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1, MARCH 2010
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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
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
182
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.
N = 1
s = e
slip = s.
2) Negative-sequence circuit:
N = 1
= e
s
slip = 2 s.
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
FAN et al.: HARMONIC ANALYSIS OF A DFIG FOR A WIND ENERGY CONVERSION SYSTEM
Fig. 2.
183
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
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184
(8)
Te6 cos
3P
M
=
22
Te6 sin
(ids5 +ids7 ) (iq s5 + iq s7 ) ids1 iq s1 ids1 iq s1
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.
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
(17)
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
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
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)
186
TABLE II
ANALYZED FREQUENCY COMPONENTS IN THE ROTOR AND STATOR CURRENTS
DUE TO NONSINUSOIDAL ROTOR INJECTION
Fig. 6.
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)
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.
FAN et al.: HARMONIC ANALYSIS OF A DFIG FOR A WIND ENERGY CONVERSION SYSTEM
Fig. 9.
187
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
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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.
188
Fig. 14.
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. 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.
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e
Dynamic response of ieq r , ied r , ie
q r , and id r .
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
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
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190
[6]
[7]
[8]
[9]
[10]
[11]
[12]
[13]
[14]
[15]
[16]
[17]
[18]
[19]
[20]
[21]
[22]
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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.