Due to the global concern for eco-friendly environment, the need for green energy is on rise and wind

energy is one of the most important and promising extra ordinary sources of renewable energy all over the world, so it is the highest installed capacity among renewables. The major problem is the winds unpredictable nature. So, the implemented system tracks the maximum power during low wind velocities using MPPT and incorporates the pitch angle controller during higher wind velocities.

The WECS basically consists of three types of components: aerodynamics, mechanical, and electrical as shown in Figure

There are two subsystems namely electrical and mechanical control systems that represent the overall control scheme of WECS. The mechanical subsystem is designed to limit the mechanical power output of wind turbine by means of pitch adjustment.

 The function of electrical control system can be divided into three different categories.
The first category includes specific functions to enable optimum extraction and the limitation of the power. The second category includes the basic functions that ensure the proper functioning of the power converters, by maintaining proper voltages and currents on the machine side, in the common DC link, and on the grid side.

The third category includes extra functions such as improving the power quality and contributing to voltage/frequency stability of grid.

 Power contained in the wind is

Wind energy and modelling of wind turbine

1 3 Pw = AVw 2 The turbine is the prime mover of WECS that enables the conversion of kinetic energy of wind Ew into mechanical power Pm and eventually into electricity. The power and torque extracted from the wind using wind turbine can be calculated as follows 1 PT = A CP , Vw 3
2

1 2

3 ,

where CP = 0.5( 0.0222 5.6) (1.7) where Vw is the wind speed at the center of the rotor (m/sec), is the air density (Kg/3 ), A is the area of the wind turbine and R is the rotor radius.

 CP is the performance coefficient which in turn depends upon the turbine characteristics ( - blade pitch angle and - tip speed ratio) that is responsible for the losses in the energy conversion process. =
RT Vw

For a fixed blade pitch angle, the output power of the turbine is mainly dependent on the turbine speed. In Figure 6.2 power coefficient versus tip speed ratio of the wind turbine at zero pitch angle is illustrated.
To get maximum power in a constant pitch angle, maximum power coefficient should be chosen which is known as optimal tip speed.( )

 Mechanical model of the turbine is as follows: J

2 p

s r = Tt Te

Where p, J and r are the number of poles, inertia and electrical angular rotor velocity of generator respectively. Tt and Te are wind turbine torque and generator electromechanical torque. To define maximum power point extracted from each wind speed [6] dPT 1 3 d CP , d = AVw =0 dT 2 d dT Where r = ngear T and Therefore 1 0.17( 0.022 5.6) = 0 Thus in maximum power point MPP =
1 0.17 d dT 2

R Vw

+ 0.0222 + 5.6

 CpMPP = 0.5 MPP 0.0222 5.6 T =

rMPP ngear

1.7MPP

MPP Vw R

(4.10) (4.11) (4.12) (4.13)

PTMMP = k opt1 TMPP 3 = k opt2 r_opt 3 k opt1 = ACpMPP R MPP k opt2 =

kopt1 ngear 3 PTMMP rMPP 1 2 3

TTMPP =

= k opt2 rMPP 2

(4.14)

Therefore, in any wind speed and pitch angle the optimum rotor speed of generator will be defined as reference value for variable wind speed control.
rMPP = ngear
MPP Vw R

(4.15)

Power coefficient vs tip speed ratio at zero pitch angle

Power coefficient vs tip speed ratio at different pitch angle

Power Output

Cut in
1.0 p.u .

Nominal v

Cut out

Nominal Power, Max. rotor eff. No gen Reduced rotor efficiency No generation

10

15

20

25

V (m/s)

Out put power of wind turbine vs generator rotor speed with different pitch angle at constant wind speed

Power control operation of Wind turbine

Wind power generation usually causes disturbances in the electrical system it is connected to, because of its non-linear characteristics. As a result of that, there is a renewed interest in Control & Optimization of Electrical power generation from Wind. Below rated wind velocity, the turbine should simply be trying to produce as much power as possible (maximum Cp), so there is generally no need to vary the pitch angle. Above rated wind velocity, pitch control provides a very effective means of regulating the aerodynamic power produced by the rotor so that design limits are not exceeded. In order to achieve good regulation, however, the pitch control needs to respond very rapidly to changing conditions

Control of wind power extraction

Maximum power point tracking control(MPPT) Pitch angle control Maximum power point tracking control(MPPT) There are basically four control techniques employed for extracting maximum power from wind. Tip speed ratio(TSR) control
Optimal torque (OT) control

Power signal feedback (PSF) control

Perturbation and observation (P&O) control.

