Modeling Strategy For Back-to-Back Three-Level Converters Applied To High-Power Wind Turbines
Modeling Strategy For Back-to-Back Three-Level Converters Applied To High-Power Wind Turbines
Modeling Strategy For Back-to-Back Three-Level Converters Applied To High-Power Wind Turbines
Abstract—Three-level converters are becoming a realistic alter- (50/60 Hz) transformer. In addition, the cancellation of low
native to the conventional converters in high-power wind-energy frequency harmonics from the ac voltages at the different levels
applications. In this paper, a complete analytical strategy to model means that the size of the ac inductance can be reduced, a
a back-to-back three-level converter is described. This tool per-
mits us to adapt the control strategy to the specific application. consequent decrement of the expenses of the overall system
Moreover, the model of different loads can be incorporated to [2]–[5]. The presented advantages of multilevel converters
the overall model. Both control strategy and load models are make it interesting to use these kinds of power topologies as
included in the complete system model. The proposed model pays an alternative to conventional two-level converters in many
special attention to the unbalance in the capacitors’ voltage of renewable energy applications and industry. However, they
three-level converters, including the dynamics of the capacitors’
voltage. In order to validate the model and the control strategy are also limited by the following drawbacks: voltage un-
proposed in this paper, a 3-MW three-level back-to-back power balances [6], high component count, and typically complex
converter used as a power conditioning system of a variable speed control [7]–[19].
wind turbine has been simulated. Finally, the described strategy Currently, grid integration from renewable energy is an im-
has been implemented in a 50-kVA scalable prototype as well, portant point of interest of most researchers which work in
providing a satisfactory performance.
power electronics. Multilevel converters, especially three-level
Index Terms—Adaptive control, mathematical modeling, mul- converters, are a good alternative to the conventional convert-
tilevel converters, natural coordinates, three-dimensional space- ers in systems involving renewable energy as wind energy
vector modulation (3-D SVM), variable speed wind turbine,
voltage control, voltage dip, voltage source back-to-back converter, [20]–[26] and flexible ac transmission systems technology, due
wind energy, wind-energy conversion system. to the advantages they present.
High current and low voltage for generating high power
(megawatt) make it necessary to design efficient power con-
I. I NTRODUCTION
verters for the increasing energy demand. In addition, the
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1484 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 53, NO. 5, OCTOBER 2006
Fig. 1. Generic back-to-back equivalent circuit based on three-level converter using ideal switches.
three-level converter. In the figure, the chosen signal criterion the balance of capacitors’ voltages. The new two variables are
for voltages and currents is shown. defined as
The modeled power circuit is divided into two stages. In the νc1 + νc2 νc2 − νc1
first stage, the expressions for the inductor current dynamics are x1 = , x2 = .
2 2
obtained, then, the expressions to describe the dynamics of the
capacitors’ voltages are determined in the second stage. The Taking this into account, the voltages in the switches νrj or
expressions, which describe the capacitors’ voltages, contain νij (j ∈ {1, 2, 3}) referred to as “o” points are defined in terms
the state variables as linear combinations of their voltages, in of the duty cycles δrj or δij as
order to make those expressions more suitable in the controller
design process. Finally, the transformation of the proposed νrj = x1 δrj + x2 δrj
2
= δrj (x1 +x2 δrj ) δrj or δij ∈{−1, 1}
model from abc coordinates to αβγ coordinates is presented. νij = x1 δij + x2 δij
2
= δij (x1 +x2 δij ) j ∈ {1, 2, 3}.
