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Modeling of Wind Turbines for Power System Studies

Tomas Petru and Torbjrn Thiringer
AbstractIn this paper, the modeling of wind turbines for power system studies is investigated. Complexities of various parts of a wind turbine model, such as aerodynamic conversion, drive train, and generator representation, are analyzed. The results are verified by field measurements made on a stall-regulated fixed-speed wind turbine. The modeling focuses on deriving a representation that is suitable for use in grid simulation programs. Index TermsGrid interaction, model, modeling, power quality, wind turbine.

I. INTRODUCTION HE number of wind energy installations is rapidly growing worldwide. With increasing wind power production, it is important, especially for grid owners, to predict the grid interaction of wind turbines in advance. Grid simulation packages, like the Power System Simulator for Engineering (PSS/E), which are commonly used for power system behavior studies, usually require reasonably accurate and low-capacity-demanding models of all power system components. The low-capacity demand is necessary with respect to the high number of components used in the system. Models of the new types of generation units, like wind turbines, have to comply with this requirement. There are various simulation packages, which in principle describe a complete wind turbine. However, the turbine description used in such programs is not viable in grid simulations packages due to its high computational burden. It is necessary, therefore, to simplify such a description to a level acceptable for grid simulation programs, which is the intention of this paper. Approaches to simplified aerodynamic modeling of wind turbines have been presented in [1] and [2]. The main idea in these papers is to adjust wind speed data in one point (hub level) by various filters in order to represent the interaction of turbine blades with the wind speed distribution over the rotor swept area. The resulting wind data are then applied to the static power in order to determine the driving torque. curve Descriptions of the drive train also vary considerably; however, rather simplified descriptions dominate completely in the literature since parameters for detailed descriptions are not generally available. Representations of the generator complexity vary considerably in the literature. In [2], no dynamic model is used at all, whereas [3] makes use of a first-order model. In [4], a third-order model is utilized, and in [5], a fifth-order model is employed.
Manuscript received November 13, 2001; revised April 2, 2002. This work was supported by Sydkraft AB and the Swedish National Energy Administration. The authors are with the Department of Electric Power Engineering, Chalmers University of Technology, Gteborg, Sweden (e-mail: tomas.petru@ elteknik.chalmers.se; torbjorn.thiringer@elteknik.chalmers.se). Digital Object Identifier 10.1109/TPWRS.2002.805017

The general trend is that electrical engineers tend to simplify the aerodynamic and mechanical components of the overall model, whereas mechanical engineers tend to overlook electrical performance details of the wind turbine. Verifications of models with practical measurements on wind turbines are rare in the reported literature. Moreover, simulations and measurements of wind turbine responses to grid disturbances have not yet been published. Two cases, where measurements and simulations of the impact by wind turbines during normal operation have been reported, are [6] and [7]. In [6], results have been reported for the determination of flicker impact by a wind turbine for one wind speed, and in [7], fairly good agreement between calculations and measurements is reported for a broad wind speed range using a rather detailed wind turbine model. From a power quality point of view, prediction of voltage fluctuations caused by variable-speed turbines is not of interest since their flicker emission is very low [8]. However, prediction of voltage fluctuations due to fixed-speed turbines is very important since it is often that this contribution sets the installation limits for these turbines [9]. The aim of this paper is to investigate the modeling requirements of a wind turbine for power system studies. The importance of aspects such as complexity of the aerodynamic conversion description, the drive train, and the generator description are investigated. Moreover, our goal is to verify the simulation results through on-site measurements. II. MODELING INTEREST OF WIND TURBINE CONCEPTS Three main types of wind turbines are commonly being installed today. The fixed-speed wind turbines with a generator directly connected to the grid (see Fig. 1) and variable-speed wind turbines with either a slip-ringed induction generator and a converter in the rotor circuit or with a full power converter in the stator circuit (see Fig. 2). The variable-speed turbines are pitch-regulated, whereas the fixed-speed turbines are either stall regulated or active stall regulated. Active stall regulation means that the pitch angle is adjusted slightly at higher wind speeds in order to always obtain a correct power level. A. Steady-State Voltage Level Influence Wind turbines affect the voltage level in the point of common connection (PCC) due to their power production. The active power produced by the turbine increases the voltage, whereas the reactive power can further increase the voltage level or reduce it. The impact on the steady-state voltage level by the fixedspeed wind turbine system with an induction generator directly connected to the grid is predestined and cannot be controlled during the operation. There is a capacitor bank connected at the

