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DOI: 10.5923/j.ep.20130302.02
1
ECE School, University of Tehran, Tehran, Iran
2
Faculty of Environment and Energy, Science and research branch Islamic Azad University, Tehran, Iran
Abstract This paper presents vector control of grid-connected wind turbines; also the second goal of this research is to
survey the vector control for wind turbines with doubly-fed induction generators (DFIGs) when a short circuit faults in grid
happens. In fact in this paper, vector control of stator-flu x is applied for stator- and rotor-side converters in order to control of
active and reactive powers simu ltaneously, and to keep the DC-link voltage constant. Also the method performances are
tested in different cases.
Keywords Vector Control, Wind Turbine, DFIG, Inverter
Under fault condition the DFIGs vector control is more has been changed to the grid voltage, Eg . Equations in stator
significance. To resolve the problems, this paper p roposes a rotating flu x reference frame can be seen in[15]. Assuming x
DFIG vector control whereas sinusoidal PWM (SPWM) is and y as horizontal and vertical axes of stator rotating flu x
applied to maintain the switching frequency constant. To get reference frame, rx and ry as horizontal and vertical axes of
constant switching frequency, calculat ion of the required rotor reference frame, S D and S Q as horizontal and vertical
rotor voltage that must be supplied to the generator is axes of stationary reference frame, stator flu x angle and rotor
adopted. The results show the appropriate performance of angle can be obtained fro m equations 6 through 8. The next
the presented method in all conditions. step is to calcu late vertical and horizontal co mponents of
rotor and stator currents in stator rotating flu x reference
frame (equations 9 through 14).
2. Methodology
= 1 = 1
(16)
Nowadays variable speed wind methods have recently =
+ (17)
become very popular as generators. A mo re general scheme
of the DFIG system with back-to-back converter is = + (18)
presented in[14] as shown in Fig. 1. = ( ) ( )
(19)
= ( ) ( )
(20)
= () ()
(21)
= () + ()
(22)
= () + ( )
(23)
= () + ()
(24)
Vertical and horizontal components of linking flu x are
calculated in the new reference frame. Taking into account of
this point in the new reference, the horizontal axis is adjusted
to the stator linkage flu x vector.
Thus, where Vd is the dc-link voltage, i os is the current
between the dc-link and the rotor, or i is the current between
the dc-link and the stator, and Cd is the dc-link capacitor.
Thus, the d axis current ids is set by dc-link voltage
Figure 1. Equivalent circuit of the DFIG[14] controller and controls the active power flow between the
Equivalent circuit of the DFIG system o f above model utility gird and the dc-lin k. Finally, the strategy for the
can be described by the following space vector equations: decoupled vector control of the grid side converter is shown
in Fig. 2[16]. Th is control scheme has three control loops,
= + (1)
one external loop to control the dc-link voltage and two
=
+ (2) j internal loops to regulate the dq current components, with
(
= + ) (3) the d-axis current co mponent utilize to regulate the dc-link
= ( + ) + = + (4) voltage and q-axis current co mponent utilize to control the
= 3 [ ] (5) reactive power. The output slip power fro m DFIG and power
where LM is the magnetizing inductance, L is the leakage factor of the grid can be controlled v ia changing d-axis
inductance and np is the number of pole pairs. The total current and q-axis current[16]. The control scheme of the
model of the DFIG system which presented in Fig. 1 can be rotor-side converter is organized in a generic way with two
summarized in synchronous coordinate equations as: series of two PI controllers. Fig. 2(a) shows a schematic
block d iagram for the rotor-side converter control. The
= + 1 (6)
reference q-axis rotor current can be obtained either
= + 2 (7) fro m an outer speed control loop or fro m a reference torque
imposed on the machine. The flo w of real and reactive power
= + 1 (8)
is controlled by the grid-side converter, through the grid
=- (9) interfacing inductance. The objective of the grid-side
= (10) converter is to keep the dc-lin k voltage constant regardless of
the magnitude and direction of the rotor power. The vector
= ( + )
(11) control method is used as well, enabling independent control
= + ( + )
(12) of the active and reactive power flowing between the grid
= 3 [ ]
(13) and the converter. The PWM converter with the d-axis
= 3 [ ]
(14) current used to regulate the dc-link voltage and the q-axis
= 3
(15) current component to regulate the reactive power. Fig. 2(b)
According to the equations 6 to 15, the stator voltage, Vs , shows the schematic control structure of the grid-side
20 Hassan Abniki et al.: Vector Control Analysis of Doubly-Fed Induction Generator in Wind Farms
3
converter. Whole equations are available in[25] and also the = ( . + . ) (26)
2
abbreviations are as following: Putting equations 19 and 22 then have:
Voltage, current and flu x vectors
v, i, 3
= | | (27)
Rs , Rr Stator, rotor winding resistances 2
3
Ls , Lr , Lls , Llr Stator, rotor winding self- and leakage = | | ( ) (28)
2
inductances
Noticing equations 25 and 26, the variations of vertical
Lm Magnetizing inductance
and horizontal co mponents of rotor current in the new
, , Synchronous, rotor, slip angular frequency
reference frame relates to stator power values, separate
P, Q Active and react ive power
control of reactive and active power of DFIG possible,
s, r Stator and rotor subscripts
whereas p, q are the reactive and active power, respectively.
