DSP and FPGA based system to control a wind turbine generator implementing a variable speed vectorial control method

DSP and FPGA Based Sys em o Con ol a Wind Tu bine Gene a o Implemen ing a Va iable Speed Vec o ial Con ol Me hod M. Pe ales, F. Ba e o, J.L. Mo a, E. Gal ´ an, J.M. Ca asco and L.G. F anquelo Dp o de Ingenie ´ıa Elec ´ onica, Uni . de Se illa, A da Reina Me cedes s/n, 41012-Se illa (SPAIN) phone: +34-5-4556873; ax: +34-5-4556849;e-mail: [email p o ec ed] Abs ac — Thepu pose o his pape is o desc ibeaDSP and FPGAcon ol sys em oimplemen a a iablespeed ec o ial con ol . Two semi-sys ems, bo h o hem consis ing on a DSP, a FPGA and A/D, D/A & digi al I/O’s a e used. Each one will con ol an in e e : The i s in e e implemen s a a iable speed ec o con ol o he induc ion gene a o and hesecondonehandle hepowe injec edin o heu ili yg id. Expe imen al esul swillbeshown o con i m he alidi y o he p oposed con olle . I. INTRODUCTION Many ho izon al axes, g id-connec ed, medium o la ge scale wind u bines a e egula ed by pi ch con ol andmos o wind u binesso a buil ha e p ac ically cons an speed, since hey use an AC gene a o , di ec ly connec ed o he dis ibu ion g id, which de e mines i s speed o o a ion. In he las yea s, a iable speed con ol is been added opi ch–angle con olled design ([1]–[4]) in o de o imp o e he pe o mance o he sys em. Va iable speed ope a ion o a wind u bine has a numbe o ad an ages: he educ ion o elec ic powe luc ua ionsbychanges in kine ic ene gy o he o o , he po en ial educ ion o s essloads on he blades and he mechanical ansmissions and he possibili y o une he u bine o local condi- ions by adjus ing he con ol pa ame e s. The objec i es o a iable speed con ol sys em a e summa ized by he ollowing gene al goals: 1. To egula e and smoo h he powe gene a ed. 2. To maximize he ene gy cap u e. 3. To alle ia e he ansien loads h oughou he wind u bine. 4. Uni y powe ac o in he line side wi h no ha monics cu en injec ion. 5. To educe he machine o o lux a ligh load educing co e losses. Objec i es o he pi ch–angle con ol a e: 1. To pe mi he s a ing blades angle o di e om heope a ionbladepi changle,henceal- lowing easie s a ing and op imum unning. 2. O e powe and o e speed can be dissipa ed h ough o o pi ch egula ion. The pape desc ibes a digi al con olle based on a DSP and a FPGA o implemen hese con ol poli- cies. The con olle has been e alua ed using a he es ig including he powe ci cui s and he con ol s a egies, ha will be desc ibed la e . The pape hasbeeno ganizedin he ollowingsec ions: sec ion wo desc ibes es ig implemen a ion and con ol algo i hms applied o he induc ion gene - a o . Nex sec iondesc ibes heimplemen a iono he p oposed con olle . Sec ion ou shows some expe imen al esul con i ming hepe o manceo he p o o ype and inally, will be gi en some con- clusions. II. TEST-RIG DESCRIPTION A. Powe Ci cui s Figu e 1 shows he powe and con ol sys ems o he es - ig. In ha igu e, wo subsys ems can be ound: he DC mo o and he AC gene a o con- ol. The DC mo o is con olled by a comme cial hy is o ull b idge ec i ie wi h i s con ol sys- embased ona mic ocompu e . In o de ocon ol 1 heinduc iongene a o , woin e e connec edby a DC–Link capaci o ha e been used. The i s one wo ks as a con olled ec i ie and he second one handles he powe injec ed in o he u ili y g id. The o e all sys ems is con olled using a pe sonal compu e we e hewind u binemodelwasimple- men ed by so wa e. In igu e 2 is shown he Tes – Rig gene al iew. Cu en con olled DC mo o 000 00 0 00 0 111 11 1 11 1 +DC AC AC DC AC DC Mic ocompu e Con ol D