IEEE Power Tech 2007, Lausanne (Switzerland), 1-5 July 2007

Active Power Control Strategies of DFIG Wind Turbines

Nol A. Janssens, Senior Member, IEEE, Guillaume Lambin, and Nicolas Bragard
power system simulation program from the University of Lige, using the MATLAB / SIMULINK tool [3]. The data used for the computations are those of a commercial 2 MW wind turbine. II. NEED FOR WIND FARMS ACTIVE POWER CONTROLLABILITY Several grid codes require active power control by the wind farms, but mainly in case of faults or to avoid grid disturbances, for example by imposing maximum ramp rates [1], [4]. Generally speaking, the need for a continuous contribution to frequency control is only recognized in small islanded power systems, e.g. Ireland. As far as the power system remains manageable by taking all the power that can safely be taken from the wind, it seems evident not to waste this free energy. However, with increasing wind power generation, problems may arise. The quick fluctuations of the wind power are compensated by the system primary frequency control. If these fluctuations exceed the primary reserve, it should be possible that the generation load balance could not be kept. Furthermore, if the wind generation on minutes scales differs appreciably from the forecasted values, nonspinning reserves could not be started in time to compensate this discrepancy. The unforeseen power generation pattern may also induce congestion problems on the transmission lines. At present, in Germany, in some parts of the 110 kV grids, congestions sometimes appear due to wind generation only. When needed, the active power control capability of wind farms could improve the safe operation of the power system by controlling the generation of all wind turbines at a reduced level instead of stopping some of them. In case of grid reconstruction after a black-out, the inability to control the wind power generation will delay its reconnection to the grid and, as a consequence, significant parts of the load. Indeed, a sufficiently strong grid has to be built first, with power and voltage control capabilities. Afterwards, the wind farms will be progressively reconnected. The reconstruction process could last for a long and unacceptable time. The controllability of the active power generation of wind farms at a reduced level with respect to the available wind power will allow to restart the wind turbines earlier in the reconstruction process and to reconnect additional load. The same argument may be put forward for the reconnection of a synchronous system after an unwanted splitting.

AbstractThis paper is devoted to the active power control of

DFIG wind turbines. An adaptation of the usual power set point control has been proposed in order to improve the transient behavior for high wind speeds. Several strategies for the active power control are studied. In the high wind speed range, the pitch control seems the most relevant to release a power margin while, in the low wind speed range, the increase of the rotation speed is more convenient. The power margin set point variation rate has to be limited in order to avoid torsion oscillations of the shaft. Nevertheless, the reaction speed of the wind turbine lies in the time frame of seconds, so that the participation to the primary frequency control is feasible. Index TermsDoubly Fed Induction Generator, wind turbine, active power control, primary frequency control, torsion oscillations

OWADAYS, the development of electrical power generation from wind is a big concern as well for the society energy issue as for the management of electrical power systems. Major technical issues due to the high penetration level of wind power already installed or forecasted must be faced [1], [2]. Some subjects have already been developed and technical solutions are now commercially available. Let us mention, for instance, the voltage and reactive power control, the power quality requirements (flicker, harmonics, etc.), the fault ridethrough capability in case of voltage dips. A raising issue is the active power control of the wind turbines. This paper is mainly devoted to the study of several control strategies of a Doubly-Fed Induction Generator (DFIG) and their comparison. The study consists in the modelling and the simulation of a wind turbine connected to a power system. It was performed at the University of Louvain La Neuve (Belgium). The developments were integrated in a
Manuscript received April 16, 2007. N. Janssens is with ELIA, the Belgian Transmission System Operator, and is invited professor at the University of Louvain La Neuve (Belgium) (e-mail: noel.janssens@ elia.be). Guillaume Lambin graduated Electromechanical Engineer from the University of Louvain La Neuve (Belgium) and is currently student Master in Economic Policy at the Catholic University of Louvain (KUL) (e-mail: guillaume.lambin@gmail.com). Nicolas Bragard is with ELIA, the Belgian Transmission System Operator, department Grid development studies (e-mail: nicolas.bragard@ elia.be).

