1340

IEEE Transactions

on

Power Apparatus and Systems, Vol. PAS-102, No. 5, May 1983

Control Design and Performance Analysis of a 6 MW Wind Turbine-Generator

A. Murdoch,Member,IEEE J.R. Winkelman ,Member,IEEE S.H. Javid,Member,IEEE

General Electric Co. Schenectady, N.Y.

R.S. Barton

General Electric Co. Valley Forge, PA

ABSTRACT
This paper discusses an approach to the modeling and performance for the preliminary design phase of a large (6.2 MW) horizontal axis wind turbine generator (WTG). Two control philosophies are presented, both of which are based on linearized models of the WT The control mechanical and electrical systems. designs are compared by showing the performance The through detailed non-linear time simulation. disturbances considered are wind gusts, and electrical faults near the WT terminals.
INTRODUCTION
Low cut-out is established at satisfactory startup. 11.5 hbPH, based on rotor underspeed. Gear shifting for two speed operation occurs near 21 hMPH and rating is reached at 29 hMPH.

The purpose of this paper is to report on the design of the primary control systems for operation of the WTG in a power system environment. The two control paths involve regulation of terminal voltage and electrical power output. The field excitation of the synchronous generator to regulate terminal voltage is a well understood problem that is not new to any aspect of bulk power generation.

The MOD-5A Wind Turbine Generator program is a in the overall Federal Wind basic element The goal of the MOD-5A program is to develop a reliable, commercially viable wind energy system, able to produce electricity at a competitive cost of energy at a site with a 14 MPH annual average wind speed at 32.8' reference height (6.2 m/s at 10 meters). The program is sponsored by the DOE, ,with technical management by the NASA Lewis Research Center.

Program[l12i.

The unique feature of the WTG that presents challenges in the control design is the variability of the turbine power. Unlike conventional generation where input energy can be scheduled and regulated,
wind energy is not a controllable resource. A control loop on blade pitch serves to regulate the percentage of energy that the WTG is extracting from the wind at To withstand severe wind gusts the any given instant. turbine control is designed to respond rapidly to changes in output power. The bandwidth of the power control path is comparable to the voltage regulator.

The program began in July of 1980, and is organized into three design phases: Conceptual Design, which was completed in March, 1981; Preliminary Design, which is scheduled to be completed in 1982; and Final Design, scheduled to begin in early 1982. Fabrication of hardware is to begin late in 1982, with installation and checkout of the first unit completed in 1984, followed by a two year Operation and Maintenance phase. At this point in time, a site for the first MOD-5A has not yet been identified. The MOD-5A system has been developed for a wind regime having a mean wind speed of 14 rMPH (reference height, 32.8', miles per hour). System size and features were established as a result of tradeoff and optimization studies driven by minimizing the system cost of energy (COE). This led to a 400' (122 m) rotor diameter size, and a synchronous generator rating of 6200 kW. The cut-in wind speed was selected to assure maximum output and to pre-empt "false starts" in low winds wherein mechanical and electrical losses are likely to exceed the energy to be derived from the wind. A cut-in wind speed of 14 hMPH (hub height, 250', miles per hour) has been established. A 25% blade tip length was found necessary for

and electrical faults near the unit terminals. The study work indicates that the design goals can be met with good transient performance.

Two designs for unit controls that satisfy the To verify design criteria are described. the robustness of the designs, the performance of the WTG system was evaluated for both wind gust disturbances

WIND TURBINE MODELING The basic components representation of a single WTG diagram in Figure 1.

involved

in

the

are shown in the block

Inf inite bus

Wind and Blade

Torque Calcs

10torsional

2-nmass

Synchronous

GeneratolsYr
e

XI

Ie,Vfdl

lA',V

Actuator Dynamics

Sensor

Dynamics

Feedback
Control

Output

Engineering Society for presentation the Summer Meeting, San Francisco, California, 1982. Manuscript submitted February 4, 1982; able for printing May 17, 1982.
at

82 SM 414-1 A paper recommended and approved by Power Systems Engineering Committee of the IEEE
IEEE July

Figure 1
the
Power
PES
1982
IEEE

Block Diagram of WT Model

18-23,
avail-

made

The three basic elements of the plant model are synchronous generator and network electrical dynamics, a mechanical torsional system, and the torque producing characteristics of the turbine blades. Also a part of the plant are models for the actuators,
the
1983 IEEE

0018-9510/83/0500-1340$01.00

1341
in this case the pitch angle hydraulics and the rotating exciter, and the sensor dynamics involved in measuring the system output variables.

