A New Method of Wind Turbines Modeling Based On Combined Simulation

2014 International Conference on Power System Technology (POWERCON 2014) Chengdu, 20-22 Oct.
2014
A New Method of Wind Turbines Modeling

Based on Combined Simulation
WANG Yingying, LI Qing. QIN Shiyao

Abstract—Wind power has reached a significant penetration I. INTRODUCTION
A
level in the power system worldwide. Grid codes are proposed to
FTER periods of wind power fast development, wind
safe guard power system with large scale wind power integration.
To verify grid code compliance, wind turbine integration power has reached a significant penetration level in the
characteristics should be verified based on test and simulation power system in China. Wind power generation has unique
results. Therefore, accurate simulation model need to be performance and affects power system operations in various
developed. Since wind turbine model are generally developed to ways different from the conventional generation. Due to this
fulfill specific purpose, there are three categories as follow: impact on the power system, together with a general lack of
electromechanical transient model for the study of wind power
integration in power system; electromagnetic transient model for
experience in operating power systems with large penetrations
the purpose of analyzing wind turbine electrical transient of wind energy, a number of countries have developed grid
characteristics; and model used to vindicate wind turbine design codes to specify wind power generation requirements. Grid
and control strategy concerning load calculation, mechanical codes in different countries as well as comparisons among
dynamic analyzing etc.. However, neither of these models aims at different grid codes were studied [1-4]. In some grid codes,
analyzing the interaction between mechanical components and dynamic models of wind farms and wind turbines which could
electrical components. This paper introduces a new method of
modeling and combined simulating of aerodynamic, mechanical,
represent features and phenomena relevant to power system
control and electrical systems in two simulation software stability are required.
platforms. The wide used software tools GH Bladed and Wind turbine models have been in studies for years and for
MATLAB/Simulink were utilized. According to the method, different purposes. Since wind turbine in various simulation
mechanical, aerodynamic and control (pitch control and torque tools are normally designed to accommodate specific purposes
control) model is specified in GH Bladed, while electrical model for which each simulation tool and model is intended, there are
(concerning grid, generator and converter) was implemented in
MATLAB. In the process of simulation, the two separate models
basically three kinds of wind turbine model: a)
were synchronized via a communication interface which was electromechanical transient model, to meet the need of
based on TCP/IP protocol. A 2.5MW wind turbine was modeled analyzing wind power impact in the power system planning and
and simulated using the presented combined simulation method. operation. Such model should be compatible with commercial
Wind turbine simulation results during grid fault were verified power system analysis tools, such as DIgSILENT
with low voltage ride through test data to certify the accuracy of PowerFactory, PSS/E, BPA, etc. to carry out integration study
the combined simulation model. Based on the simulation results,
mechanical dynamic on blades and drive train during grid fault
[5, 6]. b) electromagnetic model in which converter, generator
was presented and the simulation method’s further application in are detailed modeled as well as other electronic components for
analyzing the interact between wind turbine and grid system was the purpose of analyzing wind turbine electrical transient
proposed. characteristics, mainly implemented in MATLAB/Simulink [7,
8]; and c) model used to vindicate wind turbine design and
Index Terms—Wind turbine, Combined simulation, Voltage control strategy concerning load calculation, mechanical
dip, DFIG dynamic analyzing etc. [9-11].
Models of a) and b) presented above mainly focus on grid
related characteristics, and the primary purpose is to evaluate
wind turbine integration performance. Therefore, aerodynamic
and mechanical system are simplified or even neglected in
Manuscript received July 30, 2014. This work was supported in part by the electromagnetic model and electromechanical model. By
National High Technology Research and Development of China 863 Program contrast, model c) put emphasis on analyzing mechanical
under Grant 2012AA050206. dynamic in different operation condition as well as on
WANG Yingying is with the China Electric Power Research Institute,
Beijing, CO 100192 China (corresponding author to provide phone: vindicating control strategy in different operation conditions.
011-82813166-105; fax: 010-62956185; e-mail: Hence converter or grid in model c) is built as equivalent model.
wangyingying@epri.sgcc.com.cn). In the issue of analyzing wind turbine integration performance,
LI Qing is with the China Electric Power Research Institute, Beijing, CO
100192 China (e-mail: liqing@epri.sgcc.com.cn).
either the simplification of mechanical system or electrical
QIN Shiyao is with the China Electric Power Research Institute, Beijing, system would present significant deviations from the real wind
CO 100192 China (e-mail: qinshy@epri.sgcc.com.cn). turbine performance, and leading toward a negative impact on
POWERCON 2014 Paper No CP0330 Page 1/7 2557 Session 6

