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Conventional and novel control designs for direct driven PMSG wind turbines
Shuhui Li ∗ , Timothy A. Haskew, Ling Xu
Department of Electrical and Computer Engineering, The University of Alabama, 317 Houser Hall, Tuscaloosa, AL 35487, USA
a r t i c l e i n f o a b s t r a c t
Article history: With the advance of power electronic technology, direct driven permanent magnet synchronous gener-
Received 28 June 2009 ators (PMSG) have increasingly drawn interests to wind turbine manufactures. This paper studies and
Received in revised form compares conventional and a novel control designs for a direct driven PMSG wind turbine. The paper
21 September 2009
presents transient and steady-state models of a PMSG system in a d–q reference frame. Then, general
Accepted 22 September 2009
PMSG characteristics are investigated in the rotor-flux-oriented frame. A shortage of conventional con-
Available online 21 October 2009
trol mechanisms is studied analytically and through computer simulation. A novel direct-current based
d–q vector control technique is proposed by integrating fuzzy, adaptive and traditional PID control tech-
Keywords:
Permanent magnet synchronous generator
nologies in an optimal control configuration. Comparison study demonstrates that the proposed control
Rotor-flux-oriented frame approach, having superior performance in various aspects, is effective not only in achieving desired PMSG
d–q vector control control objectives but also in improving the optimal performance of the overall system.
PWM converter © 2009 Elsevier B.V. All rights reserved.
Wind power
0378-7796/$ – see front matter © 2009 Elsevier B.V. All rights reserved.
doi:10.1016/j.epsr.2009.09.016
S. Li et al. / Electric Power Systems Research 80 (2010) 328–338 329
The control signal applied directly to the machine-side con- where Ld = Lls + Ldm and Lq = Lls + Lqm . Under the steady-state condi-
verter is a three-phase sinusoidal voltage. The general strategy for tion, (7) reduces to
transformation from the d–q signal to the three-phase sinusoidal
signal is illustrated in Fig. 4 [9], in which the d and q reference Vsd −Rs −ωe Lq Isd 0
= + (8)
voltages, v∗sd and v∗sq , are d and q output voltages from the PMSG Vsq ωe Ld −Rs Isq ωe f
Table 1
Typical PMSG data used in the simulation study.
The simulation-based analysis corresponding to Vsd control rep- Fig. 6. Stator d–q current characteristics, (Vsq = −1.0 pu to 1.0 pu, Vsq = 0.2,
resents a condition of variable Vsd but constant Vsq . For a given Vsd = −0.4 pu).
(1) The stator d-axis current is clearly affected by Vsq (Fig. 6a),
showing that it is possible to control Isd by adjusting Vsq for
stator reactive power (10) or other control purposes (Section
2.2).
(2) Under a constant generator speed, the stator d-axis current
could be positive, negative, or zero. Thus, it is possible to reg-
ulate the stator d-axis current to zero by adjusting Vsq if the
generator speed is low, which could enhance the PMSG effi-
ciency.
(3) The stator q-axis current characteristics almost maintain
unchanged as Vsq varies (Fig. 6b), implying that the stator q-axis
Fig. 5. Stator d–q current characteristics, (Vsd = −1.0 pu to 0 pu, Vsd = 0.1 pu,
current cannot be controlled through Vsq , which is consistent
Vsq = 0.8 pu). with (13).
332 S. Li et al. / Electric Power Systems Research 80 (2010) 328–338
(4) Under a constant wind speed, the more negative Vsd is, the
smaller the generator per-unit speed, i.e., decreased turbine
rotational speed.
4.3. Generator converted and turbine driving power 5.1. Conventional current-loop control design
characteristics
The strategy of the conventional decoupled d and q current-loop
For a given pitch angle and wind speed, the characteristics of the controllers [9,10] is obtained by rewriting (7) as
power extracted from the wind (turbine driving power) versus the disd
turbine rotational speed ωm is obtained from (1) to (3). For a given vsd = − Rs isd + Ld − ωe Lq isq (17)
generator speed and a control voltage applied to the stator, the dt
generator converted power equals to stator power Ps (10) plus the disq
stator winding loss. To integrate the extracted wind power and the vsq = − Rs isq + Lq + ωe Ld isd + ωe f (18)
dt
converted power characteristics together, it is needed to represent
the turbine driving power characteristics using generator per-unit in which the item in the bracket of (17) and (18) is treated as the
speed (16) rather than the turbine rotational speed. Fig. 7 shows state equation between the voltage and current on d and q loops,
the converted power characteristics under typical Vsd control con- and the other items are treated as compensation or disturbance
ditions together with the extracted wind power characteristics in items. Hence, the controller design of traditional approaches is
one plot. For a wind speed and a stator control voltage Vs dq , the based on the system block diagram as shown in Fig. 8, in which
generator must operate at a point that is the intersection of the two 1/(L·s + R) represents plant transfer function for d or q current loop,
characteristics when omitting the rotational losses. In addition, a kPWM is the gain of the power electronic converter (Fig. 4), kFB is a
stable power balance point requires that, for any small increase or gain on the feedback path such as a gain from a sensor, and the PID
decrease of the generator speed, a PMSG can return to the balance block stands for the controller to be designed.
