1 © 2011 The MathWorks, Inc. Model-Based Design of a Wind Turbine Steve Miller Technical Marketing, Physical Modeling MathWorks Grid Pitch Yaw Rotor Speed Blades Tower GeartrainGenerator Hub Lift Wind Simulation Model Mechanical Embedded Software Requirements and Specifications Control Electrical PLCHIL

2 Actuator (Ideal) Inputs System (Include) Key Points  Efficient design of wind turbines requires a smooth, continuous development process  The ability to easily adjust the level of model fidelity enables earlier detection of integration issues  Automatically documenting tests can speed up design iterations and provide necessary proof of system performance Actuator (Realistic) System (Ignore) Simulation Model Mechanical Embedded Software Control Electrical PLCHIL Requirements and Specifications

3 Agenda  Overview of wind turbine model  Benefits of the Model-Based Design process  Linking requirement documents and simulation model  Determining more detailed requirements  Testing system integration  Automatically performing and documenting tests

4 Traditional Development Process Design and Implementation Mechanical Embedded Software Integration and Test Control Electrical Requirements and Specifications Grid Pitch Yaw Blades Tower GeartrainGenerator Hub

5 Traditional Development Process Design and Implementation Mechanical Embedded Software Integration and Test Requirements are unclear, incomplete, and not integrated in design process Separate simulation models are difficult to integrate Errors are found too late in the process using expensive prototypes Control Electrical Requirements and Specifications

6 Model-Based Design Process Simulation Model Mechanical Embedded Software Requirements and Specifications Save time by developing in a single simulation environment Control Electrical Produce better designs by continuously comparing design and specification Lower costs by using HIL tests and fewer hardware prototypes PLCHIL

7 Agenda  Overview of wind turbine model  Benefits of the Model-Based Design process  Linking requirement documents and simulation model  Determining more detailed requirements  Testing system integration  Automatically performing and documenting tests

8 Linking Specification and Design Problem: Matching design to specification is difficult Solution: Use Simulink Verification and Validation to link the design and specification Situation: Simulation Model Mechanical Embedded Software Control Electrical Wind Turbine Req. 1. Control System 2. Electrical System 3. Mechanical System

9 Agenda  Overview of wind turbine model  Benefits of the Model-Based Design process  Linking requirement documents and simulation model  Determining more detailed requirements  Testing system integration  Automatically performing and documenting tests

10 Determine Pitch Actuator Requirements Problem: Determine the performance requirements for the pitch actuator (force and speed) Solution: Use an ideal actuator and a controller to model the pitch system Model: Pitch Command Actuator Force Cylinder Extension Control

11 Agenda  Overview of wind turbine model  Benefits of the Model-Based Design process  Linking requirement documents and simulation model  Determining more detailed requirements  Testing system integration  Automatically performing and documenting tests

12 Detect System Integration Issues In Simulation Problem: Test for system integration issues before building hardware prototypes Solution: Use the Simulink environment to integrate the separate systems in simulation Model: Mechanical Hydraulic Electrical Controls Park Spin Supervisory Logic Lift Drag Wind Aero- dynamics Actuator (Ideal) Inputs System (Include) Actuator (Realistic) System (Ignore)

13 Agenda  Overview of wind turbine model  Benefits of the Model-Based Design process  Linking requirement documents and simulation model  Determining more detailed requirements  Testing system integration  Automatically performing and documenting tests

14 Automatically Document Tests And Results Problem: Evaluate test results quickly to make design changes and document the results Solution: Use Simulink Report Generator to automatically document tests and results Situation: Design Change Test Evaluate Results Document PDF, HTML, Doc, …  Fail Pass  Fail Pass

15 Actuator (Ideal) Inputs System (Include) Key Points  Efficient design of wind turbines requires a smooth, continuous development process  The ability to easily adjust the level of model fidelity enables earlier detection of integration issues  Automatically documenting tests can speed up design iterations and provide necessary proof of system performance Actuator (Realistic) System (Ignore) Simulation Model Mechanical Embedded Software Control Electrical PLCHIL Requirements and Specifications

16 Automatically Generating C Code Problem: Minimize the simulation time on a parameter sweep to determine controller parameters. Solution: Use Simulink Coder to create standalone executable. Model: P1P2Px 10 … 10010… ……… Standalone Executable Parameters 1 Parameters 2 Parameters 3 Parameters 4 Do not use in R2011a

17 Parameter Sweep using Code Generation  Steps to perform parameter sweep 1) Build standalone executable 2) Generate different parameter sets 3) Run standalone simulation 4) Plot results Standalone Executable >>rtwbuild(Model_Name); >>[rtpstruct]= rsimgetrtp(Model_Name); >>! -p.mat -o.mat Parameters 1 Parameters 2 Parameters 3 Parameters 4 Do not use in R2011a

18 Parameter Sweep using Code Generation  Advantages of using standalone executable 1.Enables rapid simulation with different parameter sets ideal for batch testing or Monte Carlo simulation. 2.Simulations can be run on different computers, reducing analysis time. Do not use in R2011a