Dynamic modeling of wind power generation

H ector A. Pulgar-Painemal and Peter W. Sauer.

Department of Electrical and Computer Engineering
University of Illinois at Urbana-Champaign, USA
E-mail: hpulgar@ieee.org and psauer@illinois.edu
AbstractThis paper presents a dynamic model appropriate
for power system analysis. This article shows modeling assump-
tions, derivation of a third order model for a doubly-fed induction
generator and its controller models. Due to the detail level,
it can be used as a tutorial for students and engineers that
are new in this area. A four-bus system with one synchronous
machine and one wind turbine is used to perform a small signal
stability analysis. No considerable difference is observed between
the modal behavior of our test system and a small system with
just one synchronous generator.
Index TermsPower System Dynamics, Wind Power Modeling
I. INTRODUCTION
The energy consumption over the world has been sus-
tainedly increased in the last decades due to the rate of growth
in world gross domestic productthe main driver of energy
demand. It is expected that the electricity demand will increase
at a rate of 2.6% per year during the period 2004-2030.
Additionally, global energy-related carbon-dioxide emissions,
a major cause of global warming, are expected to increase by
1.7% per year during the same periodreaching 40.4 10
9
tonnes in 2030. Unfortunately, power generation is projected
to contribute almost 50% of that increased emission [1]. Thus,
the power generation sector is under scrutiny and has to be
expanded to fulll the high-energy demand scenario but taking
into account environmental effects such as global warming.
Due to the notorious impact on environmental problems and
the depletion of fossil fuels, renewable energy sources have
been considered appealing to face the forthcoming energy sce-
nario. Hydraulic, wind, solar, biomass and geothermal sources
are the most common alternative generation systems. Hy-
draulic systems are attractive due to their robustness, reliability
and high rated power levels. However, the main drawbacks are
the scarce available locations and the negative impact on the
local ecosystem by ooding extensive areas. At present, among
the other alternatives, wind generation systems are the most
qualied to produce electricity in power systems. Although
being irregular in their electricity production, wind farms are
able to provide energy: (a) without the risk of depletion of
their primary energy source, and (b) being able to comply with
operations standards. Additionally, wind generation systems
have the fastest payback period [2], less than a year; the lowest
project gestation period, due to modular concept; and low
operation-maintenance costs [3]. These characteristics make
wind power attractive for mass production which is reected
by the increase of the worldwide installed wind-power capacity
over the last years [4].
In the 1990s, typical wind power turbines were characteri-
zed by a xed-speed operation. Basically, they consisted of the
coupling of a wind turbine, a gearbox and an induction ma-
chine directly connected to the grid. Additionally, they used a
soft starter to energize the machine and a bank of capacitors to
compensate the machine power-reactive absorption. Although
being simple, reliable and robust, the xed-speed wind turbines
were inefcient and power uctuations were transmitted to the
network due to wind speed uctuations [5].
In the mid-1990s, variable-speed wind power turbines gave
an impulse to the wind power industry. A better turbine
control is able to reduce power uctuations. Besides, optimal
power extraction from the wind was possible by operating the
turbine at optimal speed. Among the different congurations
of variable-speed wind turbines, the doubly-fed induction gen-
erator (DFIG), at present, is the most used in the development
of new wind farm projects. This conguration consists of the
coupling of a turbine, a gearbox and an induction machine
doubly connected to the griddirectly connected from the
stator circuits and indirectly connected from the rotor circuits
by using converters. Its main drawbacks are the use of slip
rings and protection in case of grid disturbances [6]. The
control can be done (a) by controlling the voltage applied
to the rotor circuits, (b) by adjusting the pitch angle of the
turbine bladesangle of incidence of the blade and the wind
direction, and (c) by designing aerodynamically the turbine
blades to stall when the wind speed exceeds its limit [7].
Due to the importance of wind power generation on the
current and future worldwide energetic scenario, dynamic
models are required for teaching and training purposes. One
major problem is that dynamic models of commercial wind
power turbines contain proprietary information and require
condentiality agreements between the company and the user
[8]. In the literature, there are several articles dealing with
different issues related to wind power generators. However, a
rather general description of the dynamic model can be found
and a complete dynamic model appropriate for power system
analysis is not directly available. Thus, this paper presents
a detailed dynamic model for wind power generation which
is suitable for power system analysis. Modeling assumptions,
derivation of a third order model for the DFIG and its
controllers are described through out the article which can be
used as a tutorial for students and engineers that are new in
this area. Using a four-bus test system with one synchronous
generator and a wind turbine, the modal behavior is similar
to a small system with just one synchronous generator. The
paper is structured as follow: in Section II a description of the
turbine, induction machine generator and its controllers are
presented; in Section III a four-bus system is used to perform
a small signal stability analysis; and in Section IV conclusions
are presented.
II. DYNAMIC MODEL
In Figure 1, the scheme of a variable-speed wind turbine
based on doubly-fed induction generator is presented. Typi-
cally, the DC/AC converter on the grid side is controlled to
have a constant V
dc
and a unity power factor. The AC/DC
converter on the rotor side is usually controlled to have (a)
optimal power extraction from the wind and (b) a specied
reactive power at the generator terminal. Note that this con-
verter provides sinusoidal three-phase voltages at the slip rotor
frequency.
A. General considerations
A gearbox required to increase the angular speed from the
wind turbine to the induction-machine shaft is shown in Figure
1. It is characterized by its gearbox ratio, k, which is the ratio
between the wind turbine speed
wt
and the machine shaft
speed
ms
. Assuming a machine of p poles, these speeds and
the electrical rotor speed of the machine,
r
, are related as

