PRACTICAL: 3 WIND TURBINE CONTROL METHODS AND

STRATEGIES
1.1 INTRODUCTION:
Controlled power generation is an essential requirement for the efficient
working of any power plant, not only for the personnel but also for the safety of the
generating plant itself and the environment. Wind power plants (WPPs) are not an
exception in this regard. Power control means that the WPP limits the share of the
available power in the wind using both the aerodynamic control and the electrical
generator control. The major goal of wind power control strategies discussed in this
chapter is to maximise the energy production and at the same time keep the WPP
operation within safe limits.

1.2 POWER CONTROL CLASSIFICATION:

There are two major strategies for the power control of WPPs. Although
following two control strategies are independent, they can be closely interrelated.
Aerodynamic control.
Power electronic control.
Aerodynamic control method of limiting the power from the wind is generally
adapted when the power available in the wind is higher than the power for which the
WPP has been designed. This method control is also called as principle of positive feed
forward control. The acceleration and deceleration of the rotor blades have to be
controlled to limit the electrical load on the generator and the mechanical stresses on
the rotor blades, the hub (to some extent) and the rest of the drive train as well.
However, continuous control of the rotor speed by pitching of the blades leads to
continuous fluctuation of the power output to the grid which is not desirable. If a quick
variation of speed is possible by this control when there is large difference between
the input power and output power, than the stress on the blades is increased on
account of the large torque needed.
Power electronic control is the ability of WPP to adapt its electrical generator
rotor speed during normal energy production operation. This control depends on the
type of electric generator use in the WPP and is called principle of negative feedback
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control. This method of speed control technique offers a smooth operation as it does
not involve any mechanical action. Power electronic control is applicable when there is
power electronic convertor (PEC) interface between the electric generator and local
grid.
Control strategies are different for constant speed and variable speed WPPs.
There controls in coordination with aerodynamic and power electronic control are
depicted in figure. It is seen that the control strategies for the WPPs are different for
condition. A when the wind speed is

Comment [DJM1]: Sentence is not complete

By the PEC the value of?? can be controlled. WPP power control algorithms for
variable speed WPPs at above rated wind speed conditions are for rotor speed
regulations by pitch actuation as well as foe electrical power production by generator
torque control. Rotor speed regulation is achieved by the feedback of the proportional
derivative (PD) control and pitch angle is achieved by the feedback of the proportional
integration (PI)control.

1.3 INEGRATED AERODYNAMIC AND ELECTRIC CONTROL STRATEGIES:

For an economical WPP design, the maximum performance of the generator and
gearbox needs to be limited to an appropriate level for the overall WPPs safe
operating environment. The ideal situation for the wind turbine rotor is to be able to
extract as much power as possible from the wind till the rated power of the electric
generator is reached and then limit the power extraction at that rated level even if the
wind speed increases further. For this to happen the WPPs are designed to work at
maximum aerodynamic efficiency between cut-in speed and rated speed in region 2
(see Figure 1.3). For higher than rated wind speeds in region 3 but below cut-out
speed, the WPP is controlled by stall, pitch or active stall action to maintain the
loading of electrical generating rating. The following control strategies are the
combinations of aerodynamic and electric control which render it possible to manage
the WPP functionally for different strategies of operations.

Constant speed generator fixed pitch (CSG-FP)

Constant speed generator variable pitch (CSG-VP)
Variable speed generator fixed pitch (VSG-FP)
Variable speed generator variable pitch (VSG-VP)

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Figure 1.3: Integrated Aerodynamics and Electric Control of WPPs: It can be seen that
out of the different WPP topologies, a variable speed WPP combined with pitch
control is the best strategy because even at lower than rated wind speeds, more
power can be captured.

1.3.1

Constant speed Generator fixed pitch (CSG-FP) configuration:

In this strategy, the electrical generator speed is constant and rotor blades are
permanently fixed at an angle of attack for the most optimum blade position based
on the wind data of that particular site. In this topology where the induction generator
is used in the WPP, the stator is directly connected to the electric grid causing the
generator speed to be locked to the electrical power line frequency to keep the RPM
fixed. It runs at approximately constant speed even in high winds producing more
power yet achieving this without any change to the rotor geometry. The grid behaves
like a large flywheel holding the speed of the WPP nearly constant, irrespective of the
changes in the wind speed.

