In
te
r
n
ation
a
l Jou
rn
al
o
f Po
we
r
Elec
tron
ic
s an
d
D
r
ive S
y
stem
(IJ
PED
S
)
V
o
l.
11, N
o.
1, Mar
ch 20
20,
p
p.
135~
1
4
2
IS
S
N
: 2088-
86
94,
D
O
I
:
10.11
59
1
/ij
ped
s
.
v11
.
i
1.pp
1
35-
14
2
135
Jou
rn
a
l
h
o
me
pa
ge
:
ht
tp:
//i
j
p
eds.i
a
esco
re
.com
The fuzzy-PID based-pitch angle c
ontroller for sm
all-scale wind
turb
i
n
e
Qu
an
g-V
i
N
go
1
,
C
h
a
i
Y
i
2
,
Tron
g-
Th
an
g N
g
u
y
en
3
1
F
acul
t
y
of Elect
ron
i
c an
d Elect
ri
cal E
ng
in
ee
ri
ng,
H
a
i
ph
on
g
P
r
i
v
a
t
e Univ
ers
i
t
y
,
V
i
etnam
1,
2
Coll
ege of
A
utoma
t
ion
,
C
hong
q
ing Un
i
v
ers
i
ty,
China
3
F
acu
lty
of
Elect
rical and
El
ectro
nic
Engin
eering,
T
hu
yl
o
i
U
n
i
v
e
rsit
y
, Viet
n
a
m
Art
i
cl
e In
fo
ABSTRACT
A
r
tic
le hist
o
r
y
:
R
e
ce
i
v
e
d
Jun 17,
2019
Re
vise
d S
e
p 11,
201
9
Ac
ce
p
t
ed
No
v
1
4
,
2
019
Th
is
p
aper
a
im
s
to
d
es
ign
th
e
pi
tch
an
g
l
e
co
ntrol
b
a
sed
on
p
r
op
ort
i
on
a
l
–
in
teg
r
al–d
eriv
a
tive
(P
ID)
cont
rol
l
er
c
o
m
b
i
n
e
d
w
i
t
h
f
u
zzy
l
og
ic
for
s
m
a
l
l-
s
c
a
l
e
w
i
n
d
tu
r
b
i
n
e
s
y
s
t
e
m
s
.
I
n
th
is
s
ys
te
m
,
t
h
e
a
ng
le
o
f
p
i
t
c
h
is
c
ont
rolled
by
th
e
P
I
D-co
nt
ro
ller
w
it
h
t
h
ei
r
p
a
ram
e
t
e
r
is
t
un
ed
b
y
th
e
f
u
zzy
l
og
ic
c
on
trolle
r.
Th
is
c
o
n
t
r
o
l
s
ystem
can
c
om
pen
s
at
e
f
o
r
t
h
e
no
n
l
in
ear
p
ropert
ies
o
f
the
wi
nd
sp
eed
a
nd
p
it
ch
a
ng
le.
A
com
p
ari
s
on
bet
w
een
t
h
e
f
uzzy-P
ID
-cont
r
oller
w
i
t
h
th
e
con
v
ent
i
o
n
al
P
ID
-con
troller
i
s
carri
ed
o
u
t
.
The
ef
f
ecti
v
ene
ss
o
f
the
m
e
th
od
is
d
eterm
i
ned
by
t
he
s
im
ula
t
io
n
results
o
f
a
s
m
a
ll
win
d
t
u
r
b
in
e
u
s
in
g
a perm
anent
m
a
gnet
generator (PMS
G
)
.
K
eyw
ord
s
:
F
u
z
z
y Lo
gic
PID
Pitch
Sm
all-S
cale
Wi
n
d
tur
bi
ne
Th
is
is a
n
o
p
en acces
s a
r
ti
cle u
n
d
e
r t
h
e
CC
B
Y
-S
A
li
cens
e
.
Corres
pon
d
i
n
g
Au
th
or:
Tron
g-Tha
ng
N
g
u
y
en,
Fa
cult
y
o
f
E
l
e
c
t
rica
l
and
E
l
e
c
t
r
on
ic E
n
g
i
n
ee
rin
g
,
Th
uy
loi
U
n
i
v
e
r
sity,
17
5 Ta
y S
on,
D
on
g
D
a
, H
anoi,
V
i
et
nam
.
Em
ail:
ngu
ye
n
t
r
o
n
g
t
h
a
n
g
@
t
l
u
.e
du.vn
1.
I
N
TR
OD
U
C
TI
O
N
The
w
i
n
d
e
ne
r
gy
is
i
nc
rea
s
in
gl
y
bei
n
g
s
t
u
d
i
e
d
b
y
sc
ien
t
is
t
s
a
r
o
un
d
the
w
o
rld
[1-3].
E
spe
c
i
al
l
y
,
a
S
m
a
l
l
-
S
c
a
l
e
W
i
n
d
T
u
r
b
i
n
e
(
S
S
W
T
)
i
s
a
n
i
m
p
o
r
t
a
n
t
r
e
s
e
a
r
c
h
t
o
p
i
c
b
e
c
a
use
of
t
he
S
S
W
T
is
a
r
e
n
ew
a
b
l
e
,
clea
n,
s
usta
ina
b
le
p
ow
e
r
s
ou
rc
e.
E
lec
t
r
i
c
i
t
y
p
ro
d
u
ct
i
o
n
fr
om
S
S
WT
i
s
i
n
sta
lle
d
in
s
o
m
e
far
p
l
ac
es
s
uc
h
a
s
isla
nds
w
i
t
h
t
h
e
de
cen
tra
l
i
z
ed
g
ri
d
s
y
s
t
e
m
s
[4,
5]
.
Th
e
ex
pl
o
i
t
at
io
n
o
f
w
i
n
d
po
we
r
b
a
s
e
d
on
p
i
t
c
h
an
gl
e
con
t
ro
l
i
s
p
ro
p
o
se
d
t
h
ro
ug
h
re
sear
ch
[
6-
8].
T
h
is
c
o
n
trol
m
eth
o
d
c
a
n
e
l
i
mina
t
e
t
he
e
l
e
me
nts
suc
h
a
s
a
dump
loa
d
[
9],
a
pa
ssi
v
e
p
itc
h
c
o
ntr
o
l
l
er
[
1
0
]
and
a
furl
i
ng
sys
t
em
[11],
so
i
t
re
d
u
ce
s
t
h
e
system
c
os
t
a
nd
the
cum
b
ersom
e
w
hi
l
e
co
n
tr
ol
l
i
ng
.
Pi
t
c
h
a
n
gl
e
con
t
ro
l
of
S
SW
T
i
s
s
i
m
il
a
r
t
o
l
a
rg
e-sc
al
e
wi
nd
t
u
rb
i
n
e
s
y
s
t
e
m
s.
T
he
t
a
r
get of
t
he
c
o
n
tr
ol
syste
m
d
e
p
en
d
s
o
n
the
tw
o
o
p
er
at
ing
reg
i
o
n
s
of
t
he
w
i
n
d
spee
d.
T
h
e
lo
w
-
spee
d
re
g
i
o
n
i
s
tha
t
t
he
s
pee
d
o
f
w
i
n
d
i
s
l
o
w
e
r
tha
n
t
he
n
or
m
va
lue
.
I
n
t
h
is
r
egi
o
n,
t
he
s
pee
d
o
f
t
ur
b
i
ne
i
s
adj
u
s
t
e
d
i
n
or
d
e
r
tha
t
t
he
e
xtr
a
cted
ene
r
g
y
from
t
h
e
turb
i
n
e
re
a
c
he
s
a
m
a
x
i
m
u
m
.
