Sliding mode control law for a variable speedwind turbine

Modern wind turbines are designed in order to work in variable speed operations. To perform this task, wind turbines are provided with adjustable speed generators, like the double feed induction generator. One of the main advantage of adjustable speed generators is improving the system efficiency compared to fixed speed generators, because turbine speed can be adjusted as a function of wind speed in order to maximize the output power. However this system requires a suitable speed controller in order to track the optimal reference speed of the wind turbine. In this work, a sliding mode control for variable speed wind turbines is proposed. An integral sliding surface is used, because the integral term avoids the use of the acceleration signal, which reduces the high frequency components in the sliding variable. The proposed design also uses the vector oriented control theory in order to simplify the generator dynamical equations. The stability analysis of the proposed controller has been carried out under wind variations and parameter uncertainties by using the Lyapunov stability theory. Finally simulated results show, on the one hand that the proposed controller provides a high-performance dynamic behavior, and on the other hand that this scheme is robust with respect to parameter uncertainties and wind speed variations, that usually appear in real systems.

Variable structure control for maximum wind power extraction

EuroPES 2009

Análisis de prestaciones de variador de frecuencia Sinamics para el control de velocidad y posición.

[ES]En este documento se exponen los resultados de las diferentes funcionalidades analizadas del variador de frecuencia Sinamics G120. El dispositivo se ha configurado mediante el software de control TIA Portal para la realización de tareas de control de velocidad de un motor de inducción, así como el control de posición del eje del motor y de un eje lineal acoplado al mismo.

Practical deployment of the brushless doubly-fed machine in a medium scale wind turbine

The Brushless Doubly-Fed Machine (BDFM) is a brushless electrical generator which allows variable speed operation with a power converter rated at only a fraction of the machine rating. This paper details an example implementation of the BDFM in a medium-scale wind turbine. Details of a simplified design procedure based on electrical and magnetic loadings are given along with the results of tests on the manufactured machine. These show that a BDFM of the scale works as expected but that the 4/8 BDFM chosen was slower and thus larger than the turbine's original induction machine. The implementation of the turbine system is discussed, including the vector-based control scheme that ensures the BDFM operates at a demanded speed and the Maximum Power Point Tracking (MPPT) scheme that selects the rotor speed that extracts the most power from the incident wind conditions.

A comparison of cage and nested-loop BDFM rotors

The Brushless Double-Fed Machine (BDFM) is a type of variable speed generator or drive. Using theoretical analysis of simple BDFM rotors this paper establishes trends in how rotor structures determine the rotor's equivalent circuit resistance, leakage inductance and turns ratio. The variation in measured parameters of five prototype rotors is then analysed in light of the trends found. Both the theory and experimental results suggest a significant performance advantage in using cage+loops type rotors as opposed to the simple nested loop type more usually employed.

Electrical machine characterisation and analysis for renewable energy applications

