ECE 4600Group Design Project Proposal

Group 09

Design and Hardware Implementation of a Supervisory

Controller for a Wind Power Turbine

Supervisors

Annakkage, Udaya D., P.Eng

McNeill, Dean, P.Eng

Bagen Bagen, Dr.

Group Members

Alimujiang, Abulizijiang

Gill, Ajaypal

Przybytkowski, Daniel

Uppal, Laraib

Date of Submission

September 26, 2014

Supervisory Controller

Contents

1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Project Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

3.1 Wind Turbine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23.2 Transformers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33.3 Transmission Line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33.4 Operation Under Normal Conditions . . . . . . . . . . . . . . . . . . . . . . . 43.5 Operation Under Fault Condition . . . . . . . . . . . . . . . . . . . . . . . . . 53.6 Development Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

4 Division of Labour . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 Gantt Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 Budget . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

References 10

1 Introduction

The demand for clean energy production is rapidly increasing across the globe due to climate

change and environmental concerns. Wind energy is a renewable energy source that has significant

environmental benefits, such as zero greenhouse gas emissions and minimal ecological impact. From

2000 to 2012, global wind energy production has grown by an average rate of 24% per year [1].

In a modern wind power plant, a supervisory controller is used to control the operation of

multiple wind turbines. The objective of this project is to design a supervisory controller for a

single Type-3 2MW rated wind turbine. The supervisory controller will control the power output

of the turbine through the regulation of rotor speed and rotor blade pitch angle. Under normal

operation conditions, the controller will monitor wind speed, and the turbine will generate power in

accordance with the typical power curve of a Type-3 wind turbine. According to the Canadian Grid

Code for Wind Development [2], the controller will carry out Low Voltage Ride-Through (LVRT)

under fault condition. The supervisory controller will control the turbine of the wind power system

designed for this project shown in Figure 1.

Fig. 1: Wind Power System Diagram

The supervisory controller will be simulated in RSCAD as well as implemented in hardware.

The hardware controller will interface with the Real Time Digital Simulator (RTDS) simulating

real world conditions, and a comparison of the performance of the simulated controller and the

hardware controller will be carried out.

Supervisory Controller 2 Project Details

2 Project Details

The project is divided into four main components: literature review, the RSCAD simulation,

hardware implementation, and testing. The literature review is a vital component of the project

because it will provide the group members with the necessary background knowledge required

about the functions of a supervisory controller within a wind power plant. In order to simulate

the supervisory controller in RSCAD, the team will partake in multiple RSCAD tutorials. The

development kit will be selected during the early stages of the project to allow familiarization with

the Integrated Development Environment. The software simulation and hardware implementation

of the supervisory controller will be carried out in a parallel manner. The hardware controller will

be interfaced with the RSCAD simulation of the wind power system shown in Figure 1 using RTDS.

The performance of the both the software and hardware supervisory controllers will be evaluated

based on the specifications given in Section 3.4 and 3.5.

3 Specifications

The specifications for each part of the wind power system as seen in Figure 1 are outlined in the

following sections. This includes the wind turbine, transformers, and the transmission line. The

operation of the system under normal conditions and fault condition are also specified, as well as

the requirements for choosing a development kit.

3.1 Wind Turbine

The turbine used for this project is a Type-3 model most commonly used in modern wind power

plants. As per Udaya D. Annakkage’s request, the turbine will be rated at 2MW, operating at 60Hz

, and must be variable speed and able to be pitch regulated. Having met the requirements, the

turbine selected for this project will be modeled after the V110-2.0 MW manufactured by Vestas.

A summary of the turbine parameters is provided in the Table 1.

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Supervisory Controller 3 Specifications

Table 1: Wind Turbine Parameters [3]

Parameter Value or Range

Rated Power 2 MW

Blade Length 54 m

Rotor Radius 55 m

Cut-in Wind Speed 3 m/s

Rated Wind Speed 11.5 m/s

Cut-out Wind Speed 20 m/s

Power Coefficient 0.2-0.45

Air Density 1.225 kg/m3

3.2 Transformers

There are two transformers required for the wind turbine system model. The first 3-phase trans-

former will connected to the Doubly Fed Induction Generator (DFIG) as shown in Figure 1. The

transformer will step up the generated voltage from 690V to 33kV. The second 3-phase transformer

steps up the 33kV to 230kV, connecting the system to the strong grid through a transmission line

[4].

3.3 Transmission Line

The generated voltage from the wind turbine is connected to the strong grid through a transmission

line. The parameters for the transmission line used in the RSCAD simulation are seen in Table

2. Due to computational limitations of RSCAD, the transmission line must be greater than 15

kilometers.

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Supervisory Controller 3 Specifications

Table 2: Transmission Line Parameters [4]

Parameter Value or Range

Line Resistance 0.05 Ω /km

Line Inductance 1.30 mH/km

Line Capacitance 0.0089 F/km

Line Length >15km

3.4 Operation Under Normal Conditions

The supervisory controller must control operation of the turbine under normal conditions based

on the power curve of the V110-2.0 MW [3] shown in Figure 2. For wind speeds under 3 m/s,

the turbine will be stalled. At the cut-in wind speed of 3 m/s up to the rated wind speed of 11.5

m/s, the turbine will operate at a constant tip to speed ratio through the control of rotor speed.

From the rated wind speed of 11.5 m/s to the cut-out wind speed of 20 m/s, the pitch angle of the

turbine will be controlled to maintain a constant rated power of 2MW. Due to engineering design

limits and safety constraints, the turbine will be stalled at wind speeds above 20 m/s.