T
he
h
ig
h-
spe
e
d
r
eg
io
n
i
s
t
ha
t
t
h
e
spe
e
d
o
f
w
i
n
d
e
xc
ee
ds
t
he
norm
va
l
u
e
.
I
n th
is re
g
i
o
n, t
he
o
ut
p
u
t
p
o
w
e
r
of a
ge
n
er
at
or m
us
t be
l
i
m
ite
d by
n
orm val
u
e t
h
r
o
ug
h
c
o
ntr
o
l
l
i
n
g
the a
n
g
l
e
of
i
n
c
lina
tio
n
due
t
o the
ge
ner
a
t
o
r
pow
e
r
a
nd c
o
n
v
ert
er
bei
ng
li
mited
i
n
o
u
t
pu
t
p
o
w
e
r.
T
h
e
c
o
n
v
e
n
t
i
o
n
a
l
c
o
n
t
r
o
l
m
e
t
h
o
d
o
f
p
i
t
c
h
a
n
g
l
e
h
a
s
b
e
e
n
p
r
o
p
o
s
e
d
i
n
r
e
s
ear
ch
[
1
2
,
13]
,
it
use
d
t
h
e
P
I
a
nd
P
I
D
c
ont
r
o
ller
.
T
hese
c
on
t
r
o
l
le
rs
a
re
w
ide
l
y
use
d
,
b
u
t
i
ts
d
isa
d
va
nta
g
e
is
t
h
a
t
if
t
he
ope
ra
ti
n
g
p
oi
n
t
i
s
cha
nge
d,
t
he
s
ys
t
e
m
pe
rform
a
nc
e
is
d
e
t
e
r
i
o
rated.
T
hese
c
o
n
tro
l
l
ers
have
a
lso
be
e
n
i
mp
rove
d
by
no
n
l
i
n
ear
P
I
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
I
nt
J
P
ow
Elec
& Dr
i
S
y
st V
ol.
11,
N
o.
1
, Ma
r
202
0
:
135
–
14
2
13
6
and
P
I
D
con
t
rol
l
ers
i
n
t
he
r
esea
rch
[14,
1
5],
but
it
nee
d
s
t
o
f
in
d
th
e
a
c
c
ura
t
e
ma
t
h
emat
ic
al
m
od
e
l
s
fo
r
wi
nd-
tur
b
ine
s
,
so
i
t
is
d
ifficu
l
t
to i
m
pl
e
m
e
n
t
in pr
a
cti
c
e.
The
pre
d
i
c
ti
ve
c
o
n
tro
l
m
o
d
e
l
h
as
b
e
e
n
g
i
ven
in
r
esea
rch
[1
6],
t
he
f
uture
c
o
n
t
ro
l
s
i
gna
ls
a
re
ca
l
c
u
l
a
t
e
d
b
a
s
e
d
o
n
t
h
e
pa
s
t
a
nd
pre
s
en
t
s
i
gn
a
l
s
to
p
r
o
d
u
ce
the
a
p
p
r
o
priate
p
i
t
ch
a
n
g
le
s
i
gna
ls
w
ith
r
ea
l
i
ty
.
But
th
is
m
e
t
ho
d
has
t
h
e
d
i
sa
d
v
an
ta
ge
t
h
a
t
t
h
e
sys
t
e
m
w
i
l
l
be
u
n
sta
b
le
i
f
t
h
ere
is
a
l
ar
ge
d
e
v
ia
t
i
o
n
i
n
o
u
t
put
pow
er
.
A
nothe
r
me
t
hod
used
f
or
c
o
n
tr
ol
l
i
n
g
t
he
p
i
t
c
h
a
n
g
l
e
is
a
s
li
di
ng
c
o
ntr
o
l
m
e
t
h
o
d
,
w
h
ic
h
is
g
i
v
e
n
i
n
t
h
e
pape
r
[
17].
Th
is
i
s
a
h
i
g
h
s
p
eed
m
eth
od
of
p
i
t
ch
a
ng
le
c
on
tro
l
sys
t
em
.
H
o
w
e
ve
r,
t
he
d
i
s
a
dva
n
t
a
g
e
of
t
h
i
s
me
tho
d
i
s t
h
a
t
the
e
ffi
c
i
e
n
c
y
d
epe
n
ds o
n
t
h
e
a
ccur
acy
o
f t
h
e
ma
them
atica
l
m
odel
and
the
r
e is the
cha
tte
rin
g
.
Th
e
ad
apt
i
v
e
c
o
nt
rol
l
e
r
h
a
s
bee
n
g
i
v
en
i
n
re
se
arc
h
[
18
],
t
h
e
g
a
in
s
che
dul
i
ng
c
o
nt
r
o
lle
r
is
u
se
d
to
adj
u
s
t
t
he
P
I
D
p
ar
am
eter
s.
T
hi
s
c
o
n
t
ro
ller
is
b
ui
l
t
i
n
or
d
e
r
t
h
a
t
t
he
s
yste
m
w
o
rks
o
p
tim
all
y
i
n
a
c
e
r
ta
i
n
sa
mp
l
i
n
g
p
e
ri
od
,
b
u
t
t
h
e
w
i
nd
t
u
rb
in
e
mo
de
l
i
s
non
lin
e
a
r
,
so
t
h
e
t
i
m
e
s
for
det
e
rm
ining
the
par
a
m
e
ters
o
f
the
con
t
ro
l
l
er
a
re lon
g.
F
u
zz
y
l
o
gic
c
o
n
t
ro
l
(
F
LC)
w
a
s
prop
ose
d
t
o
c
o
ntro
l
the
l
a
rge-
sc
a
le
w
i
nd
t
u
r
b
i
n
e
s
y
s
t
em
s
[1
9-
2
1
]
,
w
ith
t
he
i
n
p
u
t
pa
ram
e
te
rs
o
f
th
e
c
o
ntro
l
l
e
r
a
r
e
g
ene
r
at
or
pow
er
a
n
d
w
i
n
d
s
p
e
e
d
.
F
L
C
m
e
t
h
o
d
i
s
r
e
l
i
a
b
l
e
,
susta
i
na
bl
e
w
i
th
non
li
nea
r
c
h
a
rac
t
e
r
istic
s
o
f
t
he
p
i
t
c
h
a
ng
l
e
o
f
w
i
nd
t
urb
i
n
e
s.
H
ow
ever,
t
h
is
s
y
s
tem
ne
e
d
s
a
spee
d-
se
ns
or [22
,
23]
, so
t
h
e
sys
t
em
cost i
n
c
r
ease
s
.
The
r
e
is
v
er
y
l
i
t
t
le
r
e
s
ear
ch
o
n
c
o
n
t
ro
l
lin
g
t
h
e
pi
tc
h
a
n
gl
e
of
t
h
e
S
S
W
T
.
T
h
e
s
e
r
e
s
e
a
r
c
h
o
n
l
y
s
o
l
v
e
the
li
m
i
t
of
w
i
nd
pow
e
r
c
a
p
a
c
it
y
b
y
m
e
t
ho
d
s
s
uch
a
s
a
d
u
m
p
loa
d
,
a
passi
ve
c
on
tro
l
ler
a
nd
a
furli
n
g
system
[9-1
1]
.
The
r
ef
ore,
i
n
t
h
is
r
ese
a
rc
h,
t
he
a
u
t
hors
w
i
l
l
d
es
i
gn
t
h
e
P
I
D
contr
o
l
l
e
r
w
ith
f
uzzy
s
e
l
f-t
u
n
i
ng
for
adj
u
s
tin
g
t
h
e
pi
t
c
h
an
g
l
e
ap
pl
ie
d
for
SS
WT.
