Control-Oriented Modeling for Wind Farms · Modern Utility-Scale Wind Turbines 14 w Wind, v(t)...
Transcript of Control-Oriented Modeling for Wind Farms · Modern Utility-Scale Wind Turbines 14 w Wind, v(t)...
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AEROSPACE ENGINEERING AND MECHANICS
Control-Oriented Modeling for Wind Farms
Peter Seiler Aerospace Engineering & Mechanics
University of Minnesota
Students: Jen Annoni, Kevin Howard, Shu Wang Collaborators: Michele Guala, Fotis Sotiropoulos, Xiaolei Yang
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AEROSPACE ENGINEERING AND MECHANICS
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Clipper Liberty, 2012: Modern utility-scale turbine.
•Rosemount, MN.
•Diameter: 96m
•Power: 2.5MW
•Eolos Consortium: http://www.eolos.umn.edu/
•Saint Anthony Falls Lab: http://www.safl.umn.edu/
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AEROSPACE ENGINEERING AND MECHANICS
Trends in Wind Energy
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Key Issues: 1.Structural Design 2.Available Wind
Resources 3.Improved Efficiency 4.Installation &
Maintenance Costs 5.Grid Integration 6.Turbine/Turbine
Interactions
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AEROSPACE ENGINEERING AND MECHANICS
Trends in Wind Energy
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1. Structural Design • Larger turbines • New materials for tower
/ blades • Aeroacoustics • Passive Films • Transportation
Refs: Cotrell, Stehly, Tangler, Moriarty
Image: "Turbine Blade Convoy Passing through Edenfield" by Paul Anderson (From geograph.org.uk.)
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AEROSPACE ENGINEERING AND MECHANICS
Trends in Wind Energy
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Image: "Alpha Ventus Windmills" by SteKrueBe (From Wikipedia “Offshore Wind Power”)
2. Available Wind Resources
• Off-shore • Vertical axis • Airborne (Kites) • Inter-annual variability • Environmental impacts
Refs: Rotea, Dabiri, Goldstein, Archer
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AEROSPACE ENGINEERING AND MECHANICS
Trends in Wind Energy
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3. Improved Efficiency • Advanced controls • New sensors (Lidar) • Novel actuators
(microflaps)
Refs: Schlipf, Johnson, Pao, Balas, Fingersh, Wang, Harris, Hand, Houtzager
Image: Lidar by Dr. Rainer Reuter, University of Oldenburg http://las.physik.uni-oldenburg.de/
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AEROSPACE ENGINEERING AND MECHANICS
Trends in Wind Energy
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Image: Damaged gear teeth, by Dan Janisch (Mesabi Range Wind Technology Program).
4. Installation & Maintenance Costs
• Health Monitoring & Prognostics
• Fault Detection & Isolation
• Fault Tolerant Control
Refs: FDI/FTC Competitions, Ozdemir, Lim, Seiler, Rezaei, Johnson, Odgaard
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AEROSPACE ENGINEERING AND MECHANICS
Trends in Wind Energy
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Image: “Hamilton Beach Pylon" by Ibagli (From Wikipedia “Overhead Power Line”)
5. Grid Integration • Active Power Control • Emulated Inertia • Ancillary Services
Refs: Aho, Pao, Johnson,
Fleming, Wright, Wang, Buckspan, Jeong
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AEROSPACE ENGINEERING AND MECHANICS
Trends in Wind Energy
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Image: Horns Rev 1, by Christian Steiness
6. Turbine/Turbine Interactions
• Maximize power • Reduce structural loads • High Fidelity Simulations
Refs: Johnson, Fleming, Gebraad, Seiler, Annoni, Howard, Guala, Yang, Sotiropoulos
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AEROSPACE ENGINEERING AND MECHANICS
Trends in Wind Energy
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Video: Hong, et al., Nature Comm., 2014 Saint Anthony Falls Laboratory
6. Turbine/Turbine Interactions
• Maximize power • Reduce structural loads • High Fidelity Simulations
Refs: Johnson, Fleming, Gebraad, Seiler, Annoni, Howard, Guala, Yang, Sotiropoulos
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AEROSPACE ENGINEERING AND MECHANICS
Near Wake vs. Far Wake
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AEROSPACE ENGINEERING AND MECHANICS
Outline
• Goal: Construct control-oriented models for wind farms
• Models need to be low-order but of sufficient fidelity.
