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IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 25, NO.

1, MARCH 2010

181

Harmonic Analysis of a DFIG for a Wind Energy


Conversion System
Lingling Fan, Senior Member, IEEE, Subbaraya Yuvarajan, Senior Member, IEEE,
and Rajesh Kavasseri, Senior Member, IEEE

AbstractThis paper develops a framework for analysis of harmonics in a doubly fed induction generator (DFIG) caused by nonsinusoidal conditions in rotor and unbalance in stator. Nonsinusoidal rotor voltages are decomposed into harmonic components
and their corresponding sequences are identified. Induced harmonics in stator are analyzed and computed, from which the torques
produced by these interactions between stator and rotor harmonic
components can be found. During unbalanced stator conditions,
symmetric component theory is applied to the stator voltage to get
positive-, negative-, and zero-sequence components of stator and
rotor currents. The steady-state negative-sequence equivalent circuit for a DFIG is derived based on the reference frame theory.
Harmonic currents in the rotor are computed based on the sequence circuits. In both scenarios, the harmonic components of the
electromagnetic torque are calculated from the interactions of the
harmonic components of the stator and rotor currents. Three case
studies are considered, namely: 1) nonsinusoidal rotor injection;
2) an isolated unbalanced stator load scenario; and 3) unbalanced
grid-connected operation. The analysis is verified with results from
numerical simulations in MATLAB/Simulink. For illustration, the
second case is verified using experiments. The simulation results
and experimental results agree well with the results from analysis.
Index TermsDoubly fed induction generator (DFIG), harmonics, inverter, unbalance, wind generation.

iq s , ids
iq r , idr
Is , Ir
s, r
q, d
e
s , r , m
+,

NOMENCLATURE
q-Axis and d-axis stator currents.
q-Axis and d-axis rotor currents referring to
the stator side.
Stator and rotor current vectors.
Stator and rotor.
Rotating reference frame.
Nominal angular speed.
Stator, rotor, and rotating angular speed.
Positive and negative components.
I. INTRODUCTION

OUBLY fed induction generators (DFIGs) are widely used


in wind generation. The possibility of getting a constantfrequency ac output from a DFIG while driven by a variablespeed prime mover improves the efficacy of energy harvest from

Manuscript received December 3, 2008; revised April 8, 2009. First published November 24, 2009; current version published February 17, 2010.
Paper no. TEC-00470-2008.
L. Fan is with the University of South Florida, Tampa, FL 33617 USA
(e-mail: linglingfan@eng.usf.edu).
S. Yuvarajan and R. Kavasseri are with the Department of Electrical and Computer Engineering, North Dakota State University,
Fargo, ND 58105 USA (e-mail: subbaraya.yuvarajan@ndsu.edu; rajesh.
kavasseri@ndsu.edu).
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TEC.2009.2032594

wind [1]. Unlike a squirrel-cage induction generator, which has


its rotor short-circuited, a DFIG has its rotor terminals accessible. The rotor of a DFIG is fed with a variable-frequency (r )
and variable-magnitude three-phase voltage. This ac voltage injected into the rotor circuit will generate a flux and a stator
voltage/current with a frequency r if the rotor is standing still.
When the rotor is rotating at a speed m , the net flux linkage and
the stator voltage/current will have a frequency s = r + m .
When the wind speed changes, the rotor speed m will change,
and in order to have the net flux linkage at a frequency 60 Hz,
the rotor injection frequency should also be adjusted. A key
requirement of a DFIG is to have its three-phase rotor circuit injected with a voltage at a controllable frequency and controllable
magnitude.
The three-phase ac voltage can be synthesized using various switching techniques, including six-step switching [2],
pulsewidth modulation (PWM) [1], and space vector PWM [3].
To reduce the switching losses while having a simple control
circuit, a six-step switching technique is widely used in thyristorbased inverters. The high-power capability of thyristor attracts
the implementation of thyristor-based converters in wind energy
systems and six-step switching has kindled a new interest in
wind energy systems [4], [5]. The six-step switching technique
generates quasi-sine ac voltages, which possess 6n 1 harmonics. Under such conditions, the rotor currents contain harmonic
components, which, in turn, induce corresponding harmonics in
the stator. This leads to pulsating torques.
Harmonics can also be introduced by unbalanced stator conditions. Unbalanced stator voltages can be resolved into positive-,
negative-, and zero-sequence voltages. Negative-sequence components in the stator cause high-frequency components in rotor
currents and torque pulsations, which lead to several undesirable conditions such as overheating. Mitigating the effects of
unbalanced stator conditions on a DFIG by appropriate control
has been the focus of the works in [6][16]. The focus in these
works is to develop control schemes to minimize overcurrents
and pulsating torques.
Harmonic analysis of induction motor drives has been well
documented in textbooks [2] and [17] . Slip-energy recovery induction motor drives have a topology similar to that of DFIGs,
with a unidirectional power electronic interface. Harmonic analysis of these kinds of drives can be found in [18][20]. Harmonic
analysis of a DFIG has also been seen in [21][23]. The work
in [21] focuses on harmonic components from a machine design
perspective such as: 1) nonsinusoidal distribution of the stator
and rotor windings, referred to as MMF space harmonics, and
2) variations in reluctance due to slots, referred to as slot harmonics. The work in [22] calculates the distortion components