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1.3.2
Constant speed Generator variable pitch (CSG-VP)
configuration:
In this strategy, the electrical generator speed is constant but the blade pitch
angles are varied continuously (see Figure 1.3) based on the wind speed. However, it
can be noted that the feathering of the blade takes significant amount of control
design but stalling action also increases the unwanted thrust force, as the wind speed
increases.
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Below the rated wind speed, this type of WPP has a near optimum efficiency in
the region 2, as seen by the solid line in the power curves (see Figure 1.3). To limit the
captured power at full load rating when operating above the rated wind speed (which
is generally around 12 m/s to 15 m/s for large WPPs ) , the blade pitch is continuously
adjusted at 10 minutes average for IEC wind class 1 and 2 WPPs. It does not pay to
design for very strong wind speeds beyond the rated speed, as they are quite rare. For
IEC wind class 3 wind turbines, cut-off wind speed value is in the range of 17 m/s20m/s. However, microcomputer initiates the emergency stop in case of damage or
other critical results.

1.3.3

Variable speed generator fixed pitch (VSG-FP) configuration:

In this type of WPP,the electrical generator runs at a variable speed (see Figure
1.3) but blade pitch angles are fixed at the most optimum angle of attack relevant to
that wind site. To limit the power captured, small control method (as in JeumontJ48
WPP ) is adapted which relies heavily upon the aerofoil blade design to limit the
electrical power generated through passive stalling.
The power control in such WPPs is by the PECs to regulate the generator
electromagnetic torque. By regulating the generator torque, the blade rotor speed can
be adjusted and the WPP can be operated at the point of optimal TSR within the
generator and the rotor design operational constraints. When the maximum design
blade rotor speed is reached, the WPP is operated at a constant speed mode with
passive stall regulation.

1.3.4
Variable speed Generator Variable pitch (VSG-VP)
Configuration:
VSG-VP is the only control strategy that theoretically achieves the ideal power
curve. In this strategy, the electrical generator runs at a variable speed (see Figure 1.3)
and simultaneously the pitch angle vary depending on the wind speed in coordination
with the synchronous generator speed (or doubly fed induction generator speed)
through PEC to maximise the energy capture (see Figure 1.3.4) and improve the power
quality. Most of the type D WPPs is operated in this mode.

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Figure 1.3.4: Variable Speed Generator and variable Pitch Operation of a Pitch
Regulated WPP.

1.4

AERODYNAMIC POWER REGULATION:

The power regulation of WPPs is done by aerodynamic, electric and electronic

control. The following aerodynamic control methods are popularly being adapted by
the manufacturers to regulate the power of large wind turbine rotors, although other
types of aerodynamic control are still under experimentation and research:
Stall Control:
It is also called stall regulated. In this, the stall profiled rotor blades are mounted
at a fixed angle on the hub.
Active stall control:
It is also called active stall regulated. In this, the stall profiled rotor blades are
pivotable for few angles in the longitudinal axis.

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 Pitch Control:
It is also called pith regulated. In this, the rotor blades are almost infinitely
pivotable in the opposite direction to the active stall blades from 0 to 90 in
longitudinal axis.
The selection of any of three types of power regulation significantly affects the
wind power plant technologies adapted by different manufacturers and the design of
the blade aerofoils as well.

1.5

STALL CONTROLLED WPP:

The WPP technological revolution in late 1970s and 1980s was begun by the
adaption of the simplest Danish concept, three-bladed, fixed speed, stall regulated
WPP with squirrel cage induction generator. Stall is a potentially fatal event for an
aircraft wing aerofoil, whereas WPPs make purposeful use of stall as a means of
limiting power and loads in high wind speeds. This passive control of the WPP is based
on the fixed blade inherent characteristics. Stall, from a functional standpoint, is the
breakdown of the normally powerful lifting force when the angle of attack over a
blade aerofoil becomes too steep.

