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April 2010

April 2010. Load Transient Analysis Of Wind Turbine Drive Train Under Grid Disturbances. J.Sanz-Corretge, A.García-Barace, I.Egaña Measurement and Simulation Advances. Hardware. T10.3.

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April 2010

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  1. April 2010 Load Transient Analysis Of Wind Turbine Drive Train Under Grid Disturbances J.Sanz-Corretge, A.García-Barace, I.Egaña Measurement and Simulation Advances. Hardware. T10.3

  2. Load Transient Analysis Of Wind Turbine Drive Train Under Grid Disturbances. J.Sanz-Corretge, A.García-Barace, I.Egaña Presentation Outline • 1. Introduction • Motivation & Overview • 2. Drive Train Description • General drive train description • 3. Drive Train Models • Full dynamics & Reduced order models • 4. Simulation Results • Voltage dip simulation • 5. Conclusions ACCIONA Windpower2

  3. Load Transient Analysis Of Wind Turbine Drive Train Under Grid Disturbances. J.Sanz-Corretge, A.García-Barace, I.Egaña 1. Introduction • Motivation: several manufacturers have experienced gearbox failures in the past associated to electrical transient phenomena. • Consequence: homologation body (i.e. GL) & electric grid operator require further analysis on HF dynamics. ACCIONA Windpower3

  4. Load Transient Analysis Of Wind Turbine Drive Train Under Grid Disturbances. J.Sanz-Corretge, A.García-Barace, I.Egaña 1. Introduction • • The 2 DOF gearbox model: • used by GH-Bladed up to now. • model is a black box. • does not allow assessment of internal gearbox loads. • • Simulations require the combination of electrical models, mechanical models, and aeroelastic models, as well as the control system. • • Now, GH-Bladed offers user customizable gearbox model through a DLL file. ACCIONA Windpower4

  5. Load Transient Analysis Of Wind Turbine Drive Train Under Grid Disturbances. J.Sanz-Corretge, A.García-Barace, I.Egaña 1. Introduction • • Acciona Windpower defines drive train requirements from HF transient analysis. • • Ittakes advantage of • control systems for • mitigating HF loads. • • Current wind turbines: • AW1500, AW3000 AW-3000 Main Components Quality Guarantee - Germanischer Lloyd has certified all the AW models. ACCIONA Windpower5

  6. Load Transient Analysis Of Wind Turbine Drive Train Under Grid Disturbances. J.Sanz-Corretge, A.García-Barace, I.Egaña 1. Introduction • • This work presents: • * Models: • a new drive train linear model taking into account 34 DOF up to 5 kHz. • a modal projection-based reduced order model. • a balanced truncation-based reduced order model. • * Simulation results. ACCIONA Windpower6

  7. Load Transient Analysis Of Wind Turbine Drive Train Under Grid Disturbances. J.Sanz-Corretge, A.García-Barace, I.Egaña 2. Drive Train Description • Drive train: all the devices that transmit power from rotor to generator. • Mechanical drive train concept (shafts, gears,…). ACCIONA Windpower7

  8. Load Transient Analysis Of Wind Turbine Drive Train Under Grid Disturbances. J.Sanz-Corretge, A.García-Barace, I.Egaña 2. Drive Train Description Features • Variable speed control of the wind turbine for load mitigation. •Power transmission with minimum losses. • Change torque & speed to suitable magnitudes for the generator. •Robust design due to high availability & low maintenance requirements. ACCIONA Windpower8

  9. Load Transient Analysis Of Wind Turbine Drive Train Under Grid Disturbances. J.Sanz-Corretge, A.García-Barace, I.Egaña 3. Drive Train Model • • Desired drive train model must fulfill: • multibody approach for the drive line in combination of the • rest of the modules. ACCIONA Windpower9

  10. Load Transient Analysis Of Wind Turbine Drive Train Under Grid Disturbances. J.Sanz-Corretge, A.García-Barace, I.Egaña 3. Drive Train Model Full model •NL state-space modelling, • Linearisation around different operating points yield, • Eigenvalues of A = Natural Frequencies • Eigenfrequencies of A = Modal Vectors 34 DOF = 68 states, TIME CONSUMING SIMULATIONS!!! 3 days for a 10 min simulation ACCIONA Windpower10

  11. MODE SHAPE 0.6 0.4 ROTATION 0.2 0 -0.2 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 DOF KINETIC ENERGY 1 0.8 0.6 NORMALIZED VALUE 0.4 0.2 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 DOF POTENTIAL ENERGY 1 0.8 0.6 NORMALIZED VALUE 0.4 0.2 0 ROTOR PR1 PR2 PR3 PS1 PS2 PS3 BUSH SUN HOLLOW1 HOLLOW2 IMS MESH IMS1 IMS2 HSS MESH HSS COUPLING Load Transient Analysis Of Wind Turbine Drive Train Under Grid Disturbances. J.Sanz-Corretge, A.García-Barace, I.Egaña 3. Drive Train Model Full model analysis Mode Shape, Kinetic Energy and Potential Energy (@160 Hz) Campbell diagram ACCIONA Windpower11

