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Research Article
art ic l e i nf o a b s t r a c t
Article history: In this paper, a novel synthesis of Nussbaum-type functions, and an adaptive radial-basis function neural
Received 11 January 2016 network is proposed to design controllers for variable-speed, variable-pitch wind turbines. Dynamic
Received in revised form equations of the wind turbine are highly nonlinear, uncertain, and affected by unknown disturbance
20 March 2016
sources. Furthermore, the dynamic equations are non-afne with respect to the pitch angle, which is a
Accepted 8 April 2016
Available online 2 May 2016
control input. To address these problems, a Nussbaum-type function, along with a dynamic control law
This paper was recommended for publica- are adopted to resolve the non-afne nature of the equations. Moreover, an adaptive radial-basis function
tion by Dr. Jeff Pieper. neural network is designed to approximate non-parametric uncertainties. Further, the closed-loop sys-
tem is made robust to unknown disturbance sources, where no prior knowledge of disturbance bound is
Keywords: assumed in advance. Finally, the Lyapunov stability analysis is conducted to show the stability of the
Wind turbines
entire closed-loop system. In order to verify analytical results, a simulation is presented and the results
Adaptive control
are compared to both a PI and an existing adaptive controllers.
Robust control
Adaptive neural network & 2016 ISA. Published by Elsevier Ltd. All rights reserved.
Nussbaum-type functions
http://dx.doi.org/10.1016/j.isatra.2016.04.008
0019-0578/& 2016 ISA. Published by Elsevier Ltd. All rights reserved.
234 P. Bagheri, Q. Sun / ISA Transactions 63 (2016) 233241
input for low wind speeds (i.e., the rst region). In this case, the capture. As previous works in the literature suggest, there exits an
pitch angle is maintained at a constant value. On the other hand, optimal rotor speed in the torque control phase, which results in
for high wind speeds, in the second region, the pitch angle is the maximum power extraction [7]. The optimal rotor speed is
adopted as the control input, while the generator torque is kept time-varying and proportional to the wind speed. Thus, the
constant as it reaches the vicinity of its rated value [8,9]. achievement of the asymptotic stability in the torque control
Various linear control methods have been developed to address phase is of prime importance. However, the establishment of such
the aforementioned control objectives in the literature. Examples stability for the nonlinear dynamics of wind turbines in the pre-
of such methods are, LQ and LGQ controllers [10,11], PI and PID sence of uncertainties and disturbance sources is not achieved in
controllers [12], and liner robust methods [13]. Although linear existing methods. Contrary to existing methods in the literature
controllers have been widely utilized for wind turbines, highly [19], the proposed scheme can guarantee the asymptotic stability
nonlinear nature of wind turbines compromises the performance of the closed-loop system in the torque control phase. It is worth
of such controllers [14]. mentioning that such stability is obtained in the presence of
As mentioned earlier, the existence of highly nonlinear terms, parametric and non-parametric uncertainties, and unknown dis-
uncertainties, and unknown disturbance sources in the dynamic turbance sources. In addition, in contrast to the existing methods,
equations of wind turbines affect the performance of linear con- the direction of the non-afne input (i.e., pitch angle), and the sign
trollers adversely. Hence, nonlinear approaches suit the nonlinear of its derivatives are assumed to be unknown. Thus, no prior
dynamics of wind turbines, which contribute to better perfor- knowledge of the non-afne function is presumed in the extrac-
mance. Several research works have been conducted in attempts tion of control laws for the non-afne input. Consequently, the
to design nonlinear controllers for wind turbines. A combination proposed controller enables the turbine to reach desired rotor
of a sliding mode control and a PI controller is adopted in [15]. speeds, which leads to the maximum power capture. On the
Authors in [15] propose a sliding mode design for the torque
contrary, the existing nonlinear methods are incapable of estab-
control, and a PI controller for the pitch angle. The proposed
lishing the asymptotic stability in the presence of unknown dis-
controller accommodates nonlinearities in the torque control
turbance and uncertainties, which compromises power capture
phase. However, in order to avoid the complexity of the non-afne
efciency. In the proposed scheme, a Nussbaum-type function is
nature of the pitch angle, a PI control is designed for the pitch
utilized to address the non-afne nature of the dynamic equations.
angle. A nonlinear model predictive controller is designed in [16].
