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Four configurations
We will study
only this one,
the DFIG.
Basic concepts
Power
Grid
DFIG
Rotor
DC Link
AC
DC
DC
AC
Basic Concepts
roto
r
60 f s
ns
p
(v B ) L
(fs: 60 Hz,
p: # of pole
pairs)
Basic concepts
s m
slip s
;
s
n nm
s
;
ns
s 377 rad/sec ;
ns
m p m
60 f s
rpm
p
nm ns (1 s )
Mechanical
rad/sec
m s (1 s )
The induced rotor voltages have frequency of :
Substitution into slip expression above yields:
Observe three modes of operation:
r s m
s r r s s f r sf s
s
Per-phase steady-state
model
STATOR VOLTAGE EQUATION:
V s E s ( Rs jX s ) I s
at fs
These quantities
are referred to
stator side.
V r E rs ( Rr jX r ) I r
at fr
These quantities
are referred to
rotor side,
indicated by
prime notation.
Referring quantities
Application of Faradays Law allows the stator back emf and the induced rotor
voltage to be expressed as:
Ks, Kr: stator and rotor winding factors, respectively,
E s 2K s N s f s m
which combine the pitch and distribution factors.
Ns, Nr: number of turns of stator & rotor, respectively.
E rs 2K r N r f r m
fs, fr, frequency of stator & rotor quantities, respectively
m : magnetizing flux
Solve both relations for m and equate:
Es
E rs
Es
Ks Ns fs
m
E
Kr Nr fr
2K s N s f s
2K r N r f r
rs
But recall:
f r sf s
Es
K N f
K N
s s s s s
E rs K r N r sf s K r N r s
Es
Ns
E
s
a
Nr
rs
Es
E
Referring quantities
We just derived that:
E rs
sE s
a
(*)
E rs
E s a E rs
This tells us it we want to move a voltage from rotor side to stator side, we multiply it
by a=Ns/Nr. We can obtain similar relationships for currents and impedances, and so
we define the rotor quantities referred to the stator
according to:
2
E rs E rs a
I r I r / a
Is
Rs
Rr
Ir
Vr
3
3
Es
Lr Lr a 2
jrLr
jsLs
3
3
Vs
Rr Rr a
3
3
3
3 Ers
Referring quantities
Rs
Is
Ir
3
3
3
3
Es
Vs
Rr
jssLr
jsLs
3
3
3
3 Ers=sEs
Vr
V r s E s ( Rr js s Lr ) I r
Divide by s
Is
Rs
Vr
R
E s ( r j s Lr ) I r
s
s
jsLr
jsLs
Es
Ir
3
3
3
3
Vs
Rr/s
3
3
3
3 Es
Vr/s
Referring quantities
Is
Rs
jsLs
jsLr
Es
Ir
3
3
3
3
Vs
Rr/s
3
3 jsLm
Vr/s
10
Power relations
Is
Rs
jsLs
jsLr
Es
Ir
3
3
3
3
Vs
Rr/s
3
3 jsLm
Vr/s
We modify the above circuit slightly in order to clearly separate slip-dependent terms
from loss terms:
Rr r
s
s
s
s
s
Vr Vr sVr sVr sVr Vr sVr
V (1 s )
Vr r
s
s
s
s
s
11
Power relations
Is
Rs
jsLs
jsLr
3
3
3
3
Vs
Es
3
3 jsLm
Rr
Vr(1-s)/s
+Rr(1-s)/s
Ir
Vr
It is possible to prove that the mechanical power out of the machine is the power
associated with the slip-dependent terms R2(1-s)/s and Vr(1-s)/s. To do so, use:
Power balance relation:
where Ps and Pr are powers entering the machine through the stator & rotor windings,
respectively, and Ploss,s and Ploss,r are the stator and rotor winding losses, respectively.
Expressing the right-hand-terms of the power balance relation in terms of the above
circuit parameters leads one to identify the slip-dependent terms as Pmech.
Knowing that the slip-dependent terms are those responsible for mechanical power,
we may obtain the power expressions from the circuit, as on the next slide.