point effectively. By analyzing the figure as well as other simulation Fig. 9 shows the overall structure of the conventional control
results obtained for different d–q control conditions, the following mechanism after the compensation items are included. In the fig-
PMSG speed control properties are obtained. ure, the d and q reference voltages v∗sd and v∗sq , are the d and q
voltages vsd and vsq from the controllers plus the compensation
(1) Under a constant stator d–q control voltage, the extracted items as shown by (19) and (20). The two reference voltages, v∗sd
power characteristic curve of each wind speed has two inter- and v∗sq , are used to generate the three-phase sinusoidal reference
sections with the generator converted power characteristics, voltage to control the synchronous generator (Figs. 4 and 9). Thus,
one corresponding to a low speed point and the other one cor- this control configuration actually intends to control the stator d-
responding to a higher speed point. As the stator d-axis control and q-axis currents through the decoupled d and q voltages, vsd and
voltage becomes more negative, the two interactions get closer vsq , respectively. But, according to Section 4, d-axis voltage is only
to each other toward the maximum power extraction speed effective for stator q-axis current control, and q-axis voltage is only
point. supportive for stator d-axis current control, implying that there is
(2) Although there are two intersections between the extracted an inherent shortage in the traditional decoupled d–q vector con-
and converted power characteristics given a wind speed and trol technology. Although there are compensation items in both d
a d–q control voltage, only the intersection corresponding to and q current loops, they are not contributed in a feedback control
the higher speed point on the right side is dynamically stable. principle and concept.
(3) Under a constant stator d–q control voltage, increasing the wind v∗sd = v sd − ωe Lq isq (19)
speed causes the generator operating at a higher rotating speed
while the change of the converted power is little. v∗sq
= v sq + ωe Ld isd + ωe f (20)
5.2. Control evaluation using converter average model [21], where v∗sd new and v∗sq new are the d and q components of the
modified controller output voltage. It is found that other saturation
The current-loop control structure of Fig. 9 is built by using mechanisms could cause more system oscillations.
SimPowerSystems (Fig. 10). The wind turbine driving torque is
computed based on wind speed and turbine rotational speed using v∗sd new
= 1 · cos ∠v∗s dq , v∗sq new = 1 · sin ∠v∗s dq (21)
(1)–(3). The voltage applied to the PMSG stator is represented by a
three-phase controlled voltage source that is regulated by v∗sd and The performance of the conventional control approach is eval-
v∗sq using the converter average model [17]. To prevent the con- uated for the PSMG system parameters shown in Table 1. Major
verter from getting into a nonlinear modulation mode, a saturation measurements include speed, torque, and three-phase voltage,
mechanism is applied to the output voltage of the controller if current, and stator real and reactive power. For the power mea-
the amplitude of the reference voltage generated by the controller surement, active sign convention is used, i.e., power generated by
exceeds the linear modulation voltage. The general strategy is to set the generator toward the machine-side converter is positive. Fig. 11
a limitation on |v∗s dq | but keeps ∠v∗s dq unchanged as shown by (21) shows the performance of the controller for the direct driven PMSG
Fig. 11. Performance of conventional PMSG current-loop controller within the con-
verter linear modulation limit.
having 150 pole pairs while the DC link voltage is 1000 V. The rotor
diameter of the turbine blades is 100 m [15], the air density is
1.17 kg/m3 and the initial wind speed is 7 m/s. Before t = 4 s, the sys-
tem operates in an open-loop condition for a pre-specified stator
d–q control voltage. Under the open-loop control condition, both
d and q currents are not controlled. Thus, the system takes a long
time to get into a natural stable state. At t = 4 s, the current-loop
controllers start to operate with a current reference of isd ∗ = −480 A
∗ = −305 A which are the stator d and q currents before the
and isq
current-loop controllers start to function. Even so, the PMSG speed
fluctuates greatly before it is stabilized using the conventional con-
∗ changes to 0 A while i∗ remains
trol approach (Fig. 11a). At t = 6 s, isd sq
unchanged, i.e., a minimum stator current control strategy. The sys-
tem first oscillates for a while and then becomes stable at the new
current reference. The speed and the stator real power are almost
unchanged (Fig. 11a and c), demonstrating that the torque, speed
and stator real power depend primarily on the q-axis current con-
∗ changes to 3350 A, a required
trol (consistent with (12)). At t = 8 s, isq
q-axis current for PMSG maximum wind power extraction at the
wind speed of 7 m/s. With this current reference, the stator q-axis
current increases causing the electromagnetic torque to increase
and the generator speed to decrease toward the maximum power
extraction speed point (consistent with Fig. 7). At t = 10 s, the wind
speed changes from 7 m/s to 9 m/s, causing the wind turbine driving
torque larger than the electromagnetic torque (Fig. 7) and the gen-
∗ changes to 5300 A, a
erator speed to increase (Fig. 11). At t = 12 s, isq
q-axis current reference for maximum power extraction at the wind
speed of 9 m/s. Again, the generator speed decreases until a new
speed point satisfying the maximum power extraction requirement
is reached. As it can be seen from Fig. 11, for each system condition
change, there is a large oscillation using the conventional control Fig. 12. Performance of conventional PMSG current-loop controller with |v∗s dq |
approach. exceeding the linear modulation limit at some conditions.
