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739
I. I NTRODUCTION
2168-6777 2014 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
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IEEE JOURNAL OF EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS, VOL. 2, NO. 4, DECEMBER 2014
+ Rs i ds + e i qs +
dr
i ds =
2
Lr
L r2
Lm
+
pqr r + 2m ds Vdc
Lr
Rr L 2m
Rr L m
iqs =
+
R
qr
s i qs e i ds +
2
Lr
L r2
Lm
pdr r + 2m qs Vdc
Lr
Rr L m
Rr
i ds
dr + (e pr )qr
dr =
Lr
Lr
Rr L m
Rr
qr =
i qs
qr (e pr )dr
Lr
Lr
3L m
3L m
Jm r =
pqr i ds +
pdr i qs br Tm (1)
2L r
2L r
where = L s L 2m /L r . States i ds , i qs , and dr , qr are
the d-axis and q-axis components of the stator currents and
KONSTANTOPOULOS AND ALEXANDRIDIS: GRID-CONNECTED WT INDUCTION GENERATORS WITH BACK-TO-BACK AC/DC/AC CONVERTERS
Fig. 1.
741
Vdc
(2)
Rdc
where i d , i q , Vd , and Vq are the d-axis and q-axis components
of the grid currents and voltages, respectively, and s is
the grid frequency. Parameters m dg = Vdg /(2Vdc ), m qg =
Vqg /(2Vdc ) are the d-axis and q-axis duty-ratio components
of the generator-side converter, where Vdg and Vqg are the
d-axis and q-axis components of the grid-side converter output
voltage.
Assuming that the phase-a grid voltage is aligned with the
q-axis, which is the common scenario for the grid-side converter, it holds true that Vd = 0 and Vq = Vm , where Vm is
the peak value of the grid phase voltage.
By combining (1) and (2), one can easily show that the
complete system, shown in Fig. 1, can be described in the
nonlinear dissipative Hamiltonian form
C Vdc = 3(m dg i d + m qg i q m ds i ds m qs i qs )
M x = (J (x, m ds , m qs , m dg , m qg ) R)x +
(3)
(6)
0.035
1
3
+ 0.08
+1
r Rb
ng v
(8)
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IEEE JOURNAL OF EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS, VOL. 2, NO. 4, DECEMBER 2014
Tmax =
(10)
(11)
m ds
(14)
m ds = z 1
(15)
m qs = z 2
(16)
(17)
Agen
ref
0
0
k1 i ds i ds
ref
= 0
0
k
2 r r
(18)
ref k ref c z 2 + z 2 + z 2 1
k1 i ds i ds
2 r
1 1
r
2
3
where z 123 = [ z 1 z 2 z 3 ]T is the controller state vector, k1 ,
k2 are nonzero constants, and c1 is a positive constant. It is
clear that the proposed controller is fully independent from
the system parameters.
In order to achieve field orientation for the induction
generator, the synchronous speed is obtained as
e = pr + sl
(19)
1
i
ref qs
r i ds
(20)
where
sl =
KONSTANTOPOULOS AND ALEXANDRIDIS: GRID-CONNECTED WT INDUCTION GENERATORS WITH BACK-TO-BACK AC/DC/AC CONVERTERS
m dg = z 4
(23)
m qg = z 5
(24)
(25)
with dynamics
Agrid
0
=
k3i d
0
0
ref
k4 Vdc Vdc
k3i d ref
k4 Vdc Vdc
2
2
2
c2 z 4 + z 5 + z 6 1
(26)
Fig. 2.
743
, R=
M =
068
I6
068 Rc
T
T
=
016
(28)
744
IEEE JOURNAL OF EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS, VOL. 2, NO. 4, DECEMBER 2014
with
Rc = diag 0, 0, c1 z 12 +z 22 +z 32 1 , 0, 0, c2 z 42 +z 52 +z 62 1
and J as given in the Appendix.
B. Stability Analysis
To begin with the stability analysis, consider first the
unforced closed-loop system ( = 0)
x
M x = ( J(x)
R)
(29)
Fig. 3.