1.5.1

STALLING ACTION:

Stall method of power regulation is simple, reliable and efficient. It gives the
lowest possible dynamic loads on the WPP. The rotor blades have to be installed at the
correct angle of attack during the installation of the WPP for that particular location
based on the wind resources data. The wind turbine rotor works on the fact that the
angle of attack increases with the increase in a wind speeds in such a manner so that
at a certain angle corresponding to a particular pre-designed wind speed, stalling
effect gets initiated which is usually a little earlier than the rated wind speed. In other
words, the rotor blade is completely passive while it is the wind speed on its own that
causes the stall effect and the power regulation to happen. In doing so the
performance coefficient Cp falls at a higher rate beyond the nominal wind speed of the
WPP.
Since the blade speed is constant and the WPP is connected to the Grid, the
variable wind speed determines the angle of attack . This angle proportionally
increases with the increase in wind speed till the critical angle is reached (see Figure
1.5.1). After this point the lift force begins to decrease on its own for increasing wind
speeds due to the design of the blade profile.
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Depending on the particular aerofoil adapted and other factors, the critical
angle could vary usually between 14 to 16 degree. This critical angle is referred as the
Stall Angle. Stall regulated blade limit power in a high winds which reduces drive train
loads. Stall regulation is well understood technically and much simpler mechanically
then the competing pitch regulation technique.

Figure 1.5.1: Typical Stall actions of a WPP Blade: (a) At an angle of attack, say 2
degree, the air flow is laminar. The lift force is greater than the drag force and the
rotor produces some power; (b) At a greater angle of attack, say 9 degree, the air flow
continuous to be laminar and the rotor produces more power; (c) At critical angle, stall
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action gradually sets in but lift force is the highest, and (d) At this angle, drag force is
greater than the lift force and the blade rotation stops.
When the wind impinges on the wind turbine rotor blade at an angle of attack,
say 2 degree (see the Figure 1.5.1), the air flow over the aerofoil is laminar and hence
sticks to the blade surface from the leading edge to the trailing edge. It is this laminar
flow that creates a lift force on the blade aerofoil and the blade starts rotating, as the
blade has only 1 degree of freedom and free to move only in that plane.

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At the wind speed goes on increasing, for a constant speed rotor, the angle of
attack (see Figure 1.5.1) on the stall blades also goes on increasing, say upto 09
degree. This laminar flow over the blade continues to be there creating a greater lift
force that applies a greater pressure on the rotor blade to turn the generator in order
to produce more power.
The aerodynamic profile and properties of the rotor blade are designed in such a
manner so that when the wind speed exceeds a certain limit, the lift action gets spoilt
due to the non-laminar wind flow turbulence beginning at the trailing edge and goes
on increasing to the leading edge till the blade stalls or stops the rotation of the rotor
as the wind speed goes on increasing beyond the designed limit. The stall blade is also
designed in such a way so that the stall effect and the turbulence starts to set in a little
earlier to bring in graduate stall rather than abrupt stall. The turbulent flow causes
drag and decreases the efficiency of the Aerofoil. Hence it can be said that stall action
Arises due to separation of laminar flow from aerofoil.
Results in decrease in lift coefficient with the increasing angle of attack.

1.5.2

STALL POWER CURVE:

Since the wind speed V0 and the air density cannot be controlled and the
radius of the blades R is fixed, the performance coefficient Cp is the only means for
torque control. Hence, this wind turbine rotor blade profile is shaped in such a way so
that Cp steeply falls at the start of the predetermined high wind speed at the stall
angle. The rotor of this type cannot rely on aerodynamics to increase the rotor speed.
As a consequence, starting is done by connecting the induction generator to the grid
and starting it as a motor upto the operation speed.

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Figure1.5.2: Peaky Power Curve of Stall Controlled WPP: The stall slowly sets in much
earlier than the cut out speed. Here, it is around 16 m/s and the shaded area depicts
the lost power at higher wind speeds even before the cut out speed is reached.
As the blade angle is fixed in stall controlled WPPs, no external control is
possible for this type of WPP. It is to be noted that the output power just depends on
the wind speed which does not exactly reach a constant value at the rated power level
for which it is designed. During wind gusts, these passive stall WPPs get overloaded for
brief periods as depicted by the peaky power curve (see Figure 1.5.2) characteristics.
In fact, as the wind speed increases, it overshoots the rated power (hence, the peak of
the power curve) for a short period which then comes down as the wind speed
increases further. The WPP then starts the pitch controlled WPP.
The design requirements of stall regulations have led to new aerofoil
developments and also the use of devices such as Vortex generators, stall strips,
fences and gurney flaps for fine tuning rotor blade performances.