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represent the wind field arriving at the turbine, apart from the generator and drive train. In the IEC-standard [11], it is described how the voltage fluctuations should be evaluated. A key dimensionless quantity (short-term flicker severity index) should be determined, which represents the amount of voltage fluctuations. C. Response to Grid Disturbances
Fig. 1. Principle layout of the fixed-speed wind turbine system.

Fig. 2. Principle layout of the variable-speed wind turbine systems. Left: System with a slip-ringed induction generator and a converter in the rotor circuit. Right: System with a full power converter in the stator circuit.

turbine, which is typically designed to compensate for the induction machine no-load reactive power consumption. As the active power production increases, the reactive power consumption rises as well. These outcomes, in combination with the grid -ratio (ratio between grid reactance and grid resistance), determine if the voltage level in the PCC is increasing with in-ratio of around two creasing power production or not. An to three usually gives a very low steady-state voltage impact. It is so due to the relation between the active and reactive power produced/consumed by a common induction machine. On a grid -ratio (resistive), which is a grid consisting of with a low mainly cables, the voltage level will increase with increasing -ratio (inductive), power production. On a grid with a high which is a grid consisting mainly of overhead lines or close to a transformer, the voltage will decrease instead [9]. Here, an -ratio of 0.6 has been used to represent the resistive grid -ratio of 2.7 for the inductive grid. and an For variable-speed turbines, the reactive power is controllable and is usually kept close to zero in order to obtain a power factor of one. This means that the voltage level increases as the power production increases. However, if desired, the wind turbine converters can produce any reactive power, provided that the rating of the converter allows it. An example of such a utilization is voltage level control in the PCC [10]. B. Rapid Voltage Fluctuations, Flicker Emission As previous authors [8] have pointed out, there is a need to predict the rapid voltage fluctuations caused by fixed-speed stall-regulated turbines while prediction of flicker emission from variable-speed turbines is not of interest. The active-stall regulated systems produce similar rapid power fluctuations to the purely stall-regulated systems since the pitching of the blades are done very slowly. In order to predict the rapid power fluctuations from fixed-speed turbines, there is a need to

The response of wind turbines to grid disturbances is also an important issue to be involved in the model. Grid disturbances can either be of the severe type, for instance, a short circuit nearby, or there can also be minor disturbances, for instance, a voltage dip with a duration of a few hundred milliseconds and a dip magnitude of a few percent. In the case of a fixed-speed turbine, the response to a grid disturbance is mainly governed by the induction generator, especially the immediate response. The other parts (drive train and aerodynamic conversion) are not as important to model in this case. For variable-speed wind turbines, the response to minor grid disturbances depends on the details of the control system of the specific wind turbine. These are not generally provided by the manufacturers. For this reason, it is impossible to construct a generally valid model for handling of grid disturbances for these types of turbines. When a major grid disturbance occurs, the two variable-speed systems will behave differently. The system with a full-power converter in the stator circuit will be able to disconnect immediately by just blocking the turn-on pulses for the converter. The system with a converter in the rotor circuit of a slip-ringed induction machine acts in another way. If the disturbance will cause too high rotor voltages, the rotor windings will be short circuited (in order to protect both the rotor and the converter), and the stator of the generator will be disconnected later using ordinary circuit breakers. It may also be desirable that the generator stays online, provided that the generator, wind turbine, and other equipment can handle such an operation. This could be of particular interest in the case where there are many turbines connected, and the loss of many wind turbines would lead to grid stability problems. D. Simulation Models The fixed-speed systems must incorporate the description of the aerodynamics, generator, and drive train in order to predict their steady-state impact. When the response to grid disturbances is of interest, it is mainly the generator description that affects the response of the turbine. For the variable-speed systems, the dynamic behavior during steady-state operation does not need to be represented for the reasons mentioned earlier. This means that these systems can simply be described as active and reactive power sources that are functions of the average wind speed. To simulate the response of variable-speed systems to all grid disturbances, the details of the control and protection of the power electronic converters must be known and implemented in the simulation program.