Th
is
c
o
n
t
ro
l
me
thod
i
s
a
co
mb
in
a
t
ion
o
f
t
ra
dit
i
ona
l
P
I
D
con
t
ro
l
l
er w
ith
fuzz
y
l
o
g
ic. T
h
i
s
m
eth
od ha
s the a
d
van
t
a
g
e
s
of
t
h
e
PID
c
o
n
t
ro
ll
er,
wh
i
c
h
a
r
e
t
h
e
f
a
st
r
e
s
p
o
n
s
e
and
t
h
e
sim
p
le
s
truc
ture
.
I
t
a
lso
has
t
h
e
a
dva
n
t
ages
o
f
the
fuz
zy
c
on
tro
l
ler
beca
use
t
h
a
t
t
he
a
uth
o
r
'
s
expe
r
i
ence
i
s
inc
l
ude
d
i
n
t
he
s
ys
tem
.
T
h
e
r
e
s
u
l
ts
o
bt
ai
ne
d
by
P
ID
c
ontr
o
l
l
er
w
ith
t
he
F
uzz
y
s
e
l
f-
tu
ni
ng
a
r
e
com
p
are
d
t
o
t
h
e
trad
i
t
i
ona
l
P
I
D
contr
o
l
l
er.
The
re
su
lts
p
rove
t
ha
t
the
P
I
D
contr
o
l
l
er
w
it
h
the
F
u
zz
y
se
l
f
-
tu
nin
g
h
as be
t
t
e
r
proper
t
i
e
s.
2.
T
H
E WIND
T
URBINE SYS
T
E
M
S
2.1.
Th
e
classi
ficati
on
o
f t
u
rb
in
e
The
pa
per
[5]
show
e
d
t
h
a
t
w
i
nd
t
urb
i
nes
w
i
th
t
he
se
d
iam
e
t
e
r
s
o
f
3
m
to
1
0m
a
n
d
pow
e
r
s
of
1
.
4
k
W
-
20
k
W
a
re
c
all
e
d
S
S
WT.
The
classi
ficat
i
on
of
t
he
r
o
t
or
d
i
a
m
e
ter
and
t
h
e
pow
e
r
r
ange
o
f
the
hori
z
o
n
t
al
a
x
i
s
w
i
n
d
tur
bi
ne a
re
s
how
n i
n
Ta
b
l
e
1
. Th
e
re
sea
r
ch
o
bj
e
c
t
of
thi
s
pa
pe
r is the
H
ouse
h
o
l
d t
y
p
e
.
Ta
ble
1.
T
he
c
lassi
fica
t
i
o
n
o
f
hor
izo
n
t
al a
x
i
s
w
i
nd t
u
rb
ine [
5
]
T
y
p
e
S
t
a
nd
a
r
d
pow
e
r
r
a
t
e
(kW)
S
w
ep
t
ar
e
a
(
m
)
Ro
t
o
r
d
i
ame
t
er
(
m)
S
m
al
l
s
a
cl
e
M
i
c
r
o
0.
004
0
.
2
5
0.
2
1.
2
0.
5
1.
25
M
i
ni
0
.
2
5
1.
4
1.
2
7.
1
1.
25
3
House
hold
1.
4
16
7
7
9
3
10
Sm
a
ll
c
o
mm
e
r
c
i
a
l
2
5
100
7
9
314
1
0
20
Me
diu
m
c
o
m
m
e
r
c
i
a
l
100
1000
314
1963
2
0
50
La
rge
c
o
m
m
e
r
c
i
c
a
l
1000
3000
1963
7854
5
0
100
2.2.
Th
e
mod
e
l
of
th
e w
i
n
d
t
u
r
b
i
n
e
Th
e tu
rb
in
e
t
o
rq
u
e
is ca
l
c
ulated
a
s follows [8]:
,
(
1
)
wher
e:
i
s
t
h
e
w
i
nd
spee
d
(m/s);
R
i
s
th
e
bla
d
e
radius
(
m
)
;
i
s
t
h
e
a
i
r
densi
t
y
(
);
i
s
the
tip-s
pee
d
ratio;
i
s
the pi
t
c
h
ang
l
e.
is the
coef
ficie
n
t o
f
ene
rg
y c
o
nvers
io
n w
h
ic
h
i
s
d
eterm
i
ne
d
by
t
he f
oll
o
w
i
n
g
e
qu
a
t
i
o
n
[24]
:
,
(
1
)
Where
:
.
.
0
.
5
1
7
6
,
1
1
6
,
0
.
4
,
5
,
2
1
0
.006
8
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
P
o
w
Elec
&
D
r
i
S
y
st
I
S
S
N
:
2088-
86
94
T
h
e
f
u
zzy-PID
b
a
s
ed
-pit
ch
ang
l
e
c
ont
ro
ll
e
r
f
o
r s
m
a
l
l
-
sc
al
e
wi
nd
t
u
rbin
e
(Qu
a
n
g
-
Vi
Ng
o)
13
7
F
i
gur
e
1.
T
he
pow
e
r
c
oef
f
ic
i
e
nt
C
P
(
λ
,
β
)
2
.
3
.
T
h
e
cha
racteristics o
f
w
i
nd
t
u
r
b
ines
D
u
r
i
n
g
o
per
a
t
i
o
n
,
i
t
is
n
ec
e
s
s
a
r
y
t
o
r
e
gu
lar
l
y
ad
j
u
st
t
he
t
ur
bi
ne
s
pee
d
a
c
c
or
d
i
n
g
t
o
t
h
e
w
i
n
d
s
p
e
e
d
an
d
t
h
e
en
e
r
gy
i
n
t
o
th
e
t
u
rbin
e
bl
a
d
e
.
T
h
e
s
y
s
t
e
m
wo
rk
s
i
n
o
rd
e
r
fo
r
receivin
g
th
e
max
i
mu
m
en
er
g
y
a
t
h
igh
w
i
n
d
s
pee
d
s
and
at
l
o
w
w
ind
sp
e
e
d
s,
a
nd
t
o
e
nsur
e
sa
f
e
ty
f
or
t
u
rbi
n
e
sy
st
ems
[
2
1
]
.
The
cha
r
ac
teri
s
t
i
c
s of
p
ower
d
epen
de
d the
wi
n
d
s
p
eed
o
f the
adj
u
s
tme
n
t
pr
oce
s
s
ar
e
show
n
as
F
igur
e
2.
(
a
)
The
w
i
n
d
t
ur
b
i
ne’
s
p
ow
e
r
c
ontr
o
l
r
e
gio
n
s
[
6,
21
,
23]
(b
)
Th
e
win
d
tu
rbin
e’s
po
w
e
r
co
n
t
r
o
l reg
i
o
n
s
i
n
t
h
e
ca
se
o
f
the
p
o
w
e
r
of
2
.
5kW
F
i
gur
e
2.
T
he
d
epe
nde
nce
o
n
the
w
i
n
d
s
pee
d
o
f
w
i
nd
t
u
r
b
ine
pow
er
The
o
p
er
at
ion
of
a
t
ur
b
i
ne
i
n
F
i
gur
e
2
has
4
ma
i
n
r
e
g
i
ons
:
T
h
e
fi
rs
t
re
gion
i
s
t
h
at
t
h
e
s
p
e
e
d
o
f
w
i
nd
i
s
smal
l
e
r
th
an
t
h
e
c
u
t-o
u
t
va
l
u
e
(V
D
)
.
I
n
thi
s
r
e
g
ion,
w
i
n
d
tur
b
i
n
es
i
nt
er
r
upt
a
n
d
d
o
no
t
g
e
n
e
r
a
t
e
e
l
e
c
t
r
i
c
i
t
y
.