This transformation involves the third coordinate γ to consider (4)
the third freedom degree. As it will be seen in the model equa-
The capacitors’ voltage dynamics can be obtained using the
tions, the γ component is directly related with the capacitor-
Kirchhoff’s current law as follows:
voltage balance. This is an important aspect of our approach
since this variable used to be neglected in the literature. idcr3 = iC2 + idci3
The dynamics of the rectifier currents of the system are
obtained by using Kirchhoff’s voltage law as follows: idcr2 + iC2 = idci2 + iC1
dx1
C = iC1 + iC2
dir1 dt
νsr1 = Lr + νr1 + νon dx2
dt C = iC2 − iC1 (5)
dir2 dt
νsr2 = Lr + νr2 + νon
dt where C is the capacitance of each dc-link capacitor.
dir3 The idcrj and idcij currents can be expressed as functions of
νsr3 = Lr + νr3 + νon (1) the phase currents and duty cycles using quadratic approxima-
dt
tions like in [27]. For the rectifier, this method yields
where νsr1, νsr2, and νsr3 are the rectifier voltages, ir1, ir2,
and ir3 are the rectifier currents, νr1, νr2, and νr3 are the injected (δr1 − 1)δr1 (δr2 − 1)δr2 (δr3 − 1)δr3
idcr1 = ir1 + ir2 + ir3
voltages referred to as “o,” νon is the voltage at “o” referred to 2 2 2
as “n,” and Lr is rectifier inductance of input inductors. Taking idcr2 =(1 − δr1
2
)ir1 + 1 − δr22
ir2 + 1 − δr3
2
ir3
into account that the sum of the phase currents is supposed
to be zero, the equations corresponding to the rectifier are (δr1 + 1)δr1 (δr2 + 1)δr2 (δr3 + 1)δr3
idcr3 = ir1 + ir2 + ir3 .
reduced to 2 2 2
dir1 (6)
νsr1 2 −1 −1 νr1
νsr2 = Lr dir2 + 1 −1 2 −1 νr2 . (2)
dt
For the inverter-side currents, similar expressions are obtained
dt 3
νsr3 dir3
dt
−1 −1 2 νr3 substituting subscripts “r” by “i”.
Direct substitution of these current equations on (5) yields
In a similar way, it is easy to probe that the equations for the following expressions for the capacitors’ voltages:
inverter are
dx1
dir1 2C = (δr1 ir1 + δr2 ir2 + δr3 ir3 )−(δi1 ii1 + δi2 ii2 + δi3 ii3 )
νsi1 2 −1 −1 νi1 dt
dt 1
νsi2 = −Li dir2 + −1 2 −1 νi2 . (3) dx2 2 2
dt 3 2C = δr1 ir1 +δr2
2
ir2 +δr3
2
ir3 − δi1 ii1 +δi22
ii2 +δi3
2
ii3 .
νsi3 dir3
dt
−1 −1 2 νi3 dt
(7)
The sum and difference of capacitors’ voltages are used in
order to facilitate the controller design, since the control objec- As explained before, these two variables defined as linear
tives will be to control the total dc-link voltage and to ensure combinations of the capacitors’ voltages are more suitable for
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PORTILLO et al.: MODELING STRATEGY FOR THREE-LEVEL CONVERTERS APPLIED TO WIND TURBINES 1485
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1486 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 53, NO. 5, OCTOBER 2006
Fig. 3. (Left) dc-link voltage under 1- to 10-kW and (right) 10- to 1-kW power step change for (upper) switched model and (lower) continuous proposed model.
Fig. 4. (a) Measurement of dc-link voltage for laboratory prototype under 1- to 10-kW power step change and (b) 10- to 1-kW power step change.
Fig. 5. (Left) Inverter- and (right) rectifier-side currents under 1- to 10-kW power step change for (upper) switched model and (lower) proposed contin-
uous model.
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PORTILLO et al.: MODELING STRATEGY FOR THREE-LEVEL CONVERTERS APPLIED TO WIND TURBINES 1487
Fig. 6. (a) Measurement of inverter- and (b) rectifier-side currents for laboratory prototype under 1- to 10-kW power step change.
