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AbstractThis work demonstrates that the integration of variable-speed wind systems with doubly fed induction generators
(DFIGs) and a four-quadrant ac-to-ac converter connected to
the rotor windings increases the transient stability margin of the
electrical grids, when compared with the case where the fixed
speed wind systems with cage generators are used. It is due to
the influence of the two dedicated rotor current regulators of the
DFIG on the dynamic behavior of the other generators in the
system. Besides, adequate models to represent the behavior of
the DFIG in transient stability studies are presented. From the
simulation results, some important conclusions can be extracted
to guide the integration of the wind farms on weak or strong grids.
Index TermsDecoupled control, doubly fed induction generator (DFIG) protection, electrical grids, fixed speed wind systems,
transient stability margin, variable-speed wind systems.
I. INTRODUCTION
Manuscript received June 27, 2003. This work was supported in part by
CAPES (Brazil) and in part by the Portuguese FCT Project POCTI/ESE/
41614/2001-Diptune. Paper no. TEC-00160-2003.
The authors are with the Federal University of Para (UFPA), Belm-PA
66075-900, Brazil (e-mail: mvan@ufpa.br).
Digital Object Identifier 10.1109/TEC.2004.832078
Furthermore, with this control strategy, the induction generator can operate with a comparatively wide slip range, which
allows making better use of the available wind energy, [3]. With
the perspective of increased penetration of WECS in the electrical networks [4][6], it is most important to keep these generators in the grid, following network disturbances, contributing to
improve the global system dynamic behavior. Up to now, WECS
have been designed to be disconnected fast from the grid if a
large voltage dip occurs. This may happen as a result of a large
network disturbance, such as a short circuit, and may trigger a
sequence of other events leading to local voltage problems and
eventually to a power outage in a large portion of the system.
Therefore, to obtain an optimal integration of wind energy
in the system, the large wind farms must be able to withstand
network disturbances that are successfully eliminated (i.e., be
able to participate in the control and stabilization of the power
system following system disturbances). The DFIG concept may
represent an excellent possibility to improve network dynamic
behavior.
The main objectives of this paper are: a) to demonstrate that
the DFIG can be used to maintain system stability following
system disturbances; b) to show that adequate WECS modeling
is needed to get a consistent dynamic evaluation behavior from
the network side. In order to do that, the fundamental WECS
dynamics and its protection behavior should be taken into
consideration in the modeling development. Two models for
the DFIG rotor converters have been tested here: a current-controlled voltage source model and a current source model. These
models were implemented with a dedicated dynamic power
system simulation software package, using MATLAB, with a
friendly user interface [7].
The results obtained from dynamic simulations show that an
increase in the global transient stability margin of the grid can be
obtained when the DFIGs are integrated in the system, namely
regarding the case where the fixed speed wind turbine with cage
generator is employed.
Modeling related to the aerodynamic and mechanical aspects
of the wind turbine and the generator are presented in Section II.
A decoupled control between the electrical torque and the excitation rotor current of the DFIG is presented in Section III. Section IV presents the converter protection adopted here for the
DFIG. The results for grid faults simulated on a sample power
system are presented in Section V.
NUNES et al.: INFLUENCE OF THE VARIABLE-SPEED WIND GENERATORS IN TRANSIENT STABILITY MARGIN
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of the
Fig. 1. Curve
(2)
.
where is the air density
Combining (1) and (2), the torque available from the wind
is determined directly from the aerodynamic power
turbine
according to:
(3)
The power extracted from the wind is maximized if the rotor
is maximum. The shape of the
curve
speed is such that
curve
has a significant influence on energy capture. The
from experimental results of the manufacturers of a turbine of
660 kW used here is shown in Fig. 1 [7].
The variable-speed wind system used adjusts the turbine
speed as a function of wind speed to maximize output power.
Operation at the maximum power point can be realized over
a wide power range. Fig. 2 illustrates the output power-speed
curves as a function of turbine speed and wind speed for the
660-kW turbine. These curves were obtained from the blade
element momentum method (BEM) [6], [7].
, given
A control strategy is therefore applied to follow
by (4) which leads to the maximum energy capture. The main
control objective is to optimize the efficiency of wind energy
capture in a wide range of wind velocities, keeping the power
generated by the machine constant and equal to the optimal defined value.
is proportional to the wind speed,
Since the rotor speed
the power increases with
and the corresponding generator
torque with . The optimal characteristic for the model can
then be defined for power and torque by [2]
and
(4)
For wind velocities higher than rated, the turbine energy capture must be limited by applying pitch control and for velocities below rated, the machine follows (4). The optimal generobtained from the power-speed curves
ator rotor speed
shown in Fig. 2, serves as a dynamic reference for the speed
Fig. 2.
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is the mechanical
where is the inertia constant (s) and
torque.
Considering the grid side of the converter operating at unity
power factor, the reactive power at the stator of the DFIG varies
with the stator currents as follows:
(11)
Fig. 3.
