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NOMENCLATURE
C
Ig
Is, Ir
Lm
L s , L r
Ls , Lr
Pe
Pg , Qg
Ps , Qs
Rg , Lg
R s , Rr
Te
Us, Ur
U c , c
U g , g
Vdc
s , r
s , r , slip
s , r
DC-link capacitance.
GSC output current vector.
Stator, rotor current vector.
Mutual inductance.
Stator, rotor leakage inductance.
Stator, rotor self-inductance.
Electromagnetic power.
GSC output active and reactive power.
Stator active and reactive power.
Line resistance, coupling inductance.
Stator, rotor resistance.
Electromagnetic torque.
Stator, rotor voltage vector.
GSC output voltage, flux vector.
Grid voltage, flux vector.
DC-link voltage.
Stator, rotor flux vector.
Stator, rotor, slip angular speed.
Stator voltage angle, rotor angle.
Manuscript received March 3, 2009; revised July 10, 2009. Current version
published December 4, 2009. This work was supported in part by the National High Technology Research and Development of China under Project
2007AA05Z419 and by the Zhejiang Provincial Natural Science Foundation
of China under Grant Y1080287. Recommended for publication by Associate
Editor J. Kokernak.
The authors are with the Department of Electrical Engineering,
Zhejiang University, Hangzhou 310027, China (e-mail: beatles851@163.com;
ykhe@zju.edu.cn; sundan@zju.edu.cn).
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/TPEL.2009.2032188
Superscripts
+,
Reference.
Conjugate complex.
Positive, negative (dq) reference frame.
Subscripts
d, q
s, r
,
+,
OUBLY fed induction generator (DFIG)-based wind turbine has become increasingly popular due to its advantage
of variable speed operation with the excitation converter rated
at only 25%30% of the generator rating. However, since the
stator of DFIG is directly connected to the grid and the power
rating of its excitation converter is limited, the DFIG system is
quite sensitive to grid disturbances. As the power penetration
from the DFIG-based wind turbines into the grid is increasing
steadily, the control and operation of DFIG under grid disturbances has become the subject of intense research during the
last few years [1][10].
Of all grid disturbances, the unbalanced grid faults happen
much more frequently than the balanced ones. The most severe
problems of the DFIG under unbalanced faults are the oscillations of stator output power and electromagnetic torque, which
are harmful to the stability of the connected power grid and the
mechanical system of the wind turbine [1]. Moreover, voltage
ripples will be produced in the dc-link as a result of power oscillations in the DFIG and the grid side converter (GSC), which
is harmful to the dc-link capacitance.
Various methods have been proposed to control the DFIG
under unbalanced grid conditions, and the response and performance of DFIG during network unbalance are now well understood [2][7]. Basically, the available unbalanced control
methods were based on the symmetrical component theory [3],
which states that an unbalanced system is a combination of the
positive and negative networks. Therefore, the decomposition
of unbalanced three phase quantities into the positive and negative sequences was inevitable when these methods were applied.
However, since the decomposition process may introduce considerable time delay and some errors of amplitude and phase
with respect to the original signals, the stability and dynamic
response of the overall control system could be seriously affected [7]. Recently, some new kinds of rotor current controllers,
such as the main and auxiliary controllers [8], the proportional
and resonant (PR) controller [9], and the proportional integral
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IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 24, NO. 11, NOVEMBER 2009
and resonant (PIR) controller [10] have been adopted in the vector control scheme to regulate the positive and negative sequence
rotor current without involving sequential decomposition. But
actually, only the rotor current decomposition could be avoided
when these controllers were applied, the stator voltage, current,
and/or flux still had to be decomposed for the use of calculating
the positive and negative rotor current references.
This paper investigates an improved direct power control
(DPC) strategy for enhanced control and operation of the DFIG
under unbalanced grid voltage supply. The DPC for DFIG has
been studied in some literatures [13], [14] and proved to have
several advantages over the conventional vector control strategy, such as simple implementation, fast dynamic response,
and robustness to parameter variations of the DFIG [14]. The
application of DPC for DFIG under unbalanced grid voltage
conditions has also been reported in [15] and [16], yet, the sequential decomposition is indispensable. In this paper, the resonant controllers are adopted in the improved DPC to regulate
the stator power pulsations, so that the active and reactive stator
power can be fully regulated without any necessity of sequential
decomposition.
