Data-driven repetitive control: Wind tunnel experiments under turbulent conditions

Frederik, Joeri; Kröger, Lars; Gülker, Gerd; Wingerden, Jan‐Willem van

doi:10.1016/j.conengprac.2018.08.011

Cited by 30 publications

(18 citation statements)

References 26 publications

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“…At the next rotation count, the state Kj+1 will be updated and used to be an initial condition of the MPC optimization. Following the philosophy of the receding horizon principle [16], the cost function in (12) will roll ahead one step and all the procedure will be repeated.…”

Section: B Receding Horizon Repetitive Controlmentioning

confidence: 99%

“…This paper introduces a method called constrained Subspace Predictive Repetitive Control (SPRC) to include the physical constraints into a pitch controller for load reduction. The basic idea of SPRC was initially proposed by van Wingerden et al [9], which showed promising results in numerical study [10] and in wind tunnel experiments [11], [12]. Since it is a fully data-driven approach consisting of subspace identification [13] and repetitive control, it was also extended for adaptive fault-tolerant control [6], [14], [15].…”

Section: Introductionmentioning

confidence: 99%

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Periodic Load Rejection for Floating Offshore Wind Turbines via Constrained Subspace Predictive Repetitive Control

Liu

Ferrari

Wingerden

2021

2021 American Control Conference (ACC)

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Individual Pitch Control (IPC) is an effective control strategy to mitigate the blade loads on large-scale wind turbines. Since IPC usually requires high pitch actuation, the safety constraints of the pitch actuator should be taken into account when designing the controller. This paper introduces a constrained Subspace Predictive Repetitive Control (SPRC) approach, which considers the limitation of blade pitch angle and pitch rate. To fulfill this goal, a model predictive control scheme is implemented in the fully data-driven SPRC approach to incorporate the physical limitations of the pitch actuator in the control problem formulation. An optimal control law subjected to constraints is then formulated so that future constraint violations are anticipated and prevented. Case studies show that the developed constrained SPRC reduces the pitch activities necessary to mitigate the blade loads when experiencing wind turbulence and abrupt wind gusts. More importantly, the approach allows the wind farm operator to design conservative bounds for the pitch actuator constraints that satisfies safety limitations, design specifications and physical restrictions. This will help to alleviate the cyclic fatigue loads on the actuators, increase the structural reliability and extend the lifespan of the pitch control system.

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Section: B Receding Horizon Repetitive Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Periodic Load Rejection for Floating Offshore Wind Turbines via Constrained Subspace Predictive Repetitive Control

Liu

Ferrari

Wingerden

2021

2021 American Control Conference (ACC)

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“…The concept of SPRC was initially proposed by van Wingerden and Hulskamp 26 . It showed promising results in simulations 27 and in wind tunnel experiments 28,29 . Moreover, preliminary results of SPRC in fault‐tolerant control have been shown in other studies 30,31 …”

Section: Introductionmentioning

confidence: 97%

Fault‐tolerant individual pitch control of floating offshore wind turbines via subspace predictive repetitive control

et al. 2021

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Individual pitch control (IPC) is an effective and widely used strategy to mitigate blade loads in wind turbines. However, conventional IPC fails to cope with blade and actuator faults, and this situation may lead to an emergency shutdown and increased maintenance costs. In this paper, a fault‐tolerant individual pitch control (FTIPC) scheme is developed to accommodate these faults in floating offshore wind turbines (FOWTs), based on a Subspace Predictive Repetitive Control (SPRC) approach. To fulfill this goal, an online subspace identification paradigm is implemented to derive a linear approximation of the FOWT system dynamics. Then, a repetitive control law is formulated to attain load mitigation under operating conditions, both in healthy and faulty conditions. Since the excitation noise used for the online subspace identification may interfere with the nominal power generation of the wind turbine, a novel excitation technique is developed to restrict excitation at specific frequencies. Results show that significant load reductions are achieved by FTIPC, while effectively accommodating blade and actuator faults and while restricting the energy of the persistently exciting control action.

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“…Based on it, a predictive repetitive control law is then formulated to reduce only specific deterministic loads, such as 1P loads, under varying operating conditions. The SPRC approach has shown promising results in numerical simulations (Navalkar et al, 2014;Liu et al, 2020) and in wind tunnel experiments (Navalkar et al, 2015;Frederik et al, 2018).…”

Section: Introductionmentioning

confidence: 99%

Comment on wes-2021-2

2021

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Individual Pitch Control (IPC) is a well-known approach to reduce blade loads on wind turbines. Although very effective, IPC usually requires high levels of actuator activities, which significantly increases the pitch Actuator Duty Cycle (ADC). This will subsequently result in an increase of the wear on the bearings of the blades and make the current IPC design not economical viable. An alternative approach to this issue is to reduce the actuator activities by incorporating the output constraints in IPC. In this paper, a fully data driven IPC approach, which is called constrained Subspace Predictive Repetitive Control (cSPRC) is introduced. The output constraints can be explicitly considered in the control problem formulation via a Model Predictive Control (MPC) approach. The cSPRC approach will actively produce the IPC action for the necessary load reduction when the blade loads violate the output constraints. In this way, actuator activities can be significantly reduced. Two kinds of scenarios are simulated to illustrate the unique applications of the proposed method: wake-rotor overlap and turbulent wind conditions. Simulation results show that the developed cSPRC is able to account for the output constraints into the control problem formulation. Since the IPC action from cSPRC is only triggered to prevent violating the output constraints, the actuator activities are significantly reduced. This will help to reduce the pitch ADC, thus leading to an economical viable load control strategy. In addition, this approach allows the wind farm operator to design conservative bounds to guarantee the safety of the wind turbine control system.

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Data-driven repetitive control: Wind tunnel experiments under turbulent conditions

Cited by 30 publications

References 26 publications

Periodic Load Rejection for Floating Offshore Wind Turbines via Constrained Subspace Predictive Repetitive Control

Periodic Load Rejection for Floating Offshore Wind Turbines via Constrained Subspace Predictive Repetitive Control

Fault‐tolerant individual pitch control of floating offshore wind turbines via subspace predictive repetitive control

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