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Abstract: Electromagnetic torque of doubly fed induction generator (DFIG) is a consequence of the rotor and stator
supply. The stator voltage has a fixed amount and frequency. The rotor voltage of the DFIG as a part of a wind turbine
has a variable amount and frequency. The aim of this paper is an investigation of the torque-speed characteristics of the
DFIG depending on the amount of the stator and rotor voltage space vectors and angle between them. A mathematical
model of DFIG for steady-state modes in a known double-axis dq reference frame concerned with stator voltage vector
has been made. Expressions concerning DFIG power from both the rotor and the stator side have been derived.
Expressions regarding torque values have been obtained from the generator active power and mechanical rotational
speed. Torque consists of asynchronous and synchronous torque components, whereas DFIG has been observed as a
hybrid between asynchronous and synchronous machine. The asynchronous torque and the synchronous torque depend
on the amount of the stator and rotor voltage space vectors. The synchronous torque depends on the angle between stator
and rotor space vectors , while asynchronous component do not depend on the angle .
1 Introduction
Wind turbine
tt , t
pt
Gearbox
imk
t g , g
g
=
t
psa
pg
Electric grid
DFIG
pra
psa
psr
479
irdq
(1)
ISSN: 1109-2777
urdq
d sdq
k
+ ' + js sdq r' rdq ,
dt
Ts
Ts
(5)
d rdq ks
1
=
' sdq + ' + j (s ) rdq .
dt
Tr
Tr
usdq =
dt
(4)
d sdq
k
1
sdq 'r rdq ,
'
Ls
Ls
k
1
= 's sdq + ' rdq ,
Lr
Lr
isdq =
usdq = isdq Rs +
(3)
d s
,
us = is Rs +
dt
d r
.
ur = ir Rr +
dt
d rdq
+ j (s ) rdq ,
dt
where s - coordinate system electric rotational speed
and stator voltage angular frequency, with - rotor
mechanical rotational speed.
The relation between the magnetic flux vector and
stator and rotor currents has been expressed by the
following equations:
urdq = irdq Rr +
ks =
+ js sdq ,
L'
Lm
L
L'
, kr = m , Ts' = s , Tr' = r
Ls
Lr
Rs
Rr
(2)
480
that
d sdq / dt = 0
and
d rdq / dt = 0 ,
and
s j '
Ts
Ir =
Ur
1
r
'
+ j r
s Lr ' +
'
sTs'Tr'
Tr sTs
r k s
Us.
r
'
+ j r
s Lr ' +
'
sTs'Tr'
Tr sTs
by
U s = I s Rs + j s ( Ls I s + Lm I r ) ,
U r = I r Rr + jss ( Lm I s + Lr I r ) .
(6)
or else:
U s = I s (Rs + j s Ls ) + j s Lm I m ,
(7)
Ur
R
= I r r + js Lr + js Lm I m .
s
s
I s = Y11U s + Y12U r ,
I r = Y21U s + Y22U r ,
and space vector of the magnetizing current is:
Rs
Us
js Ls
js Lr
Is
Ir
js s
Im
j s Lm
Im = Is + Ir
(10)
Rr
s
j s r
(9)
Ur
s
(11)
3 DFIG Power
S = is * Rs is +
+ js s + ir * Rr ir +
+ jr r =
dt
dt
r j '
Tr
Is =
Us
sTs'Tr'
Tr sTs
s kr
Ur ,
r
'
+ j r
s Ls ' +
'
sTs'Tr'
(8)
Tr sTs
ISSN: 1109-2777
= Rs is + Rr ir + js s is * + r ir *
d r *
d
j r ir * + s is * +
ir .
dt
dt
481
(13)
3
Pg = s Lm (1 s ) I rd I sq I rq I sd ,
2
3
Qg = s Lm (1 + s ) I rd I sd + I rq I sq .
2
(18)
S = Rs I s + Rr I r +
+ js ( Ls I s + Lm I r ) I s* + ( Lm I s + Lr I r ) I r* (14)
j ( Lm I s + Lr I r ) I r* .
T=p
PCu + jQL
T=
(15)
+ jss Lm I s I r* + js Lm I r I s* ,
)(
)(
(
+ j(I
sq I rd
I sd I rq
)
(
)}.
(17)
(20)
U s = U sd + j 0.0
Fig. 3. Stator and rotor feed voltage vector represented in
dq reference frame
ISSN: 1109-2777
U r = U rd + jU rq
3
pLm I rd I sq I rq I sd ,
2
{(
(19)
3
Pg + jQ g = j s Lm I rd I sd + I rq I sq +
2
+ j I rq I sd I rd I sq + s I sd I rd + I sq I rq +
Pg + jQg
S = ( Rs + js Ls ) I s + ( Rr + jss Lr ) I r +
Pg
482
x 10
2
Ir
[A] 1
0
0
100
Ur [V]
x 10
200
300 0
270
180
90
[]
360
1000
Im
[A]
0.5
500
T0
[Nm]
-0.5
-1
0
100
Ur [V]
200
300 0
270
90 180
[ ]
0
0
100
Ur [V]
360
2
Is
[A] 1
0
0
Ur [V]
300 0
360
x 10
200
270
90 180
[]
100
200
300 0
90
270
180
[]
explored.