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182

IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 25, NO. 1, MARCH 2010

in the rotor and stator currents due to a six-pulse rotor-side converter. An equivalent circuit is also presented to calculate stator
currents, but the resulting variations in torque are not calculated.
The work in [23] focuses on the effects of speed ripples due to
rotor-side harmonic injection, which is an important consideration. However, this phenomenon is sensitive (see [23, Fig. 8]) to
the moment of inertia of the rotor. Their experiments are carried
out on a small test machine (1/3 hp) with a very small moment
of inertia (0.0035 kgm2 ) where the effects of the ripple can be
quite pronounced.
In [7] and [9][13], expressions for torque under unbalanced
stator conditions have been derived in terms of the complex
power and speed. The expressions for complex power are derived using space vector concept or instantaneous reactive power
theory.
Our study will focus on harmonic components resulting from
operating conditions due to: 1) nonsinusoidal rotor injection and
2) unbalanced stator conditions. These two conditions are often
encountered in wind energy systems, and are thus, important
to analyze. Overall, the aim of this paper is to present a generalized platform for harmonic analysis in DFIG systems under
such conditions. The objective of the analysis is to estimate the
magnitudes of the frequency components in the stator and rotor
currents, and therefore, in the torque. The currents are computed
from the steady-state equivalent machine circuit and the torque
is calculated from the interactions of the harmonic components
of the stator and the rotor currents.
Some basic assumptions are made in this paper: 1) the speed
is assumed to be constant and ripple-free to simplify our analysis
and 2) the winding distribution is sinusoidal, and hence, there
are no MMF space harmonics and slot harmonics.
In the first scenario, nonsinusoidal rotor voltages are decomposed into harmonic components and their corresponding sequences are identified. Then, the induced harmonics in the rotor
and stator of a DFIG are analyzed and computed, from which
the torques produced by these interactions between stator and
rotor harmonic components are found.
In the second scenario, for unbalanced stator conditions, symmetric component theory is applied to the stator voltage to get
the positive-, negative-, and zero-sequence components of stator
and rotor currents. The steady-state negative-sequence equivalent circuit for a DFIG is derived based on the reference frame
theory. Harmonic currents in the rotor are obtained based on
the positive- and negative-sequence circuits. Harmonic components in the torque due to the interactions between stator and
rotor sequence components are found.
The rest of the paper is organized as follows. Section II
gives the steady-state equivalent circuit of the DFIG under
positive-sequence, negative-sequence, and harmonic scenarios.
Section III presents the harmonic analysis of a DFIG with nonsinusoidal rotor circuit injection. Section IV presents the harmonic analysis of a DFIG under unbalanced stator condition.
Three case studies are given in Section V, namely: 1) nonsinusoidal rotor injection; 2) an isolated unbalanced load; and 3)
unbalance in grid-connected operation. The analysis, along with
experimental results and numerical simulations, in MATLAB/
Simulink is also given. Section VI concludes the paper.

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Fig. 1.

Steady-state induction machine circuit representation.

II. STEADY-STATE EQUIVALENT CIRCUIT OF A DFIG


For analysis, the per-phase steady-state equivalent circuit of
a DFIG based on [24] and [25] is shown in Fig. 1. Here, N ,
s , and slip are defined based on sequence and harmonic conditions. For example, when N = 1, s = e , and slip = s, the
circuit corresponds to the well-known positive-sequence equivalent circuit of an induction machine. For harmonic and negativesequence conditions, the parameters are modified, and details
are presented in Sections III and IV, respectively.
Remarks:
1) Positive-sequence circuit:

N = 1
s = e

slip = s.
2) Negative-sequence circuit:

N = 1
= e
s
slip = 2 s.

