSC: Line side converter
GB: Gearbox CR: Crowbar
QC: Reactive power compensation C: DC link capacitor
TR: Transformer CH: Chopper
VRR: Variable rotor resistance L: Series inductance
SG: Synchronous generator
3
Outline
• General about wind turbine control

– blade angle control
– rotor speed control
• Electrical design and controllability / control strategies
– fixed speed
– variable speed
• Control examples
– Normal wind turbine operation control
• Fixed speed example (Active stall control)
• Variable speed example (doubly-fed and pitch control)
– Fault ride through wind turbine control
• Active stall
• Doubly fed
– Wind turbine load reducing control
– Wind farm control
Aerodynamic power – power curve
Power curve based

• P : aerodynamic power [W]
on 10 min averages
• U : wind speed 1.2
1.0
Power (p.u.)
0.8
0.6
0.4
0.2
0.0
0 5 10 15 20 25
Wind speed [m/s]
4
Aerodynamic power – power coefficient
AU 3C p  ,  
1
P
2

A U
• P : aerodynamic power [W]
•  : air density [kg/m3]
vtip
• A : rotor (swept) area
• U : wind speed
• Cp : power coefficient
•  : blade pitch angle Front view Side view
•  : tip speed ratio vtip
vtip R
  
U U
U
DTU Wind Energy, Technical University of Denmark Top view 2015-08-06
Aerodynamic power – power coefficient
AU 3C p  ,  
1
P
2 0.5
• P : aerodynamic power [W] 0.4
• U : wind speed
•  : air density [kg/m3]
0.3
Cp
• A : rotor (swept) area 0.2
•  : blade pitch angle

•  : tip speed ratio -90
0.1
• Cp : power coefficient -45

0.0
Pit 0 20
ch
ang
le 15
[de
g] 45 10
ed ratio
5 spe
Tip
90
5
Passive stall control
L 1.6
1.4
1.2
Lift coefficient
1
0.8
0.6
 0.4
0.2
W
U 0
-5 0 5 10 15 20
Angle of attack [deg]
vtip = r
1.2 W: relative speed seen from rotating blade

1.0
: angle of attack
P o w er (p .u .)
0.8
0.6
50 Hz
48 Hz
L: lift
51 Hz
0.4
0.2 Power curve sensitive to

0.0 • electrical grid frequency (3rd order)
0 5 10 15 20 25
• air density (1st order)
Wind speed (m/s) • dirt on blades
Pitch control
L 1.6
1.4
positive pitch 1.2

Lift coefficient
1
0.8
0.6
 0.4
0.2
W
U 0
-5 0 5 10 15 20
vtip = r
1.2
1.0
P o w e r ( p .u .)
0.8
0.6
0.4
0.2
0.0
0 5 10 15 20 25
Wind speed [m/s]
6
Aktiv stall control (or kombi-stall)
L 1.6
1.4
negative pitch 1.2
Lift coefficient
1
0.8
0.6
 0.4
0.2
W
0
U -5 0 5 10 15 20
vtip = r
1.2
1.0
P o w e r ( p .u .)
0.8
0.6
0.4
0.2
0.0
0 5 10 15 20 25
Wind speed [m/s]
Fixed speed – active stall or pitch control
• Active (Combi) stall • Pitch control

• Moderate instantaneous response • Large instantaneous response gradients
gradients (fixed speed no problem) for power limitation (variable speed
• Slow blade angle control sufficient desirable)
• Fast blade angle control necessary
2.00
2.00
1.80
1.80
1.60
1.60
1.40
1.40
1.20 Pitch = 0 deg
Power [pu]
1.20 Pitch = 0 deg