  12. Load Transient Analysis Of Wind Turbine Drive Train Under Grid Disturbances. J.Sanz-Corretge, A.García-Barace, I.Egaña 3. Drive Train Model MPM (Modal Projection-based reduced order Model) • Modes of very HF are discarded. • A new state transition matrix is defined from the significant eigenvectors and eigenvalues. • Complex damped model, where the state transition matrix is, ACCIONA Windpower12

  13. Load Transient Analysis Of Wind Turbine Drive Train Under Grid Disturbances. J.Sanz-Corretge, A.García-Barace, I.Egaña 3. Drive Train Model MPM PROS (Modal projection-based reduced order model) • Poles & modes from the original model are kept. • Residualisation after the truncation leads to perfect steady-state performance. MPM CONS (Modal projection-based reduced order model) • HF residual energy due to modal coupling. ACCIONA Windpower13

  14. Load Transient Analysis Of Wind Turbine Drive Train Under Grid Disturbances. J.Sanz-Corretge, A.García-Barace, I.Egaña 3. Drive Train Model BTM (Balanced Truncation-based reduced order Model) • The energy of each eigenvector is analysed (Hankel singular values). • Only high energy eigenvectors are considered to build a new state transition matrix. ACCIONA Windpower14

  15. Load Transient Analysis Of Wind Turbine Drive Train Under Grid Disturbances. J.Sanz-Corretge, A.García-Barace, I.Egaña 3. Drive Train Model BTM PROS (Balanced truncation-based reduced order model) • Main I/O dynamics are kept since only low significant Hankel values are removed. • Error quantification. BTM CONS (Balanced truncation-based reduced order model) • It leads to slight steady-state errors. ACCIONA Windpower15

  16. Load Transient Analysis Of Wind Turbine Drive Train Under Grid Disturbances. J.Sanz-Corretge, A.García-Barace, I.Egaña 4. Simulation Results Modelling of the drive train – Gen. Torque to High Speed Shaft Angle FRF of the MPM up to 300 Hz up to 300 Hz FRF of the BTM ACCIONA Windpower16

  17. Load Transient Analysis Of Wind Turbine Drive Train Under Grid Disturbances. J.Sanz-Corretge, A.García-Barace, I.Egaña 4. Simulation Results Modelling of the drive train – Gen. Torque to Intermediate Speed Shaft Angle FRF of the MPM up to 300 Hz up to 300 Hz FRF of the BTM ACCIONA Windpower17

  18. Load Transient Analysis Of Wind Turbine Drive Train Under Grid Disturbances. J.Sanz-Corretge, A.García-Barace, I.Egaña 4. Simulation Results Modelling of the drive train – Gen. Torque to Planet Shaft Angle FRF of the MPM up to 300 Hz up to 300 Hz FRF of the BTM ACCIONA Windpower18

  19. MPM BTM Full model 0 Time [s] Load Transient Analysis Of Wind Turbine Drive Train Under Grid Disturbances. J.Sanz-Corretge, A.García-Barace, I.Egaña 4. Simulation Results Load Transfer Simulation under Voltage Dip – High Speed Shaft Torque ACCIONA Windpower19

  20. MPM 0 BTM Full model Time [s] Load Transient Analysis Of Wind Turbine Drive Train Under Grid Disturbances. J.Sanz-Corretge, A.García-Barace, I.Egaña 4. Simulation Results Load Transfer Simulation under Voltage Dip – Intermediate Shaft Torque ACCIONA Windpower20

  21. MPM 0 BTM Full model Time [s] Load Transient Analysis Of Wind Turbine Drive Train Under Grid Disturbances. J.Sanz-Corretge, A.García-Barace, I.Egaña 4. Simulation Results Load Transfer Simulation under Voltage Dip – Planet Shaft Torque ACCIONA Windpower21

  22. Load Transient Analysis Of Wind Turbine Drive Train Under Grid Disturbances. J.Sanz-Corretge, A.García-Barace, I.Egaña 4. Simulation Results Results summary ACCIONA Windpower22

  23. Load Transient Analysis Of Wind Turbine Drive Train Under Grid Disturbances. J.Sanz-Corretge, A.García-Barace, I.Egaña 5. Conclusions • • Fast & accurate load assessment for a parametrised grid disturbances, with field test validation. • Important for large wind turbines. • • AW drive train model integrated into the Bladed project allows any dynamic analysis of the whole wind turbine. • Lighter component oversizing in comparison with 2 DOF models computation. ACCIONA Windpower23

  24. Load Transient Analysis Of Wind Turbine Drive Train Under Grid Disturbances. J.Sanz-Corretge, A.García-Barace, I.Egaña 5. Conclusions • • Fast engineering concurrent process. • Development of control strategies for HF load mitigation. For instance, • An output power limit or torque limit is applied taking into account the maximum evacuable output power during a voltage dip so that vibration dampening of the wind turbine transmission system is feasible (patent pending). ACCIONA Windpower24

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