Tip speed ratio(TSR) control

This method requires both the wind speed and the turbine speed to be measured or estimated in addition to requiring the knowledge of optimum TSR of the turbine in order for the system to be able extract maximum possible power.

Power signal feedback (PSF) control In PSF control, it is required to have the knowledge of the wind turbines maximum power curve, and track this curve through its control mechanisms. The maximum power curves need to be obtained via simulations or off-line experiment on individual wind turbines. In this method, reference power is generated either using a recorded maximum power curve or using the mechanical power equation of the wind turbine where the rotor speed is used as the input.

Perturbation and observation (P&O) control. The HCS control algorithm continuously searches for the peak power of the wind turbine. It can overcome some of the common problems normally associated with the other two methods. The tracking algorithm, depending upon the location of the operating point and relation between the changes in power and speed, computes the desired optimum signal in order to drive the system to the point of maximum power.

Flow chart for Pitch angle control

v
Wr
Start pitch angle, from 20 Wind velocity Rotational speed of wind turbine Tip speed ratio Maximum Power Co-efficient (Cp)

No

Cp <= Cpref
Yes Pitch angle =

Increase

REVIEW
Year
1999

Author name
G. C. Walsh, H. Ye, and L. Bushnell, W. Zhang, M. S. Branicky, and S. M. Phillips D. Yue, Q.-L. Han, and C. Peng, L. Zhang, Y. Shi, T. Chen, and B. Huang,

Title and publication

Stability analysis of networked control systems American Control Conf. Stability of networked control systems IEEE Control Syst. Mag. State feedback controller design of networked control systems IEEE Trans. Circuits Syst. A new method for stabilization of networked control systems with random delays, IEEE Trans. Automat. Control Stabilization of Networked Control Systems with Small Delays Americon Control Conference Stability of Networked Control Systems With Uncertain Time-Varying Delays IEEE Trans on Automatic Control Controller synthesis for networked control systems, Automatica.

Remarks
Continuous time NCS modeling approach is proposed

2001 2004

Constant time delays considered Lyapunov-based State feedback controller with time varying small delays Lyapunov-based State feedback controller with time varying Large delays

2005

2008 M.B. G. Cloosterman, Nathan van de Wouw, W. P. M. H. Heemels, and Hendrik Nijmeijer

A Lyapunov-based stability criterion in terms of linear matrix inequalities (LMIs) is proposed for systems with small delays Earlier result extended to systems with large delays

2009

2010 2000 Shu-Mei Guo, Leang San Shieh, Guanrong Chen, and Ching-Fang Lin,

Delay as well as packet dropout is considered in the system model Digital redesign of Analog smith predictor proposed for small delays

Effective Chaotic Orbit Tracker: A PredictionBased Digital redesign Approach.IEEE transactions on circuits and systems Digital redesign of analog Smith predictor for systems with input time delays. ISA Transactions Real-time random delay compensation with prediction-based digital redesign ISA Transactions

2004 Dunn AC, Shieh LS, Guo SM 2011 Yongpeng Zhanga,, Penrose Cofie b, Augustine N. Ajuzie b,

Digital redesign of Analog smith predictor proposed for small and large delays proposes to utilize digital redesign technique to provide real-time random delay compensation.

17

[1]G.A.SMITH,K.NIGIM, and A. SMITH: Wind-energy recovery by a static Scherbius induction generator, IEE Proc. C, 1981, 128, (6), pp. 317-324 ,vol.

