HYDG13952
HYDG13952
HYDG13952
A DISSERTATION
Submitted in partial fulfillment of the
requirements for the award of the degree
of
MASTER OF TECHNOLOGY
in
ALTERNATE HYDRO ENERGY SYSTEMS
SANJAX KUMARYADAV
I hereby certify that the work which is being presented in this dissertation,
Roorkee is an authentic record of my own work carried out during the period from Oct.
2007 to June 2008 under the supervision of Shri. S. N. Singh, Senior Scientific
Officer and Dr. R. P. Saini, Associate Professor, Alternate Hydro Energy Center,
I have not submitted the matter embodied in this dissertation for award of any other.
degree.
This is certified that the above statement made by the candidate is correct to the
best of my knowledge.
Senior Scientific Officer and Dr. R.P.Saini, Associate professor, Alternate Hydro
Energy Center, Indian Institute of Technology, Roorkee for their kind cooperation,
I also express my heart felt gratitude to Shri Arun Kumar, Head, Alternate
Hydro Energy Center, Indian Institute of Technology, Roorkee for his motivation
I am also grateful to all faculty members and staff of Alternate Hydro Energy
I extend my thanks to all classmates who have given their full cooperation and
Last but not the least, I would like to express my humble respect and special
thanks to my parents & others who directly or indirectly helped me during the
Wind power is the world's fastest growing energy sources. There are many
thousands of wind turbines operating, with a total capacity 94,123 MW of which India
account for 8000 MW with an annual growth of 27%. In recent years Wind energy
wind power into electricity grid. Wind energy conversion systems become a focal point
in the research of renewable energy sources. Most of the existing large systems are
built or planned to run at constant speed in synchronization with a utility grid. The
transition from fixed speed to variable speed wind turbines has been a significant
improvement in this technology. Doubly fed induction generator wind turbines are
largely developed due to their variable speed feature. The response of wind turbine to
grid disturbance is an important issue, especially since the rated power of the wind
generator and doubly fed induction generator during wind speed fluctuation and grid
disturbance are studied. MATLAB/Simulink software has been used to observe the
characteristics of wind turbines during wind speed fluctuation and during fault on
network. Simulation results show that fixed speed induction generator wind turbine
system will provide fluctuation in generated voltage as well as generated power as wind
speed varies also this system shows poor system stability during system disturbances.
Whereas doubly fed induction generator wind turbine system shows improved system
stability during wind speed variation and power system disturbances. Power electronics
converters used in DFIG system is the most sensitive parts of the variable speed wind
DFIG system is equipped with over current and DC voltage overload protection system
iv
CONTENTS
CANDIDATE DECLARATION i
ACKNOWLEDGEMENT ii
ABSTRACT iii
CONTENTS v
1.1 General 1
u
1.5 Objective of Study 25
3.1 Ganeral 37
VI
CHAPTER 5: COMPARISON OF FSIG AND DFIG DURING POWER
SYSTEM DISTURBANCES 70
SYSTEMS 80.
7.1 Conclusion 92
7.2 Recommendation 94
REFERENCES 95
vii
LIST OF FIGURES
Fig: 2.1 Fixed speed wind turbine equipped with induction generator 28
Fig: 2.2 Variable speed wind turbine with full rated converter connected
induction generator 31
Fig: 2.3 Active and reactive power flow in full rated converter connected
induction generator 32
Fig: 2.5 Active and Reactive power flow in DFIG with regard to
speed regimes 35
Fig: 3.1 The wind turbine and Fixed Speed Induction Generator System 38
Fig: 3.3 The wind turbine and Doubly Fed Induction Generator System 39
viii
Fig: 3.8 V-I Characteristics 46
Fig: 4.2 (a) Characteristics of FSIG wind turbine system for constant
wind speed 52
Fig: 4.2 (b) Characteristics of FSIG wind turbine system for constant
wind speed 53
Fig: 4.3 (a) Characteristics of FSIG wind turbine system for step increase in
wind speed 54
Fig: 4.3 (b) Characteristics of FSIG wind turbine system for step increase in
wind speed 55
Fig: 4.4 (a) Characteristics of FSIG wind turbine system for noise component
in wind speed 56
Fig: 4.4 (b) Characteristics of FSIG wind turbine system for noise component
in wind speed 57
ix
Fig: 4.6 Rotor speed and rotor voltage for operation in sub-synchronous
Fig: 4.7 Rotor speed and rotor voltage for operation up to speed limits 61
Fig: 4.9 (a) Characteristics of DFIG wind turbine system for constant
wind speed 63
Fig: 4.9 (b) Characteristics of DFIG wind turbine system for constant
wind speed 64
Fig: 4.10 (a) Characteristics of DFIG wind turbine system for step increase
in wind speed 65
Fig: 4.10 (b) Characteristics of DFIG wind turbine system for step increase
in wind speed 66
Fig: 4.11 (a) Characteristics of DFIG wind turbine system for noise component
in wind speed 67
Fig: 4.11 (b) Characteristics of DFIG wind turbine system for noise component
in wind speed 68
Fig: 5.2 Rotor speed and generated voltage of FSIG wind turbine system
x
during fault (Connected to weak network) 72
Fig: 5.3 Rotor speed and generated voltage of FSIG wind turbine system
Fig: 5.4 Rotor speed and generated voltage of FSIG wind turbine system
duration) 74
Fig: 5.6 Rotor current and generated voltage of DFIG wind turbine system
Fig: 5.7 Rotor current and generated voltage of DFIG wind turbine system
during fault 79
xi
Fig: 6.6 Stator active power 85
Fig: 6.11 Stator active power after fault (without disconnection of generator) 89
Fig: 6.14 Stator active power after fault, with disconnection of generator. 91
xii
LIST OF TABLES
there function 7
Table 4.5 Power generated by FSIG and DFIG wind turbine system 68
LIST OF ABBREVIATION
BC Before Christ
AC Alternating current
DC Direct current
kW Kilowatt
MW Megawatt
LS Low speed
HS High speed
xiv
WT-FSIG Wind Turbine Fixed Speed Induction Generator
PI Proportional Integral
V Volt
kV Kilovolt
km Kilometer
Hz Hertz
Pu Perunit
µs micro second
deg. Degree
sec Seconds
xv
CHAPTER 1
1.1 GENERAL
growth. The production and consumption of energy is often linked to other major issues
natural gas) and renewable (solar, wind, small hydro) sources. Most of the developing
nations are poor in conventional fossil fuel resources and have to import them at the
.expense of their foreign exchange reserves. The reserves of fossil fuel such as coal, oil
and gas are continuously depleting due to large scale exploitation. Due to constant
increase in the price of fossil fuel and its consequent effect on the environment and
ecology there is a consciousness all over the world of the importance for power
sources are indigenous and can help reducing dependency on fossil fuels. Renewable
energy also provides national energy security at a time when decreasing global reserves
of fossil fuel threatens the long term sustainability of the Indian economy. Renewable
Out of all renewable energy sources, wind energy is the most promising due to
its cost effectiveness and environmental friendly nature. No other renewable energy
based electricity producing technology has attained the same level of maturity as wind
power. There are no major technical barriers to large scale penetration of wind power.
During the last decade, wind energy. -is developed and extended to industrial use in
some European countries including Germany, Denmark and Spain. Their success in
wind energy generation has encouraged other countries to consider wind energy also in
their electricity generation systems. Its clean, economic, practical and renewable
interaction with the environment soon draws attention from political, business circles
and individuals.
In recent years, following the oil crisis of 1973, some researches and power
engineers focused their attention on the economical utilization of wind energy. Modern
stronger demand for reducing pollution and improving the environment. Electricity
producing wind turbines are today the largest source of environmental friendly energy
production as they have gained the largest power efficiency compared to other forms
using natural free-of-charge energy sources such as tidal, wave and sun.
The power of the wind has been utilized for at least 3000 years. Wind energy
first used for boat navigation on the Nile River 5000 BC: During the same period,
windmills pumped water in China. The first written information on wind turbines is
based on a simple structural horizontal axis wind turbine during the region of
Alexander the Great. It is known that the Persians used vertical axis wind turbines
Windmills are introduced to the western world at the beginning of the 12th
century from Islamic world. In 1891, the Dane, Poul LaCour built the first wind-turbine
rj
generated electricity. Danish engineers improved the technology during the World wars
I and II and used the technology to overcome energy shortages. Since then, there have
The power in the wind can be computed by using the concept of kinetics. The
wind mill works on the principle of converting kinetic energy of wind to mechanical
energy. The power is equal to energy per unit time. The energy available is the kinetic
energy of the wind. The kinetic energy of any particle is equal to one half its mass
I
times the square of its velocity, .or mV z . The amount of air passing in unit time,
m = pAV (1)
Substituting the value of the mass in the expression for the kinetic energy, we obtain
For circular area of diameter D (m) in horizontal axis aero turbine the area
A = f D2
4 (3)
3
Therefore available wind power P = 2 p 4 D ZV 3 watts (4)
In practice the actual output will be smaller than that represented by equation (4) due to
inability of rotor to convert the entire kinetic energy, available in the wind. This is
maximum value at the design wind speed. The power coefficient C, gives the fraction
There are many thousands of wind turbines operating, with a total capacity of
94,123 MW of which Germany accounts for 23.6 %. Germany, Spain, the United State,
India, and Denmark have made the largest investments in wind generated electricity.