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III. WIND TURBINE MODELING A. Wind Field and Aerodynamic Conversion According to [12], a wind field for a wind turbine can be constructed with the knowledge of some basic parameterswind spectrum, average wind speed, turbulence intensity, roughness of the surrounding terrain, and the height and rotor size of a wind turbine. In [12], it is suggested that the wings be divided into a number of sections and that the randomly generated wind signals be distributed along the center of each wind section i.e., in rings with the hub as center. In [7], a fixed-speed stall-regulated turbine was modeled. A configuration with three rings and 45 points per ring was found to be sufficient. For each step of the calculation, the randomly generated wind signals arriving at each blade section can be determined with the knowledge of the rotor position. If necessary, interpolation is used to calculate the wind speed at a given point. With the knowledge of the blade geometry, pitch angle, rotor speed, and wind speed, the forces acting on the blades can be determined [13]. Generation of wind speeds in one and three dimensions were performed. The resulting effect on the power quality impact of a turbine was evaluated [7], and it was found that it is sufficient to only use wind speed in the longitudinal (axial) direction. In a time-critical application, it may be unacceptable to determine the driving shaft torque, as described above, for each time step. An alternative approach that is applicable to fixed-speed systems, which is less time consuming, has been suggested in [1] and [2] and makes use of the aerodynamic filter approach. First, a time series of wind data with the required properties, i.e., mean wind speed and turbulence intensity, at one point only (at the hub level) is generated [14]. This signal is the input to the aerodynamic filters, and the outgoing signal is the equivalent wind speed representing the wind field impact. This resulting curve of the turwind signal can then be applied to the bine to determine the driving shaft torque. The first filter is the spatial filter (SF) (1)

Fig. 3. Damping factor and cut-off frequency as a function of mean wind speed: Solid line-TI 0:05; dashed line-TI = 0:1; dotted line-TI = 0:2.

Fig. 4. Wind field model (black) and simplified aerodynamic model (gray).

sampling filter (RSF), which, in this paper, is slightly modified to (3) , is the number of blades, r/min is where the rotor speed, and is the damping factor. This filter amplifies the variations at a frequency region around the blade passing frequency. In other regions, this filter has a gain of nearly one. Fig. 3 presents the damping factor of the RSF and the cut-off frequency of the SF as functions of mean wind speed for different turbulence intensities (TI). The damping factor and cut-off frequencies of the filters were determined using the detailed aerodynamic simulation approach discussed earlier on the experimental 180-kW turbine, which is used for verification in this paper. The technical data of the turbine is attached in the Appendix. It must be stressed, however, that the tuning performed here is valid for this specific turbine only. More information on the tuning of the aerodynamic filters can be found in [15]. Fig. 4 presents the calculated shaft torques determined using the detailed aerodynamic method and the filter method. As can be noted, the simplified approach makes it possible to represent the formation of the shaft torque up to a frequency of about 2 Hz, which is the blade passing frequency of the investigated

0.55, , m is the turbine radius, where m/s is the average wind speed at the hub height, and is the ). decay factor over the disc ( The SF damps higher frequency components present in the wind. In this way, the filtering property of the rotor blades is represented. The transfer function in (1) can be simplified to a first-order transfer function with a negligible effect on its characteristic (2) Hz is the cut-off frequency of the filter. where The second filter represents the rotational sampling of the wind by the turbine rotor and is therefore called the rotational

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Fig. 5.

