Integral Backstepping Sliding Mode Control for Maximizing the Power Production of Wind Turbines
Received: 4 November 2023 | Revised: 30 November 2023 and 14 December 2023 | Accepted: 19 December 2023 | Online: 8 February 2024
Corresponding author: Habiba Abouri
Abstract
Wind turbine control has attracted increasing attention, driven in part by evolving challenges due to the growing size and complexity of wind turbines. Addressing these challenges and maximizing wind turbine power production requires the application of advanced nonlinear control methods. Sliding Mode Control (SMC) has emerged as a promising approach in this context. Recent studies have explored the integration of an integral term with SMC, called I-SMC. This technique has been shown to result in system responses that exhibit chattering phenomena with noticeable state errors. This study aimed to address these issues through the introduction of a novel controller known as Integral Backstepping SMC (IB-SMC). This study demonstrated that IBSMC not only ensured the stability of wind turbines but also outperformed other control strategies, even in the presence of disturbances of approximately 30% of the rated electromagnetic torque. To validate the effectiveness of the proposed controller, extensive simulation tests were carried out using MATLAB /Simulink software to evaluate the controller's responsiveness to rapid changes in conditions, as well as its robustness and overall performance. A comparison was carried out between the IBSMC and previous SMCs to evaluate their ability to reduce steady-state error and chattering.
Keywords:
wind turbines, stability, integral sliding mode control, backstepping control, nonlinear systemsDownloads
References
L. Y. Pao and K. E. Johnson, "Control of Wind Turbines," IEEE Control Systems Magazine, vol. 31, no. 2, pp. 44–62, Apr. 2011.
E. J. Novaes Menezes, A. M. Araújo, and N. S. Bouchonneau da Silva, "A review on wind turbine control and its associated methods," Journal of Cleaner Production, vol. 174, pp. 945–953, Feb. 2018.
J. G. Njiri and D. Söffker, "State-of-the-art in wind turbine control: Trends and challenges," Renewable and Sustainable Energy Reviews, vol. 60, pp. 377–393, Jul. 2016.
C. Anderson, Wind Turbines: Theory and Practice. Cambridge University Press, 2020.
S. Rajendran and D. Jena, "Control of Variable Speed Variable Pitch Wind Turbine at Above and Below Rated Wind Speed," Journal of Wind Energy, vol. 2014, Oct. 2014, Art. no. e709128.
H. Chojaa et al., "Advanced Control Techniques for Doubly-Fed Induction Generators Based Wind Energy Conversion Systems," in 2022 Global Energy Conference (GEC), Batman, Turkey, Jul. 2022, pp. 282–287.
A. N. Vargas and L. Acho, "Optimal control of variable-speed wind turbines modeled as Markov jump systems," Journal of the Franklin Institute, vol. 359, no. 10, pp. 4661–4677, Jul. 2022.
S. Heier, Grid Integration of Wind Energy: Onshore and Offshore Conversion Systems. Hoboken, NJ, USA: John Wiley & Sons, 2014.
B. Boukhezzar and H. Siguerdidjane, "Nonlinear Control of a Variable-Speed Wind Turbine Using a Two-Mass Model," IEEE Transactions on Energy Conversion, vol. 26, no. 1, pp. 149–162, Mar. 2011.
K. D. Young, V. I. Utkin, and U. Ozguner, "A control engineer’s guide to sliding mode control," IEEE Transactions on Control Systems Technology, vol. 7, no. 3, pp. 328–342, Feb. 1999.
Y. Shtessel, C. Edwards, L. Fridman, and A. Levant, Sliding Mode Control and Observation. New York, NY, USA: Springer, 2014.
V. Utkin, "Discussion Aspects of High-Order Sliding Mode Control," IEEE Transactions on Automatic Control, vol. 61, no. 3, pp. 829–833, Mar. 2016.
Y. Orlov, S. Chakrabarty, D. Zhao, and S. K. Spurgeon, "Sliding Mode Observer Design for a Parabolic PDE in the Presence of Unknown Inputs," Asian Journal of Control, vol. 21, no. 1, pp. 224–235, 2019.
S. Rajendran and D. Jena, "Variable speed wind turbine for maximum power capture using adaptive fuzzy integral sliding mode control," Journal of Modern Power Systems and Clean Energy, vol. 2, no. 2, pp. 114–125, Jun. 2014.
Y. Berrada and I. Boumhidi, "Sliding mode control for a wind turbine in finite frequency," International Journal of Engineering Systems Modelling and Simulation, vol. 10, no. 1, pp. 39–48, Jan. 2018.
M. J. Morshed and A. Fekih, "Design of a chattering-free integral terminal sliding mode approach for DFIG-based wind energy systems," Optimal Control Applications and Methods, vol. 41, no. 5, pp. 1718–1734, 2020.
