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Abstract: The dynamic modelling of large (MW) capacity fixed and variable speed induction
generator wind turbines is discussed. A reduced order dynamic machine model is derived suitable
for modelling both k e d speed and douhly-fed asynchronous generator wind turbines, Control
schemes for variable speed turbines. using doubly-fed induction generators (DFIG), are described
and simulated. Speed control characteristics and converter protection of the DFIG are
implemented in the model. The operation of the models during power system disturbances such
as network voltage sags and three-phase faults, as well as the possibility of network voltage
instability, are investigated. Simulation results are presented using typical turbine and network data
for wind farm installations.
1 Introduction
stator and rotor voltage
stator, rotor and generated current Throughout Europe, plans exist for a considerable increase
generated active and reactive power in power generation from land and offshore wind farms. In
power factor capacitor and transformer the UK alone the Crown Estate has announced IS potential
reactance sites offshore, which are each likely to he some 60MW
capacity using 2MW induction generator-based wind
generator, point of common coupling,
infinite bushars turbines. Elsewhere in Europe, offshore wind farms of up
to IOOOMW capacity are being planned. Initial investiga-
stator, rotor machine resistance
synchronous, base and rotor angular tions have shown the importance of electrical stability of
both the turbines and the network voltage with the
frequency
flux linkage continued increase of the ratio of wind farm generation
mutual inductance capacity to the network short circuit level [I, 21. Therefore,
stator and rotor leakage inductance suitable models and investigations of dynamic stability of
wind farms with the power system are required.
stator and rotor self-inductance
rotor slip The majority of existing land-based UK wind turbines
use fixed speed induction generators (FSIG). Investigations
transient or short circuit reactance and
open circuit reactance with fixed speed turbines have shown that depressed
voltage behind transient reactance d-q voltage, resulting from short circuits in ]he connec-
components ting networks, can lead to generator overspeed if
transient open circuit time constant the network short circuit level to generating capacity
inertia constant ratio is too low [3, 41. The induction generators may then
mechanical, electromagnetic, set point depress the voltage further, causing instability due to
torque high levels of reactive power being absorbed. Recently,
optimal power, torque and wind turbine various papers have presented variable speed wind turbine
technologies and models, particularly the doubly-fed
constant
stator and rotor active and reactive induction generator (DFIG) [>IO]. In this paper the
Dowers performance of the FSIG and DFIG wind turbines during
power system disturbances is studied. A reduced order
Qgrz<,, Q,,,og, grid side, magnetising (no-load) and
generated reactive power dynamic asynchronous generator model is derived and
superscript indicates a per unit quantity control strategies are modelled for the DFIG wind turbine
with simulations illustrating its operation. Application
studies are performed to observe the perfomiance of the
FSIG and DFIG wind turbines during voltage sags and
faults on the network.
I€€. 2003
IEE Proceeding.? online no. 20030251
2 System configuration of induction generator
doi:10.1049/ipgrd2W30?5 I
based wind turbines
Wper first rffnved 15th A p d 2W2 and in revixd form 19th December 2W2
L. Holdswonh is with the The Milnchester Centre for Electtical Encrby As this paper addresses the electrical interaction of the wind
(MCEEI. UMIST. UK
X.C. Wu and N.Jenkins are with the Tyndall Centre for Climate Change
turbine generator to the connecting network, the mechan-
Research and MCEE. UMIST. UK ical components of the system are not modelled in detail.
J.B. Ekanayake is with the Dept. ofElcc1tic;d and Electronic Eng., University of The inertia constant for the dynarmc models is a
Perddmiya. S i Lanka lumped mass representation of the turbine, gearbox and the
IEE Proc-Gmm Trmsrn D l l t d . . Vol. 1.0, A'". 3, Mqv ZWi 343
generator rotor. Multi-mass mechanical models of the wind this paper, converter C2 is used to maintain the DC bus
turbine shaft and gearbox are presented in [9, 1 I]. voltage and provide a path for rotor power to and from the
AC system at a unity power factor.
