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Energy and Power 2013, 3(2): 18-25

DOI: 10.5923/j.ep.20130302.02

Vector Control Analysis of Doubly-Fed Induction


Generator in Wind Farms
Hassan Abniki1,* , Mahmood Abolhasani2 , Mohammad Ehsan Kargahi1

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

controls without frame transformation and the current


1. Introduction controller that in the co mmon control drive is used. In[20], a
simu lation model consisting of two DFIGs connected to
Nowadays, DFIGs are used by the industry for larger wind IEEE 34-bus test for two vector control based method was
turb in es[1]. Th e s mall s ize o f po wer co nverter, a cost set up to investigate the transient performance of the micro
efficient solution in order to obtain variable speed is one grid. Then, different types of faults of the DFIGs were
reason to increase DFIG uses more[2]. Many DFIG models analyzed through the simulation model by using vector
are modeled in many papers[3-8], such as the full-model control strategy. Also[21] focuses on the decoupled control
which is a 5th order model. A lso in[6], the 3rd order model of of active and reactive power for variable speed constant
DFIG is p resented that uses a rotor current. By disregarding frequency wind generation system and principle of
the stator flu x linkage variations and given rotor voltage, the maximu m wind power tracking for wind generation system
3rd order model can be obtained[7-9]. Addit ionally, in order is analyzed. A lso an effect ive method of independent active
to model back-to-back converters in the simplest scenario, power and reactive power control is proposed. In[22] so me
the converters are ideal and we have a constant DC-link control designs for a variable-speed constant-frequency wind
v o lt ag e b et ween th e co nv ert ers [7-13 ]. Th erefo re, a energy system is presented using DFIG. This paper aim is to
controllable vo ltage (current) source can be imp lemented, develop a nonlinear vector control technique using the
considering the converter control. Other similar papers are second Lyapunov approach for the rotor side converter, and a
studied in [14-17]. Ho wever, while increasing du ring the network vo ltage vector control of the grid side converter, and
fault condition, DC lin k voltage is not continuous. So, it is to maximize the energy of the wind turbine and in jected to
not possible to determine that the DFIG will mal-trip after a the grid. In[23], the d-q model of the induction generator is
fault or not. However, as a hysteresis controller method it has developed from the fundamentals in a modular approach in
two main disadvantages: non constant switching frequency Simu link and a fuzzy logic controller is designed for indirect
while varying along the AC current; and secondly due to the vector control of induction generator. To provide a d irect
severity and fortuitousness of the operation, the converter axis current reference Id , which controls the motor flu x, the
protection is troublesome[18]. A variab le structure control speed control loop uses a fuzzy logic controller. The motor
(VSC) method for a DIFG is presented in[19], using the torque is controlled by Quad rature axis current reference Id .
principles of an reactive and active power controller known Also in[24], a vector control technique is studied to control
as mo d ified DPC an d wh ere VS C an d s p ace -vecto r the rotor side voltage that allows the active and reactive
modu lation are co mb ined to ensure better operation. The power be controlled as well as the rotor speed in order to get
VSC technique is designed wh ich prov ides robust power the maximu m wind power po int. In fact a Neuro-fuzzy gain
tuner is proposed to control the DFIG. Each Neuro-fu zzy
* Corresponding author:
hnabniki@ut.ac.ir (Hassan Abniki) system input is the generator speed error value, and active or
Published online at http://journal.sapub.org/ep reactive power. The choice of only one input simplifies the
Copyright 2013 Scientific & Academic Publishing. All Rights Reserved design of the system.
Energy and Power 2013, 3(2): 18-25 19

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]

Figure 3. Schematic of simulated system by PSCAD/EMTDC


Tim ed
Breaker
BRK Logic
Clos ed@t0

D1 T1 D1 T1 D1 T1 T1 D1 T1 D1 T1 D1
BRK
200020.0 [uF]

T1s T3s T5s T1 T3 T5


0.01 [ohm]

Ecap
V

Ecapref

D1 T1 D1 T1 D1 T1 T2 D2 T2 D2 T2 D2

T4s T6s T2s T4 T6 T2


I1a

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

DADEA DBDEB DEC


DC
C
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

Figure 4. Schematic structure of inverter and rectifier simulated in PSCAD/EMT DC


22 Hassan Abniki et al.: Vector Control Analysis of Doubly-Fed Induction Generator in Wind Farms

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

active power is generated regarding to wind speed and wind 0.10


turbine characteristics while the reactive power co mmand is
0.00
set in regard to the utility demand. The rotor side power

y
converter provides proper rotor excitation. In fact, the -0.10

fundamental current controls the active and reactive powers. -0.20


So, the utility current will be a sine wave. Decoupled control
-0.30
of the reactive and active powers and harmonic 0.0 2.0 4.0 6.0 8.0 10.0 12.0 14.0
compensation are performed in this paper.
Figure 5. T urbine rotor current during speed variation

4. Results DGIF Controls : Graphs


slpang
7.0
The control scheme of the PSCA D/EMTDC simu lated
6.0
study case for a wind turbine utilizing DFIG was shown in
5.0
previous section. The stator and rotor current waveforms of
the induction generator are shown in Fig. 5. The case is set 4.0

up to track for maximu m wind power utilization. The 'power 3.0


y

coefficient', Cp is a function of wind speed/machine speed. 2.0


As wind speed a change, machine speed is changed to 1.0
operate at maximu m Cp , P and Q can be independently 0.0
controlled irrespective of the machine slip (speed). 0.0 2.0 4.0 6.0 8.0 10.0 12.0 14.0
Determining the relat ive difference between stator flu x and
rotor position is done for resolving the rotor currents. In all Figure 6. Differences betrween stator and rotor flux
simu lations, after 0.5 seconds, the control torque is applied. Main,DGIF Controls : Graphs
It is observed after 8th second, with a step change in speed, Pg
1.80
the flow rate have been retrieved. Also, in this paper using a
filter, the stator flu x dc co mponent is removed. In Fig. 6,
differences betrween stator and rotor flu x of DFIG is shown.
y

Also, Fig. 7 shows active and reactive and reference speed of


-0.20
DFIG. At time 8 sec, the reference speed changed and
Qg ref Qg
consequently the estimated speed changes. Also, active and 0.40
0.30
reactive power changes whereas vector control do well this 0.20
work as soon as possible in order to get maximu m torque. 0.10
0.00
y

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

Figure 8. Reference voltage ouptputs for d and q axis of DFIG -0.50

-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

Initial wind speed is 12 m/s and the initial speed of 0.60

mach ine is 1.1 pu. Identification of main stator flu x by 0.40

integrating stator voltage after removal of resistive drop. 0.20

The washout filter removes any dc component from the 0.00


y

integrated flu x without significantly effecting the phase. -0.20

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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