1 Germany 22,247
2 US 16,818
3 Spain 15,145
4 India 8,000
5 China 6,050
6 Denmark 3,125
7 Italy 2,726
4
8 France 2,454
9 UK 2,389
10 Portugal 2,150
12 Total 94,123
The worldwide installed capacity of wind power reached 94,123 MW. Germany
(22,247 MW), USA (16,828 MW) and Spain (15,145 MW) are ahead of India (8000
MW) in fourth position [1]. Total installed wind power capacity in India is given in
Table1.2.
Wind power is the world's fastest growing energy sources with a growth at an
annual rate in excess of 30% and a foreseeable penetration of 12% of global electricity
demand by 2020 [2]. This important growth has been achieved by concentrating on the
manufacturing and erection of cost effective and reliable wind system for various
applications.
5
Table 1.2 Installed wind power capacity in India [1]
2 Maharashtra 1484.9
4 Karnataka 849.4
5 Gujarat 700.1
8 Kerala 12.5
9 Others 346.1
10 Total 8,000
Wind Energy Conversion Systems (WECS) convert the energy in moving air
(the wind) to electrical energy. The basic idea is quite simple and has been around for
centuries the wind strikes some sort of set of blades mounted on a shaft that is free to
rotate. The wind hitting the blades generates a force that turns the shaft, and this
rotational kinetic energy may then be used for any of a number of purposes
stones, to name a few). Table 1.3 shows the components of wind turbine system.
0
Table 1.3 Components of Wind Energy Conversion System and there function [3]
Component Function
Hub Supports blades and converts, physical motion into rotary movement
of shaft
Shaft Supports the rotor and transmits rotary motion to gear box
Gearbox Convert low rpm of shaft to match the higher generator rpm
Brake Consist of discs, calipers, and hydraulic system. Allows or stop the
shaft motion
Nacelle base Consists if steel frame which supports various components as bearing
and cover housing, gearbox, generator, yaw motor, etc. Cover protects these
components from vagaries of weather such as heat, dust and rain
Tower Takes the machine above the ground level for better and uniform
winds and also for safety from rotor
Controller Start up, display and monitor of parameter, operation, stoppage and,
protection of machine
In a `NECS, the rotating shaft turns an electric generator that converts the
7
between turbine and generator and a controller to control the operation of generator and
turbine. The schematic of basic components of a wind — electric conversion system are
shown in Fig. 1.1. Wind energy conversion systems have become a focal point in the
research of renewable energy sources. Many in the electric utility business are
capacity expansion in the face of high electricity demands and growing uncertainties in
WIND DIRECTION
(YAW CONTROL)
MECHANICAL INTERFACE
CONTROL w
WlN6 SPEED PITCH CONTROL SIGNAL CONTROL
SIGNAL GENERATOR
SPEED TEMPERATURE
AND TOROUS
CONTROLLER
OUTPUT
characteristics can be controllable, and therefore such machines can be used to supply
reactive power to other items of power systems that require reactive power.
8
Synchronous generators, when fitted to a wind turbine, must be controlled carefully to
prevent the rotor speed accelerating through synchronous speed especially during
particularly in smaller size ranges. Synchronous generators are more prone to failures
[5].
ruggedness, brushless (in squirrel cage construction), reduced size, absence of separate
DC source and ease of maintenance, self-protection against severe overloads and short
circuits are the main advantages. Further, induction generators are loosely coupled
devices, i.e. they are heavily damped and, therefore, have the ability to absorb slight
changes in rotor speed, and drive train transients to some extent, can, therefore, be
absorbed, whereas synchronous generators are closely coupled devices and when used
in wind turbines, are subjected to turbulence and require additional damping devices,
such as flexible couplings in the drive train or mounting the gearbox assembly on
springs and dampers. Reactive power consumption and poor voltage regulation under
varying speed are the major drawbacks of the induction generators, but the
development of static power converters has facilitated control of the output of voltage
of the induction generator, within limits. The major part of the wind turbine concepts
are today induction generator based. This implies that an induction generator is applied
to convert the mechanical power of the rotor into active electrical power supplied to the
V]
The most important parameter that will influence the feasibility of WECS is the
amount of wind energy available at potential sites: However, the total annual energy
output and the timing of the electricity production depend on the WECS design for
which variable shaft speed and constant shaft speed operations are two major
possibilities. Most of the existing large systems are built or planned to run at constant
speed in synchronization with a utility grid. However, since the generator is made to
run at a constant speed in spite of fluctuation in wind speed, it will results in fluctuation
of generated voltage as well as output power. Also it cannot optimally use the available
wind power due to constant speed operation. In order to withdraw as much energy as
possible from the often strongly fluctuating wind, the WECS should be able to follow
these variations so that maximum power can be obtained for most of the time. This is
especially important at lower wind speeds which occur frequently. For this purpose
variable speed systems are used. In these systems, the turbine is allowed to rotate at
different speeds with the varying wind speed. It is usually desired to ensure optimum
power transfer. Maximum power is achieved by ensuring operation where the turbine is
most efficient.
electronic convertor must be used to connect the constant frequency grid. The power
converter size in the above system can be reduced by using it on the rotor side of a
wound rotor induction generator. The generator rotor is connected to the power grid
other. This arrangement is called Double Fed Induction Generator (DFIG). The power
convertor consist is now connected between rotor and grid, so it needs to carry only the
slip power, the magnitude of which will be machine slip times the stator power. Hence
10
The major advantage of DFIG system, which has made it popular, is that the
power electronic equipment only has to handle a fraction of the total system power.
This means that the losses in the power electronic equipment can be reduce in
comparison to power electronic equipment that has to handle total system power as for
advantages of variable speed operation of wind turbine are possibility to reduce stresses
of mechanical structure, acoustic noise reduction and possibility to control active and
reactive power.
Literature review has revealed that a lot of work has been reported on doubly
fed induction generator for wind power generation. It is beyond the scope of this
literature presented.
generator was started in late seventies after the oil crisis faced worldwide. It was
realized that fossil fuel would be exhausted completely after certain period of time and
degradation such as global warming. Hence, the greater emphasis was laid on the
efficient utilization of fossil fuel reserves and on exploring the renewable energy
sources for electricity generation. Wind had been identified as the potential source for
electric power generation and induction generator had been used for efficient
11
A fixed speed system, even though more simple and reliable, severely limits the
a
energy output of a wind turbine. Since there was no torque control loop, fluctuations in
generated power are more. In order to withdraw as much energy as possible from the
strongly fluctuating wind, the WECS should be able to follow these variations so that
maximum power can be obtained for most of the time hence variable speed WECS
were proposed. Synchronous as well as induction generator can be used for variable
speed generation The major advantage of synchronous generator was that its reactive
power characteristic can be controlled, and therefore such machines can be used to
supply reactive power to other items of power systems that require reactive power [5].
An induction generator requires reactive power but offers many advantages over
squirrel cage construction), reduced size, absence, of separate DC source and ease of
maintenance, self-protection against severe overloads and short circuits are the main
advantages. Further, induction generators were loosely coupled devices, i.e. they were
heavily damped and, therefore, have the ability to absorb slight changes in rotor speed,
and drive train transients to some extent, can, therefore, be absorbed, whereas
synchronous generators were closely coupled devices and when used in wind turbines,
are subjected to turbulence and require additional damping devices, such as flexible
couplings in the drive train or mounting the gearbox assembly on springs and dampers
[5].
controlled from the rotor side was compared with both fixed speed and variable speed
systems using cage rotor induction machine and it was concluded from this
comparative study that a variable speed system using wound rotor induction machine
12
was superior because of higher energy output, lower rating (hence, lower cost) of
converters, and better utilization of a generator when compared to the existing systems
using a cage rotor induction machine. In this case, the rated torque was maintained even
at super synchronous speeds whereas, in a system using cage rotor machine, field
torque. It was therefore possible to operate the proposed system up to higher wind
velocities. The voltage rating of the power devices and do bus capacitor was
substantially reduced. The size of the line side inductor also decreased [7].
Reactive power consumption and poor voltage regulation under varying speed
were the major drawbacks of the induction generators, but the development of static
power converters had facilitated control of the output of voltage of the induction
generator, within limits [5]. The silicon controlled rectifiers (SCR) due to their fast
using induction generator. The exhaustive research and development on the power
generation, from wind resources through different schemes using SCR's, had resulted
in significant progress in the wind energy electric system for supplying isolated load as
well as grid connected. An extensive research and development activity had been going
on since 1973 on the development, manufacturing and erection of cost effective wind
power to constant frequency grid. Since the power converter had to convert all the
stator power, the converter size depends on the stator power ratings. Using it on the
rotor side of a wound rotor induction generator i.e. by use of doubly fed induction
generator can reduce the power converter size in the above system. DFIG machine had
13
a number of advantages over the induction generator. The DFIG machine had a number
of advantages over the induction generator. Because the rotor frequency was essentially
decoupled from the grid, it can operate over a wider slip range (e.g. +/- 20%) compared
to 0 to 2% for a conventional induction machine [8]. Also the DFIG can therefore
manage active and reactive power independently by controls on the grid and rotor side
converters. The reactive power was created by the rotor side converter by the firing
angle and thus the field angle relative to the rotating field in the stator. The stator
converter to or from the rotor was about 25% of the total output power of the generator.
