1

Wind Turbine Pitch Angle Control Using Fuzzy

Logic
A. V. A. Macdo, Member, IEEE, and W. S. Mota, Senior Member, IEEE

when the system dynamics is not well known, or when the

Abstract-- In this work, wind turbine pitch angle control using nonlinearities are significant, such as wind which has the
a Fuzzy controller is presented. This controller is implemented in nonlinearity as it main characteristic [5]. Moreover, this
Fuzzy Logic ToolboxTM available in MATLAB. The controller control can contribute to smooth the output power of the
was built based on knowledge on operation principles of wind turbine and the reduction of aerodynamic loads [6].
turbines equipped with variable pitch angle control. Not Furthermore, the fuzzy control is easily extensible and
requiring mathematical models for this. It is presented as an
flexible.
alternative for Proportional-Integral (PI) controllers currently
used. Furthermore, the control aims to reduce the fluctuations in In order to evaluate the performance of the proposed
turbine power generation. The control was integrated with the scheme to control the power generation, simulations with wind
Dynamic Simulation Program developed by INESC, which uses variation were performed.
PI controllers. Simulations are performed varying the incident
wind speed on a wind farm equipped with squirrel cage II. WIND TURBINES
asynchronous generators. These simulations prove the efficiency
of the pitch control using Fuzzy Logic.
In turbines which power control is performed by varying the
pitch angle, there are several signs that can be used activate
Index Terms-- Fuzzy logic; pitch angle control; proportional- the engine. One of the most widely used is the generator
integral control; wind turbines. power. In which an electronic controller checks the
mechanical power generated, several times per second. When
I. INTRODUCTION the power output becomes too high is sent an order to the
blade angle control mechanism, which moves changing the
T HE energy from wind is captured by wind turbines that, in
recent years, passed from generation class of a few kW to
MW due to the constant evolution of technology applied
blade angle of attack on the wind steering. Conversely, the
blades are moved back to the direct action of the wind
whenever there is a decrease of the production. For this
to its construction. For this there are fixed and variable speed
moving, the system resorts to sophisticated hydraulics and
turbines. Currently the variable speed wind turbines are the
electronics that drive the blades around their longitudinal axes.
most used because they optimize power generation over a
In [7] was analyzed the power limitation by pitch angle
wide range of variation of wind speed, which has stochastic
control for variable speed wind turbines, and concluded that
feature.
this arrangement allows the safe operation for wind speeds
In case of strong winds is necessary to waste part of this to
above the technical limit of the conversion system.
avoid possible damage to endanger the physical integrity of
The energy production may be increased up to 40%, with
the converting mechanical system. All the turbines are,
the use of variable speed turbine, due to the possibility of
therefore, designed with some kind of control over the power
controlling the power captured [8].
to be generated. There are two types of control, they are: stall
The power limitation by controlling the pitch angle for wind
and pitch, which control the wind captation by the turbine
turbines with variable speed enables safe operation for wind
blades moving them longitudinally.
speeds above the technical limit of the conversion system.
In this paper we discuss the pitch control, which has the
Pitch angle control is commonly used in the optimization of
characteristic of moving blades continually seeking the best
power production coming from the wind [9].
performance. The angle varies according with wind speed
variation. This implementation provides a good execution of A. Power coefficient
power control. In pitch angle control that is adopted by the
The aerodynamic model equations allows to calculate the
turbine models described in the literature, the Proportional-
mechanical power value applied to the shaft of the electric
Integral (PI) controller is usually the most used [1]-[4]. The
generator, considering different wind speeds and different
good performance of wind turbines depends on the choice of
positions of the blade pitch angle. This model depends on the
appropriate values of controller gains. This choice is not an
type of turbine to be represented (vertical or horizontal axis,
easy task and some authors report that obtaining it is by trial
number of blades, blade angle control etc.). The aerodynamic
and error.
model is independent of the type of electric generator or the
To this end, we present an alternative independent of
type of control used in the converters. Thus, it can be studied
mathematical model to control the turbine power generation.
using different types of electrical generator. The work [3]
The fuzzy control was chosen because of their usefulness