Dependent upon the rotational speed of the DFIG,
2.1 Fixed speed induction generator (FSIG) power can be delivered to the grid through the stator, and
wind turbine the rotor, while the rotor can also absorb power. If the
Ths wind turbine uses a squirrel cage induction generator DFIG runs at a sub-synchronous speed, the rotor absotbs
that is coupled to the power system through a connecting power and a fraction of the stator power enters the rotor
transformer. As the stator voltage of most wind turbine circuits. In contrast, if the DFIG runs at super-synchronous
electrical generators is 690 V, this transformer is essential for speeds, the rotor produces power and power is delivered to
connection to the distribution network and should be the grid via the stator and rotor circuits [9]. In the model the
considered when modelling the electrical interaction with generated active power was calculated by:
the power system. Induction machines consume reactive
power and so it is conventional to provide power factor
correction capacitors at each wind turbine. These are
typically rated at around 30% of the wind farm capacity where P, is the power delivered by the stator, P, is the
and are used to compensate the induction machine power to the rotor, Pg is the total power generated and
magnetising current. A typical configuration of a FSIG- delivered to the grid.
based wind turbine is shown schematically in Fig. 1.
3 Model implementation
I xi,
The flux linkages in these equations were calculated from:
- ~ - ~ -
Zdr = -i, x Th + i, x = L, x id - L, x i*
= E,, x Zqr - 1, x s,?
(41
For representation of the induction machine in power
system stability studies, the fourth-order model was
simplified to a second-order model. This corresponds to
ignoring the DC component in the stator transient current,
permitting representation of only fundamental frequency
components. By substitution of the flux linkage equations
Fig. 2 &sic mnfqurufion of DFIG itid turblne to eliminate the rotor currents, a relationship for the stator
ed = -_w,L,
L,
= -id,
and
L,
e,
-
W,L, -
(7)
were expressed by substitution of the rotor fluxes in current
component form into (3), as:
The rotor speed was controlled by uqr, with U,+ being used
when simulating the electrical model and observing the for the terminal voltage and power Factor control. The dq
voltages and currents within the machine, it is important to decoupled control procedure described in [IS] was imple-
notice that the time derivative in (6) is a per unit quantity. If mented in the model to decouple the rotor current
the, output variables of the simulated model are required in components.
rea! time, that is, the time in seconds, the equations should
be multiplied through by the base angular frequency, 3.2.1 Modelled power extraction/speed control
u>horp = 2rr f&.<
strategy: A typical wind turbine characteristic with the
optimal power extractionspeed curve plotted to intersect
Equation (5) and (6) provide a second order model suitable the C,,,,, points for each wind speed is illustrated in Fig. 4.
for the FSlG or DFIG. For a FSIG (squirrel cage), the If the control strategy is applied to maintain Po,,,,since the
rotor windings are shortcircuited and therefore the rotor rotor speed w, is proportional to the wind speed U, the
voltages (Gqr and Ed,) will be wro. The second-order voltage power increases with d and w:, and the corresponding
behind a transient reactance asynchronous machine model generator torque with U* and wf [16]. The optimal
equivalent circuit, shown in Fig. 3, can be used to represent characteristic for the model can be defined for optimal
this [14]. This is not the case for the DFIG (wound rotor), torque by [IO]:
as in a practical implementation a voltage potential
difference is created via the slip rings. For modelling Top = %pw? (13)
purposes, this can be represented by an injected rotor
voltiige. Therefore, (5) and (6) represent a general second-
order asynchronous machine model where the short-
generator speed
Fig. 3 Asynchronour machine .second-order equiwlent circuit
model Fig.4 Maximum power ertruction cuntrd struteqy cume
IEE Pruc.-Giner. Tranm. Dimib.. Vol. 180. No. 3, May 2003 345
The complete generator torque-speed characteristic, which
was applied for the controller model, is shown in Fig. 5. For
optimal power extraction, the torque/speed CUNC was
characterised by (13). This is between points B and C.
