Post on 14-Jul-2020
dr.sc. Vinko Lešić
Sveučilište u Zagrebu
Fakultet elektrotehnike i računarstva
This project is
cofinanced by the
European Union.
Kvarovi generatora i motivacija
Upravljanje otporno na kvarove generatora
Utjecaj na sustav vjetroagregata
Smanjenje vibracija pri upravljanju momentom generatora
Zaključak
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Source: J. Ribrant 2007. (Swedish wind turbines 2000.-2004.)
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Gearbox concept and direct-drive
Source: J. Ribrant 2007. (Swedish wind turbines 2000.-2004.)
Electric machines failure frequency in wind turbines is
about 10 times greater than in industry applications
◦ harsh environment
◦ frequently varying operating conditions
In industry applications:
◦ 35% of faults - stator related (e.g. insulation degradation)
◦ 30% of induction machine faults - rotor related (cage)
Wind turbines are placed on hardly reachable, remote
locations
Lots of expensive monitoring and control equipment is
already installed great opportunity for diagnostics
and control system interventions
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Cage defects (squirrel-cage induction generator)
Stator insulation faults
Both kinds of faults can be related with instantaneous rotor flux linkage position
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Cage defects (squirrel-cage induction generator)
Stator insulation faults
Both kinds of faults can be related with instantaneous rotor flux linkage position
Faults spread rapidly in normal operation
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Healthy conditions Damaged rotor bar
G. Stojčić et. al., “Separating Inherent Asymmetries from High Sensitivity Rotor Bar Fault Indicator”, SDEMPED 2011
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Rotor cage defect: Cyclic thermal stress,
bar-end-ring connection
Reduction of current flow through damaged cage part
Torque modulation with frequency
Stator insulation fault: Moisture, vibrations,
thermal stress, PWM supply
Reduction of current flow through damaged insulation part
Stator flux modulation with frequency sl2
e2
Cause:
Intervention:
Methodology:
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Rotor cage defect: Cyclic thermal stress,
bar-end-ring connection
Reduction of current flow through damaged cage part
Torque modulation with frequency
Stator insulation fault: Moisture, vibrations,
thermal stress, PWM supply
Reduction of current flow through damaged insulation part
Stator flux modulation with frequency
Fast loop: Modulation of torque/stator flux
Slow loop: Optimal power production
sl2e2
Cause:
Intervention:
Methodology:
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11_1 )( TTTetT nonfg
t
g
gf
t
g TTeTtT
222 )(
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Mean torque = optimum torque
11_1 )( TTTetT nonfg
t
g
gf
t
g TTeTtT
222 )(
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WT 700 kW
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Cage defect simulated at t=50 s
Lowered rated speed
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dSPACE 1103
Control cabinet
ControlDesk software
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short circuit
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short circuit
ik
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short circuit dt
td
Zti sx
k
k
)(1)(
ik
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short circuit dt
td
Zti sx
k
k
)(1)(
ik
FTCsx K
dt
td
)(
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Healthy insulation
dt
tduCti sx
leak
)()(
J. Yang et. al., “An advanced stator winding insulation quality
assessment technique for inverter-fed machines”, TIA 2008.
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Healthy insulation
Degraded insulation
dt
tduCti sx
leak
)()(
dt
td
Rtu
Rti sx
sxleak
)(1)(
1)(
J. Yang et. al., “An advanced stator winding insulation quality
assessment technique for inverter-fed machines”, TIA 2008.
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Healthy insulation
Degraded insulation
dt
tduCti sx
leak
)()(
dt
td
Rtu
Rti sx
sxleak
)(1)(
1)(
FTCsx K
dt
td
)(
J. Yang et. al., “An advanced stator winding insulation quality
assessment technique for inverter-fed machines”, TIA 2008.
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xessx tt sin)(
Generally:
xeessx t
dt
td
cos
)(
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Option A – reduction of such that is kept below the imposed limit
es s
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Option B – modulation of stator flux magnitude such that the imposed restriction is matched )(ts
FTCsx K
dt
td
)(
Triangular waveform of stator flux is achieved with FOC and current control loops:
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)sin()(
xe
xe
e
FTCsx
t
tKt
e
xFTCsx tKt
)(
Triangular waveform of stator flux is achieved with FOC and current control loops:
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)sin()(
xe
xe
e
FTCsx
t
tKt
e
xFTCsx tKt
)(
sqlsq
rd
r
msdlsd
iL
L
LiL
slnsl
rd konst
.
