G m b H

Technical Documentation

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

DIgSILENT GmbH Heinrich-Hertz-Strasse 9 D-72810 Gomaringen Tel.: +49 7072 9168 0 Fax: +49 7072 9168- 88 http://www.digsilent.d e-mail: mail@digsilent.de

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators Published by DIgSILENT GmbH, Germany Copyright 2003. All rights reserved. Unauthorised copying or publishing of this or any part of this document is prohibited. doc.TechRef, 14 August 2003

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

1 Introduction

1 Introduction
The electrical systems of several European countries contain large amounts of embedded wind generation and similar scenarios are foreseen in other parts of the world. This aspect, together with the significant size of new wind farm projects, requires realistic modelling capabilities of wind generators for proper assessment of power system planning and impact analysis of future wind generation. As a result of research and consulting activities of DIgSILENT, generic dynamic models of different types of wind power generation were developed. These models are now available in the standard Wind-Power library of PowerFactory. This document describes a doubly-fed induction generator wind turbine model including all relevant components. At the same time, this document is a reference to all DFIG-related models of the Wind-Power library. The presented models are mainly intended for stability analysis of large power systems. The proper response of the models to network faults was in the centre of interest, but the models can also be used for simulating the impact of wind fluctuations to power systems. There is no wind model included in this description. However, any type of stochastic or deterministic wind model, or measured wind speeds can be connected to the wind speed input of the presented model. The models are intended for balanced and unbalanced RMS calculations typically applied in stability studies. However, it is also possible to perform electromagnetic transient simulations with these models. The basic structure of the model is briefly described in this section and more thoroughly analyzed in the following sections.

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

2 The Doubly-Fed Induction Machine Concept

2 The Doubly-Fed Induction Machine Concept

DFIG Prime Mover Grid Side Converter Rotor Side Converter External Grid

Control

Control

Protection
Figure 1: Doubly-Fed Induction Generator Concept
The general concept of a Doubly-Fed Induction Generator (DFIG) is shown in Figure 1. The prime mover, consisting of a pitch-angle controlled wind turbine, the shaft and the gear-box drives a slip-ring induction generator. The stator of the DFIG is directly connected to the grid, the slip-rings of the rotor are fed by self-commutated converters. These converters allow controlling the rotor voltage in magnitude and phase angle and can therefore be used for active- and reactive power control. In the presented model, the converters and controllers are represented to the necessary extent. Both the rotor- and the gridside controllers are modelled in full detail, including fast current control loops. However, for many applications the fast control loops of the grid side converter can be approximated by steady state models. With the rotor side converter, the situation is different due to protective practices in DFIG. For protecting the rotor-side converter against over-currents, it is usual practice to bypass the rotor-side converter during system faults. Whether the DFIG is totally disconnected from the system or not, depends on the actual deepness of the voltage sag and on the applied protection philosophy. The correct modelling of the rotor bypass, usually called crow bar protection, is essential to assess voltage stability of large farms during faults in the transmission- or distribution network. For this reason, it is necessary to model even the fast current controls of the rotor side converter to effectively determine the operation of the crow bar. Other protection functions also found in DFIG such as over/under-speed and over/under-voltage are considered in the proposed model as wel

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

3 The DFIG Wind-Generator Model

3 The DFIG Wind-Generator Model

3.1 Overview
DFIG:
speed
DIgSILENT

Prime Mover
pt Pitch Control * beta
vw

Turbine *

Pwind

Shaft *

o m e g a ..

MPT ElmMpt*

Pref Ifq_ref;Ifd_ref Pfq;Pfd

Qref

Pmq ; Pmd Transformatio.. *

DFIG ElmAsm*

Power Measurement StaPqmea

P;Q

PQ Control ElmGen*

Current Control *

(From Protection System)

u

Ifq;I..

Protection ElmPro*

bypass

psis_.. V meas. StaVmea* Irot Current Measurement * iq;id

(To Protection System)

Figure 2: Complete Scheme of the Doubly-Fed Induction Machine Wind Generator

The complete scheme of a doubly-fed induction machine wind generator is shown in Figure 2. The main components are: The prime mover consisting of the pitch angle controller, the wind turbine and the shaft (Pitch-Control, Turbine,

Shaft)
Doubly-Fed induction generator (DFIG) The control-system regulating active and reactive power of the DFIG through the rotor-side converter applying a maximum power tracking strategy (MPT, Power Measurement, PQ Control, Current Control, Current Measurement) Protection-system (V meas., Protection)

cosph..

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

3 The DFIG Wind-Generator Model

The models of all major components are described in the following sections. It is important to point out that these models can be used in combinations that differ from Figure 2, e.g. realizing power-dependent speed control instead of the speed-dependent power control. Additionally, the model can be extended by stochastic or deterministic wind-speed models, more sophisticated voltage and frequency control.

3.2 Prime Mover and Controller

The prime mover of a wind generator model represents the conversion of kinetic energy stored in the air flowing through the blades into rotational energy at the generator shaft. The prime-mover model is subdivided into three sub-models, which are The turbine that transforms the wind energy into rotational energy at the turbine shaft. Blade angle controller. Shaft coupling turbine and generator including the gear-box.

3.2.1 Wind Turbine

In this section all aspects related to the power conversion from kinetic wind energy to rotational energy that are of relevance for the stability model are explained. The kinetic energy of a mass of air m having the speed vw is given by:

Ek =

m 2 vw 2

(1)

The power associated to this moving air mass is the derivative of the kinetic energy with respect to time.

P0 =

E k 1 m 1 2 2 = vw = q vw t 2 t 2

(2)

where q represents the mass flow given by the expression:

q = vw A
is the air density and A the cross section of the air mass flow.