Within this operating range, during low-medium wind
speeds, the maximum possible energy is obtained from the
turbine. Owing to power converter ratings, it is not
practicable to maintain optimum power extraction from
cut-in up to the rated speed. Therefore, for very low wind
speeds the model operates at almost constant rotational
I
WJ
cut-in Speed os Shutdown speed Fig. 7 Speed control sclwe: secondury stage
generator speed
1.3
1.2
1
2 1.1
U
E 1.0
b
e
I
0.9
0.8
idi
IEE Proc.-Gpnrr: Trmsrn. DMnb., Vol. I50 ~VO.3. May 2073 347
0.15
0.10 1
f
d-axis m o r voltage
0.5 ' ' ' ' ' ' ' J 01 ' " " " ' ' 8
0 10 20 30 40 50 EO 70 EO 90 100 0 10 20 30 40 50 60 70 EO 90 100
time, s time. s
Fig. 12 Rotor speed operutiq up lo control model .speed h i i s Fig. 14 Elecrromugneric torque conrrol
1.4
total active power
of T,,,=0.2pu at / = 2 . 0 s and T,,=l.Opu at t=60.0s, 1.2
respectively. Fig. 12 shows the rotor speed controlled to
operate beyond the limits of the optimum characteristic. 1.o
I
The rotor voltages for this simulation, given in Fig. 13, are
still within their operating limits, due to the modelled
torque/speed control characteristic. The electromagnetic
torque, given in Fig. 14, illustrates the full range of the
speed control. As the rotor speed approaches its upper limit,
the control system enables the rated value of power to be
extracted through the stator (i.e. T,= I.Opu), whilst limiting
the speed of operation and hence the power generated
through the rotor circuits. This can be observed in Fig. IS -0.2
where the total active power increases with stator active
power but the active power generated through the rotor
0 10 20 30 40 50 60 70 EO 90 100
circuits, at super-synchronous speeds above the speed limit, time. s
is maintained constant at a maximum of 0 . 2 ~ ~ .
The PF control operation of the model was observed Fig. 15 Sprem a c r m power output
from the rotor currents and the reactive power at the
machine terminals, as shown in Fig. 16. With the PF
control disabled and an applied mechanical torque of 4.2 Operation of protection circuits
T,,,= l.Opu, the model was simulated to a steady state The operation of rotor side converter voltage limit,
operating point. At / = 30.0s the PF control was activated described in Section 3.3, was investigated by the application
and id was controlled to provide both the magnetisation of a very low wind speed (rn
= 0.1 pu at f = 2.0 s). The
current (no-load reactive power) and leakage current controller was modified to allow the speed control to
(reactive power absorbed due to generation). This provides operate up to the imposed rotor voltage limits, and so the
a PF operation of unity as illustrated by the zero reactive operation of the converter protection voltage limits could be
power absorbed by the system. seen. Also, the operation of the overcurrent 'crowbar'
348 IEE P r o . ~ G e n e rTromrn. DrFrrih.. Vol. 150. No. 3, May ZW3
05 ~
crowbar protection
04 -
0.2 I
03 -
I
29.8 29.9 30.0 30.1 30.2 30.3 30.4 30.5
time ( 5 )
time. s
Fig. 16 Reactiw power and rotor current &), with PF control
Fig. 18 Voltage limits and crowbar operutiun on rotor vo1taye.r
Fig. 19 Connection of FSIG and DFIG iurbinw IO douhle circuit power sptem tmdel
$ 0.96
8 0.92
0.90
39.5 40.0 40.5 41.0 41.5 42.0 42.5 43.0
0.6
39.5
' 40.0 40.5 41.0 41.5 42.0 42.5 43.0
-
1.020 1
!1,0151
" 1.015
,
b 1.010
0
1.005
39.5
t-+
,
n,
40.0
-
,
40.5
,
,
41.0
1".
41.5
s
42.0 42.5 43.0
1.210
1.195
39.5 40.0 40.5 41.0 41.5
time. s
42.0 42.5 43.0
Fig. 20 Network fault sruhility of FSIG connected to .strong Fig. 22 Nrtwrk fiiulr stability of DFIG connected IO w e k
network itetwork
0.9
3'0 I
0.8
a
ai
0
'
0.7 1.5
P
Y
CI
0.6
0.5
0.4 1
39.5 40.0 40.5 41.0 41.5 42.0 42.5 43.0
0.5
0
t 1 " " " " ' ~
39.8 39.9 40.0 40.1 40.2 40.3 40.4 40.5 40.6 40.7 40.8
time. s time. s
Fig. 23 Revponse oJFSIG ro mlluge .sug.s nhen connecred I O weak Fig. 25 FSIG mmnt dwing remorefiult UI t=40.0-40.15~
network
1
1 5.0
1.15
4.5
4.0 t n
0.90 t
0.85
0.80
39.5
L1 40.0 40.5 41.0
time. s
41.5 42.0 42.5 43.0
0.5
39.8 39.9 40.0 40.1 40.2 40.3 40.4 40.5 40.6 40.7 40.8
lime, s
Fig. 24 Revpiinre of DFIG to uoltage suqs when connected to weuk
nelwork Fig. 26 DFIG srami cunw11 during remore fizulr ut I = 40.0-
40.I5 s
IEE Proc-Gener Tranr,n DLwih., Vol. 150, No. 3, May 2lN3 351
was used to control generator rotor speed. To replace the
fixed capacitor, PF correction techniques used in FSlG
wind turbines terminal voltage control schemes were
implemented for the DFlG model using the direct
component of rotor voltage. Simulation results of the
normal operation of the complete DFIG model illustrate
the control of the wind turbine in low, medium and high
wind speeds. The DFIG converter system overvoltage and
overcurrent protection was discussed and modelled in the
form of rotor voltage and rotor current limits. Operation of
the modelled voltage and current (crowbar) protection was
shown by simulation results in response to low wind speed
and three-phase terminal Faults tripping the overcurrent
protection.
