Advanced Control Strategies For Managing Wind Energy Using Fuzzy Cognitive Maps

Vaia K. Gkountrouani
!a"
# $eter $. Groupos
!%"
(a)
Department of Electrical and Computer Engineering, University of Patras, Greece
(b)
Department of Electrical and Computer Engineering, University of Patras
(a)
v.gountroumani@ece.upatras.gr,
(b)
groumpos@ece.upatras.gr
A&S'(AC'
ind energy is currently a fast!gro"ing
interdisciplinary field t#at encompasses many different
branc#es of engineering and science. $odeling and
controlling "ind energy systems is a difficult and
c#allenging problem. %#e basic structure of "ind
turbines and some "ind control system met#ods are
briefly revie"ed. %#e need for using advanced t#eories
from fu&&y and intelligent systems in studying "ind
energy systems is identified and 'ustified. (u&&y
Cognitive $aps are used to model "ind energy
systems. )imulation studies are performed and obtained
results are discussed. $any open problems in t#e areas
of modeling and controlling "ind energy systems are
outlined.
*ey"ords+ modeling, control, energy systems, "ind
generators, fu&&y cognitive maps
). *+'(,-UC'*,+
it#out a doubt rene"able energy systems present
uni,ue opportunities for greater fuel diversity, security,
and geograp#ical dispersion of supply. %#e rapid pace
of t#e tec#nical and commercial development of
rene"able energy continues to reduce costs and increase
t#e number of bot# e,uipment suppliers and plant
operators. -s conventional fossil!fuel energy sources
diminis# and t#e "orld.s environmental concern about
acid deposition and global "arming increases,
rene"able energy sources (solar, "ind, tidal, and
geot#ermal, etc.) are attracting more attention as
alternative energy sources. -mong t#e rene"able
energy sources "ind energy #as been "idely utili&ed in
medium and small!si&ed applications. /t is also t#e most
promising candidate for researc# and development for
large!scale uses as t#e fabrication of less!costly "ind
devices becomes a reality.
%#e purpose of modern "ind energy conversion
systems (EC)) is to e0tract t#e aerodynamic po"er
from t#e "ind and convert it to electric po"er. %oday
t#e most "ide spread version of EC) is t#e #ori&ontal
a0is "ind turbine (1-%) "it# a 2 blade up"ind rotor
(1au 34546 %ong 3454). 7efore t#e introduction of
variable speed generators, t#e rotor speed on t#e 1-%
"as 8ept constant. %#is constraint limited t#e efficiency
of t#e "ind po"er capture. 9e" "ind turbines are able
to operate more efficient over a "ider range of "ind
speeds, "#ic# #as lead to more sop#isticated control
strategies "it# t#e added degrees of freedom. $odern
"ind turbines are controlled by t#e pitc# of t#e rotor
blades, t#e electromagnetic tor,ue of t#e generator and
by t#e ya" of t#e nacelle. %raditionally "ind turbines
are placed on land or on solid foundations if placed in
t#e "ater. %#is limits t#eir deployment to locations of
relatively s#allo" "ater because t#e construction costs
of an under"ater monopole are too e0pensive or
tec#nically impossible. $odeling and controlling suc#
systems is e0tremely difficult but absolutely needed.
/n t#is paper an overvie" of e0isting advanced
modeling and control t#eories in analy&ing and studying
"ind generators is presented. /n Greece lately many
"ind farms #ave been installed on mountains. ind
energy production attracts interest as it encompasses
many different branc#es of engineering and science.
)tandard and -daptive tec#ni,ues #ave been used for
modeling and control "ind generators. %#e strong
points of t#ese met#ods are revie"ed, studied and
presented. )o, no"adays t#ere are many met#ods to
generate and control "ind energy. 1o"ever, t#e "ind
energy management is a c#allenging field. %#e need for
development of "ind energy "ill be modeled using
(u&&y Cognitive $aps. -n introduction to basic
t#eories of (u&&y Cognitive $aps is presented.
Especially t#e potential use of (u&&y Cognitive $aps is
investigated and future researc# directions are proposed.
