In this paper, we present a mathematical model and control strategy to regulate the yaw of a horizontal axis wind turbine. In order to obtain the dynamic equations of the yaw motion, the mathematical model is developed using the Euler–Lagrange formulation and considers the wind turbine as a manipulator robot with three degrees of freedom (DOF). A fuzzy proportional‐integral‐derivative (PID) controller is proposed to manipulate the yaw angle for power regulation. In addition, we have developed a low cost experimental platform to implement the designed controller to obtain experimental results for the dynamic behavior of the closed‐loop system.

中文翻译：

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数学建模和模糊比例-积分-微分控制风轮机的偏航运动

在本文中，我们提出了一种数学模型和控制策略来调节水平轴风力发电机的偏航。为了获得偏航运动的动力学方程，使用欧拉-拉格朗日公式开发数学模型，并将风力涡轮机视为具有三个自由度（DOF）的操纵机器人。提出了一种模糊比例积分微分（PID）控制器来控制偏航角以进行功率调节。此外，我们还开发了一个低成本的实验平台来实施设计的控制器，以获取闭环系统动态行为的实验结果。