Variable shaft speed schemes employing induction generators had been studied
aspects of the findings. It was shown that a wound rotor induction machine can be used
to obtain a good quality constant frequency, constant voltage supply from a variable
shaft speed turbine for both autonomous and grid connected applications. The results
show that approximately 10% higher energy output can be obtained from a squirrel
cage induction generator driven by a variable shaft speed turbine than from a
synchronous generator driven at a constant speed. For the specific site consideration it
was found that as much as 40% more of the wind energy can be captured by a variable
speed system [9]. The doubly fed induction machine received the attention of many
authors concerning its behavior. This interest was produced from requests for more
efficient and reliable industrial drives systems as well as for application in wind power
generation unit employing doubly fed induction generators. This new application
14
requires the continuous improvement of the analytical and numerical methods which
M. G. Ioannides present a paper on new state variable model for the doubly fed
induction machine in terms of displacement of both stator and rotor voltage magnitudes
and phase angle [10]. Beginning from the liberalized complex variable equations
describing small signal dynamic performance, the state variables model in terms of
magnitude and angle of both stator and rotor voltage was deduced, solved and compare
to the d-q model. The coincidence of response of both models was found. The study of
dynamic stability shows that the regions of instability were influenced by the variations
of speed, of rms value and of phase angle of rotor applied voltage. The transfer function
relates the variation of electromagnetic torque and speed to the variation of each of the
stator and rotor voltages and to load torque were' deduced from this state variable
formulation.
Modeling and output power optimization of a wind turbine driven double output
Eskandarzadeh and H. Ince. [11]. A double output induction generator driven by wind
turbine was studied. The reference frame model of the system including a fully
controlled rectifier on the rotor side was derived. Based on this model, the steady state
equations were obtained in terms of the stator and rotor currents, rotor voltage and slip.
These equations were solved both with a model of a wind turbine and that of. a DC
motor driving the double output induction generator. The results were compared with
condition of transferring maximum power from the wind turbine to the grid system, and
was shown that using a double output induction generator in either sub synchronous or
15
in a wide range of wind speeds without exceeding the rating of the induction generator
[11].
power for a doubly excited induction machine using position sensor less scheme was
proposed by Longya Xu,,, and Wei Cheng [12]. The critical issues related to the torque
angle estimation and control for a doubly excited induction machine was discussed.
Compared to the other position sensor less schemes for doubly fed machine, the
proposed control method uses only the rotor voltages and currents as the feedback
signals, which substantially reduces the costs and enhances the reliability of the
position sensor less control of a doubly fed ac machine. The theoretical results were
verified by computer simulation and lab experiments and concluded that for torque
angle estimation in a position sensor less scheme, information related to both torque
(active power) and reactive power must be used to uniquely determine the torque angle.
The estimation was independent to the selection of reference frames, and to the rotor or
stator circuits. Torque angle control technique could be used to replace rotor position
control of the reactive power could also be achieved by the position sensor less control
scheme.
The doubly fed induction machine using an AC-AC converter in the rotor
circuit (Scherbius drive) had long been a standard drive option for high-power
applications involving a limited speed range. The power converter need only be rated to
handle the rotor power. Vector-control techniques for the independent control of torque
and rotor excitation current were well known. Wind-energy generation was regarded as
a natural application for the Scherbius DFIG system, since the speed range (from cut-in
to rated wind velocity) may be considered restricted. Most Scherbius DFIG systems
16
reported employ either a current-fed (naturally commutated) DC-Link converter [13,
14, and 15] or cycloconverter in the rotor circuit. The use of a current-fed DC-link
converter had a number of disadvantages: the DC-link choke was expensive, and an
extra commutation circuit was required for operation at synchronous speed (which lies
within the operational speed range), and this had resulted in poor performance at low
slip speeds. In addition, such a converter drawed rectangular current waveforms from
the supply.
Both of these schemes had the disadvantage of requiring a transformer to form the
many cases, require a transformer for voltage matching. The disadvantages of the
connected back-to-back in the rotor circuit. Doubly fed induction generator using
generation was presented by R. Pena, J.C. Clare and G. M. Asher [16]. The engineering
and design aspects of a DFIG working with a Scherbius scheme, consisting of two
controlled system had been described, and the fundamental operational advantages
have been verified. These include the smooth operation through synchronous speed,
low distortion currents fed to the supply and the ability to control the system power
factor. Vector-control techniques have been applied to both converters. The vector
control for the machine had been embedded in an optimal tracking controller for
maximum energy capture in a wind energy application. Two such tracking schemes
17
have been described, and experimentally implemented, and the superiority of speed-
mode control for dynamic speed performance has been shown. This scheme employed
a torque observer, which also allows for simple implementation of stall regulation to
controlling the power flow of the system to match the maximum power coefficient of a
wind turbine for standard operating ranges. This control did not require sophisticated
algorithms as do other variable speed control Schemes and can be implemented using a
standard induction motor and drive with a minimum of sensors. Simulation and
experimental results in a small system show the control is capable of shaping the power
to match the maximum Cp operating condition and place limits on the speed and
power. Simulation results of a full scale system show similar results with a considerable
increase in total energy generated when compared to constant speed systems. When
compared with other variable speed systems this control caused fewer power
Connected Wind Turbine with Doubly Fed Induction Generator during Disturbances
and concluded that Wind power generation with DFIG provides better performance for
terminal voltage recovery after fault clearance owing to its ability to control reactive
power. However DFIG was sensitive to severe voltage dips that result in an. excessive
stator and rotor current, which leads to the rotor converter being, blocked [18]. Early
wind farms employed simple squirrel cage induction generators that operate at a speed
18
fixed speed induction generator (FSIG). While it can be shown that such FSIG-based
wind farms can provide a contribution to network damping, their ability to survive
network faults is poor. F. Michael Hughes, Olimpo Anaya-Lara, Nicholas Jenkins, and
Goran Strbac proposed a Power System Stabilizer for DFIG-Based Wind Generation.
The proposed PSS had been shown to provide a DFIG-based wind farm with a
consistently enhanced contribution to network damping over the full operating slip
range envisaged for a DFIG. This range covers both the sub-synchronous and super-
Wind energy was often installed in rural, remote areas characterized by weak,
phase stator voltages cause a number of problems, such as over current, unbalanced
currents, reactive power pulsations, and stress on the mechanical components from
generators are switched out of the network. This can further weaken the grid. In doubly
fed induction generators (DFIGs), control of the rotor currents allows for adjustable
speed operation and reactive power control. A control methodology for the operation of
DFIGs with unbalanced stator voltages was presented by Ted K. A. Brekken and Ned
Mohan Simulation and hardware testing have shown that the control was simple to
implement and very effective at compensating for the torque pulsations, reactive power
pulsations, and unbalanced stator current that normally occur when stator voltage was
unbalanced. This greatly reduces the wear on the mechanical components, such as the
shaft, gear box, and blade assembly, and also improves the quality of the power fed into
the grid. The presented control topology allows the generator to tolerate a much larger
stator-voltage unbalance than was acceptable with standard controllers [20]. Modeling
of wind turbine with a doubly fed induction generator for grid integration was also
19
presented by Yazhou Lei,Alan Mullane ,Gordon Lighbody and Robert Yacamini [21].
In this they developed a simple DFIG wind turbine model in which the power converter
was simulated as a controlled voltage source, regulating the rotor current to meet the
command of real and reactive power production. The model was simulated on the
Adjustable speed will improve the system efficiency since the turbine speed can
Hans Overseth Rostoen, Tore M. Undeland and Terje Gjengedal to develop decoupled
Gjengedal proposed the control of a wind turbine with a doubly fed induction generator
after transient failures [23]. In this the stability problems were pointed out and there
are also many papers describing control strategies for wind turbines equipped with
doubly fed induction generators. This paper focuses on stability after a transient failure
for wind turbines equipped with a doubly fed induction machine, some of the proposed
control solutions are tested in PSCAD/EMTDC. The size of the dc-link capacitance and
the control strategy of the grid connected converter affect the qualities of the total
DFIG system. Using a flux controller make the DFIG robust against voltage drops. It
also damps the torque oscillation rapidly, and therefore could increase the lifetime of
Modeling and real time simulation of a generic wind turbine doubly fed
20
was used to develop the wind turbine DFIG model. The generated code of the simulink
model is linked to the Hypersim digital real time simulator in order to simulate the
system together with the wind turbine [24]. The case study illustrates three 750 MW
wind farms connected to a transmission system with a total of 25000 MVA of hydro
power generation. Each wind farm was simulated by a single wind turbine block with
the appropriate ratings of generator (835 MVA), turbine (750 MW) and converter (375
MVA). The capacitance value of the DC link is related to the WT-DFIG (wind turbine
doubly fed induction generator) rating and to the DC link nominal voltage. Results
shows that DC bus voltages of the wind turbines are strongly affected by the fault even
if this one is far from the wind farms. This suggests that nearby faults should be
simulated to study their impacts on the wind farms and also on the power system.