3) 6n 1 harmonic rotor injection:

N = 1

s = (6n 1)r m
(6n 1)r

slip =
.
(6n 1)r m
4) 6n + 1 harmonic rotor injection:

N =1

s = (6n + 1)r + m
(6n + 1)r

slip =
.
(6n 1)r + m

III. HARMONIC ANALYSIS WITH QUASI-SINE


ROTOR VOLTAGE INJECTION

In this section, harmonic analysis in the stator circuits with


quasi-sine rotor voltage injection will be investigated. The ac
voltage injected to the rotor usually comes from a dc/ac bridge
converter shown in Fig. 2. While PWM technique is widely
used for rotor injection [1], a six-step switching technique is
another possibility to simplify the control circuit and reduce the
switching losses. Six-step switching introduces 6n 1 harmonics in the voltages and the resultant output is called a quasi-sine
waveform. Unlike PWM, this does not need sine and triangular waves. It is easy to adjust the rotor injection frequency by
simply varying a control voltage. The output line voltage of the

FAN et al.: HARMONIC ANALYSIS OF A DFIG FOR A WIND ENERGY CONVERSION SYSTEM

Fig. 2.

183

Thus, the set of (6n 1) harmonics can be considered as a


negative-sequence set. The frequency of the waveform is equivalent to (6n 1). Throughout the paper, a negative sign for
the frequency implies a negative sequence for the corresponding
quantity.
Using the same analogy, for the 7th or any (6n + 1)th harmonic, the three-phase set is considered as a positive-sequence
set and the frequency of the waveform is (6n + 1).
Therefore, the following harmonic components can be observed in the stator current: r + m , 5r + m , 7r + m ,
11r + m , 13r + m , etc. The lowest order harmonic
(LOH) observed has a frequency of |5r m |.
The magnitudes of the harmonics in the stator current can
be computed based on the steady-state equivalent circuit in
Fig. 1.

Power circuit of a three-phase bridge inverter.

B. Harmonic Components and Magnitudes of Electromagnetic


Torque
Fig. 3.

Quasi-sine waveforms of line and phase voltages applied to the rotor.

inverter is a quasi-sine wave with levels 0, VB , and VB , and


one of the three line voltages and a phase voltage are shown in
Fig. 3.
A. Harmonic Components in Stator and Rotor Currents
For the quasi-sine waveforms of Fig. 3, triple-n harmonics
(3, 6, 9, 15, . . .) are absent. The voltage waveform in phase A
can be expressed in the mathematical form as [2]
vr a (t) = VS


1
sin(kt),
k

k = 1, 5, 7, . . .

(1)

where VS = (2/)VB .
The 120 phase displacements among the three phase voltages
can be conveniently represented as




1 jkt
e
(2)
vr a (t) = Im VS
k
k




1 j k (t )
e
vr b (t) = Im VS
(3)
k
k




1 j k (t2 )
vr c (t) = Im VS
e
(4)
k
k

where k = 1, 5, 7, 11, . . ., and = 2/3.


For the 5th and any (6n 1)th (n > 0) harmonic, the waveforms of the rotor voltages are given by


1
ej (6n 1) t
vr a (t) = Im VS
6n 1


1
j (6n 1) t j (2 /3)
e
e
vr b (t) = Im VS
6n 1


1
j (6n 1) t j (2 /3)
e
e
.
vr c (t) = Im VS
6n 1

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The harmonic analysis of a DFIG is similar to the harmonic