12
Power relationsP
mech
Is
Rs
jsLs
jsLr
3
3
3
3
3
3 jsLm
Es
Vs
Pmech 3 I r2 Req 3 Re V eq I r
Rr (1 s )
1 s *
3 Re V r
Ir
s
R (1 s )
1 s
*
3 I r2 r
3
Re V r I r
s
s
3 I r2
Veq=
Rr
Vr(1-s)/s Ir
+Req=
Rr(1-s)/s
Vr
13
A first torque
expression
Rs
Is
jsLs
jsLr
3
3
3
3
3
3 jsLm
Es
Vs
Veq=
Rr
Vr(1-s)/s Ir
+Req=
Rr(1-s)/s
Vr
Rr (1 s )
1 s
*
Re V r I r
s
p
p 2 Rr (1 s )
p 1 s
*
Pmech Tem m Tem m Tem Pmech
3
Ir
3
Re V r I r
p
m
m
s
m s
(p: # of pole
p 2 Rrm
p m
3
Re V r I *r
pairs)
Tem 3
I r
m
m r
r
Pmech 3 I r2
r
;
Recall from slide 5: s
s
and
m s (1 s ) 1 s
Therefore:
s
1 s m s m
s
s r r
3 p I r2 Rr
r
Tem
3p
*
Re V r I r
r
3 p I r2 Rr
3p
Vr I r cos v i
r
14
Rs
jsLs
jsLr
3
3
3
3
3
3 jsLm
Es
Vs
Rr
eq
Vr(1-s)/s Ir
+Req=
Rr(1-s)/s
Vr
Stator power:
Ps 3 Re V s I s
Stator voltage:
V s I s Rs j s Ls I s I r j s Lm
3 Re R I
3 Re Rs I s I s j s Ls I s I s j s Lm I s I s j s Lm I r I s
2
s s
j s Ls I s2 j s Lm I s2 j s Lm I r I s
First term is purely real, only the second term contains real and imaginary, therefore:
P 3R I 3 Re j L I I
2
s s
*
s
Ps 3 Re Rs I s2 j s Lm I r I s
s
15
Is
jsLs
3
3
3
3
Rotor power:
3
3 jsLm
Es
Vs
Pr 3 Re V r I r
Rr
jsLr
eq
Vr(1-s)/s Ir
+Req=
Rr(1-s)/s
Vr
1 s
1 s
I r Rr Rr
j s Lr I s I r j s Lm
s
s
Rotor voltage: V r
Rr
Ir
j s Lr I s I r j s Lm
s
s
V r I r Rr js s Lr I s I r js s Lm
*
Substitute Vr into Pr:
r
s
r
r
r r
r
s r
V
3 Re I
P 3 Re V I
3 Re R I
js L
jss Lm I *r
3 Re Rr I r I r js s Lr I r I r jss Lm I r I r js s Lm I s I r
2
r r
jss Lr I r2 js s Lm I r2 jss Lm I s I r
First term is purely real, only the second term contains real and imaginary, therefore:
P 3R I 3 Re js L I I
2
r r
*
r
Pr 3 Re Rr I r2 jss Lm I s I r
r
16
Ps 3Rs I s2 3 Re j s Lm I r I s
Pr 3Rr I r2 3 Re jss Lm I s I r
Observe we have loss terms added and subtracted in the above, so they go away.
Pmech 3 Re js Lm I r I s 3 Re js s Lm I s I r
*
Now consider what happens when you take the real part of a vector multiplied by j
ja
(or rotated by 90 degrees):
a
Im(a)
Observe that
Re(ja) = - Im(a)
Re(ja)
Therefore:
Pmech 3 Im s Lm I r I s 3 Im ss Lm I s I r
*
17
Pmech 3 Im s Lm I r I s 3 Im s s Lm I s I r
Lets consider another vector identity: taking imaginary part of a conjugated vector:
Observe that
Im(a*) = - Im(a)
a
Im(a)
Im(a*)
a*
Therefore:
Pmech 3 Im s Lm ( I r I s )* 3 Im s s Lm I s I r
3 L Im I I Ims I I
3 L Im I I 1 s
3 Im s Lm I s I r 3 Im s s Lm I s I r
s
s
Recall:
*
r
*
r
m s (1 s )
*
r
Therefore: Pmech 3m Lm Im I s I *r
Recall:
Tem Pmech
p
m
*
Tem 3 pLm Im I s I r
18
3 p I r2 Rr
3p
Vr I r cos v i
r
Tem 3 pLm Im I s I r
19
r Lm I s Lr I r
Stator winding s Ls I s Lm I r
Rotor winding
Self inductances
ASIDE: Each self inductance is comprised of mutual and leakage according to:
Ls Lm Ls ;
Therefore:
Lr Lm Lr
s Lm I s Ls I s Lm I r
Lm ( I s I r ) Ls I s
r Lm I s Lm I r Lr I r
Lm ( I s I r ) Lr I r
r Lm I s
Lr I r
;
Is r
Lr
Lm
*
Choose one of these equations and
Tem 3 pLm Im I s I r
Lm I r
Is s
;
Ls
Ls I s
Ir s
;
Lm
Ir
20
s Lm I r
Is
Ls
r Lm I s
Ir
Lr
Tem 3 pLm Im I s I r
Using stator winding equation:
Lm I r *
Tem 3 pLm Im s
Ir
Ls
L
*
*
3 p m Im s I r Lm I r I r
Ls
3p
Lm