Simulated drive train model.

Fig. 7. Equivalent circuit of the induction generator, reactive power compensating capacitor, and grid.

The equations for the drive train are (4) (5) (6) (7) kg m is the turbine moment of inertia, kg m is where is the stiffness the generator moment of inertia, kg m s kg m s is the absorption of the shaft, of the shaft, N m is the input torque, N m is the generator , rad/s are the angular speed of electromagnetic torque, rad the turbine and of the generator, respectively, and , are the angle of the turbine and of the generator, respectively. All quantities are referred to the high-speed side of the gearbox. C. Generator Description The classical description of the induction machine for transient studies is the fifth-order model [16]. When the reactive power compensating capacitor is involved in the model, the supply grid representation must be represented as well, and the overall model order is increased by four to a ninth-order model. The equivalent circuit of the ninth-order model is presented in Fig. 7, and the electric equations of the model are described in (8)(11), where (9)(10) are the electric equations of the fifth-order induction machine model. (8)

Fig. 6. Comparison of shaft power using a soft shaft description (gray) and a stiff shaft description (black), respectively.

turbine. More filters could be added in order to adjust the magnitudes of the higher frequency components and, in this way, increase the frequency region where the torque is accurately determined. One example mentioned in [1] and [2] is an induction lag filter. The performed simulations have, however, shown that omitting the induction lag filter has no detectable impact on the power quality prediction capability of the presented models. Instead, it was found that the resulting flicker emission was rather strongly dependent on the tuning of the two used filters. An approach suitable for fixed-speed stall-regulated turbines is to determine the shaft torque in advance using the wind field approach according to [12] and save this to a file. This approach was found to be more accurate and less time-consuming during the grid simulation then the aerodynamic filter approach and has thus been used in this paper. B. Drive Train Representation Since detailed knowledge (by others than the manufacturers) of the drive train parameters is rather rare, the drive train model has been developed considering the availability of data. The drive train model suggested here consists of the inertia of both the turbine and the generator. The connecting shaft is modeled as a spring and a damper. In Fig. 5, the drive train of the wind turbine used in this paper is presented. Fig. 6 presents the spectra of the calculated output power from the induction generator exposed to the calculated shaft torque for both a stiff and a soft shaft representation. It can be noted that above a frequency of 0.5 Hz, there is a major discrepancy between the two model representations. The conclusion is that it is essential to incorporate a soft shaft in the drive train model.

(9)

(10) (11) Imag

where , V are the grid and stator voltages, , , A are the grid, stator, and rotor currents, rad/s is the synrad/s is the rotor angular frechronous angular frequency, are quency, rad/s is the rotor angular speed, , , , H are the stator the grid, stator, and rotor resistances,

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Fig. 8. Simulated response to a torque step. Upper plot: Fifth-order model (black), third-order model (gray), and first-order model (black dashed). Lower plot: Fifth-order model (black), ninth-order model (gray).

Fig. 10. Comparison of measured and simulated spectra. Measured black; fifth-order gray; first-order lower black.

= upper

The literature provides some more discussions on the fifthorder model complexity. Magnetizing inductance saturation can be represented by modification of the machine equations [17], although the order of the model remains unchanged. Skin effect and iron losses are accounted for by increasing the order of the induction machine model by two. When initial response to major grid disturbances, such as short circuits, need to be determined, it is necessary to represent both skin effect and saturation of leakage inductances in order to achieve a high accuracy. However, saturation, iron losses, and skin effect all play an unimportant role in the prediction of the induction machine response to low-frequency disturbances (below 30 Hz) [18] and are thus seldom represented in studies dealing with the low-frequency dynamics of the induction machine.
Fig. 9. Simulated response to a voltage dip. Lines as in Fig. 8.