analysis of an induction machine presented in [2]. For an induction motor with a quasi-sine ac power supply, the harmonics present in stator currents and electromagnetic torque are at
n 60 Hz, while in a DFIG with quasi-sine rotor injection, the
harmonics in stator currents and electromagnetic torque are dependent on the injected frequencies, which will be discussed in
the following paragraphs.
The constant or steady torques are developed by the reaction of harmonic air gap fluxes with harmonic rotor MMFs, or
currents, of the same order. Since the 6n 1 harmonics are
negative-sequence harmonics, the induced torques oppose the
torques produced by the fundamental MMFs and 6n + 1 harmonics [2].
Besides the steady torques, there are also pulsating torque
components, which are produced by the reaction of harmonic
rotor MMFs with harmonic rotating fluxes of different order.
The reaction between the fundamental rotor MMF and the fifth
harmonic component in the stator current will cause a pulsating torque with frequency of r 1 + m s5 = 6r . Similarly, the reaction between the fifth harmonic rotor MMF and
the fundamental component in the stator current will produce a
pulsating torque with frequency of r 5 + m s1 = 6r .
The reactions between the fundamental rotor MMF and the seventh harmonic component in the stator current, and the seventh
harmonic rotor MMF and the fundamental component in the
stator current will also produce pulsating torques of the same
frequency 6r .
Similarly, the interactions between the fundamental rotor
MMF and the 11th (13th) harmonic component in the stator
current will produce a pulsating torque with frequency of 12r .
In general, the pulsating torque contains harmonics of frequency
6nr (n > 0).
The torque can be expressed in terms of stator and rotor
currents in the same reference frame [25] or current space vector
[2]. The torque in terms of the qd currents and the current space

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IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 25, NO. 1, MARCH 2010

vector can be written as


 
3
P
(5)
Te =
M (iq s idr ids iq r )
2
2

P
(6)
=3
M Im[Is Ir ]
2

where Is = (iq s jids )/ 2 and Ir = (iq r jidr )/ 2.


The steady torque can be expressed in current space vector as


P
Te0 = 3
[Isk Irk ]
(7)
M Im
2
k

where k = 1, 5, 7, 9, 11, . . ., Ik = (iq k jidk )/ 2. The qd


variables are referred to the rotating reference frame with the
same speed as the frequency of the stator harmonic component.
The pulsating torque of frequency 6r can be expressed as

P
Te6 = 3
M Im[Is1 Ir5 ej 6 r ]
2

P
+3
M Im[Is1 Ir7 ej 6 r ]
2

P
+3
M Im[Is5 Ir1 ej 6 r ]
2

P
+3
M Im[Is7 Ir1 ej 6 r ].
2
The currents iq s1 and ids1 are in the reference frame with a
rotating speed of s1 , iq r 5 and idr 5 are in the reference frame
with a rotating speed of s5 , and iq r 7 and idr 7 are in the reference
frame with a rotating speed of s7 .
The pulsating torque of Te6 can be expressed in real variables
as
Te6 = Te cos 6 cos(6r t) + Te sin 6 sin(6r t)

(8)

where Te cos 6 and Te sin 6 can be expressed by currents in


Te6 cos
3P
M
=
22
Te6 sin


(ids5 +ids7 ) (iq s5 + iq s7 ) ids1 iq s1 ids1 iq s1

iq s5 +iq s7 (ids5 +ids7 ) iq s1 ids1 iq s1 ids1

iq r 1
idr 1

i
(9)
qr5 .
idr 5

iq r 7
idr 7
IV. HARMONIC ANALYSIS FOR THE UNBALANCED
STATOR CONDITION
The purpose of the analysis is to investigate the DFIG operation at unbalanced stator conditions and study the waveforms of
the rotor currents and the electromagnetic torque. It is assumed
that sinusoidal voltages are injected into the rotor and that the
rotor injection voltage magnitude is constant during the system
disturbance.

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Fig. 4.

Two reference frames: synchronous and negative synchronous.

There are two steps in the analysis. The first step is to identify
the harmonic components in the rotor currents and the electromagnetic torque, and the second step is to estimate the magnitude of each harmonic component.
A. Harmonic Components in Stator and Rotor Currents
The stator frequency is assumed to be 60 Hz. During stator
unbalance, the magnitudes of the three phase voltages will not
be the same. Also, the phase angle displacements of the three
voltages will not be 120 . Using symmetric component theory, a
set of three-phase voltages can be decomposed into a positive-,
a negative-, and a zero-sequence component. The stator currents will, in turn, have positive-, negative-, and zero-sequence
components.
For an induction machine, the sum of the rotor injection frequency and the rotor frequency is equal to the stator frequency or
r + m = s . For the positive-sequence voltage set with frequency s applied to the stator side, the resulting rotor currents
or flux linkage have a frequency r = s m = ss .
The negative-sequence voltage set can be seen as a threephase balanced set with a negative frequency s . Thus, the
induced flux linkage in rotor circuit and the rotor currents have
a frequency of s m = (2 s)s .
Observed from the synchronous reference frame qd+ with a
rotating speed e = s , the first component (positive sequence)
has a frequency of ss (e m ) = 0, or a dc component,
and the second component (negative sequence) has a frequency
of (2 s)s (e r ) = 2e , i.e., 120 Hz. Observed
from the negative synchronous reference frame qd , which rotates clockwise with the synchronous speed e , the positivesequence component has a frequency of ss (e m ) =
2e , and the negative-sequence component has a frequency of
(2 s)s (e m ) = 0. The two reference frames are
shown in Fig. 4, and Table I shows the components of the rotor
currents in abc and the two reference frames.
The rotor currents in both reference frames will have a dc
component and a high-frequency component. To extract the