Moreover, an adaptive neural network is designed to approximate
It is assumed that the pitch angle is xed, hence, the controller is
uncertain and unmodeled dynamics. Furthermore, the entire
applied to the torque control phase. In addition, uncertainties and
closed-loop system is made robust to unknown disturbance
disturbance sources are not considered in the design. Neural net-
sources, without any knowledge of disturbance bound. At the end,
works are proven to be effective ways of coping with non-
the stability of the closed-loop system is demonstrated by the use
linearities and uncertainties [17]. One of the benets of using
of the Lyapunov stability analysis.
neural networks is their adaptation capabilities. Consequently,
they can approximate parametric and non-parametric uncertain-
ties real-time, without any previous knowledge of those uncer-
tainties [18]. An example of such nonlinearities in the dynamics of 2. Problem statement
the turbine is corresponding to the pitch angle, which is also a
control input. The dynamic equations is non-afne with respect to The objective of this paper is to develop a nonlinear controller
the pitch angle, which creates an uncertain non-afne system. To for variable-speed, variable-pitch wind turbines in the presence of
cope with this challenge, there exist a few studies that suggest the unknown disturbance sources and uncertainties. The proposed
use of neural network-based approximators. Authors in [19] controller accounts for turbines non-afne and uncertain
developed adaptive controllers for variable-speed variable-pitch dynamics, in order to maximize the power capture.
wind turbines, where neural networks are used to approximate The wind turbine, considered in this study has two manipu-
uncertainties and disturbance. Nevertheless, the asymptotic sta- lated inputs: 1. Generator torque. 2. Pitch angle. To exploit these
bility of the closed-loop system is not achieved, and restrictive control inputs, the following two-phase control strategy is
assumptions are made to tackle the non-afne pitch angle. A adopted:
control scheme to design RBF-PID controllers for wind turbines is
proposed in [20]. However, the method does not guarantee the 1. Torque Control: For wind speeds below the rated speed, the
asymptotic stability in the torque control phase, which adversely generator torque is used as the manipulated input. The goal in
affects the power capture efciency. The existing nonlinear and this phase is to achieve desired rotor speeds. Depending on the
neural network-based methods in the literature on addressing wind speed, there exists an optimal rotor speed, which leads to
both non-afness and uncertainties of the turbine equations, the maximum power capture. Therefore, the control objective is
introduce two major problems: 1. Such methods can merely to produce the right amount of torque, such that the rotor
establish stability in the sense of Lyapunov, as opposed to the rotates at the optimal velocity. Moreover, in the torque control
asymptotic stability. It means that the turbine does not operate at phase, the pitch angle is maintained at a constant value. The
desired speeds, required to achieve the maximum power capture optimal rotor velocity can be calculated as follows [7]:
efciency. 2. In order to establish stability, these methods require
opt v
prior knowledge of the directions of the non-afne input and its _ d 1
Rb
derivatives. Given the complex nature of the turbine equations,
such information is not available in practical applications. Thus, where _ d is the desired rotor speed; v is the wind speed; opt is
the objective of this study is to propose a method to eliminate the optimal tip-speed relation which depends on the blade
such restrictive assumptions, with the goal of the achievement of design and aerodynamics; Rb stands for the blades length.