and rotor leakage inductances, , H are the grid and main magneting inductances, and is the number of pole pairs. Usually, models of lower order than the fifth-order model are used for power system studies. A third-order model in which the stator flux transients of the fifth-order model have been ignored [19] is common. The rotor flux transients are sometimes also neglected, thus leading to a first-order model of the induction machine. Fig. 8 presents the response of the mentioned models to a load torque step (from 50 to 100% of the nominal torque), and Fig. 9 presents the response to a voltage dip of 10%. It is observed that for the third-, fifth- and ninth-order model, the response to the shaft torque disturbances is very similar, whereas the response of the first-order model differs. The conclusion here is that for shaft torque disturbances, the third-order model is an appropriate choice. The response to the voltage dip reveals more differences between the models. The first-order model does not provide any acceptable result, whereas the other three models manage to provide similar results, although their differences are clearly visible. The fifth- and ninth- order model also predicts the surge currents during the first line periods, and the ninth-order model also predicts a very high-frequency oscillation due to the capacitor. The conclusion is again that the third-order model is an appropriate choice, unless a bandwidth of above 2030 Hz is desired, which is usually not the case.

IV. PERFORMANCE OF THE MODELS STEADY-STATE OPERATION

AT

A comparison of the measured versus the simulated reactive power output of a 180-kW fixed-speed stall-regulated wind turbine is presented in Fig. 10. The simulations presented have utilized the wind field approach with the results (predetermined shaft torque) saved in advance. Measured voltages have been used as inputs instead of using constant voltages. This is very important since the induction generator is not only exposed to disturbances on the machine shaft but to disturbances coming from the connected grid as well [7]. A soft shaft description is considered in the models. The models differ in the description of the induction generator, and presented results are from the fifth- and first-order model, respectively. The third-order model renders very similar results as the fifth-order model and is, accordingly, not presented in the figure. The third- and fifth-order model predict the reactive power response well, although there is a slight discrepancy toward the measurements in the frequency range of 710 Hz. The firstorder model predicts similar results as the two other models up to about 4 Hz but then underestimates the reactive power fluctuations for higher frequencies. The periodic power pulsations of the turbine are not simulated here. The reason is that they are turbine specific and, thus, have to be empirically found for each turbine, and the goal in this paper is to try to be as general as possible. In [20], it was found that the magnitude and phase of the periodic power pulsations

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Fig. 11. P on grid with X=R-ratio of 0.6. : measured with periodic power pulsations removed. Squares: fifth-order model. Diamonds: fifth-order model with constant voltages. Circles: first-order model.

Fig. 13.

Recorded rapid voltage dip.

Fig. 12.

on grid with X=R-ratio of 2.7. Markers as in Fig. 11.

Fig. 14. Active power response to a rapid voltage dip. Upper plot: solid black measured; solid gray fifth-order with soft shaft. Lower plot: solid black fifth order with stiff shaft; solid gray third order with soft shaft; dashed black first order with soft shaft.

= =

could be modeled as a function of rotor position and wind speed. Thus, the implementation of the periodic power pulsations in the wind turbine model can be made in a fairly convenient way, if this is desired. However, a cost is that one additional equation is needed in order to determine the rotor position. In Figs. 11 and 12, the resulting measured and calculated flicker emission to the grid by the wind turbine is presented ratios. Since the third-order for two grids with different model yields very similar results to the fifth-order model, results obtained using the third-order model are not presented. Apart from the fifth-order model, results using the first-order model of the induction machine are also presented. Finally, results using the fifth-order model but with constant voltages as inputs are presented. It can be noted that if grid voltage variations are not taken into consideration, the result can be very erroneous, especially for the inductive grid. Taking the grid voltage variations into account gives a very good agreement for the inductive grid. The prediction of the flicker emission on the resistive grid is not as good. The reason for this is unknown. However, it is very important to point out the fact that this mismatch is of little importance since, as pointed out in [9], for a resistive grid, it is the steady-state voltage limit that sets the limitation for a wind turbine installation.