[25]. In this a variable speed device to produce electrical energy on a power network,
based on a doubly-fed induction machine used in generating mode (DFIG). This device
was intended to equip nacelles of wind turbines. After a description.of this device and
its connection procedure, they had established a two-phase mathematical model of the
DFIG. In order to control statoric active and reactive power exchanged between the
DFIG and the grid, a vector-control strategy had been presented. Simulations had been
Simulations results had shown that performances are equivalent for the two controllers
under ideal conditions (no perturbations and no parameters variations). The RST
21
controller was more efficient when the speed was suddenly changed (which happens
frequently in wind energy conversion systems) and was more robust under parameters
variations of the DFIG (for example rotoric resistance in our study) [25].
Control of a double Fed Induction generator for wind power plants was
proposed by W.Hofmann A.Thieme. They realized 600 kVA wind power generator
machine. The wind power station was previewed for operation in a net-parallel mode
reference frame. To obtain the maximal power yield a special torque reference curve
has been used for generating the reference values for torque and power-factor control-
loops. The measured results were discussed with regard of the desired adjustment of
power [26].
and N. Jenkins [27]. AC voltage control strategies for a DFIG-based wind farm
application within a transmission system and a distribution system have been presented.
OLTC control had been used to increase the dynamic range of the DFIG in the
transmission case study, where the DFIG was used to provide dynamic reactive power
control and hence voltage controls for a given reference. In the distribution, case study
the DFIG was used to provide dynamic reactive power control and hence voltage
control and an On-load tap changers (OLTC) is also used for steady state voltage
control for a given reference. Both strategies provide for a co-ordinated AC voltage
control system within a given network. Dynamic models of the DFIG and the voltage
source converters had been developed and simulation results have been presented to
22
confirm the effectiveness of the two strategies within the transmission and distribution
system implementations.
Vector control of a doubly fed induction generator drive for variable speed wind
wound rotor induction machine with back-to-back three phase power converter bridges
between its rotor and the grid forms the electrical system. The control scheme used
stator flux-oriented control for the rotor side converter bridge control and grid voltage
vector control for the grid side converter bridge. A complete simulation model was
developed for the control of the active and reactive powers of the doubly fed generator
under variable speed operation. Several studies were performed to test its operation
under different wind conditions. A laboratory test setup consisting of a wound rotor
induction machine driven by a variable speed dc motor was used to validate the
software simulations. The results obtained from the laboratory setup have shown that
the real power output of the induction generator can be varied by controlling the power
handled at the rotor. This factor was helpful in optimally trapping the maximum
amount of wind energy available in an efficient manner. Moreover, the power factor
and hence the reactive power of the machine can be controlled. Near unity power
factors have been achieved. The sub- and super-synchronous modes of operation could
ranges. The laboratory results also validate the results obtained from the software
simulations [6].
M. Deicke and Rik W De Doncker. Measurements were made on a wind turbine system
having a double fed generator of 1.5 MW and rated speed of 1,800 rpm. A dynamic
model of the DFIG was derived to develop a vector controller to decouple dynamically
23
active and reactive power control. Simulation shows excellent response of the DFIG
power system dynamic simulation software was discussed, and the• steady state
equivalent circuit and reduced order dynamic DFIG models are described by L.
Holdsworth, X.G. Wu, J.B. Ekanayake and N. Jenkins[29]. A direct solution method
for obtaining injected rotor voltages, which satisfy the dynamic model control
objectives, was derived from the approximate steady state model. An initialization
procedure was given for the reduced order dynamic DF1G machine model. Simulation
results are presented from initialised dynamic DFIG wind turbine models. PQ and PV
bus representations of the DFIG for load flow studies are compared and simulated with
typical turbine and network data for wind farm installations. A case study based on an
operating wind farm was used to investigate the integration of a DFIG wind turbine
model into a commercial dynamic simulation package. As the procedure for starting
power system dynamic simulation packages is the solution of a network load how
calculation, the DFIG model required suitable representation. Depending on the applied
power factor or terminal voltage control, the DFIG model was represented by either a
PQ or PV bus. Using winter and summer loads the network voltage profiles and
illustrate that controlling the power factor at the wind farm to unity results in limited
voltage support for the connecting network and may lead to unacceptable network
voltage profiles.
With the rising penetration of wind power into electricity networks, increasingly
comprehensive studies are required to identify the interaction between the wind farm
24
and the power system. These require accurate models of doubly fed induction generator
wind turbines and their associated control and protection circuits. A dynamic model has
been derived by L. Holdsworth, X.G. Wu, J.B. Ekanayake and N. Jenkins [30]. The
model can be used to simulate the DFIG wind turbine using a single-cage and double-
cage representation of the generator rotor, as well as a representation of its control and
protection circuits. The model was suitable for use in transient stability programs that
can be used to investigate large power systems. The behavior of a wind farm and the
network under various system disturbances was studied using this dynamic model. The
influence of the DFIG control on the stability of the wind farm was also investigated by
considering different control gains and by applying network voltage control through
both stator side and rotor side converters. It was demonstrated that by properly
selecting the proportional gain of the speed and power factor controller, it was possible
1. Study the characteristic of FSIG under various input wind speed conditions.
2. Study the characteristic of DFIG under various input wind speed conditions.
3. Study the comparison of FSIG wind turbine system and DFIG wind turbine
25
4. Analyze the characteristics of DFIG wind turbine system during network
disturbance.
The whole work has been grouped into seven chapters as discussed below:
Chapter 1: Chapter one gives an idea about the wind energy and wind energy
Chapter 2: Second chapter gives the idea about various wind energy system.
Chapter 3: Third chapter gives an idea about FSIG wind turbine system and
Chapter 4: In fourth chapter the analysis of FSIG wind turbine system and
Chapter 5: In fifth chapter the comparison of FSIG and DFIG wind turbine
Chapter 6: In sixth chapter the protection system for DFIG wind turbine
system in presented.
26
CHAPTER 2
The major part of the wind turbine concepts are today induction generator
based. This implies that an Induction Generator is applied to convert the mechanical
power of the rotor into active electrical power supplied to the power grid. Various
concepts are use for wind turbine equipped with induction generators.
The oldest commercial wind turbine concept uses induction generator with a
short circuited rotor circuit. In this concept, the generator rotor is coupled to the wind
turbine rotor through a shaft system, whereas the stator circuit is AC — connected to the
power grid as shown in Fig. 2.1. This is call termed as fixed speed concepts because the
speed in normal operation may only vary with in a narrow range that is normally_up to
2% [31]. This speed range is defined by the electromechanical slip of the induction
coupling between the fluctuating power of the rotor (with a fluctuating rotor speed) and
the electrical power of grid (with a fixed frequency). Fixed speed wind electric
conversion system (WECS) generally use Squirrel cage induction generators as well as
27
In order to operate the fixed speed system at low and high wind speeds
efficiently, pole changing is generally employed. This allows the generator to operate at
generator supplies active power to grid, but absorb reactive power from the grid.
Fig: 2.1 Fixed speed wind turbine equipped with induction generator [31]
Often the fixed speed wind turbines equipped with induction generators are
either no load compensated or fully compensated with the use of capacitor banks. Such
compensation arrangement is applied to reduce the reactive power absorption from the
power grid and to improve the power factor of the wind turbine [31]. The Fixed speed
concept has the major benefit of a very simple construction of the whole wind turbine
with very low investment and maintenance costs. No power converter or complex
controller is needed.
Fixed speed wind turbine are either fixed pitch or with blade angle control.
Fixed pitch wind turbine, are often called stall controlled because there mechanical
power is limited and controlled at the rated power during rated wind condition' due to
the stall effect. This passive stall control is slow, with the blades simply bolted onto the
28
hub at a fixed pitch angle. At a given wind speed, the wind turbine rotor start to stall.
Stall conditions start at the blade root and develop gradually across the whole blade
length as the wind speed increases. The main advantage of this design is that this is a
robust and cheap solution. However the drawbacks of stall control are the relatively low
efficiency at low wind speed, variations in the maximum steady state power caused by
Blade angle control is applied in modern fixed speed wind turbine to improve the
efficiency and to eliminate variations in the maximum steady state power due to
variation in air density. The Blade angle control of wind turbine is usually active stall
which applies operation in the negative range of the pitch angles. The active stall
control is set to optimize power output in wind speeds below the rated wind and to keep
the power output at the rated level (power limiting mode) when the wind speed exceed
the rated level. In power limiting mode, the blades are turned into a deeper stall region
by increasing the angle of attack. The active stall control is characterized by a smooth
limitation of power when the wind speed exceeds the rated wind. The active stall
control contributes to reduction of flicker emission from the wind turbines [31].
induction generator started in Denmark in early 1970s. The rated power of the first
commercial wind turbine was in the range of 20 kW. But by the 1990s, the rated power
The advantage is that a cost effective aerodynamic control like stall control can be
operation.