Besides the improved DPC for DFIG, a novel unbalanced
DPC for the GSC has also been proposed in this paper. Similar
to the DFIG, many literatures have studied the control of the
three-phase voltage source converter (VSC) under unbalanced
supply [17][20]. Generally, these methods can be classified into
two types, the voltage oriented control (VOC) and the DPC [21].
When the unbalanced VOC was applied, the sequential decomposition was requisite and hence some inherent defects were
involved, such as slow dynamic response and low bandwidth of
the current control loops [22]. The unbalanced DPC methods
for the VSC adopted some prestored switching tables to generate the pulsewidth modulation (PWM) singles [21], so that
the sequential decomposition could be avoided, but the switching frequency of the VSC was variable. Consequently, the DPC
with space vector modulator (SVM) was brought forward and
the constant switching frequency was achieved [23]. However,
few results have been reported about the application of the SVMDPC under unbalanced grid voltage conditions. Following the
idea of the improved DPC for DFIG, the resonant controllers are
adopted in the SVM-DPC for GSC in this paper, so that the active and reactive power outputs of the GSC are fully controlled.
Based on the improved DPC for DFIG and GSC, a coordinated control strategy of the DFIG and GSC is designed
to provide enhanced control and operation capability of the
DFIG-based wind turbine under unbalanced network supply.
The proposed control scheme is verified by detailed simulation study of a 2-MW DFIG system under unbalanced grid
conditions.
II. IMPROVED DIRECT POWER CONTROL FOR DFIG
Fig. 1 shows the schematic diagram of a DFIG-based wind
turbine used in this study. The stator of the DFIG is connected
to the grid through a star-delta connected transformer, while
the rotor is connected to a four-quadrant PWM converter. An
antiparallel thyristor crowbar is connected to the rotor windings
Fig. 1.
Fig. 2.
for the purpose of protecting the DFIG and converter from being
damaged under severe grid faults.
A. DPC of DFIG Under Normal Grid Condition
Detailed study on the DPC of DFIG under balanced grid
condition has been carried out in [13], so that only a brief
description is given in this section.
Fig. 2 depicts the equivalent circuit of the DFIG in the dq
reference frame rotating at the synchronous speed s .
With the motor convention applied, the stator and rotor voltage and flux vectors of DFIG can be expressed as
+
U+
s = Rs I s +
d +
s
+ js +
s
dt
+
U+
r = Rr I r +
d +
r
+ jslip +
r
dt
(1)
and
+
+
+
s = Ls I s + Lm I r
+
+
+
r = Lm I s + Lr I r
(2)
. (3)
r
2 s
Ls Lr L2m Lm s
Ps + jQs =
Under normal grid voltage condition, the stator flux can be regarded as constant in the positive synchronous reference frame,
which means that its differential equals zero. Taking into account (1), if the d-axis of the synchronous frame is fixed with
the stator voltage vector and the voltage drop across the stator resistance is neglected, the stator voltage vector can be simplified
ZHOU et al.: IMPROVED DIRECT POWER CONTROL OF A DFIG-BASED WIND TURBINE DURING NETWORK UNBALANCE
2467
as
+
+
+
U+
s = js s = s sq = Usd = Us
(4)
(6)
where Ps and Qs are the stator active and reactive power references, respectively.
Substituting (5) and (6) into (1) results in the required dand q-axis rotor control voltages in the stator-voltage-vectororiented reference frame
Qs
Lr Us
Ps
+ Rr i+
rq
k Us
(7)
Fig. 3. Various components of the stator, rotor current, and flux and the electromagnetic torque of DFIG under transient unbalanced grid fault.
js t
U+
s+ e
+
+
js t
(Usd+
+ jUsq
+ )e
+ (Usd
j s t
+ jUsq
.
)e
(8)
(10)
Ps = Psa + Ps2 s + Ps s
s (t) = sdc + s+ + s
3
3 + js t
j s t
U s I s =
U s+ e
+ U
s e
2
2
+
(I s+ ej s t + I s ej s t + I sdc ).
j s t
U
s e
Ps + jQs =
(9)
Qs = Qsa + Qs2 s + Qs s
(11)
where
+
3 +
(U s+ I s+ + U
s I s )
2
3
+ j 2 s t )
= (U +
I s ej 2 s t + U
s I s+ e
2 s+
3
j s t
= (U +
I sdc ej s t + U
).
s I sdc e
2 s+
Psa + jQsa =
Ps2 s + jQs2 s
Ps s + jQs s
Based on (10) and (11), it can be found out that under the
transient unbalanced grid supply, the stator power includes not
only the average terms, but also the double grid frequency
(100 Hz) and fundamental grid frequency (50 Hz) pulsations.