Power [pu]
Pitch = -3 deg
Pitch = 5 deg
1.00 Pitch = -6 deg 1.00 Pitch = 10 deg
Pitch = -9 deg
0.80 Pitch = 15 deg
Pitch = -12 deg 0.80 Pitch = 20 deg
0.60
0.60
0.40
0.40
0.20
0.20
0.00
0.00
0 5 10 15 20 25
0 5 10 15 20 25
Wind speed [m/s]
Wind speed [m/s]
7
Fixed speed – directly connected induction
generator
 gen  g   WTR
• WTR : wind turbine rotor speed
• gen : generator speed
• g : gear ratio
WTR
gen 0
~
1 s
 gen   0 Gear Contactor
N pp box
Induction
generator
• 0 : electric grid radial speed (250 in Main panel
Europe, 260 in USA) bus bar
• Npp : number of generator pole pairs

(typically 2 or 3)
• s << 1 : generator speed almost
“constant”

generator
• gen : generator speed 0 5 10 15 20 Time [ms]
0
• g : gear ratio
gen
1 s
 gen   0 gen
N pp
• 0 : electric grid radial speed (250 in

Europe, 260 in USA)
(typically 2 or 3)
• s : slip. s << 1 : generator speed almost
“constant” Npp = 1
8
generator
• gen : generator speed 0 5 10 15 20 Time [ms]
0 2
• g : gear ratio
gen
1 s
 gen   0
N pp

(typically 2 or 3)
“constant” Npp = 2

generator
 gen  g   WTR WTR

gen 0
• WTR : generator speed ~
• gen : generator speed
• g : gear ratio Gear Contactor
Induction
box
generator
Main panel
1 s bus bar
 gen   0
N pp

(typically 2 or 3)
“constant”

Slip 0.5 0
9
Fixed speed continuous operation - summary
• Wind turbines with directly connected induction generators are speed

controlled by the generator torque, which is approximately proportional
to the slip (slip is difference between grid synchronous rotor speed and
actual generator rotor speed).
• The generator can be “geared” by increasing the number of pole pairs
• Fixed speed turbines can control the speed by changing the number of
pole pairs, typically between 2 and 3, depending on the wind speed.
Exercise 1: fixed speed
• Open excel sheet with Cp data

• A fixed speed wind turbine with the Cp data in table has rotor diameter 40
m, tip speed 70 m/s. The air density i  = 1.25 kg/m2. Make the power
curve if the pitch angle is 0 deg.
• At which pitch angle (integer degree) should the blades be mounted to
the hub to obtain the maximum power 600 kW? Hint: try to increase the
pitch angle negatively step by step and observe the power curve until
you get the desired maximum.
• The turbine uses Npp=2 coupling of generator windings for high wind
speeds and Npp=3 for low wind speeds. What is the tip speed for low wind
speeds?
• The turbine is passive stall controlled. Show the power curve for low wind
speeds and high wind speeds, and identify the wind speed at which
switching between generator speeds is feasible.
10
Active Stall example
• General operation modes active stall

– Power optimisation (lookup table)
– Power limitation (closed loop power
control)
• Normal operation (averaged
power, sample & hold) 1.2
• Overpower protection 1.0
(instant. power, continuous
P o w e r (p .u .)
0.8
pitching ) 0.6
– Transition between optimisation 0.4
and limitation
0.2
0.0
0 5 10 15 20 25
Wind speed [m/s]
Power Optimisation
0.5
0.4
0.3
Cp
0.2
4 m/s
0.1
0.0
‐10 ‐5 0 5 10 2
Pitch angle [deg]
0
Pitch angle [deg]
‐2
‐4
‐6
0 5 10 15 20 25
Wind speed [m/s]
11
Power Optimisation
0.5
4 m/s
0.4
5 m/s
6 m/s
0.3
7 m/s
Cp
8 m/s
0.2
9 m/s
0.1 10 m/s
11 m/s
0.0 12 m/s
‐10 ‐5 0 5 10 13 m/s
Pitch angle [deg] 2
0
Pitch angle [deg]
‐2
‐4
‐6
0 5 10 15 20 25
Wind speed [m/s]
Power Limitation
3.0
2.5
2.0
Power [MW]
1.5
13 m/s
1.0
0.5
0.0 2
‐10 ‐8 ‐6 ‐4 ‐2 0
Pitch angle [deg]
0
Pitch angle [deg]
‐2
‐4
‐6
0 5 10 15 20 25
Wind speed [m/s]
12
Power Limitation
3.0
13 m/s
2.5 14 m/s
15 m/s
2.0 16 m/s
Power [MW]
17 m/s
1.5
18 m/s
1.0 19 m/s
20 m/s
0.5
21 m/s
0.0 22 m/s
‐10 ‐8 ‐6 ‐4 ‐2 0 23 m/s
Pitch angle [deg]
24 m/s 2
Pitch angle [deg] ‐2
‐4
‐6
0 5 10 15 20 25
Wind speed [m/s]
Transision
22
Optimisation
Optimisation
Optimisation
Limitation
Limitation
00 Transition
Limitation
Transition
Pitch angle [deg]
Pitch angle [deg]
Soft strategy
‐2
‐2
‐4
‐4
‐6
‐6
00 55 10
10 15
15 20
20 25
25
Wind speed [m/s]
Wind speed [m/s]
13
Control Circuit
mode selection:
- up: power limitation
- down: power optimisation
anti windup
Power 
Setpoint S&H
Actual
Power