ME
ii. Since the generator is made to run at a constant speed in spite of fluctuation in
power.
In order to withdraw as much energy as possible from the strongly fluctuating wind,
the WECS should be able to follow these variations so that maximum power can be
obtained for most of the time. This is especially important at lower wind speeds, which
occur frequently. For this purpose variable speed systems are proposed. In these
systems, the turbine is allowed to rotate at different speeds with the varying wind
The use advance control system implies that the induction generator itself can
be used together with the different control systems. The control applied to induction
generators may be set to reduce flicker emission, improve efficiency and power factor,
and control the reactive power. Although the wind turbines are still induction generator
based, the characteristics of the wind turbines using power electronic converters may be
changed drastically when compared to conventional fixed speed wind turbines. The use
of power electronics converters together with induction generator has been a topical
issue in the control of modem wind turbines. Most wind turbines are now variable —
speed wind turbine where the variable speed operation is gained by application of the
30
2.2.1 Induction Generator with full rated converter
In variable speed systems, the turbine rotor absorbs the mechanical power
fluctuations by changing its speed. So the output power curve is smoother which
greatly enhances the quality of power. However since variable speed produces a
variable frequency voltage, a power electronic convertor must be used to connect the
Wind
Fig: 2.2 Variable speed wind turbine with full rated converter connected induction
generator [311
speed operation. In case when synchronous machine and squirrel cage induction
generator are used in variable speed application the stator of machine is connected to
Such wind turbines are variable speed and so the electrical frequency of the network on
the generator side voltage source converter (VSC) must follows the optimized
proportional to the wind turbine rotor speed, COM, and set the generator side converter
according to the reference power the rotor, Pp. The variable speed operation of the
wind turbine and the variable frequency operation of the induction generator are
31
applied to optimize the active power output of the wind turbine. Within the optimized
operation range, e.g. when the electrical frequency is below the rated level, PREF= kf, fE2
The rated frequency is reached when the power output is about 30% of the wind
turbine rating. When the power output exceeds this level, the electric frequency is kept
at the rated value. The generator side VSC also provides excitation of the induction
generator supplies active power to the grid through a back-to-back converter system.
The induction generator is de-coupled from the AC power grid through a DC-link
which is why the generator cannot be excited from the AC power grid. The induction
generator is then excited from generated side converter as shown in Fig: 2.3.
Induction Generator
Active Power
Active Power
SIrnG Powe
Gnd
~
Esailatimt — - -
~G.~
r DC lug
~_.J
DCtAC
TT
Fig: 2.3 Active and reactive power flow in full rated converter connected
This control arrangement requires the generator side converter rating to handle
the active power as well as reactive power absorption of the induction generator. The
induction generator terminal as shown in Fig. 2.3 above. The grid side converter is set
to control the DC-link voltage to balance the power flow from the induction generator
32
to the power grid. The grid side VSC is also set to control the reactive power and
The power converter size in the above system can be reduced by using it on the
rotor side of a wound rotor induction generator. The generator rotor is connected to the
concept from other. This arrangement is called Double Fed Induction Generator
(DFIG). The power convertor consist is now connected between rotor and grid, so it
needs to carry only the slip power, the magnitude of which will be machine slip times
the stator power. Hence convertor size reduced and hence cost. The DFIG is an
interesting solution which offers a reduced rating of converter and has the benefit of
operating the system over a wide speed range (including both sub synchronous and
With increased penetration of wind power into electrical grids, DFIG wind
turbines are largely deployed due to their variable speed feature. The DFIG system
produces electrical power at constant voltage and frequency for a wide range of shaft
speed variations. In DFIG the generator stator is AC connected to the power grid and
the generator rotor is connected to the power grid through an AC/DC/AC frequency
converter as Shown in Fig. 2.4. The frequency converter consist of two back to back
voltage sourced converter (VSC) connected through a DC link. The rotor VSC is
connected to the rotor circuit through slip rings. The grid side converter feeds into the
power grid via a transformer. The frequency converter is required to provide electrical
coupling between the rotor circuit which operated at varying frequency to power grid
33
characterized by a fixed frequency of 50 Hz [31]. The rotor side VSC induced the
voltage vector in the rotor circuit that then has a suitable magnitude and rotates with a
desired (variable) frequency. The rotor speed can be adjusted by the dynamic control of
the rotor VSC. This makes it possible to operate such wind turbine within a wider speed
range. Thus these wind turbines are denoted as variable speed wind turbine.
Wind Turbine
Wind
,r
—0 Gearbox
Smoothing Induction
AC/DC DC link DC/AC
Variable speed wind turbine with DFIG operates in the relative speed range
from - 40% to 15% compared to the synchronous speed. The wider speed ranges offer
better optimization of the power output in wind speeds below the rated level. In such an
optimization mode, the rotor converter causes the generator rotor speed to follow the
optimized speed, optimized to gain the maximum power efficiency at the given wind
speed. In light wind, wind turbine rotor is slow rotating (sub-synchronous range of
speed) whereas, in strong wind, the rotor rotates faster than the synchronous speed
(super synchronous range of speed) which increase the power output of the rotor. Rotor
VSC control is arranged with independent control of active and reactive power. This
implies that generator is not excited from the power grid. The generator is excited from
the rotor circuit with the use of the VSC control. This also means that the generator can
34
be set to control the reactive power and support the grid voltage in undisturbed
operation of the grid. There is therefore no need of capacitor banks for compensation of
such wind turbine equipped with DFIG. The frequency converter rating is only a
fraction of the wind turbine rated power. The frequency converter rating is slightly
above the generated rated power multiplied by the rated generator slip and typically in
operation of the rotor. Active power of the rotor circuit is approximately a product of
generator shaft power and the slip. Active power is then supplied form the rotor circuit
to the power grid in super- synchronous operation, whereas the active power is
absorbed by the rotor circuit from the power grid in sub-synchronous operation. The
active power of the stator is always supplied to the power grid, independent of speed.
Fig. 2.5 shows the active and reactive power flow in a DFIG.
DFIG
atatnr tinaror
Shaft power
ion
DFIG
Shaft power
Supersynchronous Operation
Excitation
Fig: 2.5 Active and Reactive power flow in DFIG with regard to speed regimes
[31]
35
The grid side VSC is set to control the DC link voltage. It has control over the
active and reactive power transfer between the grid and the rotor, while the rotor side
converter is responsible for control of flux, and thus, the stator active and reactive
power.
36
CHAPTER 3
3.1 GANERAL
MATLAB/Simulink software version 7.0.1 is used here for analysis. Fixed speed
induction generator wind turbine system and doubly fed induction generator wind
These models are used for analysis for various conditions and are discussed in this
chapter.
MATLAB/ SimPower System version 7.0.1 is used here for analysis. The wind turbine
fixed speed induction generator (WT-FSIG) is shown in the Fig. 3.1. The stator
winding is connected directly to the grid and the rotor is driven by the wind turbine.
The power captured by the wind turbine is converted into electrical power by the
induction generator and is transmitted to the grid by the stator winding. The pitch angle
is controlled in order to limit the generator output power to its nominal value for high
wind speeds. In order to generate power the induction generator speed must be slightly
above the synchronous speed. But the speed variation is typically so small that the
37
absorbed by the induction generator is provided by the grid or by some devices like
capacitor banks.
angle is kept constant at zero degree when the measured electric output power is under
its nominal value. When it increases above its nominal value the PI controller increases
the pitch angle to bring back the measured power to its nominal value. The control
Tu
-►
-►
-► .phase
Induction
Generator
Pitch Control
Fig: 3.1 The wind turbine Fixed speed induction generator system [32]
P alae + I
Pitch angle
I
Pitch angle
Controller (PI)
00
P ma
c nominal
38
3.1.2 DFIG MODEL
The model of wind turbine Doubly Fed Induction Generator (Phasor type)
available in MATLAB/ SimPower System version 7.0.1 is used here for analysis. The
wind turbine doubly-fed induction generator (WT-DFIG) is shown in the Fig. 3.3. The
AC/DC/AC converter is divided into two components: The rotor-side converter (Crotor)
and the grid-side converter (Cgnd). Crotor and Cjd are Voltage-Sourced Converters that
from a DC voltage source. A capacitor connected on the DC side acts as the DC voltage
source. A coupling inductor L is used to connect Cgr id to the grid. The three-phase rotor
winding is connected to Croton by slip rings and brushes and the three-phase stator
Rotor hhi
-> Drive -'
Wind train Stator i jar i Three phase
Grid
Induction Control
Generator
Pitch angle
Fig: 3.3 The wind turbine and Doubly Fed Induction Generator System [321
The power captured by the wind turbine is converted into electrical power by
the induction generator and it is transmitted to the grid by the stator and the rotor
windings. The control system generates the pitch angle command and the voltage
39
command signals V1 and Vgc for Crotor and Cgrid respectively in order to control the
power of the wind turbine, the DC bus voltage and the reactive power or the voltage at
In the average model power electronic devices are replaced by controlled voltage
sources. Vr and Vge are the control signals for these sources. The DC bus is simulated
computed on the basis of instantaneous power conservation principle: the power that
flows inside the two AC-sides of the converter is equal to the power absorbed by the
DC capacitor. With the average model, the high frequency components of the voltage,
generated by the PWM switching of electronic devices, are not simulated. This allows
to simulate with a relatively large sample time (typically 44 ps), which is about ten-
The power flow, illustrated in Fig. 3.4 is used to describe the operating
principle. Parameters used in this figure are described in Table 3.I. The mechanical
power and the stator electrical power output are computed as follows:
Ps —Tem (s (2)
40
It fallows that:
Qst Ps t
Crotoi
AC . . DC yd AC
Tm col. 2em 2s
— a— III
Pl. 1 gc Tlree-phase
P •+ =. Grid.
m Stator Qr
Qgo
Induction
Generator
Fig: 3.4 Active and reactive power flows in WT-DFIG system 1321
rotor
ws Rotational speed of the magnetic flux in the air gap of the generator.