the maximum efciency. 2. Pitch Control: As the wind speed approaches its rated value, the
In this paper, nonlinear control of variable-speed variable-pitch generator torque and rotor speed reach their rated values as
wind turbines is considered. The contribution of the paper is to well. Thus, the generator torque can be no longer used as a
develop a novel synthesis of Nussbaum-type functions and adap- manipulated input. Hence, the strategy in this phase is to keep
tive radial-basis function neural networks to maximize the power the generator torque at its rated value, and employ the pitch
P. Bagheri, Q. Sun / ISA Transactions 63 (2016) 233241 235
angle as a manipulated input. Thus, the pitch angle is used to established as follows:
hold the rotor speed at its rated value.
f ; _ ; v RT ; _ ; vQ h 9
As stated earlier, nonlinear function f in eq. (2) represents Theorem 1. For a system whose dynamics is governed by eq. (10),
unmodeled dynamics. Hence, a radial-basis function neural net- the following control and adaptive laws can establish the asymptotic
work is designed to approximate f. Based on the universal stability, and eliminate the tracking error asymptotically (i.e.,
approximation theorem, continuous functions on a compact sub- eA L2 \ L1 ). Furthermore, such stability is achieved in the presence of
set DC can be approximated by a nite number of neurons [22]. uncertainties and unknown disturbance sources. In addition, all
That is, for a function f x A L2 DC ; an approximator of the form closed-loop signals remain uniformly bounded.
f^ RT xQ can approximate f with a bounded approximation
R The proposed control laws are expressed as follows:
error. Moreover, Q arg min Dc f x f^ x : Q dx : Given the
explanation above, the structure of the proposed neural network is u1 1 e a^ d RT Q^ C^ _ T a 11
236 P. Bagheri, Q. Sun / ISA Transactions 63 (2016) 233241
Z 2
1 k ^ e
lim sup Nsds 1 30 u2 36
k-1 k 0
^e t
2
2
Proof. To analyze the stability of the closed-loop system using the ^ 2 e ^ e
aforementioned adaptive and control laws, the following Lyapu- e e^ e e^
^ e 1 t ^ e t
2
nov function is proposed
r 2 e2 1 G Ns 1s_ C~ C^ Q~ Q^ ~ ^ ~ ^
T
1 1 ~2 1 ~T ~ 1 ~2 1
V ae2 C Q Q ~ 2 41
^ e2 e2 ^ e
2 2
2 2p6 2p7 2p8 2p9 ^ 1 t
Taking time derivative of eq. (41) gives ^ e 1 t
2 2
^ e2 e2 ^ 2 te^
V e C s _ T g T a 0 G a RT Q h a d dt
_ n
^ e 2 t
1 _ 1 T 1 1 _
C~ C~ Q~ Q~ ~ ~_ ~ ~ r 2 e2 1 G Ns 1s_ C~ C^ Q~ Q^ ~ ^ ~ ^ 1 t 2 t
T
p6 p7 p8 p9
46
e C^ C~ _ T g RT Q^ Q~ h a d T a 0 G a
n
V_ r 2 e2 1 G Ns 1s_ 1 t 2 t
1 G Nss_ eC^ _ 2 e2 eT g eT a 0 eRT Q^ s_
n
1 2 1 2 1 2 1 T 1 T 1 T 1 1 2 1 2
1 ~_ 1 ~_ 1 1 _ ~ ^ Q Q Q~ Q~ Q^ Q^ C s 2 C~ C^
eu1 eu2 C~ C e_ Q~ Q eR ~ ~_ ~ ~
T
2 2 2 2 2 2 2 2 2
p6 p7 p8 p9
1 2 1 2 1 2
edt eh 2 e2 1 G Ns 1s_ C~
n 1 ~_
C e_ ~ ^ 48
p6 2 2 2
1 _ 1 1 _ Considering the structure of the Lyapunov function given by
Q~ Q~ eR eu1 eu2 ~ ~_ eh edt ~ ~
T
43 eqs. (33), (48) can be rewritten as follows:
p7 p8 p9
V_ r c1 V 1 G Ns 1s_ 1 t 2 t
To reach the desired form of V, _ the proposed adaptive laws
1 1 1 1 2 1 T 1 2 1 2 1 2
given by eqs. (37) and (38) are injected into eq. (43) as follows: 2 Q T Q C s 2 Q^ Q^ C^ ^ ^
2 2 2 2 2 2 2 2
1
V_ 2 e2 1 G Ns 1s_ C~ C^ Q~ Q^ eu1 eu2 ~ ~_ r c1 V 1 G Ns 1s_ 1 t 2 t
T
p8
1 T 1 2 1 2 1 2
1 _ Q^ Q^ C^ ^ ^ 49
eh edt ~ ~ r 2 e2 1 G Ns 1s_ C~ C^ Q~ Q^
T
2 2 2 2
p9
where c1 is a positive constant; 12 2 12Q T Q 12C s 2 12 is
2
1 1 _
eu1 eu2 eh ed ~ ~_ ~ ~ r 2 e2 bounded. The boundedness of stems from the fact that it merely
p8 p9
contains
the actual parameters
of the system. Note that
1 G Ns 1s_ C~ C^ Q~ Q^ eu1 eu2 e e
T
2
1^
T
1^ ^ 1~2
Q Q C
2
1^2
2 2 is always non-positive. Therefore, eq.
2
1 1 _
~ ~_ ~ ~ r 2 e2 1 G Ns 1s_ C~ C^ Q~ Q^ eu1
T
p8 p9 (49) can be rewritten as follows:
V_ r c1 V 1 G Ns 1s_ 1 t 2 t
1 50
~ ~ e ^ ~ ~ ~_ r 2 e2
1 _
eu2 e^ ~
p8 p9 Solution to eq. (50) can be written as follows:
Z t
1 G Ns 1s_ C~ C^ Q~ Q^ eu1 eu2 e~ e~
T
e c1 t 1 G Ns 1s_ d
Vt r e c1 t V 0
1 1 _
e^ e^ ~ ~_ ~ ~ 44 0
Z t
p8 p9
e c1 t 1 2 d 51
0
Substituting eqs. (39) and (40), which were dened to estimate
the bounds of the neural network error and disturbance source, It is concluded from the discussed property of Nussbaum-type
into eq. (44) leads to functions that if N(s) is a Nussbaum-type function, N(s) 1 is a
Nussbaum-type function as well. Using this property, eq. (51) is
V_ r 2 e2 1 G Ns 1s_ C~ C^ Q~ Q^ eu1 eu2
T
rewritten as
e~ e~ e^ e^ ~ ^ ~ ^ 45 Z t
Vt r e c1 t V0 e c1 t ec1 1 G N 1 ss_ d
As noticed, the control law has been divided into three parts. 0
Z t
The rst part, introduced in eqs. (35) and (36) is chiey respon-
e c1 t ec1 1 2 d
sible for tracking purposes. In addition, the remaining parts of the 0
control law, given by eqs. (35) and (36) are responsible for Z t Z t
ec1 1 G N 1 ss_ d e c1 t ec1 d
unknown bounds of the neural network error and disturbance r e c1 t V 0 e c1 t
0 0
source, respectively. Adopting eqs. (35) and (36), (45) becomes Z t
r e c1 t V 0 e c1 t ec1 1 G N 1 ss_ d 52
V_ r 2 e2 1 G Ns 1s_ C~ C^ Q~ Q^ ~ ^ ~ ^
T
0 c1
P. Bagheri, Q. Sun / ISA Transactions 63 (2016) 233241 239
where Z max f 1 t 2 t g . Thus, employing the Lemma, are compared. The considered wind turbine is an NREL-offshore-
given by eq. (32), implies that the closed-loop system is UUB, and all baseline 5 MW wind turbine. In order to make the dynamics
uncertain, _ was added to the equation as an unknown non-
2
the control signals remain bounded. As a result, the proposed
controller is able to adopt the pitch angle as a control input, despite linear function. In addition, unknown disturbance was added to
its non-afne nature. Furthermore, the designed controller also the wind prole, which can be seen in Fig. 1. The characteristics of
accounts for both parametric and non-parametric uncertainties, the considered wind turbine can be found in Table 1.
