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Model Predictive Control of Wind Energy Conversion Systems

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Model Predictive Control of Wind Energy Conversion Systems MODEL PREDICTIVE CONTROL OF WIND ENERGY CONVERSION SYSTEMS Dr. Venkata Yaramasu Assistant Professor of Electrical Engineering School of Informatics, Computing, and Cyber Systems (SICCS) Northern Arizona University Contact Info Office: Room 113, Building#90 Photo Courtesy: Phone: +1-928-523-6092 Enercon E-126 (6 MW) E-Mail: [email protected] Puerto Varas, Chile Photo Courtesy: AMSC SeaTitan (10 MW) Model Predictive Control (MPC) is Like Playing Chess!! Prediction Optimization Receding Horizon Strategy By Karophyr at English Wikipedia - Transferred from en.wikipedia to Commons., CC BY-SA 3.0, https://commons.wikimedia.org/w/index.php?curid=2160498 MPC of WECS 2 https://openi.nlm.nih.gov/index.php MPC versus Proportional-Integrate-Derivative (PID) control MPC of WECS 3 Contents High-Power WECS Configurations of Commercial WECS Model Predictive Control (MPC) MPC of PMSG WECS MPC of SCIG WECS MPC of DFIG WECS Concluding Remarks MPC of WECS 4 Reference V. Yaramasu, and B. Wu, “Model Predictive Control of Wind Energy Conversion Systems,” Wiley–IEEE Press, IEEE Press Series on Power Engineering, 459 pages, 3 parts with 12 chapters, February, 2017, ISBN: 9781118988589. MPC of WECS 5 High-Power WECS Wind Kinetic Energy to Electric Energy Conversion (Photo courtesy: Siemens) Kinetic Energy Mechanical Electrical in Wind Energy Energy MPC of WECS 6 High-Power WECS Wind Turbine Construction Photo courtesy: Bosch Rexroth AG Mechanical Components (Tower, Blades, Rotor Hub, Pitch Drives, Yaw Drives, Nacelle, Gearbox, Brakes) Electrical Components (Generator, Converter, Transformer, Cables) Control Systems (Mechanical and Electrical) MPC of WECS 7 High-Power WECS Trends in High-Power WTs Wind turbines above 1 MW dominate the market 15-20 MW turbines will hit market by 2020 Large wind turbines: AMSC SeaTitan (10 MW), Vestas V164 (7MW) , Enercon E-126 (6MW), RePower 6M (6MW), Multibrid M5000 (5MW) MPC of WECS 8 High-Power WECS Trends in High-Power WTs Largest PMSG wind turbine Wind turbine : 7MW Manufacturer: Vestas - 443 feet above the waves - Rotor blades measuring a full 262 feet - Dedicated to offshore placement V164 – 7.0MW - First prototype built in 2012 - Full production in 2015 http://www.physorg.com/news/2011-04-vestas-megawatt-offshore-turbine.html MPC of WECS 9 High-Power WECS Trends in High-Power WTs MPC of WECS 10 High-Power WECS Trends in High-Power WTs MPC of WECS 11 High-Power WECS Offshore Wind Turbines/Farms Offshore Wind Farm Substation Denmark Horns Rev Wind Farm Power rating : 160MW (2.0MW x 80) Manufacturer: Vestas Location : Denmark Commissioned: 2002 Transmission: AC 15kV, 19km (offshore) + 33km (onshore) MPC of WECS 12 Configurations of Commercial WECS Type 1: Fixed Speed (±1 %) SCIG WECS Simple Technology Low Cost & Low Maintenance (Photo courtesy: Vestas) X Low wind energy conversion efficiency V82, 1.65 MW X High mechanical stress on turbine components Technology Status: X Requires soft starter and PF compensator Outdated MPC of WECS 13 Configurations of Commercial WECS Type 2: Semi Variable-Speed (±10 %) WRIG WECS Relatively higher wind energy conversion efficiency Relatively lower stress on turbine components (Photo courtesy: Suzlon) X Requires maintenance due to slip-rings S88, 2.1 MW X Power losses due to rotor resistor Technology Status: X Requires soft starter and PF compensator Outdated MPC of WECS 14 Configurations of Commercial WECS Type 3: Semi Variable-Speed (±30 %) DFIG WECS Relatively higher wind energy conversion efficiency Relatively lower stress on turbine components (Photo courtesy: RePower) Eliminates soft starter and PF compensator RE6M, 6.0 MW X Higher cost and complexity Technology Status: Highly Mature X Requires maintenance due to slip-rings > 50 % Share MPC of WECS 15 Configurations of Commercial WECS Type 4: Full Variable-Speed (0-100 %) IG/SG WECS (Photo courtesy: Enercon) Highest wind energy conversion efficiency E126, 6.0 MW Excellent grid code compliance, Optional gearbox Technology Status: Mature/Emerging X Higher cost, power losses and complexity 2nd Highest Share MPC of WECS 16 Configurations of Commercial WECS BTB 2L VSR + DC-Link + 2L-VSI 3L VSR + DC-Link + 3L-VSI LV MV Diode Rectifier + 2L Boost + 2L VSC PGS MPC of WECS 17 Configurations of Commercial WECS BTB 2L VSR + DC-Link + 2L-VSI 3L VSR + DC-Link + 3L-VSI LV MV Diode Rectifier + 2L Boost + 2L VSC Diode Rectifier + 3L Boost + 3L VSC WESNet Research Program PGS Diode Rectifier + 4L Boost + 4L VSC MPC of WECS 18 Configurations of Commercial WECS Type 5: Full Variable-Speed (0-100 %) SG WECS Highest wind energy conversion efficiency No power converter and associated losses (Photo courtesy: DeWind) Step-up transformer is optional D82, 2.2 MW X Complicated design due to speed/torque converter Technology Status: Old Concept X Requires maintenance due to slip-rings Limited Share MPC of WECS 19 Configurations of Commercial WECS Top 10 Wind Turbine Manufacturers and