Constraint handling within a multi-blade coordinate framework of a wind turbine

In this paper the control of a horizontal axis pitch controlled wind turbine using Model Predictive Control is presented. The multi-blade coordinate transformation is utilized to turn the rotating frame time-varying system description into a time-invariant fixed frame system description. Constraints in the rotating frame of reference are not easily described in the fixed frame and a Model Predictive Control formulation accommodating this problem is presented. The presented method is tested with satisfactory results in a numerical simulation.