According to Fig. 2, the electromagnetic power is equal to the
sum of the power outputs generated by the equivalent voltage
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IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 24, NO. 11, NOVEMBER 2009
+
sources of js +
s and jslip r [8], as shown in (12)
3
Pe = Pes + Per = Re js s I s + jslip r I r
2
Lm
r = Pea + Pe2 + Pe . (12)
= k r
Re j s
s
s
Ls
Pe
= Tea + Te2 s + Te s .
r
(13)
Lr Us
Qs
Lm s
k Us
Ps
(14)
k Us
where V +
r is the output of the proportional plus resonant (PR)
controllers, while E +
r is the equivalent rotor back electromagnetic force. Since the rotor resistance is relatively small for a
MW-class DFIG, the voltage drop across the rotor resistance is
neglectable [13].
The transfer function of the PR controllers is
kr 1 s
kr 2 s
+ 2
2
+ 2c1 s + s
s + 2c2 s + (2s )2
(15)
where kr 1 and kr 2 are the gains of the resonant controllers, while
c1 and c2 are the cutoff frequencies that adopted to widen the
CP R (s) = kp +
s2
ZHOU et al.: IMPROVED DIRECT POWER CONTROL OF A DFIG-BASED WIND TURBINE DURING NETWORK UNBALANCE
Fig. 4.
2469
Lg dI +
g
+
+
+ js ( +
g c ) + U c
dt
(19)
Fig. 5.
U+
g =
d +
g
+ js +
g
dt
U+
c =
d +
c
+ js +
c .
dt
(20)
+
+
+
g = Lg I g + c .
(21)
Fig. 6.
U c dt.
(22)
(18)
Pg + jQg =
3 + +
3
1 + +
U g Ig = U +
g c . (23)
g
2
2
Lg
Substituting (22) into (23), the active and reactive power outputs are expressed as
3 Ug +
2 Lg cd
3 Ug
Ug
+
Qg =
cq +
.
2 Lg
s
Pg =
(24)
(25)
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IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 24, NO. 11, NOVEMBER 2009
Fig. 7. Simulation results of the improved DPC for DFIG under 10% grid voltage unbalance during 0.10.2 s at the rotor speed of 1.2 p.u. (a) Stator voltage
(in p.u.), (b) stator current (in p.u.), (c) rotor current (in p.u.), (d) stator active power (in p.u.), (e) stator reactive power (in p.u.), and (f) electromagnetic torque
(in p.u.). (A) Conventional DPC, (B) improved DPC with resonant controllers, and (C) improved DPC with the stator electromagnetic and reactive power chosen
as the control targets.
Fig. 8.
t
(26)
I e s + I ej s t + I g dc .
g+
And then, the active and reactive power outputs from the GSC
to the grid can be expressed as
Pg = Pg a + Pg 2 s + Pg s
Qg = Qg a + Qg 2 s + Qg s
(27)
Fig. 9.
2 s Lg
Qg + Ug
3 Ug
2 s Lg
Pg
3 Ug
(28)
3
U g I g .
2
(29)
ZHOU et al.: IMPROVED DIRECT POWER CONTROL OF A DFIG-BASED WIND TURBINE DURING NETWORK UNBALANCE
2471
Fig. 10. Simulation results of the DFIG system under grid voltage unbalance of 10% during 0.050.25 s at 1.2-p.u. rotor speed. (a) Stator voltage (in p.u.),
(b) stator current (in p.u.), (c) rotor current (in p.u.), (d) stator active power (in p.u.), (e) GSC active power (in p.u.), (f) total active power (in p.u.), (g) stator
reactive power (in p.u.), (h) GSC reactive power (in p.u.), (i) torque (in p.u.), and (j) dc-link voltage (in Volt). (A) Conventional vector control, (B) vector control
with PIR controllers, and (C) proposed DPC.
Ptotal = Ps + Pg = r T.