The
s
e
c
o
n
d
r
e
g
io
n
i
s
t
he
w
i
n
d
s
p
e
e
d
i
n
t
he
r
a
n
ge
(
V
D
,
V
N
)
.
T
his
i
s
t
he
o
p
t
ima
l
r
e
g
i
o
n
of
e
ne
r
g
y
tr
a
n
s
f
or
m
a
ti
o
n
w
her
e
t
he
w
in
d
spee
d
is
n
e
e
d
e
d
t
o
c
o
n
t
r
o
l
in
o
r
d
er
t
he
s
yste
m
get
t
h
e
m
a
xi
m
u
m
pow
er
.
The
t
h
ir
d r
e
g
i
o
n
has
i
nc
r
e
a
s
e
d
w
i
nd
p
o
w
e
r
,
but
t
he
t
ur
b
i
ne
's
po
wer
is l
im
it
ed b
y t
h
e rate
d power
(P
N
)
. In
th
is re
g
io
n,
the
c
ontr
o
l sy
stem
of
pitc
h ang
l
e
will
opera
te
.
I
n
t
he
f
o
u
r
t
h
r
e
gi
o
n
,
t
h
e
spe
e
d
o
f
w
i
n
d
i
s
la
r
g
e
r
t
han
th
e
m
a
xi
m
u
m
v
a
l
u
e
s
o
t
h
e
t
u
r
b
i
n
e
c
a
n
w
i
t
h
s
t
a
n
d
.
The
t
u
rbi
n
e
will be
s
to
p
p
ed b
y
t
h
e
m
e
c
h
a
n
ic
al
b
rak
i
n
g
sys
t
e
m
to
p
ro
tect th
e
s
y
s
tem.
2.
4.
I
d
e
n
t
if
yin
g
t
h
e
c
on
t
r
ol
o
b
j
ec
t
The
ob
jec
t
m
u
s
t
be
c
o
n
tr
olle
d
t
h
a
t
i
s
the
h
y
d
r
a
u
l
i
c
s
y
ste
m
o
r
e
l
e
ctrom
e
c
h
an
ica
l
d
ev
i
c
e
s
[
8].
We
c
h
o
s
e
the
mo
t
o
r
se
r
vo
for
t
h
e
p
i
tch
ac
tua
t
or
f
or
e
asy-
t
o
-
a
d
j
us
t
t
he
c
har
acter
i
s
t
i
cs
a
s
we
l
l
a
s
a
si
m
p
le
m
a
t
h
e
m
a
t
i
c
a
l
m
o
d
e
l
o
f
s
i
m
u
l
a
t
i
o
n
.
T
h
e
p
i
t
c
h
s
e
r
v
o
u
n
i
t
i
s
m
o
d
e
l
e
d
a
s
a
n
I
n
t
e
g
r
a
t
o
r
o
r
a
f
i
r
s
t
-
o
r
d
e
r
d
e
l
a
y
sys
t
em
,
w
i
t
h
t
h
e
t
im
e
c
ons
ta
n
t
T
_ser
v
o
i
s
in the
r
an
ge
o
f
0.
2
-
0.
3 (
s
)
a
nd
β
i
s in
t
he
r
a
n
g
e
o
f
-
2
t
o
30 de
gr
e
e
s
[24
]
.
Th
e d
i
fferen
tial
equ
a
tion
o
f t
h
e se
rvo
m
o
tor is a
s fo
ll
ow
s [
2
0]
:
(
3
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
I
nt
J
P
ow
Elec
& Dr
i
S
y
st V
ol.
11,
N
o.
1
, Ma
r
202
0
:
135
–
14
2
13
8
The
tra
n
sfer
f
u
n
ct
i
on o
f
a
s
e
r
vo m
o
t
o
r is a
s fo
l
l
ow
s
:
(
4
)
Where
:
is the
m
a
x
i
m
u
m
of
pi
tc
h an
gl
e;
is the
m
in
i
m
um
a
nd of pi
t
c
h
a
ngle
.
3.
T
H
E CONTR
O
LLE
RS
U
SE
D
FOR THE
S
S
WT
To
da
y,
b
ec
a
u
s
e
o
f
the
ach
ie
ve
me
nts
of
c
o
n
tr
ol
s
c
i
ence
a
nd
tech
n
ol
o
gy,
t
her
e
a
r
e
m
a
ny
ty
pes
o
f
con
v
e
n
t
i
ona
l
a
nd
m
o
dern
c
o
n
tr
ol
lers,
w
h
ic
h
ha
ve
m
et
t
h
e
r
equire
ment
o
f
co
nt
rol
ef
fic
i
en
cy
s
u
c
h
a
s
f
u
z
z
y
,
neur
on,
a
da
pt
i
v
e,
o
ptim
iza
t
io
n,
p
re
d
i
c
t
i
v
e
a
n
d
sli
d
in
g
c
o
nt
rol
l
ers.
S
pec
i
a
l
l
y
,
P
I
D
and
F
L
C
a
r
e
a
ppl
ie
d
m
u
ch
to
S
S
W
T
bec
a
u
se it
fe
a
t
ures
s
i
m
p
l
e
struc
t
u
r
e
an
d
doe
s
n
o
t
n
e
e
d
to kn
o
w
t
h
e
e
x
a
c
t
m
a
the
m
atica
l
m
ode
l
of
t
he
ob
jec
t
.
These
con
t
ro
l
l
ers ha
ve
t
he
fo
l
low
i
n
g
s
truc
ture.
3.1.
C
on
vent
i
o
n
a
l PID
c
o
n
t
rol
l
e
r
The
P
I
D
contr
o
l
l
er
a
d
j
us
ts
t
he
g
ene
r
a
t
or
's
r
ot
or
s
pe
e
d
o
r
t
h
e
g
e
n
era
t
or
’s
o
u
t
put
pow
e
r
by
c
h
a
n
g
i
n
g
the
a
n
g
l
e
of
p
i
t
ch.
The
spe
e
d
e
rror
of
g
e
n
er
a
t
or
o
r
ge
nera
tor
p
ow
er
w
il
l
be
t
he
i
n
p
u
t
of
t
he
P
ID
c
on
t
r
oller
.
The
P
I
D
out
pu
t
signa
l
(β_re
f
)
i
s
e
xpre
s
se
d a
s
f
ol
low
s
e
qua
t
i
o
n
[21]
:
+
(5
)
W
h
ere:
,
and
a
re
the
p
ara
m
e
t
e
r
o
f the
PI
D co
n
t
ro
l
l
er.
The error
i
s
:
(t)
(2
)
Where
:
e
i
s
the
error
of
g
ener
ator
s
pe
ed,
d
en
ot
es
t
h
e
r
e
f
e
r
en
c
e
s
p
e
ed
,
d
eno
t
e
s
t
he
g
ene
r
ato
r
spee
d.
The
con
tro
l
sys
tem
is show
n in
b
e
l
ow
fi
g
ure
.
F
i
gure
3.
T
he
p
itc
h
ang
l
e
co
n
t
ro
l sche
me
usi
ng t
h
e P
I
D
con
t
ro
ll
er
3.2.
Fu
zzy
l
o
g
i
c
c
on
troller
(FLC
)
The
co
ntr
o
l
sc
hem
e
u
sed
fuz
z
y
l
o
g
i
c
is
s
ho
w
n
a
s
F
i
gure
4
.
T
he
t
he
g
e
n
e
r
ator’
s
o
u
t
pu
t
p
o
w
e
r
or
t
he
wi
nd
sp
e
e
d
i
s th
e
i
npu
t
si
gn
al
o
f th
e
F
L
C [
23, 2
5
]
.