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1.5.3

FEATURES OF STALL CONNTROLLED WPP:

The following salient features of the stall regulated WPP continue its popularity
even today:
1) Bases on the simplest wind turbine technology.
2) Since the power is always controlled aerodynamically, they produce less
fluctuating power output as compared to that produced by a pitch regulated
WPP.
3) Cheapest among all types of WPPs.
4) Time tested WPP for its reliability and robustness.
There are many demerits as well which are given below:
1) Limited control of reactive power makes it more difficult to control network
voltages.
2) During network disturbances (such as a sudden fault in the network), such a
WPP is likely to aggravate the situation.
3) They are not self-starting.
4) They are suited for relatively stronger grids.
5) The power of the electrical generator must be over dimensioned so that it
does not lose synchronism during wind gusts.
6) It has lower efficiency at lower wind speeds.
7) Stall regulation is not preferred much for megawatt capacity WPP as the
pitchable tip become unwieldy and other associated problems for activating
them with ease.

1.6 PITCH CONTROLLED WPP:

The pitch controlled (also called pitch regulated) WPP which got developed in
1990s, turn the whole length of the rotor blades in and out of the wind along the
longitudinal blade axis to regulate the power extracted from the wind. Pitch control
can maximise the energy captured even below the rated wind speeds. Due to greater
control (a feature demanded by the electric grid operators) many in the wind industry
who prefer large WPPs have a greater preference for this more complex method of
aerodynamic torque regulation which prevents mechanical overspeed in addition to
other benefits.

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1.6.1

Pitching Action:

The angle that the blade cord makes with the rotor disc is the pitch angle. Pitch
control can be undertaken to reduce as well as to increase the angle of attack towards
stall and modified the lift and drag values to regulate the power harness from the
wind.
The pitch action of each blade is achieved independently by geared electric
motors mounted on each blade bearing or group controlled by hydraulically operated
lever mechanisms. Pitch regulation allows the energy captured to be optimized for a
constant and variable speed operation of WPPs and at the same time provides over
speed protection as well by large pitch angle adjustments (see Figure 1.6.1). The
power coefficient Cp of a WPP is thus charged by adjusting the blade angle to optimize
the angle of attack of the blade. Almost all variable speed WPPs use pitch control.

Figure 1.6.1: Pitch controlled WPP. (a) It shows an operating pitch controlled WPP.
Based on the wind speed, 2.5 MW blades are continuously pitched at optimum angles
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to maximise the harnessing of energy. (b) This 2.5 MW wind turbine is in stopped
position with the leading edge of the blade facing the wind at 90 degree to the wind.
Conventionally blade pitch is often control by a simple proportional, integral (PI)
based collective blade pitch controller which receives its input signals from the error in
electrical generator speed. The microprocessor (or microcomputer) based electronic
controller checks the various parameters received from the sensors of the operating
WPP several times per second. The microcomputer adjust the pitch of the blades to a
few degree to maintain the rotor blades at an optimum angle in order to maximise the
output power for all wind speeds. Blade adjustment is generally not continuous but at
some small fixed intervals based on certain logic (otherwise the pitch mechanism
would be worn out quickly and maintenance would be high).

1.6.2

Pitch Power Curve:

A typical pitch regulated WPP has a flattened power curve (see Figure 1.6.2) at a
rated power unlike a peaky stall WPP power curve as seen earlier. The bumps are
smoothen out due to the controlled pitching action of the blades resulting in lesser
stresses on the various mechanical and electrical components as well as on the
electrical grid. The power curve of WPP can be divided into following four categories:
1) Region 1 (Low wind) WPP is not connected to Grid
2) Region 2 (Medium Wind) WPP is connected but produces less than the rated
power.
3) Region 3 (Higher Wind) WPP is connected and produces only rated power.
4) Region 4 (Cut out Wind) WPP is disconnected and stop.