A two-bus double circuit power system was used
to investigate the effect of three-phase faults and voltage
sags on the stability of the turbine generator and network
bus voltages. The operation of 2 MW FSlG and DFIG
wind turbines was compared for power system disturbances
with strong and weak network connections. Observing
the FSlG model connected to a weak power system, with
either a three-phase fault or voltage sag, the limitations
of fixed capacitor power factor correction and un-
controlled acceleration of the generator rotor upon the New York, 1986) '
machine and network voltage stability were identified. "be KUNDUR. P.: 'Power system stability and control. (McCraw-Hill
simulations illustrate that the speed and power factor Inc, New York. 1994)
SCHAUDER. C.. and MEHTA, H.: 'Vector analysis and control of
control modelled within the DFIG system assists advanced static VAR compensators', IEE Pror C. Gener T r m m .
in improving stability when the turbine rating to power Dirlrih. 1993. 140, (4), pp. ? Y M 0 6
system short circuit ratio is low. However, the model BURTON, T., SHARPE. D., JENKINS, N., and BOSSANYI, E.:
'Wind energy handbook', (John Wiley, Chichester 2001)
assumes an ideal voltage source for converter CI, which HOLDSWORTH, L.. and WU. X.: 'Dynamic and steady-state
provides continuous PF and speed control during terminal modelling of the doubly-fed induction machine (DFIM) for wind
turbine applications'. lntemal repon for Manchester Centre of
voltage variations. In a practical DFIG system the converter Electncal Energy (MCEE) at UMIST, 2002
voltage and current ratings together with the size of the DC 18 MUUADI, E., PIERCE, K., and MIGLIORE, P.: 'Soft-stall control
link capacitor are all critical to ensure good performance for vanable-speed stall regulated wind turbine', J Wind fig. h d
Aemfymmies, ?WO, 85, (3). pp. 277-291
during network disturbances. Simulation of the DFIG
model voltage control technique illustrates the improve-
ments in network busbar voltage profiles. Controlling the
terminal voltage at wind farm installations may improve
the steady-state stability limit of the network and 8 Appendix
increase the wind farm capacity that can be connected.
Improved stability margins using DFIG wind turbines 8.1 Model base values
may prove invahabk if the continued operation of wind Vhye= 690 V, S h e= 2 MW, w h e = 2~fhe, = 50 HZ
farms through abnormal power system conditions is
required. 8.2 ZMW induction wind turbine model
parameters
Stator resistance (RJ:0.00488 pu
7 References Rotor resistance (R,):0.00549~~
1 JENKINS, N., and STRBAC. G.: 'Impact of embedded generation Stator reactance (Xis):0.09241 pu
on distibution system voltage stability'. Presented at the IEE Rotor reactance (&): 0.09955 pu
Magnetising reactance (Xm):3 . 9 5 2 7 9 ~ ~
Lumped inertia constant (H): 3.5s
lntemational &Terence on AC-DC power transmission, London
"... .."
Xth-lMh
_, Nnv~mluri?MI
8.3 Control model parameters
3 AKHMATOV, V.. KNUDSEN, H.. NIELSEN. A.H.. PEDERSEN.
J.K.. and POULSEN. N.K.: 'A dynamic stability limit of gid- Cut-in speed = IOOOrev/min, speed limit= 1800rpm,
connected induction eeneriltom'. Presented at the IASTED Intema-
tional Conference ;n Power and energy systems, 191h-22nd shutdown speed = 2000 rev/min. KPpt
= 0.56, K ~=L0.05,
Septemkr 2M0, Marklla, S p i n &= 10.0, Kp3=5.0, Kn=32.5.
352