Model predictive control of wind turbines using uncertain LIDAR measurements

摘要

The problem of Model predictive control (MPC) of wind turbines using uncertain LIDAR (LIght Detection And Ranging) measurements is considered. A nonlinear dynamical model of the wind turbine is obtained. We linearize the obtained nonlinear model for different operating points, which are determined by the effective wind speed on the rotor disc. We take the wind speed as a scheduling variable. The wind speed is measurable ahead of the turbine using LIDARs, therefore, the scheduling variable is known for the entire prediction horizon. By taking the advantage of having future values of the scheduling variable, we simplify state prediction for the MPC. Consequently, the control problem of the nonlinear system is simplified into a quadratic programming. We consider uncertainty in the wind propagation time, which is the traveling time of wind from the LIDAR measurement point to the rotor. An algorithm based on wind speed estimation and measurements from the LIDAR is devised to find an estimate of the delay and compensate for it before it is used in the controller. Comparisons between the MPC with error compensation, the MPC without error compensation and an MPC with re-linearization at each sample point based on wind speed estimation are given. It is shown that with appropriate signal processing techniques, LIDAR measurements improve the performance of the wind turbine controller.