• Use models to design coordinated wind farm controllers
• Individual turbine control
• Coordinated wind farm control
• Wind farm modeling
• Experimental (black-box) models
• First-principles, reduced order models
• Conclusions
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AEROSPACE ENGINEERING AND MECHANICS
Individual Turbine Control
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AEROSPACE ENGINEERING AND MECHANICS
Rotor
Speed, w
Electrical Power, P
Modern Utility-Scale Wind Turbines
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w
Wind, v(t)
Generator
torque, tg
Blade
pitch, b
Ref: Johnson, Pao, Balas, Fingersh, IEEE CSM, 2006
Wind
Speed, v
Objectives for Individual Turbine Control: 1. Maximize power at low wind speeds. 2. Reduce loads at high wind speeds.
b
tg
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AEROSPACE ENGINEERING AND MECHANICS
Actuator Line Turbine Model
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Turbine
v v1
Streamwise, x
x
Induction Factor
a:=1 - v1/v
b, tg P(v,b,tg)
Actuator Line Results:
Yang, et. al. The virtual
wind simulator (VWiS)
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AEROSPACE ENGINEERING AND MECHANICS
P(a,v)= Pwind(v) Cp(a)
Actuator Disk Turbine Model
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Turbine
v v1
Streamwise, x
x
a
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AEROSPACE ENGINEERING AND MECHANICS
P(a,v)= Pwind(v) Cp(a)
Actuator Disk Turbine Model
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Turbine
v v1
Streamwise, x
x
a Betz Limit:
Cpmax=16/27
at a = 1/3
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AEROSPACE ENGINEERING AND MECHANICS
Park Model (Jensen, 1983)
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Turbine
v v1
Streamwise, x
x
a P(a,v)
v2(x) = v (1-f(x) a)
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AEROSPACE ENGINEERING AND MECHANICS
Coordinated Wind Farm Control
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AEROSPACE ENGINEERING AND MECHANICS
Coordinated Control: Two Turbines
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Ref: Johnson & Thomas (2009 ACC)
Parameters: • Rotor Diam=100m • v=10m/s • Park and Betz model used
v
a1 P1 Optimal: a1 = 1/3
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AEROSPACE ENGINEERING AND MECHANICS
Parameters: • Rotor Diam=100m • v=10m/s • k=0.1 • x=4D
Coordinated Control: Two Turbines
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Ref: Johnson & Thomas (2009 ACC)
v
a1 P1
x
a2=1/3 P2
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AEROSPACE ENGINEERING AND MECHANICS
Parameters: • D=100m • v=10m/s • k=0.1 • x=4D
Coordinated Control: Two Turbines
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Ref: Johnson & Thomas (2009 ACC)
v
Ptot=P1+P2
x
Optimal: a1 = 0.25, 3.5% ↑ Power a1 a2=1/3
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AEROSPACE ENGINEERING AND MECHANICS
Need for Improved Wake Modeling
• Issue: High fidelity simulations show no increased power.
• ~-10% compared to the +3.5% gain with the Park model • Ref: Annoni, Gebraad, Scholbrock, Fleming, van Wingerden, “Analysis of axial-induction-based wind
plant control using engineering and high-order wind plant models.” Submitted 2014
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Simulator for Wind Farm Applications (SOWFA) Churchfield and Lee
http://wind.nrel.gov/designcodes/simulators/SOWFA
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AEROSPACE ENGINEERING AND MECHANICS
Need for Improved Wake Modeling
• Summary: Park model neglects important spatio-temporal dynamics that are relevant for control.
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AEROSPACE ENGINEERING AND MECHANICS
Wind Farm Modeling
1. Experimental (black-box) models 2. First-principles, reduced order models
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AEROSPACE ENGINEERING AND MECHANICS
Differences in Modeling Approaches
• Experimental
• Data driven
• Site specific
• Apply to : Existing wind farms
• First-principles
• General approach
• Gain insight for farms
that are not yet built
• Apply to: Design of new farms
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AEROSPACE ENGINEERING AND MECHANICS
Wind Farm Modeling
1. Experimental (black-box) models Ref: “An experimental investigation on the effect of individual turbine control on wind farm dynamics”, by Annoni, Howard, Seiler, and Guala, In preparation.
2. First-principles, reduced order models 27
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AEROSPACE ENGINEERING AND MECHANICS
• Scale 1:750 • 4.5 m/s • 10% turbulence intensity
Model Turbines
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0.128 m 96 m
Photo credits: Kevin Howard
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AEROSPACE ENGINEERING AND MECHANICS
SAFL Wind Tunnel
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Photo credits: Kevin Howard
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AEROSPACE ENGINEERING AND MECHANICS
• Understand the input/output dynamics
• Square waves with varying frequencies: 0.02Hz to 10Hz
Output voltage Power
Voltage Measurements
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Input voltage generator torque
Rated
Derated
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AEROSPACE ENGINEERING AND MECHANICS
Typical Result
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Turb
ine
1
Turb
ine 2
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AEROSPACE ENGINEERING AND MECHANICS
Dynamic Response
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AEROSPACE ENGINEERING AND MECHANICS
Dynamic Park Model
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Upstream
Turbine
Dynamics
Wind
Farm
Model
Time
Delay
Downstream
Turbine
Dynamics
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AEROSPACE ENGINEERING AND MECHANICS
Dynamic Park Model
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AEROSPACE ENGINEERING AND MECHANICS
Wind Farm Modeling
1. Experimental (black-box) models
2. First-principles, reduced order models Ref: “A low-order model for wind farm control,” by Annoni and Seiler, Submitted to the 2015 ACC.