r
=
p
2

ms
=
p
2k

wt
(1)
Another important denition is the tip speed ratio, , which
is the ratio between the speed of a blade tip v
tip
[
m
s
] and the
wind speed v
wind
[
m
s
]. If R is the radius of the turbine, the
tip speed ratio is
=
v
tip
v
wind
=

wt
R
v
wind
=
2k
p

r
R
v
wind
(2)
Additionally, a crowbaran electronic deviceis some-
times considered to protect the machine and converters from
grid disturbances. When the protection is activated, the
machine-rotor phases are short-circuited protecting them from
over-voltages and protecting the rotor-side converter from
over-currents. This crowbar protection is activated whenever
the rotor-current limit is surpassed [9]. Note that there are wind
turbines equipped with fault ride-through capability which can
withstand a fault during some cycles without using the crowbar
protection [6].
B. Assumptions
Ideal converters are considered and the dc voltage between
converters is assumed to be constant. Therefore, the conversion
is lossless and the converters on the rotor- and grid-side are
modelled as a controlled-voltage source and a controlled-
current source, respectively. By power balance, the active-
power absorbed by the grid-side converter is the same than
the power injected by the rotor-side converter. Using this
active-power and the grid voltage, the current on the grid-side
converter is calculated. Other premises can be found in [10].
A scheme of the wind-power generation model is depicted in
Figure 2.
Fig. 1. Wind power generator scheme
Fig. 2. Schematic of the wind turbine generator model
C. Wind turbine model
The wind turbine model basically represents the relation
between the mechanical power extracted from the turbine,
P
wind
, and the wind speed as [11]
P
wind
=
1
2
A
wt
C
p
(, )v
3
wind
[W] (3)
where is the air density [
kg
m
3
], A
wt
is the wind turbine swept
area [m
2
], v
wind
is the wind speed [
m
s
] and C
p
is the power
coefcient. C
p
is dimensionless and depends on both the tip
speed ratio, , and the pitch angle, [degrees]. Using a xed
pitch angle, typical power curves in function of the wind speed
and the electrical rotor speed is depicted in Figure 3.
Considering manufacturer data and optimization techniques,
a power coefcient function has been derived for a variable-
speed wind turbine [12]. Using an intermediate parameter
i
C
p
(
i
, ) = 0.22