2. I.CARDICI, and M.ERMIS: Double-output induction generator operating at sub synchronous and super synchronous speed: steady state performance optimisation and wind-energy recovery, I&E proc. B, 1992, 139, (S), pp. 429442 3. M.Y.UCTUG,I. ESKANDARZADEH, and H.INCE: Modelling and output power optimisation of a wind turbine driven double output induction generator, IEE Proc. B, 1994, 141, (2) 4. A.M.WALCZYNA, : Torque and reactive power control of a double-fed induction machine, BICEM Proc., 1987, pp. 495-498 5. Y.MITSUTOSHI, and O.MOTOYOSHI : Active and reactive power control for doubly-fed wound rotor induction generator, IEE Trans. Power Electron., 1991, 6, (4), pp. 624-629 6. M.MACHMOUM,R. LE DOEUFF, F.M.SARGOS, and M.CHERKAOUI : Steady state analysis of a doubly fed asynchronous machine supplied by a current controlled cycloconverter in the rotor, IEE Proc. B, 1992, 139, (2), pp. 114-122 7. P.G.HOLMES, and N.A.ELSONBATY: Cycloconverter excited divided winding doubly fed machine as a wind power converter, IEE Proc.B,1984,131,92,pp.61-69. 8. E.BOGALECKA : Power control of a double fed induction generator without speed or position sensor, EPE, 1993, 8, (377), Chap. SO, Pt 8, pp. 224-288 9. Y.TANG, and L.XU : Stator field oriented control of doubly excited induction machine in wind power generating system, 35th Mid-West Symp. on Circuits and systems, Washington, DC, 1992, pp. 1446-1449 10. R. Pena, J. C. Clare, and G. M. Asher, Doubly fed induction generator using back-to-back PWM converters and its application to variable speed wind-energy generation, inProc. Inst. Elect. Eng., Elect. Power Appl., May 1996, vol. 143 no. 3.

 Most Scherbius DFIG systems reported employ either a current-fed (naturally commutated) DC-Link converter [3-5] or cycloconverter [6-9] in the rotor circuit. The use of a current-fed DC-link converter has a number of disadvantages: The DC-link choke is expensive, and an extra commutation circuit is required for operation at synchronous speed (which lies within the operational speed range), and this has resulted in poor performance at low slip speeds [4]. In addition, such a converter draws rectangular current waveforms from the supply. The problem at synchronous speed may be overcome by use of a cycloconverter and vectorcontrolled Scherbius schemes with 6-pulse cycloconverters have been described by Leonhard [ 1] and Walczyna [6]. Yamamoto and Motoyoshi [7] Yamamoto and Motoyoshi [7] have presented a detailed analysis of the current harmonics drawn from the supply, which is still a problem in this type of drive. Machmoum et al. [8] have presented an implementation with a simpler 3-pulse cycloconverter, whilst Holmes and Elsonbaty [9] describe a similar converter to excite a divided-winding doubly-fed machine, which improves the speed range to 50% slip at the expense of increased machine complexity. Both of these naturally commutated DC-link and cycloconverter schemes may, in many cases, require a transformer for voltage matching.

The disadvantages of above schemes can be overcome by the use of two PWM voltage-fed current regulated inverters connected back-to-back in the rotor circuit. Such a scheme was reported by Bogalecka [l0] and Tang and Xu [l I].Using simulation studies characteristics of such a Scherbius scheme, which both converters are vector controlled, are as follows: Operation below, above and through synchronous speed with the speed range restricted only by the rotor voltage ratings of the DFIG operation at synchronous speed, with DC currents injected into the rotor with the inverter working in chopping mode low distortion stator, rotor and supply currents independent control of the generator torque and rotor excitation Control of the displacement factor between the voltage and the current in the supply converter, and hence control over the system power factor. But the authors have not verified the performance of the system experimentally. Pena[10] have presented an experimental back-to-back PWM vector Scherbius scheme is presented, with experimental results verifying the performance of the system.

 Presently several main types of technologies are used for the conversion of wind aerodynamic power into electrical power. The main types of technology can be classified as follows: Fixed Speed Synchronous Generator. Fixed Speed Induction Generator. Variable Speed Induction Generator. Double Fed Induction Generator. Variable Speed Synchronous Generator System. Direct Drive or Gearbox. Pitch Control versus Stall Control of Rotor Blades. Figure 3.1 shows a schematic of technologies used in wind energy conversion systems

(A) Constant Speed Wind Turbine

Induction generator fixed-speed wind turbine

A constant speed wind turbine is designed to obtain a maximum efficiency at one wind speed that will give the optimum tip speed to wind speed ratio for the rotor blade. Constant-speed wind turbines produce stochastic as well as periodic power fluctuations. The resulting voltage fluctuations can cause serious light flicker. The rotor speed of the fixed-speed wind turbine is in principle determined by a gearbox and the pole-pair number of the generator.