Lookup
Simulation Power Optimisation

DIgSILENT
8.667
wind speed
8.1 m/s
8.296
7.924
7.553
7.181
6.810
0.00 50.00 100.00 150.0 200.0 [s] 250.0
Windfilter_moving_average_Common Model: o1
Windfilter_moving_average_Common Model: yo
900.9
el. power
758.5 kW
812.5
724.0
635.5
547.1
458.6
0.00 50.00 100.00 150.0 200.0 [s] 250.0
Power_in_kW_Common Model: power
Powerfilter_moving_average_Common Model: yo
0.50
0.39 pitch angle

0.193 deg
0.27
0.16 power optimisation

0.000
0.04
-0.070
0.00 50.00 100.00 150.0 200.0 [s] 250.0
pitch_control_I_Common Model: w2
pitch_control_I_Common Model: limit
14
Simulation Transition
DIgSILENT
13.53
wind speed
12.83 12.177 m/s
12.13
11.43
10.73
10.04
0.00 50.00 100.00 150.0 200.0 [s] 250.0
2381.
el. power
2189. 2117.9 kW
1998.
1806.
1615.
1424.
0.00 50.00 100.00 150.0 200.0 [s] 250.0
1.236
power optimisation
0.20 0.000
-0.839 pitch angle

-2.301 deg
-1.876
-2.913
-3.951
0.00 50.00 100.00 150.0 200.0 [s] 250.0
Simulation Power Limitation

DIgSILENT
26.11
wind speed
24.72 23.5 m/s
23.32
21.92
20.52
19.12
0.00 50.00 100.00 150.0 200.0 [s] 250.0
2180.
el. power
2113. 2042.0 kW
2045.
1977.
1910.
1842.
0.00 50.00 100.00 150.0 200.0 [s] 250.0
1.288
0.02 power limitation

1.000
-1.250
-2.519
pitch angle
-4.768 deg
-3.788
-5.057
0.00 50.00 100.00 150.0 200.0 [s] 250.0
15
Simulation Overpower
DIgSILENT
18.42
16.52
14.62 wind speed wind speed

10.89 m/s 16.5 m/s
12.72
10.81
8.914
0.00 50.00 100.00 150.0 200.0 [s] 250.0
2908.
2546.
2184.
el. power
2804.9 kW
1821.
1459. el. power

2001.2 kW
1097.
0.00 50.00 100.00 150.0 200.0 [s] 250.0
1.336
-0.143 power limitation

1.000
-1.622 power optimisation
0.000
-3.101
pitch angle
-2.5 deg
-4.580
-6.059
0.00 50.00 100.00 150.0 200.0 [s] 250.0
Overpower Protection
• Function of overpower protection

– Disable sample and hold
• (continuous controller action possible)
– Instantaneous power signal for power controller
• (controller uses instantaneous power instead of averaged
power)
– Overpower protection active for fixed period of time
16
Simulation Overpower Protection
DIgSILENT
18.38
16.49
14.60 wind speed wind speed