.. M,-E(+ E/EC'(*C $,WE( S0S'EMS
%#e electrification of many processes t#roug#
tec#nological advances resulted in t#e continuous
development and evolution of t#e electric po"er system
over t#e last one #undred plus years. -s an e0ample, in
t#e U.).-. today, more t#an one t#ird of energy
consumption is in t#e form of electric energy. %#e
modern day electric po"er system is responsible for
generating, transmitting and delivering more t#an one
t#ird of t#e total consumed energy. it# t#is progress,
t#e comple0ity of t#e system #as gro"n. %o manage
t#is comple0 system, monitoring, control and operation
functions are computer assisted. %#e systems for
computer control of electric po"er systems #ave
evolved as computer and monitoring tec#nology
evolved. %#roug#out t#e years, t#ese systems #ave been
named :Control Centers;, :Energy $anagement
)ystems (E$));, :/ndependent )ystem <perations;,
:Po"er Decision )upport Centers;, etc. %#e names
reflect t#e c#anging emp#asis in t#e functions of t#ese
control centers. %#e term Energy $anagement )ystem
(E$)) is used more often.
%#e E$) concept comprises #ard"are and soft"are
for t#e purpose of monitoring and controlling t#e po"er
system. %ypically, t#e function of monitoring is fully
automated. Control functions, #o"ever, are eit#er
automated or manual. E$) #ave evolved from t#e
traditional dispatc#er=s office. %#e dispatc#er #ad in #is
reac# supervisory e,uipment. 7ased on #is e0perience,
#e "ould monitor t#e supervisory e,uipment and "ill
control t#e system appropriately. %#e control "as
manually e0ecuted upon communication bet"een t#e
dispatc#er and local operator (for e0ample, plant
operator). 1o"ever as si&e and comple0ity of t#e
system gre", t#is approac# "as not ade,uate. - number
of incidents indicated t#at t#e security of t#e system,
defined as t#e ability to operate in sync#ronism under
possible random disturbances, cannot be guaranteed
"it# t#is simple approac#. %#e "#ole problem out of
t#is need, a compre#ensive and integrated approac# to
monitor and control a po"er system #as emerged.
-dvances in computers and po"er system #ard"are
provided ne" possibilities. -s tec#nology evolved so
did t#e energy measurement system. - modern energy
management system is presented belo".
1. W*+- 'U(&*+E '2E,(*ES
1.) &asics
- "ind turbine (%) consists of turbine to"er, blades,
rotor, generator, nacelle, s#aft, drive or coupling device,
converter and control system.
(igure 5+ ind %urbine )tructure
%#e nacelle #ouses t#e generator, "#ic# is driven by t#e
#ig#!speed s#aft. %#e #ig#!speed s#aft is in turn usually
driven by a gear bo0, "#ic# steps up t#e rotational
speed from t#e lo"!speed s#aft. %#e lo"!speed s#aft is
connected to t#e rotor, "#ic# includes t#e airfoil!s#aped
blades. %#ese blades capture t#e 8inetic energy in t#e
"ind and transform it into t#e rotational 8inetic energy
of t#e "ind turbine.
1.. 'ypes
%#ere are t"o main types of "ind turbines+
#ori&ontal a0is and vertical a0is.
(igure 3+ ind %urbine Configuration
1ori&ontal a0is turbines, "#ic# are more common,
#ave to point into t#e "ind and t#eir a0is is #ori&ontal.
7ecause of t#e angle of t#eir blades, t#ey can collect t#e
ma0imum amount of "ind energy. >ertical a0is
turbines #ave a0es t#at are vertically stic8ing out of t#e
ground and blades t#at rotate around t#e a0is. %#ey
don=t need to point into t#e "ind, "#ic# ma8es t#em
more useful in places "#ere t#e "ind direction is
unpredictable.
1.1 Constant and Varia%le speed 3ind tur%ines
)ome "ind turbines are designed to operate at a
constant speed, "#ile ot#ers are built to rotate at
variable speeds. %#e internal components of t#ese t"o
types of turbines are very different. /n constant speed
mac#ines, t#e connection bet"een t#e generator and
grid do not allo" for muc# variation in t#e blade
rotation speed. >ariable speed turbines use po"er
converters t#at allo" for a "ider range in blade
rotations. Po"er converters add to t#e cost of t#ese
mac#ines, but variable speed "ind turbines provide
significant advantages to a "ind farm and engineers
continue to researc# "ays to ma8e t#ese turbines more
efficient.
