Individual pitch control (IPC) is a technique used to reduce periodic blade loads in wind turbines. It generally uses the multiblade coordinate transformation to convert blade load measurements from a rotating frame into a two-axes non-rotating frame. Although these non-rotating axes are assumed to be decoupled, studies reveal persistent interactions. Reducing this coupling, such as by introducing an azimuth offset, enhances IPC performance. This study explores the impact of static inverted decoupling, which decouples the process in the steady state, on IPC performance. The proposed IPCs are adaptive, scheduling controller and decoupling gains based on operational conditions. In such IPC designs, the integral gains of the diagonal controllers and the decoupling elements can either be the same or different. These methods were validated on a simulated 15 MW wind turbine. Controller parameter optimization was accomplished through genetic algorithms to minimize blade fatigue loads, measured via the damage equivalent load (DEL). Results indicate that incorporating static inverted decoupling into IPC improves blade load reduction without increasing pitch actuator effort. IPCs with similar integral gains and matching absolute values in decoupling elements achieved the best balance between DEL reduction and complexity with minimal actuator effort, while additional optimization parameters provided negligible improvements.

Individual pitch control (IPC) is a method to mitigate periodic blade loads in wind turbines, and it is typically implemented using the multi-blade coordinate (MBC) transform, which converts the blade load measurements from a rotating frame into the non-rotating tilt axis and yaw axis. Previous studies have shown that by including an additional tuning parameter in the MBC, the azimuth offset reduces the coupling between non-rotating axes, allowing for higher performance levels for diagonal controller structures. In these studies, the decentralized control of IPC was composed of two identical integral controllers. This work analyzes and compares the improvement that the azimuth offset can provide in different adaptive gain scheduling IPCs where the diagonal controllers can have integral or proportional action with different gains. They are applied to a 15 MW wind turbine simulated with OpenFAST v3.5 software. The controller parameter tuning is addressed as an optimization that reduces blade fatigue load based on the damage equivalent load (DEL) and is resolved through genetic algorithms. Simulations show that only using different controller gains in IPC does not provide significant improvements; however, including azimuth offset in the optimal IPC schemes with integral controllers allows for the greatest DEL reduction with a lower actuator effort.

In order to mitigate periodic blade loads in wind turbines, recent research has analyzed different Individual Pitch Control (IPC) approaches, which typically use the multi-blade coordinate (MBC) transformation. Some of these studies show that the introduction of an additional tuning parameter in the MBC, namely the azimuth offset, helps to decouple the nonrotating axes in the MBC transformation and enhances the IPC performance. However, these improvements have been studied without considering the increased control effort performed by the pitch signal, which is the main negative side effect of the IPC. This work addresses this trade-off between pitch signal effort and blade fatigue reduction for IPC applied to a wind turbine operating in the full load region. Here, two IPC schemes, with and without additional azimuth offset, are designed and applied to a 15 MW monopile offshore wind turbine simulated with OpenFAST software. The optimal tuning of the IPC parameters is performed by means of a multi-objective optimization solved by genetic algorithms. The optimization procedure minimizes two objective functions related to pitch signal effort and blade fatigue load. The resulting Pareto fronts show a range of optimal solutions for each IPC scheme. The selected optimal solution for IPC with azimuth offset compared to the optimal solution for IPC without offset achieves improvements of more than 10% in blade load reduction maintaining similar pitch signal effort.

The reduction of fatigue loadings in wind turbines to increase their lifetime has become of special interest from a control viewpoint. Individual Pitch Control (IPC) is a well-known approach used to mainly mitigate periodic blade loads, and it is usually implemented with the assistance of the multi-blade coordinate (MBC) transformation, which transforms and decouples the measured blade load signals from a rotating frame into a non-rotating tilt-axis and yaw-axis. Nevertheless, these axes still show coupling between them in practical scenarios adversely affecting the system performance. Previous studies have demonstrated the benefits of including an extra tuning parameter in the MBC, the azimuth offset, in improving the performance achieved by the IPC. However, the tuning of this parameter and its real improvements that can be obtained compared to the IPC without this offset require more research. Here, two 1P+2P IPC, with and without additional azimuth offset, are designed and applied to the 5 MW reference turbine model developed by NREL using the FAST software as a simulation platform. The controller parameter tuning is formulated as an optimization problem that minimizes the blade fatigue load according to the Dirlik index and that is resolved through genetic algorithms. To fairly analyze the improvement entailed by the addition of the azimuth offset, both optimized IPC schemes, with and without azimuth offset, are compared qualitatively and quantitatively using a classical controller as the baseline case. From the simulation results, it can be stated that the optimal IPC scheme with azimuth offset compared with the IPC scheme without offset achieves improvements of around 11% in load reduction and pitch signal effort.