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AEROSPACE ENGINEERING AND MECHANICS
Flow Snapshot
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Figure by: Kevin Howard
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AEROSPACE ENGINEERING AND MECHANICS
• Technique to compress data in flow v(x,y,t) • Holmes et. al, “Turbulence, Coherent Structures, Dynamical Systems and Symmetry.” 1996
• K. Willcox and J. Peraire, “Balanced model reduction via the proper orthogonal decomposition,” 2002
Proper Orthogonal Decomposition (POD)
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AEROSPACE ENGINEERING AND MECHANICS
Proper Orthogonal Decomposition (POD)
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Snapshot
• Construct most energetic modes in flow {vk}
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AEROSPACE ENGINEERING AND MECHANICS
Proper Orthogonal Decomposition (POD)
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Snapshot
10 M
odes
100 M
odes Snapshot
• Construct most energetic modes in flow {vk}
• Approximate flow by projection onto energetic modes
v≈ Sk ck vk
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AEROSPACE ENGINEERING AND MECHANICS
• Construct most energetic modes in flow {vk}
• Approximate flow by projection onto energetic modes
v≈ Sk ck vk
• Obtain low-order ODE model of PDE by Galerkin projection
Proper Orthogonal Decomposition (POD)
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Snapshot
10 M
odes
100 M
odes Snapshot
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AEROSPACE ENGINEERING AND MECHANICS
Balanced Truncation
• Model reduction technique for state-space systems
• Controllability Gramian gives input energy to reach a state.
• Observability Gramian gives output energy from a state.
• Balancing state transformation to yield equal observability/controllability properties.
• Truncate less observable/controllable states.
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Refs: Moore, Pernebo
& Silverman, Enns u y
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AEROSPACE ENGINEERING AND MECHANICS
Balanced Truncation
• Model reduction technique for state-space systems
• Issue: Gramians obtained via a Lyapunov equation.
• Computational cost is O(n3) where n is the state dim.
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Refs: Moore, Pernebo
& Silverman, Enns u y
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AEROSPACE ENGINEERING AND MECHANICS
Balanced POD
• Combination of POD and balanced truncation
• Scalable numerical implementation
• Goal: Obtain model for wind farm feedback control
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Rowley et. al. “Model Reduction for fluids, using Balanced Proper Orthogonal Decomposition” 2004 Willcox et. al., “Balanced model reduction via the proper orthogonal decomposition,” 2002. Lall et. al., “A subspace approach to balanced truncation for model reduction of nonlinear control systems,” 2002.
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AEROSPACE ENGINEERING AND MECHANICS
Balanced POD
• Example: Actuator Disk
• Actuator Disk: 80,000 states
• Represented with 5 modes
• Fewer BPOD modes needed to obtain low-order model
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AEROSPACE ENGINEERING AND MECHANICS
Reduced Order Models
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Conclusions
• Goal: Construct control-oriented models for wind farms
• Models need to be low-order but of sufficient fidelity.
• Use models to design coordinated wind farm controllers
• Approaches:
• Experimental (black-box) models
• First-principles, reduced order models via BPOD
• Next Steps:
• Extend BPOD method from actuator disk to higher fidelity models
• Use models for simple control designs
• Test controllers in simulation and wind tunnel.
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AEROSPACE ENGINEERING AND MECHANICS
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Acknowledgments
• Eolos Consortium and Saint Anthony Falls Laboratory
• http://www.eolos.umn.edu/
• http://www.safl.umn.edu/
• Institute for Renewable Energy and the Environment • Grant No. RL-0010-12: “Design Tools for Multivariable Control of Large
Wind Turbines.”
• Grant No. RL-0011-13: “Innovating for Sustainable Electricity Systems: Integrating Variable Renewable, Regional Grids, and Distributed Resources.”
• US Department of Energy • Grant No. DE-EE0002980: “An Industry/Academe Consortium for Achieving
20% wind by 2030 through Cutting-Edge Research and Workforce Training.”
• US National Science Foundation • Grant No. NSF-CMMI-1254129: “CAREER: Probabilistic Tools for High
Reliability Monitoring and Control of Wind Farms.”