1.4 ,perating (egions
%#e output po"er of "ind turbines varies "it# "ind
speed, but is not proportional to it, as t#e energy t#at t#e
"ind contains increases "it# t#e cube of t#e "ind
speed. >ariable speed "ind turbines #ave four main
regions of operation. - stopped turbine or a turbine t#at
is 'ust starting up is considered to be operating in
?egion 5 in "#ic# t#e "ind speed is too lo" for t#e
turbine to generate po"er. ?egion 3 is an operational
mode in "#ic# it is desirable to capture as muc# po"er
as possible from t#e "ind and lies bet"een t#e cut!in
speed and rated speed. 1ere t#e generator operates at
belo" rated po"er. /n ?egion 2, in "#ic# t#e "ind is
sufficient for t#e turbine to reac# its rated output po"er,
t#e turbine must limit t#e captured "ind po"er so t#at
safe electrical and mec#anical loads are not e0ceeded.
?egion @ is t#e period of stronger "inds, "#ere t#e
po"er in t#e "ind is so great t#at it could be detrimental
to t#e turbine, so t#e turbine s#uts do"n.
4. C,+'(,/ S'(A'EG*ES
-bove rated "ind speed, t#e primary ob'ective is to
8eep po"er output of t#e turbine and associated loads
on t#e turbine structure "it#in design limits. Classical
tec#ni,ues suc# as proportional, integral, and derivative
(P/D) control of blade pitc# ()vensson and Ulen 5AB3)
are typically used to limit po"er and speed on bot# t#e
lo"!speed s#aft and #ig#!speed s#aft for turbines
operating in region 2. /n addition, several model!based
classicalCoptimal control design tec#ni,ues #ave been
used to design controllers to regulate generator speed in
#ig# "ind speed conditions ()tol and 7allas 34456
>i#riala 3443). 7elo" rated "ind speed, t#e focus is on
ma0imi&ing po"er capture. %#e loads on structure are,
generally, small. /n t#is region of operation (region 3),
generator tor,ue control ((ingers# and Carlin 5AAB) is
usually used. /n ()tol and 7allas 3443) disturbance
accommodating control is used to limit po"er and speed
in region 2. %#e reduction of mec#anical loads on t#e
to"er and blades is anot#er area of turbine control
researc# (rig#t and 7alas 344@).
(urt#ermore, t#ere are many aspects of "ind turbine
performance t#at can be improved "it# more advanced
control development. ?esearc#ers #ave developed
met#ods for using adaptive control to compensate for
un8no"n or time!varying parameters in regions 3 and 2
(7#o"mi8, )pDe and Enslin 5AAA6 (reeman and 7alas
5AAA6 )ong, D#ina8aran and 7ao 3444). - fe"
researc#ers #ave also begun to investigate t#e addition
of feedfor"ard control to improve t#e disturbance
re'ection performance "#en t#e incoming "ind profile
deviates from t#at e0pected (1and, rig#t, (ingers#
and 1arris 344E). $ost of t#ese feedfor"ard controllers
use estimates of t#e disturbance or "ind deviation. (or
instance, lidar sensors can provide ,uantities
representing t#e "ind speed and direction and various
"ind turbulence and s#ear parameters (1and, rig#t,
(ingers# and 1arris 344E). -dvanced "ind turbine
controllers are discussed in (Fa8s, Pao and rig#t
344A).
<t#er researc#ers #ave developed tec#ni,ues in
order to ,ualify output po"er and guarantee operation
of t#e "ind turbine. %#eir studies focus on+ vector
control, optimi&ation control, po"er smoot#ing control
and voltage control. >ector control is "idely applied in
t#e control of induction mac#ines and several types of
t#is control type are discussed in (CGrdenas and Pena
344@6 C#o"d#ury and C#ellapilla 344E). <ptimi&ation
control of "ind turbine includes several ob'ectives, suc#
as ma0imum po"er output, ma0imum po"er efficiency,
minimum control input, minimum loss, etc. ?eferences
($i#et!Popa, 7laab'erg and 7oldea 344@6 $unteanu,
Cutululis, 7ratcu and Ceanga 344H) discuss
optimi&ation control met#ods for ma0imi&ing po"er
e0traction using algorit#ms, robust controllers, etc.