10.89 m/s 16.5 m/s
12.70
10.81
8.915
0.00 50.00 100.00 150.0 200.0 [s] 250.0
2621.
el. power
2004.2 kW
2319.
2017.
1715.
1413.
1110.
0.00 50.00 100.00 150.0 200.0 [s] 250.0
1.316
-0.073
power limitation
power optimisation 1.000
-1.463 0.000
-2.852
pitch angle
-5.113 deg
-4.241
-5.630
0.00 50.00 100.00 150.0 200.0 [s] 250.0
Variable speed control strategy – continuous

operation
Power curve P -  curve

2500 2500
Powerlimitation
rated
Power optimisation Pmec
2000 2000 C, D
C D
Mechanicalpower[kW]
Electricalpower[KW]
1500 1500
1000 1000
BB
B
500 500
ngen
nom
AA urated A
0
0 0 200 400 600 800 1000 1200 1400 1600 1800 2000
0 5 10 15 20 25
Wind speed [m/s] Generator speed[rpm]
17
Exercise 2 – variable speed
• The Cp data is used for a variable speed / pitch controlled wind turbine
with rotor diameter 80 m. Specify equation for power curve in
optimisation region A-B
• Specify the corresponding relation between wind turbine rotor speed and
power
• The generator is a doubly fed induction generator with two pole pairs
(Npp=2). The generator speed at rated wind speed is 1650 rpm (i.e. the
maximum generator speed). The rated grid frequency is 50 Hz. Find the
generator slip corresponding to rated wind speed.
• The rated rotor tip speed (rotor speed at rated wind speed) is 70 m/s.
Find the gear ratio.
• Specify the relation between generator speed and power in region A-B
• Specify the relation between generator speed and torque in region A-B
Variable speed control loops
Power loop
meas
Pgrid + ref
Pconv
PI
-
P- curve
 gen
meas ref
P grid
Pel
Speed loop
 gen
meas +

c Pitch 
PI
actuator
-
 rated
gen
18
Doubly fed generator (DFG)
Measurement
grid point M
N
AC DC
DC AC
T
PWM U dcmeas PWM
I acmeas
Irotor
 Rotor side Network side
meas
Pgrid
converter control converter control meas
Qgrid
DFIG control
ref
Q grid U dcref
 gen ref
Pgrid
meas
Pgrid
Speed control loop Power control loop
ref , rated
Pgrid
Wind turbine control
Doubly fed generator – power flow vs. rotor

speed
Stator circuit
Sub-synchronous Over-synchronous
Pstator  0 Pstator  0 Pgrid  Pstator  Protor

Pmec
WRIG Grid
Partial scale power converter
Rotor side Grid side

converter converter
AC DC
DC AC
Rotor circuit
Sub-synchronous Over-synchronous
Protor  0 Protor  0
19
Simulation – optimal power control (AB)
Below synchronous Above synchronous Below synchronous
(variable reference speed) (fixed reference speed) (variable reference speed)
DIgSILENT
1.2673
1.1064
0.945
0.784
0.624
0.463
-0.1000 71.919 143.94 215.96 287.98 .. 360.00
G: Pstator[MW]
Gen_PQ_controller: Pgrid [MW]
0.200
0.150
0.100
0.050
0.000
-0.0500
-0.1000 71.919 143.94 215.96 287.98 .. 360.00
G: Protor [MW]
9.2525
8.7577
8.2629
7.7682
7.2734
6.7787
-0.1000 DTU Wind Energy, 71.919
Technical University of Denmark
143.94 215.96 287.98 2015-08-06
.. 360.00
Tower shadow model: Wind [m/s]
Simulation – optimal power control (AB)