along with unknown disturbance sources. It is worth noting that no The control strategy is to, rst, increase the rotor speed up to
prior knowledge of the direction of the non-afne input (i.e., pitch the cut-in speed. Then, proportional to wind speeds, the desired
angle) was used in the derivation of the proposed method. Hence, rotor speed, given by eq. (1), is achieved so that the turbine
given the restrictive assumptions imposed on the non-afne por- operates at the maximum efciency. It is worth noting that the
tion of the dynamics and its derivatives in the literature [19], the generator torque is utilized as the input in this phase. However, as
proposed method is at advantage in practical applications. the rotor speed increases and approaches its rated value, the
Remark 1. As mentioned earlier, there exist methods in the lit- generator torque reaches its rated value as well. Thus, it can be no
erature, which can address the non-afne nature of the pitch longer employed as an input. Hence, the pitch angle is adopted as
angle, along with uncertainties [19]. However, such methods an input to keep the rotor speed at its rated value. The selected
require to impose restrictive assumptions on the non-afne control gain for the torque control phase is 1 5; and for the
function and its derivatives. However, the fulllment of such pitch control phase are 1 1 and 2 5: The wind speed prole,
assumptions for systems subjected to uncertainties cannot be used for this case study can be seen in Fig. 1. As seen from Fig. 1,
guaranteed. Be that as it may, no such restrictive assumptions are the considered wind prole has both increasing and uctuating
made in the proposed method. behavior, which makes it a suitable case to investigate the
adaptability of the proposed controller. Fig. 2 exhibits the perfor-
Remark 2. In the second control phase (i.e., pitch control), the mance of the proposed controller, compared to those of the PI
control objective is not the achievement of the maximum power
capture efciency. It is because in the pitch control phase, the rotor
should not exceed its rated value. In addition, the rotor speed rated
value is different from the desired speed for the maximum power
capture efcacy, given by eq. (1). Thus, the establishment of the
asymptotic stability is not of prime control importance during
this phase.
5. Simulation results
Table 1
NREL-offshore-baseline 5 MW wind turbine.
However, the PI controller and the one in [19] fail to follow the
desired rotor speeds in the second region. Nevertheless, the per-
formance of the controller proposed in [19] is superior to that of
the PI controller. However, the controller in [19] is not able to
establish the asymptotic stability, which eventuates in lower
power capture efciency. On the contrary, the proposed controller
can precisely track the desired rotor speed, which guarantees the
maximum power capture. Fig. 4 displays the required generator
torque for each controller. As seen from the gure, the PI controller
and the one in [19] demand a larger amount of torque, in contrast
to the proposed method. The main reason for this is due to the fact
that the tracking error of the proposed controller is smaller, which
results in lower generator torque. Since the tracking error of the PI
controller is larger than the one in [19], the required generator
torque of the one in [19] is less than the PI controller. It is worth
mentioning that the method proposed in [19] does not account for
the error caused by unknown disturbance source. Hence, it
experiences larger tracking error, which leads to greater deman-
ded torque. There also exits a larger amount of overshooting in the
beginning of the simulation in case of the PI controller, which
Fig. 6. Estimation of the damping coefcient. leads to higher generator torque. The pitch angle behavior can be
observed in Fig. 5. As it can be noticed, the proposed controller
controller and the one designed in [19]. As it follows from Fig. 2, results in smoother behavior, contrary to that of the PI controller.
and its zoomed-in version Fig. 3, all the three controllers function The pitch action of the method presented in [19] becomes steady
successfully to enable the rotor to reach the cut-in speed. at a higher degree, compared to the proposed method. It is
P. Bagheri, Q. Sun / ISA Transactions 63 (2016) 233241 241
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