*
Im s I r Lm I r2
Ls
Lm
*
3p
Im s I r
Ls
Lm I s
Tem 3 pLm Im I s r
Lr
L
*
*
3 p m Im I s r Lm I s I s
Lr
Lm
*
3p
Im I s r Lm I s2
Lr
Purely
real
3p
Lm
*
Im I s r
Lr
Purely
real
21
Ps 3R I
2
s s
3 Re j L
s
Ir
Pr 3Rr I r2 3 Re jss Lm I s I r
*
s
Ps 3Rs I s2 3 Re js Lm I r I s
Pr 3Rr I r2 3 Re jss Lm I s I r
Pairgap Ps 3R I 3 Re j s Lm I r I
2
s s
*
s
Pslip Pr 3Rr I r2 3 Re js s Lm I s I r
Bring out front the s in the slip power expression and use Re{ja}=-Im(a)
*
2
*
2
(both):
P
3
R
I
s
3
Im
L
I
I
P
P 3R I 3 Im L I I
slip
r
r r
s m s r
airgap
s s
Pairgap Ps 3R I
2
s s
3 Im L
s
Ir
I
*
s
Pslip Pr 3Rr I r2 s3 Im s Lm I s I r
*
Pslip sPairgap
22
Pairgap Ps 3Rs I s2 3 Re j s Lm I r I s
where
Pslip Pr 3Rr I r2 3 Re js s Lm I s I r
Therefore:
m
Pairgap
s
p m
p
p
Tem Pmech
Pairgap
Pairgap
m s
m s
1
Substituting: Pslip sPairgap Pairgap
Pslip
s
Recall: 1 s
m
s
Pmech
p
Pslip
s s
s p
r
T
Pslip
s
em
r s
s
p
T
Pslip
em
r
Tem
23
Ps 3R I
2
s s
3 Re j L
s
Ir
Pr 3Rr I r2 3 Re jss Lm I s I r
*
s
Ps 3 Re js Lm I r I s
Pr 3 Re jss Lm I s I r
Bring out front the s in the rotor power expression and use Re{ja}=-Im(a) (both):
Ps 3 Im s Lm I r I s
Pr s3 Im s Lm I s I r
Pr s3 Im s Lm I s I r
Ps 3 Im s Lm I r I s
Pmech Ps Pr
p m
p
p
Ps
Ps
m s m s
Pr sPs
Ps
mech
Recall:
s
s
Tem Pmech
24
Tem
r
s
s
p
Pr
s s
s p
T
Pr
em
r s
p
T
Pr
em
r
3 Re js L
Both
Approximate
Ps 3Rs I s2 3 Re js Lm I r I s
Pr 3Rr I r2
mIs
r s s
*
r
Pairgap Ps 3R I 3 Re j s Lm I r I
2
s s
Pslip Pr 3R I 3 Re js s Lm I s I
2
r r
Pslip sPairgap
Pmech Ps Pr Ploss , s Ploss ,r
Pmech Pairgap Pslip
Pmech 1 s Pairgap
Pmech m Pairgap
s
p
Tem
Pairgap
s
p
Tem
Pslip
r
P 3 Re js L I I
P
P 3 Re j L I I
P P 3 Re js L I I
Ps 3 Re js Lm I r I s
*
r
*
s
1 s
m
s
Tem Pmech
airgap
p
m
slip
*
r
*
s
*
r
Pr sPs
Pmech Ps Pr
Pmech (1 s ) Ps
m
Ps
s
p
Tem
Ps
s
p
Tem
Pr
r
Pmech
25
Power balance
Pmech Ps Pr Ploss , s Ploss ,r Ps Ploss , s Pr Ploss ,r
Pairgap
Without losses
With losses
Pgrid
Ps
Pairgap
Ploss,s
Pslip
Pmech
Pslip
Pr
Pgrid
Ps
Pairgap
Ploss,r
Pslip
Pr
Pmech
Generator modes
Ps
Mode
s
Tem r s s
p
Slip and
speed
Pmech
Pr
r
Tem
p
Ps
Pr
1. Motor
(Tem>0)
s<0, m>s
>0 (mch
>0 (mch
(suprsynchrns delivers mech receives
pwr)
power via
m)
stator)
>0 (mch
receives
power via
rotor)
2. Generator
(Tem<0)
s<0, m>s
<0 (mch
(suprsynchrns receives
mech pwr)
m)
<0 (mch
delivers
power via
rotor)
<0 (mch
delivers
power via
stator)
3. Generator
s>0, m<s
<0 (mch
<0 (mch
>0 (mch
(Tem<0)
delivers
receives
(subsynchrns receives
mech
pwr)to trackpower
viaPs, r, and
power
viathe
For each mode, we
may use the three
relations
the sign
Pr from
m)
rotor)
signs of Tem and s. For example, for mode 2, Tem<0Pstator)
s<0 and Tem<0, s<0 r<0Pr<0
4.Focusing
Motor on the generator
s>0, m<
>0
(mch the standard
>0 (mch
<0 (mch
modes,
we observe
induction machine
s
(Tgenerating
delivers
mech
receives
delivers
mode,(subsynchrns
supersynchronism,
where
em>0)
m>s (mode 2). We also observe a
pwr) < , whichpower
via to thepower
subsynchronous m)
mode (mode 3), where
is available
DGIG via
as a
m
s
27
stator)
rotor)
result of the machine receiving power from the grid via the rotor circuit.
