PEDS2009

Autonomous Hybrid System Using SCIG for Hydro Power Generation and Variable Speed PMSG for Wind Power Generation
Puneet K. Goel, Bhim Singh, Senior Member IEEE, S.S. Murthy, Senior Member IEEE and Navin Kishore
Abstract This paper deals with an isolated wind-hydro hybrid
generation system employing a Squirrel Cage Induction Generator (SCIG) driven by hydro turbine and a Permanent Magnet Synchronous Generator (PMSG) driven by a variable speed wind turbine feeding three-phase four-wire local loads. The proposed system utilizes two back to back connected Pulse Width Modulated (PWM) Insulated Gate Bipolar Transistors (IGBTs) based voltage source converters (VSCs) with a battery energy storage system (BESS) at their dc link. The main objectives of the control algorithm for VSCs are to achieve maximum power tracking (MPT) through rotor speed control of wind turbine driven PMSG under varying wind speeds, and control of the magnitude and the frequency of the load voltage. The proposed wind hydro hybrid system is having capability of bidirectional active and reactive powers flow, by which it controls the magnitude and the frequency of the load voltage. The proposed electro-mechanical system using PMSG and SCIG, a MPT controller and a voltage and frequency controller (VFC) are modeled and simulated in MATLAB using Simulink and Sim Power System (SPS) set toolboxes and different aspects of the proposed system are studied for various types of linear loads and nonlinear loads and under varying wind speed conditions. The performance of the proposed system is presented to demonstrate its capability of MPT, VFC, harmonic elimination and load balancing.

Index Terms Battery Energy Storage, Permanent Magnet

Synchronous Generator, Squirrel Cage Induction Generator, Wind-Hydro Hybrid System.

I. INTRODUCTION

enewable energy sources (RES) are the natural energy resources that are inexhaustible: for example, wind, solar, geothermal, biomass and small-hydro generation [1]. Amongst RES, small-hydro and wind energy have ability to complement each other. Further, there are many isolated locations, which cant be connected to the grid and where the wind potential and hydro potential exist simultaneously. For example, in India, Andaman and Nicobar group of islands is one such location.

P. K. Goel is with the Ministry of Power (Government of India), N. Delhi, India ( e-mail:puneet3866@yahoo.com) B. Singh is with the Department of Electrical engineering, IIT Delhi, India (email:bhimsinghr@gmail.com) S. S. Murthy is with the Department of Electrical Engineering, IIT Delhi, (email:ssmurthy4@gmail.com) Navin Kishore is with NTPC Ltd., N. Delhi, India. (email:navin_kishore@lycos.com)

Although the potential for small hydroelectric systems depends on the availability of suitable water flow, where the resources exist it can provide cheap, clean, reliable electricity. The squirrel cage induction generator (SCIG) can be used as a generator for small-hydro, and its reactive power requirement is fulfilled by capacitor banks. The SCIG has advantages like simplicity, low cost, rugged, maintenance free, absence of DC, brushless etc. as compared to the conventional synchronous generator [2]-[3]. Wind power generation requires variable speed generators for maximum power tracking (MPT). Amongst the variable speed wind energy conversion systems (WECS), the turbines with permanent magnet synchronous generators (PMSG) are gaining popularity. PMSGs have a loss-free rotor, and the power losses are confined to the stator windings and the stator core [4]. Further a multi-pole PMSG connected to a power converter can operate at low speeds, so that a gear can be usually omitted. Since a gearbox causes increased weight, losses, cost and it requires maintenance. A gearless construction represents an efficient and robust solution for wind power generation. Thus the efficiency of a PMSG based WECS has been assessed higher than other variable-speed WECS [5]. The grid connected variable speed WECS based on PMSG have been reported in the literature [6]-[9]. In the case of grid connected systems using RES, the total active power can be fed to the grid. For standalone systems supplying local loads, if the extracted power is more than the local loads (and losses), the excess power from the wind turbine is required to be diverted to a dump load or stored in the battery bank [10]. Further, in the case of standalone or autonomous systems, the issues of voltage and frequency control (VFC) are very important. Some work has also been reported for standalone WECSs using SCIGs [11]-[13]. In [13], a battery based controller is proposed for control of voltage and frequency in the isolated WECS. However, MPT could not be realized in these battery based isolated system based on SCIG operated at almost constant speeds. In [2], Singh et al. have proposed an electronic load controller for VFC at the stator terminals, and the controller transfers excess power from the hydropower generator to a dump load, when the load power is less than the generated power. In this paper, a new three-phase four-wire autonomous (or isolated) wind-hydro hybrid system is proposed to feed local loads. The proposed system utilizes variable speed wind turbine driven PMSGw (subscript w for wind), and constant speed constant power small hydro turbine driven SCIGh (subscript h for hydro). In rest of the paper, the subscript w is