I. INTRODUCTION

IEEE Power Tech 2007, Lausanne (Switzerland), 1-5 July 2007

2 A new control design has been developed in order to avoid this drawback : besides the rotor speed, the measured pitch of the blades is also taken into account. The design is shown on fig. 3, using the MATLAB/SIMULINK bloc representation : starting from a wind speed above the nominal value, so that the electric power set point has the nominal value, this set point remains unchanged as long as the pitch angle is not equal to zero. However, if the rotor speed falls under the lower bound of the relay (in our case, 1.15 pu), the law for wind speeds under the nominal value becomes active again, in order to avoid a too large rotor speed decrease in case of large wind speed fall. The upper bound of the relay is set to the nominal rotor speed (in our case, 1.2 pu).

III. IMPROVEMENT OF THE BASIC ACTIVE POWER CONTROL The classical strategy to control a DFIG wind turbine is, for low wind speeds, to optimize the rotation speed in order to generate the maximal available power. For high wind speeds, the pitch of the blades is adjusted in order not to exceed the nominal power and nominal rotation speed. In the basic control scheme, the electromagnetic torque set point is based on the rotor speed only. Hence, if the wind speed decreases, while remaining in the high-speed range, the turbine rotation speed transiently decreases, as well as the electrical power. This is illustrated hereunder. Figure 1 shows a filtered wind speed sequence. It is obtained from a recorded wind speed through a first order filter that represents the aerodynamic smoothing effect of the blades [5], [6]. For this wind sequence, the classical control scheme leads to the electric power and the rotor speed evolutions shown on fig. 2. Between time t = 0 and t = 10 s, and between time t = 47 s and t = 60 s, whereas the (filtered) wind speed is above the nominal value (12 m/s), the electric power is lower than 1 pu (per unit). The reason is that, when the wind speed is lowering, while remaining in the high speed range, i.e. with pitch control, the electromagnetic torque set point remains unchanged whereas the mechanical torque provided by the wind decreases. This torque unbalance causes a speed drop, leading to an electric power reduction as long as the pitch control is not properly adapted to the new wind condition.

Fig. 3. Power set point control bloc

Using this active power set point control, for the wind speed sequence of fig. 1, the generated electric power and the rotor speed are shown on fig. 4. It may be seen that the electric power generation of the wind turbine is optimized, while avoiding detrimental transients in the high wind speed region.

Fig. 4. Electric power and rotor speed for the proposed control scheme.

Fig. 1. Filtered wind speed sequence.

IV. ACTIVE

POWER CONTROL STRATEGIES

Fig. 2. Electric power and rotor speed for the basic control scheme.

Recent studies [e.g. 7] adopt the pitch control of the blades to perform the active power control of DFIG wind turbines on the whole operating range. Others use the kinetic energy of the rotor to provide a transient support to the grid, without permanent power reduction [8]-[10]. However, the released kinetic energy has to be recovered within a short time frame. In [11], the pitch control is used to release a power margin in the high wind speed range and an over-speed of the rotor in the low wind speed range in order to store kinetic energy. In [12], a torque control is used for large wind speeds or a fuzzy logic based control for the whole wind speed range. Some manufacturers announce the active power control capability of their products, but without indicating the way it is done [13].