116

i
0.4 5

12.5

i
(4)
where
i
=

1
+ 0.08

0.035

3
+ 1

1
(5)
A torque expression is required to model the motion of the
rotatory massturbine, gearbox and machine shaft. Assume
that the power transmission from the wind turbine to the
machine shaft is lossless. Then, the torque in [Nm] at the
machine shaft is
T
M
=
P
wind

ms
=
k
2
R
3
C
p
(, )v
2
wind
[Nm] (6)
Fig. 3. Extracted power from the wind turbine for various wind speeds
Use the per-unit base of the induction-machine to dene power
base, S
b
, voltage base, V
b
, and electrical speed base,
b
. The
torque base can be calculated as T
b
= S
b
p
2
b
. More details
about per unit system in electrical machines can be found in
[13][15]. As in the next sections all expressions are in per
unit, the torque equation in per-unit becomes
T
m
=
T
M
T
b
=
1
2
R
2

b
S
b

r
C
p
(, )v
3
wind
[pu] (7)
D. DFIG model
A DFIG is simply a wound rotor induction machine where
the stator- and rotor-circuits are energized. Both stator and
rotor windings participate in the electromechanical energy
conversion. Consequently, a DFIG model is basically the same
than the model of an induction machine in which the rotor
voltages are supplied by an electric source, i.e., rotor side
AC/DC converter. This conguration allows the machine to
operate in a wide speed range.
The induction machine model requires the use of reference
frame theory. Basically, a model using a-b-c stator- and rotor-
phases is referred to a particular reference frame with two
orthogonal axis, namely, quadrature axis (q axis) and direct
axis (daxis). A stationary reference frame, a rotor reference
frame or a synchronously rotating reference frame can be
used [15]. The last is adopted in this article. Note that a
generator convention is used, i.e., the stator and rotor currents
are positive when they are leaving and entering the machine,
respectively. Likewise, a frame in which the q axis leads
the d axis is considered.
1) Fifth order model: The stator and rotor circuits as well
as the equation of motion of the rotatory mass dene the
following set of differential equations
1

s
d
qs
dt
= V
qs
+R
s
I
qs

ds
(8)
1

s
d
ds
dt
= V
ds
+R
s
I
ds
+
qs
(9)
1

s
d
qr
dt
= V
qr
R
r
I
qr

(
s

r
)

dr
(10)
1

s
d
dr
dt
= V
dr
R
r
I
dr
+
(
s

r
)

qr
(11)
2H
D

s
d
r
dt
= T
m
T
e
(12)
where V , I, R and correspond to the voltages [pu], currents
[pu], resistances [pu] and ux linkages [pu], respectively. T
e
=

dr
I
qr

qr
I
dr
is the electrical torque at the machine shaft
[pu]. All variables and parameters are in per unit except
r
,

s
and H
D
D stands for DFIG.
The stator and rotor ux equations dene the following set
of algebraic equations

qs
= X
s
I
qs
+X
m
I
qr

ds
= X
s
I
ds
+X
m
I
dr
(13)

qr
= X
m
I
qs
+X
r
I
qr

dr
= X
m
I
ds
+X
r
I
dr
(14)
where X
m
is the mutual reactance between the stator and the
rotor, X
s
= X
s
+ X
m
is the stator reactance and X
r
=
X
r
+ X
m
is the rotor reactance. X
s
and X
r
are the stator
and rotor leakage-reactance, respectively. All reactances are in
per unit.
2) Third order model: In dynamics simulations, it has been
observed that stator dynamics are faster than rotor dynamics
[15][17]. In order to visualize it, solve for I
dr
and I
qr
from
equation (14)
I
qr
=
X
m
X
r
I
qs
+

qr
X
r
I
dr
=
X
m
X
r
I
ds
+

dr
X
r
(15)
Multiply equations (10)(11) by
Xm
Rr
and replace I
qr
and I
dr
to obtain
X
r

s
R
r
d
Xm
Xr

dr
dt
=
X
m
R
r
V
dr

X
m
X
r

dr

X
2
m
X
r
I
ds
+
(
s

r
)