2014 International Conference on Power System Technology (POWERCON 2014) Chengdu, 20-22 Oct. 2014
the correct results of the retroaction between the rotor and the
grid, especially in the grid fault operation conditions.
This paper presents a new modeling and simulation method
of wind turbine, by which the electrical, control and mechanical
systems were modeled in a single simulation platform based on
two simulation software tools, GH Bladed and
MATLAB/Simulink. In this method, mechanical and
aerodynamic systems were built in GH Bladed, specific in rotor,
tower, drive train as well as pitch and torque control system,
while electrical model includes converter, generator and grid
with grid fault device was modeled in MATLAB/Simulink. The
synchronized simulation method used to simulate combined
wind turbine performance is presented as well. Since the Fig. 1. Block diagram of a generic wind turbine model
combined modeling and simulation method allows detailed
modeling of important components of wind turbine both where, fG is grid electrical frequency;¶G is grid voltage phase
mechanically and electrically, wind turbine integration angle;
grid voltage;
active power;
reactive
performance can be revealed. Furthermore, this method power;
grid current; active power reference;
provides an accurate and efficient way to analyze the reactive power reference; grid voltage reference;
interaction between mechanical system and electrical system in electrical torque; mechanical torque; ¹ rotational
normal and fault operation. speed of turbine; ¹ rotational speed of generator rotor;©
As a demonstration of the proposed method, a 2.5MW wind generator rotor angle; £ pitch angle; £ blade
turbine was modeled and simulated based on the combined reference angle.
simulation method. Wind turbine simulation results during grid The combined simulation model proposed in this paper
fault were verified by low voltage ride through test data to could also be identified in the generic model presented in Fig. 1.
certify the accuracy of the combined simulation model. Based The defining characteristics of this combined simulation model
on the simulation results, mechanical dynamic behavior on is that the mechanical systems and electrical systems are both
blades and drive train during grid fault was presented and the specified in this model and are decoupled in two simulation
simulation method’s further application in analyzing the tools, as shown in Fig. 2.
interaction between wind turbine and power grid was proposed. As discussed above, different models are designed to
accommodate various simulation tools because different tools
II. WIND TURBINE MODELING get specific feature. The two software platforms used in the
A. Wind Turbine Structure combined simulation method are GH Bladed and
MATLAB/Simulink. As Bladed is specialized in full range of
In the early stage of wind power development, most wind
performance including loading calculations and dynamic
farms were equipped with fixed-speed wind turbines and
analysis, aerodynamic and mechanical system as well as
induction generators. With the increasing requirement of grid
control system were built in GH Bladed (as is depicted in the
code, modern wind turbines adopt a variable speed operation:
left part of Fig. 2). Meanwhile, MATLAB is widely used to
doubly fed variable speed (DFIG) wind turbine and full power
establish electromagnetic wind turbine model, and the
converter wind turbine. However, considering the modeling,
generator, converter, equivalent grid as well as grid fault device
wind turbines can be represented by a generic model with six
in the combined simulation model were built in
basic block elements and their interconnections in most cases,
MATLAB/Simulink. In this way, the wind turbine model was
as it is shown in Fig 1, or can be adjusted depending on the
decoupled into two separate parts structurally. To solve the
specific wind turbine. The six model elements are the model
problem of simulation distortion which could be brought by the
representation of the following systems [13]:
decoupling, simulation synchronization of the decoupled model
z Aerodynamic system;
were studied, hence the interface were developed and
z Mechanical system ;
implemented base on TCP/IP protocol.
z Generator and power electronics drive;
z Pitch control system
z Wind turbine control system
z Protection system of the wind turbine.