Fig. 7. Back-to-back NPC three-level converter applied to wind power plant applications controlling by stator.
converters that permit to connect the energy generator to the corresponding to the three-level converter. The inverter controls
load or to the grid. the voltage balance in the dc link, whereas the rectifier controls
In Fig. 7, the diagram of a conventional wind power plant active and reactive power.
controlled by the machine stator comprises a back-to-back NPC 1) Rectifier Control: In order to obtain the normalized volt-
r r
three-level converter, which permits us to condition power flux age references δabc , the measures of the phase voltages Vabc ,
r r
from the wind to the grid. For the simulations, a simplified line currents Iabc and the references of active power Pref and
model of a variable speed, variable pitch 3-MW wind turbine reactive power Qrref are required.
has been considered. In Fig. 8, the block diagram of the rectifier control is shown,
r
where the phase voltages Vabc are transformed to static coor-
dinates αβ (with power invariant transformation) in order to
B. Power-Conditioning-System Control Design be filtrated by means of resonant filter tuned at 50 Hz. This
resonant filter has the following expression:
As observed in (9) and (10), the rectifier and inverter currents
irαβ , iiαβ can be controlled separately due to the decoupling ω/Q · s
of these equations. Also, as shown in (11), the control of the
r
Vαβ,f = Vr (12)
s2 + ω/Q · s + ω 2 αβ
sum of the capacitor voltage divided by 2 x1 can be achieved
r i
using the normalized voltage references δαβ or δαβ , and the where ω is the tuned frequency of the resonant filter and Q is
difference of the capacitor voltage divided by 2x2 can be the filter quality factor.
controlled using δγr or δγi . The implemented control consists ba- r
The reference current Iαβ,ref can be separated in two terms.
r
sically of independently controlling the inverter and the rectifier The first term is proportional to the filtered voltage Vαβ,f for
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1488 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 53, NO. 5, OCTOBER 2006
i for inverter.
Fig. 9. Normalized voltage references δαβ
r
controlling active power Pref to be obtained from the wind-
turbine generator, and the second term is also proportional to
0 −1
the quadrature filtered voltage J · Vαβ,f r
, with J = ,
1 0
in order to control the reactive power.
r
Otherwise, the first term of the reference current Iαβ,ref
is equal to Pref /|Vαβ,f |, and its direction is the same as the
r r
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PORTILLO et al.: MODELING STRATEGY FOR THREE-LEVEL CONVERTERS APPLIED TO WIND TURBINES 1489
Fig. 13. Effects of voltage dip down to 15% of voltage nominal value on
rectifier-side currents.
Fig. 12. Effects of voltage dip down to 15% of voltage nominal value on
inverter-side currents.
Fig. 14. Effect of voltage dip down to 15% of voltage nominal value on
cited previously. This experimental test bench is being adapted (a) dc-link voltage and (b) generated active power.
in order to carry out grid-disturbance tests, as dip downs of the
ac voltages in the near future. The simulation results presented
in this paper are focused in the response of the power converter, and how they increase their peak values up to 1000 A during 2 s;
which rides through a dip down to 15% of the voltage nominal and after that time, they recover nominal values. This behavior
value. These results have been obtained using electrical circuit is related with the control strategy providing the maximum
software simulation package (EMTDC/PSCAD). Fig. 11 shows power compatible with the absolute maximum current limits
the grid disturbance analyzed in these simulations (dip down to on the inverter semiconductors. The evolution for the rectifier-
15% of the nominal value). side currents is quite different. The control strategy proposed
The following conditions have been considered in the for that side acts decreasing the rectifier current reference to
simulations: nominal power—3 MW, switching frequency— keep the power injected to the dc link at a value that the inverter
2.5 kHz, reference voltage of the dc link—5 kV, and grid line can flow out to the grid (Fig. 13).