R. Saravanakumar and D. Jena, "Validation of an integral sliding mode control for optimal control of a three blade variable speed variable pitch wind turbine," International Journal of Electrical Power & Energy Systems, vol. 69, pp. 421–429, Jul. 2015.
C. Chatri, M. Ouassaid, M. Labbadi, and Y. Errami, "Integral-type terminal sliding mode control approach for wind energy conversion system with uncertainties," Computers and Electrical Engineering, vol. 99, Apr. 2022, Art. no. 107775.
M. Krstic, I. Kanellakopoulos, and P. V. Kokotovic, Nonlinear and Adaptive Control Design, 1st edition. New York, NY, USA: Wiley-Interscience, 1995.
K. Dahech, M. Allouche, T. Damak, and F. Tadeo, "Backstepping sliding mode control for maximum power point tracking of a photovoltaic system," Electric Power Systems Research, vol. 143, pp. 182–188, Feb. 2017.
D. T. Tran, D. X. Ba, and K. K. Ahn, "Adaptive Backstepping Sliding Mode Control for Equilibrium Position Tracking of an Electrohydraulic Elastic Manipulator," IEEE Transactions on Industrial Electronics, vol. 67, no. 5, pp. 3860–3869, Feb. 2020.
L. Zhang et al., "An Adaptive Backstepping Sliding Mode Controller to Improve Vehicle Maneuverability and Stability via Torque Vectoring Control," IEEE Transactions on Vehicular Technology, vol. 69, no. 3, pp. 2598–2612, Mar. 2020.
X. Shi, Y. Cheng, C. Yin, S. Dadras, and X. Huang, "Design of Fractional-Order Backstepping Sliding Mode Control for Quadrotor UAV," Asian Journal of Control, vol. 21, no. 1, pp. 156–171, 2019.
S. Rajendran and D. Jena, "Backstepping sliding mode control of a variable speed wind turbine for power optimization," Journal of Modern Power Systems and Clean Energy, vol. 3, no. 3, pp. 402–410, 2015.
F. Echiheb et al., "Robust sliding-Backstepping mode control of a wind system based on the DFIG generator," Scientific Reports, vol. 12, no. 1, Jul. 2022, Art. no. 11782.
H. Chojaa et al., "Comparative Study of MPPT Controllers for a Wind Energy Conversion System," in Advanced Technologies for Humanity, 2022, pp. 300–310.
Z. Jia, J. Yu, Y. Mei, Y. Chen, Y. Shen, and X. Ai, "Integral backstepping sliding mode control for quadrotor helicopter under external uncertain disturbances," Aerospace Science and Technology, vol. 68, pp. 299–307, Sep. 2017.
H. M. M. Adil, S. Ahmed, and I. Ahmad, "Control of MagLev System Using Supertwisting and Integral Backstepping Sliding Mode Algorithm," IEEE Access, vol. 8, pp. 51352–51362, 2020.
F. Yue, X. Li, C. Chen, and W. Tan, "Adaptive integral backstepping sliding mode control for opto-electronic tracking system based on modified LuGre friction model," International Journal of Systems Science, vol. 48, no. 16, pp. 3374–3381, Dec. 2017.
B. K. Oubbati, M. Boutoubat, A. Rabhi, and M. Belkheiri, "Experiential Integral Backstepping Sliding Mode Controller to achieve the Maximum Power Point of a PV system," Control Engineering Practice, vol. 102, Sep. 2020, Art. no. 104570.
K. Palanimuthu, G. Mayilsamy, A. A. Basheer, S. R. Lee, D. Song, and Y. H. Joo, "A Review of Recent Aerodynamic Power Extraction Challenges in Coordinated Pitch, Yaw, and Torque Control of Large-Scale Wind Turbine Systems," Energies, vol. 15, no. 21, Jan. 2022, Art. no. 8161.
J. F. Manwell, J. G. McGowan, and A. L. Rogers, Wind Energy Explained: Theory, Design and Application. Hoboken, NJ, USA: John Wiley & Sons, 2010.
S. E. Chehaidia, A. Abderezzak, H. Kherfane, B. Boukhezzar, and H. Cherif, "An Improved Machine Learning Techniques Fusion Algorithm for Controls Advanced Research Turbine (CART) Power Coefficient Estimation," UPB Scientific Bulletin, vol. 82, pp. 279–292, 2020.
L. Pan, Z. Zhu, Y. Xiong, and J. Shao, "Integral Sliding Mode Control for Maximum Power Point Tracking in DFIG Based Floating Offshore Wind Turbine and Power to Gas," Processes, vol. 9, no. 6, Jun. 2021, Art. no. 1016.
S. E. Chehaidia et al., "Robust Nonlinear Terminal Integral Sliding Mode Torque Control for Wind Turbines Considering Uncertainties," IFAC-PapersOnLine, vol. 55, no. 12, pp. 228–233, Jan. 2022.
