1 2011 The MathWorks, Inc. Designing Pitch and Yaw Actuators
for Wind Turbines Steve Miller Technical Marketing, Physical
Modeling MathWorks Area A Area B Area V 0.01760.0106200
http://www.mathworks.com/physical-modeling/ Grid Pitch Yaw Rotor
Speed Blades Tower GeartrainGenerator Hub Lift Wind Actuator
(Ideal) Inputs System (Include) Actuator (Realistic) System
(Ignore)
Slide 2
2 Key Points The ability to easily adjust the level of model
fidelity enables efficient development Creating reusable models of
custom physical elements eliminates redundant work Accurate
parameter values can be determined automatically using optimization
algorithms and measurement data Area A Area B Area V
0.01760.0106200 Actuator (Ideal) Inputs System (Include) Actuator
(Realistic) System (Ignore)
Slide 3
3 Agenda Pitch and yaw systems in full wind turbine model
Determining pitch system requirements Modeling a hydraulic pitch
system Modeling an electrical yaw system Modeling custom components
Validating models against measurement data
Slide 4
4 Determine Pitch Actuator Requirements Problem: Determine the
performance requirements for the pitch actuator (force and speed)
Solution: Use an ideal actuator and a controller to model the pitch
system Model: Pitch Command Actuator Force Cylinder Extension
Control
Slide 5
5 Agenda Pitch and yaw systems in full wind turbine model
Determining pitch system requirements Modeling a hydraulic pitch
system Modeling an electrical yaw system Modeling custom components
Validating models against measurement data
Slide 6
6 Test Hydraulic Pitch Actuator Design Problem: Test a design
for a hydraulic pitch actuation system including power failure
condition Solution: Use SimHydraulics to model the hydraulic
actuator Model: Control
Slide 7
7 Agenda Pitch and yaw systems in full wind turbine model
Determining pitch system requirements Modeling a hydraulic pitch
system Modeling an electrical yaw system Modeling custom components
Validating models against measurement data
Slide 8
8 Determine Yaw Actuator Requirements Problem: Determine the
torque requirements for the yaw actuator Solution: Use an ideal
actuator to model the yaw system Model: Yaw Command Yaw Rate Cmd
Control Torque Limit Rate to 0.5 deg/s Nacelle Yaw Rate Nacelle Yaw
Angle Top View Side View Control
Slide 9
9 Test Electrical Yaw Actuator Design Problem: Model the yaw
actuators in the Simulink environment Solution: Use SimElectronics
and SimDriveline to model the yaw actuator Model:
Slide 10
10 Agenda Pitch and yaw systems in full wind turbine model
Determining pitch system requirements Modeling a hydraulic pitch
system Modeling an electrical yaw system Modeling custom components
Validating models against measurement data
Slide 11
11 Model Custom Physical Components Problem: Create a new
physical modeling component for use in the Simulink environment
using this equation. Solution: Use the Simscape language to model
the component. Model: q = Re Re cr Re < Re cr MATLAB based
Object-oriented Define implicit equations (DAEs and ODEs)
Slide 12
12 Extend and Create Libraries Define the physical network
ports for the Simscape block Reuse existing physical domains to
extend libraries Define new physical domains
Slide 13
13 Define User Interface Parameters, default values, units, and
dialog box text all defined in the Simscape file
(extension.ssc)
Slide 14
14 Simscape Language: MATLAB Based Use MATLAB functions and
expressions for typical physical modeling tasks: Analyze parameters
Perform preliminary computations Initialize system variables Syntax
closely follows MATLAB language
Slide 15
15 Create Reusable Components Equations defined in a text-based
language Based on variables, their time derivatives, parameters,
etc. Define simultaneous equations Can be DAEs, ODEs, etc.
Assignment not required Specifying inputs and outputs n ot required
q = Re Re cr Re < Re cr
Slide 16
16 Agenda Pitch and yaw systems in full wind turbine model
Determining pitch system requirements Modeling a hydraulic pitch
system Modeling an electrical yaw system Modeling custom components
Validating models against measurement data
Slide 17
17 Area A Area B Area V 0.0250.02175 Estimating Parameters
Using Measured Data Problem: Simulation results do not match
measured data because parameters values are incorrect Solution: Use
Simulink Design Optimization to automatically tune model parameters
Model: AB PTT A B Area A Area B Area A Area B Area V
0.01760.0106200 Area V
Slide 18
18 Estimating Parameters Using Measured Data Steps to
Estimating Parameters 1. Import measurement data and select
estimation data 2. Identify parameters and their ranges 3. Perform
parameter estimation Area A Area B Area V 0.0250.02175
Slide 19
19 Estimating Parameters Using Measured Data Advantages of
Simulink Design Optimization 1.Enables quick and easy comparison of
simulation results and measured data to ensure simulation matches
reality 2.Automatic tuning of parameters saves time 3.Optimization
algorithms reveal parameter sensitivity and help improve model
parameterization
Slide 20
20 Key Points The ability to easily adjust the level of model
fidelity enables efficient development Creating reusable models of
custom physical elements eliminates redundant work Accurate
parameter values can be determined automatically using optimization
algorithms and measurement data Area A Area B Area V
0.01760.0106200 Actuator (Ideal) Inputs System (Include) Actuator
(Realistic) System (Ignore)