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used to denote the parameters and variables of the wind turbine and the PMSG driven by the wind turbine, and the subscript h is used to denote the parameters and variables of the hydro turbine and the SCIG driven by the hydro turbine. The system is employing a Battery Energy Storage System (BESS), which performs the function of load leveling in the wake of uncertainty in the wind speed and variable loads. The schematic diagram of three phase four wire autonomous system is shown in Fig. 1. Two back to back connected Pulse Width Modulated (PWM) Insulated Gate Bipolar Transistors (IGBTs) based voltage source converters (VSCs) and a delta star transformer are connected between the stator windings of PMSGw and the stator windings of the SCIGh to facilitate bidirectional power flow. The stator windings of the SCIGh are connected to the load terminals. Two VSCs can be called as the machine (PMSGw) side converter and the load side converter. A battery bank in series with a small inductor is connected at the dc bus of PWM converters. The advantage of using battery on the dc bus of the PWM converters is that no additional converter is required for transfer of power to or from the battery. Further, the battery keeps the dc bus voltage constant during load disturbances or load fluctuations. The inductor connected in series with the battery bank removes ripples from the battery current. For the proposed hybrid system, a modified control algorithm is proposed that has the capability of MPT, harmonic elimination, load leveling, load balancing and neutral current compensation along with VFC. The objective of the machine (PMSGw) side converter is to achieve MPT with minimum stator current, and the control objective of the load side converter is to maintain the active power balance in the system by transferring the excess power to the battery or

PEDS2009 for providing deficit power from the battery. Further, the load side converter provides the requisite reactive power for the load. The reactive power requirement of the SCIGh is provided by the excitation capacitors connected at its stator terminals. For the proposed system, there are three modes of operation. In the first mode, the required active power of the load is less than the power generated by the SCIGh, and the excess power generated by the SCIGh and the entire power generated by the PMSGw are transferred to the BESS. In the second mode, the required active power of the load is more than the power generated by the SCIGh but less than the total power generated by PMSGw and SCIGh. Thus the part of the power generated by PMSGw is supplied to the load through the load side converter and the part is stored in BESS. In the third mode, the required active power of the load is more than the total power generated by PMSGw and SCIGh, and the deficit power is supplied by the BESS.
II. PRINCIPLE OF OPERATION To achieve MPT, the PMSGw is required to be operated at optimal tip speed ratio as shown in Fig. 2, so that the power generated by it lies on maximum power line as shown in Fig. 3. The value of coefficient of performance for MPT is 0.441 and optimum tip speed ratio is 5.66. The operating principle of the controller for the machine side converter is based on the decoupled control of d- and q-axis stator currents of the PMSGw with d-axis aligned to permanent magnet flux axis or rotor electrical axis.

Fig. 1 Schematic diagram of wind hydro hybrid system using PMSG and SCIG

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0.5 0.4 0.3 C

p

PEDS2009 A. Control of Machine (PMSGw) Side Converter The control strategy for the machine side converter control is shown in Fig. 4. 1) Speed control loop for MPT and reference q-axis stator current (PMSGw) generation:
In the proposed algorithm, the rotor position (rw) and the wind speed are sensed. The rotor speed (rw) is determined from the rotor position (rw). The reference rotor speed (rw*) for MPT is generated from the wind speed (Vw) using optimum tip speed ratio (*w) and turbine radius (rw) and compared with sensed PMSGw speed (rw) to calculate the rotor speed error at the nth sampling instant as, * rw( n ) = Vw( n ) *(w / rw ) (1)

0.2 0.1 0 0

4 6 8 TSR (Tip Speed Ratio) Fig. 2 Coefficient of Power (Cp) vs. tip speed ratio ()
Vw=11m/s Maximum Power Line Vw=10m/s Vw=9m/s Vw=8m/s