Below synchronous Above synchronous Below synchronous
(variable reference speed) (fixed reference speed) (variable reference speed)
DIgSILENT
1.1813
1.1352
1.0890
1.0429
0.997
0.951
0.000 72.000 144.00 216.00 288.00 .. 360.00
G: Speed
750804.
624643.
498482.
372322.
246161.
120000.
0.000 72.000 144.00 216.00 288.00 .. 360.00
Transmission model: Aerodynamic rotor [Nm]
0.555
0.493
0.431
0.370
0.308
0.246
0.000 72.000 144.00 216.00 288.00 .. 360.00
G: Electrical Torque in p.u.
1.0000
0.600
0.200
-0.2000
-0.6000
-1.0000 DTU Wind Energy, Technical University of Denmark 2015-08-06

0.000 72.000 144.00 216.00 288.00 .. 360.00
Limited_power_controller model: Pitch
20
Simulation - wind 7m/s – optimisation
strategy
DIgSILENT
0.685
0.612
Power grid
0.539
0.466
0.393
0.321
-0.1000 119.92 239.94 359.96 479.98 .. 600.00
Gen_PQ_controller: P1
8.3761
Wind
7.7706
7.1650
6.5594
5.9539
5.3483
0.000 120.00 240.00 360.00 480.00 .. 600.00
Rotor wind model: wsfic
1611.9
Gen. Speed and Gen. ref. speed
1540.1
1468.4
1396.7
1324.9
1253.2
0.000 120.00 240.00 360.00 480.00 .. 600.00
Speed controller model: rotation_real
Speed controller model: rotation_ref
0.420
0.206
-0.0075
-0.2213
-0.4352 Error

0.000 120.00 240.00 360.00 480.00 .. 600.00
Speed controller model: error
Simulation - wind 15 m/s

DIgSILENT
2.0485
Power grid
2.0318
2.0150
1.9982
1.9814
1.9647
-0.1000 119.92 239.94 359.96 479.98 .. 600.00
18.443
16.977 Wind
15.511
14.045
12.578
11.112
0.000 120.00 240.00 360.00 480.00 .. 600.00
1712.2
Gen. Speed and gen. ref. speed
1700.5
1688.9
1677.3
1665.6
1654.0
0.000 120.00 240.00 360.00 480.00 .. 600.00
17.265
Pitch
13.787
10.310
6.8323
3.3548

0.000 120.00 240.00 360.00 480.00 .. 600.00
Power controller model: pitch
21
Simulation - wind 22 m/s
DIgSILENT
2.4742
2.3253
2.1765
2.0276
1.8787
1.7299
-0.1000 119.92 239.94 359.96 479.98 .. 600.00
27.182
24.936
22.691
20.445
18.200
15.954
0.000 120.00 240.00 360.00 480.00 .. 600.00
1856.4
1780.0
1703.6
1627.2
1550.8
1474.4
0.000 120.00 240.00 360.00 480.00 .. 600.00
25.835
22.162
18.489
14.816
11.143
7.4701
0.000 DTU Wind Energy, Technical
120.00 University of Denmark
240.00 360.00 480.00 2015-08-06
.. 600.00
Power controller model: pitch
Gain scheduling
K PI  K pitch
 dP 
K system  K PI  d 
1
 dP 
K PI  K pitch  
 d 
0 1
-0.05 0.9
-0.1 0.8
-0.15 0.7
-0.2 y  a  b 1 0.6
 dP  1
z 
1
dP -0.25  d  0.5
y a  b
d -0.3 0.4
0.3
-0.35
0.2
-0.4
0.1
-0.45
0
-0.5 0 5 10 15 20 25 30

0 5 10 15 20 25 30

22
Simulation - wind 22 m/s – gain schedulling
DIgSILENT
2.4742
2.3254
Power grid
2.1765
2.0277
1.8788
1.7300
-0.1000 119.92 239.94 359.96 479.98 .. 600.00
27.182
24.935
22.688
20.441
18.194
15.947
-0.1000 119.92 239.94 359.96 479.98 .. 600.00
1767.2 Gen. Speed and Gen. ref. speed

1730.8
1694.4
1657.9
1621.5
1585.0
-0.1000 119.92 239.94 359.96 479.98 .. 600.00
28.381
Pitch
25.594
22.806
20.018
17.230
14.442
-0.1000 DTU Wind Energy, Technical
119.92 University of Denmark
239.94 359.96 479.98 2015-08-06
.. 600.00
Power control schedulling model: pitch
Fault-ride-through control
• Example active stall