Generator modes
Recall the approximate
relation
Pr sPs
Mode 2
Pm= Pmech
m s
Mode 3
m s
28
Pmech Ps Pr
P
Ps mech
1 s
A question on
P P P
rating
sP
g
Pr
mech
1 s
Pgrid
Ps
PWTrating
1 s
Pr
Pslip
Pr
sPWTrating
1 s
Ps
Pairgap
Pmech
Pmech Pg PWTrating
Ps
Without losses
2
1.5385MW.
1 0.3
Ps
2
2.8571MW
1 0 .3
Question: Does this mean that the stator of a 2 MW turbine must be rated for 2.8571?
Answer: No. In subsynchronous mode, the mechanical power from the generator shaft
is lower that that in the supersynchronous mode. If Pmech increases beyond a certain
level, then machine speed increases into the supersynchronous mode. So above
situation never occurs. We can obtain the maximum power in subsynchronous mode as:
29
Output
Input
50 = 45 +10 - 3 - 2
P P P P P
s r mech loss , s loss ,r
Output
Input
- 50 = - 55 + 3 + 2
30
Per-unitization
In general, per-unitization enables inclusion of DFIGs within a system model.
It also facilitates identification of inappropriate data. Finally, a per-unitized
voltage provides the ability to know how far it is from its nominal value
(usually also the normal value) without knowing that nominal value.
The procedure is to choose three base quantities and compute other
necessary base quantities. We will choose our base quantities as
rated rms line-to-neutral stator voltage, Vbase=|Vs|rated (rms volts);
rated rms stator line current, Ibase=|Is|rated (rms amperes)
rated stator synchronous frequency, base= s,rated (rad/sec))
Then we compute:
Vbase
Base impedance:
Lbase
Base inductance:
Z
base
Base flux:
Justification : v
Three-phase
power base:
I base
Vbase
base
base
Base speed:
base
m,base
p
Base torque:
Sbase
Tbase
m,base
Vt
dt
t
base
I base
31
Vs
V s , pu
Vbase
Is
I s , pu
I base
s
s , pu
base
*
s s
Re V I
P s , pu 3
Sbase
Q s , pu 3
*
s s
Im V I
Sbase
Vr
V r , pu
Vbase
Ir
I r , pu
I base
r
r , pu
base
*
r r
Re V I
P r , pu 3
Sbase
Q r , pu 3
*
r r
Im V I
Sbase
Resistances in pu:
Inductance in pu:
Tem
Tem, pu
Tbase
m
m, pu
m,base
Rr
r pu
Z base
L
l pu
Lbase
V s I s Rs j s Ls I s I r j s Lm
V r I r Rr jss Lr I s I r jss Lm
V s I s Rs j s Ls I s I s I r Lm
V r I r Rr jss Lr I r I s I r Lm
From slide 20, we obtain the equations for stator and rotor flux linkages:
s Lm ( I s I r ) Ls I s
r Lm ( I s I r ) Lr I r
(*)
V s I s Rs j s s
V r I r Rr jss r
Now we can replace voltages, currents, and flux linkages with the product of their
per-unit value and their base quantity, then the base quantities can be used to perunitize the resistances and frequency to obtain:
V s , pu I s , pu rs j s , pu
V r , pu I r , pu rr js r , pu
35
r r
Replace voltages, currents, flux linkages with the product of their pu value and
their base quantity, then base quantities are used to per-unitize resistances and
frequency to obtain:
V s , pu I s , pu rs j s , pu
V r , pu I r , pu rr js r , pu
s Ls I s Lm I r
r Lm I s Lr I r
s , pu ls I s , pu lm I r , pu
r , pu lm I s , pu lr I r , pu
Replace currents and flux linkages with the product of their pu value and their
base quantity, then base quantities are used to per-unitize inductances to obtain:
3 p Im r I r
r
I r
*
Tbase base base base T
3
Im
3
Im
r , pu
em
,
pu
r
,
pu
m,base m,base / p
3 Vbase I base
Vbase / m ,base I base
m ,base / p
Per-unitize the power expressions to obtain:
Ps , pu Vs , pu I s , pu cos( v i );
Qs , pu Vs , pu I s , pu sin( v i )
Pr , pu Vr , pu I r , pu cos(v i );
Qr , pu Vr , pu I r , pu sin(v i )
36
Homework #3
Homework #3: This homework is due Monday, March 26.
A. Using previous relations provided in these slides, derive the following
torque expressions.
3 p Im , I
L
3p
Im ,
L L
1.
Tem 3 p Im s , I s
2.
Tem
3.