P 3
2 U Av wind a (1 a ) 2 . (3)
and thrust T acting on the rotor disk can similarly be derived to
give:
T 2 U Av wind2
a (1 a ). (4)
where U is the fluid density and A the area of the rotor disk.
Based on the combined blade element and momentum theory,
the rotor blades are divided into a number of blade elements and
each annulus blades elements is analyzed as an independent
actuator disk, according to the equation (2-4). Therefore, the
torque dT developed by a blade element of length dr located
at a radius r is given by:
Fig. 2. Block diagram of combined simulation model
1 (5)
dT U W 2 r ( C L sin \ C D cos \ ) cdr
2
B. Mechanical Model where W is the magnitude of the apparent flow speed vector at
The mechanical systems were modeled in the software the blade element, \ is the inflow angle and defines the
package GH Bladed. This model takes effects in account, which direction of the apparent flow speed vector relative to the plane
are not included in simplified electromagnetic model where of rotation of the blade, c is the chord of the blade element and
mechanical model is represented by power extract equation and
C L and C D are the lift and drag coefficients respectively, which
two order mass drive train model. In GH Bladed, blades are
typically divided into 17 aero-elastic masses, and the tower are depicted in equation (6-7).
elasticity is also considered. Moreover, by contrast to the 1 (6)
C L L /( U V 2 S )
simplified model, detailed mechanical model includes the blade 2
cone angle, the rotor tilt angle, the wind up-flow angle as well 1 (7)
C D D /( U V 2 S )
as turbulent wind speed. Considering these characteristics 2
directly relates to the power extraction, control strategy and where L and D are the life and drag forces, S is the platform
protection scheme. area of the aerofoil and V is the flow velocity relative to the
1) Aerodynamic system aerofoil.
The simplified aerodynamic model which is used in After dividing the blades into numerous elements, under
electromagnetic model is generally based on power extract different operation conditions, torque extracted from the rotor
equation, which relates the torque produced by the wind on the blades is calculated based on integration. In this way, variations
blades with the power coefficient [13]: of wind speed, inflow angle are reflected in extracted power.
1 1 (1) 2) Multi-body dynamics
T mech 3
U S R rotor 2
v wind C p O , E .
2 O The structural model in Bladed is based on multi-body
Whereǡ C p O , E is power coefficient matrix and is obtained dynamics approach combined with a modal representation of
the flexible components like the blades and the tower.
by applying the blade element momentum (BEM) theory to all
Structural components of wind turbine are assumed to be rigid
the possible values of the tip speed ratio and pitch angle.
(such as yaw and blade bearings), or flexible (such as tower and
Obviously, effects like non-uniform wind speed, blade cone
blades). In Bladed, the rigid model is described in terms of the
angle, tilt angle, and also unsteady effects, like dynamic stall,
motion of a set of local component nodes and the motion of the
blade aero-elasticity, tower dynamics, etc., are not considered
component is assumed to be known. However, blades and the
in the simplified model.
support structure are modeled as single linear flexible
By contrast, aerodynamic model implemented in the
components using the model approach, in which the
combined simulation model was established in detail and based
deformation is represented by a linear combination of some
on combined blade element and momentum theory. According
pre-calculated mode shape functions or simply modes.
to the theory, wind turbines extract energy from the flow by
3) Drive train
producing a step change in static pressure across the
For a DFIG wind turbine, the drive train consists of a low
rotor-swept surface, the flow velocity at the rotor disk. v d is
speed shaft, gear box and high speed flexible shaft model,
related to the upstream wind velocity v wind as follows: which allows separate degrees of freedom for the rotation of the
vd (1 a ) v wind . (2) turbine rotor and generator rotor.
Drive train is modeled through a two-mass model, where the
The reduced flow velocity at the rotor disk is clearly
electrical torque T gen and the angular speed in the generator
determined by the magnitude of a , the axial flow induction
factor or inflow factor. shaft Z gen are related to the blade torque T wt and the rotor
By applying Bernoulli’s equation and assuming the flow to angular speed in the rotor shaft Z wt by
be uniform and incompressible, it can be shown that the power
P extracted by the rotor is given by:

dZ Zt
J Zt TZ t K LSS (T Z t T gen / J T ) (8)
dt
D LSS (Z Z t Z gen / J T )
d Z gen 1
J gen [ K LSS (T Z t T gen / J T ) (9)
dt JT
D LSS (Z Z t Z gen / J T )] T gen
where J Z t and J gen are the inertia of the turbine shaft and the
generator shaft, respectively. K LSS and D LSS are respectively
the spring coefficient and the damping coefficient between both
shafts in the low-speed side. T Z t and T gen are the angular Fig. 4. Block diagram of combined simulation model
position of the turbine shaft and the generator shaft. Drive train Equations of asynchronous machine can be written on a
model are shown in Fig.3. reference dq frame representation turning at the grid angular
speed Z s .
III. MODEL VARIFICATION

As a demonstration of the proposed method, a 2.5MW DFIG
wind turbine was modeled based on combined simulation
model method presented above, the specific wind turbine
parameter information is illustrated in TABLE.ĉ.
TABLE I WIND TURBINE PARAMETER
Parameter Value
Rated power 2500kW

