The reduction of structural loads is becoming an important objective for the wind turbine control system due to the ever‐increasing specifications/demands on wind turbine rated power and related ...growth of turbine dimensions. Among various control algorithms that have been researched in recent years, the individual pitch control has demonstrated its effectiveness in wind turbine load reduction. Since the individual pitch control, like other load reduction algorithms, requires higher levels of actuator activity, one must take actuator constraints into account when designing the controller. This paper presents a method for the inclusion of such constraints into a predictive wind turbine controller. It is shown that the direct inclusion of constraints would result in a control problem that is nonconvex and difficult to solve. Therefore, a modification of the constraints is proposed that ensures the convexity of the control problem. Simulation results show that the developed predictive control algorithm achieves individual pitch control objectives while satisfying all imposed constraints.
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FZAB, GIS, IJS, KILJ, NLZOH, NUK, OILJ, SBCE, SBMB, UL, UM, UPUK
Finite-time optimal control problems with quadratic performance index for linear systems with linear constraints can be transformed into Quadratic Programs (QPs). Model Predictive Control requires ...the on-line solution of such QPs. This can be obtained by using a QP solver or evaluating the associated explicit solution. The objective of this note is twofold. First, we shed some light on the computational complexity and storage demand of the two approaches when an active set QP solver is used. Second, we show the existence of alternative algorithms with a different tradeoff between memory and computational time. In particular, we present an algorithm which, for a certain class of systems, outperforms standard explicit solvers both in terms of memory and worst case computational time.
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GEOZS, IJS, IMTLJ, KILJ, KISLJ, NUK, OILJ, PNG, SAZU, SBCE, SBJE, UL, UM, UPCLJ, UPUK
We consider constrained finite-time optimal control problems for discrete-time linear time-invariant systems with constraints on inputs and outputs based on linear and quadratic performance indices. ...The solution to such problems is a time-varying piecewise affine (PWA) state-feedback law and can be computed by means of multiparametric programming. By exploiting the properties of the value function and the piecewise affine optimal control law of the constrained finite-time optimal control (CFTOC), we propose two new algorithms that avoid storing the polyhedral regions. The new algorithms significantly reduce the on-line storage demands and computational complexity during evaluation of the PWA feedback control law resulting from the CFTOC.
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CEKLJ, DOBA, IZUM, KILJ, NUK, PILJ, PNG, SAZU, UILJ, UKNU, UL, UM, UPUK
An electronic throttle is a dc-motor-driven valve that regulates air inflow into the combustion system of the engine. The throttle control system should ensure fast and accurate reference tracking of ...the valve plate angle while preventing excessive wear of the throttle components by constraining physical variables to their normal-operation domains. These high-quality control demands are hard to accomplish since the plant is burdened with strong nonlinear effects of friction and limp-home nonlinearity. In this paper, the controller synthesis is performed in discrete time by solving a constrained time-optimal control problem for the piecewise affine (PWA) model of the throttle. To that end, a procedure is proposed to model friction in a discrete-time PWA form that is suitable both for simulation and controller design purposes. The control action computation can, in general, be restated as a mixed-integer program. However, due to the small sampling time, solving such a program online (in a receding horizon fashion) would be very prohibitive. This issue is resolved by applying recent theoretical results that enable offline precomputation of the state-feedback optimal control law in the form of a lookup table. The technique employs invariant set computation and reachability analysis. The experimental results on a real electronic throttle are reported and compared with a tuned PID controller that comprises a feedforward compensation of the process nonlinearities. The designed time-optimal controller achieves considerably faster transient, while preserving other important performance measures, like the absence of overshoot and static accuracy within the measurement resolution
There are situations in which wind turbines must curtail their power, i.e. produce less power than is available from the wind. In such cases the wind turbine power can be increased or decreased if ...required. This gives an opportunity to strike a balance between varying power production and reducing wind turbine structural loading. To that end, a supervisory controller is designed that issues power references to the wind turbine and can be easily installed on already operational wind turbines. The wind turbine with a supervisory controller produces the required mean power, while reducing wind turbine loads by adding power variations. The extensive, realistic simulations are done to evaluate the influence of the proposed controller on the fatigue loads, extreme loads and the overall wind turbine operation. The results indicate that a significant reduction of fatigue loads can be achieved, which can increase the operating life of the structure. Furthermore, the proposed supervisory controller can be utilized as the main building block of a wind farm controller, which meets the grid code requirements and can be easily installed on very large wind farms due to minimal requirements on the farm-wide communication.
•The supervisory controller perturbates the wind turbine power references.•The reduction of structural fatigue loads is obtained.•Overall improvement in wind turbine operation is gained.•The supervisory controller can be used as a building block of a wind farm controller.
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GEOZS, IJS, IMTLJ, KILJ, KISLJ, NUK, OILJ, PNG, SAZU, SBCE, SBJE, UL, UM, UPCLJ, UPUK
In this paper we present an efficient model predictive control algorithm for distributed coordination of an electrical power system comprising many spatially distributed controllable units. The ...coordination problem is formulated using parametric solutions of local optimization problems corresponding to individual subsystems leading to favorable problem structure which can be split across all subsystems and nodes in the network. The structure of the obtained coordination problem is exploited to develop a very efficient solution algorithm based on an ADMM technique. The key features of the overall approach are: (i) private data of individual subsystems are protected, (ii) simple and efficient on-line computations, (iii) parallelization of computation across all subsystems and all nodes in the network. Efficiency of the proposed control strategy is demonstrated on a number of numerical case studies of varying size.
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GEOZS, IJS, IMTLJ, KILJ, KISLJ, NLZOH, NUK, OILJ, PNG, SAZU, SBCE, SBJE, UILJ, UL, UM, UPCLJ, UPUK, ZAGLJ, ZRSKP
The new grid regulations require that a grid-connected wind farm acts as a single controllable power producer. To meet this requirement a traditional wind farm control structure, which allowed ...individual wind turbines to internally define their power production, has to be modified. This paper investigates the opportunity for wind turbine load reduction that arises from dynamic power control of wind turbines. The wind farm controller design is proposed that utilizes coordinated power control of all wind turbines to achieve the wind farm regulation requirements and to minimize the wind turbine loads.
We consider the constrained finite and infinite time optimal control problem for the class of discrete-time linear hybrid systems. When a linear performance index is used the finite and infinite time ...optimal solution is a piecewise affine state feedback control law. In this paper, we present algorithms that compute the optimal solution to both problems in a computationally efficient manner and with guaranteed convergence and error bounds. Both algorithms combine a dynamic programming exploration strategy with multiparametric linear programming and basic polyhedral manipulation
This paper considers the problem of optimal dynamic management of electrical power distribution networks with distributed generation and storage. Initially, analysis is performed of the Optimal Power ...Flow (OPF) problem-a paramount optimization problem that needs to be solved to ensure optimal steady-state power network operation. In the rest of the paper we present a hierarchical control structure for solving the considered optimal control problem in a dynamical framework. At the upper level a dynamic OPF solver computes the optimal power references for distributed generators and storages at slow rate. These references are then transmitted to the intermediate level, where a faster Model Predictive Control algorithm computes small deviations from power references given by the OPF solver to take into account the variability of load profiles that was neglected at the upper layer. Finally, the power references are forwarded to the primary level where local controllers track these power reference values. A realistic simulation case study of a Croatian power distribution grid is used for testing purposes and to demonstrate the applicability and usefulness of the proposed control strategy.
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