(3)

Only a fraction of the total kinetic power can be extracted by a wind turbine and converted into rotational power at the shaft. This fraction of power (PWIND) depends on the wind speed, rotor speed and blade position (for pitch and active stall control turbines) and on the turbine design. It is usually denominated aerodynamic efficiency Cp:

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

3 The DFIG Wind-Generator Model

Figure 3: Typical Cp(, ) Characteristic

Cp =

PWind P0

(4)

For a specific turbine design, the values of Cp are usually presented as a function of the pitch angle () and the tip speed ratio (). The tip speed ratio is given by:

TUR R
vw

(5)

R is the radius of the turbine blades and TUR is the turbine speed.

PowerFactory allows the input of a two-dimensional lookup characteristic (for different values of and ) to define Cp. A twodimensional, cubic spline-interpolation method is used for calculating points between actually entered values. The high accuracy of the interpolation method avoids the need of entering a large number of points (see also Figure 3). Alternatively, analytical approaches for approximating the Cp-characteristic could be used but since these data are usually available in tabular formats, no such model was included into the PowerFactory standard Wind-Power-Library. Finally, the mechanical power extracted from the wind is calculated using:

Pmech =

R 2 Cp ( , ) vw

(6)

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

3 The DFIG Wind-Generator Model

The Cp-characteristic can be calculated using special software for aerodynamic designs that is usually based on blade-iteration techniques or it can be obtained from actual measurements. It has to be pointed out that the presented turbine model is based on a steady state approach and is not able to represent stall dynamics. The input/output diagram of the turbine model is depicted in Figure 4 and the input-, output- and parameter definitions are presented in Table 1 to Table 3.

beta

vw

Wind-Turbine

Pwind

omega_tur

Figure 4: Input/Output Definition of Wind-Turbine

Table 1:Input Definition of Wind-Turbine

Input beta vw omega_tur Symbol (6) vw (5,6) TUR (5) Description Blade pitch angle Wind Speed Turbine Angular Velocity Unit degrees m/sec rad/sec

Table 2: Output Definition of Wind-Turbine

Output Pwind Symbol Pmech (6) Description Generated, Mechanical Power Unit MW

Table 3: Parameter-Definition of Wind-Turbine

Output R rho Cp Symbol R (5,6) (6) Cp(,) (6) Description Rotor Blade Radius Air Densitiy Cp-Characteristic (2-dim. Lookup-table) Unit m kg/m3

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

3 The DFIG Wind-Generator Model

3.2.2 Blade Angle Control

Blade Angle Control:
DIgSILENT

BLADE ANGLE CONTROLLER

SERVO

ref

Vrmax

rate_op beta_ref

Ymax beta

speed

PI controller Ka,Tr,Ta Vrmin

Time Const T rate_cl

Limiter

{1/s}

Ymin

Figure 5: Block Diagram of Blade Angle Controller

Adjusting the blade angle allows varying the power coefficient Cp, and hence controlling the power generated by a wind turbine (see also Figure 3). The two common concepts are pitch-control and active-stall control. In a pitch-controlled wind turbine, the blades are turned into the wind for reducing the lift forces at the blades which lowers the power coefficient. Active-stall controlled wind turbines turn the blades out of the wind flow for disturbing the laminar air flow at the blades and hence reducing the generated power. The model presented here is generic and captures the main characteristics of pitch angle controls of existing wind generation technologies. Controller and servomechanism are depicted in Figure 5. The controller has a feedback of the generator speed. Its speed-reference is set to the maximum speed (usually above 20% nominal). The blade angle is at the minimum limit of the controller for all operating conditions below rated rotor speed. This minimum limit corresponds to the optimum blade angle1. The servomechanism model accounts for the associated time constant, rate-of-change limits and blade angle limitations.

Blade-Angle optimization can be realized using a variable minimum blade angle limit

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

3 The DFIG Wind-Generator Model

speed

Blade Angle Controller

beta

Figure 6: Input/Output Definition of Blade Angle Controller

Table 4: Input Definition of Blade Angle Controller

Input speed Description Speed Input (from Generator) Unit p.u.

Table 5: Output Definition of Blade Angle Controller

Output beta Description Blade Angle (Pitch-Angle) Unit deg

Table 6: Parameter Definition of Blade Angle Controller

Parameter Ka Ta Tr T rate_op rate_cl beta_max beta_min ref_speed Description Blade Angle Controller Gain Blade Angle Controller Time Constant Lead Time Constant Servo Time Constant Opening Rate of Change Limit Closing Rate of Change Limit Max. Blade Angle Min. Blade Angle Speed Reference Unit deg/p.u. s s s deg/s deg/s deg deg p.u.

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

3 The DFIG Wind-Generator Model

3.2.3 Shaft
Jg Dtg t Jt Ktg g g

Dt

Dg

Figure 7: Spring-Mass Model of Second Order

Shaft Model:

Pwind

Twind Torque

tdif

omega_tur Mass_1Torque D_turb,J

0

Tmec Spring K,D_shaft

1 1

RatePt Pbase

pt

speed_gen

Gear Box RPMnom

omega_gen

Figure 8: Block Diagram of Shaft

DIgSILENT

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

10

3 The DFIG Wind-Generator Model

Under normal operating conditions, variable speed generators are decoupled from the grid; that is, with appropriate controls, torsional shaft oscillations are filtered by the converters and almost not noticeable as harmonics of the generated power. However, during heavy faults, e.g. short circuits in the network, generator and turbine acceleration can only be simulated with sufficient accuracy if shaft oscillations are included in the model. Shaft characteristics of wind generators are quite different from other types of generation due to the relatively low stiffness of the turbine shaft. This results in torsional resonance frequencies in a range of about 0.5 to 2 Hz. The proposed model approximates the shaft by a two-mass model, represented by turbine- and generator inertia (see Figure 7). The model according to Figure 7 and Figure 8 represents the turbine inertia and the coupling between turbine- and generator. The generator inertia however, is modelled inside the built-in induction machine model. The generator inertia is specified in the form of an acceleration time constant in the induction generator type. The inertia of the gear-box is not modelled separately but shall be included in the generator inertia. The spring-constant K and the corresponding damping coefficient D are related to the turbine-side. Shaft-models of higher order can easily be implemented by expanding the second order model. For stability analysis however, a second order model provides sufficient accuracy.