Fig. 15. Reactive power response to a rapid voltage dip. Lines as in Fig. 14.

V. RESPONSE OF THE WIND TURBINE TO GRID DISTURBANCES In Fig. 13, a measured rapid voltage dip with a magnitude of about 10% is presented, and in Figs. 14 and 15, the measured and calculated active and reactive power responses are presented. The wind turbine model using a fifth-order representation of the generator manages to predict the response well, whereas the third-order representation cannot predict the initial

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Fig. 16.

Recorded slow voltage dip.

lowered. However, use of the filter approach for the determination of flicker emission from a turbine is not recommended. The tuning of the filter requires a large number of simulations, and the flicker emission results vary much on details in the determination procedure. Instead, calculation of the shaft torque in advance using a detailed wind field approach and storage of the result in a file is recomended. The minimum requirement for the modeling of the drive train is to use a soft shaft and the turbine and generator inertia. More detailed modeling could be useful; however, parameters for more detailed modeling of the drive train are usually not available. When the flicker emission is evaluated, it is important (for inductive grids, it is extremely important,) to take the voltage disturbances from the connected grid at the wind turbine site into account. To simulate the surge current during the first line periods after a faster grid disturbance, the fifth-order representation of the generator is needed. However, usually, this is not of interest when power system simulations are performed, and then, the third-order generator representation is quite sufficient. To conclude, it was found that a third-order generator representation, together with two drive train equations and a precalculated shaft torque signal, are sufficient to represent a fixed-speed wind turbine for power system simulations. For a variable-speed wind turbine, the control and protection of the converter and generator systems must be included in a model. APPENDIX

Fig. 17. Reactive power response to a slower voltage dip. Upper plot: solid black measured; solid gray fifth order. Lower plot: solid black third order; solid gray first order.

A. Wind Turbine Data location rated power hub height rotor diameter number of blades rotor speed blade profile gearbox ratio B. Drive Train Data 102.8 kgm ; turbine inertia 4.5 kgm ; generator inertia 2700 Nm/rad; stiffness of the shaft absorption of the shaft (all data referred to the high speed shaft). C. Generator Data nominal voltage number of pole-pairs stator resistance rotor resistance (referred to the stator) stator leakage inductance rotor leakage inductance (referred to the stator) magnetizing inductance 400 V; three; 0.0092 0.0061 186 H; 427 H; 6.7 mH. Alsvik wind farm Island of Gotland, Sweden; 180 kW; 30 m; 23.2 m; three; 42 r/min; NACA-63 200; 23.75.

surge currents. When a first-order representation of the generator is used, no result of value is obtained. In Fig. 16, a measured slower voltage dip that does not lead to any significant change in the active power production is presented. The reactive power response is more pronounced, and the results by various model complexities are presented in Fig. 17. Since there was no important difference using a soft and a stiff shaft, only results obtained using a soft shaft are presented. In this case, it can be observed that since no 50-Hz oscillations are involved, the third-order generator representation provides similar results compared with the fifth-order representation. Again, insufficient results are obtained when a first-order model of the generator is used. VI. CONCLUSIONS In this paper, the modeling requirements of wind turbines for power quality studies are investigated. Measurements on a 180-kW fixed-speed stall-regulated wind turbine are used to verify the results. It is found that the aerodynamic filter approach to simplify the determination of the torque acting on the drive-train of a fixed-speed turbine is adequate when predicting the shaft torque up to a frequency of 2 Hz for the turbine investigated here. As the rotational speed of the turbine is reduced, which happens as the turbines are getting larger, this limit frequency is also

; ;