F
i
gur
e 4.
The
pi
t
c
h
a
ngle
co
n
t
ro
l sc
hem
e
usi
ng t
h
e
F
L
C
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
&
D
ri S
yst
IS
S
N
:
2088-
86
94
T
h
e
fuzzy-PI
D
bas
ed-p
i
t
ch a
ngle
co
n
t
r
o
lle
r f
o
r sm
all-
sc
a
l
e
w
i
n
d
t
u
rb
i
n
e (Q
ua
ng-V
i
N
g
o
)
13
9
4.
DESIGNI
N
G
T
H
E FU
Z
Z
Y
-
PID CONTR
O
LLE
R
F
OR
T
HE S
SWT
The
se
t
o
f
F
LC
r
u
l
e
s
i
s
des
i
gne
d
based
o
n
the
h
u
ma
n
ex
pe
rie
n
ce
.
I
t
a
l
so
d
oes
no
t
nee
d
t
h
e
e
xact
ob
jec
t
m
a
t
he
ma
t
i
c
a
l
m
ode
l.
I
n
this
r
esea
rch
,
t
he
a
u
t
hors
d
e
si
gn
t
h
e
F
u
z
z
y
-
P
I
D
c
o
n
t
r
o
l
l
e
r
f
o
r
a
s
m
a
l
l
w
i
n
d
tur
b
ine
sy
stem
.
This
s
ys
tem
is
s
h
o
w
n
i
n
F
i
gur
e
5.
T
he
f
u
z
zifica
t
i
on
o
f
t
h
e
i
n
put
a
nd
o
u
t
pu
t
v
a
ri
ab
l
e
s
a
r
e
show
n
in
F
ig
u
r
e
6.
I
npu
t
a
n
d
ou
tp
ut
v
a
r
ia
b
l
es
h
a
v
e
trian
g
u
lar
f
orm
s
f
or
h
i
g
her
se
ns
iti
v
ity,
espe
c
i
a
l
ly
w
hen
the va
r
i
ab
les r
eac
h z
e
ro.
The wid
t
h
o
f
t
he
va
r
i
a
b
l
e
is a
d
j
us
t
e
d
acc
ord
i
n
g
t
o the
para
me
t
e
rs of syst
e
m
.
Fi
g
u
re
5
. Th
e p
i
t
c
h
an
gl
e co
nt
rol
s
y
st
e
m
wi
t
h
t
h
e
fu
zzy
-PI
D
co
n
t
r
o
lle
r
Desig
n
i
ng
a
fu
zz
y con
t
ro
l
l
er
h
as t
he
fo
l
l
o
wing
s
t
e
p
s
:
Fuz
z
ifica
t
i
o
n:
C
on
v
e
rt
in
g
t
h
e
inp
u
t
var
ia
ble
from
the r
eal
v
alu
e
to
t
he
fuzz
y
v
al
ue.
Se
t
t
i
n
g the
fuz
z
y
lo
g
i
c r
u
l
e
s “
i
f
..
.t
h
e
n
”
D
e
fuzz
ifica
tio
n:
C
o
n
v
erti
n
g
ou
t
pu
t
va
lu
e
from
the
f
uzz
y
v
alue
t
o t
h
e
rea
l
v
alue
f
or
c
on
trol
lin
g t
h
e
object.
The
F
u
z
z
y-P
I
D
the
con
t
rol
l
e
r
ope
rates
ba
sed
on
t
h
e
erro
r
betw
e
e
n
of
g
en
e
r
ato
r
s
p
e
ed
(
)
a
nd
MPP
T
speed (
∗
):
∆
∗
(
7
)
The
in
p
u
t
va
lu
e
has
fi
ve
l
i
n
g
u
i
s
tic
l
eve
l
s
w
i
t
h
t
he
f
ol
l
o
w
i
ng
n
a
m
e
s
:
ne
g
a
t
i
ve
l
ow
(
N
L
),
n
egat
iv
e
sma
l
l
(
N
S
)
,
zero
(
ZE),
posit
ive
sma
l
l
(
P
S
)
a
nd
p
o
si
t
i
ve
l
a
r
ge
(
P
L
)
.
T
h
e
o
u
t
p
u
t
v
a
l
u
e
a
l
s
o
h
a
s
f
i
v
e
l
i
n
g
u
i
s
t
i
c
leve
ls
w
it
h
the
fo
llow
i
n
g
n
a
m
es:
p
o
sit
i
v
e
s
m
all
(
PS),
posi
tive
me
d
i
um
(
P
M
),
posi
tive
me
di
um
-lar
ge
(
P
M
L)
,
pos
it
ive
lar
g
e
(
P
L),
posi
t
i
v
e
l
a
rge
(P
L)
a
nd
pos
i
t
i
ve
v
er
y-
la
rg
e
(
P
VL).
T
he
a
utho
r
s
p
ropos
e
75
c
ontrol
rules
for
F
L
C
w
h
ic
h
are
show
n
i
n
T
a
b
le
3
,
Table
4,
a
nd
Ta
ble
5.
T
hese
c
on
tro
l
r
ul
e
s
a
r
e
d
e
f
i
n
ed
by
exper
t
kn
ow
le
d
g
e
and
e
xperie
n
c
e
of
the
au
t
hors.
(a) The
inpu
t
li
ng
u
i
stic
l
e
v
e
l
s (
e
a
nd
)
(b)
The
l
i
n
g
u
istic
l
e
v
e
l
s o
f
o
u
t
pu
t
si
gna
l
(
,
,
)
F
i
gure
6. The
fu
z
zy
l
o
g
ic
c
on
t
r
ol
l
e
r
’s
membership
f
unctions
Ta
ble
2.
T
he
s
ystem
respon
di
ng
w
he
n
chan
g
i
n
g
t
he
p
ara
m
e
t
ers [2
6
,
27
]
Ste
a
d
y
sta
t
e
e
r
ror
Se
ttling tim
e
O
v
e
r
shoot
I
n
c
r
ea
s
i
ng
Kp
D
ec
r
e
a
s
e
S
m
a
ll
In
c
r
ea
s
e
I
nc
rea
s
e
I
n
c
r
ea
s
i
ng
Ki
L
a
r
ge
D
ec
r
e
a
s
e
La
rge
Inc
r
ea
s
e
I
n
c
r
e
a
si
n
g
K
d
M
i
n
o
r
Ch
a
n
g
e
D
ecr
eas
e
De
c
r
eas
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
I
nt
J
P
ow
Elec
& Dr
i
S
y
st V
ol.
11,
N
o.
1
, Ma
r
202
0
:
135
–
14
2
14
0
Table
3. The ru
l
e base f
or
tu
ner
Kp
NL
NS
Z
E
PS
PL
NL
PS
PS
PS
PM
L
PML
NS
PS
PM
PM
PL
PML
Z
E
PS
PM
PM
L
PL
PL
PS
PM
PM
PL
PL
PL
PL
PM
L
PM
L
PL
PV
L
PVL
Ta
b
l
e
4.
The
r
ule
ba
se
f
or
tuner
Ki
NL
N
S
Z
E
P
S
P
L
NL
PVL
PV
L
PL
PL
PM
L
NS
PVL
PL
PL
PM
L
P
M
ZE
PVL
PM
L
PM
L
PL
PS
PS
PM
PM
L
PS
PL
P
S
PL
PS
PM
L
PS
PV
L
P
S
Ta
b
l
e 5.