Tem
*
r
*
r
(and identify )
B. Use Q = 3Im{V I*} and the equivalent circuit to derive reactive power
expressions, in terms of Is and Ir for
1. The stator, Qs
2. The rotor, Qr
C. For each DFIG condition below, compute Pairgap and Pslip and draw the power
flows similar to slide 28.
1.Pmech=-1 MW with s=+0.30 (subsynchronous operation).
2.Pmech=-1MW with s=-0.30 (supersynchronous operation).
D. Complete the table on the next slide (the boxed section) by computing the
per-unit values of the indicated five resistances/inductances for the 2 MW
machine.
37
Homework
u (or a)
Rs
Ls
Lm
Rr
Lr
Rr
Lr
Ls
Lr
Vbase
Ibase
Rs
ls
lm
rr
lr
38
V r , pu I r , pu rr js r , pu
s , pu Ls I s , pu Lm I r , pu
r , pu lm I s , pu lr I r , pu
lm I s , pu lr I r , pu
Step 5: Use (4) to draw the rotor flux phasor r: r , pu
Step 6: .
Vs - Isrs
I s rs
Vs
l m Is
Is
Ir=s/lm ls Is/lm
s/lm
ls Is/lm
r=lm Is+lr Ir
= -j(V I r )
l I
39
lm I s , pu lr I r , pu
Step 5: Use (4) to draw the rotor flux phasor r: r , pu
V I r , pu rr js r , pu
Step 6: Use (2) to draw the rotor voltage phasor Vr: r , pu
Vr=Irrr+jsr, s<0
super-syn
l m Is
Is
Vr=Irrr+jsr, s>0
Irrr
Ir=s/lm ls Is/lm
jsr, s<0
s/lm
ls Is/Lm
r=lm Is+Lr Ir
s= -j(Vs Isrs)
lr Ir
40
Consider the circuit below, which is analogous to our stator winding circuit.
At any operating condition, we may
I
characterize the circuit as an impedance
Machine
Z=R+jX=Z/_, as indicated. Then we may
express the current according to
Z
V
V
V
I I i
Z Z Z
R jX
Z
Reactive
pwr
P>0
motor
R>0
Q>0
absorbing
X>0
Real
pwr
Reactive
pwr
P>0
motor
R>0
Q<0
supplying
X<0
Real
pwr
Reactive
pwr
P<0
gen
R<0
Q>0
absorbing
X>0
Real
pwr
Reactive
pwr
Z
Lead
P<0
gen
R<0
Q<0
supplying
X<0
V
I
Lag
I
Lag
I
V
Z
Lead
41
Example Problem
The 2 MW DFIG given by the data on slide 38 is delivering, from the stator, rated
load (2 MW) at rated voltage with zero stator reactive power in a 50 Hz grid. The
slip is s=-0.25 (super-synchronous). Compute:
(h) Rotor real power
(d) Stator flux
(a) Synchronous speed
(e) Rotor current (i) Rotor reactive power
(j) Total real power generated
(b) Line-to-neutral voltage
(f) Rotor flux
(c) Line current
(g) Rotor voltage (k) Tem
(a) Synchronous speed: s 2f s 2 (50) 314.16 rad/sec
Alternatively, the synchronous speed was given as 1500 rpm, therefore:
1500rev 2rad min
s
157.08rad / sec s p s 2(157.08) 314.16rad / sec
min
rev 60 sec
690
0 398.40 volts
*
*
3
6
Ps
2 10
*
1673.4180 amps
P
j
0
3
V
I
Vs
V s I s Rs j s s
(V s I s Rs ) 398.40 (1673.4180)2.6 10 3
s
1.28 90webers
j s
j 314.16
42
Example Problem
The 2 MW DFIG given by the data on slide 38 is delivering, from the stator, rated
load (2 MW) at rated voltage with zero stator reactive power in a 50 Hz grid. The
slip is s=-0.25 (super-synchronous). Compute:
(h) Rotor real power
(d) Stator flux
(a) Synchronous speed
(e) Rotor current (i) Rotor reactive power
(j) Total real power generated
(b) Line-to-neutral voltage
(f) Rotor flux
(c) Line current
(g) Rotor voltage (k) Tem
s Ls I s Lm I r
s Ls I s 1.28 90 2.587 10 3 (1673.8180)
Ir
1807.4 16.5amps
3
Lm
2.5 10
V r I r Rr jss r
V r (1807.4 16.5)2.9 10 3 j (0.25)(314.16)(1.358 77.4) 102.2 165.9volts
V r 102.2 165.9
Vr
300.6 165.9
Actual rotor voltage:
43
a
0.34
(g) Rotor voltage
Example Problem
The 2 MW DFIG given by the data on slide 38 is delivering, from the stator, rated
load (2 MW) at rated voltage with zero stator reactive power in a 50 Hz grid. The
slip is s=-0.25 (super-synchronous). Compute:
(h) Rotor real power
(d) Stator flux
(a) Synchronous speed
(e) Rotor current (i) Rotor reactive power
(j) Total real power generated
(b) Line-to-neutral voltage
(f) Rotor flux
(c) Line current
(g) Rotor voltage (k) Tem
Comments:
Example Problem
The 2 MW DFIG given by the data on slide 38 is delivering, from the stator, rated
load (2 MW) at rated voltage with zero stator reactive power in a 50 Hz grid. The
slip is s=-0.25 (super-synchronous). Compute:
(h) Rotor real power
(d) Stator flux
(a) Synchronous speed
(e) Rotor current (i) Rotor reactive power
(j) Total real power generated
(b) Line-to-neutral voltage
(f) Rotor flux
(c) Line current
(g) Rotor voltage (k) Tem
(k) Tem
Tem 3 p
Lm
*
Im s I r
Ls
2.5 10 3
*
Tem 3 2
Im
1
.