Substituting equation (11) into (9) yields:
360
ISSN: 1109-2777
483
(22)
+ jY22 q )(U rd + jU rq )
or
(23)
U r = U rd2 + U rq2 = s U s ,
where
)(
3
pLm Y21d U sd + Y22 d U rd Y22 qU rq Y11qU sd + Y12 qU rd + Y12 d U rq
2
)(
U rq = s U s sin i =
1.5
b
p
(25)
where
U r2
= U rd2
+ U rq2
-6
78.5
Ts
[1/s]
157
235.5
(26)
(27)
ISSN: 1109-2777
Tr
x 10
T 0
[Nm]
-4
3
pLmU r2 Y22 d Y12 q Y22 qY12 d ,
2
to
Tr =
-2
the appendix.
3
pLmU s2 Y21d Y11q Y21qY11d ,
2
Ts =
3
pLm Y21qU sd + Y22 qU rd + Y22 d U rq Y11d U sd + Y12 d U rd Y12 qU rq . ( 24 )
2
(28)
U rd = s U s cos ,
484
3
pLmU sd U rq Y21d Y12 d Y22 qY11q + Y21qY12 q Y22 d Y11d
2
(30)
In Figure 9 DFIG torque components caused by the rotor
feed voltage d and the stator feed voltage Tsr cos , as well
as rotor and stator supply voltage components, q and
Tsr sin respectively, have been illustrated.
x 10
Tsrcos
4
T 2
[Nm]0
Tg
4
Tsrcos
-2
T 0
[Nm]
Tsrsin
-4
-6
Tsrcoscos
Tsrsinsin
Tg
-8
0
120 [] 240
360
Fig.10. Asynchronous and synchronous electromagnetic
torque and total DFIG torque for s = 0.2 and
= 0 D 360D .
235.5
[1/s] 157
Fig.9. DFIG synchronous torque components due to
components U rd of rotor voltage vector Tsr cos ( ) ,
component U rq of rotor voltage vector component
Tsr sin ( ) and total electromagnetic torque Tg ( ) .
ISSN: 1109-2777
Tr
-4
Tsrsin
-8
78.5
Ts
485
x 10
= 180D
Tsrcos
T 4
[Nm]
2
Tsrcos
Tg
as
the
synchronous
Tsrsin
Tsrsin
-2
-4
78.5
[1/s]
157
12
x 10
Tsrsin
4
Tsrsin
=0 .
D
Tsrcos
Tsrcos
Tsrcos
x 10
T 8
[Nm]
235.5
sign
T -2
[Nm]
-6
235.5
[1/s] 157
Fig. 14. Components of synchronous torque Tsr sin ( ) ,
Tsr cos ( ) and total electromagnetic torque Tg ( ) ;
= 270D .
Tsrsin
-10
Tg
[1/s]
157
Tsrcos
-4
78.5
Tsrsin
-14
78.5
Tg
235.5
= 90D .
x 10
2
T -2
[Nm]
-6
Tsrcos
Tsrsin
Tsrsin
Tsrcos
-10
-14
78.5
Tg
[1/s]
ISSN: 1109-2777
157
7 Conclusion
235.5
486
1
r ' + r ' ' r
sTs'Tr'
Tr sTs Tr
Y11 =
s L's N
' ' + r ' + r r
sTs'Tr'
Tr Tr sTs
j
,
s L's N
Y12 =
'
s Ls N
1
+ r'
'
Tr sTs
s k r r
+j
Y21 =
'
s Lr N
' '
sTs Tr
'
s Ls N
r k s
1
+ r'
'
Tr sTs
s k r
r k s r
+j
' '
sTs Tr
'
s Lr N
1
s ' + r ' ' r
sTs'Tr'
Tr sTs Ts
Y22 =
s L'r N
' ' + r ' + s r
sTs'Tr'
Ts Tr sTs
,
j
s L'r N
where:
1
N = ' + r ' + r
.
sTs'Tr'
Tr sTs
Appendix
References:
A. Generator Data
Rated power
Nominal voltage
Rated frequency
Number of pole-pairs
Stator resistance
Rotor resistance
Stator inductance
Rotor inductance
Magnetizing inductance
Pgn=2 [MW]
Un=690 [V]
fn=50 [Hz]
p=2
Rs=0,0114 []
Rr=0,0043 []
Ls=2,925 [mH]
Lr=2,959 [mH]
Lm=2,868 [mH]
B. Complex coefficients
ISSN: 1109-2777
487
ISSN: 1109-2777
488