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Periodic strengthening and weakening of machine flux in the air gap
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sqpmg ipT 2
3 sqsdsqsdpmg iiLLpT
2
3
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ssi
si
sd
sd
1
1
)(
)(*
sT
L
si
s
r
m
sd
rd
1)(
)(
kkk uxx BA 1
kk xy C
rd
sdix
*
sdiu
gfUHUUXXJ TT RCQRC
**
TfHU 1
2
1
minimise J
Cost function:
On-line control law:
****BQCRCA
TTTTxf 02
****BQCCB
TTH
Time-critical: sT s 200
- tracks reference )(tsd )(* tsd
rd
r
msdlsd
L
LiLy
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Rotor cage defect fault-tolerant control
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Blade root
Tower tip Blade root
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Blade root
Tower tip Blade root
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Stator insulation fault-tolerant control
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generator grid
generator side grid side
Field-oriented control
matlab
simplorer
Fault-tolerant control
Voltage-oriented control
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THD increase from 2.51% to 2.95%
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2
,
j
modoffsettl eLLL offsetl LL
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2
,
j
modoffsettl eLLL offsetl LL
Value
Location
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2
,
j
modoffsettl eLLL offsetl LL
)2cos( modoffsetld LLL
)2sin( modlq LL
Value
Location
dq model:
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2
,
j
modoffsettl eLLL offsetl LL
)2cos( modoffsetld LLL
)2sin( modlq LL
Value
Location
dq model:
offsetLmodL
)2cos()2cos( mod,mod, sseelld LLLL
)2cos()2cos( mod,mod, bbrr LL
)2sin()2sin( mod,mod, sseelq LLL
)2sin()2sin( mod,mod, bbrr LL
Stator anisotropy: ◦ Saturation saliency
◦ Slots anisotropy
Rotor anisotropy:
• Cage defects
• Bars anisotropy
e
s
r
b
e
esN
sl
slbN
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Model
dt
diLikuu sd
asdasdsd
dt
diLiRuu
sq
asqssqsq
sqaemr
r
assd iLi
T
LLu
sdaemrasesq iLiLLu
r
sasa
T
LLRk
la LL
Conventional model
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Model
dt
diLikuu sd
asdasdsd
dt
diLiRuu
sq
asqssqsq
r
sasa
T
LLRk
mrs
ld
lq
e
r
assqaes
ld
lq
sq
ld
lq
sd iLL
L
T
LLiLR
L
Lu
L
Lu
mrase
r
s
ld
lq
sdae
r
s
ld
lq
s
ld
lq
sd
ld
lq
sd iLLT
L
L
LiL
T
L
L
LR
L
Lu
L
Lu
Anisotropic model
ld
lq
ldaL
LLL
2
Estimation turned on at t=10 s
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66% reduction 59% reduction
Constant load Dynamical load
Cyclic stress on the shaft causes material fatigue
MLife toolbox, developed by NREL
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Considered generator faults can be suppressed by proper manipulation of variables that cause rapid fault spreading
The sooner the fault is detected, the more power is extracted with proposed methods
Methods offer additional reliability centered maintenance possibilities
Broad application in electrical drives
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Projekte CEEStructHealth i Will4Wind sufinancira Europska unija kroz
Europski fond za regionalni razvoj.
Sadržaj ovog izlaganja isključiva je odgovornost autora i ona ne odražava nužno mišljenje Europske unije.
Dodatne informacije: http://act.rasip.fer.hr/
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Increase in 3rd harmonic
Sinusoidal current vs squared voltage increases iron losses by about 40%
Wind farm Installed power (MW)
Region Annual
production (GWh)
Wind turbine models Put in operation
VE Danilo 43 Šibensko-kninska županija 100 19 × Enercon E-82 – 2.3 MW 2014.
VE Vrataruša 42 Ličko-senjska županija 125 14 × Vestas V90 - 3 MW 2011.
VE Kamensko-Voštane 40 Splitsko-dalmatinska županija
114 14 × Siemens SWT-3.0-101 – 3 MW 2013.
VE Bruška (ZD2+ZD3) 36 Zadarska županija 122 16 × Siemens SWT-93 - 2,3 MW 2012.
VE Ponikve 34 Dubrovačko-neretvanska županija
100 16 x Enercon E-70 – 2,3 MW 2012.
VE Jelinak 30 Splitsko-dalmatinska županija
81 20 x Acciona AW-1500 – 1,5 MW 2013.
VE Pometeno Brdo 17.5 Splitsko-dalmatinska županija
30 15 × Končar KO-VA 57/1 – 1 MW +1 × Končar VA K80 – 2,5 MW
2012.
VE Trtar-Krtolin 11.2 Šibensko-kninska županija 28 14 × Enercon E-48 - 0,8 MW 2006.
VE Crno Brdo 10 Šibensko-kninska županija 27 7 × Leitwind LTW77 – 1,5 MW 2011.
VE Orlice 9.6 Šibensko-kninska županija 25 11 × Enercon (3 x E-48 – 0,8 MW + 8 × E-44 – 0,9 MW)
2009.
VE ZD 4 faza I 9.2 Zadarska županija 26 4 × Siemens SWT 93 – 2,3 MW 2013.
VE Velika Popina (ZD6) 9 Zadarska županija 26 4 × Siemens SWT 93 – 2,3 MW 2011.
VE Ravne 5.95 Zadarska županija 15 7 × Vestas V52 – 0,85 MW 2005.
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DFIG WRSG SCIG PMSG Total 297.45 MW
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gfUHUUXXJ TT RCQRC
** TfHU 1
2
1
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DC component
tItIIid 2sinsin2coscoscos
AC component
R. Teodorescu, M. Liserre, P. Rodriguez, “Grid converters for photovoltaic and wind power systems”