41
This synchronous speed is
generator poles.
Generally the absolute value of slip is much lower than 1 and, consequently, Pi
positive and constant for a constant frequency grid voltage, the sign of Pr is a function
of the slip sign. Pr is positive for negative slip (speed greater than synchronous speed)
and it is negative for positive slip (speed lower than synchronous speed). For super
synchronous speed operation, Pr is transmitted to DC bus capacitor and tends to rise the
Cgrid is used to generate or absorb the power Pgc in order to keep the DC voltage
constant. In steady-state for a lossless AC/DC/AC converter Pgc is equal to Pr and the
speed of the wind turbine is determined by the power Pr absorbed or generated by Croton
. The power control will be explained below. The phase-sequence of the AC voltage
generated by Croton is positive for sub-synchronous speed and negative for super
synchronous speed. The frequency of this voltage is equal to the product of the grid
frequency and the absolute value of the slip. Crotor and Cgr id have the capability for
generating or absorbing reactive power and could be used to control the reactive power
42
3.1.2.1 Croton Control System
The rotor-side converter is used to control the wind turbine output power and
the voltage measured at the grid terminals. The power is controlled in order to follow a
Ca
C
E
Tracking characteristic
°
C 0.8
0
0- 0.6
Q~
y
- 0.4
0
° 0.2
° B
C
mechanical power of the tracking characteristic is used as the reference power for the
power control loop. The tracking characteristic is defined by four points: A, B, C and
D. From zero speed to speed of point A the reference power is zero. Between point A
and point B the tracking characteristic is a straight line. Between point B and point C
the tracking characteristic is the locus of the maximum power of the turbine (maxima of
the turbine power vs turbine speed curves). The tracking characteristic is a straight line
43
from point C and point D. The power at point D is one per unit (1 p.u.). Beyond point D
The control for rotor side converter and grid side converter is as shown in Fig.
3.6. The generic power control loop is as given in Fig. 3.7. For the rotor-side controller
the d-axis of the rotating reference frame used for d-q transformation is aligned with
air-gap flux. The actual electrical output power, measured at the .grid terminals of the
wind turbine, is added to the total power losses (mechanical and electrical) and is
compared with the reference power obtained from the tracking characteristic. A
proportional-Integral (PI) regulator is used to reduce the power error to zero. The
output of this regulator is the reference rotor current Iqr ref that must be injected in the
rotor by converter Crotor. This is the current component that produces the
electromagnetic torque Tem. The actual Iqr component is, compared to Iqr ref and the
error is reduced to zero by a current regulator (PI). The output of this current controller
is the voltage Vqr generated by Crotar• The current regulator is assisted by feed forward
Is I 1T
-4— -4—
Ir Crotor Cgiid Y c
-f— t i ~g
(01
If
Induction Stator Vr I
Generator
44
The voltage or the reactive power at grid terminals is controlled by the reactive
power generated or absorbed by the converter Crotor. The reactive power is exchanged
between Croton and the grid, through the generator. In the exchange process the
generator absorbs reactive power to supply its mutual and leakage inductances. The
v AC Voltage I V AC Voltage
Measurement J . Reguiator
I I Drcop I '
Qref Idr ref
Xs
~' +T
van Q van
I Mewux-ement Regulator +'
Idr
1Chacte115t1C
U~ , Tract ng Pref Iqr
1
4-
-~ Power P Power
I Measurement Regulator Iqr ref
~ Pl
er
gc_ Looses
The wind turbine control implements the V-I characteristic illustrated in Fig.
3.8. As long as the reactive current stays within the maximum current values (-Im ,
'max) imposed by the converter rating, the voltage is regulated at the reference voltage
Vref. A voltage droop is used for the V-I characteristic (3% at maximum reactive power
output).
45
E
The converter C~;d is used to regulate the voltage of the DC bus capacitor. The
control system is illustrated in Fig.3.9. For the grid-side controller the d-axis of the
rotating reference frame used for d-q transformation is aligned with the positive
ii. An outer regulation loop consisting of a DC voltage regulator. The output of the
DC voltage regulator is the reference current Idgc_ref for the current regulator
(Idgc = current in phase with grid voltage which controls active power flow).
iii. An inner current regulation loop consisting of a current regulator. The current
converter Cg;d (Vgc) from the Idgc_ref produced by the DC voltage regulator
46
and specified Iq_ref reference. The current regulator is assisted by feed forward
Vdc_ref
Vdc .
f ,_J DC Voltage I Idgc_ ref
Idgc
Current ~ ~ ~ Currentnt ~ ~r
:asurement Regulator r
Iqgc —
Iq_ref
The pitch angle is kept constant at zero degree until the speed reaches point D
speed of the tracking characteristic. Beyond point D the pitch angle is proportional to
the speed deviation from point D speed. The pitch angle controller is as shown in Fig.
3.10.
speed D pp
less interest. The wind speed should be selected such that the rotational speed is less
47
CHAPTER 4
The behavior of large wind turbine system under variable condition may affect
the grid stability. To determine the characteristics of FSIG and DFIG wind turbine
system under various input conditions a WT-FSIG and WT-DFIG system connected to
grid is prepared in MATLAB using FSIG and DFIG model respectively as explained
before. To study the characteristics of wind turbine system under variable condition a.
capacitor bank is connected between WT-FSIG system and transformer at bus B690.
The wind turbine systems generating power at 690V is connected to 11 kV grid through
a 690/11kV step up transformer and a 10 km transmission line. Scope is used to see the
generated voltage, current, active and reactive power as wind speed changes. The
generator, transformer and transmission line parameters are as given in Table 4.1, 4.2
and 4.3.
48
G V
L E A T
_ F
G V p m
a m 0 , a
-mm
II
cclo
k .~
mu
cN
5 00 ' S
c 0°
m
O
Table: 4.1 Induction Generator Parameters
The power factor correction capacitor used for FSIG wind turbine model is rated at
50
4.1.1 Analysis of FSIG wind turbine system
It is seen that the FSIG wind turbine start power generation at a wind speed of
8.6 m/s, however it generates rated power at a wind speed of 14 m/s. The characteristics
m/s at the input terminal of the wind turbine system. The characteristics of FSIG
system under rated condition is as shown in Fig. 4.2 (a) and 4.2 (b). On applying a wind
speed of 14 m/s the rotor start rotating, rotor fluctuates in starting but after 3 seconds it
comes to a speed of 1.005 pu. As rotor speed fluctuates the generated current also
51
10
'v
Fig: 4.2 (a) Characteristics of FSIG wind turbine system for constant wind
speed
52
As rotor speed fluctuates generated power also fluctuates and after 3 seconds
when rotor speed comes to 1.005 pu the generated power also stop fluctuating. Under
this rated condition, the WT-FSIG generates 2 MW and absorb reactive power 0.88
7M,
Fig: 4.2 (b) Characteristics of FSIG wind turbine system for constant wind
speed
The response of FSIG wind turbine system for a step increase in wind speed is
obtained by applying a step increase in wind speed from 10 m/s to 14 m/s at time 10s.
