The wind speed has a huge impact on the dynamic response of wind turbine. Because of this, many control algorithms use a measure of the wind speed to increase performance, e.g. by gain scheduling and feed forward. Unfortunately, no accurate measurement of the effective wind speed is online available from direct measurements, which means that it must be estimated in order to make such control methods applicable in practice. In this paper a new method is presented for the estimation of the effective wind speed. First, the rotor speed and aerodynamic torque are estimated by a combined state and input observer. These two variables combined with the measured pitch angle is then used to calculate the effective wind speed by an inversion of a static aerodynamic model.

SUMMARYThis paper considers the design of linear parameter varying (LPV) controllers for wind turbines in order to obtain a multivariable control law that covers the entire nominal operating trajectory.The paper first presents a controller structure for selecting a proper operating trajectory as a function of estimated wind speed. The dynamic control law is based on LPV controller synthesis with general parameter dependency by gridding the parameter space.The controller construction can, for medium-to large-scale systems, be difficult from a numerical point of view, because the involved matrix operations tend to be ill-conditioned. The paper proposes a controller construction algorithm together with various remedies for improving the numerical conditioning the algorithm.The proposed algorithm is applied to the design of a LPV controller for wind turbines, and a comparison is made with a controller designed using classical techniques to conclude that an improvement in performance is obtained for the entire operating envelope.

Rate bounded linear parameter varying control of a wind turbine in full load operationØstergaard, Kasper Zinck; Stoustrup, Jakob; Brath, Per General rightsCopyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights.? Users may download and print one copy of any publication from the public portal for the purpose of private study or research. ? You may not further distribute the material or use it for any profit-making activity or commercial gain ? You may freely distribute the URL identifying the publication in the public portal ? Take down policyIf you believe that this document breaches copyright please contact us at vbn@aub.aau.dk providing details, and we will remove access to the work immediately and investigate your claim. Abstract: This paper considers the control of wind turbines using an LPV design technique. The controller design is done by a combination of a method that uses elimination of controller variables and a method using a congruent transformation followed by a change of variables. An investigation is performed to understand the gap between zero rate of variation and arbitrary fast rate of variation for the selected scheduling variable. In particular it is analysed for which rate of variation, the local performance level starts to deteriorate from the performance level that can be obtained locally by LTI controllers. A rate of variation is selected which is expected only to be exceeded outside the normal wind turbine operating conditions. For this rate of variation a controller has been designed and simulations show a performance level over the operating region which is very similar to what can be obtained by LTI designs for the specific operating condition. The LPV controller, however, works for the whole operating range with reasonably fast changes within this.

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