Their Priority Technology Source: Global Wind Energy Council (GWEC) 7 Manufacturers use Type-3 technology, 100+ turbine models 6 Manufacturers use Type-4 technology Future market belongs to Type-4 technology MPC of WECS 20 Model Predictive Control A Big Picture of WECS Control Level VI: Slow Control Level I: Fast Control Efficient Control of Power Converter Leads to Stable Power System Operation Operations: MPPT, Grid Integration, Reactive Power Control, Fault-Ride Through Operation, etc. MPC of WECS 21 Model Predictive Control Overview of Digital Control Techniques MPC of WECS 22 Model Predictive Control Linear Control Vs. MPC Concept of Linear Control Uses cascaded linear regulators and a modulation stage Concept of Model Predictive Control Uses predictive model and cost function MPC of WECS 23 Model Predictive Control Main Features of MPC MPC of WECS 24 Model Predictive Control Control Objectives for WECS MPC of WECS 25 Predictive Current Control of 2L-VSC-Based PMSG WECS Design Procedure: 1. Measurement and Synthesis of Feedback Signals DC-link voltage PMSG currents Mechanical speed and position Wind speed MPC of WECS 26 Predictive Current Control of 2L-VSC-Based PMSG WECS Design Procedure: 2. Calculation of Reference Generator Currents ∗ MPPT control () ∗ PMSG speed control ( ) Zero d-axis control (ZDC) ∗ ∗ ( and ) MPC of WECS 27 Predictive Current Control of 2L-VSC-Based PMSG WECS Design Procedure: 3. Extrapolation of Reference Generator Currents MPC of WECS 28 Predictive Current Control of 2L-VSC-Based PMSG WECS Design Procedure: 4. Prediction of Future Behavior of PMSG Currents MPC of WECS 29 Predictive Current Control of 2L-VSC-Based PMSG WECS Design Procedure: 4. Prediction of Future Behavior of PMSG Currents Discrete-time model of PMSG Currents: 8 possible switching states leads to 8 different Discrete-time matrices: future values of PMSG currents. MPC of WECS 30 Predictive Current Control of 2L-VSC-Based PMSG WECS Design Procedure: 5. Generation of Optimal Switching Signal Through Cost Function Minimization MPC of WECS 31 Predictive Current Control of 2L-VSC-Based PMSG WECS Design Procedure: 5. Generation of Optimal Switching Signal Through Cost Function Minimization Switching state (among the possible 8) which minimizes the cost function is selected and applied to the converter during Cost Function: next sampling interval. MPC of WECS 32 Predictive Current Control of 2L-VSC-Based PMSG WECS Flowchart of the PCC algorithm for: (a) PMSG-side 2L-VSR and (b) grid-side 2L-VSI. MPC of WECS 33 Case study with 3.0 MW, 690 V, 9.75 Hz, direct-drive PMSG 1. Define switching states 2. Predict converter output voltages based on all possible switching states 3. Predict PMSG currents based on predicted converter output voltages 4. Calculate cost function values 5. Select optimal switching state corresponding to the minimum cost function value 6. Apply optimal switching state to the converter during next sampling interval. MPC of WECS 34 Steady-state waveforms with the PCC scheme for 2L-VSC-based SPMSG WECS MPC of WECS 35 Predictive Current Control of Grid-Connected 2L-VSI Design Procedure: 1. Measurement and Synthesis of Feedback Signals 2. Calculation of Reference Grid Currents 3. Extrapolation of Reference Grid Currents 4. Prediction of Future Behavior of Grid Currents 5. Generation of Optimal Switching Signal Through Cost Function Minimization MPC of WECS 36 Predictive Current Control of Grid-Connected 2L-VSI Predictive Model: Cost Function: MPC of WECS 37 Predictive Current Control of 3L-VSC-Based PMSG WECS Design Procedure: 1. Measurement and Synthesis of Feedback Signals 2. Calculation of Reference Generator Currents 3. Extrapolation of Reference Generator Currents 4. Prediction of Future Behavior of PMSG Currents and DC Capacitors Voltage 5. Generation of Optimal Switching Signal Through Cost Function Minimization MPC of WECS 38 Predictive Current Control of 3L-VSC-Based PMSG WECS Predictive Model: Cost Function: MPC of WECS 39 Predictive Current Control of 3L-VSC-Based PMSG WECS Flowchart of the PCC algorithm for: (a) PMSG-side 3L-VSR and (b) grid-side 3L-VSI. MPC of WECS 40 Simulated waveforms with the PCC scheme for IPMSG WECS during start-up MPC of WECS 41 Simulated waveforms with the PCC scheme for IPMSG WECS during start-up MPC of WECS 42 Predictive Current Control of 2L-Boost Converter-Based PMSG WECS Design Procedure: 1. Measurement and Synthesis of Feedback Signals 2. Calculation of Reference Inductor Current 3. Extrapolation of Reference Inductor Current 4. Prediction of Future Behavior of Inductor Current 5. Generation of Optimal Switching Signal Through Cost Function Minimization MPC of WECS 43 Predictive Current Control of 2L-Boost Converter-Based PMSG WECS Predictive Model: Cost Function: MPC of WECS 44 Predictive Current Control of 3L-Boost Converter-Based PMSG WECS Design Procedure: 1. Measurement and Synthesis of Feedback Signals 2. Calculation of Reference Inductor Current 3. Extrapolation of Reference Inductor Current 4. Prediction of Future Behavior of Inductor Current and DC Capacitors Voltage 5.
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