The regimes of operation for the wind turbine over which the models must be designed are shown in Figure 2, where normalized power on the unit base is plotted versus wind speed at the hub. Start-up of the turbine occurs when time averaged wind speed is greater than 14 hMPH (6.2 mJs). The curve in this region is cubic in nature, reflecting the basic equation relating power to wind speed.
P
=

blades and rotor

Enough mechanical damping is present in the torsional system to have the open loop damping of the first torsional mode (local mode) increased to nearly 30% of critical damping. The implications of this increased natural system damping are twofold. First, the mechanical and electrical control paths become effectively decoupled, and second the need for damping improvement with a power system stabilizer in the excitation system is eliminated. A two mass model represents the torsional system. One mass represents the lumped equivalent of the structure, and the second
mass

npV3R2C p /2
p

(1)

is the mass density of air, V is wind velocity, R is the rotor diameter, and Cp is a power coefficient representing the aerodynamic efficiency of the blades at the operating point. In the sub-rated power regime the gearbox has a switch point at 21 hMPH, designed for maximizing energy capture.
Rated Power

where

constant in the shaft that connects the rotor and the generator. The first torsional mode (local mode) is at approximately 0.16 Hz and the upper torsional frequency is near 2.5 Hz.

synchronous generator rotor. The gearbox effects are translated into an equivalent spring and damping

is the

given in the appendix.

AERODYNAMIC MODELS

The data for the reduced order torsional model

dynamics since the present design includes a teeter degree of freedom in blade mounting. This simulation assumption decouples the blade response from any significant participation in the torsional dynamics.
is

The blades

are

not represented in the torsional

a. zO

20 -30 Wind Speed at the Hub (MPH)

of the two to include wind shear and tower shadow effects at a detailed level. The wind models which are available include an additive term the net representing effect of rotational non-linearities in the driving torque. The additive term has a frequency of twice the rotor speed (denoted 2P) due to the two blade configuration. The level of the 2P signal is approximately 6% half range on wind speed and 18% half range on rotor full load torque at rated conditions.

blades, there is

Without

individual

no need

representation

Figure 2 WT Operating Regimes

When the wind velocity reaches 29 hMPH, rated power operation is reached and the pitch angle controls switch to a mode where unit power is regulated to rated. It is in this regime that the study results presented in this paper were generated. The various elements of the models used in the studies are now described; first the drive train dynamics, then the turbine aerodynamic characteristics, and finally the generator and control system models.

The model of the turbine power is then given by equation (1) and the following closed form approximate relationship for C
C
p
=

(.44

.0167 S) sin[2(X-3)

[7.5

.156j-

(X-3) (.00184 B)
2

where a is the blade tip pitch angle, and X is blade tip speed ratio, a function of wind speed, V.
WR A = V

(3)

DRIVE TRAIN DYNAMICS

The rotor, to which the blades are attached, operates through a gearbox to supply power to the synchronous generator which is a 6 pole machine (1200 RPM). The two speed gearbox has a shift point at 21 hMPH in the subrated power regime. At low wind speeds the rotor velocity is 13.25 RPM and at higher power levels switches to 17.9 RPM. One of the salient features in the present design is the mechanical damping present in the gearbox. The first stage of the gearbox, the complete structure of which is described in reference (21, has epicyclic gearing with the outer ring gear constrained by a torsion bar suspension. Adding mechanical dashpots to the suspension significantly increases the equivalent mechanical damping in the gearbox, without changing the gearing efficiency.

In this equation WH is hub speed and the product Only the outer 25% of the blade surface is articulated so the pitch angle refers to the control position of this surface.

wHR is tip velocity.

Three types of wind models were available in the control design development and performance analysis; 1) A single 1-cosine (versine) gust with variable magnitude and period, 2) sinusoidal forcing at single or multiple frequencies, and 3) a severe wind gust representing a low probability of occurence (see reference 3).

