Model Predictive Control in Wind Turbine Sisca Dina 241420100 6 Nur Fitriyani 2414201010
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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