Po"er fluctuation is one dra"bac8 of "ind po"er
"#ic# can influence po"er ,uality. /n (CGrdenas, PeIa,
-s#er and Clare 344@6 )en'yu, )a8amoto, Urasa8i,
(unabas#i, (u'ita and )e8ine 344E) control strategies
pointing to po"er smoot#ing are presented. >oltage
control of "ind turbine or "ind farm is not
indispensable for itself, but also plays a great role in
voltage stability of grid. /n (%apia, %apia and <stola&a
344@6 1at&iargyriou, *ara8atsanis and Forent&ou 344H)
t#e issue of voltage control is discussed.
$odeling and control nonlinear comple0 systems,
"it# ne" system t#eories, #ave al"ays been fruitful
c#allenges. $any approac#es #ave been developed.
)ome of t#em #ad good success in applying t#em to
"ind energy "#ile some ot#ers #ad some :problems;.
1o"ever, a ,uestion as to #o" muc# "ind energy
s#ould be produced on a given geograp#ical region #as
not yet found a realistic and acceptable solution.
-lt#oug# (C$s #ave been used for "ind modeling
t#ere still is t#e ,uestion of optimal and cost effective
generation.
5. *+'(,-UC'*,+ ', FU660 C,G+*'*VE
MA$S
(u&&y cognitive map ((C$) is a soft computing
tec#ni,ue, "#ic# follo"s a reasoning approac# similar
to t#e #uman reasoning and #uman decision!ma8ing
process and is capable of dealing "it# comple0 systems.
(C$ is a promising modeling met#od for describing
particular domains s#o"ing t#e concepts (variables) and
t#e relations#ips bet"een t#em ("eig#ts) "#ile it
encompasses advantageous features. (C$ model
represents t#e "#ole system by a signed directed grap#
"it# feedbac8s, "#ic# indicate cause and effect among
t#e concepts. /t models a system as a collection of
concepts and causal lin8s bet"een t#em. %#e concepts
are represented by nodes in t#is grap# and eac# concept
represents a particular c#aracteristic of t#e system. /t
must be mentioned t#at all t#e values in t#e grap# are
fu&&y, so concepts ta8e values in t#e range bet"een
J4,5K. /n t#e (C$ model cause and effect relations#ips
among t#ese concepts is indicated by interconnected
"eig#ted lin8s t#at #ave eit#er positive or negative
signs and different "eig#ts "#ic# belong to t#e interval
J!5,5K. Eac# lin8 gets a "eig#t i' according to t#e
strengt# of t#e causal relations#ip bet"een t#e concepts
Ci and C' ((igure 2).
(igure 2+ Grap#ical dra"ing of a (C$ "it#
concepts and "eig#ted interconnections
%#ere are t#ree possible types of causal relations#ips
bet"een concepts+
'i L 4, "#ic# indicates positive causality
bet"een concepts C' and Ci. %#at is, t#e
increase (decrease) in t#e value of C' leads to
t#e increase (decrease) on t#e value of Ci.
'i M 4, "#ic# indicates negative causality
bet"een concepts C' and Ci. %#at is, t#e
increase (decrease) in t#e value of C' leads to
t#e decrease (increase) on t#e value of Ci.
'i N 4, "#ic# indicates no relations#ip
bet"een C' and Ci.
(rom simple observation of t#e grap#ical representation
of (C$, it becomes clear, "#ic# concept influences
"#ic# ot#er concepts, s#o"ing t#e interconnections
among concepts and it permits t#oug#ts and suggestions
for t#e reconstruction of t#e grap#, as t#e adding or
deleting of an interconnection or a concept. /n
conclusion, (C$s are fu&&y!grap# structure, "#ic#
allo" systematic causal propagation, in particular
for"ard and bac8"ard c#aining.
7e#ind t#e grap#ical representation of an (C$ t#ere
is a mat#ematical formulation "#ic# describes t#e
(C$. >alues of concepts are fu&&y and arise from t#e
transformation of t#e real values of t#e corresponding
variables for eac# concept6 and t#ere are fu&&y values
for t#e "eig#ts of t#e interconnections among concepts.
%#en, (C$ is free to interact, so t#e value of eac#
concept at every simulation step is calculated by
applying t#e follo"ing calculation rule (Groumpos and
)tylios 3444)+
5 5
5
( )
N
t t t
i j ji i
j
j i
A f A W A

=

= +

"#ere
5 t
i
A

is t#e value of t#e concept Ci at
iteration step t!5 and
t
i
A
is t#e value of t#e concept Ci
at iteration step t.