978-1-4673-2673-5/12/$31.00 2012 IEEE

 2

defines the equation of mechanical power (1), that can be Output power optimization of wind turbines, this is,
extracted from the wind: produce as much power as possible with the available
wind.
A C , v (1) Prevention for the mechanical power does not exceed the
Where: rated power in high winds (wind speeds above nominal).
P = mechanical power W Also acts as protection against overloading of the turbine
= air density (kg/m structure and risks of damage to their physical structure.
A = area swept by blades m
C = power coefficient In some countries, such as Denmark, network codes require
= blade pitch angle that wind farms have to be capable of reducing the power
v = wind speed m/s produced to levels below 20% in less than 2s. This procedure
= . Rv tip speed ratio is done to control the power supply from the wind farm and
= turbine rotor speed rad prevent a possible upper generation in situations with strong
R = radius of the turbine blade m winds and low consumption. This can be achieved by using
the blade angle control. In high wind speed, the rotor speed
Power coefficient depends on the blade pitch angle, and the must be controlled to prevent its growth beyond controllable
linear relationship between the wind speed and the speed of limits [7].
the blade tip. This coefficient indicates the efficiency that the The blade angle control can also be used to stabilize the
wind turbine transforms the kinetic energy contained in wind wind farm when contingencies occur in the grid (to reduce
into mechanical energy. According to the Betz limit, for imbalance between generation and loads). So this principle of
horizontal axis turbines with three blades, the maximum control must be considered in transient stability studies and
possible value is approximately 0.593 [9]. In Fig. 1 is represented in dynamic models of wind turbines.
presented some power coefficient curves for different pitch As already mentioned, the blade angle control can be done
angles. The best result is with the angle in zero degrees. in two ways [9]:
The structure of (2) and (3) below was proposed by [10]. 1) Pitch control: the mechanical power is reduced when the
However, the values of the constants c to c were slightly pitch angle grows. This principle is applied, in most cases,
modified to suit the industry. in variable speed wind turbines. Fixed speed turbines can
also use this control;
C , c c c c e (2) 2) Active stall control: the mechanical power is reduced when
Where the pitch angle decreases. This type of control is
commonly applied in fixed speed wind turbines.
(3)
Recalling that the characteristic curve C , provides the
TABLE I
POWER CURVE COEFFICIENTS
power coefficient, which depends on the blade speed ratio
and the pitch angle .
The controlling pitch angle mechanism can be activated by
0.73 151 0.58 0.002 2.14 13.2 18.4 0.02 -0.003
electrical or hydraulic components; the design of controllers
usually has its development kept secret by manufacturers.
0.5
This mechanism suffers the action of dynamic forces,
frictional forces and inertial moments, providing an element of
complex modeling. It is usually represented by a first order
0 dynamic equation with a number of limiters that limit the
excursion range of the pitch angle and maximum rate of
variation [12], [9].
Cp

-0.5
Pitch=0
A. Conventional pitch angle control
In Fig. 2 is represented the generic model of blade angle
Pitch=5
Pitch=10
Pitch=15
Pitch=20
control [9], using PI control block and a Proportional-
-1
0 5 10 15 Derivative (PD) which is optional.
Tip speed ratio

Fig. 1. Power coefficient versus tip speed ratio based on values of Table I

III. PITCH CONTROL

Generally the best way to extract the maximum power of
the wind is through the variable speed wind turbines with
pitch angle control.
The main objectives of blade angle control are [11]:
Fig. 2. Generic model of pitch angle control
 3

The position of the angle is controlled by the value X, The number and form of the membership functions defining
which can be characterized in various ways such as: the fuzzy values (for the input and output) were defined off-
1) An electric value. For example, electric power, P , as line, and the universe of discourse for each variable were
described in [1]; defined according with the behavior of each variable observed
2) A single mechanical value. For example, the mechanical during simulations. Triangular and trapezoidal membership
power, P , or the generator speed, G , as described in [2] functions were used for both input and output fuzzy sets for
[3], [11], [13], [14]; power error in Fig. 4 and angle variation in Fig. 5.
3) A combination of mechanical and electrical values,
according to [4], [13]. NL NM NS ZE PS PM PL
1

Ideally, the control parameters should be chosen depending 0.8

on wind speed, but this is not an appropriate procedure,

Degree of membership
because it is not possible to precisely measure this 0.6

variable. The wind speed can be changed by the turbine 0.4

nacelle. Assuming that the turbine system is well controlled,
the active power can be used as a control parameter [15]. 0.2

