Fuzzy PID Controller for Wind Turbines

Cheng, Xiao
1
; Lei, Zhang
1*

1
School of Electrical Engineering and Automation
Hebei University of Technology
Tianjin ,China
* Corresponding author, zhanglei@hebut.edu.cn
Junqiu, Yan
2

2
School of Computer Science and Engineering
Hebei University of Technology
Tianjin ,China


AbstractPID and fuzzy PID controller are applied into the
wind turbine with nonlinear mathematical model. PID control
has simple principle and its parameters setting are rather easy.
Fuzzy control need not to establish the mathematical of the
control system and has strong robustness. Fuzzy PID control is
combined with PID control and fuzzy control. The advantages
of fuzzy PID control are simple, easy in setting parameters and
strong robustness. Fuzzy PID controller combines with closed-
loop optimal fuzzy reasoning (COFR), which can effectively
improve the robustness, when the robustness is special
requirement. MATLAB software is used for simulations,
results display that fuzzy PID controller which combines with
COFR has better performances than PID controller when
errors exist, especially robustness performance.
Keywords- wind turbine; fuzzy PID controller; closed-loop
optimal fuzzy reasonin
I. INTRODUCTION
Wind energy is the alternative energy source with the
most realistic chance to displace large amounts of fossil fuel
combustion [1]. A wind turbine system mainly consists of
wind turbine, generator and cut-in device. Generator is an
important device that converts the turbines mechanical
energy obtains from wind into electrical energy.
The common control strategy in the wind power
generation system is PID control. PID control is an easily
understood algorithm that can provide excellent control
performance. Fuzzy control has good strong resistance
ability to perturbation. Due to instability of the wind, the
control system needs robustness. Combined PID control with
fuzzy control not only contains good dynamical response and
higher robustness of fuzzy control, but also has higher
precision of PID control.
Closed-loop optimal fuzzy reasoning introduces the idea
of optimization and feedback into fuzzy reasoning. It can
improve robustness effectively. Most of wind farms in china
are with sand and great temperature difference, which need
higher robustness. So the fuzzy reasoning of fuzzy PID
controller uses COFR.
In this paper, firstly introduces the mathematical model
of the wind generator; secondly introduces the structure of
fuzzy PID controller; thirdly provides the COFR; fourthly
using MATLAB software for PID control and fuzzy PID
control with COFR simulations and analyzing results; finally,
make a conclusion from analyzing performances of control
systems.
II. MATHEMATICAL MODEL OF THE WIND GENERATOR
A typical wind turbine system consists of wind wheel,
gearbox and generator is indicated in Fig. 1.
m
J
e
J
e
wind wheel
gearbox
generator

Figure 1. The structural diagram of the wind turbine.
The transmitted power p (w) is deduced from the wind
power using the power coefficient
p
C as [2].
3
w
p k e = .
( )
5
3
1
2
w p
R
k C t

= . (1)
Where e is the rotation speed of the shaft (rpm), is the
air density (kg
3
m ), R represents the blade radius (m),
is the tip speed ratio.
The mathematical model of the wind generator is given
by [3].

2
w
nK
k B K
u
J J
|
u e
e e u
e
=

. (2)
where
2
2
2
m e
m e
m e
J J n J
B B n B
K K n K
= +

= +

= +

,
e
n
e
e
= ,
( )
f
u c I = , u is the
displacement angle of the wind wheel (rad),
m
J and
e
J are
the inertial coefficient of the wind wheel (
2
kg m ),
m
B ,
e
B ,
m
K and
e
K are the coefficient of friction (N m s
-1
rad ), n is the variable ratio of the gear,
e
e is the tarnsition
2009 Second International Conference on Intelligent Networks and Intelligent Systems
978-0-7695-3852-5/09 $26.00 2009 IEEE
DOI 10.1109/ICINIS.2009.28
74
velocity of the generator (rad
-1
s ), K
|
is the correlation
coefficient of the mechanical,
( )
f
c I is the flux of the
permanent magnetic (Wb).
III. STRUCTURE OF THE FUZZY PID CONTROLLER
There are different types of fuzzy PID controllers [4].
One of the earliest and very effective structures use a two-
dimensional linear rule base with standard triangular
membership functions [5] as shown in Table 1, which
actually combines fuzzy-PI and fuzzy-PD controllers as
shown in Fig. 2. And it is a very simple controller. There are
four input/output scaling gains,
e
K ,
d
K ,
0
K and
1
K for
control action adjustment. If fuzzy reasoning is different, the
corresponding results should be different. The next part will
introduce the COFR, which has strong robustnessefore.
Fuzzy
Reasoning
(linear rules)
+
+
K
e