– short circuit at “Fault Bus”
– isolation of fault
23
No fault-ride-through control
DIgSILENT
1.030
0.85
0.68
0.50
0.33
0.15
-0.000 1.200 2.400 3.600 4.800 [s] 6.000
WT Generator: Terminal Voltage in p.u.
1.100
1.078
1.056
1.034
1.012
0.99
-0.000 1.200 2.400 3.600 4.800 [s] 6.000
WT Generator: Speed in p.u.
3.380
2.610
1.840
1.070
0.30
-0.470
-0.000 1.200 2.400 3.600 4.800 [s] 6.000
WT Generator: Active Power in MW
1.800
0.85
-0.095
-1.043
-1.990
-2.938
-0.000 1.200 2.400 3.600 4.800 [s] 6.000
WT Generator: Reactive Power in MVAr
Simple fault-ride-thorugh control: fast pitch

to zero-power
4
4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
2
-2
pitch angle [deg]
-4
-6
normal operation pitch
-8 0.0 MW pitch
-10
-12
-14
wind speed [m/s]
24
Short circuit simulated with fault-ride-
through control
DIgSILENT
1.098
0.91
0.72
0.53
0.34
0.15
-0.000 1.200 2.400 3.600 4.800 [s] 6.000
WT Generator: Terminal Voltage in p.u.
1.077
1.058
1.038
1.019
1.00
0.98
-0.000 1.200 2.400 3.600 4.800 [s] 6.000
WT Generator: Speed in p.u.
3.039
2.391
1.743
1.096
0.45
-0.200
-0.000 1.200 2.400 3.600 4.800 [s] 6.000
WT Generator: Active Power in MW
2.051
1.059
0.07
-0.926
-1.918
-2.910
-0.000 1.200 2.400 3.600 4.800 [s] 6.000
WT Generator: Reactive Power in MVAr
Fault ride through – DFG with crowbar
DFIG system – control and protection
k
DFIG
c
Drive train
RSC GSC
Aerodynamics with gearbox
~ =
= ~

~
~
~
Power converter
Pitch angle control
control Crowbar
Pref Qref
Control mode :
Fault
• normal operation
Wind turbine detection
• fault operation
25
Crowbar effects
• On voltage dip: • Effect of increased crowbar

– RSC overcurrents resistance :
– Crowbar activtates / RSC – improves the torque
disconnects characteristic
– DFG behaves as SCIG (no – reduces reactive power
control) demand
– GSC can still be used as a – improves dynamic stability of
STATCOM the generator
3 0
Electromagnetic torque [p.u.]
R1crowbar  R 2crowbar  R 3crowbar

. . . .
Reactive power [Mvar]

2
-5
1
-10
Damping controller
0
-15
-1
-20
-2
R1crowbar  R 2crowbar  R 3crowbar
-3 -25
-1 -0.5 0 0.5 1 1.5 2 2.5 3 -1 -0.5 0 0.5 1 1.5 2 2.5 3
DTU Wind Energy, Technical
Speed University
[p.u.] of Denmark Speed [p.u.] 2015-08-06
Load reduction – active damping

DIgSILENT
1.150
Generator speed [pu]
1.125
1.100
1.075
1.050
1.025
0.00 2.50 [sec] 5.00 7.50 [s] 10.00
Mechanical torque [Nm]
3.0E+4
Damping controller 2.0E+4
1.0E+4
 ref P grid
ref
Wind Optimal 0.0E+0
PI
speed speed -
+ -1.0E+4
 0.00 2.50 [sec] 5.00 7.50 [s] 10.00
10.00
Pitch angle [deg]
8.000
6.000
4.000
2.000
0.00
0.00 2.50 [sec] 5.00 7.50 [s] 10.00
2.40
Aero. power [MW]
2.20
2.00
1.80
1.60
1.40
1.20
0.00 2.50 [sec] 5.00 7.50 [s] 10.00
Withoutdampingcontroller With dampingcontroller

