Abstract
This paper presents an implementation of a nonlinear optimal-based wind turbine tower vibration control method. An NREL 5.0 MW tower-nacelle model equipped with a hybrid tuned vibration absorber (HTVA) is analysed against the model equipped with a magnetorheological TVA (MRTVA). For control purposes, a 3 kN active actuator in parallel with a passive TVA is used in the HTVA system, while an MR damper is built in the MRTVA instead of a viscous damper, as in a standard TVA. All actuator force constraints are embedded in the implemented nonlinear control techniques. By employing the Pontryagin maximum principle, the nonlinear optimal HTVA control proposition was derived along with its simplified revisions to avoid a high computational load during real-time control. The advantage of HTVA over MRTVA in vibration attenuation is evident within the first tower bending frequency neighbourhood, with HTVA also requiring less working space. Using the appropriate optimisation fields enabled an 8-fold reduction of HTVA energy demand along with a (further) 29% reduction of its working space while maintaining a significant advantage of HTVA over the passive TVA. The obtained results are encouraging for the assumed mass ratio and actuator force limitations, proving the effectiveness and validity of the proposed approaches.