i e Signal and Pulse D i e Condi ioning RS232 PUBLIC GRID AC GENERATOR DC MOTOR ENCODER DSP Con ol Boa d Pe sonal Compu e LOAD CELL TORQUE SIGNAL Figu e 1: Powe and Con ol Diag ams o he Tes -Rig Va iable Speed Wind Tu bine Figu e 2: Pho og aph o he es –Rig. is used o implemen a Va iable Speed and Pi ch- angle Wind Tu bine. In he wind u bine model he e e ence o que is compounded o h ee com- ponen s: ae odynamic, oscilla o y and dynamic o que which a e calcula ed on he PC. The e e - ence o queissen o heDCmo o mic ocon olle om he PC by a RS232 se ial communica ion. B. Con ol S a egies The con ol o he induc ion gene a o can be di- ided in h eepa s: Powe con ol,induc iongen- e a o con ol and powe injec ed in o he u ili y g id con ol. Powe Con ol Block: The powe con ol block implemen s di e en con ol policies depending on he wind speed and pi ch–angle posi ion. The con ol policies a e o que, o o speed o powe cons an e e ence. Induc ion Gene a o Con ol Block:This con ol is based on an indi ec ec o me hod ([5]). The well known block diag am o his con ol sys em is shown in igu e 3. The o o speed is added o slip speed o ob ain he synch onous speed o he e e ence ames: ! e = p 2 ! + KCV i q ( 1 ) ! e is he synch onous equency. p is he pole numbe . ! is he mechanical equency. KCV is a ec o con ol cons an . In ha e e ence ame, he o que and lux con ol is pe o med. A Space Vec o echnique is used o con ol he induc ion gene a o cu en . This cu en con ol has been implemen ed in a syn- ch onous e e ence ame. Fuzzylogic echniques ([6])a e beenimplemen ed in o de o imp o e speed con ol. In a u u e, uzzy sel uningcon ol sys em o Induc ion gen- e a o will be used ([7]). Con ol o he Powe Injec ed o he Public G id: The DC–linkcapaci o s ol agemus becon olled o main ain a cons an e e ence ol age. This is pe o med, injec ing he ac i e powe deli e ed o he induc ion gene a o . The con ol block dia- g am is ep esen ed in igu e 4. A space ec o θ ENCODER GENERATOR + KCV ωω ω cos sen θ θ iq d i S 1 SENSE CURR. MEASUR. sl e CURRENT S. V. CONTROL SPEED Figu e 3: Indi ec Vec o Con ol Me hod Block Diag am. echnique is used o con ol he cu en injec ed in o he u ili y g id. In his case, cu en con ol has been implemen ed in a s a iona y e e ence ame. 2 θ + SENSE - + + + V P I icapac. UTILITY GRID POWER CALC. POWER CALC. S. V. CURRENT CONTROL CURR. SENSE VOLT. SENSE VOLT. Figu e 4: Public G id cu en injec ionBlock Diag am. III. CONTROLLER IMPLEMENTATION In his sec ion i will desc ibe he con ol sys em physically. The sys em i sel is composed o wo semi-sys ems, each one con olling a h ee-phase ull-b idge in e e , linked oge he h u a Dual- Po Ram. in he Figu e 5 we can see a global desc ip ion o his sys em: In his igu e, he main Con ol LinesCon ol Lines igge igge UTILITY GRID (SLAVE)GENERATOR ( MASTER) RS- 232 DSP- 1 DP- RAM F.P.G.A. P.P.I. 32 bi ROM 32 bi RAM U.A.R.T. 12- bi DAC. Con . MUX 4:1 12 bi A/ D MUX 4:1 12 bi A/ DA/ D 12 bi MUX 4:1 DSP- 2 TMS320C30 DP- RAM F.P.G.A. P.P.I. 32 bi ROM 32 bi RAM U.A.R.T. 12- bi DAC. Con . MUX 4:1 12 bi A/ D MUX 4:1 12 bi A/ DA/ D 12 bi MUX 4:1 TMS320C30 WATCH DOG DOG WATCH Figu e 5: O e iew o he con ol sys em implemen ed. componen s a e shown. They a e: a TMS320C30, 40 MHz DSP, a FPGA as co-p ocesso , a 8255 PPI, a 16552DUART, a Wa chDog module, a Dual Po RAM o p o ide communica ion be ween sub- sys ems,and 32 bi RAM and EPROM. Due o eal ime p ocess equi emen s, and con ol wo com- plex sys ems ( wo in e e s) a loa ing poin DSP was chosen. The FPGA used in he design was he TPC1020BFN-068C, and pe o m he ollow- ing