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Model PredictiveControl in Wind

TurbineSisca Dina 2414201006

Nur Fitriyani 2414201010

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Wind Turbine

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Model Dinamik Nonlinear WindTurbine

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Mekanika Turbine

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Pemodelan Angin

Kecepatan angin dipengaruhi olehkecepatan angin rata-rata dan kecepatanangin turbulen

Dimana

odel angin turbulen dapat dirumuskan

dalam bentuk state space

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Servo-Elastics:  !he "rst to#er $ore-a$tbending mode% the rotational motion% andthe collecti&e pitch actuator are modeledlinearly as'

Modelling Wind Turbine

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 Aerodynamics: !he aerodynamic tor(ue andthrust acting on the rotor #ith radius R arenonlinear static $unctions'

Modelling Wind Turbine

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Model Design Controller

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)ersamaan di*erensial indi&idu dapat dirubahmen+adi '

,nput control u dan disturbance d '

utput sistem y model desain merupakanpercepatan to#er atas dan kecepatan rotor yang

dapat diakses dari sensor yang biasa digunakan '

Pemodelan

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,n order to design a linear ).% a linearrepresentation is needed/ !here$ore% theobtained nonlinear reduced model 2-4 islinearied at an e(uilibrium point de"ned by v 0/

 !hen the linear state space representation is

Mereduksi Model Linear

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,t can be separated into the prediction update part and themeasurement update part/ For the prediction update part thediscrete nonlinear system is used

 !he error e(uation is

 !he prediction update part is then

 !ogether #ith the Kalman 3ain

the measurement update part is

ESTIMATO DESI!N

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 !he pitch controller has a separateestimator that is linear in it sel$ and hencenot linearied around anything/

Pitc" controller estimator

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 !he $ull sensor estimator has a&ailablemeasurements o$ all the &ariables beingestimated/

output and disturbance matrices are

#ull Sensor

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 !he ob+ecti&e is to "nd the optimal controlinputs ui minimiing the cost $unctional  J%#hich is de"ned as the sum o$ all de&iations$rom the system outputs y i $rom the re$erence

&alues r o&er the prediction horion P#eighted #ith Q and the sum o$ all changesin the control inputs ui  o&er the controlhorion M #eighted #ith R'

The Optimal Control Problem

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 !he pitch controller has the the $ollo#ing control&ariables

 !he tuning parameters o$ the controller are

 !he optimiation matrices are

Pitc" controller

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.ontrol &ariabel

 !he tuning parameters o$ the controllero$ the mounted to#er are

 !he tuning parameters o$ the controller o$ the oatingto#er are

ptimiation atrice

Controller $I dan $III