s
X
r
R
r

X
m
X
r

qr

(16)
X
r

s
R
r
d
Xm
Xr

qr
dt
=
X
m
R
r
V
qr

X
m
X
r

qr

X
2
m
X
r
I
qs

(
s

r
)

s
X
r
R
r

X
m
X
r

dr

(17)
Dene
T

0
=
X
r

s
R
r
X

s
= X
s

X
2
m
X
r
(18)
E

qD
=
X
m
X
r

dr
E

dD
=
X
m
X
r

qr
(19)
where T

0
is the transient open-circuit time constant, X

s
is the
transient reactance, E

qD
and E

dD
are the quadrature and direct
axis rotor-voltages, respectively. For large machines T

0

1
s
,
thus, stator dynamics are faster than rotor dynamics [16], [17].
Using a zero-order integral manifold to represent the stator
dynamics, the reduced-order machine model becomes
V
qs
= R
s
I
qs
X

s
I
ds
+E

qD
(20)
V
ds
= R
s
I
ds
+X

s
I
qs
+E

dD
(21)
T

0
dE

qD
dt
=

qD
+ (X
s
X

s
)I
ds

+T

s
X
m
X
r
V
dr
(
s

r
)E

dD

(22)
T

0
dE

dD
dt
=(E

dD
(X
s
X

s
)I
qs
)
+T

s
X
m
X
r
V
qr
+ (
s

r
)E

qD

(23)
Fig. 4. Equivalent circuit of a DFIG connected to a grid
To obtain the stator algebraic equations (20)(21), use equa-
tions (13), (15) and (19). Rotor ux equations can be stated
in terms of the new variables E

qD
and E

dD
as,
I
dr
=
E

qD
X
m
+
X
m
X
r
I
ds
I
qr
=
E

dD
X
m
+
X
m
X
r
I
qs
(24)
The third-order model of the DFIG is completely dened by
equations (20)(24) plus the equation of motion (Equation 12).
Notice that multiplying Equation (21) by e
j

2
and adding
Equation (20), a phasor machine representation to calculate
stator algebraic-variables, given E

qD
and E

dD
, is obtained.
E

qD
jE

dD
= (R
s
+jX

s
)(I
qs
jI
ds
) +V
qs
jV
ds
(25)
3) Machine and grid connection: Consider a DFIG send-
ing active power, through a short-length transmission line, to
an innite busthe line and the innite bus may represent
the Thevenins equivalent of a more complex grid. In order to
integrate the generator model in power system modeling, it is
necessary to relate the synchronously rotating reference-frame
variables to a phasor. Applying the proper transformation to
the machine stator voltage, it is obtained that the terminal-
voltage phasor at phase-a is V
D
= V
D
e
j
D
= V
q
jV
d
[15].
Consequently, the machine model to be used in power system
modeling is dened by equation (25) (see Figure 4). The grid-
side converter is represented by a controlled-current source. As
this converter does not absorb reactive power, the controlled-
current I
GC
GC stands for grid-side converter is,
I
GC
=
P
rotor
V

D
=
V
qr
I
qr
+V
dr
I
dr
V
D
e
j
D
(26)
4) Decoupled control of active and reactive power: Assume
that the d-axis is oriented along the stator ux axis, i.e.,
s
=

ds
with
qs
= 0. Besides, neglect R
s
and use equations (8)
(9) in steady-state to get V
ds
=
qs
= 0 and V
qs
=
ds
= V
D
.
Consider the ux equation (13) to obtain
I
qs
=
X
m
X
s
I
qr
I
ds
=
X
m
X
s
I
dr

V
D
X
s
(27)
Then, the complex power leaving the generators stator is
P +jQ = (V
ds
I
ds
+V
qs
I
qs
) +j(V
qs
I
ds
V
ds
I
qs
) (28)
=