There has been an increased use of the Doubly-Fed Induction Machine (DFIM) in ac drive applications in recent times, particularly in the field of renewable energy systems and other high power variable-speed drives. The DFIM is widely regarded as the optimal generation system for both onshore and offshore wind turbines and has also been considered in wave power applications. Wind power generation is the most mature renewable technology. However, wave energy has attracted a large interest recently as the potential for power extraction is very significant. Various wave energy converter (WEC) technologies currently exist with the oscillating water column (OWC) type converter being one of the most advanced. There are fundemental differences in the power profile of the pneumatic power supplied by the OWC WEC and that of a wind turbine and this causes significant challenges in the selection and rating of electrical generators for the OWC devises. The thesis initially aims to provide an accurate per-phase equivalent circuit model of the DFIM by investigating various characterisation testing procedures. Novel testing methodologies based on the series-coupling tests is employed and is found to provide a more accurate representation of the DFIM than the standard IEEE testing methods because the series-coupling tests provide a direct method of determining the equivalent-circuit resistances and inductances of the machine. A second novel method known as the extended short-circuit test is also presented and investigated as an alternative characterisation method. Experimental results on a 1.1 kW DFIM and a 30 kW DFIM utilising the various characterisation procedures are presented in the thesis. The various test methods are analysed and validated through comparison of model predictions and torque-versus-speed curves for each induction machine. Sensitivity analysis is also used as a means of quantifying the effect of experimental error on the results taken from each of the testing procedures and is used to determine the suitability of the test procedures for characterising each of the devices. The series-coupling differential test is demonstrated to be the optimum test. The research then focuses on the OWC WEC and the modelling of this device. A software model is implemented based on data obtained from a scaled prototype device situated at the Irish test site. Test data from the electrical system of the device is analysed and this data is used to develop a performance curve for the air turbine utilised in the WEC. This performance curve was applied in a software model to represent the turbine in the electro-mechanical system and the software results are validated by the measured electrical output data from the prototype test device. Finally, once both the DFIM and OWC WEC power take-off system have been modeled succesfully, an investigation of the application of the DFIM to the OWC WEC model is carried out to determine the electrical machine rating required for the pulsating power derived from OWC WEC device. Thermal analysis of a 30 kW induction machine is carried out using a first-order thermal model. The simulations quantify the limits of operation of the machine and enable thedevelopment of rating requirements for the electrical generation system of the OWC WEC. The thesis can be considered to have three sections. The first section of the thesis contains Chapters 2 and 3 and focuses on the accurate characterisation of the doubly-fed induction machine using various testing procedures. The second section, containing Chapter 4, concentrates on the modelling of the OWC WEC power-takeoff with particular focus on the Wells turbine. Validation of this model is carried out through comparision of simulations and experimental measurements. The third section of the thesis utilises the OWC WEC model from Chapter 4 with a 30 kW induction machine model to determine the optimum device rating for the specified machine. Simulations are carried out to perform thermal analysis of the machine to give a general insight into electrical machine rating for an OWC WEC device.

Development and Validation of a Forklift Truck Powertrain Simulation

Fuel economy has become an important consideration in forklift truck design, particularly in Europe. A simulation of the fuel consumption and performance of a forklift truck has been developed, validated and subsequently used to determine the energy consumed by individual powertrain components during drive cycles.
The truck used in this study has a rated lifting capacity of 2500kg, and is powered by a 2.6 litre naturally aspirated diesel engine with a fuel pump containing a mechanical variable-speed governor. The drivetrain consisted of a torque convertor, hydraulic clutch and single speed transmission.
AVL Cruise was used to simulate the vehicle powertrain, with coupled Mathworks Simulink models used to simulate the hydraulic and control systems and governor. The vehicle has been simulated on several performance and fuel consumption drive cycles with the main focus being the VDI 2198 fuel consumption drive cycle.
To validate the model, a truck was instrumented and measurements taken to compare the performance and instantaneous fuel consumption to simulated values. The fuel injector pump was modified and calibrated to enable instantaneous fuel flow to be measured.
The model has been validated to within acceptable limits and has been used to investigate the effect four different torque converters have on the fuel consumption and performance of the forklift truck. The study demonstrates how the model can be used to compare the fuel consumption and performance trade-offs when selecting drivetrain components.

Comando de ondulador de tensão trifásico por PWM e técnica U/F com implementação por microcontrolador

Dissertação para obtenção do grau de Mestre em Engenharia Electrotécnica Ramo de Automação e Electrónica Industrial

Retificador trifásico controlado com fator de potência quase unitário

Dissertação de Mestrado para obtenção do grau de Mestre em Engenharia Eletrotécnica Ramo Automação e Eletrónica Industrial

Low-cost PWM speed controller for an electric mini-baja type vehicle

This paperwork presents a Pulse Width Modulation (PWM) speed controller for an electric mini-baja-type car. A battery-fed 1-kW three-phase induction motor provides the electric vehicle traction. The open-loop speed control is implemented with an equal voltage/frequency ratio, in order to maintain a constant amount of torque on all velocities. The PWM is implemented by a low-cost 8-bit microcontroller provided with optimized ROM charts for distinct speed value implementations, synchronized transition between different charts and reduced odd harmonics generation. This technique was implemented using a single passenger mini-baja vehicle, and the essays have shown that its application resulted on reduced current consumption, besides eliminating mechanical parts. Copyright © 2007 by ABCM.