GENERATOR AND CONTROL SYSTEM MODELS

The generator model is a conventional two axis representation of the synchronous machinet4]. The study objectives and spectrum of system eigenvalues indicate that stator electrical transients (pV terms) can be neglected. The resulting electrical

1342

model is of fourth order if two circuits per-axis are represented. The machine parameters are given in the Appendix. The control system representation depends on the dynamics involved in sensing the outputs (transducer dynamics), and the actuator dynamics in the two control paths; pitch angle and field voltage. Transducer dynamics involve first order equivalent time constants and non regulated variables use washouts (high-pass on the filters) output measurements. The field voltage path includes a first order representation of the rotating shaft-driven exciter, including saturation in the magnetic circuits. The pitch angle actuator is a first order equivalent with a rate limit of +10 degrees/sec. and a transport delay of 50 milliseconds to represent the fluid flow between the supply at the hub and the servo valve at the controllable blade tip section.

models. The non-linear model of the wind turbine described above was linearized around a nominal operating point. The linearized wind turbine model is both controllable and observable, and takes the

following form:
x =

Ax + Bu
Cx

(4)

where x is the n-dimensional state vector, u is the m-dimensional control vector, and y is the r-dimensional output vector. The problem is to design a control system of the form u = K(s)y to satisfy the performance goals, where s is the laplace operator. The two control designs discussed in this section designed using different design approaches. The first, a single loop design, uses a decentralized information pattern, that is, different measurements are used to determine each control, and classical design techniques. The second design approach coordinates the controls by using modern control design techniques with a centralized information pattern. In the following paragraphs we discuss the design of each controller, the performance analysis and a comparison between the two designs will be given in a subsequent section.
were

All of the models described above are programmed a modularly structured simulation program, POSSIM, which represents all the electromechanical dynamics in the system [5]. This program has the capability of time simulation with the full non-linear model, and can create linearized system state matrices at any specified operating point. The linearized state matrices are used in the control design and the resulting designs can be checked with time simulations over a wide range of operation. This gives an indication of the robustness of the control design and the performance capability.
into

Single Loop Design

From Table I we see that the open loop damping of the Local Mode is about 30% of critical. With such a high value it was felt that a power system stabilizer would not be needed. The voltage regulator package used in an earlier multi-megawatt WTG design was chosen as baseline for this initial design effort. Power regulation is achieved through a PI controller with an input from hub speed as a stabilizing signal. The block diagram of the control is shown in Figure 3.

The details of two control systems considered for the wind turbine are given in the next section. CONTROL SYSTEM DESIGN Two paths are available for control of the wind turbine. Field voltage control in the synchronous generator allows for regulation of the terminal voltage to a setpoint. The second path is control of the blade pitch angle which, together with available wind, effects the mechanical input power to the generator. The blade pitch control input is analogous to the throttle valve in conventional steam turbines, except that the bandwidth of the control, unlike the slow time scale dynamics used in a steam turbine governor control, is the same as that of the voltage control path. Both paths can be used to provide damping for local mode (the mode representing the electromechanical interaction of the WT with the rest of the power system). This regulation and damping must take place in the presence of random variations in wind, and electrical disturbances such as faults and line switchings.
The performance goals which influenced the design process include limiting transient excursions in terminal voltage to less than 5% for all disturbances except during faults and providing tight regulation for steady-state operation. To limit mechanical stress in the WT torsional system, a limit on transient power swings to 140% of rated power is imposed. This limiting level should be reached only infrequently to minimize cyclic stress levels. Also, there is both a rate limit (+10 degrees/second) and a steady state motion limit (+0.2 degrees) on the blade pitch actuator which controls the mechanical power. In addition, the closed loop damping on the local mode oscillation is desired to be 25% or better of critical damping. The remainder of this section will focus on describing the resulting control design and the options in implementing the voltage regulator.
The design methodologies used to synthesize the control systems in this paper are based on linear

Avt.

Vreg regulator
voltage

Figure 3

Decentralized Control Design

The closed loop eigenvalues for the decentralized controller were evaluated using linearized state matrices generated at an operating point corresponding to a 30 hMPH windspeed. The local mode damping has decreased from a value of near 30% of critical in the open loop system to 11%. This is somewhat less than the value of desired damping given in the design specifications.