(B) Variable Speed Wind Turbine

The variable speed machine can obtain the optimum tip speed to wind speed ratio at any wind speed by changing the rotor speed as the wind speed changes.

The main variable speed configurations for wind turbines are shown in Figure 3.4. From the mid 1990s until the present day the most popular installed wind turbine design has been the DFIG.

Operation of DFIG
In conventional (singly-fed) induction generators, the relationship between the frequency of the ac voltages induced across the stator windings of the generator and the rotor speed is expressed using the following equation.

120

is the frequency of the ac voltages induced across the stator windings of the doubly-fed induction generator, expressed in hertz (Hz).

is the speed of the doubly-fed induction generator rotor, expressed in rotations per minute (r/min).
is the number of poles in the doubly-fed induction generator per phase. Using the above equation, it is possible to determine that, when the speed of the generator rotor is equal to the generator synchronous speed , the frequency of the ac voltages induced across the stator windings of the generator is equal to the frequency of the ac power network .

 The same operating principles apply in a doubly-fed induction generator as in a conventional (singly-fed) induction generator. This means that the rotating magnetic field passing through the generator stator windings not only rotates due to the rotation of the generator rotor, but also due to the rotational effect produced by the ac currents fed into the generator rotor windings. Therefore, in a doubly-fed induction generator, both the rotation speed of the rotor and the frequency of the ac currents fed into the rotor windings determine the speed of the rotating magnetic field passing through the stator windings, and thus, the frequency of the alternating voltage induced across the stator windings. when the magnetic field at the rotor rotates in the same direction as the generator rotor = + 120 Where is the frequency of the ac currents fed into the doubly-fed induction generator rotor windings, expressed in hertz (Hz).

 Conversely, when the magnetic field at the rotor rotates in the direction opposite to that of the generator rotor, =
120

Using doubly-fed induction generators to produce fixed-frequency voltages

The primary reason for using a doubly-fed induction generator is generally to produce three-phase voltage whose frequency is constant, i.e., whose Frequency remains equal to the frequency of the ac power network to which the generator is connected, despite variations in the generator rotor speed caused by fluctuations of the mechanical power provided by the prime mover (e.g., a wind turbine rotor) driving the generator. To achieve this purpose, the frequency of the ac currents fed into the rotor windings of the doubly-fed induction generator must be continually adjusted to counteract any variation in the rotor speed caused by fluctuations of the mechanical power provided by the prime mover driving the generator. = 120

 Dynamic Modelling of Induction Machine

 Space vectors can describe the induction machine with two phases instead of three. The main advantage of this transformation is in the ease in which control schemes can be implemented. In an induction machine the three-phase stator currents generate a rotating flux in the air gap. The same rotating flux could also be formed with only two phases. This is the principle of space vectors. The figure shows a voltage transformation from three-phase time varying voltages, Va, Vb and Vc all 2/3 radians apart, to two-phase voltages Vand Valong the and axis.

 Parks Transformation The Clarke transformation referred space vector to a stationary frame, however in the Park transformation the complex space vector can be expressed in any rotating reference. The advantage by doing so is that rotating space vectors appear stationary in a rotating reference frame, which means alternating traces of the space vector are steady state and the changes in absolute value of the vector is represented clearly. This is advantageous in the control schemes of electrical machines. There are normally three reference frames that are associated with induction machine control; stationary reference frame (usually referred to applied voltage of the machine) and denoted by superscript (s), synchronous reference frame (usually aligned with an internal flux, stator, air-gap or rotor flux) and denoted by superscript (e), and a rotor reference frame (aligned with the rotating shaft) and denoted by superscript (r).

 Development of different types of converter The doubly fed induction machine uses an AC-AC converter in the rotor circuit (Scherbius drive) for high-power applications (limited speed range).

GRID SIDE VECTOR CONTROL

After transforming the three phase supply voltages , & to synchronous rotating frame voltages & , the resulting equations from schematic diagram are = +

+ 1 + 1 +

(1) (2)

= +

According to Point of common coupling orientation =constant & = 0. Active power P= & Q=

GRID SIDE VECTOR CONTROL Continues.....

It has two control loops i.e current control loop and dc link voltage control loop. Current control loops are developed from eqn(1) and eqn(2). Dc link voltage control loop is developed from following equation

= =

3 2

(4)

GRIDSIDE VECTOR CONTROL Continues.....