26
Integrated design analysis
and load reduction
• Integrated analysis model

– Aeroelastic model of wind
turbine (HAWC2)
– Pitch control (Simulink)
– Asynchronous machine +
control (Simulink)
• Rotor and Stator
fluxes
• Current and power
control of rotor
side converter
• Resonant damping
control
Resonant damping control – load reduction

Unbalanced fault
Electrical loads: Structural loads:

Generator rotor current Tower top side-to-side moment
27
Resonant damping control – load reduction
Equivalent loads
Load ranges (fatigue)
(max – min)
Storm control
High Wind Shut Down High Wind Ride Through

(SIEMENS HWRT™)
28
Offshore wind power variability 2020
Wind farm control – wind power plants
• Contribute to control of grid voltage: amplitude and frequency, like other

power plants
• Indirect grid control: active and reactive power control
29
Balance control
• Balance control provides power output according to reference signal

• Balance control implemented in first time in Horns Rev 2002
• Why ramp limitation
1
0.9
0.8
Power [pu.] 0.7

0.6
Pavail
0.5 Pbal
Pref,wf
0.4
0.3
0.2
0.1
0
0 100 200 300 400 500 600
Time [s]
Delta control
• Delta control provides fixed • Reserve can be utilised in

reserve frequency control (droop and
• Delta control implemented first deadband)
time in Horns Rev 2002
Power
1
0.9
0.8 Pavail
0.7 Pdel
Power [pu.]
0.6 Pavail
Pdel Pdel
0.5
Pref,wf
0.4
0.3
0.2
0.1
0
f s fd fd+ f s+ Frequency
0 100 200 300 400 500 600
Time [s]
30
Double fed wind turbine – power control
Windturbine
Wind turbinecontroller
controller
Wind turbine controller
Pref
max meas
~~
 
Speed
 pitch
control
 Power
 control
Prefgen
Double fed wind farm – power control
Operator Wind farm controller Windturbine

controller
Wind turbine controller
inst

Pavail
max meas
~~
 
Ramp rate settings
Speed
 pitch
control
Pbalance
P Power Prefwf Dispatch Pref
reference Power
control  control
setting  Prefgen
Pmeas
wf
Pmeas
31

controller
Wind turbine controller umeas
inst

Pavail
Speed
ref meas
optimum ~~
Ramp rate settings

Speed
 pitch
control
Pbalance
P Power Prefwf Dispatch
reference Power
control control
setting
Prefgen
wf
Pmeas

controller
inst

Pavail
Wind
uexpt Speed
ref meas
speeds
optimum ~~
forecasts
Ramp rate settings
Speed
 pitch
control
Pbalance
P Power Prefwf Dispatch
reference Power
control control
setting
Prefgen
wf
Pmeas
32
Double fed wind farm – frequency control

controller
inst

Pavail
Wind
uexpt Speed
ref meas
speeds
optimum ~~
forecasts
Ramp rate settings
Speed
 pitch
control
Pbalance
P Power Prefwf 0 Prefwf Dispatch
reference Power
control control
setting
Prefgen
P wf
ref
Droop settings
Deadband settings
wf
Pmeas
f meas
Wind farm power control – wind turbines

DIgSILENT
21.00
18.00
15.00
[m/s]
12.00
Wind - WT1
9.00 Wind - WT2
Wind - WT3
6.00
0.00 70.00 140.0 210.0 280.0 [s] 350.0
2.10
1.80
1.50
[MW]
1.20
0.90 Measured power - WT1
0.60 Measured power - WT2
Measured power - WT3
0.30
0.00 70.00 140.0 210.0 280.0 [s] 350.0
1700.00
1600.00
[rpm]
1500.00
Generator speed - WT1
1400.00 Generator speed - WT2
Generator speed - WT3
1300.00
0.00 70.00 140.0 210.0 280.0 [s] 350.0
20.00
16.00
12.00
[deg]
8.00
4.00 Pitch angle - WT1
Pitch angle - WT2
-0.00
Pitch angle - WT3
-4.00
0.00 70.00 140.0 210.0 280.0 [s] 350.0
[sec]
33
Wind farm power control
DIgSILENT
2.40
2.00
1.60
[MW]
1.20
Available power - WT1 Dispatch reference power - WT1
0.80
0.40
0.00 70.00 140.0 210.0 280.0 [s] 350.0
2.20
2.00
1.80
1.60
[MW]
1.40
1.20
1.00
0.00 70.00 140.0 210.0 280.0 [s] 350.0
2.20
2.00
1.80
[MW]