Increased gain in the hub speed path of the power regulator can be used to increase local mode damping,

1343
however, this gain is limited by the steady state A limit on the blade pitch actuator motion. non-linear gain in the hub speed path based on the magnitude of hub speed error meets steady state requirements and provides increased stabilization during large disturbances. Values for the controller parameters may be found in the Appendix.

In this paper we focus on the practical aspects of using this design method in developing output feedback Preliminary controls for wind turbine generators. work in developing the design methodology for the WTG problem has been reported in Reference (12].
To satisfy the steady state motion limits of the blade pitch actuator a -10 dB 2P filter was inserted into the actuator path of each control. Consistent with the +10 degree/second rate limit in the blade pitch hydraulics, the output of the control was also rate limited at +10 degrees/second.
It was clear early in the design process that a high weighting on terminal voltage error, AVt, and electrical power error, APe, was needed to provide adequate regulation. In addition, some weights on the error, power electrical JAVt, and integrals, JAPe, were needed to allow the introduction of integral controls which insure zero steady-state The output weights resulting from the error. iterative design process are as follows: Output

Multivariable Output Regulator In the design of a multivariable output regulator for a wind turbine we would like to regulate certain output measurements while minimizing the use of the This can be mathematically posed as control. minimizing a performance index of the form
00

J= 1 2

(xT

Q x +

UT

R u) dt

(5)

An important part of the design process is choosing Q A variety of methods are available for and R. choosing these matrices[6 81. The method used here is iterative, using engineering judgment and a combination of output and control weightings. For any Q and R matrix the optimal solution to the LQR problem is obtained by minimizing J with respect to u, subject to (4). The optimal solution is obtained by finding the symmetric positive definite M satisfying

Avt IAVt

JAPe

APe

Weight 8 x lo0 1000

4000 1000

ATM,+ MA

MBR-lBTM

+Q = O

(6)

and setting
u

=-R

B Mx

=Gx

(7)

The corresponding closed loop system is

-T

x=(A

BR

B M)x

(A + BG)x

(8)

Once M has been obtained in ths manner, the results presented inL9-11) are used to compute the As described in static output feedback regulator. these papers, r optimal eigenvalue and eigenvector placements can be retained with the r (assumed independent) measurements in y. In particular if we let Xr be an n x r matrix contain r generalized right eigenvectors of (A + BG) corresponding to the r eigenvalues chosen to be retained in the output feedback control then feedback design, output

This resulted in the eigenvalue placement for full state feedback shown in Table I of the Appendix. The next stage in the design was to choose which measurements to use, and which eigenvalues to retain. The high AVt weight has primary effect on five eigenvalues -- local mode and three real electrical machine eigenvalues. Two of these machine eigenvalues Tight voltage combine to create a complex pair. regulation can be obtained by retaining the remaining real eigenvalue which is placed at -14.8 from -15.1. Thus, the measurement, AVt, is used to retain this. Modal observability shows that AWH (change in hub speed) and APe are good measurements to retain the new local mode placement. In addition the the IAvt and eigenvalue placements. retain five JAPe are used to Thus integrator measurements are used. The choice to retain a real eigenvalue which decreases in magnitude (from -15.1 to -14.7) may seem counter-intuitive; however, one must realize that the philosophy underlying the design process is to retain modes which will keep the essential aspects of the full state optimal design. Retaining this eigenvalue achieved the design goals.
The resulting output feedback gain takes the form

is10-11]

u = -R

-lT B M X

(CXr) -l y

A
=

Ky.

(9)
A
L
1

774
L39.8 L

24.6
98.8

3.3
14.7

24.3

The closed loop system is

x = (A + BKC)x
=

Avregj

1.6

11.51 -.97 j

AwH Avt
AP e

f AVt (11)

ACL x

(10)

fApe

and the matrix ACL has the r desired eigenvalues and If the remaining n-r eigenvalues of eigenvectors. ACL have negative real parts, this control is the solution to a suboptimal output feedback control
probleml 11]

and the resulting eigenvalues are for the static output feedback shown in the last column of Table I in the Appendix.
The next section presents some results obtained from non-linear simulation tests.