S. Li et al. / Electric Power Systems Research 80 (2010) 328–338 335
Like before, the stability and reliability of a PMSG system is signif- and its target value, and the change in error ce as shown in Fig. 14.
icantly affected using the conventional control approach as shown For instance, if the error e is small, both the proportional and inte-
in Fig. 12. gral gains of the PI system should be small; if the change of error
ce is large, both the proportional and integral gains of the PI sys-
6. A novel PMSG decoupled d–q vector control design tem keep almost unchanged. The advantage of the fuzzy tuned PI
controller can be seen from Fig. 7. When a PMSG stabilizes at a max-
The theoretical foundation of the proposed PMSG vector control imum power extraction point (Fig. 7), a controller with reduced PI
technology is Eqs. (12) and (11), i.e., using q-axis current for torque gains is more stable for short-term disturbances.
control and d-axis current for reactive power or other control pur- In addition, a nonlinear programming formulation as shown
poses. However, different from the traditional control strategy that below is developed to prevent the resultant d–q current from going
generates a d- or q-axis voltage based on a d- or q-axis current error over the converter rated current and to prevent the converter from
signal [8–10], the novel control mechanism of this paper outputs getting into a nonlinear modulation mode. The basic principle of
a current signal at the d or q loop of the controller, i.e., a direct- the nonlinear programming formulation is that under the converter
current vector control technology. The d and q current signals isd rated current and linear modulation constraints, the system should
generated by the controllers are then used to compute d and
and isq operate to meet the q-axis current control goal while minimizing
q reference voltages v∗sd and v∗sq according to (22) and (23), which the difference between the reference and actual d-axis currents.
is equivalent to the transient d–q Eq. (7) after being processed by a
low pass filter for the purpose to reduce the high voltage oscillation
applied directly to the converter.
v∗sq =
−Rs isq
+ ωe Ld isd + ωe f (23)
Minimize: isd − isd
∗
∗
Subject to: isq = isq
2 + i2
isd v2sd + v2sq
sq Vdc
≤ Irated , Vconv = ≤ √
3 3 2 2V̂tri
The nonlinear programming formulation is implemented by
modifying isd∗ and i∗ or v∗ and v∗ , if the condition of over the rated
sq sd sq
current or over the linear modulation limit appears.
To prevent the converter from exceeding the rated current, the
d-axis current reference may need to be adjusted depending on
the amplitude of the reference current generated by the speed
and reactive power control loops (Fig. 3). The general strategy is
keeping the q-axis current reference unchanged to maintain speed
control effectiveness while modifying the d-axis current reference
to satisfy the d-axis current control demand as much as possible as
shown by (24).
∗ ∗ ∗ ∗ 2 2
isq new = isq isd new
= sign (isd )· (is∗ dq max
∗ )
) − (isq (24)
At t = 3 ms, when the current-loop controllers are introduced, the 7. Control evaluation in switching environment
novel control technique quickly shifts the system from open-loop
to close-loop condition with much less oscillation (Figs. 12 and 15). The power electronic converter of a PMSG system switches on
Although the current reference causes |v∗s dq | exceeding the con- and off continuously. Hence, performance of a PSMG system should
verter linear modulation limit, the novel control design operates be validated in a more practical transient switching environment.
the system in the optimal control mode by minimizing the differ- Fig. 16 shows the configuration of the PMSG system using a detailed
ence between isd and isd ∗ while maintaining the torque and speed switching model from the SimPowerSystems library for the power
∗ changes to 2450 A for
control effectiveness (Fig. 15b). At t = 6 s, as isq converter. The output voltage from the controller is applied to a
maximum power extraction at wind speed of 7 m/s, the proposed three-phase DC/AC PWM converter. The converter switching fre-
control design quickly drags the controller out of the nonlinear quency is 1800 Hz. This configuration emulates a real-life PMSG
modulation mode and regulate isd and isq to the new reference val- system under power converter control more closely. However,
ues. For any condition changes, such as a wind speed change from simulation of a PMSG system is much slower in the switching
7 m/s to 9 m/s at t = 9 s and a control reference change at t = 12 s, the environment because a small simulation time step is needed for
novel control mechanism demonstrates much better performance the power converter simulation. Figs. 17 and 18 show PMSG per-
in various aspects than the conventional control approach. formance using the conventional and novel control techniques,
respectively, for the same control demands used in Fig. 11. Com-
pared to Fig. 11, there are evident oscillations in instantaneous d–q
current and real/reactive power waveforms due to the switching
effect (Figs. 17b and 18b). Nevertheless, the generator rotational
speed is very close using both the switching and average models
(Figs. 17a and 18a). In the switching environment, it can be seen
that the performance of the novel control design is much better
than that of the conventional control mechanism.
8. Conclusions
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