Development of a Nonlinear Mathematical Model and Gain Scheduling-Based Control for Wind Turbine Test Rig

Universitas Prasetiya Mulya, Department of Renewable Energy Engineering, Jl. BSD Raya Utama, BSD City, Banten 15339, Indonesia

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Abstract

Universitas Prasetiya Mulya is developing a modular wind turbine test rig equipped with a data acquisition system and wind speed controller. However, the control system still needs to be developed. This research aims to design a control system that maintains turbine output power stability by regulating generator torque and pitch angle using a gain scheduling approach. The developed dynamic model includes aerodynamic, drivetrain, generator, and pitch actuator subsystems, based on experimental and simulation data. The tower and drivetrain are treated as rigid due to high structural integrity. The wind speed range used in modeling is 1–15 m/s, with a rated speed of 6 m/s. Below rated speeds, torque control maximizes power extraction, while above rated speeds, pitch control regulates rotor dynamics. The nonlinear model is linearized at above-rated conditions to obtain PID parameters for accurate pitch reference tracking. Simulation results show that the torque controller maintains a maximum power coefficient (Cp) of 0.3476 and an optimal tip speed ratio (TSR) of 3.931, while the pitch controller tracks references with 1–8.4% error depending on wind speed.