For the derivation of these equations, the cost corresponding to the output feedback design and the relation of this design method to others in the control literature, the reader should refer to[l11.

1344 Performance Analysis

The two regulator designs for the baseline single loop control and the multivariable control were implemented in the non-linear simulation program. Two disturbance inputs were chosen to compare the performance of the controls on the single WTG system. One is a severe wind gust and the second is a three phase stub fault at the high side of the unit transformer. These two inputs cover most of the rated power operating range, in which the control was designed, so that a determination on the robustness of the control can be made.

hour.

per-unit, terminal voltage and voltage regulator signal in per-unit, blade pitch demand and pitch angle in degrees, and wind speed at the hub in miles per

Plotted

are

electrical

and

mechanical

power

in

The response with the baseline single loop controls, Figure 4, shows that the electrical power swing meets the 40% criteria. Mechanical power, which is not measurable, does have transient excursions larger than 50%. Both local mode oscillations and 2P

The wind gust input chosen for the first of the two stud4es was determined in a previous DOE contract effort . It consists of a fast rise time gust which has a low probability of occurrence. It was determined by analyzing a large number of actual wind data records and determining their statistics, which were used to synthesize the corresponding input trajectory. The initial wind speed is 30 hMPH, near the low end of rated power operation, and the peak of the gust at 50 hMPH is near cut-out wind speed. Since only 10 seconds of data was available, the wind velocity was held constant for the remainder of the 20 seconds simulation time. Superimposed on the input wind velocity is a component at twice per hub revolution frequency (2P) to represent the aggregate effects of wind shear and tower turbulence.

oscillations are seen in the response. The terminal voltage shows a 3.5% dip following the peak of the wind gust, and the regulator signal shows the control action used in this effort. The wind speed indicates that the gust initiates near 30 hMPH, peaks at 50 hMPH (near cut-out), and has a final steady state level of 40 hMPH. The pitch angle demand signal shows the effect of the dual mode gain switch in the control. The high gain mode is initiated when hub speed deviations exceed a predetermined level. Its effect on pitch angle is apparent, and during these periods of time the pitch actuator is in rate limited operation.
The multivariable control design simulation results, Figure 5, show a regulation on electrical power of slightly over 25%, and mechanical power swings show the effects of the tight regulation peaking at about 40%. The terminal voltage excursions are significantly smaller, with regulation to about 1% for this gust input. Both the voltage regulator signal and blade pitch demand show smaller excursions and less motion in the control. This is a function of
1.6

Compared in Figures 4 and 5 are the response of the WTG to the severe wind gust for the baseline control and the multivariable control, respectively.

1.4
c

1.2

a,0. 1.0-

0.8
10
M

10
.

0.6
c 1.04
-

1.040

0
0

6
4

4 X 1.020

a.

6
4
0~

1.02
100[_
-

P 1.00
.98

I
a:

>

X 1-

.96

3v2 7a
0

XC .98
E

F .96 L
15

15

10
0 0

10
0

5-

0)

0 -5

0-5
-

0
0

S
0

0. SD

Figure 4

with conventional control

Time (Sec.) Response of the WTG to a severe wind g,

Figure 5

Time (Sec.) Response of the WTG to a severe wind gust with multivariable control

1345
the weighting on control energy which was included in the performance index and tends to minimize energy consistent with the other performance goals. Note that the pitch angle demand signal plotted is taken before the 2P notch filter which explains the 2P component, which is reduced by 10 dB at the actuator input. The second disturbance input used to evaluate the performance of the control was a three phase stub fault at the high side of the unit transformer. The time to clear the fault was fixed at 5 cycles and it was assumed that at the time of fault clearing the system configuration was identical to pre-fault. For these studies the transmission line reactance was reduced to 10%, together with the unit transformer of 10%, for a total tie reactance of 20%.
and little, if any, local mode or 2P response. The voltage regulator output is limited to +20 per unit due to hardware design. The regulator goes to positive ceiling when the fault is applied and the subsequent rotor angle swing reaches 140 degrees, near critical clearing time. The pitch angle demand signals goes slightly negative, however, the pitch angle remains positive.