IEEE Power Tech 2007, Lausanne (Switzerland), 1-5 July 2007 Hereafter, several strategies to perform active power control are described and compared. The point of view considered in this paper is in line with the classical way of handling primary frequency control and secondary power-frequency control, i.e. to be able to control the active power inside a power interval below the maximum achievable generation level. Hence, the corresponding power set point will be expressed as the margin delta P to the maximum power that could be produced with the actual wind speed. In this frame, the generation variation will result, on one hand, from the natural wind speed variations and, on the other hand, from the power margin set point. The latest can be received from a dispatching (secondary control) or generated from a local frequency measurement (primary control). For the simulations results shown hereafter, a constant wind speed is assumed. Of course, numerous other approaches could be imagined, and implemented, due to the high generation flexibility of the DFIG wind turbines. For example, one could consider a margin interval proportional to the actual generated power in order to cope with some grid code requirements. One could also imagine that the generated power would be limited to an adjustable specified value in order to avoid congestions on transmission lines. The power control could also be integrated in a curative contingency plan : the power reduction becomes effective if some event happens (tripping of a line, etc.). In order to perform permanent active power control, the wind power generation has to be partly de-optimized with respect to the usual operation. Different ways to do it are shown on fig. 5. One method consists in modifying the pitch angle, while keeping the optimal rotation speed corresponding to the actual wind speed (point A on fig. 5). Another method consists in de-optimizing the rotation speed, either by imposing a lower speed (point B) or a higher speed (as far as the nominal rotation speed is not exceeded) (point C).

3 Figure 6 shows the sensitivity between the pitch angle and the power margin delta P (in per unit with respect to the nominal power) as a function of the wind speed. It may be seen that, for high wind speeds, a small change of the pitch angle can reduce significantly the active power. In this wind speed range, although a de-optimization by lowering the rotation speed could be considered, it seems convenient to use the pitch to control the active power, since it is already active. In the low wind speed range, corresponding to the most common operating conditions, the control of the power by the pitch control needs a permanent adjustment of the blades orientation, with rather large pitch angle variations. This is a cause of wear for the pitching mechanism. Therefore, for such wind conditions, a rotation speed modulation would be preferred. The usual control of a DFIG wind turbine makes use of a look up table relating the electric power set point to the (measured) generator rotation speed (fig. 3). From there, the electrical torque set point is obtained and the q-axis rotor current is generated. In order to release a power margin, the single entry table is replaced by a 2-D look up table, whose entries are the measured rotation speed and the desired power margin. The output is the electric power set point. A rate limitation is introduced on the electric torque set point. Otherwise, a sudden power margin set point variation could create a fast transient entailing torsion oscillations between the turbine and the generator. Besides the stress on the mechanical parts of the wind turbine, care must be taken to prevent such oscillation to lead to instability. Especially, in the high wind speed range, the power margin dynamics has to be coordinated with the pitch angle control. A rate limitation on the torque has been preferred to a rate limitation on the power margin, since it leads to smoother generated power evolutions and the system is less sensitive to torsion oscillations. In order to examine the torsion behavior of the shaft, in the wind turbine model, the rotor has been represented by two masses linked by a spring.

Fig. 5. Strategies to release a power margin. The curve shows the mechanical power as a function of the rotor speed for a given wind speed and a pitch angle equal to zero.

Fig. 6. Pitch angle needed to release a power margin delta P as a function of the wind speed.

IEEE Power Tech 2007, Lausanne (Switzerland), 1-5 July 2007 Let us now investigate the active power control in the low wind speed region by means of the generator speed. For this control mode, the working point remains on the coefficient of efficiency c p curve corresponding to a pitch angle equal to zero (fig. 5). Figure 7 shows the amount of rotation speed change, either by over-speed or by under-speed, in order to reduce the active power, as a function of the wind speed. For over-speed power de-optimization, the desired rotation speed could exceed the nominal value. In this region, pitching the blades is mandatory, but some combination of speed control and slow pitching may be considered.

4 Conversely, when increasing the power margin, i.e. decreasing the generated power, the electric power first increases, due to the release of kinetic energy during the rotor deceleration. The under-speed de-optimization strategy is thus detrimental because the reaction during the first seconds goes in the direction opposite to the target. The simulation results obtained for the over-speed deoptimization strategy are shown on fig. 9 for a constant wind speed of 8 m/s and a power margin moving from 0,05 p.u. to 0 p.u., with a torque rate limitation of +/- 0,025 pu/s. It may be seen that the electric power first increases above the target value before evolving to the final value. This is due to the fact that the rotor has to decelerate in order to re-optimize its rotation speed, thus releasing kinetic energy. For higher rate limitation, the electric power rises more rapidly and deeply. Fig. 9 on the right side shows both the turbine and the generator rotation speeds. The two curves practically coincide : there are no torsion oscillations.