FAN et al.: HARMONIC ANALYSIS OF A DFIG FOR A WIND ENERGY CONVERSION SYSTEM

TABLE I
ROTOR CURRENT COMPONENTS OBSERVED IN VARIOUS REFERENCE FRAMES

185

The rotor relationship can be further expressed as


e
r
Var
e
e
= r I ar je
ar .
2s
2s

(17)

The equivalent circuit in Fig. 1 now has N = 1, s = e ,


and slip = 2 s. If the rotor voltage injection is assumed to be a
balanced sinusoidal three-phase set, then the negative-sequence
e
= 0.
component Var
Thus, the stator and rotor currents are induced by both the
positive-sequence voltages and negative-sequence voltages. The
rotor currents have two components: one at the low frequency
se having an rms magnitude of Ias+ and the other at the high
frequency (2 s)e with a magnitude of Ias .
Fig. 5.

Scheme for extracting dc components.

harmonic components in the rotor currents, both a synchronous


reference frame qd+ and a negative synchronous rotating reference frame qd (see Fig. 4) will be used. A low-pass filter with
a suitable cutoff frequency can be used to extract the dc components, which correspond to the magnitudes of the two harmonic
components. The scheme for extracting the dc components is
shown in Fig. 5.
B. Magnitudes of the Harmonic Components in Stator
and Rotor Currents
In this section, the derivation of the steady-state circuit for the
negative-sequence components is given. The equivalent circuit
is derived by establishing the relationship of the voltages and
currents in qd variables and further in phasors.
For the negative sequence, the q-axis, d-axis, and 0-axis variables become dc variables at steady state when the reference
frame rotates at a frequency of e . The derivatives of the flux
linkages are zero at steady state. Hence, the voltage and current
relationship is expressed in qd0 as
vqe
s

e e
ds

(10)

e
e
vds
= rs ie
ds + e q s

(11)

e
e
vqe
r = rr iq r + (e r )dr

(12)

e
e
vdr
= rr ie
dr (e r )q r .

(13)

rs ie
qs

The relationship between a phasor Fas at a given frequency


and the corresponding qd variables in the reference frame rotating at the same frequency can be expressed as

2Fa = Fq jFd
(14)
where F can be voltages, currents, or flux linkages in the stator
or rotor circuits.
Therefore, the stator and rotor voltage, current, and flux linkage relationship can be expressed in phasor form as
e
e
e
Vas
= rs Ias
je
as
e
Var
=

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e
rr I ar

C. Harmonic Components and Magnitudes of Electromagnetic


Torque
The zero-sequence stator currents will not induce a torque
[25]. Meanwhile, the zero-sequence stator circuit and the zerosequence rotor circuit are completely decoupled. Hence, the
zero-sequence variables presented at the stator side will not
induce any voltage at the rotor side. In machines where wye
connection is used, even the stator side does not have zerosequence currents.
Under the unbalanced stator condition, the stator current has two components: positive-sequence components Is+
and negative-sequence components Is . The rotor current
also has two components: positive-sequence components Ir +
and negative-sequence components Ir . The electromagnetic
torque is produced by the interactions between the stator
and rotor currents. The torque can be decomposed into four
components
Te = Te1 + Te2 + Te3 + Te4

where Te1 is due to the interaction of Is+ and Ir + , Te2 is due to


the interaction of Is and Ir , Te3 is due to the interaction of
Is+ and Ir , and Te4 is due to the interaction of Is and Ir + .
It will be convenient to use both the synchronous reference
frame and the negative synchronous reference frame to compute
Te . For example, Te1 can be identified as a dc variable in the
synchronous reference frame. Te2 can be identified as a dc variable in the negative synchronous reference frame. Te3 and Te4
are pulsating torques with a frequency 2e . The expressions for
the torque components are as follows:
Te1 = 3