Pwind

omega_tur

Shaft
speed_gen pt

Figure 9: Input/Output Definition of Shaft

Table 7: Input Definition of Shaft

Input Pwind speed_gen Description Turbine Power Generator Speed Unit MW p.u.

Table 8: Output Definition of Shaft

Output omega_tur pt Description Turbine Speed (Angular Velocity) Mechanical Power at Generator Inertia Unit rad/s p.u.

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

11

3 The DFIG Wind-Generator Model

Table 9: Parameter Definition of Shaft

Parameter Pbase D_turb J_shaft K_shaft D_shaft RPMnom Description Rated Power of Generator Turbine Damping Turbine Inertia Shaft-Stiffness Torsional Damping Nominal Rotor Speed Unit MW. Nms/rad kgm2 Nm/rad Nms/rad rpm

3.3 Generator, Rotor-Side Converter and Controls

The electrical characteristics and hence the modelling requirements vary considerably with the different types of generators. In this section the available models for doubly-fed induction machines are presented. Obviously, the equipment characteristics depend on the manufacturer. The models presented here reflect typical equipment and control structures. This section starts with a description of the DFIG including the rotor-side converter. The grid-side converter with controls is described in section 0, followed by a presentation of DFIG protections.

3.3.1 Asynchronous machine and Rotor Side Converter

The doubly-fed induction machine model extends the usual induction machine by a PWM converter in series to the rotor impedance as shown in Figure 10. In this figure, Rs and Xs are the resistance and leakage reactance of the stator winding; Xm is the magnetizing reactance and Zrot is the rotor impedance.
Rs Xs Zrot

Xm

Ur

Ur'= e

j r t

Ur

UAC

UDC

Figure 10: Equivalent Circuit of the Doubly-Fed Induction Machine with Rotor-Side Converter
The PWM converter inserted in the rotor circuit allows for a flexible and fast control of the machine by modifying magnitude and phase angle of the rotor voltage. It is assumed that a standard bridge consisting of six transistors builds the converter and that sinusoidal pulse width modulation is applied. In contrast to the normal induction machine model, in which the rotor is short-circuited, the winding ratio between rotor and stator is important for calculating actual DC voltages. The nominal rotor voltage that can be measured at the slip rings under open rotor conditions defines this winding ratio.

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

12

3 The DFIG Wind-Generator Model

For load flow calculations and transients initialization, only active power (AC-side), reactive power and the slip have to be specified. Internally, the corresponding modulation factors of the converter (Pmd, Pmq) are calculated and together with the power balance between the AC and DC side of the converter, DC voltage and DC current are obtained. During time domain simulations the converter is controlled through the pulse width modulation indices Pmd and Pmq which define the ratio between DC voltage and the AC-voltage at the slip rings. The modulation indices Pmd and Pmq are defined in a rotor-oriented reference frame. For more details about the built-in DFIG model, please refer to the corresponding Model Description of the Technical Reference

Manual.

3.3.2 Rotor-Side Converter Controller

Pref Ifq_ref;Ifd_ref Pfq;Pfd

Qref

Pmq ; Pmd Transformatio.. *

P;Q

PQ Control ElmGen*

Current Control *

bypass

(From Protection System)

Ifq;Ifd psis_r;psis_i Current Measurement * iq;id

Irot

phim

(To Protection System)

Figure 11: Main Components of the Rotor-Side Converter Controller (Composite Model Frame)
The basic diagram (Frame) of the rotor-side converter controllers is shown in Figure 11. The rotor-side converter is controlled by a two stage controller. The first stage consists of very fast current controllers regulating the machines rotor currents to reference values that are specified by a slower power-controller (second stage). The rotor-side current-controller operates in a stator-flux oriented reference frame. Hence, rotor currents must first be transformed into a stator-flux oriented reference frame (psis_r, psis_i, see Figure 11).

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

13

3 The DFIG Wind-Generator Model

3.3.2.1 Rotor-Current Controller

The block Current Measurement transforms rotor currents from the original, rotor-oriented reference frame to stator-flux orientation. Additionally, the magnitude (in kA) of the rotor-current phasor is calculated and sent to the rotor current protection model. For considering flux-measurement delays (or flux-observer delays), a delay time constant can be entered. This transformation decomposes the rotor currents into a component that is in-phase with stator flux (d-component) and a component that is orthogonal to stator flux (q-component). The q-component of the rotor current directly influences the torque, why the q-axis can be used for torque- or active power control. The d-axis component is a reactive current component and can be used for reactive power- or voltage control.
DIgSILENT

Current Control:

bypass

Rotor-Side Converter Current Control

MaxPmq
0

Irq_ref

yi

non-windup PI Kq,Tq
1

MinPmq

uq

Max

x3
2

Irq (1/(1+sT)) Tr

Pmq Pmd

module limiter
1 1

MaxPmd
0

Ird_ref

yi1

non-windup PI Kd,Td
1

o16

MinPmd

x4

Ird (1/(1+sT)) Tr

Figure 12: Block Diagram of Rotor-Current Controller

The block-diagram depicted in Figure 12 is the implementation of the rotor-current controller. There are two independent proportional-integral-(P-I-) controllers, one for the d-axis component, one for the q-axis component. The output of the current controller defines the pulse-width modulation indices in stator-flux orientation. For limiting harmonics, the magnitude of the pulse-width modulation index is limited to the parameter Max. Both P-I-controllers are equipped with non-windup limiters. By activating the additional input signal bypass, the pulse-width modulation indices are immediately set equal to zero, which is equivalent to blocking and bypassing the rotor-side converter (Crow-Bar protection, see section 3.5). Because the modulation index of the doubly-fed induction machine must be defined in a rotor-oriented reference frame, the outputs of the rotor-current controller have to be transformed back from stator-flux-orientation to rotor-orientation. This transformation is realized by the block Transformation.