28
90
1807
.
4
16
.
5
12.9kNm
3
2.587 10
45
Level 1 control
We achieve
control objectives
by controlling
rotor-side
voltage.
We control rotor
voltage to achieve a
specified torque and
stator reactive power.
47
Level 1 control
Our objective here is, for a fixed stator voltage (fixed by the grid), and a
desired torque Tem,ref and a desired stator reactive power Qs,ref, we want to
determine the rotor voltage to make it so. We are also interested in the
stator flux, stator current, rotor current, and rotor flux, and stator real
power, as shown in the diagram below.
48
Level 1 control
We draw the phasor diagram with stator flux as the reference (0 degrees). Here,
the stator flux, denoted by s (instead of s), is specified as the reference. We
have identified particular angles in this phasor diagram. It is operating as a
motor (current is almost in phase with voltage), and the stator is absorbing
reactive power (Is has a negative angle relative to Vs, so Zmotor=Vs/Is has a
positive angle, indicating it is inductive and therefore absorbing.
49
If we neglect drop across the stator resistance (it is typically very small), then:
V s j s s
Use Im(ja)=Re(a): Qs 3 Re s s I s
From previous slide, note that i is the angle by which Is leads s , i.e.,
s s 0;
Substituting:
I s I s i
Qs 3 Re s s 0 I s i 3 s s I s Re i
3 s s I s Re cos i j sin i 3 s s I s cos i
50
*
s
Again (from phasor diagram), note that i is the angle by which Is leads s , i.e.,
s s 0;
Substituting:
I s I s i
Tem 3 p Im s 0 I s i 3 ps I s Im i
3 ps I s Im cos i j sin i 3 ps I s sin i
Tem 3 ps I s sin i
51
I s I s cos i jI s sin i
Qs 3 s s I s cos i
Qs
I s cos i
3 s s
Tem 3 ps I s sin i
I s sin i
Tem
3 ps
Is
Qs
T
j em
3s s
3 ps
V s j s s Vs s s
Q
T
Substituting into Is equation: I s s j s em
3Vs
3 pVs
Recall from slide 50:
52
L
1
s m r
Ls
Ls Lr
L
1
I r m s
r
Ls Lr
Lr
Is
s Ls I s Lm I r
r Lm I s Lr I r
L2m
1
Ls Lr
Qs
sTem
Is
j
3Vs
3 pVs
V s j s s
we may derive:
Vs Lr Qs Ls Lr
sTem Ls Lr
r
L
3
V
L
3
pV
L
s
m
s
m
s m
Vs 1 Qs Ls
sTem Ls
L
3
V
L
3
pV
L
s
m
s
m
s m
Ir
53
Vs Lr Qs Ls Lr
sTem Ls Lr
L
3
V
L
3
pV
L
s
m
s
m
s
m
V r I r Rr jss r
sTem Ls Lr
Vs Lr Qs Ls Lr
3
pV
L
L
3
V
L
s
m
s
m
s m
V r r
54
Qs
3Vs
Vs
r
s
V
Ir s
s
Is
sTem
3 pVs
sTem Ls Lr
Lr Qs Ls Lr
Lm 3Vs Lm
3
pV
L
s
m
sTem Ls
1 Qs Ls
Lm 3Vs Lm
3
pV
L
s
m
Vs
s
sTem Ls Lr
Vs Lr Qs Ls Lr
3
pV
L
L
3
V
L
s
m
s
m
s m
V r r
Ps
s
r
Tem Pr
Tem
p
p
55
Magnitudes
are attractive
because then we can plot them.
2
2
Q
T
f Is (Vs , Qs , Tem )
I s2 s s em
3Vs
3 pVs
Vs
2
r
s
V
s s
s
V
I r2 s
s
Lr Qs Ls Lr
Lm 3Vs Lm
Q L
1
s s
Lm 3Vs Lm
T Ls Lr
Vr2 r2 s em
3
pV
L
s
m
Pr
r
Tem
p
sTem Ls Lr
3
pV
L
s
m
f r (Vs , Qs , Tem )
f s (Vs )
T L
s em s
3 pVs Lm
2
V L
Q Ls Lr
r2 s r s
L
3
V
L
s
m
s m
f Ir (Vs , Qs , Tem )
2
And this shows that these terms are functions of our desired reference quantities.