P
2

e e
Ir + ]
M Im[Is+

(19)

Te2 = 3

P
2

e e
Ir ]
M Im[Is

(20)

Te3 = 3

P
2

e e
Ir ]
M Im[Is+

(21)

=3

P
2

e e j 2 e t
Ir e
]
M Im[Is+

(22)

(15)
e

ar .
j(e + r )

(16)

(18)

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IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 25, NO. 1, MARCH 2010

TABLE II
ANALYZED FREQUENCY COMPONENTS IN THE ROTOR AND STATOR CURRENTS
DUE TO NONSINUSOIDAL ROTOR INJECTION

Fig. 6.

Stand-alone wind energy system configuration.

Te4 = 3

P
2

e e
Ir + ]
M Im[Is

(23)

=3

P
2

e e j 2 e t
Ir + e
]
M Im[Is

(24)

where Is = (iq s jids )/ 2 and I r = (iq r jidr )/ 2, and


F+e denotes the qd variables of the positive-sequence component in the synchronous reference frame, Fe denotes the qd variables of the negative-sequence component in the synchronous
reference frame, F+e denotes the qd variables of the positivecomponent in the negative synchronous reference frame, and
Fe denotes the qd variables of the positive-sequence component in the negative synchronous reference frame.
The torque expression under unbalanced stator condition
is Te = Te0 + Te sin 2 sin(2s t) + Te cos 2 cos(2s t), where the
expressions for Te0 , Te sin 2 , and Te cos 2 can be found in
e
idr +
e

e
e
e
i
i
i
i

q
s
q
s+
ds+
ds
Te0
ie
qr+

e
e
e
e

Te sin 2 = 3P M
ids iq s ids+ iq s+ e

4
idr
e
Te cos 2
e
e
ie
q s ids iq s+ ids+
ie
qr
(25)
The harmonic components in the torque can be computed
from positive- and negative-sequence stator/rotor currents. In
the following sections, case studies will be performed.
V. CASE STUDIESANALYSIS AND SIMULATION
A. Case Study 1-Nonsinusoidal Rotor Injection
A four-pole 5 hp DFIG with parameters in Table VII (see
the Appendix) is considered. The stator is connected to a wyeconnected resistive load with 22 in each phase. The configuration of the system is shown in Fig. 6. The injected rotor voltages
are quasi-sine.
The fundamental frequency of the rotor injection is 24 Hz.
The rotating speed is 1080 r/min for the four-pole 5 hp DFIG
and the corresponding electrical frequency is 36 Hz. The harmonic orders of the rotor and stator currents are computed and
listed in Table II. The simulation (MATLAB/Simulink) results
are shown in Fig. 7. The fifth harmonic in the injected rotor
voltage causes a low harmonic in stator current at 84 Hz of negative sequence (24 5 36). Hence, distortions are observed
in the stator current waveforms. The torque is shown to have a

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Fig. 7. DFIG with quasi-sine rotor injection. (a) Phase A rotor voltage.
(b) Phase-to-phase rotor voltage. (c) Phase A rotor current. (d) Phase A stator current. (e) Electromagnetic torque.

steady-state dc value and a pulsating component of 144 (6 24)


Hz. The discrete Fourier transform (DFT) of the simulated electromagnetic torque, and stator and rotor current waveforms are
shown in Fig. 8. The DFT results show that the torque has a 144
Hz harmonic, the stator current has a fundamental component
at 60 Hz and a harmonic at about 84 Hz, and the rotor current
has a fundamental component at 24 Hz and harmonics at 120
(5 24) and 168 (7 24) Hz. The DFT results agree well with
the analytical results in Table II.
The 144 Hz pulsating torque component is produced by the
reaction of harmonic rotor MMFs with harmonic rotating stator
MMFs of a different order. In this case study, the fifth harmonic component produces an 84 Hz component with negative
sequence in the stator current. The reaction between the fundamental rotor MMF (24 Hz) and the fifth harmonic component
in the stator current (84 Hz) will cause a pulsating torque at
fr 1 + fm fs5 = 144 Hz. Similarly, the reaction between the
fifth rotor MMF (120 Hz negative sequence) and the fundamental component in the stator current (60 Hz) will produce a
pulsating torque at fr 5 + fm fs1 = 144 Hz. The reactions
between the fundamental rotor MMF and the seventh harmonic
component in the stator current, and the seventh rotor MMF
and the fundamental component in the stator current will also
produce pulsating torques of 144 Hz. The dc component and
the pulsating component of the torque can be computed from
(7) and (9) and are shown in Table III. The analytical results
agree with the simulation results in Fig. 7 and the DFT results
in Fig. 8.