0
IV. FUZZY CONTROL
-0.1 -0.08 -0.06 -0.04 -0.02 0 0.02 0.04 0.06 0.08 0.1
Fuzzy logic, proposed by Lotfi Zadeh [16], in essence Perr(p.u.)

generates output values without the need for precise inputs. Fig. 4. Membership function of fuzzy controller input signal (power error)
Provides a method of translating vague verbal expressions,
imprecise and qualitative, common in human communication, 1
NL NM NS ZE PS PM PL

in numerical values [5]. Its main advantage is not requiring an

analytical description of the system being controlled. 0.8
Degree of membership

In a control system, the fuzzy system usually operates in 0.6

real time in order to find the values of optimal performance (or

near optimum). The use of fuzzy rules ensures that the 0.4

operating status of the device remains within the desired range 0.2

of operation [17].
In this work, the fuzzy control was developed using the 0

Fuzzy Logic ToolboxTM available in MATLAB. The control -6 -4 -2 0

Betavar()
2 4 6

was incorporated into the Dynamic Simulation Program for Fig. 5. Membership function of fuzzy controller output signal (angle variation)
appropriate adjustments and system simulations in a power
system. The construction of a fuzzy system using the Fuzzy The control rules of fuzzy controller are presented in Table
Logic ToolboxTM has the following steps [17]: II by a set of heuristically chosen fuzzy rules (that are
frequently suggested by experts in the problem on
Definition of linguistic variables;
consideration).
Definition of membership functions; TABLE II
Definition of rules; BASE OF RULES FOR ANGLE VARIATION
Conversion of output linguistic variables into numerical NL NM NS ZE PS PM PL
values of the rules. NL NM NS ZE PS PM PL

The set of rules and variables was performed according to Where:

the results of simulations as the initial values are estimated NL Negative large
according to certain characteristics of the turbine, as the NM Negative medium
generated power. NS Negative Small
For the systems behavior to be more clearly observed we PL Positive large
chose to use the asynchronous conventional generator (squirrel PM Positive medium
cage) in the simulations, because it has few controls, so no PS Positive small
influence on the proposed control would occur. ZE Zero
In Fig. 3 can be seen the new block diagram using the fuzzy The system behavior can be illustrated with the following
control. rule: IF P NL THEN NL
NL was defined through the membership functions that
describe the imprecision of such input and output values. As
interpretation of this rule, we have: If the error of power is
large negative then the angle must decrease as the power
generated is very low, thus decrease for the setting. The
interpretation for fuzzy pitch angle control is straightforward,
Fig. 3. Pitch angle control block diagram using fuzzy control because if the power output is below the nominal value, the
angle decreases and if it is above, the angle increases.
 4

The set of rules is completely swept awayy, to check which 15

rules should be activated. Changing the pitcch angle, which is

calculated by the system, the fuzzy control kkeep trying to get
the power zero error, meaning a better controol performance. 14.5
Note that no numerical expression is uused; a linguistic

Wind [m/s]
expression (or oral) may be used to describe the relationship
between the input variable and output. Moree importantly, the
restriction of linearity is no longer needed,, since the input-
14

output function is described point by point, exactly as in the

experimental method.
The heuristic method has the abilityy to enable the 13.5
0 1 2 3 4 5 6 7 8 9 10

construction of a function of input versus output, Fig. 7. Wind velocity variation

Time [s]

nonmathematical, but useful in the descripttion of a plant or

process [5].
Observing Fig. 8 to Fig. 12, atten
nuation of the oscillations
can be noted and also a smoothin ng of the responses in all
V. SIMULATIONS AND RESULTTS
variables appear when the fuzzy controller is used. The
The test system used was taken from [2], such a system is influence of pitch angle control is not reflected only in the
composed of 15 buses, Fig. 6. Its generration is diverse, generated power, we can see the influence
i on all variables
containing units of hydroelectric, diesel annd wind. In wind related to the turbine.
farms, two types of generators are used (Douubly-fed Induction
18
Generator (DFIM) and Squirrel Cage). The wind farm PI control

equipped with conventional asynchronous ggenerator (squirrel 17

17
7.5
Fuzzy control

cage) has variable pitch angle and the ssimulations were 16 17.4
45

performed relating to this. 17

7.4

15 17.3
35
[]

17
7.3
14
var

[]
17.2
25

var
B

B
17
7.2
13
17.1
15

12 17
7.1

17.0
05
11
1
17
3 3.5 4 4.5 5 5.5
Time [s]
10
0 5 10 15
Time [s ]

Fig. 8. Pitch angle variation with zoom in osccillation region.