g Grid-side value subscripts
For a system with Vqs = 0 which is used for the
c Converter value subscripts
grid-connected converter, this simp lifies the power equations
d, q d-axis and q-axis component subscripts
to:
n No minal value subscript 3
ref Reference value superscript = ( . ) (29)
2
3
Regarding the equations in[15], and after a couple of other = ( . ) (30)
2
calculations, we have:
3
= ( . + . ) (25)
2
(a)
(b)
Figure 2. a) Vector control structure for rotor-side converter, b) Vector control scheme for grid-side converter[25]
Energy and Power 2013, 3(2): 18-25 21
Fro m equation 12, the q -axis current is set to variable for by the frontend converter between the DC bus and the AC
reactive power control. The dc power has to be equal to the side and allows the system to be operated in
active power flowing between the utility grid and the dc-link sub-synchronous and super synchronous speed. Fig. 3 shows
inverter. schematic of DFIG for wind turbine application and also Fig.
3
. = ( . ) (31) 4 shows the schematic structure of DFIG application fo r the
2
wind turbine simulated in PSCAD/ EMTDC. In fact, DFIG is
= (32)
basically a standard rotor-wounded induction machine in
which stator is directly connected to the grid. It can be said
that converter has two parts: rotor-side, and grid-side.
3. Simulated Network Rotor-side converter acts as a voltage source one, while the
The stator of the wound rotor induction machine is grid-side convertor is expected to keep the capacitor voltage
connected to the low voltage balanced three phase grid and under wind speed changes and different conditions of grid
the rotor side is fed via the back-to-back IGBT voltage (Figs. 3 and 4).
source inverters with a DC bus. the power flo w is controlled
CTRL
GRID GENERATOR
Converter Converter
& Controls & Controls
SABC GABC
P = 1.102
Q = 1.936 W
V = 0.3143
T IM
S
RRL #1 #2 TLine A
Istator S2TMODE Cp
BRK V Vs BRK V 0.28
TL Tm
WindTRQ Vw
Wspd
BRK_cap
Wind Park
Wm
TIME
Wpu
Timed
Fault
Logic 240.0 [MW] TIME
S2TMODE
60.0 [MVAR]
D1 T1 D1 T1 D1 T1 T1 D1 T1 D1 T1 D1
BRK
200020.0 [uF]
Ecap
V
Ecapref
D1 T1 D1 T1 D1 T1 T2 D2 T2 D2 T2 D2
I1b
I1c
V1a
V1b
V1c
Erb
Erc
C
A
Era
#2
10000.0 [ohm ]
1
100
Irc_con
C 13.8 [kV]
#1
Idc
A
Qso Pso
0.001 [ohm]
0.001 [ohm]
0.001 [ohm]
A P V729
Power S1
B Q
Ira
Irb
Irc
DED
DD DEDEE DFDEF
C
A
GABC
SABC
The vector control strategy of the power converter is based speed ration for maximu m power. In this regard, the optimal
on the stator flu x field oriented control which both tip speed ration should be known and can be derived fro m the
fundamental and harmonic currents are controlled. It is turbine torque equations.