K
d

1
E
e
e
u
PI
u
PD

1/s K
0

u
PID
s
2
E
K
1
u

Figure 2. A 2-dimensional configuration for PID type of fuzzy controllers.
TABLE I. A TWO-DIMENSIONAL LINEAR RULE BASE
E
2
/E
1
NL NM NS ZR PS PM PL
PL ZR PS PM PL PL PL PL
PM NS ZR PS PM PL PL PL
PS NM NS ZR PS PM PL PL
ZR NL NM NS ZR PS PM PL
NS NL NL NM NS ZR PS PM
NM NL NL NL NM NS ZR PS
NL NL NL NL NL NM NS ZR
NL NL NL NL NL NM NS ZR
where fuzzy variables of two inputs and one output
( )
1 2
, ,
PID
E E u all have seven standard triangular membership
functions (NL, NM, NS, ZR, PS, PM, PL) with equal spread,
and their domains are
| | 1,1 ,
1 e
E K e = ,
2 d
E K e = and
0 1
PID
u K udt K u = +
)
.
IV. CLOSED-LOOP OPTIMAL FUZZY REASONING SING
Optimal fuzzy reasoning had been firstly provided by the
previous paper [6]. The process of optimal fuzzy reasoning is
driven by optimizing the objective function. Different goals
lead to different fuzzy reasoning methods. Given a set of
fuzzy rules, an identical fuzzy premise implies different
fuzzy consequences for different reasoning goal. This makes
optimal fuzzy reasoning dramatically different from existing
methods of fuzzy reasoning as well as various rules of
inference in classical logics. Its basic idea is that introducing
the idea of closed-loop or feedback into optimal fuzzy
reasoning methods. The explicit feedback mechanism
embedded in the fuzzy reasoning method can significantly
improve the robustness of fuzzy reasoning, which is
concerned with the effects of perturbations associated with
given fuzzy rule bases and/or fuzzy premises on fuzzy
consequences.
The COFR is that dynamically adjusting New Rule
Relation. When a noise suddenly is added to the control
system, the current output of fuzzy controller will produce a
large change from the previous step. So, it is necessary that
making up a New Rule Relation by real-time data based on
the idea of filterer .
The structure of the kind of COFR is shown as Fig. 3.

Defuzzification
Rule Base
( R )
Reasoning
Premise
( A)
Implicational
Operation
Reasoning
Consequence
( B )
New
Rule Relation
( R )

Extra Fuzzy
Relation
(
w
R )
Fuzzification
Optimal Inference Method
( )
2 1
, E E
u
+

Reasoning
Goals
( J )

Figure 3. The framework of closed-loop optimal fuzzy reasoning based
on the idea of filter.
An extra fuzzy relation,
w
R , is dynamically generated by
using the latest w pairs of fuzzy premises and consequences,
where w can be called as the window number of COFR.
This extra fuzzy relation is then united with the fuzzy
relation R to make up an overall fuzzy relation R

for
optimal fuzzy reasoning. The fuzzy relation,
w
R , is united
with the fuzzy relation generated by current pair of fuzzy
premise and consequence to build New Rule Relation. The
basic idea of methods can be stated as follows:
- Suppose a fuzzy relation (matrix) R is gained from
the experience of experts (fuzzy rules) or data. Then
we should trust R and treat it as a basis for
evaluating the quality of a fuzzy reasoning method.
More specifically, suppose
( )
1 2 1 2
,
l
m n
R R R R r j j

= = (

* *"* has
incorporated the information of the l fuzzy rules
given a priori. Further suppose that fuzzy premise
1 2
, , ,
t t t t
m
A a a a ( =

! is given for fuzzy reasoning at
time
t
, with the resulting fuzzy consequence being
1 2
, , ,
t t t t
n
B b b b ( =

! , 1, 2, t = " . Let
( )
min ,
t t t t
i j ij
m n m n
R a b r

( ( = =

be the
corresponding fuzzy relation that incorporates
t
A
and
t
B . Let
75
( )
( )
( )
1
1
1
1
max if
,
max if
t d
ij
d t
m n
w w
m n
t w t d
ij
t w d t
m n
R R r t w
R r i j
R R r t w
s s