ud

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

14

3 The DFIG Wind-Generator Model

cosphim sinphim id iq psis_r psis_i

ifd

Rotor-Current Measurement

ifq

Irot

Figure 13: Input/Output Definition of Rotor-Current Measurement

Table 10: Input Definition of Rotor-Current Measurement

Input cosphim sinphim id iq psis_r psis_i Description Cosine of rotor angle Sine of rotor angle Rotor-Current (d-axis, in rotor-oriented reference frame) Rotor-Current (q-axis, in rotor-oriented reference frame) Stator Flux, real part Stator Flux, imaginary part p.u. p.u. p.u. p.u. Unit

Table 11: Output Definition of Rotor-Current Measurement

Output ifd ifq Irot Description Rotor-Current (d-axis, Stator-Flux Orientation) Rotor-Current (q-axis, Stator-Flux Orientation) Rotor-Current (Magnitude of current-phasor) kA Unit p.u.

Table 12: Parameters of Rotor-Current Measurement

Parameter Tm Urrated Srated Description Measurement Delay Time Rated Rotor Voltage Rated Power of DFIG Unit s kV MVA

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

15

3 The DFIG Wind-Generator Model

bypass Ifq_ref Ifq Ifd_ref Ifd

Pmq

Rotor-Current Controller
Pmd

Figure 14: Input/Output Definition of Rotor- Current Controller

Table 13: Input-Definition of Rotor- Current Controller

Input bypass Iq_ref Ifq Id_ref Id Description Bypass-Signal q-Axis Current Reference q-Axis Current d-Axis Current Reference d-Axis Current p.u. p.u. p.u. p.u. Unit

Table 14: Output-Definition of Rotor-Current Controller

Output Pmq Pmd Description q-Axis Pulse Width Modulation Index d-Axis Pulse Width Modulation Index Unit

Table 15: Parameter-Definition of Rotor- Current Controller

Parameter Tr Kq Tq Kd Td MinPmq MinPmd MaxPmq MaxPmd Max Description Current Measurement Time Constant q-Axis Gain q-Axis Time Constant d-Axis Gain d-Axis Time Constant Min. q-Axis Pulse-Width Modulation Index Min. d-Axis Pulse-Width Modulation Index Max. q-Axis Pulse-Width Modulation Index Max. d-Axis Pulse-Width Modulation Index t Max. Magnitude of Pulse-Width Modulation Index Unit sec p.u sec p.u sec p.u p.u p.u p.u p.u

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

16

3 The DFIG Wind-Generator Model

cosphim sinphim Pfd Pfq psis_r psis_i Pmdd

Rotor-dqTransformation

Pmq

Figure 15: Input/Output Definition of Rotor-dq-Transformation

Table 16: Input Definition of Rotor-dq-Transformation

Input cosphim sinphim Pfd Pfq psis_r psis_i Description Cosine of Rotor-Angle Sine of Rotor-Angle d-Axis Modulation Index (Stator-Flux Orienation) q-Axis Modulation Index (Stator-Flux Orientatin) Stator-Flux, Real Part Stator-Flux, Imaginary Part p.u. p.u. Unit

Table 17: Output Definition of Rotor-dq-Transformation

Output Pmd Pmq Description d-Axis Modulation Index (Rotor-Orientation) q-Axis Modulation Index (Rotor-Orientation) Unit

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

17

3 The DFIG Wind-Generator Model

3.3.2.2 Power-Controller
PQ Control:

b ypa s..

Active and Reactive Power Control Rotor Side Converter

MaxIfq
0

Pref
1 1

non-windup PI Kp,Tp MinIfq

xP
P

(1/(1+sT) Ttr

x1 Active Power Control

0

Max
0

Ifq_ref Ifd_ref

module limiter
1 1

MaxIfd
0

Qref

non-windup PI Kq,Tq MinIfd

xQ

x2
4

(1/(1+sT) Ttr

Reactive Power Control

Figure 16: Block-Diagram of PQ-Controller

D-axis and q-axis component of the rotor current are controlled to reference values specified by active- and reactive power controllers according to Figure 16. Similar to the rotor-current controller, the power controller regulates active- and reactive power by independent P-I-controllers. The P-I-controllers are equipped with non-windup limiters. The output limits the magnitude of the rotor-current reference. In contrast to the output-limiter in Figure 12, the q-axis-component (active current component) is prioritized. Voltage control can either be realized by connecting a voltage controller behind the reactive power reference or by replacing the reactive power controller by a voltage controller defining the d-axis current reference.

bypass Pref P Qref Q

Ifd_ref

PQ-Controller
Ifq_ref

Figure 17: Input/Output Definition of PQ-Controller

DIgSILENT

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

18

3 The DFIG Wind-Generator Model

Table 18: Input Definition of PQ-Controller

Input bypass Pref P Qref Q Description Bypass-Signal Active Power Reference q-Axis Current d-Axis Current Reference d-Axis Current p.u. p.u. p.u. p.u. Unit

Table 19: Output-Definition of PQ-Controller

Output Ifq_ref Ifd_ref Description q-Axis Current Reference d-Axis Current Reference Unit p.u. p.u.