S. E. Chehaidia et al., "An Improved Supervised Fuzzy PI Collective Pitch Angle Control for Wind Turbine Load Mitigation," in Digital Technologies and Applications, Fez, Morocco, 2022, pp. 685–695.
E. Chavero-Navarrete, M. Trejo-Perea, J. C. Jáuregui-Correa, R. V. Carrillo-Serrano, and J. G. Ríos-Moreno, "Expert Control Systems for Maximum Power Point Tracking in a Wind Turbine with PMSG: State of the Art," Applied Sciences, vol. 9, no. 12, Jan. 2019, Art. no. 2469.
H. Abouri, F. E. Guezar, and H. Bouzahir, "Advanced Control Strategies for Wind Energy Systems," in 2020 International Conference on Electrical and Information Technologies (ICEIT), Rabat, Morocco, Mar. 2020.
A. Bektache and B. Boukhezzar, "Nonlinear predictive control of a DFIG-based wind turbine for power capture optimization," International Journal of Electrical Power & Energy Systems, vol. 101, pp. 92–102, Oct. 2018.
A. R. periyanayagam and Y. H. Joo, "Integral sliding mode control for increasing maximum power extraction efficiency of variable-speed wind energy system," International Journal of Electrical Power & Energy Systems, vol. 139, Jul. 2022, Art. no. 107958.
M. Hannachi, O. Elbeji, M. Benhamed, and L. Sbita, "Optimal torque maximum power point technique for wind turbine: Proportional–integral controller tuning based on particle swarm optimization," Wind Engineering, vol. 45, no. 2, pp. 337–350, Apr. 2021.
B. Yang, T. Yu, H. Shu, J. Dong, and L. Jiang, "Robust sliding-mode control of wind energy conversion systems for optimal power extraction via nonlinear perturbation observers," Applied Energy, vol. 210, pp. 711–723, Jan. 2018.
S. Sumbekov, B. D. H. Phuc, and T. D. Do, "Takagi–Sugeno fuzzy-based integral sliding mode control for wind energy conversion systems with disturbance observer," Electrical Engineering, vol. 102, no. 3, pp. 1141–1151, Sep. 2020.
S. Zhang, S. Li, and F. Dai, "Integral Sliding Mode Backstepping Control of an Asymmetric Electro-Hydrostatic Actuator Based on Extended State Observer," Proceedings, vol. 64, no. 1, 2020, Art. no. 13.
L. Wang, L. Cao, and L. Zhao, "Non-linear tip speed ratio cascade control for variable speed high power wind turbines: a backstepping approach," IET Renewable Power Generation, vol. 12, no. 8, pp. 968–972, 2018.
Q. Su, F. Dong, and X. Shen, "Improved Adaptive Backstepping Sliding Mode Control of Static Var Compensator," Energies, vol. 11, no. 10, Oct. 2018, Art, no. 2750.
T. L. Nguyen, T. H. Vo, and N. D. Le, "Backstepping Control for Induction Motors with Input and Output Constrains," Engineering, Technology & Applied Science Research, vol. 10, no. 4, pp. 5998–6003, Aug. 2020.
N. Adhikary and C. Mahanta, "Integral backstepping sliding mode control for underactuated systems: Swing-up and stabilization of the Cart–Pendulum System," ISA Transactions, vol. 52, no. 6, pp. 870–880, Nov. 2013.
O. P. Bharti, R. K. Saket, and S. K. Nagar, "Controller Design For DFIG Driven By Variable Speed Wind Turbine Using Static Output Feedback Technique," Engineering, Technology & Applied Science Research, vol. 6, no. 4, pp. 1056–1061, Aug. 2016.
H. Bassi and Y. A. Mobarak, "State-Space Modeling and Performance Analysis of Variable-Speed Wind Turbine Based on a Model Predictive Control Approach," Engineering, Technology & Applied Science Research, vol. 7, no. 2, pp. 1436–1443, Apr. 2017.
A. Maafa, H. Mellah, K. Ghedamsi, and D. Aouzellag, "Improvement of Sliding Mode Control Strategy Founded on Cascaded Doubly Fed Induction Generator Powered by a Matrix Converter," Engineering, Technology & Applied Science Research, vol. 12, no. 5, pp. 9217–9223, Oct. 2022.
"Design Loads for Horizontal Axis Wind Turbines," in Wind Energy Handbook, Hoboken, NJ, USA: John Wiley & Sons, Ltd, 2011, pp. 193–323.
Labcontrol, "windturbineSim." [Online]. Available: https://github.com/labcontrol-data/windturbineSim.
Downloads
How to Cite
License
Copyright (c) 2024 Habiba Abouri, Fatima El Guezar, Hassane Bouzahir, Seif Eddine Chehaidia, Alessandro N. Vargas
This work is licensed under a Creative Commons Attribution 4.0 International License.
Authors who publish with this journal agree to the following terms:
- Authors retain the copyright and grant the journal the right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) after its publication in ETASR with an acknowledgement of its initial publication in this journal.