assumed that the total harmonic currents demanded by DGIF Controls : Graphs
nonlinear loads connected to the utility are either sampled 0.30
Iraa Irbb Ircc
through current measurements. This makes the command
harmonic currents for rotor side power converter[17]. The 0.20
y
converter provides proper rotor excitation. In fact, the -0.10
Turbine speed and this difference are clearly seen in this -0.10
-0.20
view. The capacitor of dc link can be charged to amount of -0.30
the charge. These capacitors are usually a great value. 1.080
Wpu Wref
Diagram and the output converter voltage obtained are as
following active and reactive power output of the reference
speed and DFIG rotor speed that can be seen in the Fig. 8. In
y
this Fig, after appliy ing verctor control at time 1 sec, some
0.920
varions are inevitabe and after that maximu m torque is 0.0 2.0 4.0 6.0 8.0 10.0 12.0 14.0
reseulted. In Fig. 9 at time 3 sec, a fault was clearced while
vector control was existed; so the variations are very little. Figure 7. Active and reactive and referecne speed of DFIG
Switching to torque control situation after 0.5 sec is done and
untill this time, the mach ine rotate at a selected speed/sec as Tip speed ration will determine the value of Cp. (assumed
specified at the input W. Th is value is used as the initial constant in this example for simplicity).Vdref1 is controlled by
speed. If a turbine start up is under investigation, then the the capacitor voltage error. Vqref1 is controlled by the stator
initial value will have to be changed accordingly. Although, side reactive power error (setting-actual). Vdref1 and Vqref1 are
a step change in wind speed at the specified instant, this used to generate the stator side reference voltages for firing
would cause the speed controller to react and maintain the tip the switches (Fig. 8). The d iagrams of reference voltage and
Energy and Power 2013, 3(2): 18-25 23
output two-axis wind turbine in the d irection of d and q axis this section will be controlled both simultaneously. The
have shown in Fig. 9. The rms values of voltage and rotor electrical and mechanical torque is seen in the Figs. 10 and
current supposed as following: 11. Also, Tref is the reference torque. In fact, Fig. 8 shows a
DGIF Controls : Graphs simu lation of the speed control loop with rated driving
Ecap Ecapref torque. In Fig. 11 at time 8 sec, reference speed is changed
1.10
1.00 and consequently the torque changes as soon as possible by
0.90 vector control. The produced voltages of DFIG can be seen
0.80
0.70 in the Fig. 12. This figure shows the value of produced
y
0.60 voltage for all phases and the rms value of produced voltage.
0.50
0.40 In this paper, the dynamic performance of the DFIG
20.0
Vdref1 generator is shown. Also, during a 3 phase fault and step
15.0 changes in load, it is found that similar to previous sections
10.0
5.0 initially generator operates at essentially rated condition with
0.0 a load torque to base torque. Similarly, Figs. 12 (a, and b)
y
-5.0
-10.0 also show the voltage and the current waveforms of the
-15.0 converter operating in the inverting mode when a fau lt
Vqref1 happens at 3 sec. In addition, dynamic perfo rmances of wind
12.5
turbine with DFIG and dc machine coupled with DFIG are
some different transient conditions because of dc machine
have different time constant.
y
Main : Graphs
-10.0 TE
0.50
0.0 2.0 4.0 6.0 8.0 10.0 12.0 14.0
0.00
-1.00
Main,DGIF Controls : Graphs
y
Vrms pu -1.50
1.20
1.00 -2.00
0.80
0.60
y (kV)
-2.50
0.40 0.0 2.0 4.0 6.0 8.0 10.0 12.0 14.0
0.20
0.00 Figure 10. Electrical torque of DFIG
Ir
0.60 Main : Graphs
0.50 TM
0.40 0.00
0.30 -0.10
y
0.20 -0.20
0.10 -0.30
0.00 -0.40
-0.50
S1
y
0.100 -0.60
-0.70
-0.80
-0.90
y
-1.00
0.0 2.0 4.0 6.0 8.0 10.0 12.0 14.0
-0.100
0.0 2.0 4.0 6.0 8.0 10.0 12.0 14.0
Figure 11. Mechanical torque of DFIG
Main : Graphs
Figure 9. DFIG rotor current and voltage (rms) of DFIG 0.80
Vs
Block the rotor side inverter during the high enough rotor -0.40
current to trigger the crowbar potection circuit, in fact when -0.60
S 1 =0, then crowbar will not be active (Fig. 9). Finally -0.80
controlled current and voltage of DFIG can be seen, In fact, 0.0 2.0 4.0 6.0 8.0 10.0 12.0 14.0
the axis d, the reactive power control model and the flow axis
(a)
and q, the active power and control model that we have in
24 Hassan Abniki et al.: Vector Control Analysis of Doubly-Fed Induction Generator in Wind Farms
Main : Graphs
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