Wind speed.
TABLE I
(30)
(32)
1 T
x M x.
2
(33)
(34)
Then, it can be easily shown [32] that there exist 0 < < 1
such that
W (1 )min (R) x2
x
min (R)
(35)
KONSTANTOPOULOS AND ALEXANDRIDIS: GRID-CONNECTED WT INDUCTION GENERATORS WITH BACK-TO-BACK AC/DC/AC CONVERTERS
Fig. 5.
745
MATLAB/SIMULINK under several wind speeds that correspond to a hard real-life scenario. The wind speed is initially
assumed 11 m/s. At time instant t = 50 s, it drops to 8 m/s,
at time instant t = 150 s, it changes to 10 m/s, and finally
at time instant t = 250 s, it becomes 11.5 m/s. It is assumed
that the wind continuously changes around each one of the
previous values in order to represent an actual wind response,
as shown in Fig. 3. The complete system parameters are shown
in Table I, whereas the controller gains take the following
values during the whole demonstration:
k1 = 0.03 A1, k2 = 0.003 s/rad, k3 = 1 A1
k4 = 0.01V 1 , c1 = c2 = 100.
Fig. 4.
Simulation results of the complete SCIG-converter WT system.
(a) d-axis stator current ids . (b) q-axis stator current iqs . (c) d-axis rotor
flux dr . (d) q-axis rotor flux qr . (e) Rotor speed r . (f) DC-bus voltage
Vdc . (g) d-axis grid current id . (h) q-axis grid current iq . (i) Generatorside converter modulation index m as . (j) Grid-side converter modulation
index m ag .
VI. R ESULTS
A. Simulation Results Using MATLAB/SIMULINK
In order to verify the effectiveness of the proposed
nonlinear controller, a complete system consisting of a
2-MW SCIG and an ac/dc/ac converter is simulated using
746
Fig. 6.
IEEE JOURNAL OF EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS, VOL. 2, NO. 4, DECEMBER 2014
Fig. 9.
Fig. 7.
Fig. 10.
Fig. 8.
KONSTANTOPOULOS AND ALEXANDRIDIS: GRID-CONNECTED WT INDUCTION GENERATORS WITH BACK-TO-BACK AC/DC/AC CONVERTERS
1 1 2
2
M = diag , ,
, , Jm , L g , L g , C
Lr Lr 3
3
Lm
0
e
0
0
L r pqr
0
0
0
LLmr pdr
e
e pr
0
0
0
0
Lr
p
e
r
0
0
0
0
Lr
J =
L m pqr L m pdr
0
0
0
Lr
Lr
0
0
0
0
0
0
0
0
0
0
2m ds
2m qs
0
0
0
2
Rr L m
+ Rs
0
RrLL2 m
0
0
0
L r2
r
Rr L 2m
R
L
+ Rs
0
rL 2 m
0
0
0
L r2
r
Rr L m
Rr
0
0
0
0
L r2
L r2
Rr L m
Rr
R=
0
0
0
0
L r2
L r2
0
0
0
0
0
3b
0
0
0
0
0
Rg
0
0
0
0
0
0
0
0
0
0
0
0
J
081
081
081 ref
018
0
0
k
1 i ds i ds
ref
018
0
0
k
2 r r
ref
ref
k2 r r
0
J =
018 k1 i ds i ds
018
0
0
0
018
0
0
0
018
0
0
0
VII. C ONCLUSION
A Hamiltonian-passive formulation has been used for modeling a SCIG-converter WT system in a manner that effectively
incorporates novel nonlinear duty-ratio controllers for both the
0
0
0
0
0
0
s L g
2m dg
0
0
0
0
0
0
s L g
0
2m qg
0
0
Rg
0
0
0
0
081
0
0
0
0
0
k3i d
3
2Rdc
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2m ds
2m qs
2m dg
2m qg
0
081
0
0
0
0
0
ref
k4 Vdc Vdc
081
k
i
3 d ref
k4 Vdc Vdc
0
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IEEE JOURNAL OF EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS, VOL. 2, NO. 4, DECEMBER 2014
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