The characteristics of WT-FSIG system for step increase in wind speed is as shown in
Fig. 4.3 (a) and 4.3 (b). Initially when the speed is 12 m/s the rotor rotates with a speed
near to 1 pu and the stator current is about 0.4 pu and the generated power is about 0.4
MW. At t=1Os when wind speed input changes from 10 m/s to 14 m/s then speed of the
rotor also increases but it fluctuates to its steady state point and after three seconds it
53
El
v
y
y
a)
a
0
0
~r
Fig: 4.3 (a) Characteristics of FSIG wind turbine system for step increase in wind
speed
54
As the rotor speed increases at t=1 Os the stator current and the generated power
also increases with some fluctuation, but they come to their steady state value (2 MW)
Fig: 4.3 (b) Characteristics of FSIG wind turbine system for step increase in wind
speed
The noise component best summarizes the state of wind fluctuations that take
place. The response of FSIG wind turbine system for noise component in wind
of WT-FSIG system noise component in wind speed is as shown in Fig. 4.4 (a) and
4.4 (b). It is seen that as generator is made to run nearly constant speed in spite of
55
J
-d'
R7
I
u
Fig: 4.4 (a) Characteristics- of FSIG wind turbine system for noise component in
wind speed
56
IR
HE
' Fig: 4.4 (b) Characteristics of FSIG wind turbine system for noise component in
wind speed
The model of DFIG wind turbine system connected to grid is prepared in '
transformer and a 10 km transmission line. Scope is used to see the generated voltage,
current, active and reactive power as wind speed changes. The parameters of induction
generator are same as used in FSIG wind turbine system. Other parameters of DFIG
57
Dl)
I
c
8
N
•
Table: 4.4 DFIG Converter Parameters
S.No. Parameters Values
1 Converter maximum power 0.25 pu
2 Normal DC bus voltage 1200 Volts
3 DC bus capacitor 10000 µF
A 4-pole DFIG wind turbine and control model is simulated. The control
strategy presented in section 3.3 is applied for model. The Dynamic performance of
DFIG system is modeled by applying step increase in wind velocity. The operation of
the system in the optimal power extraction region (B-C in turbine characteristics in Fig.
3.5) is modelled for step decrease in wind speed (=7 m/s at t=Osec) and step increase in
wind speed (=12 m/s at t=50 sec) for wind plant in Voltage regulation Mode. This
models the speed control for sub-synchronous and super-synchronous operation. The
rotor speed and controlled rotor voltages are given in Fig. 4.6. Initially the rotor speed
is equal to synchronous speed i.e. 1 pu at time t=0 sec a step decrease in wind speed
(=7 m/s) is applied, the rotor run at sub-synchronous speed (0.7 pu). During this period
when the rotor run at sub-synchronous speed direct axis rotor voltage (Vdr) is positive
whereas the quadrature axis rotor voltage (Vqr) is negative as shown in Fig. 4.6. Now
at t=50 sec the step increase in wind speed (=12 m/s) occur. At this point the rotor
21 seconds.
At this point when the rotor speed start increasing the Vdr starts decreasing
whereas Vqr starts increasing. At t=56 sec the rotor speed become synchronous speed
(1pu), at this poind both Vdr and Vqr is equal to zero. After time t=56 second the Vdr
59
becomes negative whereas Vqr becomes positive, this shows phase change in rotor
speed. The rotor speed and rotor voltage require considerable time to reach the steady
state operating point. This is due to the-large lumped turbine, shaft and generator rotor
Fig: 4.6 Rotor speed and rotor voltage for operation in sub-synchronous and
super-synchronous region
The operation of the system around the cut-in speed and beyond the speed of
generator (i.e. between point A-B and C-D of turbine characteristics in Fig. 3.5) is
investigated by applying step increase in wind speed from 5 m/s to 14 m/s at t=50 sec.
to the model given in Fig. 4.5 above (for wind plant in Voltage Regulation Mode).
Fig. 4.7 shows the rotor speed controlled to operate beyond the limit of the optimum
characteristic. As explained above here also as rotor speed changes from sub-
synchronous speed to super-synchronous speed the phase change occur in rotor voltage
as shown in Fig. 4.7. The rotor voltages for this simulation are still within their
Fig: 4.7 Rotor speed and rotor voltage for operation up to speed limits
The control system enables the rated value of power to be extracted through the
stator when the rotor speed approaches its upper limit, whilst limiting the speed of
operation and hence the power generated through the rotor circuit. As shown.in Fig. 4.8
rotor power is negative for sub-synchronous operation whereas positive for super-
synchronous operation, this is because of phase change in rotor voltage as rotor speed
61
changes from sub-synchronous speed to super-synchronous speed. This means power is
super-synchronous operation.
It is seen that the DFIG wind turbine start power generation at a wind speed of
4.5 m/s, however it generates rated power at a wind speed of 14 m/s. Fig. 4.9 (a) and
(b) shows the characteristics of DFIG system for wind speed 14 m/s. On applying a
wind speed of 14 m/s the rotor start rotating, and becomes 1.2 pu in approximately 4
seconds. As rotor speed increases and becomes nearly 1 pu in when the rotor speed
reaches 1.2 pu. The generated voltage is 1 pu as shown in Fig. 4.9 (a).
62
rq
u%
Fig: 4.9 (a) Characteristics of DFIG wind turbine system for constant wind speed
63
As rotor speed increases the generated power also increases and becomes 2 MW
when the rotor speed reaches its 1.2 pu. At this speed the DFIG wind turbine system
Fig: 4.9 (b) Characteristics of DFIG wind turbine system for constant wind speed
The response of DFIG wind turbine system for a step increase in wind speed is
obtained by applying a step increase in wind speed from 13 m/s to 14 m/s at time 10s.
The characteristics of WT-DFIG system for step increase in wind speed is as shown in
Fig. 4.10 (a) and (b). Initially when the speed is 12 m/s the rotor rotates with a speed
near to I pu and the stator current is about 0.4 pu and the generated power is about 0.8
MW. At t=10s when wind speed input changes from 10 m/s to 14 m/s then speed of the
rotor also increases from 1 pu to 1.2 pu in approximately four seconds, with this
increase in rotor speed the generated current also increases from 0.4 pu to nearly 1 pu
64
Fig: 4.10 (a) Characteristics of DFIG wind turbine system for step increase in
wind speed
65
As the rotor speed increases at t=1 Os the stator current and the generated power
also increases smoothly with the rotor speed and generator generates 2 MW when the
Fig: 4.10 (b) Characteristics of DFIG wind turbine system for step increase in
wind speed
The noise component best summarizes the state of wind fluctuations that take
place. Fig. 4.11 (a) and (b) shows the response of DFIG system for noise component in
wind speed. As wind speed changes corresponding changes occurs in rotor speed and in
generated current and hence in generated power as shown in Fig. 4.11 (a) and 4.11 (b).
generated voltage, current and power as wind speed fluctuates, because the rotor speed
of WT-FSIG system is nearly constant in spite of fluctuations in wind speed. Also the
WT-FSIG system takes considerable time to come to steady state value when the
y
v
Fig: 4.11 (a) Characteristics of DFIG wind turbine system for noise component in
wind speed
67
r
US
Fig: 4.11 (b) Characteristics of DFIG wind turbine system for noise component in
wind speed
explained above under various input wind speed are as given in Table 4.5.
Table 4.5 Power generated by FSIG and DFIG wind turbine system
generation at a speed of 4.5 m/s whereas FSIG wind turbine system start power
generation at a speed of 8.6 m/s. This shows that total energy generated by DFIG
especially since the rated power of wind-turbine installations steadily increases. The
response of Wind Turbine power system under power system disturbance depends on
network parameter such as Short circuit Ievel and on thetype of fault and duration of
fault. To observe the response of FSIG and DFIG under power system disturbances a 2
performed for a 2 MW wind turbine system, with a three-phase short circuit fault as this
MATLAB, for fault analysis, as shown in Fig. 5.1. The induction generator parameters
are same as stated earlier. The induction generator is running at rated condition (rotor
speed = 1 pu). The FSIG is simulated with a three phase balanced fault is applied at t =
20 sec, with a clearance time of 300 ms, at the midpoint of transmission line as shown
in Fig. 5.1 with generator is running at rated condition. The network parameters
representing turbine connection to a weak network (15 MVA) is used as stated earlier.
For normal system conditions, the operation of the wind turbine is satisfactory.
70
- d d d
.n n v oQ
G I (7
U
a
LO
U
'LL ddd
a V
II c_
LI I
Lmu
8
N
7 1
Immediately after fault, stator flux and consequently stator voltage will drop
depending upon several factor such as fault type, fault location, fault impedance, short
circuit level etc. As can be observed in Fig. 5.2 stator voltage will drop below 0.2 pu.
therefore electromagnetic torque increases shortly after fault occur. This increase in
However it is seen that post fault, the busbar voltage fails to recover as shown in Fig.
5.2. This shows poor network stability of FSIG system during system disturbances.
Fig: 5.2 Rotor speed and generated voltage of FSIG wind turbine system during
fault (Connected to weak network)
72
5.1.2 FSIG connected to strong network
it to strong network (40 MVA). The FSIG is simulated with a three phase balanced
fault is applied at t=20 sec, with a clearance time of 300ms, at the midpoint of
transmission line as in case of weak network. As fault occurs, the generated voltage
drop and the rotor speed start increasing. Post fault, the generator and the network
maintain stability after the terminal voltage variation as shown in Fig. 5.3. Here it is
seen that post fault the busbar voltage and rotor speed recover to its normal value.
Fig: 5.3 Rotor speed and generated voltage of FSIG wind turbine system during
73
However that restoration capability of FSIG system depends on the capacity of
power factor correction capacitor and the duration of fault. If the duration of fault is
increase to 400ms the rotor speed continue to increase and basbar voltage fails to
recover even if connected to strong . network as shown in Fig. 5.4. The voltage
power factor correction capacitor but this will increase the cost of system and hence the
generation cost.