As shown in Fig. 1, if the copper loss of DFIG and the switching loss of the converter are neglected, the dc-link voltage of the
back-to-back converter can be given as [8]
CVdc
dVdc
= Pg P r = Pg P e + P s .
dt
(30)
(31)
(32)
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IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 24, NO. 11, NOVEMBER 2009
so that the dc-link voltage and the total active power can
keep constant.
Vdc ) + r Te Ps
Pg = CPI (s)(Vdc
(33)
ki
.
s
(34)
B. Simulation Studies
Simulations of the proposed coordinated control strategy for
a DFIG-based wind turbine were carried out with MATLAB/
SIMULINK. The parameters of the DFIG system and the proposed improved DPC are tabulated in Table II (see Appendix).
Fig. 10 compares the dynamic response of the DFIG system
with different control schemes for DFIG and GSC applied. In
Fig. 10(A), the conventional vector control strategy is adopted
for both of the DFIG and the GSC. Since the conventional control system is designed to deal with normal operation conditions,
the PI controllers used in this control design cannot provide effective regulation for the negative sequence and dc currents,
which will result in severe oscillations in the torque, power, and
dc-link voltage, as shown in Fig. 10(A) (d)(j).
In Fig. 10(B), the PIR controllers are adopted in the vector control scheme to regulate the unbalanced currents of the
DFIG and GSC, in order to achieve the control target of constant electromagnetic torque and total active power [10]. The
PIR controller has been proved to be superior to the dual PI controllers [7] in the control of unbalanced current due to its infinite
gain at the selected resonant frequency. Therefore, the positive
and negative sequence currents can be regulated simultaneously
without steady-state errors and thus the rotational transformations and sequential decomposition in the inner current control
loops can be avoided, which results in a faster dynamic response
than the vector control with dual PI controllers applied [10]. As
to the outer power control loops, however, the grid voltage, current and/or flux still have to be decomposed by some proper
designed filters, such as the notch filter to calculate the positive
and negative current references. Since there will be some time
delay before the outputs of the filters become stable, the control
performance of the whole system will be degraded after a sudden change of grid voltage and thus results in big transients in
the power and torque. As shown in Fig. 10(B) (i), the 100 Hz
torque pulsations are eliminated soon after the voltage unbalance happens. However, the 50 Hz pulsations will be damped
slowly along with the decaying dc stator flux sdc , because
there are not enough controllable current components to regulate
them.
When the coordinated control scheme is applied in Fig. 10(C),
the dynamic behavior of the DFIG system is much quicker and
smoother. As can be seen, the torque pulsations are immediately eliminated during and after the fault. However, although
the pulsations of the total active power and dc-linkage voltage
are greatly reduced, they are not completely eliminated under
unbalanced grid condition. The reason may be that Pg is not
Fig. 11. Simulation results of the DFIG system under grid voltage unbalance
of 15% during 0.050.7 s with rotor speed variation. (a) Stator voltage (in p.u.),
(b) stator current (in p.u.), (c) rotor current (in p.u.), (d) stator active power
(in p.u.), (e) GSC active power (in p.u.), (f) total active power (in p.u.), (g) stator
reactive power (in p.u.), (h) GSC reactive power (in p.u.), (i) torque (in p.u.),
(j) dc-link voltage (in Volt), and (k) rotor speed (in p.u.).
ZHOU et al.: IMPROVED DIRECT POWER CONTROL OF A DFIG-BASED WIND TURBINE DURING NETWORK UNBALANCE
TABLE II
CONTROL PARAMETERS OF THE IMPROVED DPC
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Dan Sun (M05) received the B.Eng. degree in electrical engineering from Shenyang Jianzhu University, Shenyang, China, in 1997, the M. Eng. degree in
control theory and its application from Hohai University, Nanjing, China, in 2000, and the Ph.D. degree
in electrical machinery and apparatus from Zhejiang
University, Hangzhou, China, in 2004.
In 2004, she joined the College of Electrical Engineering, Zhejiang University, where she is currently
an Associate Professor. From 2002 to 2004, she was
a Visiting Researcher at the University of Technology, Sydney, Australia. Since 2009, she has been a Visiting Researcher at the
University of Wisconsin, Madison. Her research interests include the control of
doubly fed electrical machines and permanent magnet synchronous machines.