10

60 50 Turbine Power (kW ) 40 30 20 10 0 0 20

errw( n ) = *rw( n ) rw ( n )
th

(2)

At the n sampling instant, the output of the speed PI controller with gains Kp and Ki gives reference for q-axis stator current (Iqsw) as, * I qsw (3) ( n ) = I qsw ( n 1) + K p (errw ( n ) errw ( n 1) ) + K i errw ( n )

2) Reference d-axis stator current (PMSGw) generation:

To obtain maximum torque with minimum stator currents, the reference d-axis stator current (Idsw*) is set to zero at the nth sampling instant as,
* I dsw (n) = 0

40 60 80 100 Generator Speed (Rad/sec)

Vw=6m/s

Vw=7m/s 120

(4)

Fig. 3 Mechanical power output of the wind turbine vs PMSGw speed for different wind speeds

3) PWM signal generation for machine side converter:

By dq to abc transformation using rotor electrical angle (pw/2)rw (where pw is the no. of poles of PMSGw and rw is its rotor position), the reference d-q stator currents (Idsw* and Iqsw*) are converted to three phase reference PMSG stator currents ( iswa*, iswb* and iswc*), which are then compared with sensed PMSGw stator currents ( iswa,, iswb and iswc) to compute the PMSGw stator current errors. These current errors are amplified with gain (K) and the amplified signals are compared with fixed frequency (10 kHz) triangular wave to generate gating signals for IGBTs of the machine side converter.

Since only the q-axis stator current contributes to the electrical torque, the d-axis stator current of PMSGw is kept zero in order to obtain maximum torque with minimum current [14]. As the wind speed varies, the rotor speed set point changes and the difference in the rotor speed set point and the actual rotor speed is fed to the speed controller. The output of the controller gives the reference q-axis stator current. The reference d-q stator currents of PMSGw are transformed to reference three phase stator currents and compared with sensed three phase stator currents to generate control signal for the machine (PMSGw) side converter. The load side converter is controlled for the regulation of load voltage magnitude and load frequency. For maintaining the load frequency constant, it is essential that any surplus active power in the system is diverted to the battery. Alternately, the battery system should be able to supply any deficit in the generated power. Similarly, the magnitude of the load voltage is maintained constant in the system by balancing the reactive power requirement of the load through the load side converter. The detailed control algorithm for the machine (PMSGw) side converter and the load side converter is given in the next section. III. CONTROL ALGORITHM A brief description of the control algorithm is given in the following sub-sections.

B. Control of Load Side Converter The objectives of the load side converter are to maintain rated voltage and frequency at the load terminals irrespective of connected load. The power balance in the system is maintained by diverting surplus power generated to the battery in the dc link of back to back connected PWM converters or by supplying power from the battery in case of deficit between generated power and load requirement. Similarly the required reactive power for the load is supplied by the load side converter to maintain constant value of the load voltage. The control strategy for the load side converter control is shown in Fig. 4.

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Fig. 4 Control scheme of machine and load side converters

The reference phase voltages (van*, vbn* and vcn*) for the control of the load voltage at time t are given as, * van = vpeak sin(2 ft ) (5) (6) (7) v = v p e a k s in ( 2 ft + 1 2 0 ) where f is the nominal frequency, which is considered as 50 Hz, and Vpeak is the peak phase to neutral load voltage, which is considered as 338 V. The phase voltages (van, vbn and vcn) at load terminals are sensed and compared with reference voltages. The error voltages (vanerr, vbner and vcnerr) at the nth sampling instant are calculated as, * vanerr ( n ) = {van (8) ( n ) van ( n ) }
* cn o

* vbn = vpeak sin(2 ft 120o )

* vbnerr ( n ) = {vbn ( n ) vbn ( n ) }

(9) (10)
* *

vcnerr ( n ) = {v

* cn ( n )

vcn ( n ) }

The reference three phase SCIGh currents (isha , ishb , ishc*) are generated by feeding the voltage error signals to PI voltage controller with proportional gain Kpv and integral gain Kiv as, * isha (11) ( n ) = isha ( n 1) + K pv (vanerr ( n ) vanerr ( n 1) ) + K iv vanerr ( n )
* ishb ( n ) = ishb ( n 1) + K pv (vbnerr ( n ) vbnerr ( n 1) ) + K iv vbnerr ( n )