FAN et al.: HARMONIC ANALYSIS OF A DFIG FOR A WIND ENERGY CONVERSION SYSTEM

Fig. 9.

187

Experimental setup for case study 2.

Fig. 8. DFT of the electromagnetic torque, and stator and rotor current waveforms in Fig. 7.
TABLE III
HARMONIC COMPONENTS IN THE ELECTROMAGNETIC TORQUE FROM
ANALYSIS

Experimental results of the stator and rotor currents can be


found in [26].
B. Case Study 2A Stand-Alone DFIG System
In the second case study, the setup used is same as in Fig. 6
except that the resistance in phase A is varied to create an
unbalanced stator condition. The rotor injection is assumed to
be balanced sinusoidal. Two scenarios will be considered. In
scenario 1, the frequency of the injected rotor voltages is 20
Hz. In scenario 2, the frequency of the injector rotor voltages is
15 Hz.
In the experiment, the wind turbine is replaced by a dc motor
and a 5 hp wound rotor induction generator is used as a DFIG.
A sine-wave power source provides the injection voltage at any
desired frequency. The speed of the dc motor is adjusted to
have a 60 Hz stator voltage. The experimental setup is shown in
Fig. 9.
Figs. 10 and 11 show the waveforms of phase A and phase B
stator voltages, and phase A rotor current and stator current. The
experiment was conducted for two injection frequencies: 20 and
15 Hz. In both cases, the rotor current contains high-frequency
harmonics. The results of DFT analysis of the waveforms are
given in Fig. 12 and Table IV.
The unbalanced load condition is created by short-circuiting
a portion of the load resistance in phase A, and hence, the
equivalent circuit under single phase to ground fault can be
used to obtain the stator current and rotor current phasors of
positive sequence and negative sequence. Since the load is wye-

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Fig. 10. Stator voltages, rotor current, and stator current under unbalanced
load condition. Rotor injection frequency = 20 Hz.

Fig. 11. Stator voltages, rotor current, and stator current under unbalanced
load condition. Rotor injection frequency = 15 Hz.

connected, there is no zero-sequence current. The equivalent


circuit is shown in Fig. 13.
An analysis of the circuit in Fig. 13 gives the harmonic components in the rotor currents. The phasors and the corresponding
harmonic components are shown in Table IV. The experimental

188

IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 25, NO. 1, MARCH 2010

Fig. 14.

Grid-interconnected DFIG system configuration.

Fig. 12. DFT of the rotor currents. (a) Rotor injection frequency = 20 Hz.
(b) Rotor injection frequency = 15 Hz.
TABLE IV
COMPONENTS OF ROTOR CURRENTS FROM EXPERIMENTS AND ANALYSIS OF
FIG. 13 DURING UNBALANCED STATOR CONDITION

Fig. 15. Dynamic responses of rotor speed, electromagnetic torque, phase A


stator current, and phase A rotor current.

Fig. 13.
tion.

Equivalent circuit for the DFIG under unbalanced stator load condi-

waveforms and the DFT analysis results agree well with the
analytical results.
Fig. 16.

C. Case Study 3-A DFIG Connected to Grid


A 3 hp DFIG is used for analysis and simulation. The machine
parameters are shown in the Appendix. The initial condition of
the machine is the stalling state. A balanced three-phase voltage
to the stator and a mechanical torque 10 Nm are applied at
t = 0 s. The rms value of the rotor voltage is kept at 10 V. The

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e
Dynamic response of ieq r , ied r , ie
q r , and id r .

system configuration is shown in Fig. 14. At t = 1 s, the voltage


of phase A drops to zero. The fault is cleared at t = 1.5 s. The
simulation is performed in MATLAB/Simulink, and the results
are shown in Figs. 1517.
Fig. 15 shows the dynamic responses of the rotor speed, electromagnetic torque, and stator and rotor currents in phase A.