The
rule
ba
se
f
or
tuner
Kd
NL
N
S
Z
E
P
S
P
L
NL
PS
PS
PM
PM
P
M
L
NS
PS
PM
PM
PM
L
P
M
L
Z
E
PS
PM
PM
L
PL
P
V
L
PS
PM
PM
L
PL
PL
P
V
L
PL
PML
PV
L
PL
PV
L
P
V
L
P
a
ra
m
e
te
rs of
the w
i
n
d
t
ur
bi
n
e
s
yst
e
m
and P
M
S
G
g
ener
ato
r
are
s
h
ow
n in
T
a
b
l
e
6
a
nd Ta
bl
e
7.
Tab
l
e
6.
T
he sm
a
ll w
i
n
d
t
urb
i
ne’
s
p
ar
am
ete
r
s
Ra
t
e
d w
i
nd
spe
e
d
C
ut–out
s
pe
e
d
C
ut-in
spee
d
M
a
x.
powe
r
c
onv.
C
o
e
f
f
ic
ie
nt
A
i
r
de
n
sity
B
l
a
d
e
r
a
d
ius
Ra
t
e
d powe
r
14 (
m
/s
)
25 (
m
/
s
)
3(
m
/
s
)
0.
47
1.
225(k
g
/
)
1.
65(
m)
2.
5(
kW
)
Tab
l
e 7.
The
par
am
eters
of PMSG
Ra
t
e
d
powe
r
N
u
m
be
r
of
pole
-
pare
s
Ro
t
o
r
s
p
e
e
d
(
ω
S
ta
tor re
sist
a
n
ce
(
R
S
t
a
tor
induc
t
a
n
c
e
(
L
)
P
e
r
m
an
en
t
ma
g
n
e
t
i
c
fl
u
x
2.
5(
kW
) 8
104
/
)
0.
36 (
Ω
)
1
.
2 (
m
H)
0.
2
5
(
W
b)
5.
T
H
E RESULTS
F
i
gure 7 the w
i
nd
s
p
ee
d
fr
om 10m/
s
to 1
6
m/
s.
F
igure
8 s
h
o
w
s the
spe
e
d
of
t
h
e ge
ne
rat
o
r,
t
he q
ua
li
ty
of
t
he
F
uz
z
y
-P
ID
c
on
tro
ller
is
c
om
pare
d
w
i
t
h
t
he
t
rad
i
t
i
ona
l
P
I
D
c
ontro
ller
.
I
n
w
h
i
c
h,
t
he
r
ed
l
ine
is
g
e
n
e
rat
o
r sp
eed
i
n
t
h
e
ca
se of
F
u
zzy-
P
ID contr
o
l
l
er.
The
b
l
ue b
r
oke
n l
i
ne
i
s
gener
a
tor s
p
ee
d in
t
he ca
s
e
of t
he
r
a
d
i
t
i
o
n
a
P
I
D
c
o
n
t
r
o
l
l
e
r
.
T
h
e
r
e
s
u
l
t
s
s
h
o
w
t
h
a
t
t
h
e
F
u
z
z
y
P
I
D
c
on
t
r
o
l
le
r
has
a
less
osc
i
l
l
a
t
i
o
n
t
h
a
n
t
h
e
P
ID
con
t
ro
l
l
er.
F
i
gure
9
sh
ow
s
t
h
e
P
M
S
G
’s
o
u
t
pu
t
pow
e
r
.
The
p
o
w
e
r
cha
r
ac
terist
i
c
at
t
he
t
i
m
e
t=
2
s
s
ho
ws
t
h
a
t
the
spee
d
of
t
he
w
ind
so
urce
i
s
1
0
m/s,
t
he
o
utp
u
t
p
o
w
e
r
is
s
ti
ll
s
t
a
b
le.
In
t
he
case
o
f
l
ow
w
i
nd
p
o
w
e
r,
t
he
F
uzz
y
-
P
I
D
c
o
ntro
ller
gi
ves be
tte
r qu
ali
t
y
.
F
i
gure
10
s
h
o
w
s
t
he
t
urb
i
ne’s
p
itc
h
a
n
gle.
T
he
r
esu
l
t
sh
o
w
s
tha
t
w
h
en
t
he
w
i
n
d
pow
er
c
ha
nges,
t
h
e
abi
l
i
t
y
t
o
se
t an
d
st
a
b
il
ize
the
val
u
e o
f
F
u
z
zy
-PID
c
ontr
o
l
l
er
i
s
a
lso be
tt
er.
F
i
gure
7.
The
w
in
d source
pr
o
f
ile
with wind speed is valid from
10m/s
-
16m/s
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
&
D
ri S
yst
IS
S
N
:
2088-
86
94
T
h
e
fuzzy-PI
D
bas
ed-p
i
t
ch a
ngle
co
n
t
r
o
lle
r f
o
r sm
all-
sc
a
l
e
w
i
n
d
t
u
rb
i
n
e (Q
ua
ng-V
i
N
g
o
)
14
1
F
i
gure
8.
T
he ge
n
era
t
or
spee
d
of
P
M
S
G
F
i
gure
9. The
ou
t
pu
t p
o
w
e
r
of
P
MS
G
F
i
gure
1
0
.
The w
i
nd
tur
b
i
n
’
s
p
itc
h ang
l
e
6.
CONCL
U
S
ION
Th
e
p
i
t
c
h
a
n
gl
e
c
o
n
t
ro
l
i
s
t
h
e
m
o
s
t
popu
l
a
r
met
h
o
d
fo
r
c
o
n
t
ro
ll
in
g
t
h
e
ae
ro
dy
na
m
i
c
e
n
erg
y
gene
ra
ted
by
w
i
n
d
t
urb
i
ne
s’s
bla
d
e
s
.
The
a
u
t
h
ors
ha
ve
s
u
cce
ssf
u
ll
y
pro
p
o
se
d
t
h
e
F
u
zzy
-P
ID-
b
ased
c
o
n
tr
ol
ler
for
co
n
t
ro
ll
ing
the
SSWT’s
pitc
h
an
g
l
e.
T
hi
s
sys
t
em
h
as
r
em
oved
t
h
e
a
u
x
i
l
i
a
r
y
s
y
s
t
e
m
s
s
u
c
h
a
s
t
h
e
d
u
m
p
loa
d
,
the
pass
i
v
e
pi
tc
h
a
nd
the
furl
i
ng.
I
n
t
h
e
re
sear
ch,
th
e
q
u
a
lit
y
of
t
he
F
u
z
zy
-PID
c
o
n
t
r
oll
e
r
i
s
c
omp
a
re
d
w
ith
t
he
t
ra
dit
i
o
n
a
l
P
ID
c
ontr
o
l
l
er
.
The
re
sults
s
how
t
ha
t
the
s
y
s
t
e
m
w
it
h
t
h
e
F
u
zz
y-P
I
D
contr
o
l
l
e
r
h
as
a
bet
t
er
qua
l
ity.
Ther
efor
e,
t
hi
s
pro
posa
l
is nec
e
ssary
a
nd
pra
c
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
I
nt
J
P
ow
Elec
& Dr
i
S
y
st V
ol.
11,
N
o.
1
, Ma
r
202
0
:
135
–
14
2
14
2
REFE
RENCES
[1]
Bou
d
erbal
a
,
M
a
n
a
le,
et
a
l.
,
“
D
irect
a
n
d
i
nd
irect
v
ecto
r
c
on
tro
l
o
f
a
d
o
u
b
l
y
f
ed
i
nd
uct
i
on
g
enerat
or
b
ased
i
n
a
win
d
e
n
e
r
gy
c
o
nve
rsio
n
sy
ste
m
,”
Intern
atio
na
l Jou
r
nal o
f
Electrica
l
an
d Com
p
u
t
er
Eng
i
n
eerin
g
(
I
JECE)
,
vol.