(12) (13)

* shc ( n )

= ishc ( n 1) + K pv (vcnerr ( n ) vcnerr ( n 1) ) + K iv vcnerr ( n )

The reference three phase SCIGh currents are then compared with sensed SCIGh currents (isha, ishb and ishc) to compute the SCIGh current errors. These current errors are amplified with gain (K) and the amplified signals are compared with fixed frequency (10 kHz) triangular carrier wave of unity amplitude to generate gating signals for IGBTs of the load side converter. IV. MATLAB BASED MODELING

A simulation model is developed in MATLAB using Simulink and sim power system (SPS) set toolboxes. The simulation is carried out on MATLAB version 7 with ode3 solver. The electrical system is simulated using SPS. The parameters of the various components of the hybrid system are given in Appendices. IV. RESULTS AND DISCUSSION The performance of the wind-hydro hybrid system with the proposed control algorithm is studied with non linear load (Fig. 5) and linear load under varying PMSGw rotor speeds due to wind speed variation (Fig. 6). It is observed that under these conditions, the system performs in the desirable manner. For non-linear load under balanced and unbalanced conditions, PMSGw current, SCIGh stator current and the load voltage are balanced and are having the total harmonic distortion (THD) within the desired limit as shown in Table-I. The PMSGw is able to run at speeds corresponding to the MPT with varying wind speeds. The simulated transient waveforms of the PMSGw stator current (isw), SCIGh stator current (ish), load side converter current (iC), three phase load voltage (vL), rms value of phase load voltage (Vt), load currents (iL, iLa, iLb and iLc), load frequency (fL), PMSGw stator frequency (fw), battery current (Ib), battery voltage (Vdc), PMSGw stator power (Pw), SCIGh stator power (Ph), load power (PL), battery power (Pb), coefficient of power (Cp), PMSGw rotor speed (rw) and wind velocity (Vw) are shown for different operating conditions. A. Performance of the Hybrid System with Non-linear Load In Fig. 5, the performance of the hybrid system is shown with balanced/unbalanced non-linear load at a wind speed of 8 m/s. The corresponding rotor speed set point for PMSGw is at 6 rad/sec and the stator frequency is 19.25 Hz. At this speed, the mechanical power corresponding to maximum coefficient of performance is 21.8 kW. The input mechanical power to the SCIGh is taken as 35 kW and the power generated by

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SCIGh is 33.3 kW. Thus the total power generated is (21.8+33.3) kW = 55.1 kW. The system is started with three single-phase diode bridge rectifier loads, each of 18 kW, and three single phase linear loads, each of 6.67 kW. Since the active power of the load (74 kW) is more than the power generated by the system, the battery is supplying the deficit power to maintain the frequency at the load end constant. The loads are made unbalanced by disconnecting non-linear load from phase a at 3.2 s and disconnecting non-linear load from phase b at 3.5 s. After disconnecting non linear load from phase a, active power of the load (56 kW) is still more than the active power generated, the battery supplies the deficit power to maintain the frequency of the load voltage constant. After disconnecting non linear load from phase b, the active power of the load (38 kW) becomes less than the active power generated, thus the battery absorbs the surplus power to maintain the frequency of the load voltage constant. Under these conditions, it is observed that the magnitude and the frequency of the load voltage are maintained constant. To demonstrate the harmonic elimination capability of the system under these conditions, the THDs of the PMSGw stator current
i (A) i (A) i (A)i (A)i (A)i (A)v (V) L c L b

