Power System Stability Analysis in the Presence of Variable Speed Wind Generators

A. Cagnano, M. Dicorato, G. Forte, M. Trovato

Dipartimento di Elettrotecnica ed Elettronica (DEE) Politecnico di Bari Via Re David 200, Bari, Italy forte@deemail.poliba.it
Abstract This paper aims to analyze Variable Speed Wind Turbine impact on transient behavior of a power system using time domain simulation. To this purpose, suitable mathematical models for Doubly Fed Induction Generators and Permanent Magnet Synchronous Generators with their control devices are considered. Simulations allow to assess the influence of VSWT on conventional synchronous generator dynamics after short-circuit fault occurrence. Keywords- wind power, system integration, stability analysis

E. De Tuglie
Dipartimento di Ingegneria per lAmbiente e lo Sviluppo Sostenibile (DIASS) Politecnico di Bari Via de Gasperi sn, Taranto, Italy generation in a test power system allowing to assess the influence of VSWT on system dynamics after short-circuit fault occurrence. II. WIND GENERATOR MODELS

I.

INTRODUCTION

The fast growth of wind generation leads to concern about its effects on electric grid. Wind farm proliferation could affect power system security, since most wind farms are connected to the transmission or sub-transmission networks. Different solutions have been exploited during the last decades, aiming to obtain energy from wind speed in optimal conditions. In fact, the employment of fixed-speed generators implies lower efficiency with varying wind speed [1], [2]. These reasons lead to the selection of two basic technologies for variable-speed wind turbines (VSWT): asynchronous doubly-fed induction generators (DFIGs) and permanent magnet synchronous generators (PMSGs) equipped with fullscale converters [3]. DFIGs have gained great market shares, reaching 60% of installed power, thanks to high flexibility and limited cost difference with respect to constant speed generator technology. PMSGs have not obtained the same spread, mainly due to higher costs related to the generator. In the last years, however, several constructors are moving towards this last technology, therefore suitable modeling has become a key matter for ensuring a correct grid integration [4]. The influence of wind power integration in power grid stability has been investigating in literature, mainly focusing on the effects of wind farms equipped with DFIG [5]-[8]. This paper aims to analyze the VSWT (both DFIG and PMSG) impact on transient behavior of a power system using time domain simulation. To this purpose, suitable dynamic models for DFIG and PMSG with their control devices are adopted. Simulations are carried out considering a remarkable percentage of wind generation with respect to conventional

The two most widely used variable speed wind generator concepts are the converter driven PMSG and the DFIG [9]. Both of them exploit generally 3-bladed turbines and are equipped with pitch control system aiming to follow the speed-power curve of the turbine, regulating blade pitch when wind speed exceeds nominal speed. The main difference between the two technologies consists in electric generator technology and control. The DFIG is a wound rotor induction generator with a voltage source converter connected to the slip-rings of the rotor. The stator winding is coupled directly to the grid and the rotor winding is connected to the grid via a power electronic converter. References [8] and [10] provide a detailed description of the operation of a DFIG. In PMSG, permanent magnets are designed to produce the magnetic flux instead of rotor windings and back-to-back converters allow to vary rotor speed and to control reactive power independently. The gearbox can be omitted due to low rotational speed in PMSG with consequent cost reduction. Different models for PMSG are provided in literature, depending on control strategies employed for converters [10][12]. In this paper, the model described in [10] is employed for power system stability analysis. Vector control is applied in both technologies. In particular, in DFIG, current components of rotor-side converter are used for rotor speed control and voltage control. Whereas, in the adopted model of PMSG active and reactive power of the machine are controlled through generator-side converter, whereas grid-side converter realizes voltage control at interconnection point at a given reference value. III. WIND FARM INTEGRATION IN TRANSMISSION NETWORK

Depending on the purpose of the task, an aggregated or a detailed model is required. Commonly, a grid-connected wind farm even consisting of a large number of wind turbines is represented by one equivalent machine [9] [13] for stability

978-1-4577-0547-2/12/$31.00 2012 IEEE

investigations. This implies some peculiarities: (i) the wind speed is supposed the same for all turbines in order to consider them coherent; (ii) when time frame of interest is relatively short (up to about tens of seconds), as for transient stability investigations, wind speed could be assumed constant; (iii) impedances of connections within the wind park are neglected, because they are normally small with respect to the impedance of the grid connection. Wind farm dynamic models are embedded in the set of non-linear differential and algebraic equations representing the power system dynamics. By solving the following equations, a time domain simulation of power system on a transient timescale is obtained:

generator model and the adopted control system. Finally, Equation (3) represents the algebraic equation set of the interface relationships between network and generators. IV. TEST RESULTS

 nw = f nw (xnw ,vnw ,rnw ) x  w = f w (xw ,v w ,rw ) x I ( xnw , xw ,v ) Yv = 0

(1) (2)