+
+ s s

(
= s

= = (

(
= >

*"*
*"*
. (3)
- If a fuzzy premise A is given, then a fuzzy
reasoning method will generate the corresponding
consequence B . A fuzzy reasoning method is
closed-loop and optimal if the matrix R

is the
closest to R in some sense, where
( )
w w
R R R R A B = =

* * , where
w
R
incorporates the information of the latest w fuzzy
relations and A B denotes that A implies B .
Remark: The difference between the above idea and that
of optimal fuzzy reasoning is that adding
w
R .
A specific reasoning goal in COFR is to optimize the
following objective function. This objective function
measures the absolute distance between the given fuzzy
relation R and the fuzzy relation R

[7].
( )
( ) ( )
( ) ( )
( ) ( )
2 2
11 1 11 1 1 1 1
1 1 1
2
2
1 1 1
w
cop
w w
n n n
w w
m mn m m mn m n
n m n
w
ij ij i j j
j i j
J R R R R A B
r r r a b r a b
r r r a b r a b
r r a b J
= = =
= =
| | v . v . | |
|
|
=
|
|
|
|
v . v .
\ .
\ .
= v . =
__ _

" "
# # # # # #
" "
*
.
(4)
where
( ) ( )
2
1
m
w
i ij ij i j
i
J r r a b
=
= v .
_
.
According to the tuning results of PID parameters, [8]
gives the parameter relationship of PID and fuzzy PID.
0 1 p d
K K K K = + .
0 1
0
d
i
K K K
T
K
+
= .
1
0 1
d
d
d
K
T
K
K
K K
=
+
.
1
e
K = . (5)
V. SIMULATION EXPERIMENTS
The structural diagram of the wind turbine control system
as shown in Fig. 4.

e
opt
R
+ +
v

Figure 4. The structural diagram of the wind turbine control system.
The wind speed v (m/s) is generated by the
wind_turbine_beta. The measurement error is the speed. The
modeling error is the attenuation degree of wind turbines
performance. Controllers of the wind turbine are PID
controller and fuzzy PID controller. The mathematical model
of wind generator is Equation (2).
A. Simulation parameters
Parameters of the pneumatic module include rotor
diameter is equal to 50 m and average wind speed is meet at
7 m/s. The measurement error (m/s) satisfies the normal
distribution of
( )
2
0, 0.6 N . The modeling Error (m/s)
satisfies the normal distribution of
( )
2
~ 0.5, 0.125 a N ,
which Equation (1) satisfies ( )
5
3
1
2
w p
R
k aC t

= , the
window number of COFR is 2.
In this section, fuzzy PI and PI controllers are used in the
wind turbine control system. Parameters of PI controller are
80000
p
K = and 6000000
i
K = (
i
i
p
K
T
K
= ). Parameters
of fuzzy PID controller are according to Eq. (5).
( )
i
IAE e i =
_
is selected as the performance of control
systems.
B. Simulation results and interpretations
Fuzzy PID and PID control systems simulate in the two
conditions, that is, only measurement error and both
measurement and modeling errors. Mean-value and variance
of control systems performance are shown in Table 2 and
Table 3.
TABLE II. MEAN-VALUE OF CONTROL SYSTEMS PERFORMANCE
(RAD/S)
Measurement
Error
Measurement and
Modeling Errors
fuzzy PID
203.4245 206.3116
PID
213.2294 210.5747
The mean-values of fuzzy PID with COFR and PID
control systems have no difference.
TABLE III. VARIANCE OF CONTROL SYSTEMS PERFORMANCE
(RAD/S)
Measurement
Error
Measurement and
Modeling Errors
fuzzy PID
16.6437 19.0506
PID
18.7793 32.9477
For measurement error, fuzzy PID controller with COFR
is better than PID controller and improves 11.37% on
variance. For measurement and modeling errors, fuzzy PID
controller with COFR is better than PID controller and
improves 42.18%.
So, fuzzy PID controller with COFR is better than PID
controller when errors exist.
76
VI. CONCLUSION
The wind power system is a strongly nonlinear system
that has multivariable and uncertainly. Using fuzzy PID
controller with COFR for wind turbine, simulation results
display that fuzzy PID controller with COFR has better
performances than PID controller when errors exist,
especially robustness performance.
ACKNOWLEDGMENT
This work was supported by the Foundation of Hebei
Education Department, China under Grant 2008313.

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