Comparative Analysis of Decoupling Control Methodologies and H¥ Multivariable Robust Control for Variable-Speed, Variable-PitchWind Turbines: Application to a Lab-Scale Wind Turbine

Abstract

This work is focused on the improvement of variable-speed variable-pitch wind turbine performance by means of its control structure. This kind of systems can be considered as multivariable nonlinear processes subjected to undesired interactions between variables and presenting different dynamics at different operational zones. This interaction level and the dynamics uncertainties complicate the control system design. The aim of this work is developing multivariable controllers that cope with such problems. The study shows the applicability of different decoupling methodologies and provides a comparison with a H¥ controller, which is an appropriate strategy to cope with uncertainties. The methodologies have been tested in simulation and verified experimentally in a lab-scale wind turbine. It is demonstrated that the wind turbine presents more interaction at the transition zone. Then, this operational point is used as the nominal one for the controller designs. At this point, decoupling controllers obtain perfect decoupling while the H¥ control presents important interaction in the generated power loop. On the other hand, they are slightly surpassed by the robust design at other points, where perfect decoupling is not achieved. However, decoupling controllers are easier to design and implement, and specifically dynamic simplified decoupling achieve the best global response. Then, it is concluded that the proposed methodologies can be considered for implantation in industrial wind turbines to improve their performance.