Robustness of LiDAR-assisted controller towards measurement uncertainty

Abstract

Many studies have concluded that LiDAR-assisted control can be used to increase annual energy production (AEP) as well as reduce extreme loads and fatigue damage on blades, tower, and main bearing components. However, most studies assume perfect LiDAR measurements and do not consider large measurement uncertainties on LiDAR measurements. In this study we evaluate the potential benefits in terms of fatigue load reduction from using a simple robust feedforward controller. In addition, we evaluate the impact of measurement uncertainties exemplified by a time shift between the expected time the wind hits the rotor and the actual time it hits the rotor as well as a mean wind speed measurement bias. Results shows that fatigue loads can be reduced up to 7% on the tower sections and up to 4% on other main components. However, these results only applies when the LiDAR is assumed to give perfect information about what is hitting the rotor plane. The load reduction degrades with the magnitude of a time shift of the arriving LiDAR wind measurements. A delay up to 2.5 seconds still gives reasonable load reductions. Furthermore, a positive wind speed bias does not affect the performance of the LiDAR-assisted controller, whereas a negative bias significantly deteriorates performance.