Research on Data-Driven Passive Fault-Tolerant Individual Pitch Control Method for Floating Offshore Wind Turbine
Liang Dongyang1, Liu Chao1, Shi Xin2, Xiao Yi1, Yin Gang1
1. Central Southern China Electric Power Design Institute of China Power Engineering Consulting Group Wuhan 430071 China; 2. Energy Internet Research Institute Tsinghua University Beijing 100085 China
Abstract：Pitch control is related to the stable and efficient power generation and overall safety of floating offshore wind turbine (FOWT). However, the pitch control technology of FOWT faces several challenges such as difficulty in modeling, difficulty in coordinating power-load-motion multi-objective control under wind-wave coupling inputs, and the potential increase in the failure rate of pitch actuators caused by individual pitch mechanism and high humidity-salt environment. To address these issues, this paper proposes a data-driven passive fault-tolerant individual pitch control (PFTIPC) method for FOWT. Firstly, the completely nonlinear 5 MW semi-submersible FOWT of National Renewable Energy Laboratory (NREL) is used as the reference model. The normal and fault model of hydraulic pitch actuator is established. Then, based on the damping characteristics of the platform-pitch mode of the FOWT, the traditional collective pitch controller (CPC) is improved to enhance power regulation capability. And individual pitch controller (IPC) is designed to reduce the imbalanced blade root cyclic load. On this basis, further analysis is conducted on the sensitivity of the fault pitch actuators, and a model free adaptive passive fault-tolerant control strategy (MFAC-FTC) based on blade root imbalance-separation load is proposed, which added fault-tolerant control function to the traditional pitch control loop. Finally, multi-condition simulation tests are conducted on the OpenFAST and Simulink joint simulation platform. Simulation results on the different working conditions illustrate that, the data-driven control method has significant advantages in nonlinear FOWT pitch control. Under step wind and gust wind conditions with no faults in the three pitch actuators, improved CPC enhances system stability and power regulation capability in the range above the rated wind speed, and IPC effectively reduces imbalanced cyclic load at the blade root. The output of the fault-tolerant controller loop is close to 1, indicating that the fault-tolerant controller is basically ineffective and doesn’t affect the CPC and IPC loop without faults for pitch actuators. Under turbulent wind conditions where three pitch actuators experience varying degrees of failure, the fault-tolerant controller outputs corresponding compensation factors based on the degree of failure, avoiding root and tower load oscillations. Under turbulent wind conditions where three pitch actuators experience the same degree of failure, the fault-tolerant controller outputs close to 1. And at this situation, the IPC loop performs adjustment actions. The following conclusions can be drawn from the simulation analysis: (1) The improved passive fault-tolerant individual pitch controller (PFTIPC) is based on data-driven control theory, which does not require complex and refined modeling and linearization processes for FOWT. The controller design and parameter tuning are simpler, and the control performance is good. (2) The improved CPC control strategy can improve the stability of the FOWT near the rated wind speed range, and reduce power regulation errors in higher wind speed ranges far from the rated wind speed. The IPC controller further reduces the imbalanced cyclic load at the blade root. (3) The model-free adaptive passive fault-tolerant control strategy based on blade root imbalanced load error has a good fault compensation effect on imbalanced blade-root load separation faults. At the same time, the model-free adaptive passive fault-tolerant control strategy doesn’t affect other control loop functions for no fault working condition and blade-root load non-separation fault working condition.
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