An approach to the development and analysis of wind turbine control algorithms Page: 5 of 87
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Table of Contents
Acknowledgments 4
1.0 Introduction 7
2.0 Constructing a Horizontal Axis Wind Turbine (HAWT) Model 10
2.1 The Tower 10
2.2 The Power Train 11
2.2.1 The Drive Train Dynamics 11
A. First-order Drive Train Model 12
B. Flexible Drive Train Model 12
2.2.2 Induction Generators 13
A. Steady State Model 13
B. First-order Model 14
C. Electromagnetic Transient Model 14
2.2.3 Power Electronics for Variable Speed Wind Turbines 16
2.2.4 Geometric Location of the Power Train 17
2.3 The Rotor Dynamics 17
2.3.1 The Bed Plate and the Nacelle 18
2.3.2 The Hub, Teeter Axis, Overhang, and Undersling 18
2.4 Blades 19
2.5 Deviations From the Example Model in Other Wind Turbine Configurations 20
2.6 Driving Forces 20
3.0 Kinematics of the Rotor Assembly of a HAWT 21
3.1 Kinematics of Structural Components 21
3.2 Linear Velocity and Acceleration 23
4.0 Dynamics of a HAWT 26
4.1 Structural Dynamics 26
4.2 Inertial Torques 28
4.2.1 Inertial Torque Due to Translational Effect M, 28
4.2.2 Inertial Torque Due to Rotational Effect M, 28
4.2.3 Inertial Torque Due to Gravitatio Mg 29
4.3 External Loads and Torques 30
4.3.1 Direct Torques Applied to links 30
A. Spring and Damping Torques 30
B. Actuator Torque (Controller torque) 30
C. Aerodynamic Forces and Moments 31
4.3.2 Forces Transmitted From Upper Links to Lower Components 31
4.3.3 Moments Transmitted From Upper Links to Lower Components 325
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Wu, K. C. An approach to the development and analysis of wind turbine control algorithms, report, March 1, 1998; Albuquerque, New Mexico. (https://digital.library.unt.edu/ark:/67531/metadc706802/m1/5/: accessed April 18, 2024), University of North Texas Libraries, UNT Digital Library, https://digital.library.unt.edu; crediting UNT Libraries Government Documents Department.