The above relations are given as a function of r, but it may be more intuitive
to plot them as a function of rotor speed, m, where we can compute
r =sm/(1-s). You can think of the rotor speed as m=(1-s) s which shows
that for low positive slips, rotor speed is just below synchronous speed, and
56
Level 1 control
Q
I s2 s
3Vs
Fixed Qs=0
T
s em
3 pVs
Fixed Tem=-1
57
Level 1 control
V 1
Q L
I r2 s
s s
s Lm 3Vs Lm
Fixed torque implies fixed rotor
current if stator flux is fixed.
Tem 3 p
Lm
*
Im s I r
Ls
T L
s em s
3 pVs Lm
Fixed Tem=-1
Ir is independent of m for fixed torque but increases as Qs moves from + (absorbing)
to (supplying).
58
Level 1 control
Both rotor current and stator current equations have real part determined by Q s
and imaginary part determined by Tem (Vs is at 90 so real part of currents is in
quadrature with Vs)
Qs
sTem
Is
j
3Vs
3 pVs
Add them to
obtain
magnetizing
current
Vs 1 Qs Ls
sTem Ls
L
3
V
L
3
pV
L
s
m
s
m
s m
Ir
Qs
sTem Vs 1 Qs Ls
Im Is Ir
j
3Vs
3 pVs s Lm 3Vs Lm
Qs Vs 1 Qs Ls
sTem sTem Ls
3
V
L
3
V
L
3
pV
3
pV
L
s
m
s
m
s
s
m
s
Magnetizing component.
Vs 1
L
s m
sTem Ls
j
3
pV
L
s
m
Qs
3Vs
Level 1 control
Pr
r
Tem
p
Fixed Qs=0
Fixed Tem=-1
Pr linearly decreases w/ m for Tem (gen) and linearly increases w/ m for +Tem(mot).
Pr is independent of whether machine is absorbing or supplying vars.
Remember: m=(1-s)s,
r=ss.
60
Level 1 control
T Ls Lr
Vr2 r2 s em
3
pV
L
s
m
V L
Q Ls Lr
r2 s r s
L
3
V
L
s
m
s m
Fixed Qs=0
Fixed Tem=-1
Level 1 control
Fixed Qs=0
Fixed Tem=-1
62
Generator modes
Mode 2
Pm= Pmech
m s
Mode 3
m s
63
3
3
3
3
Es
Vs
3
3
Req
3
3 Ers=sEs
Vr
In slide 9:
V r s E s ( Rr jss Lr ) I r
Now:
Divide by s
Vr
R
E s ( r j s Lr ) I r
s
s
3 jrLeq
3
=jss Leq
I r ( Req js s Leq )
s
Ir(
Req
s
Es (
Rr
j s Lr ) I r
s
j s Leq ) E s (
Rr
js Lr ) I r
s
64
Rs
jsLs
Rr/s
Ir
3
3
3
3
Vs
jsLr
Req/s
Vm 3
3 jsLm
Vr/s
3 js Leq
3
Z eq Req jr Leq
Z eq Req jr Leq Req
js Leq
s
s
s
s
Lets assume the DFIG operates at unity power factor. Then Qs=0, and for Vs=Vs/_0,
Pairgap Ps Ploss , s 3 Vs I s Rs I s2 3 Vs Rs I s I s
Question: Do we need to specify motor or generator operation in the above equation?
Answer: Not for the relation Pairgap= Ps-Ploss,s (see slide 30). For motor op, Ps>0 and
losses subtract so that Pairgap is smaller than Ps, consistent with the fact that power
flows from stator to rotor. For gen op, Ps<0 and losses add so that Pairgap is larger than
Ps, consistent with the fact that power flows from rotor to stator.
However, the relation on the right assumes that Is is a magnitude (positive), and so it
is correct for motor op. For gen op, we must use a negative magnitude to get the sign
of VsIs correct. We could correct this by writing the RHS as VsIs-RsIs2= (Vs-RsIs)Is, i.e.
65
use phasor notation for the current instead of just magnitude.
Rs
jsLs
jsLr
Vm
Ir
3
3
3
3
Vs
Rr/s
Req/s
3
3 jsLm
Vr/s
3 js Leq
3
Pairgap Ps Ploss , s 3 Vs Rs I s I s
p
s
T
Tem
From slide 25, we know for the model (with losses) that em
airgap
airgap
s
p
V
I
Tem 0
Rewriting, we find a quadratic in Is:
s s
s s
3p
4R
Obtain roots:
Vs Vs2 s s Tem
Could be positive (motor) or
3p
negative (generator)
Is
2 Rs
With stator current calculated, we can use the circuit to find Vr and Ir.