Rated voltage 690V
Rated wind speed 11.5m/s
Fig. 3. Drive train model of combined simulation model Cut-in wind speed 3m/s
Cut-out wind speed 25m/s
4) Generator Rotor diameter 100m
Different generator model is provided in Bladed, however in Rotor speed 8.68-14.28r/min
Blade number 3
the proposed combined simulation model, generator model was
Blade length 48.8m
specifically built in MATLAB/Simulink to coordinate with the Blade mass 10042kg
detailed converter model and to reflect the electromagnetic Tower height 77.3m
transient characteristics of wind turbine. Tower mass 201722kg
Gearbox stages 2
Bladed has provided a user-defined tool to represent the Gearbox ratio 1:84
electrical dynamics of the generator as a replacement of the Generator type Asynchronous, double fed induction
built-in generator model in Bladed. By using the user-defined Wind turbine type Variable speed
tool, parameters such as generator speed, torque demand were
input in defined generator, and generator air-gap torque and
electrical power were output back to Bladed. Initialization simulation setup needs to be done in both
mechanical and electrical model. In Bladed, simulation details
D.Electrical Model such as output time step, simulation time and wind speed need
Fig. 4 shows the schematic diagram of the decoupled wind to be defined. In MATLAB, equivalent grid parameters were to
turbine electrical model including DFIG generator, back to be defined, and grid fault device parameters were to be
back converter (including the crowbar), equivalent network and specified to simulate grid fault. The structure scheme of
fault device which was implemented in MATLAB/Simulink. equivalent grid and fault device is shown in Fig. 5 and the
equivalent parameters of power grid and the fault device to
simulate three phase voltage dip to 20% rated voltage is
illustrated in TABLE Ċ.
Fig.5. Block diagram of combined simulation model

TABLE II
ELECTRICAL GRID PARAMETER AND FAULT DEVISE SETUPS
Parameter Value
Short circuit capacity 300MW

Rated voltage (middle) 35kV
Rated voltage (low) 690V
FRT circuit limit resistance 48.8ȍ
FRT short circuit resistance 8ȍ

To verify the combined simulation model in accordance with Fig.7. Voltage validation results of combined simulation model
site test, equivalent grid was setup based on no-load site test
result, and fault device parameter was set based on real test
device on different voltage dips (as shown in TABLE II). The
simulation process of the combined simulation method is
shown in Fig. 6.

Fig.8. Active power validation results of combined simulation model

Fig.9. Reactive current validation results of combined simulation model
Fig.6. Block diagram of combined simulation model
For the simulation in each step:

1) Combined simulation was initialed in Bladed. Firstly, power Fig.10. Reactive power validation results of combined simulation model
production loading simulation and model analysis was From the analysis of wind turbine terminal voltage, active
implemented. After then, load calculation and wind turbine power, reactive power and reactive current, data were divided
deflection was executed. When the simulation in one step was into transient and steady period and the simulation data were
finished, simulation results in Bladed were transmitted to compared with test data. From the verification, the simulation
Matlab/Simulink. results are highly similar to the test data.
2) After parameters were received in MATLAB, the simulation
in MATLAB was initialed. When the simulation in one step IV. SIMULATION RESULTS
ends, the results were transmitted back in Bladed, as the input With rotor size increase, the flexibility associated with the
for next step simulation; rotor structure also increases and so does the influence that it
3) In cases when feedback data was not received in the limit has on the electrical transient performance of the wind turbine:
time range in either MATLAB or Bladed, the simulation will be the frequency of the torque oscillations reduces and the
ended. oscillations may interact with the electrical system. Based on
Take the situation of three phase voltage dip to 20% Un and the combined simulation model, since the electrical model
full load operation to verify the model accuracy. Fig.7-Fig.10 which includes converter, generator and grid was detailed, the
presents model validation results of the 2.5MW DFIG wind model is capable to simulate the transient character of wind
turbine during voltage dip. The validation is based on LVRT turbine during different grid fault. Moreover, the advancement
site test data. of the combined simulation model is that it is capable to reflect
mechanical performance characteristics due to grid fault. The

simulation results reflect mechanical parameter is presented in +66B7RUTXH
Fig. 11- Fig. 16. A

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Fig. 14 High speed drive train torque

V
Fig. 11. Generator speed
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A

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3LWFKDQJOHBFRPELQHGPRGHO
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V
Fig. 12 Pitch angle
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As shown in Fig. 11 and Fig. 12, generator speed and pitch

angle between the combined simulation results and test data
were compared, and shared the same characteristic. The

combined model reflects mechanical and control character
accurately. Based on the simulation results, drive train

dynamics and blades dynamics as shown in Fig.13-Fig. 16 can

be analyzed.