Table 20: Parameter Definition of PQ-Controller

Parameter Ttr Kp Tp Kq Tq MinIfq MinIfd MaxIfq MaxIfd Max Description Measuring time constant Active Power Control Gain Active Power Control Time Constant Reactive Power Control Gain Reactive Power Control Time Constant Min. q-axis current reference Min. d-axis current reference Max. q-axis current reference Max. d-axis current reference Max. current magnitude reference Units sec p.u sec p.u sec p.u p.u p.u p.u p.u

3.3.3 Maximum Power Tracking

According to the classical control strategy the active power dispatch of wind-turbines is permanently optimized. Hence, the wind turbine operates with maximum possible active power output, depending on actual wind speed. As shown in Figure 3 there is, for every wind speed, an optimum mechanical speed (optimum ). Assuming that the wind turbine always operates at this optimum point, the actual wind speed and hence the maximum possible active power can be calculated from the mechanical speed, without the necessity of wind-speed measurements. Calculating the table of max. power versus mechanical speed and applying the maximum power as active power reference to the PQ-controller drives the wind turbine into the optimum point. In the PowerFactory model, the power vs. speed characteristic (or MPT-characteristic) is defined using a linearly interpolated table. Alternatively, many doubly-fed induction machines are operated using a slightly different control-scheme, in which active power is measured and mechanical speed is calculated by the inverse MPT-characteristic. In this case, the calculated speed is sent as

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

19

3 The DFIG Wind-Generator Model

speed-reference to a speed-controller. Replacing the active power controller according to Figure 16 by a speed-controller and connecting an inverse MPT table to the speed-reference point realizes this alternative control scheme.

speed

MPT-Characteristic

Pref

Figure 18; Input/Output Definition of MPT-Characteristic

Table 21: Input Definition of MPT-Characteristic

Input speed Description Mechanical Speed Unit p.u.

Table 22: Output Definition of MPT-Characteristic

Output Pref Description Active Power Reference Unit p.u.

Table 23: Parameter Definition of MPT-Characteristic

Parameter array_MPT Description Array of Power Reference Points Unit p.u.

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

20

3 The DFIG Wind-Generator Model

3.4 Grid-Side-Converter with Controls

U11

Figure 19: Grid-Side Converter

The grid-side converter consists of a 6-pulse bridge (PWM U1 in Figure 19), the AC-inductance (L1) and the DC-capacitance (C1). Like the rotor-side converter, the grid-side PWM converter is modelled using a fundamental frequency approach. The input variables Pmr and Pmi, together with the DC-voltage, define magnitude and phase angle of the AC-voltage at the PWMconverters AC-terminal. The pulse-width modulation indices Pmr and Pmi are referred to the so-called global reference frame, which is in EMT-simulations a steady state reference frame and which rotates with reference frequency (mechanical speed of the reference machine) in case of an RMS simulation. However, the reference frame has no influence to the systems performance, as long as all quantities are given in the correct reference frames. More information about the PWM-controller, the AC-inductance and the DC-capacitance can be found in the corresponding

Model Descriptions.
The basic diagram of the grid-side controller is shown in Figure 20. The modulation indices of the Converter are imposed from a Current Control through a reference frame transformation (ph-

transf). The Current Control operates in an AC-voltage oriented reference frame. It contains two current control loops: direct
(active-) and quadrature (reactive-) axis current components (id and iq). The reference of the direct axis current component (id_ref) is set by DC voltage control. The reference of the quadrature axis current component (id_ref ) is, kept constant (const. reactive power) in this case. For defining the AC-voltage oriented reference frame, a PLL (phase-locked-loop) is required measuring the voltage angle. The PLL-output is used for transforming the current measurement into the voltage-oriented reference frame (dq-transf) and for transforming the controller outputs (pulse-width modulation indices) back to the global reference frame (ph-transf).

C1

L1 PWM U1

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

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3 The DFIG Wind-Generator Model

Grid Side Converter:

udc_ref

iq_ref

DC Voltage measurement StaVmea*

udc

DC Voltage Control ElmDc *

id_ref

ir Current Measurement StaImea* ii iq id cosph.. PLL ElmPll*,ElmPhi* sinph.. dq transf ElmDq-*

Current Control ElmCur* Pmq Pmr Pmd ph-transf ElmDq-* Pmi Converter ElmVsc*

Figure 20: Grid-Side Converter- Frame

3.4.1.1 Grid-Side Current Controller

Current Control:
DIgSILENT

Grid-Side Converter Current Control

Max_Pmd
0

id_ref

{K (1+1/sT)} Kd,Td Min_Pmd

id (1/(1+sT)) Tr

x3
0

Max
0

Pmd Pmq

module limiter
1 1

Max_Pmq
2

iq_ref

{K (1+1/sT)} Kq,Tq Min_Pmq

iq (1/(1+sT)) Tr

x4

Figure 21: Block Diagram of Grid-Side Current Controller

DIgSILENT

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

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3 The DFIG Wind-Generator Model

The grid-side controller (Figure 21) is very similar to the rotor-side current controller (Figure 12). However, since it operates in a voltage-oriented reference frame and not in a flux-oriented reference frame the role of d- and q-axis is inverted: the d-axis component defines active-current and the q-axis component defines reactive current.

Id_ref Id Iq_ref Iq

Grid-Side Current Controller

Pmd

Pmq

Figure 22: Input/Output Definition of Grid-Side Current Controller

Table 24: Input Definition of Grid-Side Current Controller

Input Id_ref Id Iq_ref Iq Description d-Axis Current Reference d-Axis Current q-Axis Current Reference q-Axis Current Unit p.u. p.u. p.u. p.u.

Table 25: Output Definition of Grid-Side Current Controller

Output Pmd Pmq Description d-Axis Pulse Width Modulation Index q-Axis Pulse Width Modulation Index Unit

Table 26: Parameter Definition of Grid-Side Current Controller

Parameter Kd Td Kq Tq Tr Min_Pmd Min_Pmq Max_Pmd Max_Pmq Description d-axis proportional gain d-axis integral time constant q-axis proportional gain q-axis integral time constant Current measurement time constant Min. d-axis modulation factor Min. q-axis modulation factor Max. d-axis modulation factor Max. q-axis modulation factor Units p.u. Sec p.u Sec Sec p.u. p.u. p.u. p.u.