12.5
PI control
Fuzzy control

12
11.2

11.18
Mechanical Power [MW]

11.16
11.5
11.14
Mechanical Power [MW]

11.12

11.1

Fig. 6. Single-line diagram of the test system used 11

11.08

11.06

The squirrel cage wind farm is composedd of 17 machines 10.5

11.04

with a generation capacity of 660 kW each. IIt can generate up

11.02

11

to 11.22 MW. The wind farm is modeled by an equivalent

3 3.5 4 4.5 5 5.5 6
Time [s]
10
machine on the full power of this. In the aappendix the data 0 5
Time [s]
[
10 15

about the turbine and generator can be found..

To assess the effectiveness of the propoosed controller, it Fig. 9. Mechanical power variation with zoom
m in oscillation region
was applied a wind change of -10%, obtaininng the behavior of
a wind farm of 11.2 MW with conventionnal asynchronous
machine (squirrel cage). In Fig. 7 the signaal applied can be
observed.
 5

12 An interesting question is that if we have a mathematical

PI control
11.8 Fuzzy control model, why to create a system with fuzzy control? The answer
11.6 lies in two directions: flexibility and extensibility. The fuzzy
model are much more flexible, since it can change the control
11

11.4
surface heuristically, they are typically more extensible since
Active power [MW]

10.95
11.2
there is no need to develop a deep mathematical model to a

Active power [MW]

11
new problem.
10.9

10.8
10.85 Development of fuzzy control aims to seek new control
10.6 strategies, targeting the non-modeled dynamics, avoiding the
10.4
10.8
measurement noise, disturbances and parametric uncertainties.
10.2 10.75
3 3.5 4 4.5 5 5.5 6

10
Time [s]
VII. APPENDIX
0 5 10 15
Time [s]
A. Parameters
Fig. 10. Active power variation with zoom in oscillation region
Base values for the per-unit system conversion:
-4.55
PI
Base power: 100 MVA
-4.6 Fuzzy Base voltages: 0.69 kV for low-voltage bus-bar and 63
-4.65 kV for medium-voltage bus-bar.
-4.75

-4.7
B. Conventional Induction Generator (Squirrel cage)
Reactive Power [Mvar]

-4.76

-4.77
-4.75
-4.78 P MW 0.66, V kV 0.69, RS 0.0067,
Reactive Power [Mvar]

-4.8 -4.79
XS 0.03, R 0.0058, X 0.0506, X
2.3161,
-4.8
-4.85
-4.81
No. of poles = 4,
-4.9 -4.82 rpm 1500.
-4.83
-4.95
-4.84 C. Parameters of wind turbine:
-5
3 3.5 4 4.5 5
Time [s]
5.5 6
No. of blades = 3, rotor diameter = 22 m, cut-in speed = 4
m/s, cut-off speed = 25 m/s, air density = 1.225 kg/m3.
-5.05
0 5 10 15
Time [s]

Fig. 11. Reactive power variation with zoom in oscillation region

VIII. REFERENCES
1.009
PI [1] V. Akhmatov, Note concerning the mutual effects of grid and wind
1.0088 Fuzzy turbine voltage stability control. Wind Engineering, vol. 25, no. 6, p.
1.0086 367 371. 2001.
[2] J. A. P. Lopes, R. G. Almeida, Descrio de Modelos Matemticos de
1.008

1.0084
Mquinas de Induo Convencional e Duplamente Alimentada e
Angular velocity [p.u.]

1.0082 Estratgias de Controlo para Estudo Dinmico e de Estabilidade

Transitria. Trabalho de Consultoria para o ONS Brasil, INESC
Angular velocity [p.u.]