Usually t#e f function is+
5
( )
5
x
f x
e

=
+
"#ic# is t#e unipolar sigmoid function, "#ere OL4
determines t#e steepness of t#e continuous function
f(0).
7uilding an (C$ model of a process or plant
depends on #uman e0perts "#o #ave 8no"ledge on t#e
operation of t#e system. )ome e0perts understand
potential influences and interactions bet"een concepts.
)o, t#e e0pert.s 8no"ledge is transformed into a
dynamic "eig#ted grap#. E0perts describe t#e e0isting
relations#ip bet"een t#e concepts as a degree of
influence using a linguistic variable, suc# as Plo"P,
PmediumP, P#ig#P, etc. $ore specifically, t#e causal
interrelations#ips among concepts are declared using
t#e variable influence "#ic# is interpreted as a linguistic
variable ta8ing values in t#e universe of discourse J!5,
5K. - detailed description of t#e development of (C$
model is given in ()tylios and Groumpos 344@).
7. '2E C,+S'(UC'*,+ ,F A W*+-
GE+E(A',( S0S'EM US*+G FCM
'2E,(*ES
/n t#is section a (u&&y Cognitive $ap "ill be
constructed for a simple "ind generator system. -n
e0pert proposed us a system "it# si0 inputs (C5, C3,
C2, C@, CH, CE) and one output "#ic# is t#e production
of "ind energy (CQ). )o, t#e concepts are+
C5+ Energy demand
C3+ (ossil fuel reserves
C2+ ind tec#nologies C e,uipment C cost
C@+ Energy cost (from conventional sources)
CH+ ind velocity
CE+ Population gro"t#
CQ+ Production of "ind energy
Concepts stand in t#e interval J4, 5K. %#e closer to
t#e 5 t#e value of t#e output concept is getting, t#e
#ig#er t#e need "ind energy production is. -n e0pert
gave #is opinion about t#e interaction bet"een t#e
concepts and informed us about #o" muc# :energy
demand; (concept 5), :fossil fuel reserves; (concept 3),
:"ind tec#nologies C e,uipment C cost; (concept 2),
:energy cost (from conventional sources only);
(concept @), :"ind velocity; (concept H) and
:population gro"t#; (concept E) influence t#e
production of "ind energy (output+ concept Q). )o t#e
"eig#ts bet"een concepts are+
%able 5+ eig#ts bet"een Concepts
(5)
(3)
%#e "eig#t matri0 is presented belo"+
%able 3+ eig#t matri0
%#e initial (u&&y Cognitive $ap "it# t#e first
values of concepts "ill be as follo"s+
(igure @+ %#e (C$ $odel
%#e model s#o"n in (igure @ "ill be used in t#e
ne0t section in order to predict t#e "ind energy
production.
8. S*MU/A'*,+# (ESU/'S A+- -*SCUSS*,+
%#ree different scenarios "ill be simulated in order to
decide #o" muc# "ind energy production is necessary.
-s it "as mentioned above t#e values of t#e concepts
are bet"een J4, 5K.
5
st
)cenario+ )uppose t#at t#e e0pert decided as
initial values of t#e inputs t#e follo"ing "#ic#
correspond to a situation "#ere t#e need for "ind
energy production is lo"+
%able 2+ /nitial >alues of /nputs (5
st
scenario)
/nitial values
C5 4.3HC5 >ery lo"
C3 4.HC5 $edium
C2 4.QHC5 1ig#
C@ 4.@C5 $edium
CH 4.2C5 Fo"
CE 4.@HC5 $edium
%#e (C$ simulation for t#e 5
st
scenario #as t#e
follo"ing results+
(igure H+ )ubse,uent >alues of Concepts
"#ere t#e output value is CQN4.25H5. %#is value,
according to our e0pert, is satisfactory enoug# if "e
ta8e into account t#at t#e development of "ind energy
production s#ould be lo" "#en t#e inputs (C5, C3, C2,
C@, CH, CE) #ave t#ese initial values.