Fig. 7. Rotor speed for releasing a power margin delta P

Fig. 9. Over-speed de-optimization strategy : delta P switched from 0.05 pu to 0 at t = 20 s.

The simulation results obtained for the under-speed deoptimization strategy are shown on fig. 8 for a power margin set point switched from 0,05 p.u. to 0 p.u. at t = 20 s (wind speed = 8 m/s). The model includes a torque rate limitation of +/- 0,025 pu/s. It may be seen that the electric power first decreases before evolving to the final value. This is due to the fact that the rotor has to accelerate in order to re-optimize its rotation speed, thus consuming kinetic energy. For higher rate limitation, the electric power falls more rapidly and deeply. Fig. 8 on the right side shows both the turbine and the generator rotation speeds. The two curves practically coincide : there are no torsion oscillations.

Figure 10 shows the simulation results for a power margin increase from 0 pu to 0.05 pu under the same conditions as here above. Again, the electric power first moves in the direction of the target value, but with an overshoot due to the absorption of kinetic energy during the acceleration. Care must be taken that the transient behavior would not lead to a possible negative power. Therefore, the power set point has to be limited, for instance at the level corresponding to the cut-in wind speed.

Fig. 8. Under-speed de-optimization strategy : delta P switched from 0.05 pu to 0 at t = 20 s.

Fig. 10. Over-speed de-optimization strategy : delta P switched from 0 to 0.05 pu at t = 20 s.

IEEE Power Tech 2007, Lausanne (Switzerland), 1-5 July 2007 In the frame of primary frequency control, the over-speed deoptimization strategy is advantageous, since it brings an additional contribution to the desired action. The choice of the torque set point rate limitation is important from this point of view. In case of sudden frequency drop, it drives the amplitude and the duration of the additional power when releasing the available kinetic energy. It is possible to take advantage of this degree of freedom to better coordinate the contribution to the primary frequency control of the wind turbines with this of the other generation means (e.g. thermal or hydro) considering their dynamic behavior. However, for a faster reaction (higher torque rate limitation), the torsion stress and the risk for torsion oscillations will be higher. Comparing the under-speed and the over-speed deoptimization, let us mention that, for a given generated power, the mechanical torque between turbine and generator is lower for the over-speed de-optimization, since this torque is the power divided by the rotation speed. The examples here above show the feasibility of a significant active power change in the time frame of seconds, without unacceptable stress on the equipment, so that the wind turbine fulfils the requirements to participate to the primary frequency control. V. SMALL SIGNAL STABILITY ANALYSIS When comparing various strategies to perform active power control, their impact on the system stability has also to be investigated. Therefore, an eigenvalues analysis has been carried out. The computation results show that, among the various eigenvalues of the system, only the real eigenvalue corresponding to the movement equation varies significantly. Figure 11 exhibits this eigenvalue as a function of the power margin delta P for the three strategies described here above. These results refer to a wind speed of 8 m/s. The curve relative to the over-speed strategy is limited to delta P = 0.07 pu, since the nominal rotation speed is reached at this point.