Since the stator transients are very fast, when compared with
the rotor ones, it is possible to neglect them. This corresponds
to ignoring the dc component in the stator transient current, enabling representation of only fundamental frequency components. By substitution of the flux linkage equations to eliminate
the rotor currents, a relationship of the stator and rotor voltages in terms of a voltage behind a transient reactance is obtained. The stator and rotor voltages are derived in the following
per-unit form:
(12)
(13)
(14)
(15)
The components of the internal voltage behind the transient reactance are defined as [8], [10]
(16)
(17)
New reactances and the transient open-circuit time constant are
given by
(18)
(19)
(20)
(7)
(8)
, i is the
with v being the voltage (V), R is the resistance
current (A), and is the stator and rotor electrical frequency
(rad/s), the flux linkage (Vs), s the rotor slip, ds, dr, and qs, qr
correspond to d-axis stator and rotor and q-axis stator and rotor
indices, respectively.
The per-unit EM torque of the DFIG can be expressed by
(9)
The change in generator speed that results from the difference
between electrical and mechanical torque can be calculated
using the generator equation of motion
(10)
,
and Lm, Ls, and
are
where
the mutual, stator, and rotor leakage inductances, respectively.
In this formulation, the dynamic of the rotor is considered
and the converters are modeled as current-controlled voltage
and , defined by (14) and (15) for
sources. The voltages
and
the DFIG contain an additional element, the direct
components of the rotor voltage, compared to
quadrature
the cage induction generators from fixed speed wind systems.
This results from the fact that the rotor voltages of the DFIG are
nonzero due to the possibility of a potential voltage difference
across the slip rings of the machine.
Alternatively, it is possible to omit the inner current control
loop of the converters in transient stability studies due to the
fact that the action of these controllers is much faster (milliseconds) than the speed and voltage-control loop of the DFIG [11].
Therefore, it is also possible to model the converters as a current source. This interacts with the rotor steady-state conditions
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Fig. 4.
695
once the flux derivatives are made equal to zero. This is equivalent to directly controlling the rotor fluxes, because there is now
an algebraic relation between the rotor fluxes and currents. In
this case, the stator voltage equations are written as below. The
stator and rotor current equations will be presented in the next
section jointly with the control loops
(21)
(22)
is located 90
The flux linkage vector in the rotor circuit
behind the internal voltage vector.
is relatively small, the
Considering that the phase angle
magnitude of vector of the rotor circuit current can be changed
effectively by changing the d-axis component of the rotor circuit current . Similarly, changing the q-axis component of
the rotor circuit current can change the phase of the rotor circuit current. Thus, the voltage or reactive power control can be
realized by changing the d-axis component of the rotor circuit
voltage, and speed or torque control can be realized by changing
the q-axis component of the rotor circuit voltage.
The two levels of controllers of the DFIG are shown in Fig. 5.
The speed controller compares the actual with the optimal rotor
. Those controllers are composed of elereference speed
ments of proportional, integral, and derivative transfer functions
(PID). The model parameters of the speed, voltage, and current
controllers were obtained from [11].
B. Rotor-Side Converter Simulated as Current Source
696
Fig. 7.
DFIG circuit.
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Fig. 9.
Fig. 8.
697
Fig. 10.
698
Fig. 11.
Fig. 12.
Fig. 14.
Fig. 9, namely during the first postfault seconds, specifically regarding the DFIG. In the two figures, the solid line corresponds
to the voltage source model (full model) and the dotted line to
the current source model. From the results, it can be concluded
that the differences between the two models are rather small
in terms of steady-state value, overshoot, and time required to
reach a new steady state.
From these simulations, one can conclude that both models
were able to provide similar results in terms of the system
dynamic behavior and its stability margins. Since the current
source modeling leads to a less demanding approach in terms
of computational effort, one can accept it for DFIG modeling in
dynamic and transient stability studies. In fact, such a decision
in DFIG modeling simplifies the representation of these generators enabling the use of larger simulation time steps since
short-time constants from the rotor have been eliminated.
B. Fault Near the Wind Farm
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Fig. 15.
Fig. 17.
Fig. 16.
Fig. 18.
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ACKNOWLEDGMENT
This work is the result of collaboration between the Power
System Laboratory (LABSPOT) of the Federal University of
Santa Catarina, the Nucleus of Energy, Systems and Communication (NESC) of the Federal University of Par from Brazil,
and INESC-Porto in Portugal.
REFERENCES
[1] N. Jenkins, J. B. Ekanayake, L. Holdsworth, and X. Wu, Dynamic modeling of doubly fed induction generator wind turbines, IEEE Trans.
Power Syst., vol. 18, pp. 803809, May 2003.
J. A. Peas Lopes (SM94) received the electrical engineering degree and the Ph.D. degree in electrical
engineering from the University of Porto, Porto, Portugal, in 1981 and 1988, respectively. He received the
Aggregation degree from the University of Porto in
1996.
Currently, he is an Associate Professor with
the Aggregation in the Department of Electrical
Engineering with the Faculty of Engineering at the
University of Porto. He is also co-Coordinator of
the Power System Unit of the Institute of System
and Computer Engineering (INESC) of Porto and in 1989, became Senior
Researcher at INESC.
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