The performance of the WTG with the baseline single loop controls is given in Figure 6. The plotted variables are the same as those from the wind gust study with the exception of wind speed, the bottom curve, which was replaced by generator rotor angle in degrees. The average wind speed was fixed at 30 hMPH for the fault studies, however, the equivalent 2P forcing input was present. It is apparent that electrical disturbances do not involve the high inertia rotor. A small amount of the 2.5 Hz second torsional can be seen in mechanical power at the initiation of the fault, but the dominant signal is the 2P induced power variation. The electrical power shows the second torsional signal which is well damped

The response with the multivariable control is shown in Figure 7. With this design tighter regulation of both voltage and power is achieved at the expense of slightly greater control effort when compared with that of the single loop design. As was the case with the single loop design, the mechanical power has only a small amount of 2.5 Hz torsional mode Electrical power, as one would expect, present. exhibits a significant amount of the 2.5 Hz torsional mode. However, it is well damped. Examination of the terminal shows excellent post fault voltage performance. Again, pitch angle demand is shown before the 2P filter and thus has a steady state component of 2P present. During the initial period where the large 2.5 Hz torsional mode is seen in electrical power error, the control output is in rate limit preventing an otherwise overactive control effort.

16e
1.4

Mechanical
I

- 1.2

20
0

1.2

20r

1.2

12 . M1.0
a.

4
-4

-I0
0

0.81

if
0

12 *:D 1.0 04 0.8

a0

0C

-12~
-20L

,ii c

-4
10
0i

E 4)