PEDS2009 the limit of 5 % as per the IEEE-519 standard, even though the THDs of the load currents are of the order of 32 %. Under the unbalanced non-linear load conditions, the PMSGw stator currents, SCIGh stator currents and the load voltages are balanced, even though the load currents and the load side converter currents are unbalanced.
B. Performance of the Hybrid System with Varying Wind Speeds with Constant Balanced Linear Load In Fig. 6, the performance of the wind-hydro hybrid system is shown under varying wind speed conditions. The windhydro hybrid system is started with a wind speed of 9 m/sec and three single phase loads each of 20 kW and 10 kVAR. The corresponding rotor speed set point for PMSGw is at 6.7 rad/sec and stator frequency is 21.55 Hz. At this speed, the mechanical power corresponding to maximum coefficient of performance is 31.2 kW. The input mechanical power to the SCIGh is taken as 35 kW and the power generated by SCIGh is 33.3 kW. Thus the total power generated is (31.2+33.3) kW = 64.5 kW.
500 0 -500 200 0 -200 200 0 -200 200 0 -200 200 0 -200
10 9 8 7 6 0.5 0.4 0.3 100 50 0 500 400 300 600 500 400 40 20 0 60 40 20 0

f(Hz) (rad/s)

z ) I (A ) V (V ) f(H ) V(V

200 0 -200 200 0 -200 10 5 0 50 0 500 400 300

/s) (ra d /s) (m

rw

500 0 -500 200 0 -200 200 0 -200 200 0 -200 200 0 -200

La

i (A) i (A) i (A)i (A)v (V)

sw

sh

sh

sw

fw

fL

fw

fL

P(kW) P(kW) V (V) I (A) V(V)

100 0 -100 600 500 400 100 50 0 -50 100 50 0 -50 3

dc

P (kW )

PL

d c

Pb

Pw Ph 3.2 3.4 Time(sec) 3.6 3.8

Pw

PL

Pb Ph

60 40 20 0 3

P (kW )

3.2

Fig. 5 Performance of the system with non-linear load at wind speed of 8 m/s.

3.4 Time(sec)

3.6

3.8

Fig. 6 Performance of proposed system with balanced linear load at variable wind speeds.

SCIGh stator current, load voltage and the load current are given in Table- I. The THDs of the load voltages, PMSGw stator currents and the SCIGh stator currents are well within

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PEDS2009
TABLE I PERCENTAGE THD OF GENERATOR VOLTAGE, CURRENT, CONSUMER LOAD CURRENT BALANCED / UNBALANCED NON LINEAR LOAD Non-linear load in phases a, b and c Non-linear load in phases b and c Non-linear load in phase c a b c a b c a b Load Current THD Load Voltage THD PMSGw Current THD SCIGh Current THD 31.95 0.33 3.56 2.92 31.95 0.33 3.83 2.84 32.00 0.34 4.11 2.95 3.58 0.25 3.44 2.43 32.03 0.30 3.02 2.31 31.98 0.32 3.16 2.76 2.41 0.18 2.88 2.08 2.58 0.18 3.14 1.35

c 32.07 0.27 3.44 2.15

Since the generated power is more than the active power of the load, the surplus power is absorbed by the battery to maintain the frequency of the load voltage constant. From 3.2 s to 3.5 s, the wind speed is increased from 9 m/s to 10 m/s. The rotor speed set point corresponding to the wind speed 10 m/s is at 7.5 rad/sec and the stator frequency is 23.9 Hz. At this speed, the mechanical power corresponding to maximum coefficient of performance is 43 kW. Thus the total power generated is (43+33.3) kW = 76.3 kW. The surplus power is delivered to the battery. In this case, the rate of change of wind speed is taken 0.33 m/s2, whereas in reality the rate of change of wind speed is much lower. The wind-hydro hybrid system is able to maintain its coefficient of performance of 0.4411 irrespective of the wind speed and the rotor speed settles to the speed corresponding to MPT and wind turbine is able to deliver the desired mechanical power. VI. CONCLUSION A new three phase four wire autonomous wind-hydro hybrid generating system, using an SCIG driven by hydro turbine and a variable speed PMSG driven by wind turbine along with battery energy storage, has been modeled and simulated in MATLAB using Simulink and SPS tool boxes. The performance of the proposed hybrid system has been demonstrated with balanced/unbalanced non linear load, and with linear load under varying wind speeds. It has been demonstrated that the proposed hybrid system performs satisfactorily under these conditions, while maintaining constant voltage and frequency. Moreover, it has shown capability of MPT, neutral current compensation, harmonics elimination and load balancing. VII. APPENDICES A. Parameters of 55 kW, 240V, Y-connected 40 pole PMSGW Ra = 0.04 , Ld = Lq = 8.5 mH, Inertia = 5 kg-m2, Friction coefficient = 15 Nms B. Parameters of 55 kW Wind Turbine Wind Speed Range = 6.1 -11.35 m/sec, Speed Range = 3585 RPM, Inertia = 13.5 kg-m2, r = 7.5 m, Cpmax = 0.4412, = 5.66. C. Parameters of 37.3 kW, 415 V, 50 Hz, Y-connected 4 pole SCIGh Rs = 0.09961 , LS = 0.867 mH, Rr = 0.05837 , Lr = 0.867 mH, Lm = 0.030369 H, Inertia = 0.4 kg-m2, Friction coefficient = 0.02 Nms D. Battery Specifications (Thevenins equivalent circuit parameters) Vocmax = 505 V, Vocmin = 495 V, Cb = 144000 Farad, Rb = 10000 , Rin = 0.5 , Maximum Battery Storage = 200 kWh, Cdc = 12000 F. E. Gains of PI Controllers