1.0079
1.008
PORTO, 2004.
1.0078 [3] J. G. Slootweg, Modelling and Impact on Power System Dynamics.
1.0076 1.0078 2003. 206 f. Thesis (PhD) Delft University of Technology, Delft,
2003.
1.0074
[4] N. W. Miller, W. W. Price, J. J. Sanchez-Gasca, Dynamic modelling of
1.0072 1.0077 GE 1.5 and 3.6 wind turbine generators. Technical Report, Power
Systems Energy Consulting, General Electric International, Shenectady,
3 3.5 4 4.5 5 5.5 6
Time [s]
1.007
0 5 10 15 U.S.A. October, 31 p. 2003.
Time [s]
[5] M. G. Simes and I. S. Shaw, Controle e Modelagem Fuzzy. 2nd ed. So
Fig. 12. Angular velocity variation with zoom in oscillation region Paulo: Blucher, 186 p. 2007.
[6] J. Zhang, C. Ming, A. Chen, X. Fu, Pitch angle control for variable
In some variables there was an increase in peak values, but speed wind turbines. Electric Utility Deregulation and Restructuring
and Power Technologies, China, April, 2008.
these values are not significant. The fuzzy control is efficient [7] E. Muljadi, C. P. Butterfield, Pitch-controlled Variable-speed Wind
in terms of reducing the oscillations of monitored variables Turbine Generation. IEEE Transactions on Industry Applications, [S.l.],
compared to the conventional PI control. vol. 37, no. 1, p. 240-246, January-February 2001.
[8] D. S. Zinger and E. Muljadi, Annualized wind energy improvement
using variable speeds. IEEE Transactions on Industry Applications,
VI. CONCLUSIONS vol. 33, no. 6, November-December, 1997.
The fuzzy control is adequate to the problem of power [9] V. Akhmatov, Analysis of Dynamic Behavior of Eletric Power Systems
With Large Amount of Wind Power. Thesis (PhD) Technical
control because it does not need mathematical definitions, University of Denmark, Denmark, 2003.
requires only the knowledge of the process so that an [10] S. Heier, Grid Integration of Wind Energy Conversion Systems.
appropriate solution is generated. In this case the process was Chicester: John Wiley & Sons, 385 p. 1998.
the variation of the blade pitch angle of the wind turbine in [11] V. Akhmatov, Variable-speed Wind Turbines with Doubly-fed Induction
Generators Part I: Modelling in Dynamic Simulation Tools. Wind
function of the generated power. Engineering, [S.l.], vol. 26, no. 2, p. 85-108, 2002.
The fuzzy control was efficient during the disturbance [12] J. G. Slootweg, H. Polinder, W. L. Kling, Initialization of wind turbine
applied to the system, reducing the fluctuations and smoothing models in power system dynamics simulations. In: IEEE Porto Power
the power output and other observed variables. Tech Proceedings, 6 p., vol. 4, September, 2001.
 6

[13] V. Akhmatov, H. Knudsen, A. H. Nielsen, J. K. Pedersen, N. K.

Poulsen, Modelling and Transient Stability of Large Wind Farms.
Elsevier Electrical Power and Energy Systems, [[S.l.], 25, p. 123-144,
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[15] A. D. Hansen, P. Sorensen, F. Iov, F. Blaabjergg, Control of variable
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IX. BIOGRAPHIES
Ana Vitria de Almeida M Macdo (M2009) was
born in Campina Grande, Brazzil, 1984. She received
the B. Sc. and M. Sc ddegree in Electrical
Engineering from Federal Unniversity of Campina
Grande (UFCG), Brazil, inn 2009 and 2012,
respectively. Now she is ddoing the Ph. D. in
Electrical Engineering in the same university. Her
current research interests innclude power system
stability and fuzzy control appllied to wind farms.

Wellington Santos Mota (M76SM02) was born

in Joo Pessoa, Brazil, 1946. HHe received the B.Sc.
and M.Sc. in Electrical Enginneering from Federal
University of Paraiba (UFPB)), Brazil, in 1970 and
1972, respectively. He got the E
Electrical Engineering
Ph.D. from Waterloo, Univversity of Waterloo,
Canada, in 1981. He has beenn with the Department
of Electrical Engineering, Federal University of
Campina Grande (UFCG), w where currently is a
Senior Professor. From 1973 tto 1977 he worked at
the Sao Francisco River Hydrro (CHESF) in power
system planning. His research interests include Powerr System Control and
Stability, including wind farms.