9
,
N
o
3
,
pp
.
1
531
-15
4
0
, 2
019
.
[2]
Sak
t
h
i
,
S.
S
.,
S
an
t
h
i,
R
.
K
.,
Kr
ishn
an,
N.
M
.,
G
an
esan
,
S.
,
an
d
S
ub
ram
a
nian
,
S
.
,
“
w
in
d
integr
at
ed
t
hermal
u
nit
com
m
itm
ent
so
lu
ti
on
u
s
ing
grey
w
o
l
f
op
t
i
mi
zer,”
Int
e
rn
ation
a
l
Jou
r
n
a
l
of
El
ectr
i
cal
an
d Comput
er E
ngineer
ing
(I
J
E
C
E
),
v
o
l
.
7
,
no.
5
,
pp
.
23
09
-23
20,
2
0
1
7
.
[3]
Raby
i,
K
ao
u
t
ar;
M
a
hm
o
udi,
H
a
s
s
an
e,
“
E
n
ergy
st
orag
e
o
f
D
F
I
G
bas
e
d
wi
nd
f
arm
u
s
in
g
D
-
S
T
AT
COM,”
Int
e
rna
t
i
o
n
a
l
Jo
u
r
n
a
l of El
ectrical
an
d
Co
mp
u
t
er
E
ngineer
in
g
(
I
J
E
CE)
,
v
o
l
.
9
,
N
o.
2
,
p
p
.
7
6
1
-
77
0,
201
9.
[4]
R.
H
.
E
c
ks
te
in
,
T
.
B
.
Lazzari
n
a
n
d
I
.
Barbi
,
“
Pro
p
o
s
ed
p
o
w
er
a
n
d
cont
rol
sy
stem
f
or
s
m
a
ll
s
c
ale
win
d
t
urbin
e
s
con
n
ected
to
t
h
e g
r
id,
”
3
r
d
R
e
newa
ble
Power Ge
n
e
ra
tio
n
Conf
eren
ce (
R
PG 2
014)
,
Nap
les, pp
.
1
-
6
,
2
0
1
4
.
[5]
T
u
m
m
a
l
a
A
.
,
V
e
l
a
m
a
t
i
R
.
K
.
,
S
i
n
h
a
D
.
K
.
,
e
t
a
l
.
,
“
A
r
e
v
i
e
w
o
n
s
mall
sca
l
e
wi
nd
turb
i
n
es
,”
Ren
e
wa
bl
e an
d
Su
st
a
i
n
a
b
l
e E
n
e
r
gy
R
eviews
,
vol.
56
,
pp
.
1
3
5
1
-
1371
,
2
0
1
6
.
[6]
Ro
cha
P.
A
.
C.
,
Carneiro
d
A
.
J.
W
.,
Li
ma
R
.
J.
P
.,
e
t
al.,
“
Th
e
eff
ects
of
b
lad
e
P
i
t
ch
a
n
g
le
o
n
th
e
p
e
rf
orm
a
nce
of
sm
all-scal
e wi
nd tu
rb
i
n
e i
n
u
rban env
iron
m
e
n
t
s,”
Ener
gy
,
vol.
1
48,
p
p.
1
69
-17
8
,
201
8.
[7]
N
a
g
a
i
B
.
M
.
,
A
m
e
k
u
K
.
,
R
o
y
J
.
N
.
,
“
P
e
r
f
o
r
m
a
n
c
e
o
f
a
3
k
W
w
i
n
d
t
u
r
b
i
ne
g
enerato
r
w
i
t
h
vari
able
P
itch
con
t
ro
l
syst
e
m
,
”
App
l
ie
d Energy
,
v
o
l
.
8
6
,
no
.
9
,
p
p
.
1
774-1
782
,
2
00
9.
[8]
F
.
S
cheri
l
l
o
,
L.
I
zzo,
D.
P
.
Coiro
and
D
.
L
a
u
ria,
“
F
u
zzy
l
ogic
con
t
ro
l
f
o
r
a
sm
all
Pit
c
h
con
t
rolled
w
i
n
d
tu
rbi
n
e,”
Int
e
rna
t
i
o
n
a
l
Symp
os
ium on
Power
El
ec
t
r
o
n
i
c
s
Po
wer El
ectr
o
n
i
cs
, Elect
r
i
cal
Dri
ves,
A
u
t
o
ma
ti
on
and
M
o
tion,
So
rrento
, p
p.
58
8
-
5
9
3
, 20
1
2
.
[9]
Hee-S
a
ng
K
o
,
G
i-Gap
Yo
on
,
Wo
n-P
y
o
Ho
ng
and
Ju
ri
J
ats
k
evi
c
h,
“
Co
n
t
rol
of
h
yb
rid
win
d
p
ow
er
g
en
era
t
io
n
sy
st
e
m
w
ith
d
u
m
p
l
o
ad
u
s
i
ng
a
d
v
an
ce
d
fu
zzy-r
o
bus
t
con
t
roll
er,”
In
ter
natio
na
l Con
f
eren
ce o
n
El
ectrical
M
a
ch
ines
an
d S
y
st
ems (
I
CEM
S
)
,
S
eou
l
,
pp.
2
19-2
2
6
,
2
007.
[10]
C
h
e
n
Y
.
J
.
,
T
s
a
i
Y
.
F
.
,
H
u
a
n
g
C
.
C
.
,
e
t
a
l
.
,
“
T
h
e
d
e
s
i
g
n
a
n
d
a
n
alys
is
o
f
pas
s
i
v
e
p
i
t
c
h
con
t
rol
f
o
r
ho
rizon
t
al
a
xi
s
wi
nd
tu
r
b
i
ne,
”
Ener
gy P
r
oced
ia
, v
ol
.
61
,
p
p
.
683
-68
6
,
201
4.
[11]
Audi
e
r
ne
E
.,
Elizondo
J.,
Bergami
L
.,
et
a
l
.,
“A
nalysis
of
t
he
fu
rling
b
e
ha
v
i
or
o
f
sma
l
l
wind
t
u
r
bine
s,”
Appl
i
e
d
Energy
,
vol.
87
, no
.
7
,
p
p
.
2
2
7
8
-2
29
2,
2
01
0.
[12]
Anwa
r
M.
N
.,
Pa
n
S.,
Gh
osh
S.
,
“
P
I
c
o
n
t
rol
l
e
r
d
e
s
ig
n
for
Pitc
h
co
nt
rol
of
l
arge
w
i
n
d
turb
in
e
g
e
ner
a
t
o
r,
”
In
te
rn
at
io
na
l Co
nfe
r
e
n
c
e
o
n
Ene
r
gy
. I
E
E
E
, p
p.1
-
6, 20
1
6
.
[13]
Hw
as
A
.,
a
nd
K
atebi
R.
,
“W
ind
t
u
rbin
e
co
ntro
l
usin
g
PI
p
i
t
ch
a
n
gle
con
t
ro
ller,
”
ifac pr
oceedi
n
g
s
vol
u
mes,
vo
l.
45,
N
o
.
3
,
pp.
2
41
-24
6
,
2
012.
[14]
Li
u
,
X
.,
Yu
,
W.,
Yan
g
,
L
.
,
and
Ma,
Q.,
“Re
s
earch
o
n
v
a
ri
a
b
le-pi
t
c
h
con
t
rol
st
rateg
y
o
f
wi
nd
t
urb
i
n
e
b
ased
on
t
h
e
no
nl
inear
P
ID
,
”
In
20
17
Ch
i
n
ese Aut
o
m
a
tio
n Co
n
g
ress
(
C
AC)
,
pp.
2
9
9
-3
03,
2
0
17.
[15]
Ren
Y
.