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[1] J. L. Rodriguez-Amenedo, F. R. Garcia, and J. C. Burgos, Experimental rig to emulate wind turbines, in Proc. Int. Conf. Electric Machines, Istanbul, Turkey, Sept. 1998. [2] J. Wilkie, W. E. Leithead, and C. Anderson, Modeling of wind turbines by simple models, Wind Engineering, vol. 14, no. 4, 1990. [3] N. Sh. Bao, Q. X. Chen, and T. Jiang, Modeling and identification of a wind turbine system, Wind Eng., vol. 20, no. 4, pp. 203218, 1990. [4] N. Jenkins and Z. Saad-Saoud, A simplified model for large wind turbines, in Eur. Union Wind Energy Conf., Gteborg, Sweden, 1996, pp. 443446. [5] J. Usaola, C. Vilar, P. Amaris, P. Ledesma, and J. L. Rodriguez, Characterization of WECS through power spectra for power quality studies, in Proc. Eur. Wind Energy Conf., Nice, France, Mar. 1999, pp. 766769. [6] E. A. Bossanyi, P. Gardner, L. Craig, Z. Saad-Saoud, N. Jenkins, and J. Mller, Design tool for prediction of flicker, in Proc. Eur. Wind Energy Conf., Dublin Castle, Ireland, Oct. 1997, pp. 730733. [7] T. Petru and T. Thiringer, Measurement and modeling of power quality impact of a stall-regulated wind turbine, Electromotion, vol. 8, no. 2, pp. 104110, 2001. [8] . Larson, P. Sorensen, and F. Santjer, Grid impact of variable-speed wind turbines, in Proc. Eur. Wind Energy Conf. Exh., Nice, France, Mar. 15, 1999. [9] S. Lundberg, T. Thiringer, and T. Petru, Electrical limiting factors for wind energy installations in weak grids, Int. J. Renewable Energy Eng., vol. 3, no. 2, 2001. [10] T. Thiringer, T. Petru, and C. Liljegren, Power quality impact of a sealocated hybrid wind park, IEEE Trans. Energy Conversion, vol. 16, pp. 123127, June 2001. [11] FlickermeterFunctional and Design Specifications (11/1997), Int. Electrotechn. Comm., IEC 61 000-4-15. [12] D. Winkelaar, Fast three dimensional wind simulation and the prediction of stochastic blade loads, in Proc. 10th ASME Wind Energy Symp., 1991.

[13] D. M. Eggleston and F. S. Stoddard, Wind Turbine Engineering Design. [14] E. Persson, One-dimensional wind simulation, in Studies Statist. Quality, Contr. Reliability, 1996, vol. 2. [15] T. Petru, Modeling of wind turbines for power system studies, Chalmers Univ. Technol., Gteborg, Sweden, Tech. Rep. 391L. [16] P. K. Kovacs, Transient Phenomena in Electrical Machines. Budapest, Hungary: Elsevier, 1984. [17] R. C. Healey, S. Williamson, and A. C. Smith, Improved cage rotor models for vector controlled induction motors, IEEE Trans. Industry Applications, vol. 31, pp. 812822, July/Aug. 1995. [18] T. Thiringer and J. Luomi, Comparison of reduced-order dynamic models of induction machines, IEEE Trans. Power Syst., vol. 16, pp. 119126, Feb. 2001. [19] F. D. Rodriguez and O. Wasynczuk, A refined method of deriving reduced order model of induction machines, IEEE Trans. Energy Conversion, vol. EC-2, pp. 3137, Feb. 1987. [20] T. Thiringer and J.-. Dahlberg, Periodic power pulsations from a three-bladed wind turbine, IEEE Trans. Energy Conversion, vol. 16, pp. 1287133, May 2001.

Tomas Petru received the M.Sc. degree from the University of West Bohemia, Pilsen, Czech Republic, in 1997. He is pursuing the Ph.D. degree with the Department of Electric Power Engineering, Chalmers University of Technology, Gteborg, Sweden. His area of research is modeling wind turbines for power system studies.

Torbjrn Thiringer received the Ph.D. degree in 1996 from Chalmers University of Technology. Currently, he is an Associate Professor at the Department of Electric Power Engineering at Chalmers University of Technology, Gteborg, Sweden. His area of interest is control and modeling of induction machines, particularly for wind turbine applications.