The simulations are carried out on a test system reported in Fig. 1. It represents a transmission network consisting of 14 buses, 5 generators, 10 loads and 19 branches. Total active power generation, connected at buses 1 and 2, sums up to 675 MW. Reactive power generators are present at buses 3, 6 and 8. A wind farm consisting of 60 wind turbines of 3.3 MW size, for a total installation of 200 MW, is considered to be connected at bus 5. This covers roughly 23% of installed power generation. The wind farm is alternatively equipped with either DFIGs or PMSGs [15][16]. Simulations are carried out by means of PSAT [17]. As stated in Section III, wind speed is considered constant over the considered time frame, and power production from the wind farm is considered equal to 100 MW. Dynamic stability analysis is performed for both system configurations, over a time horizon of 20 s, considering a three-phase grid fault at Bus 2 occurring at 1 s, self-clearing after 100 ms (Case I). Further analysis, with 300-ms fault duration, is applied to the system including either DFIG-based or PMSG-based wind farm (Case II).

(3)

where (1) takes into account the dynamic of non-wind conventional thermoelectric and/or hydroelectric generators. Each synchronous machine is represented with a fourth-order dynamic model. Moreover, a fourth order model is adopted for excitation system (IEEE AC 1) and third order model is considered for representing the speed governor. Finally, a third-order model is adopted for Power System Stabilizer [14]. Equation (2) is the vectorial representation of wind farm models. The size of state vector xw depends on the wind

6 11 12 10 13
Figure 1. System under study.

7 8

14

active power [p.u.]

A. Case I results Assuming generator at Bus 1 as a reference, rotor angle deviations of generator at Bus 2 are reported in Figure 2. It can be seen that, when system includes a DFIG-based wind farm, first spike of rotor angle results more severe, presenting 0.15 rad variation with respect to steady-state solution. Whereas, maximum deviation of roughly 0.1 rad is observed in system including PMSG-based wind farm. Behaviors in oscillation damping are quite similar, though new stable conditions result slightly different.
0.30 0.25

first spike reaching 1.2 p.u., damping down in 6 s, due to the action of speed regulators.
1.2 1.1 1 0.9 0.8 0.7 0.6 0 2 4 6 8 DFIG PMSG

[rad]

0.20 0.15 0.10 0.05 0.00 0 2 4 6 8

DFIG PMSG

time [s]

10

12

14

16

18

20

Figure 4. 100-ms fault. Active power generation at bus 5

time [s]

10

12

14

16

18

20

B. Case II results In this case, rotor angle oscillation results wider than in Case I, reaching 0.65 rad deviation from steady-state condition in both systems and takes some more time to reach final constant value, due to the action of Power System Stabilizer (see Fig. 5).
0.9 0.8 0.7 0.6 0.5 0.4 0.3 0.2 0.1 0 0 2 4 6 8 10 12 14 16 18 20 DFIG PMSG

Figure 2.

100-ms fault. Rotor angle dynamics at bus 2.

As concerns voltage variations, it can be observed that voltage at connection bus of the wind farm (Bus 5 in Fig. 1) falls down to roughly 0.4 p.u. in both cases, as illustrated in Fig. 3. Voltage restoration after clearance passes through a smooth overshoot, reaching roughly 1.08 p.u. and 1.07 p.u. for PMSG and DFIG, respectively. After that, DFIG-based system shows little descending oscillations towards final value, whereas PMSG-based system experiences some undershoot in transient phase (minimum value is equal to 1.01 p.u.), before reaching the new steady-state condition.
1.1 1.0

[rad]

time [s]

voltage [p.u.]

0.9 0.8 0.7 0.6 0.5 0.4 0.3 0 2 4 6 8

Figure 5.

300-ms fault. Rotor angle dynamics at bus 2.

DFIG PMSG

time [s]

10

12

14

16

18

20

In Fig. 6, voltage at wind farm connection bus is reported. It can be noted that for DFIG voltage overshoot reaches 1.15 p.u., though sudden action of voltage regulators of synchronous generators makes it decrease to steady-state value in roughly 2 s. Whereas, considering PMSG, a first wide overshoot is observed, with maximum value of 1.19 p.u. and lasting almost 1 s after fault clearance. Then, an under-shoot is present for a further second, falling at 0.88 p.u.. This behavior takes more than 4 seconds to damp down, and could cause opening of automatic circuit-breakers. Moreover, the longer fault duration, the more limits bound on reactive power of PMSG. Due to machine ratings, reactive power oscillations are capped, as reported in Fig. 7, and voltage regulation potential is not in force anymore, thus resulting the tougher voltage restoration observed in Fig. 6. This behaviour can be improved by means of more refined control strategies.

