P mech = 1 2 C P λ β Aρv 3 1 P mech λ β A ρ v C P λ β β λ β C P λ β λ 1 maximum power point tracking MPPT C pmax

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1 ELECTRI C MACHINES AND CONTROL Vol. 16 No. 9 Sep TM 614 A X Speed control of large scale wind turbines based on active disturbance rejection control XIA An-jun HU Shu-ju 1 2 XU Hong-hua Institute of Electrical Engineering Chinese Academy of Sciences Beijing China 2. Key Laboratory of Wind Energy Utilization Chinese Academy of Sciences Beijing China 3. Graduate University Chinese Academy of Sciences Beijing China Abstract A large-scale wind turbine typically has a greater moment of inertia which prevents the machine from changing speed fast enough to follow the maximum power point when wind speed changes. In order to improve the wind energy utilization of wind turbines in low winds the speed control strategy based on active disturbance rejection control ADRC was proposed. Internal and external disturbance of the system was observed by the extended state observer ESO based on the feedback of rotor speed. The wind turbine was equivalent to a first-order linear system by compensating the disturbance. The speed controller of the system was designed based on the active disturbance rejection control theory. The speed setpoint was calculated on the basis of the mechanic power captured by the wind turbine which was estimated realtimely and the rotor speed was controlled directly by the speed controller. Simulation results show that compared to traditional power control strategy the speed control strategy based on ADRC has distinct advantages of tacking the maximum power point more quickly and improving the wind energy utilization of wind turbines when wind speed changes and has less dependence on the parameters of wind turbine. Key words wind turbine maximum power point tracking moment of inertia active disturbance rejection control extended state observer tracking differentiator

2 P mech = 1 2 C P λ β Aρv 3 1 P mech λ β A ρ v C P λ β β λ β C P λ β λ 1 maximum power point tracking MPPT C pmax 姿 opt 叶尖速比姿 1 C p Fig. 1 Power coefficient C p C Ρ λ β λ λ = ΩR ν Ω rad /s R m 1 P mech = 1 2 C P λ β Aρ R3 Ω 3 = kω 3 2 λ 3 k = 1 2 C P λ β Aρ R3 λ 3 9 λ opt Ω opt 2 10 P mech = 1 2 C Pmax λ β Aρ R3 Ω 3 λ 3 opt = k opt Ω 3 opt 3 opt k opt = 1 2 C Pmax λ β Aρ R3 3 λ 3 opt 4 2 风能转换系数 Cp λ = λ opt C Ρ λ β = C pmax

3 9 35 机械功率 Fig. 2 P P 3 P 2 P 1 2 v 1 v 2 v 3 赘 1 赘 2 赘 3 赘转子转速 Turbine s mechanical power-rotor speed 2 Ω * Ω 2. 1 Ω 1 Ω 2 b d Ω * Ω 2 Ω 3 d 4 Ω * Ω Ω opt = 槡 3 P mech /kopt JΩ = Q a - GQ g - Q l 5 J 4 Q a ( Q a = 1 2 C P λ β Aρ R3 2 Ω ) G Q MPPT λ 3 l 5 3 Q a = JΩ + GQ g + Q l 6 v1 Ω 1 6 Ω ΩQ a = JΩ Ω + GQ g Ω + Q l Ω 7 ΩQ a JΩ Ω GQ g Ω Q l Ω v 1 a v 1 v 4 a b P 1 P 2 4 c P mech = JΩ Ω + GQ g Ω + Q l Ω Ω 2 = 槡 3 P 2 /kopt Ω 机械功率 P P 3 P 2 P 1 3 Fig. 3 b a v 1 v 2 c d 赘 1 赘 2 赘 3 机组转速 v 4 The MPPT scheme 赘