Fig. 2: Power Curve of the V110-2.0 MW Turbine [3]

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Supervisory Controller 3 Specifications

3.5 Operation Under Fault Condition

According to the Canadian Grid Code for Wind Development, the wind turbines must adhere to

the LVRT curve as shown in Figure 3 [2]. When a fault occurs, the wind turbine will continue

operating for a period of 150ms after which the turbine must be stalled. After a total duration of 3

seconds after a fault has occurred, the system will check for an 85% or greater recovery of voltage.

If the voltage has recovered to the 85% or greater level, the turbine will be re-connected to the

system. However, should this threshold not be met after the 3 second time interval, the system will

remain stalled. In the wind power system illustrated in Figure 1, a 3-phase line to ground fault will

be applied on the transmission line after the 33kV/230kV transformer to simulate a worst-case fault

scenario. The supervisory controller will control the system to adhere to the LVRT specifications

of the Canadian grid code.

Fig. 3: Low-Voltage Ride-Through [2]

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Supervisory Controller 3 Specifications

3.6 Development Kit

The specifications for the selection of a development kit are summarized in Table 3. The Arduino

Due was selected as the base design product meeting the minimum requirements shown in Table 3.

The Arduino Due operates at a clock speed of 84 MHz, has 12 analog inputs and 2 analog outputs

at 3.3V [5]. The Digital to Analog Converter (DAC) MAX520BCPE+-ND was selected in order to

provide aditional analog outputs.

Table 3: Development Kit Specifications

Parameter Description Value or Range

Clock Speed Analog inputs are not read simultaneously.In order to monitor each input at a minimumrate of 1000 samples/sec, as well as computeand execute commands, a development kitthat can operate at 10 MHz or greater wassuggested by Dean McNeill.

10+ MHz

Number of Analog Inputs Required signals to be monitored are 3-phasecurrent, 3-phase voltage, torque, and windspeed.

>8

Number of Analog Outputs Required output signals are rotor referencespeed, brakes, pitch angle, and possible tur-bine speed control. Should the developmentkit not provide analog output, DACs will beused.

0-4

Operating Voltage The Giga-Transceiver Analogue Output andInput cards connected to RTDS have an ana-log maximum voltage rating of 10V.

0-10V

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Supervisory Controller 4 Division of Labour

4 Division of Labour

The parallel nature of software simulation and hardware implementation will allow each team

member to gain a better understanding of each component of the project. The simultaneous

approach reduces the dependency of implementing the hardware supervisory controller solely upon

the successful completion of the software simulation. A summary of the project milestones and

tasks is provided in Table 4.

Table 4: Milestones, Tasks, and Division of Labour

Milestone Tasks Individualin Charge

LiteratureReview

Wind Power Turbines and Generation Group

Turbine Operation Under Normal Conditions Group

Turbine Operation Under Fault Condition Group

RSCADSimulation

Familiarization With RTDS Group

Tutorial on RSCAD Group

Simulation of System Excluding Supervisory Controller Ajaypal, Laraib

Design Supervisory Controller Ajaypal, Laraib

Design Supervisory Controller For Normal Conditions Ajaypal

Design Supervisory Controller For Fault Condition Laraib

HardwareImplementation

Select Development Kit Alimujiang, Daniel

Learn Integrated Development Environment Alimujiang, Daniel

Program Supervisory Controller For Normal Conditions Daniel

Program Supervisory Controller For Fault Condition Alimujiang

Interface With RTDS Alimujiang, Daniel

Testing Working Test of RSCAD Simulation Ajaypal, Laraib

Working Test of Hardware Implementation Alimujiang, Daniel

Comparison Between RSCAD Simulation And Hardware Group

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Supervisory Controller 5 Gantt Chart

5 Gantt Chart

Fig. 4: Project Gantt Chart

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Supervisory Controller 6 Budget

6 Budget

The total expected cost is $359.20 out of the budget of $400 that is allocated for capstone design

project. The only cost comes from ordering one Arduino Due and two MAX520BCPE+-ND DACs,

both supplied by Digikey. An overhead cost of 20% has been included to cover costs of components

supplied by the tech shop. Should the Arduino Due not be suffiecient, $200 has been allocated for

the selection of a replacement development kit.

Fig. 5: Project budget

7 Conclusion

The objective of this project is to design a supervisory controller to control Type-3 2MW rated

wind turbine. The supervisory controller will control the turbine operation under normal operation

and fault condition. The supervisory controller will be simulated in RSCAD as well as implemented

in hardware. The project is expected to fulfill the requirements and be completed as scheduled.

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Supervisory Controller REFERENCES

References

[1] I. E. Agency. (2013) Technology Road Map Wind Energy (2013 Edi-tion) . [Online]. Available: http://www.iea.org/publications/freepublications/publication/technology-roadmap-wind-energy---2013-edition.html

[2] G. Hassan. (2005) Canadian Grid Code for Wind Development- Review and Recommen-dations (2005 Edition). [Online]. Available: http://www.nrcan.gc.ca/energy/publications/sciences-technology/renewable/smart-grid/6081

[3] Vestas. (2013) 2 MW Platform (2013 Edition). [Online]. Available: http://www.nrcan.gc.ca/energy/publications/sciences-technology/renewable/smart-grid/6081

[4] D. H. R. Suriyaarachach, “Sub-synchronous Interactions in a Wind Integrated Power System,”Ph.D. dissertation, University of Manitoba, Winnipeg, MB, 2014.

[5] Arduino. (2014) Arduino Due Summary (2014) . [Online]. Available: http://arduino.cc/en/Main/ArduinoBoardDue

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