0
0
Fig: 5.4 Rotor speed and generated voltage of FSIG wind turbine system during
74
5.2 FAULT ANALYSIS FOR DFIG
MATLAB, for fault analysis, as shown in Fig. 5.5. Maintaining the power system
model parameters for a weak network connection, the stability of DFIG wind turbine
was investigated. A three phase fault applied at t = 20 sec, with a clearance time of 300
75
E c c
C
S
te' 1= Q m U p
L,
111 0
m
LL
V
a
8
UI
mU
76
Immediately after fault, stator flux and consequently stator voltage will . drop
depending upon several factor such as fault type, fault location, fault impedance, short
circuit level etc. As can be observed in Fig. 5.6 stator voltage will drop below 0.2 pu.
therefore electromagnetic torque increases shortly after fault occur. This increase in
electromagnetic torque will results in acceleration of rotor as shown in Fig. 5.6. The
results, as shown in Fig. 5.6 indicate the transient stability improvements with the
i6
t
f-4
Qi
G1~
Fig: 5.6 Rotor current and generated voltage of DFIG wind turbine system
Even if we increase the fault duration, from 300ms to 400ms for same DFIG
77
FSIG as shown in Fig. 5.7. In both cases it is seen that the post fault the voltage recover
Fig: 5.7 Rotor current and generated voltage of DFIG wind turbine system
For comparison the stability of DFIG connected to strong network, with FSIG
network. The DFIG is simulated with a three phase balanced fault is applied at t=20
sec, with a clearance time of 300ms, at the midpoint of transmission line. Post fault, the
generator and the network maintain stability after the terminal voltage variation as
78
On comparing Fig. 5.3 and 5.8 we see that in case of DFIG system subjected to
three phase fault the voltage is recovered back to 1 p.u. ( steady state value) as soon as
the fault is cleared as shown in Fig 5.8. However in case of FSIG subjected to same
type of fault, it can be seen in Fig. 5.3 that until more than 1.5 second after the fault is
cleared, the terminal voltage has not yet reached the steady state value.
Fig: 5.8 Generated voltage of DFIG connected to strong network during fault
From this result it is concluded that the wind turbine with DFIG is able to
recover the voltage level to its nominal value quickly after the voltage dip. The terminal
voltage recovery of the DFIG is somewhat better than the identical FSIG wind turbine
system.
79
CHAPTER 6
analysed to protect the system during severe fault condition. When the wind turbine
system is subjected to a short circuit fault, the grid voltage drops. The grid voltage
drops may excite excessive current transient in the stator and rotor circuit of the
generator and in the grid — side converter. The rotor circuit feeds into rotor converter.
Converters are power electronics devices which are sensitive to electrical and thermal
overloads. The converter can be subject to such electrical thermal overloads when the
excessive current transient occur in the the rotor circuit and in grid side converter.
Current transient may also excite fluctuations of the DC- link voltage which leads to
in Fig. 6.1. The turbine is operated under its rated condition. Initially the generator
operates at super-synchronous speed where the rotor speed is 1.2 pu. At this moment
DFIG generates the active power of I pu. The fault is applied at t=20 sec for 300 ms as
80
r 4 Y
E
N q O
f) S d
LL
m O p
7
24
AT
Qm V N
O O O r
TT[TT ii
C
C, u N a
-
i EI Ei a
C_ W
a
Immediately after fault, stator flux and consequently stator voltage will drop
depending upon several factor such as fault type, fault location, fault impedance, short
circuit level etc. As can be observed in Fig. 6.2 stator voltage will drop below 0.2 pu.
82
As electromagnetic torque (Te) is proportional to stator flux with negative sign,
therefore electromagnetic torque increases shortly after fault occur. This increase in
The fault inception produce large currents at stator terminals and consequently,
due to the existence of magnetic coupling between rotor and stator, at rotor terminals,
Stator and rotor fault current, as shown in Fig. 6.4 and 6.5, and hence DC-link current
increases. However, due to low voltage of DFIG terminals, stator side converter cannot
exchange this extra current to network and therefore active power falls towards zero as
shown in Fig. 6.6. This will, in turn, lead to the accumulation of the charges and
consequently DC-link voltage will rise. Shortly after fault clearance, rotor and stator
current will restore their pre-fault value and so does the DC-link voltage ensuring stable
83
Fig: 6.4 Stator current
84
Fig: 6.6 Stator active power
As seen from Fig. 6.4 the fault current do not decay very fast, this might be due
85
6.1.2 Action of protection system
rotor power and magnetization of the generator through the rotor converter only. This
may correspond to 25% of the rated power the generator. The use of smaller power
electronic converters is the basic advantage of this variable speed concept as this leads
to reduction of size and cost of the converters. However the use of smaller power
electronics converters introduces restrictions on the current transients and makes the
power electronics converters to be among the most sensitive parts of the variable speed
wind turbines with regards to system disturbances. When the power system is subject to
a 3LG fault, the voltage drops and introduces transients in the rotor circuit of the DFIG,
and consequently DC-link voltage will rise as shown above. If the rotor current
To avoid such risk, DFIG system is equipped with over current and DC voltage
overload protection as shown in Fig. 6.8. Here the protection system is designed to
protect the system against abnormal stator voltage and abnormal DC-link voltage. The
protective system is design for maximum abnormal stator current of 1.1 Pu for 0.01
second and DC-link overvoltage of 1900 Volts for 0.001 seconds. The protective
system monitors the operation of the converter and generator and may order converter
to block when abnormal operation is registered. Shortly after the fault terminal voltage
drop and the stator current and DC-link voltage increases rapidly. When either stator
current or DC-link voltage reaches the setting point of the protection system a trip
command is generated by the protection systems which then trip the converter. These
series of events take place almost at once after the fault starts. It is seen that for three
phase fault the protection system operate because of abnormal DC-link over voltage.
!
c
111 0 q J
g R a
~os
~at3 r
UJ
= O U G a
ALI
a m v ~N
0 0 0
4
C_,
7 aI Cil -g
'0
303
0
If the generator is allowed to remain connected to the grid, the stator voltage,
stator current and active power fluctuates, particularly after the fault is cleared as
shown in Fig. 6.9, 6.10 and 6.11. This may induce instability on the system. In order to
the instant the converter is blocked. For this purpose, the generator is disconnected
Fig: 6.11 Stator active power after fault (without disconnection of generator)
E;1
The disconnection action is simply modeled by assigning the stator current to
zero. The generator, is disconnected from the grid 50 ms after the converter is blocked.
As a result, the stator current and active power turns to zero, and consequently the
terminal voltage is restored immediately. The terminal voltage, stator current and active
power after the disconnection of generator is as shown in Fig. 6.12, 6.13 and 6.14
respectively below. The point D in figures below shows the point of generator
disconnection. As shown after point D the stator current and generated active power
Fig: 6.14 Stator active power after fault, with disconnection of generator
91
CHAPTER 7
7.1 CONCLUSIONS
comprehensive studies are required to identify the interaction between the wind turbine
and power system. The response of wind turbines to grid disturbance is an important
issue, since the rated power of the wind turbine is increased. The objective of the
dissertation was to analyze the behavior of FSIG and DFIG wind turbine systems under
MATLAB/Simulink version 7.0.1 software has been used to prepare the model
of FSIG and DFIG wind turbine system (of 2 MW capacity) connected to 11 kV grid
FSIG and DFIG wind turbines during wind speed fluctuation and during fault on
{i) Fluctuation in generated voltage and generated power has been observed in
FSIG wind turbine system where generator is made to run at constant speed in -
(ii) Analysis of DFIG system shows that DFIG system generates power even at sub-
synchronous speed. The rotor of DFIG takes power from grid during sub-
92
synchronous operation whereas is supplies power to grid during super-
synchronous operation.
(iii) FSIG system shows poor system stability during system disturbances due to
acceleration of the generator rotor. Even after fault clearance FSIG take
voltage recovery.
(iv) DFIG system shows improve system stability during power system disturbances
even if connected to weak network also provide better performance for terminal
voltage recovery after fault clearance owing to its ability to control reactive
power.
DFIG wind turbine system is sensitive to severe voltage dips that result in an
excessive stator and rotor current and also in excessive DC-link voltage which can
damage the converter. To avoid this protection system is designed to block the
disconnection of the generator from the grid may cause voltage instability.
Consequently, the disconnection should be done immediately after the blocking and
In view of the above it is found that DFIG wind turbine system shows improved
system stability during variation in wind speed and during power system disturbance.
93
7.2 RECOMMENDATION
In view of the above result it is found that DFIG wind turbine system is a
reliable solution for wind power generation. It should be used where the wind speed
variation is very large through out the year. However as the converter of DFIG rotor is
very sensitive to system disturbances therefore care must be taken while designing the
94
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LIST OF PUBLICATIONS
(1) Sanjai Kumar Yadav, S.N.Singh and R.P.Saini, "Double Fed Induction Generator
Control For Wind Power Generation", NCEEERE-2008 [Communicated].
100