Wind turbine control using constraint scheduling

A controller for controlling a wind turbine, the controller being configured to:

• predict at least one of a deflection of a wind turbine tower, tower vibrations, a nacelle yaw, or tower clearance control of one or more wind turbine components over a prediction horizon using a wind turbine model;
• determine a behavioural constraint based on at least one operational parameter of the wind turbine, wherein the behavioural constraint comprises at least one of:
• a speed of a generator, a tower deflection, a noise level, or a power production;
• and
• use the at least one of the deflection of the wind turbine tower, the tower vibrations, the nacelle yaw, or the tower clearance control of the one or more wind turbine components in a cost function, and optimise the cost function subject to the at least one determined behavioural constraint to determine at least one control output for controlling operation of the wind turbine.

A wind turbine, comprising:

• a tower;
• a nacelle disposed on the tower;
• a rotor extending from the nacelle;
• a plurality of blades disposed on a distal end of the rotor;
• and
• a controller configured to perform an operation, comprising:
• predicting at least one of a deflection of a wind turbine tower, tower vibrations, a nacelle yaw, or tower clearance control of one or more wind turbine components over a prediction horizon using a wind turbine model;
• determining a behavioural constraint based on at least one operational parameter of the wind turbine, wherein the behavioural constraint comprises at least one of:
• a speed of a generator, a tower deflection, a noise level, or a power production;
• and
• using the at least one of the deflection of the wind turbine tower, the tower vibrations, the nacelle yaw, or the tower clearance control of the one or more wind turbine components in a cost function, and optimise the cost function subject to the at least one determined behavioural constraint to determine at least one control output for controlling operation of the wind turbine.