68_Hardware-in-the-Loop Development and Testing of

EWEC2006,AthensMartinGeyler1Hardware-in-the-LoopDevelopmentandTestingofNewPitchControlAlgorithmsEWEC2006AthensMartinGeyler,JochenGiebhardt,BahramPanahandehInstitutfürSolareEnergieversorgungstechnik(ISETe.V.)Phone:[phone]e-mail:[e-mail]2006,AthensMartinGeyler2ProjectObjectives-Individualbladepitchcontrol-compensationforunsymmetricalinflowconditionsduetoturbulenceordeterministiceffects-activedampingfortowerandbladesProjectPartnersDevelopmentofadvancedpitchcontrolalgorithmsforloadreductioninlargewindturbines-Modularcontrollerdesign-Developmentofsafetyalgorithms-stabilitymonitoring,-handlingofsensorfaults-IdentificationofrequirementsforthepitchsystemusingaHardware-in-the-Looptestbedsetup-dynamics,-loads,wear,-powerconsumption,thermallosses,-loadsensors-communicationrequirementsEWEC2006,AthensMartinGeyler3ControlProblemSchematicofControlLoopEWEC2006,AthensMartinGeyler4TestBed:SchematicOverviewEWEC2006,AthensMartinGeyler5TestBed:ControlConceptEWEC2006,AthensMartinGeyler6TestBed:LaboratorySetupLoadDriveInverterCabinetPitchDriveInverterCabinetPitchMotorsLoadMachinesControllerRackwithSimulationPCsHostPCEWEC2006,AthensMartinGeyler7BlockstructureofSimulinkmodelReal-TimeSimulation:OverallWindTurbineModelEWEC2006,AthensMartinGeyler8-14rigidbodiesconnectedbyjoints:(1)Universaljointswithtorsionalstiffnessanddampingrepresentingflexibilityofthestructure(2)RevolutejointswithexternaltorqueinputrepresentingactuatorsMechanicalmodelReal-TimeSimulation:MechanicalModel(1)-fullyrecursivealgorithm:„MethodofArticulatedInertia“:-tree-likestructureisexploited-avoidsneedforinvertinglargemassmatrices-O(N)method:computationaleffortincreaseslinearlywithnumberofDOF-Massforces(gravity,inertia)inherentlyincludedbythealgorithm.-Solver:3rd-orderRunge-Kuttasolverat1mstimestep-ca.450µscalculationtimeonAthlon4000+PCMultibodyapproach:EWEC2006,AthensMartinGeyler9MechanicalmodelReal-TimeSimulation:MechanicalModel(2)-Parametersformultibodymodelwerecalculatedusingaoptimisationalgorithmtofindabestfittoagivenfiniteelements(FE)model:1stmodeandstaticdeflectionofsimplifiedblademodelwith2rigidsections;ComparisonwithFEmodel1.Step:Optimisationofjointlocationsinordertoallowforbestrepresentationoffirst3modeshapes2.Step:Optimisationofstiffnessparametersandjointtwistanglesinordertofiteigenfrequenciesandmodeshapes-Validation:Comparisonofstaticdeflectionduetoaconstantlineload(blade)orconstanttowertopforceEWEC2006,AthensMartinGeyler10Loadtorquereferencevaluesforloaddriveswillincludethefollowingeffects:ExamplesimulationforpitchloadsituationinturbulentwindconditionsReal-TimeSimulation:PitchSystemModel-pitchgearratio1:1000-toothclearanceatfastsideofpitchgears-bladebearingfriction-DRE/CON-formulaforlargebearings:MR=µD/2*k*Mbladeroot-Fourpointcontactbearings:µD=0.006,k=4.37-Componentsforaxialandradialforcehavebeenneglected.-changinginertiaduetobladedeflectioninherentlyincludedbymechanicalmodelEWEC2006,AthensMartinGeyler11Real-TimeSimulation:AerodynamicModel(1)-BladeElementMomentumTheory(BEM)-12bladeelementsperblade-semi-empiricalcorrections:state-of-the-artimplementationof-dynamicinflow-yawedinflow-dynamicstall-total240aerodynamicstates-Solver:simpleForward-Eulerintegrationat1mstimestepcalculationtimeca.45µsonAthlon4000+PCEWEC2006,AthensMartinGeyler12DynamicInflowModel(ECN):-Localinflowconditionatbladesectionsdependonfreewindspeedandloadsituationoftherotorinadynamicmanner.-Example:OvershootinbladerootbendingmomentforfaststeponpitchangleSimulationTjaereborgExperimentReal-TimeSimulation:AerodynamicModel(2)EWEC2006,AthensMartinGeyler13DynamicStallModel(Beddoes-Leishmann-Type):-Effect:dynamicliftforcescanbeconsiderablebiggerthanpredictedbystationarycL--curveforfastchangesinpitchangle.SimulationMeasurement(Risø)Real-TimeSimulation:AerodynamicModel(3)EWEC2006,AthensMartinGeyler142-DturbulentWindFieldissimulatedoff-lineandreadfromafileduringrealtimesimulationreproducibletimeseries-8x8pointsintherotorplane,-linearinterpolation-onlymeanwinddirectionReal-TimeSimulation:TurbulentWindFieldInput(1)MethodbyMann-windfieldisassembledina3D-boxbymeansofinverseFFT-FourierCoefficientscalculatedfromspectral-tensor(only11used)-„frozenturbulence“:dimensionL1isusedastimeaxisParameterfittingtoKaimalspectrumInputparameters:-meanwindspeed,-meanwindshear,-turbulenceintensityExtremegusteventscanbeembeddedintostochasticturbulentwindfield:-MostlikelygustshapecalculatedfromcorrelationmatrixRandagivencriterione.g.totaljumpinwindspeedatgivenlocationEWEC2006,AthensMartinGeyler15Real-TimeSimulation:TurbulentWindFieldInput(2)Averagedauto-powerspectrumforsimulatedwindfieldsExampleforextremegusteventCriterion:v=10m/s,t=16s,locationEWEC2006,AthensMartinGeyler16-3Dvisualisationtoolformotionandloadsituationofsimulatedwindturbine-VRMLbased-Visualisationcoupledtoreal-timesimulationviaTCP/IPbasedcommunicationchannelVisualisationwithVRMLReal-TimeSimulation:VisualisationEWEC2006,AthensMartinGeyler17FirstResults(1)-Algorithmforyawandtiltmomentcompensationimplementedandtestedsimulated