Speed controller for PMSGw: Kp = 500, Ki = 2000. Voltage controller: Kpv = 15, Kiv = 0.05. F. Transformer Specifications 90 kVA, 3 phase, 50 Hz, 200 V- Delta/ 415 V-Star. VIII. REFERENCES
[1] L. L. Lai and T. F. Chan, Distributed Generation: Induction and Permanent Magnet Generators. West Sussex: John Wiley and Sons Ltd., 2007, Chap.1. [2] B. Singh, S. S. Murthy and S. Gupta, An improved electronic load controller for self excited induction generator in micro-hydel applications, in Proc. IEEE Annual Conference of the Industrial Electronic Society, Vol. 3, Nov. 2003, pp. 2741-2746. [3] J. B. Ekanayake, Induction generators for small hydro schemes, IEEE Power Engineering Journal, vol. 1, pp. 61-67, 2002. [4] T. F. Chan and Loi Lei Lai, Permanent Magnet Machines for Distributed Power Generation: A Review, in Proc. Power Engineering Society General Meeting, 24-28 Jun. 2007, pp. 1-6. [5] L. Shuhui and T.A. Haskew, Characteristic study of vector-controlled direct driven permanent magnet synchronous generator in wind power generation, in Proc. of Power and Energy Society General Meeting, 2024 Jul. 2008, pp. 1-9. [6] Z. Chen and E. Spooner, Simulation of a direct drive variable speed energy converter, in Proc. of Int. Conf. Electrical Machines, Istanbul, Turkey, 1998, pp. 2045-2050. [7] A. Grauers, Design of direct driven permanent magnet generators for wind turbines, Ph.D. Thesis, Chalmers Univ. Technol., Goteborg, Sweden, 1996. [8] M. Chinchila, S. Annaltes and J.C. Burgos, Control of permanent-magnet generators applied to variable-speed wind energy systems connected to the grid, IEEE Trans. on Energy Conversion, vol. 21, no. 1, pp. 130135, Mar. 2006. [9] N. P. W. Strachan and D. Jovcic, Dynamic Modelling, Simulation and Analysis of an offshore variable-speed directly driven permanentmagnet wind energy conversion and storage system (WECSS), in Proc. Oceans 2007-Europe, June 2007, pp.1-6. [10] K. Stunz and J. Nedrud, Multilevel energy storage for intermittent wind power conversion: computer system analogies in IEEE Power Engineering Society General Meeting, Jun. 2005, pp. 1950-1951. [11] J.A. Barrado and R. Grino, Voltage and frequency control for a self excited induction generator using a 3phase 4-wire electronic converter, in Proc. 12th Int. IEEE Power Electron. Motion Control Conf., Aug. 2006, pp. 1419-1424. [12] E. Mulzadi and T. Lipo, Series compensated PWM inverter with battery supply applied to an isolated induction generator, IEEE Trans. Ind. Appl., vol. 30, no. 4, pp. 1073-1082, Jul./Aug. 1994. [13] B. Singh and Gaurav Kasal, Voltage and frequency controller for a three-phase four-wire autonomous wind energy conversion system, IEEE Trans. on Energy Conversion, vol. 23, No. 2, pp. 509-517, Jun. 2008. [14] I. Schiemenz and M. Stiebler, Control of a permanent magnet synchronous generator used in a variable speed wind energy system, in Proc. IEEE Int. Electric Machines and Drives Conf., 2001, pp. 872877.

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