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

23

3 The DFIG Wind-Generator Model

PLL:

sin(x) Kpphi
0

sinphi
0

om _nom

vr

rr

K Kp

dphi dommax
1

dom

om

1/s

vi

ii K/s_lim K dommin

Kiphi

yi

cosphi cos(x)
1

1/(2pi)

Fmeas

Figure 23: Block-Diagram of PLL

Figure 24: Basic-Data-Page of PLL Showing Node-Reference

The reference angle of the current controller is provided by a PLL (phase locked loop). The PLL is a PowerFactory built-in model that refers directly to a bus-bar or terminal. The block-diagram is shown in Figure 23, however, the input voltage is not defined by a composite model but directly by a node-reference in the input-dialogue box of the PLL, as shown in Figure 24.

DIgSILENT

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

24

3 The DFIG Wind-Generator Model

Fmeas

PLL

sinphi cosphi

Figure 25: Input/Output Definition of PLL (Built-In Model)

Table 27: Output Definition of PLL

Output Fmeas sinphi cosphi Description Measured Frequency Sine of Voltage Angle Cosine of Voltage Angle Unit Hz

Table 28: Parameter Definition of PLL

Parameter Kp Ki ommax ommin Description Controller Gain Integration Gain Upper Frequency Limit Lower Frequency Limit 1/a p.u. p.u. Unit

The input/output definition of the transformation blocks carrying out the transformation from the global reference system to the AC-voltage oriented reference system and back are shown in Figure 26.

ir ii sinphi cosphi

Grid-dqTransformation

id iq

Figure 26: Input/Output Definition of Grid-dq-Transformation

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

25

3 The DFIG Wind-Generator Model

Table 29: Input Definition of Grid-dq-Transformation

Input ir ii sinphi cosphi Description Real Part of Input Signal in Global Reference System Im. Part of Input Signal in Global Reference System Cosine of Reference Angle Cosine of Reference Angle Unit p.u. p.u.

Table 30: Output Definition of Grid-dq-Transformation

Output id iq Description d-Axis Current q-Axis Current Unit p.u. p.u.

id iq sinphi cosphi

PhaseTransformation

ir ii

Figure 27: Input/Output Definition of Phase-Transformation

Table 31: Input Definition of Phase-Transformation

Input id iq sinphi cosphi Description d-Axis Component of Input Signal q-Axis Component of Input Signal Cosine of Reference Angle Cosine of Reference Angle Unit p.u. p.u.

Table 32: Output Definition of Phase-Transformation

Output ir ii Description Real Part of Output Signal Im. Part of Output Signal Unit p.u. p.u.

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

26

3 The DFIG Wind-Generator Model

3.4.1.2 DC-Voltage Controller

DC Voltage Control:
DIgSILENT

udc_ref

Max_idref

udc

dudc

{K (1+1/sT)} Kudc,Tudc Min_idref

id_ref

xidref

Figure 28: DC-Voltage Controller

The P-I-controller shown in Figure 28 controls the DC-voltage and sets the d-axis current reference. Time constant and gain of the controller must be set in accordance with the DC-capacitance (see Figure 19).

udc_ref

udc

DC-Voltage Controller

id_ref

Figure 29: Input/Output Definition of DC-Voltage Controller

Table 33: Input Definition of DC-Voltage Controller

Input udc_ref udc Description DC-Voltage, Reference Value DC-Voltage Units p.u. sec

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

27

3 The DFIG Wind-Generator Model

Table 34: Output Definition of DC-Voltage Controller

Ouput id_ref

Description d-Axis Current Reference

Units p.u.

Table 35: Parameter Definition of DC-Voltage Controller

Parameter Kudc Tudc Min_idref Max_idref Description Proportional Gain Integral Time Constant Min. d-axis current reference Max. d-axis current reference Units p.u. sec p.u. p.u

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

28

3 The DFIG Wind-Generator Model

3.5 Protection
Protection:
DIgSILENT

Irot

Rotor Bypass MaxIrotor, tbypass

CrowBar

speed

TripSpeed SpeedProt M axSpeed1,ttripMaxS1, Ma..

1

bypass Max

u VoltageProt MaxVoltage1,ttripMaxV1, ..

TripVoltage

Figure 30: Block Diagram of DFIG-Protection

The following protective functions are implemented in the block diagram according to Figure 30: 1. Under-/Over-Voltage 2. Under-/Over-Speed 3. Rotor-Over-Current (Crow-Bar Protection)

The Under/Over-Voltage unit supervises the voltage at the HV side of the transformer and has four voltage levels, two for under-voltage and two for over-voltage. If this protective unit triggers the machine breaker is opened. The Under/Over-speed protection unit supervises the generator speed and consists of four levels, two for under-speed and two for over-speed. If this protective unit triggers the machine breaker is opened.
Rs Xs Zrot

Xm

Ur

Ur'= e

j r t

Ur

Additional Impedance

Figure 31: Equivalent Circuit Diagram of DFIG During Crow-Bar Protection

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

29

3 The DFIG Wind-Generator Model

The Crow-Bar protection is specific to doubly-fed induction generators and protects the rotor-side converter against overcurrents. When the rotor current exceeds a threshold value, the converter is blocked and bypassed through an additional impedance (see Figure 31). This additional impedance reduces the amount of reactive power absorbed by the machine and improves the torque characteristic during voltage sags. While the Crow-Bar is inserted, the integral actions of the rotor-side controllers are set to zero (see Figure 12 and Figure 16) for minimizing discontinuities in the rotor current when the Crow-Bar is removed. Those discontinuities would eventually lead to subsequent operations of the Crow-Bar protection. When the Crow-Bar is released, the rotor side converter is unblocked. For simulating cases, in which doubly-fed induction generators remain in the system during faults, as recommended by the latest E.ON. guidelines, the operation of the Crow-Bar protection does not open the machine breaker. For simulating synchronous operation of Crow-Bar protection and machine breaker, the model can easily be modified.