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Figure 1.6.2: Pitch Controlled WPP Power Curve: Unlike the peaky power curve
of the stall regulated WPP, the power curve of pitch control WPP is flat-topped due to
the pitching action of the blades resulting in lesser stresses on the various mechanical
and electrical components.
In region 1 of the power curve (see Figure 1.6.2) the wind speed is very low and
the rotor does not rotate, the pitch angle of the blade are turned approximately at 45
degree and the generator is not connected to the grid. This gives a maximum start
moment to rotor when the wind speed increases. At low wind speeds with a constant
TSR, the speed variation (dP/dof the output power P from the electric generator is
a function of the Rotor speed and is quite small.
In region 2 of the power curve (see Figure 1.6.2) when the wind speed increases
and the rotor rotates, the electronic controller pitches the blades to 0 degrees in to
the wind and the cut in speed the generator is connected to the grid. When the
electrical generator produces power, it causes a torque in an opposition to the
mechanical torque of the wind turbine rotor. As the wind speed increases the rotor
speed increases and the generator power also increases. When the wind speed below
the rated speed of the WPP the main goal is to extract maximum power from the wind
for which optimal power coefficient Cp is necessary. For this condition constant TSR is
to be maintained and hence, blade pitching is not used but kept at a constant value
(almost 0 degree) for maximum power extraction. To achieve this constant TSR
electrical generator torque is used to control the rotor speed curve (see Figure 1.6.2).
At a moderate wind speeds and with constant speed operation (dP/dmay be quite
high.

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In region 3 of the power curve (see Figure 1.6.2),the main goal is to limit the
power output. Once the rated power is reached the combined action of the generator
torque on the pitch is used to control the electrical power output keeping it at a rated
value P(rated) as well as to control the blade rotor speed and maintain it within the
acceptable limits around the rated speed. For high wind speeds (dP/dis close to
zero, since the output power is kept constant. Practically what happens in this region is
given below:
1) By pitching, also called feathering of the blades.
Angle of attack decreases
Aerodynamic forces decrease
Rotor blades spill away the extra power
2) Error signal, e = gen) - rated)
3) Proportional integral (PI) controller is used to drive e to zero.
In a region 4 of the power curve (see Figure 1.6.2) when the wind becomes too
strong (above 25 m/sec) rotor blades are feathered to 90 degree to shut down the
WPP and the generator is disconnected from the Grid.
Due to pitching action of the blades the starting current in the electrical
generator can be controlled within its limits, unlike the electrical generator in the stall
controlled WPPs.

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Figure 1.6.2.1: Comparison of Stall and Pitch controlled WPP starting currents

1.6.3 Features of Pitch Controlled WPPs:

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The salient features of pitch controlled WPPs are as follows:

I.
II.
III.
IV.
V.

The greatest advantage is the increased energy captured than the stall WPPs.
These are self-starting and controlled start up is possible.
In a contrast to stall regulated WPPs, the rotor blade profile for pitch regulated
WPPs is not so critical.
Pitching helps to reduce the aerodynamic loads, peak torques and hence lowers
the fatigue loads.
It helps the wind farm to withstand voltage dips, as pitching limits the
mechanical power on the main shaft resulting in greater grid elasticity. In other
words pitching partially damps the mechanical power variations resulting in a
lesser voltage variations being passed on to the grid.

However there are some limitations as well which are given below:
I.

For the same rating practically the extra energy that can be obtained is only
about 2 to 4 % of compared to the stall WPP.
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II.

III.
IV.

Its main limitation is that during high wind speeds, even small speed variations
results in large variations in a power output to which the pitch mechanism is fast
enough to respond. To limit the power excursions especially during the gusts the
pitch changing has to act rapidly say 6 to 7 degree per second or even better.
The fatigue loading is also higher than that of the stall regulated WPPs due to
the rate of change of the lift coefficient.
The hub of pitch regulated wind turbine is more sophisticated as it has to hold
the pitch bearing and pitching mechanism.

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