asks: in e up handling, add ess gene a ion, speed encode ead, and managing igge s o he in e e . IV. EXPERIMENTAL RESULTS In hissec ion expe imen al esul sob ainedo he es - igp o o ypea e analyzed oe alua e hepe - o mance o he p oposed con olle based on a DSP and FPGA. Fig. 6 show oscillog ams o he injec ed cu en in he public g id in nominal con- di ions using he p oposed con ol boa d, and he mo o cu en . Fig 7 show oscillog ams o he dc link capaci o ol age ipple, and he cu en in- jec ed in he public g id. I should be no ed ha he oscillog am o he dc ol age has been magni- ied in o de o obse e i s ipple (600 V DC le el agains 15 V pp). Fig 8 show oscillog ams o he gene a o cu en and he o o speed o a s ep loadchange om5kW o2kWo hewindpowe . The inal o se , due o an unadjus ed cons an on he PI, is being co ec ed. Fig 9 show oscillog ams o hegene a o cu en and i s speed, when accel- e a ing om 0 o 1500 pm. Figu e 6: Oscillog amso he injec edcu en in hepublic g id (channel 1) and he gene a o cu en (channel 2) in nominal condi ions (1500 pm 380 V). Channel 1 10A/di , channel 2 5A/di and 10ms/di . Figu e 7: Oscillog ams o he dc link capaci o ol age ipple (channel 1),and hecu en injec edin he publicg id (channel 2) innominal condi ions (1500 pm 380V). Channel1 10V/di , channel 210A/di and 20ms/di . 3 Figu e 8: Oscillog ams o he gene a o cu en and he o o speed o a s ep load change om 5 kW o 2 kW o he wind powe . Channel110A/di ,channel2500 pm/di and1s/di . Figu e 9: Oscillog amso he gene a o cu en (channel 1)and i s speed (channel 2), when accele a ing om 0 o 1500 pm. Channel 1 20A/di , channel 2 250 pm/di and .2 s/di . V. CONCLUSIONS A con ol boa d based on a DSP and FPGA is p oposed in his pape in o de o e alua e some con ol policies o wind-ene gy con e sion sys- ems. To con i m he alidi y o he p opose con- ol boa d and he con ol s a egies a es ig p o- o ype has been buil in he labo a o y. A cu en con olled DC mo o has been used o implemen a model o a iable speed and pi ch-angle wind u bine. The DC mo o has been used o d i e an induc ion gene a o . The con ol o he gen- e a o has been implemen ed using ec o con ol me hod and space ec o cu en con ol. P elim- ina y expe imen al esul s con i ming he alidi y o hecon olme hodp oposedin he es – igha e been shown. ACKNOWLEDGMENT This wo k has been suppo ed by he Fi s Use P og am (FUSE) included in he ESPRIT p ojec , en i led “DSP-Based con ol o a iable speed wind u bine” expe imen numbe 2063. REFERENCES [1] R. Da idRicha dson andGe ald M. McNe ney, “Wind En- e gy Sys ems”, P oceeding o IEEE, VOL. 81, NO.3, Ma ch 1993. [2] M. Godoy Simoes, Bimal K. Bose, “Fuzzy Logic Based In- elligen con ol o a Va iable Speed Cage Machine Wind Gene a ion Sys em”. IEEE, 1995. [3] To bjon n Thi inge and Jan Linde s, “Con ol by Ro o Speed o a Foxed–Pi ch Wind Tu bine Ope a ing ina Wide Speed Range”. IEEE/PES Summe Mee ing, Sea le, 1992. [4] A.D.Simmons, L.L.F e is andJ.A.M.Bleijs,“Compa ison o Ene gy Cap u eand S uc u alImplemen a ions o Va - ious Policieso Con olling Wind Tu bines”, Wind Ene gy: Technology and Implemen a ion (Ams e dam EWEC’91). [5] B. K. Bose, Powe Elec onic and AC D i es, P en ice-Hall Englewood Cli s, N. J., 1987. [6] E. Gal ´ an, F. Ba e o, M. A. Agui e, A. To alba, L. G. F anquelo,“A Robus Speed Con ol o AC Mo o D i es based on Fuzzy Reasoning”, IAS–93 Annual Mee ing,pp 2055–2058,To on o 1993. [7] F. Ba e o, E. Gal ´ an, A. To alba, L. G. F anquelo, “Fuzzy Sel uning Sys em o Induc ion Mo o con olle s”, Eu- opean Powe Elec onics EPE’95, Se ille, Spain, Sep embe 1995. 4