4 36 16 β 1 = 2 槡 2 β2 x 1 t + h = x 1 t + hx 2 t 8 e x 2 t + h = x 2 t + hu u r } 1 = Ω * - z 1 8 u = fst x 1 t - v t x 2 t r h 0 d = rh 0 d 0 = dh 0 u 0 = k T e 1 - z 2 /b Ω = kt e y = x 1 - v t + h 0 x 2 a 0 = 槡 d 2 + 8r y k T Ω * a = x 2 + a 0 - d sgn y /2 y > d 0 k { T x 2 + y /h 0 y d 0 ra /d a d 12 fst = - { rsgn a a > d k T h r x 1 t v t x 2 t x 1 t h 0 3 v t r h 0 3 v 1 a v 1 v 4 a b 2. 3 P 1 P 2 3 P 1 Ω = P2 /Ω - P 1 /Ω - Q l /J J J MPPT G Ω = - J Q g - Q a - Q l /G 9 Q a - Q l /J 4 赘 d 赘 /dt 最大功率曲线微分跟踪器赘 e = z 1 - Ω } * u z 1 = z 1 + h z 2 - β 1 e + bu 自抗扰转速控制器赘 z 2 = z 2 + h - β 2 e 4 z 1 z 2 Fig. 4 MPPT control system u 0 b = - G /J β 1 β 2 Wind 风电机组 P e P loss P mech

5 P e P loss P mech Ω * 9 u m /s 风速 /(m s -1 ) Fig. 5 5 Wind speed 转子转速 /(rad s -1 ) Fig. 6 Rotor speed 叶尖速比 bladed 7 Fig. 7 The tip speed ratio 80 m 2 MW 18 r /min N m kg m m /s8 a 8 b 6 m /s 8 25 m /s k * opt N m / s 8 m /s 6 m /s m / rad /s 2 k * opt k opt = k * optg s 6 m /s 8 m /s293 s 8 m /s 机械功率 /kw 机械功率 /kw Fig (a) 风速从 6m/s 变化为 8m/s 时的情况 (b) 风速从 8m/s 变化为 6m/s 时的情况 8 The mechanical power of wind turbine

6 LONG Tengfei DING Xuanhao CAI Ruhua. Comparative analysis of MPPT three-point method and climbing algorithm J. Pop- J ular Science & Technology KAZMI S M R GOTO H ICHINOKURA O. A novel algorithm for fast and efficient speed-sensorless maximum power point tracking in wind energy conversion systems J. IEEE Transactions on In- dustrial Electronics tems J Wind Energy CARDENAS R PENA R. Sensorless vector control of induction machines for variable-speed wind energy applications J. IEEE Transactions on Energy Conversion KIM Seulki KIM Eungsang. PSCAD /EMTDC-based modeling and analysis of a gearless variable speed wind turbine J. IEEE Transactions on Energy Conversion FEMIA N GRANOZIO D PETRONE G et al. Predictive & a- daptive MPPT perturb and observe method J. IEEE Transactions on Aerospace and Electronic Systems KOUTROULIS E KALAITZAKIS K. Design of a maximum power tracking system for wind-energy-conversion applications J. IEEE Transactions on Industrial Electronics CHEN Yaowming LIU Yuanchuan HUNG Shihchieh et al. Multi-input inverter for grid-connected hybrid PV / wind power system J. IEEE Transactions on Power Electronics MPPT WANG Quincy CHANG Liuchen. An intelligent maximum power extraction algorithm for inverter-based variable speed wind turbine systems J. IEEE Transactions on Power Electronics BELTRAN B AHMED-ALI T BENBOUZID M E H. Sliding mode power control of variable-speed wind energy conversion sys-. IEEE Transactions on Energy Conversion BOSSANYI E A. Wind turbine control for load reduction J.. J WANG Xinsheng WU Yinxiao HE Chuan. Simulation of wind speed estimation for MPPT control J. Electric Machines and Control M J XIA Changliang SONG Zhanfeng. Pitch control of variable speed constant frequency wind turbines based on active-disturbance-rejection controller J. Proceedings of the CSEE J LIU Zhenye LIU Wei FU Mingyu et al. Trace-keeping of an air cushion vehicle based on an auto disturbance rejection controller with a recurrent networks model J. Journal of Harbin Engineering University

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