/66B7RUTXH

A

In the simulation, the grid fault was triggered at 10s and the
duration was set as 625 ms, the grid voltage dip sag was set to

20%. From the simulation results:
1) generator speed increases during the fault;

2) the torque of both low speed side and high speed side of drive
train oscillates, the oscillation frequency and magnitude are

reflected;
3) pitch control executes during grid fault, and accurate pitch
Fig. 13 Low speed drive train torque angle is reflected.
V.CONCLUSIONS
This paper presents a new method of DFIG wind turbine
modeling and simulation, which provides an effective way to
consider mechanical dynamics such as blades, tower, power
train dynamic and its impact on wind turbine electrical
performance.
The modeling method which presents a simplification of
wind turbine mechanical systems was analyzed. Since the
simplified model represents only shaft flexibilities but torque
oscillations is not taken in account, it could not provide a

accurate representation of rotor dynamics, and therefore [12] Thomas Ackermann. Wind power in power systems.2012.
[13] Huaqiang Zhang, Zhixin Wang, “Study on modeling and simulation of
inappropriate for transient stability studies.
double-fed induction wind power generator control system”. Sustainable
However, the proposed combined simulation method power generation and supply, 2009.
includes detailed mechanical systems, such as shaft, blades and [14] Feijoo F, Cidras J, Carrillo C. et al. “A third order for the doubly-fed
tower flexibilities, gives further illustration of mechanical induction machine”, Electric power system research, 2000, 50(2):
121-127.
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[15] Bossanyi EA. GH Bladed theory and user manuals. Garrad Hassan and
electrical characteristics. Although this combined model may Partner Limited, Document No 282/BR/009, Issue No 12, December
not be desirable for large power system studies, it could be used 2003.
to analyze single wind turbine performance especially [16] Trilla L, Gomis-Bellmunt O, Junyent-Ferre A, Mata M, Sanchez J,
Sudria-Andreu A, “Modeling and validation of DFIG 3MW wind turbine
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In further research, this combined simulation method can be Transaction on Sustainable Energy, 2011,2(4):509-19.
used in other aspects of wind turbine performance analysis, not [17] J. Lopez, P. Sanchis, X. Roboam, L. Marroyo, “Dynamic behavior of the
only the low voltage ride thought capability which is presented doubly fed induction generator three-phase voltage dips”, IEEE Trans.
Energy Convers, 22(3)(2007) 709-717.
in this paper. Further studies will include as follow three points
[18] Akhmatov V. “Analysis of dynamic behavior of electric power systems
but not exclusive: with large amount of wind power”, PhD Thesis, Technical University of
1) As detailed model is utilized in this method, full range of Denmark, April 2003.
control strategy is applicable in the combined simulation [19] Ekanayake JB, Holdsworth L, Wu X, Jenkins N, “Dynamic modeling of
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could be verified by this method. Especially when this on power systems”. PhD Thesis, Technical University of Darmstadt
simulation method is applied in hardware-in-loop systems, it Germany, 2008.
will serve as an efficient tool of control strategy verification
WANG Yingying was born in Jiangsu Province of China, on Jul.23, 1988. She
tool; graduated from North China Electric Power University.
2) This method provides a way to analyze the influence of wind She is now working in China Electric Power Research Institute (CEPRI). Her
shear, tower shadow effect and unbalances blades on wind special fields of interest include wind turbine control strategy, wind turbine
modeling, wind turbine integration analysis.
turbine power quality. By analyzing aerodynamic loads in time
LI Qing was born in Hunan province of China, on Sept. 15, 1981. He achieved
domain and frequency domain, the influence of wind shear, electrical master degree from CEPRI in 2006.
tower shadow effect and unbalanced blades on the aerodynamic He is now working for the renewable energy department of CEPRI. His
loads characteristics and the resonance characteristic of relative special fields of interest include wind power integration analysis, wind turbine
power quality testing, LVRT testing and grid code compliance testing of wind
mechanical components could be obtained, as well as the
turbine and wind farms.
frequency and active power characteristics of generated electric
power. QIN Shiyao was born in Shanxi province of China, on Feb. 15, 1977. Master
degree. Vice Director of renewable energy department of CEPRI. Senior
electrical engineer. Member of National Wind Mechanical Standardization
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A New Method of Wind Turbines Modeling Based On Combined Simulation

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2014 International Conference on Power System Technology (POWERCON 2014) Chengdu, 20-22 Oct.