voltage—2.6 kV. Fig. 14 shows the transient response of the dc-link voltage
The results have been carried out to analyze the performance for the dip down considered in that analysis. It can be observed
of the three-level back-to-back converter, which rides through that there is an overshoot of that dc voltage up to 5.3 kV;
the dip down shown in Fig. 7 and the control strategy proposed after that, it recovers the nominal value with a settling time of
to maintain the system connected to the grid. approximately 1.5 s. In the same figure, it can also be observed
In Fig. 12, the effects of the voltage dip down to 15% of the the evolution of the generated power by the wind turbine during
voltage nominal value on the inverter-side currents are shown. the dip down. Instantaneously, the generated active power value
We can observe the transient response of the inverter currents decreases, but it recovers its nominal value since the control
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1490 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 53, NO. 5, OCTOBER 2006
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level inverter,” Proc. Inst. Electr. Eng.—Elect. Power Appl., vol. 142, Ramón C. Portillo (S’05) was born in Seville,
no. 6, pp. 390–396, Nov. 1995. Spain, in 1974. He received the Ingeniero Industrial
[10] N. Celanovic and D. Boroyevich, “A fast space-vector modulation al- degree from the University of Seville, Seville, in
gorithm for multilevel three-phase converters,” IEEE Trans. Ind. Appl., 2002, where he is currently working toward the Ph.D.
vol. 37, no. 2, pp. 637–641, Mar. 2001. degree in electrical engineering.
[11] M. M. Prats, J. M. Carrasco, and L. G. Franquelo, “Effective algorithm for In 2001, he joined the Power Electronics Group,
multilevel converter with very low computational cost,” Electron. Lett., University of Seville, working in I+D projects. Since
vol. 38, no. 22, pp. 1398–1400, Oct. 2002. 2002, he has been an Associate Professor with
[12] M. P. Kazmierkowski and L. Malesani, “Current control techniques for the Department of Electronic Engineering, Seville
three-phase voltage source PWM converters: A survey,” IEEE Trans. Ind. University. His research interests include electronic
Electron., vol. 45, no. 5, pp. 691–703, Oct. 1998. power systems applied to energy conditioning and
[13] R. Zhang, V. H. Prasad, D. Boroyevich, and F. C. Lee, “Three-dimensional generation, the power quality in renewable generation plants, applications of
space vector modulation for four-leg voltage-source converters,” IEEE fuzzy systems in industry and wind farms, and modeling and control of power
Trans. Power Electron., vol. 17, no. 3, pp. 314–326, May 2002. electronic converters and industrial drives.
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PORTILLO et al.: MODELING STRATEGY FOR THREE-LEVEL CONVERTERS APPLIED TO WIND TURBINES 1491
MaÁngeles Martín Prats (M’04) was born in Juan M. Carrasco (M’97) was born in San Roque,
Seville, Spain, in 1971. She received the Licenciado Spain. He received the M.Eng. and Dr.Eng. degrees
and Doctor degrees from the University of Seville, in industrial engineering from Seville University,
Seville, in 1996 and 2003, respectively, both in Seville, Spain, in 1989 and 1992, respectively.
physics. From 1990 to 1995, he was an Assistant Professor,
In 1996, she joined the spanish Aerospatial Tech- and, currently, he is an Associate Professor with
nical National Institute (INTA), where she was work- the Department of Electronic Engineering, Seville
ing in the Renewable Energy Department. In 1998, University. He has been working for several years
she joined the Department of Electrical Engineer- in the power electronic field where he was involved
ing, University of Huelva, Spain. Since 2000, she in industrial application for the design and devel-
has been an Assistant Professor with the Electronic opment of power converters applied to renewable
Engineering Department, University of Seville. Her research interests include energy technologies. His current research interests include distributed power
multilevel converters and fuel-cell power conditioner systems. She is involved generation and the integration of renewable energy sources.
in industrial application for the design and development of power converters
applied to renewable energy technologies.
Juan Antonio Sánchez received the degree from the Leopoldo Garcia Franquelo (M’85–SM’96–F’05)
School of Engineering, University of Seville, Seville, received the Ing. and Dr.Ing. Industrial degrees from
Spain, in 2001. Seville University, Seville, Spain, in 1977 and 1980,
He is currently an Assistant Professor with the respectively.
University of Seville, where he is working on his He is currently a Professor with the Department of
doctoral thesis on grid power quality. His research Electronics Engineering, Seville University. His cur-
interests include power active filters, power control, rent research interests include industrial applications
and wind turbines. He is currently involved in related of electronics power converters.
industrial projects, such as power conditioners for
fuel cells and photovoltaic plants.
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