X
m
X
s
V
s
I
qr

+j

V
D
X
m
I
dr
V
D
X
s

(29)
It turns out that the control of active and reactive power can
be performed independently varying I
qr
and I
dr
, respectively.
Fig. 5. Power reference for the rotor speed controller
Fig. 6. Rotor speed controller
E. Controllers
1) Rotor speed controller: The rotor speed controller is
designed to extract maximum power from the wind turbine.
As stated in Section II-C, the power extraction depends on
both the wind speed, which is uncontrollable, and the tip
speed ratio, which is controllable. Actually, depends on

r
as stated in equation (2). Therefore, controlling
r
we
can move along the power curve for a given wind speed to
maximize the power. Joining the maximum-power points for
every given wind speed of gure 3, we can obtain a one-
to-one correspondence between the optimal power and the
rotor speed. Additionally, cut-in and maximum speed due
to converter ratings [18] must be taken into account. The
cut-in point corresponds to the minimum speedtypically
0.7
rated
required to produce power. If the speed is
below this point, the DFIG is shutdown. The maximum speed
point corresponds to the maximum power that the DFIG
can produce. If the speed is above the maximumtypically
1.2
rated
the turbine aerodynamic must be modied to
reduce the power extracted from the wind turbine. To this
end, pitch angle control must be performed. It turns out that
the power reference is piece-wise dened as in Figure 5. A
tracking control capable to follow P
ref
is used. Based on
equation (29), a PI controller with an internal I
qr
-control
loop is considered [19] (Figure 6).
2) Pitch angle controller: The pitch angle control modies
the aerodynamic efciency of the turbine in order to limit
the power production to the rated power. Note that the pitch-
angle time-constant is quite high depending on both the size
of the turbine blades and economical/practical limitations of
the blade drives [10]. A PI controller with an internal pitch-
angle control loop is considered [19] (see gure 7).
ref
is
chosen such that the pitch-angle is around zero when the speed
is located at the optimal tracking curve and it is positive and
less than 90
o
when the maximum speed is binding.
3) Reactive power controller: According to the Federal
Energy Regulatory Commission, USA, [20] large wind plants
seeking to interconnect to the grid need to maintain a power
Fig. 7. Pitch angle controller
Fig. 8. Reactive power controller
factor within the range of 0.95 leading to 0.95 lagging,
measured at the high voltage side of the substation trans-
formers. Although, this requirement is mandatory only in
the case that a power factor out of this range jeopardizes the
security and reliability of the system, it makes a precedent
for control capability requirements. In this article, a reactive-
power tracking control is used (see Figure 8). Based on
equation (29), a PI controller with an internal I
dr
-current
control loop is considered [19].
III. TEST SYSTEM SIMULATION
Consider the four-bus system of Figure 9. Assume an expo-
nential model for the load as P
L
= P
0
V
kp
L
and Q
L
= Q
0
V
kq
L
.
The synchronous generator (SG) is represented by a two-axis
model [14] and the transient reactance at both quadrature
and direct axis are equal, i.e., X

