Model Predictive Control of Wind Turbines using Uncertain LIDAR Measurements

Mahmood Mirzaei, Mohsen Soltani, Niels Kjølstad Poulsen, Hans Henrik Niemann

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review


The problem of Model predictive control (MPC) of wind turbines using uncertain LIDAR (LIght Detection And Ranging) measurements is considered. A nonlinear dynamical model of the wind turbine is obtained. We linearize the obtained nonlinear model for different operating points, which are determined by the effective wind speed on the rotor disc. We take the wind speed as a scheduling variable. The wind speed is measurable ahead of the turbine using LIDARs, therefore, the scheduling variable is known for the entire prediction horizon. By taking the advantage of having future values of the scheduling variable, we simplify state prediction for the MPC. Consequently, the control problem of the nonlinear system is simplified into a quadratic programming. We consider uncertainty in the wind propagation time, which is the traveling time of wind from the LIDAR measurement point to the rotor. An algorithm based on wind speed estimation and measurements from the LIDAR is devised to find an estimate of the delay and compensate for it before it is used in the controller. Comparisons between the MPC with error compensation, the MPC without error compensation and an MPC with re-linearization at each sample point based on wind speed estimation are given. It is shown that with appropriate signal processing techniques, LIDAR measurements improve the performance of the wind turbine controller.
Original languageEnglish
Title of host publication2013 American Control Conference (ACC)
Publication date2013
ISBN (Print)978-1-4799-0177-7
Publication statusPublished - 2013
Event2013 American Control Conference - Washington, United States
Duration: 17 Jun 201319 Jun 2013


Conference2013 American Control Conference
CountryUnited States
Internet address
SeriesAmerican Control Conference

Cite this

Mirzaei, M., Soltani, M., Poulsen, N. K., & Niemann, H. H. (2013). Model Predictive Control of Wind Turbines using Uncertain LIDAR Measurements. In 2013 American Control Conference (ACC) (pp. 2235-2240 ). IEEE. American Control Conference