Real-time implementation of nonlinear optimal-based vibration control for a wind turbine model

Martynowicz, Paweł

doi:10.1177/1461348418793346

Cited by 14 publications

(13 citation statements)

References 42 publications

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“…The experimental, real-time verification of the proposed methods, along with the investigation of the influence of the expanded quality index elements values on the vibration control quality, using a specially developed and built wind turbine tower-nacelle laboratory model equipped with single MR TVA, is presented in Martynowicz. 62…”

Section: Discussionmentioning

confidence: 99%

Nonlinear optimal-based vibration control for systems with MR tuned vibration absorbers

Martynowicz

2019

Journal of Low Frequency Noise, Vibration and Active Control

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In this paper, the author proposes several approaches to nonlinear optimal-based control implementation. The vibrating system (structure) equipped with two tuned vibration absorbers (TVAs) is analysed against a system with one TVA. For control purposes, MR dampers are used instead of TVAs' passive viscous dampers. The main contribution of this research is the development and numerical verification of three nonlinear optimal-based vibration control concepts (the implementation of one-step optimal control, quasi-optimal control, and the optimal-based modified ground-hook law) that produce MR damper required current (not required force) as their output (thus force tracking algorithm that results in control inaccuracy is entirely omitted here), and that may be directly applicable for online and real-time control; moreover, all of the MR damper force constraints (no active forces; lower and upper limits; nonlinear, hysteresis-type dynamics) are embedded in the control technique, thus the solution is optimal for the assumed actuator respecting its limitations. The proposed approaches are investigated against the standard ground-hook law and passive TVA(s) with optimally tuned (i.e. having a frequency response maxima of equal and lowest values) parameters. The performance of all the solutions for the one- and two-TVA systems is compared, confirming the validity and efficiency of the three proposed concepts: almost 50% reduction of the Dynamic Amplification Factor is possible with regard to the respective optimally tuned passive 1 TVA and 2 TVA configurations. No offline calculation, excitations/disturbances assumption, or frequency determination is necessary.

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Section: Discussionmentioning

confidence: 99%

Nonlinear optimal-based vibration control for systems with MR tuned vibration absorbers

Martynowicz

2019

Journal of Low Frequency Noise, Vibration and Active Control

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“…On the other side, these additions, as well as the movements of the platform, yield interactions with the wind turbine, producing oscillations that modify the aerodynamic conditions for energy production. Additionally, these oscillations may also modify the structural loads at the base of the turbine, changing the conditions for fatigue to appear [73].…”

Section: Performance Indexesmentioning

confidence: 99%

Improving the Performance of Controllers for Wind Turbines on Semi-Submersible Offshore Platforms: Fuzzy Supervisor Control

et al. 2021

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The use of sea wind energy is restricted by the limited availability of suitable sites in shallow waters. To overcome this challenge, wind turbines located on offshore semi-submersible platforms appear as a valuable option, as they also allow the exploitation of other resources like wave energy or aquaculture. Nevertheless, the literature addressing this kind of design is scarce, and the interactions of the wind turbine and the platform movements increase the complexity of the control system with respect to the wind turbines with fixed foundations. Within this context, fuzzy control is a promising alternative to deal with these issues. However, while fuzzy controllers can be an alternative to substitute conventional PI control, the latter is a well-known, robust choice for operators. In this sense, fuzzy controllers can be designed to work in collaboration with PI controllers to ease their adoption. To this end, this paper addresses those gaps in the literature by presenting a methodology, its application to enhance controllers for large-scale wind turbines in semi-submersible offshore platforms and the results attained. The methodology is based on the implementation of an integrated simulation tool, together with the definition of three indexes that describe the performance of the control system in the overall platform behaviour regarding key aspects of its exploitation. Using it, an Anti-Wind-Up algorithm was designed to improve the behaviour of the conventional controller and is presented and evaluated along a fuzzy supervisor controller. In this kind of configuration, the fuzzy controller modifies the values of the PI controller. Finally, a comparison of the performance using the reference PI and the improved PI, in both cases together with a fuzzy supervisor controller modifying their values, is presented and discussed, contributing to extend the state of the art of controllers for large-scale wind turbines on offshore semi-submersible platforms.