-12
-20

~ I-

.4 0.2

15 10
0

15

5
0

Blade Pitch Demand

Blade Pitch

10
aD
m

Blade Pitch Demand

B P

5
0

-5
160 120
In Q

-51
160

~~~~~Blade Pitch

12014
Rotor Angle
c

80
40

80
I

Rotor Angle

40 1

0l

2
Time (Sec.)

3 Time (Sec.)

Figure 6

WTG performance with a five cycle stub fault - conventional control

Figure 7

WTG performance with a fiive cycle stub fault - multivariable control

1346
CONCLUSIONS
The key issues that have been demonstrated by this paper can be summarized in the following points.
O

The modeling aspects of the current MOD-5A WTG design have been analyzed in sufficient detail to be representative of actual performance, and presented so that comparisons between existing or proposed WT control designs can be made.

Excellent performance has been achieved for both control designs during wind gusts and electrical system disturbances. Regulation on terminal voltage and electrical power is well within design goals.
The baseline control yields good performance without a power system stabilizer due to the increased mechanical damping in the gearbox, which does not vary appreciably with power level.
The baseline control will be used for the prototype machine since it integrates with existing hardware; an analog voltage regulation package and pitch angle control implemented by software in the digital controller.

FUTURE RESEARCH ISSUES

The further research areas that were not covered in this paper and form the basis for current and potential future work are as follows
o

10) J. Medanic, "Design of Low Order Optimal Dynamic Regulators for Linear Time-Invariant Systems," 1979 Conference on Information Science and Systems.
11) W.E. Hopkins, Jr., J. Medanic and W.R. Perkins, "Output Feedback Pole Placement in the Design of Suboptimal Linear Quadratic Regulators," to be published in Int. J. Control.

Investigate the sensitivity of the baseline control design to changes in the regulation functions, and system operating conditions. The baseline settings and structure of the voltage and pitch angle regulators will be modified to improve the transient response.
Investigate implementation of the pitch angle control in a digital environment. This includes selecting a sample time, determining stability margins, and structuring the algorithm to interface with the other functions within the controller hardware. Evaluate the effect of disturbance inputs and control design on other structural dynamics in the WT, such as the tower mode, which represefts the nacelle motion due to blade axial thrust forces.

12) S.H.

APPENDIX

Synchronous Machine Parameters

6200 kW

xk
ra

ACKNOWLEDGEMENT

Funding for this work was received under Department of Energy Contract DEN3-153, managed by NASA Lewis Research Center.
REFERENCES

Xd=
Xd=

1) W.H. Robbins and R.L. Thomas, "Large Horizontal Axis Wind Turbine Development," NASA TM-79174 or DOE/NASA 1059-79/2, Wind Energy Innovative Sys. Conf., Colorado Springs, May, 1979. 2) R.S. Barton and W.C. Lucas, "Conceptual Design of the 6 MW Mod-SA Wind Turbine Generator," Fifth Biennial Wind Energy Conference and Workshop, Washington, D.C., October 5-7, 1981.

Xd =

Tdo=
Td= do

_
it

3) "System

78SDS4206, 1978.

Conversion

Dynamics

of Multi-Unit Wind Energy Systems Applications," Final Report prepared for DOE/ERDA, February 15,

4) T.J. Hammons and D.J. Winning, "Comparisons of Synchronous-Machine Models in the Study of the
Transient Behavior of Electrical Power Systems," Proc IEE, Vol. 118, No. 10, October, 1971.

5) E.V. Larsen and W.W. Price, "MANSTAB/POSSIM Power System Dynamic Analysis Programs - A New Approach Combining Non-linear Simulation and Linearized State-Space/Frequency Domain Capabilities," IEEE PICA Conf., Toronto, May, 1977.
6) B.D.O. Anderson and J.B. Moore, Linear Optimal Control, Prentice Hall, Inc., Englewood Cliffs, NJ, 1971.

7) O.A. Solheim, "Design of Optimal Control Systems with Prescribed Eigenvalues," Int. J. Control, Vol. 15, No. 1, pp. 143-160, 1972.
8) C.A. Harvey an G. Stein, "Quadratic Weights for Asymptotic Regulator Properties," IEEE Trans. on Automatic Control, Vol. AC-23, pp. 378-387, 1978.

9) J. Medanic, "On Stabilization and Optimization by Output Feedback," 12th Annual Asilomar Conference
on

November, 1978.

Circuits

and

Systems,

Pacific

Grove,

CA,

Javid, A. Murdoch, and J.R. Winkelman, "Control Design for a Wind Turbine Generator Using Output Feedback," Presented at the 20th IEEE Control and Decision Conference, December 16-18, 1981, San Diego, California.

6 Pole
0.1 pu .0104 pu

5500 volt

2.16 pu .29 pu
.18 pu

1.28 pu

q
it

.27 pu
.18 pu .1422 sec
=

4.3 sec

T T

qo
it

.03 sec

qo

.003 sec

1347
Turbine Specifications
= 250 FT Hub height = 400 FT Rotor diameter Low speed rotor - 13.25 RPM High speed rotor = 17.9 RPM Generator Speed = 1200 RPM

Saturation Curve Pu Xad pu E .72 .8

1.0 1.1 .72

fd

.9

.83

Wind Speed = Start = Shift > Rated Cut-out =

(at hub) 14 MPH

21 MPH 29 MPH 60 MPH

1.15 1.37

.99

Excitation System - Conventional regulator

= 320 KA = .02 TA Vreg (limits) = + 20

Torsional Data - 2 mass equivalent

Kf T1 T2

=
= =

Inertias H1 (hub) = 16.72 pu H2 (gen) = .9393 pu

System Data
Transformer = .1 pu rT = -Ol pu

Stiffness - Damping

T3

.015 .02 .49

.085

D12

K12

=
=

8.778

10.26 pu

pu

Rotating shaft saturation.

driven

exciter

modeled

including

Power (Pitch Angle) regulator - Baseline Design

XT

Transmission Line Xi = .4 pu rt = .04 pu

Proportional gain, K = 6.2 degrees/pu Integral gain, KI = 9.22 degrees/pu Speed damping, Ks = 46.9 degrees/pu Gain increases on speed damping when radians/second by a factor of 30.

AwH

>

.008

TABLE I - Selected

Eigenvaiable Control Design

Full State Feedback
Output Feedback

Open Loop
1 , 2

-.97 + j15.9
-15.1

-1.29 + j16.3 -14.8 *

-1.08 + j15.3
-14.8 *

Torsional mode
\ Generator

3
4 , 5

-6.3 , -.204 -.32 + j.99

0
0

-9.16 + j7.25
-1.17 + jl.60 *

-2.90 + j6.71 J -1.17 + jl.60 *

-47 *
-.16 *

Dynamics

6 , 7 8 9

Local Mode

-.47 *
-.16
*

Integrals of V,P
Measurements

Note: asterik denotes those modes retained in the output feedback design