3
nd
scenario+ )uppose t#at t#e e0pert decided as
initial values of t#e inputs t#e follo"ing "#ic#
correspond to a situation "#ere t#e need for "ind
energy production is medium+
%able @+ /nitial >alues of /nputs (3
nd
scenario)
/nitial values
C5 4.HC5 $edium
C3 4.@HC5 $edium
C2 4.EC5 1ig#
C@ 4.HHC5 $edium
CH 4.HC5 $edium
CE 4.HHC5 $edium
%#e (C$ simulation for t#e 3
nd
scenario #as t#e
follo"ing results+
(igure E+ )ubse,uent >alues of Concepts
"#ere t#e output value is CHN4.HA5E. %#is value,
according to our e0pert, is satisfactory enoug# if "e
ta8e into account t#at t#e development of "ind energy
production s#ould be medium "#en t#e inputs (C5, C3,
C2, C@, CH, CE) #ave t#ese initial values.
2
rd
scenario+ )uppose t#at t#e e0pert decided as
initial values of t#e inputs t#e follo"ing "#ic#
correspond to a situation "#ere t#e need for "ind
energy production is #ig#+
%able H+ /nitial >alues of /nputs (2
rd
scenario)
/nitial values
C5 4.QHC5 1ig#
C3 4.3HC5 >ery lo"
C2 4.2HC5 Fo"
C@ 4.EHC5 1ig#
CH 4.EC5 1ig#
CE 4.QC5 1ig#
%#e (C$ simulation for t#e 2
rd
scenario #as t#e
follo"ing results+
(igure Q+ )ubse,uent >alues of Concepts
"#ere t#e output value is CHN4.B5B4. %#is value,
according to our e0pert, is satisfactory enoug# if "e
ta8e into account t#at t#e development of "ind energy
production s#ould be #ig# "#en t#e inputs (C5, C3, C2,
C@, CH, CE) #ave t#ese initial values.
9. C,+C/US*,+S A+- FU'U(E (ESEA(C2
/n t#is paper, "e first revie"ed t#e basic structure of
"ind turbines and t#en describe "ind turbine control
systems and control loops. e #ave seen t#at t#e
generator tor,ue and blade pitc# control systems are
very important in "ind energy system design.
)ignificant performance improvements are ac#ievable
"it# more advanced systems and control researc#. %#e
ne" met#od of (u&&y Cognitive $aps for modeling
and controlling nonlinear systems is used for first time
to model "ind energy conversion systems. %#e
proposed model is very simple in "#ic# only one e0pert
is used. 1o"ever t#e simulation studies s#o" t#at t#e
use of (C$s does provide a ne" promising
met#odology approac# in modeling and controlling
"ind energy systems.
)ome interesting c#allenging researc# topics
include+ 5) t#e validation of t#e proposed model 3)
include additional concepts in modeling "ind energy
conversion systems especially for different
geograp#ical regions 2) use more t#an t#e one e0pert @)
conduct simulation studies using real data for various
applications and H) use learning algorit#ms to train t#e
e0perts.
:. (EFE(E+CES
7#o"mi8, )., )pDe, ?., Enslin, R. 5AAA. Performance
optimi&ation for doubly!fed "ind po"er
generation systems. IEEE Trans. Ind. Applicat.
vol. 2H+A@ASAHB.
CGrdenas, ?., Pena, ?., 344@. )ensorless vector control
of induction mac#ines for variable!speed "ind
energy applications. IEEE Trans. Energy
Conversion vol. 5A+5AE!34H.
CGrdenas, ?., PeIa, ?., -s#er, G., Clare, R., 344@.
Po"er )moot#ing in ind Generation )ystems
Using a )ensorless >ector Controlled /nduction
$ac#ine Driving a (ly"#eel. IEEE Trans. Energy
Conversion vol. 5A+34E!35E.
C#o"d#ury, 1. 7., C#ellapilla, )., 344E. Double!fed
induction generator control for variable speed
"ind po"er generation. Electric Power Systems
esearc! vol. QE+QBESB44.
(ingers#, F., Carlin, P., 5AAB. ?esults from t#e 9?EF
variable!speed test bed. in Proc. "#t! AS$E Wind
Energy Symp.% pp .322S32Q. Ranuary 53!5H, ?eno,
9>.
(reeman, R., 7alas, $., 5AAA. -n investigation of
variable speed #ori&ontal a0is "ind turbines using
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