Figure 3. 100-ms fault. Voltage at bus 5

Due to the presence of full-scale converter, full decoupling of the two sides of PMSG makes generator-side variables insensible to grid-side variations. This is proved by comparing active power generation levels of the two wind generators, reported in Fig. 4. Being wind speed constant, PMSG mechanical speed and power output keep constant as well. Whereas, DFIG experiences active power oscillations, with a

1.2

REFERENCES
[1] A. Jurado, M. Brugnoni, The effect of fixed speed wind turbines models on transient stability of power system Proc. of 20th International Conference on Electricity Distribution CIRED, June 811, 2009, ISBN 978-1-84919126-5. S. Sugiarto, A. Abu-Siada, S. Islam, Performance enhancement of grid-connected fixed speed wind energy conversion systems (WECS). Power Engineering Conference AUPEC 2009, September 27th-30th, ISBN 978-1-4244-5153-1. Y. Coughlan, P. Smith, A. Mullane, M. OMalley, Wind Turbine Modelling for Power System Stability Analysis A System Operator Perspective. IEEE Transactions on Power Systems, vol.22, pp. 929936, 2007. ISSN 0885-8950 R. Esmaili, L. Xu, D.K. Nichols, A New Control Method of Permanent Magnet Generator for Maximum Power Tracking in Wind Turbine Application in Proc. of Power Engineering Society General Meeting PES, June 12 th -16th 2005, ISBN 0-7803-9157-8. E. Muljadi, T.B. Nguyen, M.A. Pai, Impact of Wind Power Plants on Voltage and Transient Stability of Power Systems, IEEE Energy 2030 Conference, 17-18 Nov. 2008 D. Gautam, V. Vittal, T. Harbour, Impact of increased penetration of DFIG-based wind turbine generators on transient and small signal stability of power systems, IEEE Transactions on Power Systems, vol. 24 no. 3 August 2009. T. Sun, Z. Chen, F. Blaabjerg, Transient Analysis of Grid-Connected Wind turbines with DFIG after an External short-circuit Fault, Proc. of Nordic Wind Power Conference, 1-2 March 2004, Chalmers University of Technology. V. Bufano, M. Dicorato, A. Minoia, M. Trovato, Embedded wind farm generation in power system transient stability analysis. Power Tech Conference St Petersburg, Russia, June 27 th -30th, 2005, ISBN 978-593208-034-4. M. Poller and S. Achilles, Aggregated wind park models for analyzing power system dynamics, in Proc. 4th Int. Workshop Large-Scale Integration of Wind Power and Transmission Networks for Offshore Wind Farms, 2003. J. G. Slootweg, H. Polinder, W. L. Kling, Reduced-order Modelling of Wind Turbines, in T. Ackerman, Wind Power in Power Systems, ed. Wiley, 2005, ISBN 0-470-85508-8. A. D. Hansen, G. Michalke, Modelling and Control of Variable-Speed Multi-pole Permanent Magnet Synchronous Generator Wind Turbine, Wind Energy, vol. 11(5), pp. 537-554, 2008. ISSN: 1095-4244 M. Yin, G. Li, M. Zhou, Modeling of the Wind Turbine with a Permanent Magnet Synchronous Generator for Integration. Power Engineering Society General Meeting PES 2007, June 24th-28th, ISBN 1-4244-1296-X. S. M. Muyeen, R. Takahashi, T. Murata, J. Tamura, A Variable Speed Wind Turbine Control Strategy to Meet Wind Farm Grid Code Requirements, IEEE Transactions on Power Systems, vol. 25 no. 1 February 2010, pp. 331-340. P. Kundur, Power Systems Stability and Control, McGraw Hill, 1994, ISBN 978-0070359581 S. M. Muyeen, R. Takahashi, T. Murata, J. Tamura, Transient stability enhancement of variable speed wind turbine PMSG with rectifier-boostconverter-inverter, Proc. of 18th International Conference on Electrical Machine ICELMACH, September 6-9, 2008, ISBN 978-1-4244-1735-3. Y. Zhang, S. Ula, Comparison and Evaluation of Three Main Types of Wind Turbines in Proc. of IEEE Transmission and Distribution Conference and Exposition, April 21th-24th 2008, ISBN 978-1-42441903-6. F. Milano, Power System Analysis Toolbox Documentation for PSAT version 1.3.0, 2004.

voltage [p.u.]

1.1 1 0.9 0.8 0.7 0.6 0.5 0.4 0 2 4 6 8 10 12 14 16 18 20 DFIG PMSG

[2]

[3]

time [s]

[4]

Figure 6. 300-ms fault. Voltage at bus 5 [5]

1.5

reactive power [p.u.]

1 0.5

DFIG PMSG

[6]

[7]
0 0 -0.5 -1 -1.5 2 4 6 8 10 12 14 16 18 20

[8]

time [s]

[9]

Figure 7. 300-ms fault. Reactive power by wind generator at bus 5.

V. CONCLUSIONS The paper deals with impact of VSWT on power system dynamics. In particular, both DFIG and PMSG have been taken into account with their control devices. The analysis has been carried out on a test high voltage grid where conventional synchronous generators and a wind farm are present. Results of the simulations have put in evidence how wind technology and relevant control devices affect conventional synchronous generator dynamics. In particular, DFIG electromechanical dynamics affect system behavior worsening rotor angle oscillations. Whereas, PMSG technology, allowing the decoupling of generator-side from grid-side control, provides constant power output though yielding wider voltage variations with slow damping. This transient behaviour could be improved by employing more refined control strategies that will be available in the near future.

[10]

[11]

[12]

[13]

[14] [15]

[16]

[17]