d
= X

q
. An IEEE Type 1
Exciter and a linear speed governor without droop [21] are
considered. Besides, assume that the wind speed is such that
the rotor speed is above and below of the cut-in and maximum
speed, respectively. Consequently, the rotor speed controller is
operating in the optimal tracking curve and no pitch control is
required. The optimal curve is dened as P
ref
= C
3
r
[pu].
The system is modelled by a set of differential algebraic
equations (DAE) of the Hessenberg index-1 form [22]. In
general, this set of DAE can be written as
dx
dt
= f(x, y, ),
0 = g(x, y, ) where x R
n
d
1
is the vector of differential
variables, y R
na1
is the vector of algebraic variables and
R
np1
is the vector of parametersn
d
, n
a
and n
p
are
the number of differential variables, algebraic variables and
parameters, respectively. g
y
=
g(x,y,)
y
is nonsingular along
the solution of the DAE.
In order to perform a small signal stability analysis, a linear
approximation of the set of DAE have to be obtained. Then,
Fig. 9. Four-bus test system
Fig. 10. Trajectory of dominant eigenvalues with v
wind
= 10 [m/s] and
0.32 P
0
1
Fig. 11. Trajectory of dominant eigenvalues with v
wind
= 12 [m/s] and
0.32 P
0
1
around an equilibrium point,
x = Ax +By (30)
0 = Cx +Dy (31)
Using Krons reduction, the systems equations can be reduced
to x = (ABD
1
C)x = A
sys
x. Eigenvalues of A
sys
determine the stability of the operating point. It is desired to
study the system stability as the load is increased. Then, the
eigenvalues of A
sys
are calculated at every equilibrium point.
Note that if all eigenvalues are located on the left half of the
complex plane, i.e., all eigenvalues have a negative real part,
then the equilibrium point is stable. If some eigenvalue has
a positive real part, then the equilibrium point is unstable.
The point at which a complex pair of eigenvalues crosses the
imaginary axis to the right half plane, while the other remain
on the left half plane, is called a Hopf Bifurcation (HB)
point. The system becomes critically stable. The eigenvalues
trajectories are shown in Figures 10 and 11 for a wind speed
of 10 [m/s] and 12 [m/s], respectively. The load is varied
from P
0
= 0.32 [pu] to P
0
= 1 [pu].
The incidence of eigenvalues on state variables can be
estimated by using participation factors [14]. For the two
presented cases, the pathway of eigenvalues are notably differ-
ent. This difference may be related to parameter sensibilities
on system stability [23] due to the increase of generated
power of the DFIG. Note that the eigenvalues associated
to
r
, and P
m
do not move when load and wind speed
are varied. The eigenvalues that cross the imaginary axis are
associated to states (E

q
,E

d
,E
fd
,V
R
) and (E

q
,E
fd
,V
R
) when
the wind speed is 10 [m/s] and 12 [m/s], respectively. The
HB points for these two cases happen at P
0
= 0.941 [pu]
and P
0
= 0.971 [pu], respectively. This does not considerably
differ from the modal behavior of a system with a conventional
synchronous generator [14], [24]. For all wind speeds and
loading simulated, up to the HB point, eigenvalues associated
to the DFIG state-variables are stable. From these results, it
seems that the dynamic of the wind-power generator does not
have a serious impact on the system behavior. Probably the
major interaction between the machines is the interchange of
active-power due to wind variations. Thus, as future work, a
reduced-order equivalent model that captures the active-power
dynamic of the wind-power generator is going to be derived.
IV. CONCLUSION
A complete dynamic model appropriate for power system
analysis is presented. This article contains several details such
as modeling assumptions, derivation of a third order model for
the DFIG and its controller descriptions, thus, it can be used as
a tutorial for students and engineers that are new in this area.
A four-bus system with one DFIG and one SG is considered
to perform a small signal stability analysis. The results reveal
that the state-variables associated to the unstable modes around
the HB point are those associated to the SG voltage controller.
Based on the eigenvalue pathways, the modal behavior does
not considerably differ from the modal behavior of a system
with only one SG.
APPENDIX
Parameters are in per unit unless otherwise is specied.
Synchronous machine
X
d
= 2.2, X
q
= 1.76, X

d
= 0.2, X

q
= 0.2, T

d0
= 8 [s],
T

q0
= 1 [s], H = 10 [s], K
E
= 1, T
E
= 0.7 [s], K
F
= 0.03,
T
F
= 1 [s], K
A
= 200, T
A
= 0.04 [s], T
G
= 5 [s],
V
ref
= 1.0078
Network
R
1
= 0.03 and X
1
= 0.10 (Line 1); R
2
= 0.10 and
X
2
= 0.10 (Line 2); pv = 0 and qv = 0 (Load Parameters),
X
T
= 0.07 (Transformer)
Doubly-fed induction generator
X
m
= 3.5092, X
s
= 3.5547, X
r
= 3.5859,
s
=
120 [rad/s], R
s
= 0.01015, R
r
= 0.0088, H = 2 [s],
p = 4, = 1.225 [kg/m
3
], R = 15 [m], S
b
= 1 [MV A],
C = 3.2397 10
9
[s
3
/rad
3
], k = 1/45, K
P1
= K
P2
=
K
P3
= K
P4
= 1, K
I1
= K
I2
= K
I3
= K
I4
= 5, Q
ref
= 0
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