5 With pitch control, the eigenvalue variation is rather limited : the stability is not endangered. For over-speed de-optimisation, the stability is improved, while for under-speed de-optimisation, it is declined and can lead to instability. This behaviour is linked to the respective values of the partial derivative of the mechanical torque and of the electric torque with respect to the rotation speed [14], [15 : 3.2.4]. The active power rotation speed characteristics of the wind turbine considered here, with the wind speed as a parameter, cross in the low rotation speed region : when the wind speed increases, the power decreases, entailing instability. These results reinforce the conclusion reached before, preferring the over-speed de-optimization in the low wind speed region. VI. ACTIVE POWER MANAGEMENT OF A WIND PARK The control of secondary or tertiary active power reserve by a wind park needs a centralized processor, because the expected result refers to the whole wind park. The active power limitation or variation has to be managed globally. The control algorithm will incorporate the operating point of each wind turbine, notably if they are in service or not. For the primary frequency control, if the wind turbines connection to the grid has no DC links, the question may be raised if each turbine has to be equipped with a local frequency measurement to feed the control loop, or if it is preferable to have a common frequency measurement near the point of common coupling with the grid. Here also, it seems preferable to have a common frequency measurement, in order to better coordinate the inputs of the individual wind turbines and to avoid oscillations between them. This requires a reliable and rather fast SCADA system within the wind park : a sampling rate in the range from 1 to 3 s should be adequate, considering the desired reaction time of the wind turbines. VII. CONCLUSIONS This paper is devoted to the active power control of DFIG wind turbines, useful as well for primary frequency control as for secondary power-frequency or tertiary power control. With the usual power set point control, in the high wind speed region, the generated power transiently decreases below the rated value when the wind speed decreases, even if this wind speed remains above the nominal value. An adaptation of the control is proposed in order to avoid this drawback. Several strategies to achieve a continuous active power control have been studied : pitch angle control or rotation speed control, either by decrease or by increase with respect to the maximum power tracking approach. Numerical simulations have been performed to analyze the system behavior. It has been found that, to release a power margin, in the high wind speed range, the pitch control seems the most relevant, whereas, in the low wind speed range, the increase of

Fig. 11. Eigenvalue linked to the movement equation as a function of delta P for the three power control strategies.

IEEE Power Tech 2007, Lausanne (Switzerland), 1-5 July 2007 the rotation speed is more convenient, especially for the primary frequency control : the wind turbine brings an additional reaction in the desired direction by the kinetic energy use. When varying the power margin with respect to the maximum available power, the torque set point variation rate has to be limited in order to avoid unnecessary mechanical stress and torsion oscillations of the shaft. Nevertheless, the reaction speed of the wind turbine lies in the time frame of seconds, so that the participation to the primary frequency control is feasible, as well as the participation to the secondary load frequency control. The small signal stability has been investigated for the various control strategies and reinforces the conclusions reached by the simulations.

Nol Janssens received the Ingnieur Civil Electricien and Doctorat en Sciences Appliques degrees from the University of Louvain (UCL), Belgium, in 1971 and 1981 respectively. He was successively assistant professor at the UCL, engineer at ACEC, Division transformers (head of the OLTC R&D department), at Laborelec (Belgian Laboratory of the Electricity Industry) in the Mathematics department and the Electricity division (head of the department Power Systems Dynamics), at CPTE (Belgian Power System national dispatching), and currently at ELIA (Belgian Transmission System Operator). He is invited professor at the Univ. of Louvain (UCL) since 1989 for the courses Electric power systems, Integration of decentralized generation in power systems, Power systems dynamics He is Senior Member of IEEE and Distinguished Member of CIGRE. He was the Belgian representative for the CIGRE Study Committee 38 (19962002), convenor of the CIGRE 38.02.14 WG on large frequency disturbances. He is member of several working groups in UCTE. He is author or co-author of about 30 publications in international journals and conferences.

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Guillaume Lambin (30 June 1982) received the Electromechanical Engineering degree from the Catholic University of Louvain (UCL), Belgium, in 2006, specialization Energy, with a thesis on Control Strategies of Windmills with a Doubly-Fed Induction Generator. During 2006-2007, Master in Economic Policy, Catholic University of Leuven (KUL), Belgium. .

Nicolas Bragard (1981) received his Degree in Electrical Engineering from UCL (University of Louvain), Belgium, in 2004 and his M. Sc. Degree in Economics and Corporate Management from IFP School, France, in 2005. He is currently working at ELIA, the Belgian TSO, in the department Grid development studies. His fields of interest include wind generation modelling, wind penetration in electrical grid and wind participation in ancillary services (such as primary frequency regulation and voltage control).

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