Joerg Berroth

Model predictive control of a wind turbine modelled in Simpack

Wind turbines (WT) are steadily growing in size to increase their power production, which also causes increasing loads acting on the turbines components. At the same time large structures, such as the blades and the tower get more flexible. To minimize this impact, the classical control loops for keeping the power production in an optimum state are more and more extended by load alleviation strategies. These additional control loops can be unified by a multiple-input multiple-output (MIMO) controller to achieve better balancing of tuning parameters. An example for MIMO control, which has been paid more attention to recently by wind industry, is Model Predictive Control (MPC). In a MPC framework a simplified model of the WT is used to predict its controlled outputs. Based on a user-defined cost function an online optimization calculates the optimal control sequence. Thereby MPC can intrinsically incorporate constraints e.g. of actuators. Turbine models used for calculation within the MPC are typically simplified. For testing and verification usually multi body simulations, such as FAST, BLADED or FLEX5 are used to model system dynamics, but they are still limited in the number of degrees of freedom (DOF). Detailed information about load distribution (e.g. inside the gearbox) cannot be provided by such models. In this paper a Model Predictive Controller is presented and tested in a co-simulation with SlMPACK, a multi body system (MBS) simulation framework used for detailed load analysis. The analysis are performed on the basis of the IME6.0 MBS WT model, described in this paper. It is based on the rotor of the NREL 5MW WT and consists of a detailed representation of the drive train. This takes into account a flexible main shaft and its main bearings with a planetary gearbox, where all components are modelled flexible, as well as a supporting flexible main frame. The wind loads are simulated using the NREL AERODYN v13 code which has been implemented as a routine to SlMPACK. This modeling approach allows to investigate the nonlinear behavior of wind loads and nonlinear drive train dynamics. Thereby the MPCs impact on specific loads and effects not covered by standard simulation tools can be assessed and investigated. Keywords. wind turbine simulation, model predictive control, multi body simulation, MIMO, load alleviation

Investigation on the Effects of Structural Dynamics on Rolling Bearing Fault Diagnosis by Means of Multibody Simulation

The present study aims to combine the fields modal analysis and signal processing and to show the use of Frequency Response Function (FRF), as a vibration transfer path, in enhancing reliability and abilities of the next generation vibration-based rolling bearing condition monitoring (CM) systems in complex mechanical systems. In line with this purpose, the hereby-presented paper employs an appropriate numerical model, that is, Multibody Simulation (MBS) of a vehicle’s drivetrain as a manner for numerical modal and structural analyses. For this, first, the principles of vibration-based bearing fault detection are reviewed and presented. Following that, a summary of MBS modelling and validating strategies are given. Then, the validated MBS model is used as a case study for further investigations. The results can confirm existence of challenges in fault detection of rolling bearings, in particular in complex mechanical systems. In further discussions, the capability of FRFs in fault localization and determination of ideal sensor positions is discussed in some detail. Finally, concluding remarks and suggestions for future works are summarized.

Investigation on pitch system loads by means of an integral multi body simulation approach

In modern horizontal axis wind turbines the rotor blades are adjusted by three individual pitch systems to control power output. The pitch system consists of either a hydraulic or an electrical actuator, the blade bearing, the rotor blade itself and the control. In case of an electrical drive a gearbox is used to transmit the high torques that are required for blade pitch angle adjustment. In this contribution a new integral multi body simulation approach is presented that enables detailed assessment of dynamic pitch system loads. The simulation results presented are compared and evaluated with measurement data of a 2 MW-class reference wind turbine. Major focus of this contribution is on the assessment of non linear tooth contact behaviour incorporating tooth backlash for the single gear stages and the impact on dynamic pitch system loads.