A new design methodology for multipulse rectifiers with Delta auto-connected transformers and a retrofit application in Adjustable Speed Drives (ASDs)

Multipulse rectifiers can replace a conventional six pulse three-phase rectifier (diode bridge) providing a DC voltage with low ripple, low Total Harmonic Distortion of current (THDi) and a high Power Factor (PF). In this context is presented a multipulse rectifier with generalized Delta-differential autotransformer topology, which can provide any level of DC output voltage for any level of three-phase AC input voltage. This paper presents all the possible configurations for Delta topology in order to choose, through graphics, one configuration that presents reduced weight and volume. The average voltage on the DC bus must be compatible with the DC voltage in the six pulse rectifier used in commercial ASDs. Therefore, it is possible to apply the retrofit technique to replace the conventional bridge rectifier by the proposed multipulse rectifier. Based on mathematic models and simulation results, an 18-pulse rectifier with Delta topology, 220 V of line voltage, 315 V of DC output, and rating 2.5 kW of power was designed, implemented and applied for three different commercial ASDs. Experimental results as voltage and current waveforms and results about PF and THDi will be presented. © 2012 IEEE.

Optimización de la succión de sólidos sumergidos utilizando bombas centrífugas con velocidad variable

La acumulación de material sólido en embalses, cauces fluviales y en zonas marítimas hace que la extracción mecánica de estos materiales por medio de succión sea cada vez mas frecuente, por ello resulta importante estudiar el rendimiento de la succión de estos materiales analizando la forma de las boquillas y los parámetros del flujo incluyendo la bomba. Esta tesis estudia, mediante equipos experimentales, la eficacia de distintos dispositivos de extracción de sólidos (utilizando boquillas de diversas formas y bombas de velocidad variable). El dispositivo experimental ha sido desarrollado en el Laboratorio de Hidráulica de la E.T.S.I. de Caminos, C. y P. de la Universidad Politécnica de Madrid. Dicho dispositivo experimental incluye un lecho sumergido de distintos tipos de sedimentos, boquillas de extracción de sólidos y bomba de velocidad variable, así como un elemento de separación del agua y los sólidos extraídos. Los parámetros básicos analizados son el caudal líquido total bombeado, el caudal sólido extraído, diámetro de la tubería de succión, forma y sección de la boquilla extractora, así como los parámetros de velocidad y rendimiento en la bomba de velocidad variable. Los resultados de las medidas obtenidas en el dispositivo experimental han sido estudiados por medio del análisis dimensional y con métodos estadísticos. A partir de este estudio se ha desarrollado una nueva formulación, que relaciona el caudal sólido extraído con los diámetros de tubería y boquilla, caudal líquido bombeado y velocidad de giro de la bomba. Así mismo, desde el punto de vista práctico, se han analizado la influencia de la forma de la boquilla con la capacidad de extracción de sólidos a igualdad del resto de los parámetros, de forma que se puedan recomendar que forma de la boquilla es la más apropiada. The accumulation of solid material in reservoirs, river channels and sea areas causes the mechanical extraction of these materials by suction is becoming much more common, so it is important to study the performance of the suction of these materials analyzing the shape of the nozzles and flow parameters, including the pump. This thesis studies, using experimental equipment, the effectiveness of different solids removal devices (using nozzles of different shapes and variable speed pumps). The experimental device was developed at the Hydraulics Laboratory of the Civil University of the Polytechnic University of Madrid. The device included a submerged bed with different types of sediment solids, different removal nozzles and variable speed pump. It also includes a water separation element and the solids extracted. The key parameters analyzed are the total liquid volume pumped, the solid volume extracted, diameter of the suction pipe, a section of the nozzle and hood, and the parameters of speed and efficiency of the variable speed pump. The basic parameters analyzed are the total liquid volume pumped, the removed solid volume, the diameter of the suction pipe, the shape and cross-section of the nozzle, and the parameters of speed, efficiency and energy consumed by the variable speed pump. The measurements obtained on the experimental device have been studied with dimensional analysis and statistical methods. The outcome of this study is a new formulation, which relates the solid volume extracted with the pipe and nozzle diameters, the pumped liquid flow and the speed of the pump. Also, from a practical point of view, the influence of the shape of the nozzle was compared with the solid extraction capacity, keeping equal the rest of the parameters. So, a recommendation of the best shape of the nozzle can be given.