FAN et al.: HARMONIC ANALYSIS OF A DFIG FOR A WIND ENERGY CONVERSION SYSTEM

189

The magnitudes of the harmonic components can be computed from the equivalent phasor circuits in Fig. 1.
The sequence components of the stator voltage, the stator currents, and the rotor currents are listed in Table V. A comparison
of the analysis results from the circuit in Fig. 1 and simulation
results shows that the rotor current and torque components from
the analysis agree with the simulation results in Table VI.
VI. CONCLUSION

Fig. 17. Harmonic components after extracting strategy from Fig. 5.


(a) ieq r + dc component of iq r observed in the synchronously rotating reference frame. (b) ied r + dc component of id r observed in the synchronously
rotating reference frame. (c) ie
q r dc component of iq r observed in the negatively synchronously rotating reference frame. (d) ie
dc component of id r
dr
observed in the synchronously rotating reference frame.
TABLE V
CALCULATED SEQUENCE COMPONENTS IN STATOR VOLTAGES, STATOR
CURRENTS, AND ROTOR CURRENTS ASSUMING SLIP = 4.5/60

This paper has presented a systematic method to analyze the


harmonics caused by nonsinusoidal rotor injection and unbalanced stator conditions in a DFIG. The key contributions of
the paper are: 1) a generalized steady-state equivalent circuit
for DFIGs suitable for analysis under harmonic and unbalanced
conditions; 2) a systematic method to calculate electromagnetic
torque by computing the interactions of harmonic stator and
rotor currents, derived from the equivalent circuit (see Fig. 1);
and Fig. 3) the development of positive- and negative-sequence
equivalent circuits, which enables one to analyze unbalanced
conditions on the stator side by a suitable interconnection of the
sequence circuits. The three case studies and experimental verifications demonstrate the effectiveness of the proposed method
in analyzing the harmonics and unbalanced operation of DFIGs.
APPENDIX
The 3 hp induction machine parameters, taken from [25], are
listed in Table VII. The 5 hp wound rotor induction machine
parameters are measured from experiments and are also listed
in the table.

TABLE VI
HARMONIC COMPONENTS IN THE ROTOR CURRENTS AND THE
ELECTROMAGNETIC TORQUE FROM SIMULATION AND ANALYSIS DURING
UNBALANCED CONDITION (SLIP = 4.5/60)

TABLE VII
MACHINE PARAMETERS FOR 3 HP AND 5 HP DFIGS

ACKNOWLEDGMENT

Fig. 16 shows the dynamic responses of the rotor currents in


the synchronous reference frame and the negative synchronous
reference frame. At the steady-state balanced stator condition,
the rotor speed is equivalent to 57.2 Hz, while the slip frequency
of the rotor currents is 2.8 Hz. The two add up to 60 Hz. During
unbalance, it is found that the torque has a 120 Hz pulsating component. It is seen from the simulation plots that the rotor current
consists of two components: a low-frequency component and a
high-frequency component. According to the analysis, the two
frequencies are the slip frequency and a frequency close to 120
Hz [(2 s)e ]. The rotor currents observed in the synchronous
reference frame have a dc component and a 120 Hz component.

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The authors wish to thank the reviewers for their constructive


comments and suggestions, which have helped in improving the
quality of the manuscript.
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Lingling Fan (S98M02SM08) received the B.S. and M.S. degrees from
Southeast University, Nanjing, China, in 1994 and 1997, respectively, and the
Ph.D. degree from West Virginia University, Morgantown, in 2001, all in electrical engineering.
She was with Midwest ISO, St. Paul, MN (20012007) and North Dakota
State University, Fargo, ND (20072009). She is currently an Assistant Professor at the University of South Florida, Tampa, FL. Her research interests include
modeling and control of renewable energy systems, power system reliability,
and economics.

Subbaraya Yuvarajan (SM84) received the B.E. (Hons.) degree from the
University of Madras, Chennai, India, in 1966, and the M.Tech. degree and the
Ph.D. degree in electrical engineering from the Indian Institute of Technology,
Chennai, in 1969 and 1981, respectively.
Since 1995, he has been a Professor in the Department of Electrical and
Computer Engineering, North Dakota State University, Fargo. His current research interests include electronics, power electronics, and electrical machines.

Rajesh Kavasseri (SM07) received the Ph.D. degree in electrical engineering


from Washington State University, Pullman, in 2002.
He is currently an Associate Professor in the Department of Electrical and
Computer Engineering, North Dakota State University, Fargo. His research
interests include power system dynamics and control, nonlinear systems, and
algebraic geometry application in power system analysis.

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