Irot speed u

DFIG-Protection
bypass

Figure 32: Input/Output Definition of DFIG-Protection

Table 36: Input Definition of DFIG-Protection

Input Irot speed u Description Rotor Current Magnitude Generator Speed Bus-Bar Voltage Units kA sec p.u

Table 37: Output Definition of DFIG-Protection

Output bypass Description Bypass-Signal (for Crow-Bar Insertion) Units

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

30

3 The DFIG Wind-Generator Model

Table 38: Parameter Definition of DFIG-Protection

Parameter MaxIrotor tbypass MaxSpeed1 ttripMaxS1 MaxSpeed2 ttripMaxS2 MinSpeed1 ttripMinS1 MinSpeed2 ttripMinS2 MaxVoltage1 ttripMaxV1 MaxVoltage2 ttripMaxV2 MinVoltage1 ttripMinV1 MinVoltage2 ttripMinV2 Description Rotor Current for Crow Bar Insertion Crow Bar Insertion Time Overspeed Setting step 1 Overspeed Time Setting step 1 Overspeed Setting step 2 Overspeed Time Setting step 2 Underspeed Setting step 1 Underspeed Time Setting step 1 Underspeed Setting step 2 Underspeed Time Setting step 2 Overvoltage Setting step 1 Overvoltage Time Setting step 1 Overvoltage Setting step 2 Overvoltage Time Setting step 2 Undervoltage Setting step 1 Undervoltage Time Setting step 1 Undervoltage Setting step 2 Undervoltage Time Setting step 2 Units kA sec p.u sec p.u sec p.u sec p.u sec p.u sec p.u sec p.u sec p.u sec

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

31

4 Simulation Examples

4 Simulation Examples
In this section the behaviour of the proposed DFIG model under different types of system faults is presented.

4.1 Three-Phase Fault, Far from Wind Generation

In this case, a three phase fault cleared after 200 ms causing a voltage depression of about 25% is simulated. The results are presented in Figure 33 to Figure 35.
1.000 0.00 -1.000 -2.000 -3.000
DIgSILENT

0.00

1.000 PQ Control: Total Reactive Power (Q)

2.000

3.000

..

4.000

1.200 0.80 0.40 0.00 -0.400 -0.800 0.00 1.000 PQ Control: Total Active Power (P) 2.000 3.000 .. 4.000

1.200 1.00 0.80 0.60 0.40 0.20 0.00 0.00 1.000 T3WT1: AC Voltage at HV side (u) 2.000 3.000 .. 4.000

DIgSILENT

Doubly-fed Induction Generator - Example

Plot-1

Date: 5/26/2003 Annex: /1

Figure 33: Three-Phase Fault Far from Wind Generation, Connection Point

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

32

4 Simulation Examples

5.500

7.500 5.000 2.500

5.000

4.500 0.00 4.000 -2.500 3.500 -5.000 -7.500

3.000

0.00

1.000 2.000 G1d: Stator Active Power

3.000

..

4.000

0.00

1.000 2.000 G1d: Stator Reactive Power

3.000

..

4.000

0.50

0.00

0.25

-0.100

0.00 -0.200 -0.250 -0.300

-0.500

-0.750

0.00

1.000 2.000 3.000 PWM U1: Grid Side Converter Active Power

..

4.000

-0.400

0.00

1.000 2.000 3.000 PWM U1: Grid Side Converter Reactive Power

..

4.000

DIgSILENT

Doubly-fed Induction Generator - Example

Plot-2

Date: 5/26/2003 Annex: /2

Figure 34: Three-Phase Fault Far from Wind Generation, Stator- and Grid-Side Results
DIgSILENT

1.000 0.99 0.98 0.97 0.96 0.95 0.94 0.00 G1d: Generator Speed 3.000 2.000 1.000 0.00 -1.000 1.000 2.000 3.000 ..

4.000

0.00

1.000 Prime Mover: Blade pitch Angle

2.000

3.000

..

4.000

4.500 4.400 4.300 4.200 4.100 4.000 0.00 Prime Mover: Wind Power 1.000 2.000 3.000 .. 4.000

DIgSILENT

Doubly-fed Induction Generator - Example

Plot-3

Date: 5/26/2003 Annex: /3

Figure 35: Three-Phase Fault Far from Wind Generation, Mechanical Variables

DIgSILENT

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

33

4 Simulation Examples

Figure 33 shows that the total active and reactive power at the connection point is quickly restored. The active power of the stator has an oscillatory component due to torsional oscillations that is almost perfectly damped by the active power controller of the grid-side converter (Figure 34). The speed deviations are not large enough to cause a variation of the blade angles the pitch control.

4.2 Three Phase Fault Close to Wind Generation

In this case, a three phase fault cleared after 400 ms causing a voltage depression of about 85% is simulated assuming that the under-voltage protection is set to avoid the disconnection from the grid under these circumstances. The results are presented in Figure 36 to Figure 38. In this case, it takes longer to restore total active and reactive power than in the previous case, due to the operation of the crow bar (Figure 36). The total reactive power is almost zero during the fault and is negative during the time between clearing the fault and removing the crow bar protection at t=0.5s. In this case, the speed deviation is larger than in the previous case and the blade angle is increased to reduce the power extracted from the wind. The reactive power absorbed by the generator during the time that the crow bar is inserted may have a negative impact on the voltage stability of the system when a significant number of units are connected. The modelling of the operation of this protective function should be particularly considered in the design of transmission systems connecting large wind farms to utility grids.
1.000 0.00 -1.000 -2.000 -3.000
DIgSILENT

0.00

1.000 PQ Control: Total Reactive Power (Q)

2.000

3.000

..