,
Li
L
.
,
Brin
dl
ey
J
.,
e
t
a
l
.,
“
Nonli
n
ear
P
ID
c
on
tro
l
f
o
r
variabl
e
P
it
ch
w
ind
tu
rb
in
e,”
Cont
ro
l
E
n
g
i
neer
ing
Practice,
vo
l
5
0
,
pp
. 84
-
94
,
2
0
1
6
.
[16]
Pa
h
a
sa
J
.,
N
ga
m
r
oo
I
.,
“
M
o
d
e
l
p
re
d
i
c
tive
c
o
ntr
o
l-ba
se
d
wind
t
u
r
bine
b
la
d
e
P
it
c
h
a
n
g
le
c
on
trol
f
or
a
l
l
e
v
ia
tio
n
o
f
f
r
equ
e
ncy
fl
uct
u
at
ion
i
n
a
s
m
a
rt g
rid
,
”
El
ectr
i
cal
E
n
g
i
neer
in
g
Cong
ress
. IEEE
,
pp.
1
-4,
201
4.
[17]
L
e
e
S
.
H
.
,
J
o
o
Y
.
J
.
,
B
a
c
k
J
.
,
e
t
al.,
“S
li
d
i
n
g
m
o
d
e
co
ntro
ll
er
f
or
t
orqu
e
and
Pitch
con
t
ro
l
of
w
in
d
p
o
w
e
r
system
bas
e
d
o
n
P
MS
G,”
Int
e
rn
ation
a
l
Con
f
er
ence
o
n
Co
ntr
o
l
Auto
ma
tion &
Sys
t
em
s
.
IE
EE
,
p
p
.
1
07
9-1
0
84
,
2
010
.
[18]
Luo
Q.,
Yan
g
Q
.,
Ha
n
C.
,
et
a
l.
,
“P
itch
an
g
l
e
co
n
t
ro
l
l
er
o
f
v
a
r
i
a
bl
e-s
p
eed
w
in
d
tu
rbi
n
e
bas
e
d
on
L
1
ad
apti
ve
control
theory,”
IEEE
20
14 In
ter
n
a
tio
nal Confer
ence on
M
ech
a
t
r
onics
a
n
d
Con
t
rol
(
I
CM
C)
-
J
i
n
z
h
o
u
,
C
h
i
n
a
,
pp
.
9
55-9
6
0
,
2
0
1
4.
[19]
A.
V
.
d
e
A
lm
ei
d
a
M
ac
êdo
an
d
W.
S
.
M
o
ta,
“
R
eal
t
im
e
s
i
m
u
latio
n
s
o
f
w
in
d
tu
rb
i
n
e
wi
th
P
itch
a
n
gle
co
ntro
l
us
in
g
F
u
zzy
Lo
g
ic,
”
1
1
th
IEEE/IA
S
In
ter
n
a
t
i
onal
Co
n
f
e
r
en
ce on
Ind
u
s
t
ry
App
l
i
c
atio
ns
,
Ju
i
z
d
e
F
o
r
a
,
pp
. 1-
7
,
2
01
4.
[20]
A.
A
bir,
D
.
M
e
hdi
a
n
d
S
.
Las
s
aad
,
“
P
it
ch
a
ng
le
c
o
n
t
r
ol
o
f
the
v
ari
a
ble
sp
eed
w
in
d
turb
in
e,”
17th
In
tern
a
tio
nal
Con
f
eren
ce o
n
S
c
ien
ces a
n
d
T
echn
i
q
u
es
of
A
u
toma
ti
c Con
t
r
o
l
an
d
Co
mp
u
t
er
Engin
eeri
ng
(
S
T
A
)
,
Sou
s
se
,
pp
.
5
82-5
8
7
,
2
0
1
6.
[21]
A.
S
.
A
l
-Tom
a
,
G
.
A.
T
ayl
o
r
an
d
M
.
A
bb
o
d
,
“
I
nt
ellig
ent
P
i
t
c
h
an
g
l
e
cont
rol
sch
e
me
f
or
v
ari
a
bl
e
sp
e
e
d
wi
nd
g
en
erator
s
ys
te
m
s
,”
5
2nd
Int
e
rn
ation
a
l
Un
iver
siti
es P
o
wer
Eng
i
n
eeri
ng Con
f
eren
ce (
U
PEC)
,
H
erakli
on,
p
p
. 1-6
,
20
17
.
[22]
D.
C
.
Ve
ga
,
J.
A
.
Ma
r
i
n
a
n
d
R
.
T
.
Sá
nc
h
e
z
,
“
P
itc
h
a
n
gle
c
o
n
t
r
o
l
lers
d
esign
f
o
r
a
ho
rizo
nt
a
l
a
xis
wi
nd
tu
rb
i
n
e,”
IEEE
Interna
t
ional A
u
t
u
mn Meet
ing
on P
o
wer,
Electronics
an
d C
o
mput
i
n
g (
R
OP
E
C
),
Ix
t
ap
a,
p
p
.
1
-6, 20
1
5
.
[23]
Ji
anzh
ong
Z
han
g
,
M
i
n
g
C
hen
g
,
Zh
e
Chen
a
nd
X
iao
f
an
F
u,
“
P
i
t
c
h
an
gle
control
for
vari
able
s
p
e
e
d
w
i
n
d
t
u
r
b
i
n
e
s
,
”
Thi
r
d Int
e
rna
tional
Con
f
erence
on
Electric U
tilit
y
Der
e
gulation and Re
struc
t
ur
i
ng and
Po
w
e
r Technologies
,
Nan
jin
g
,
pp.
2
69
1
-
26
96
,
2
0
0
8
.
[24]
T.
L
.
V
a
n,
T
.
H.
N
gu
yen
an
d
D.
L
ee,
“
Ad
van
ced
P
itch
an
gl
e
co
n
t
r
o
l
b
as
ed
o
n
f
u
zzy
l
o
g
ic
f
or
v
ari
a
bl
e-speed
w
ind
tu
rbi
n
e s
y
stem
s
,
”
IEEE T
r
a
n
s
a
ctio
ns
on
En
ergy
Conver
si
on
,
vo
l.
3
0
,
n
o
.
2
,
p
p
.
578-58
7.
[25]
Nai
k
,
K
.
A
.
,
a
n
d
G
up
ta,
C.
P
.
,
“
F
u
zzy
l
ogic
b
a
sed
p
i
t
c
h
an
gle
c
o
n
t
r
oller/o
r
S
CIG
bas
e
d
wind
e
nerg
y
sy
st
e
m
,
”
In
Recen
t
D
e
v
e
l
o
p
m
en
ts
in
Con
t
ro
l,
Au
tomatio
n
&
Power
En
gi
neering
(
R
D
C
AP
E),
IE
EE
,
p
p
.
6
0
-6
5,
201
7.
[26]
Tro
ng
T
.
N
.,
Tien
B.
N
.,
T
hanh
H
.
N.
,
et
a
l.
,
“The
c
o
n
tro
l
l
e
r
o
f
DF
IG
p
o
w
er
f
ed
i
n
t
o
th
e
g
r
id
b
asi
n
g
on
t
he
r
ot
or
sim
i
l
a
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si
gnal meth
od
,
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p
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lied
M
ech
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ics
and M
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e
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, vo
l
. 4
15
,
p
p
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24
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[27]
Vai
s
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av,
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.
R
.,
a
nd
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han
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.
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.,
“
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d
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uzzy
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oller,
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W
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d
Jo
urn
a
l of
M
odelli
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g
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d
S
i
m
u
l
a
tion
,
v
o
l
. 6
,
n
o
.
2
,
p
p
.
141-14
9,
201
0.
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