1.60
1.40
1.20
0.00 70.00 140.0 210.0 280.0 [s] 350.0
6.50
6.00
5.50
Wind farm available power Wind farm PCC measured power
[MW]
5.00
4.50
4.00
3.50
0.00 70.00 140.0 [sec] 210.0 280.0 [s] 350.0
Summary / conclusions
• Control can
– optimise production
– reduce structural loads
– support grid integration
• Controllability varies very much, depending on turbine design (fixed/var
speed, fixed/var pitch)
• QUESTIONS?
34

Control of Wind Power Plants

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Control of Wind Power Plants

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Control of wind power plants

Poul Sørensen, Professor

DTU – Excellence since 1829

DTU Wind Energy, Technical University of Denmark 2015-08-06

DTU Wind Energy, Technical University of Denmark 2015-08-06

DTU Wind Technology Expertise

Composites and Materials Mechanics

Materials Science and Characterisation

Test and Measurements

Materials Research Division

Composite Mechanics Wind Energy Systems

DTU Wind Energy, Technical University of Denmark 2015-08-06

• List purposes of controlling wind power plants:

DTU Wind Energy, Technical University of Denmark 2015-08-06

4 wind turbine types

GSC: Generator side converter

DTU Wind Energy, Technical University of Denmark 2015-08-06

• General about wind turbine control

DTU Wind Energy, Technical University of Denmark 2015-08-06

Aerodynamic power – power curve

Power curve based

Wind speed [m/s]

DTU Wind Energy, Technical University of Denmark 2015-08-06

DTU Wind Energy, Technical University of Denmark Top view 2015-08-06

Aerodynamic power – power coefficient

• P : aerodynamic power [W] 0.4

• A : rotor (swept) area 0.2

•  : blade pitch angle

• Cp : power coefficient -45

DTU Wind Energy, Technical University of Denmark 2015-08-06

1.2 W: relative speed seen from rotating blade

0.2 Power curve sensitive to

DTU Wind Energy, Technical University of Denmark 2015-08-06

positive pitch 1.2

Wind speed [m/s]

DTU Wind Energy, Technical University of Denmark 2015-08-06

negative pitch 1.2

Wind speed [m/s]

DTU Wind Energy, Technical University of Denmark 2015-08-06

Fixed speed – active stall or pitch control

• Active (Combi) stall • Pitch control

1.20 Pitch = 0 deg

DTU Wind Energy, Technical University of Denmark 2015-08-06

• Npp : number of generator pole pairs

DTU Wind Energy, Technical University of Denmark 2015-08-06

Fixed speed – directly connected induction

• 0 : electric grid radial speed (250 in

DTU Wind Energy, Technical University of Denmark 2015-08-06

• 0 : electric grid radial speed (250 in

DTU Wind Energy, Technical University of Denmark 2015-08-06

Fixed speed – directly connected induction

 gen  g   WTR WTR

• 0 : electric grid radial speed (250 in

DTU Wind Energy, Technical University of Denmark 2015-08-06

• Wind turbines with directly connected induction generators are speed

DTU Wind Energy, Technical University of Denmark 2015-08-06

Exercise 1: fixed speed

• Open excel sheet with Cp data

DTU Wind Energy, Technical University of Denmark 2015-08-06

• General operation modes active stall

• Overpower protection 1.0

(instant. power, continuous

Wind speed [m/s]

DTU Wind Energy, Technical University of Denmark 2015-08-06