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“…The MR dampers are smart, semiactive actuators exhibiting wide resistance force ranges, millisecond response times, and high reliability, yet they suffer from a nonzero remanent force. Moreover, they cannot generate active forces, being semi-active devices [17][18][19]. The active force actuators of H-TVAs/H-MR-TVAs increase their vibration reduction efficiency; moreover, they provide greater robustness, eco-friendliness, and lower force/power requirements than active TVAs [20,21].…”

Section: Introductionmentioning

confidence: 99%

“…To address all the limitations mentioned above, a concept was devised to embed actuators' constraints into the control problem formulation [18][19][20][21] to avoid efficiency and robustness problems of the calculated control function being imprecisely mapped or beyond the actuator output/TVA stroke limits. This involved the use of nonlinear control methods, which may be grouped generally as maximum-principle-based [39], Lyapunovfunction-based [16,38], and linearisation-based methods utilising linear optimal control theory (LQR/LQG/H 2 /H ∞ ) [7,32,40,41].…”

Section: Introductionmentioning

confidence: 99%

Comparison of Floating Offshore Wind Turbine Tower Deflection Mitigation Methods Using Nonlinear Optimal-Based Reduced-Stroke Tuned Vibration Absorber

Martynowicz,

Katsaounis,

Mavrakos

2024

Energies

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Tower fatigue and strength are crucial operational concerns of floating offshore wind turbines (FOWTs) due to the escalation of the vibration phenomena observed on these structures as compared to land-based ones. FOWT towers are excited by wave and wind polyperiodic disturbances yielding continual transient states of structural vibration that are challenging for vibration mitigation systems. Thus, the paper investigates a novel implementation of nonlinear optimal-based vibration control solutions for the full-scale, tension leg platform (TLP)-based, NREL 5MW wind turbine tower-nacelle model with a 10-ton tuned vibration absorber (TVA), equipped with a magnetorheological (MR) damper, located at the nacelle. The structure is subjected to excessive wave and wind excitations, considering floating platform motions derived from model experiments in a wave tank. The MR damper operates simultaneously with an electromagnetic force actuator (forming a hybrid TVA) or independently (a semiactive TVA). The study includes both actuators’ nonlinearities and dynamics, whereby the former are embedded in the Hamilton-principle-based nonlinear control solutions. The TVA is tuned either to the NREL 5MW tower-nacelle 1st bending mode frequency (TVA-TN) or to the TLP surge frequency (TVA-TLP). The optimal control task was redeveloped concerning the TVA stroke and transient vibration minimisation, including the implementation of the protected structure’s acceleration and relative displacement terms, as well as the nonzero velocity term in the quality index. The regarded model is embedded in a MATLAB/Simulink environment. On the basis of the obtained results, the TVA-TN solution is by far superior to the TVA-TLP one. All the regarded TVA-TN solutions provide a tower deflection safety factor of ca. 2, while reference systems without any vibration reduction solutions or with a passive TVA-TLP are at risk of tower structural failure as well as the hybrid TVA-TLP system. The obtained TVA stroke reductions of 25.7%/22.0% coincide with 3.6%/10.3% maximum tower deflection reductions for the semiactive/hybrid TVA-TN case (respectively) with regard to the previously developed approaches. Moreover, these reductions are obtained due to the sole control algorithm enhancement; thus, no additional resources are necessary, while this attainment is accompanied by a reduction in the required MR damper force. The lowest obtained TVA stroke amplitude of 1.66 m is guaranteed by the newly introduced semiactive control. Its hybrid equivalent ensures 8% lower primary structure deflection amplitude and reduced nacelle acceleration levels thanks to the utilisation of the force actuator of the relatively low power (ca. 6 kW); the trade-off is an increased TVA stroke amplitude of 2.19 m, which, however, is the lowest among all the tested hybrid solutions. The analysed reference passive TVA systems, along with a modified ground-hook hybrid solution, can hardly be implemented in the nacelle (especially along the demanding side–side direction). The latter, being the well-proven hybrid solution for steady-state tower deflection minimisation, yielded unsatisfactory results. The achievements of the study may be used for an effective design of a full-scale vibration reduction system for the TLP-based floating wind turbine structure.

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Real-time implementation of nonlinear optimal-based vibration control for a wind turbine model

Cited by 14 publications

References 42 publications

Nonlinear optimal-based vibration control for systems with MR tuned vibration absorbers

Nonlinear optimal-based vibration control for systems with MR tuned vibration absorbers

Improving the Performance of Controllers for Wind Turbines on Semi-Submersible Offshore Platforms: Fuzzy Supervisor Control

Comparison of Floating Offshore Wind Turbine Tower Deflection Mitigation Methods Using Nonlinear Optimal-Based Reduced-Stroke Tuned Vibration Absorber

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