A new sensorless speed control scheme for doubly-fed reluctance generators

This paper presents the development and experimental validation of a novel angular velocity observer-based field-oriented control algorithm for a promising low-cost brushless doubly fed reluctance generator (BDFRG) in wind power applications. The BDFRG has been receiving increasing attention because of the use of partially rated power electronics, the high reliability of brushless design, and competitive performance to its popular slip-ring counterpart, the doubly fed induction generator. The controller viability has been demonstrated on a BDFRG laboratory test facility for emulation of variable speed and loading conditions of wind turbines or pump drives.

Sistema de conversão de energia eólica baseado no gerador de indução duplamente alimentado: análise e contribuição ao controle da máquina

The humanity reached a time of unprecedented technological development. Science has achieved and continues to achieve technologies that allowed increasingly to understand the universe and the laws which govern it, and also try to coexist without destroying the planet we live on. One of the main challenges of the XXI century is to seek and increase new sources of clean energy, renewable and able to sustain our growth and lifestyle. It is the duty of every researcher engage and contribute in this race of energy. In this context, wind power presents itself as one of the great promises for the future of electricity generation . Despite being a bit older than other sources of renewable energy, wind power still presents a wide field for improvement. The development of new techniques for control of the generator along with the development of research laboratories specializing in wind generation are one of the key points to improve the performance, efficiency and reliability of the system. Appropriate control of back-to-back converter scheme allows wind turbines based on the doubly-fed induction generator to operate in the variable-speed mode, whose benefits include maximum power extraction, reactive power injection and mechanical stress reduction. The generator-side converter provides control of active and reactive power injected into the grid, whereas the grid-side converter provides control of the DC link voltage and bi-directional power flow. The conventional control structure uses PI controllers with feed-forward compensation of cross-coupling dq terms. This control technique is sensitive to model uncertainties and the compensation of dynamic dq terms results on a competing control strategy. Therefore, to overcome these problems, it is proposed in this thesis a robust internal model based state-feedback control structure in order to eliminate the cross-coupling terms and thereby improve the generator drive as well as its dynamic behavior during sudden changes in wind speed. It is compared the conventional control approach with the proposed control technique for DFIG wind turbine control under both steady and gust wind conditions. Moreover, it is also proposed in this thesis an wind turbine emulator, which was developed to recreate in laboratory a realistic condition and to submit the generator to several wind speed conditions.

Control and Supervision of Wind Energy Conversion Systems

This paper is about a PhD thesis and includes the study and analysis of the performance of an onshore wind energy conversion system. First, mathematical models of a variable speed wind turbine with pitch control are studied, followed by the study of different controller types such as integer-order controllers, fractional-order controllers, fuzzy logic controllers, adaptive controllers and predictive controllers and the study of a supervisor based on finite state machines is also studied. The controllers are included in the lower level of a hierarchical structure composed by two levels whose objective is to control the electric output power around the rated power. The supervisor included at the higher level is based on finite state machines whose objective is to analyze the operational states according to the wind speed. The studied mathematical models are integrated into computer simulations for the wind energy conversion system and the obtained numerical results allow for the performance assessment of the system connected to the electric grid. The wind energy conversion system is composed by a variable speed wind turbine, a mechanical transmission system described by a two mass drive train, a gearbox, a doubly fed induction generator rotor and by a two level converter.