4.000

1.200 0.80 0.40 0.00 -0.400 -0.800 0.00 1.000 PQ Control: Total Active Power (P) 2.000 3.000 .. 4.000

1.200 1.00 0.80 0.60 0.40 0.20 0.00 0.00 1.000 T3WT1: AC Voltage at HV side (u) 2.000 3.000 .. 4.000

DIgSILENT

Doubly-fed Induction Generator - Example

Plot-1

Date: 5/26/2003 Annex: /1

Figure 36: Three-Phase Fault Close to Wind Generation, Connection Point

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

34

4 Simulation Examples

6.000

8.000

4.000

4.000

2.000

0.00

0.00

-4.000

-2.000

-8.000

-4.000

0.00

1.000 2.000 G1d: Stator Active Power

3.000

..

4.000

-12.00

0.00

1.000 2.000 G1d: Stator Reactive Power

3.000

..

4.000

1.200 0.80 0.40

4.000

3.000

2.000 0.00 1.000 -0.400 -0.800 -1.200 0.00

0.00

1.000 2.000 3.000 PWM U1: Grid Side Converter Active Power

..

4.000

-1.000

0.00

1.000 2.000 3.000 PWM U1: Grid Side Converter Reactive Power

..

4.000

DIgSILENT

Doubly-fed Induction Generator - Example

Plot-2

Date: 5/26/2003 Annex: /2

Figure 37: Three-Phase Fault Close to Wind Generation, Stator- and Grid-Side Results

1.140 1.100 1.060 1.020 0.98 0.94 0.00 G1d: Generator Speed 0.30 0.20 0.10 0.00 -0.100 1.000 2.000 3.000 ..

4.000

0.00

1.000 Prime Mover: Blade pitch Angle

2.000

3.000

..

4.000

4.400 4.300 4.200 4.100 4.000 3.900 0.00 Prime Mover: Wind Power 1.000 2.000 3.000 .. 4.000

DIgSILENT

Doubly-fed Induction Generator - Example

Plot-3

Date: 5/26/2003 Annex: /3

Figure 38: Three-Phase Fault Close to Wind Generation, Mechanical Variables

DIgSILENT

DIgSILENT

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

35

4 Simulation Examples

4.3 Single Phase Fault Close to Wind Generation

In this case, a single phase fault cleared after 400 ms causing a total voltage depression in phase A at the HV side of the machine transformer is simulated assuming that the under-voltage protection is set to avoid the disconnection from the grid under this circumstances. The results are presented in Figure 39 to Figure 41. In this case, the total active power does not decrease during the fault as in the previous case due to the fault type. However, the increasing rotor current causes the Crow-Bar protection to trip. Consequently, the total reactive power absorption significantly increases until the crow bar protection is removed at t=0.5s. The speed deviation is less than in the previous case and the blade angle is kept constant. In contrast to the previous cases, this case was simulated using an instantaneous-value representation of the AC-system (EMTsimulation). This more accurate model uses fifth-order generator models, including stator transients and differential equations for all network components.
2.00 1.00 -0.00 -1.00 -2.00
DIgSILENT

-0.00 0.25 PQ Control: Total Reactive Power (Q)

0.50

0.75

[s]

1.00

2.00

1.00

-0.00

-1.00

-0.00 PQ Control: Total Active Power (P)

0.25

0.50

0.75

[s]

1.00

2.00 1.00 -0.00 -1.00 -2.00

-0.00 0.25 T3WT1: Phasenspannung L1/OS-Seite in p.u.

0.50

0.75

[s]

1.00

DIgSILENT

Doubly-fed Induction Generator - Example

Results at Connection Point Date: 8/11/2003

Annex: 1 /1

Figure 39: Single-Phase Fault Close to Wind Generation, Connection Point

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

36

4 Simulation Examples

7.50

9.00

5.00

6.00

2.50

3.00

0.00

0.00

-2.50

-3.00

-5.00

-0.00

0.25 G1d: Stator Active Power

0.50

0.75

[s]

1.00

-6.00

-0.00

0.25 0.50 G1d: Stator Reactive Power

0.75

[s]

1.00

3.00

3.00

2.00

2.00

1.00

1.00

0.00

0.00

-1.00

-0.00

0.25 0.50 0.75 PWM U1: Grid Side Converter Active Power

[s]

1.00

-1.00

-0.00

0.25 0.50 0.75 PWM U1: Grid Side Converter Reactive Power

[s]

1.00

DIgSILENT

Doubly-fed Induction Generator - Example

Active/Reactive Power

Date: 8/11/2003 Annex: 1 /2

Figure 40: Single Phase Fault Close to Wind Generation, Stator- and Grid-Side Results
DIgSILENT

1.14 1.10 1.06 1.02 0.98 0.94 -0.00 G1d: Generator Speed 0.25 0.50 0.75 [s] 1.00

0.15 0.10 0.05 0.00 -0.05 -0.10 -0.15 -0.00 Pitch Control: Blade pitch Angle 0.25 0.50 0.75 [s] 1.00

4.40 4.30 4.20 4.10 4.00 3.90 -0.00 Turbine: Wind Power 0.25 0.50 0.75 [s] 1.00

DIgSILENT

Doubly-fed Induction Generator - Example

Mechanical Results Date: 8/11/2003

Annex: 1 /3

Figure 41: Single-Phase Fault Close to Wind Generation, Mechanical Variables

DIgSILENT

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

37

5 Conclusions

5 Conclusions
The PowerFactory standard library of generic models for simulating DFIG-based wind power plants was described using a typical DFIG-example. The models include the conversion from wind- to mechanical energy, pitch control, maximum power tracking and controllers for the rotor-side- and grid-side converters. The described models can easily be extended for different reactive and active power control schemes. All block diagrams, equations and input/output definitions were presented in this document allowing to use the PowerFactory standard library efficiently. Simulation examples showing the dynamic response of the described models illustrate the validity and accuracy of the presented approach

Dynamic Modelling of Doubly-Fed Induction Machine Wind-Generators

38