66
Is
jsLs
Rr/s
jsLr
Ir
3
3
3
3
Im
Req/s
Vm 3
3 jsLm
Vs
Vr/s
V m V s I s Rs j s Ls
Im
Rr
j s Lr
s
Rr
j s Lr
s
V s I s Rs j s Ls I r
Rr
j s Lr
s
Ir
V m Ir
V /s
Z eq / s
j s Leq r
s
Ir
V s I s Rs js Ls
Is
j s Lm
V r / s V m Ir
(Xeq= rLeq)
Vm
V I s Rs j s Ls
s
j s Lm
j s Lm
Ir Im Is
3 js Leq=jXeq/s
3
Z eq Req js s Leq
V r sV m I r Rr js s Lr
I r
Ir
67
Lm
*
Im s I r
Ls
Req<0converter
transfers active
power to rotor.
Req>0rotor
delivers active
power to the
converter.
68
Homework #4
Consider a 1.5 MW, 690 v, 50 Hz 1750 rpm DFIG wind energy system. The
parameters of the generator are given on the next slide. The generator operates
with a maximum power point tracking (MPPT) system so that its mechanical
torque Tem is proportional to the square of the rotor speed. The stator power factor
is unity. For each of the following speeds: 1750, 1650, 1500, 1350, and 1200 rpm,
compute:
Slip
Tem (kN-m)
Vr (volts)
Ir (amps)
Req (ohms)
Xeq (ohms)
What kind of machine is this at 1500 rpm?
69
Homework #4
70
Homework #4
Converter equivalent impedance at 1500 rpm:
71
Homework #4
There is another solution which has very
large current and is clearly not realistic.
72
You may recall, from EE 303 or your undergraduate course on electric machines that
the torque-slip characteristic of the squirrel-cage induction generator (SCIG) appears
as below. One observes that the SCIG operates as a generator only when it is in
supersynchronous mode and a motor only when it is in subsynchronous mode.
Motoring
Generating
Subsynchronous
Supersynchronous
Lets see how we obtain this curve for SCIG, and lets also compare what
we do to what we need to do to obtain the analogous curves for the DFIG.
73
Rs
jsLs
jsLr
Rr/s
Ir
3
3
3
3
Im
Vm 3
3 jsLm
Vs
SCIG
The difference between the machines in terms of steady-state models is
the ability to electrically absorb or supply complex power S via the rotor.
Is
Rs
jsLs
jsLr
Rr/s
Ir
3
3
3
3
Im
Vs
Vm 3
3 jsLm
Req/s
Vr/s
3 js Leq=jXeq/s
3
DFIG
Where do we see rotor losses in these circuits? (next slide)
(Xeq= rLeq)
74
Rs
jsLs
jsLr
Rr
Ir Rr(1-s)/s
3
3
3
3
Im
Vm 3
3 jsLm
Vs
SCIG
Split up the R/s terms in each circuit as R+R(1-s)/s
and the rotor losses become immediately apparent.
Is
Rs
jsLs
jsLr
Rr
Ir Rr(1-s)/s
3
3
3
3
Req(1-s)/s
Im
Vs
Vm 3
3 jsLm
DFIG
Vr/s
Req
3 js Leq=jXeq/s
3
(Xeq= rLeq)
75
Rs
jsLs
jsLr
Rr
Ir Rr(1-s)/s
3
3
3
3
Im
Vm 3
3 jsLm
Vs
SCIG
The mechanical power is represented
by the slip-dependent resistances.
Is
Rs
jsLs
jsLr
Rr
Ir Rr(1-s)/s
3
3
3
3
Req(1-s)/s
Im
Vs
Vm 3
3 jsLm
DFIG
Vr/s
Req
3 js Leq=jXeq/s
3
(Xeq= rLeq)
But what do the other two terms in the DFIG circuit represent? (next slide)
76
Rs
jsLs
jsLr
Rr
Ir Rr(1-s)/s
3
3
3
3
Im
Vs
Vm 3
3 jsLm
SCIG
These terms represent the real and reactive power exchange between the rotor
and the RSC. As we saw on slide 68, these terms, Req and Xeq can be pos (rotor
transfers power to RSC) or neg (RSC transfers power to rotor).
Rr
Rs
Is
jsLs
jsLr
Ir Rr(1-s)/s
3
3
3
3
Req(1-s)/s
Im
Vs
Vm 3
3 jsLm
DFIG
Vr/s
Req
3 js Leq=jXeq/s
3
(Xeq= rLeq)
77
78
Rs
jsLs
jsLr
Rr
Ir Rr(1-s)/s
3
3
3
3
Im
Vm 3
3 jsLm
Vs
SCIG
p
p 2 Rr
2 Rr (1 s )
3
Ir
3 Ir
s (1 s)
s
s
s
How to obtain Ir? . (next slide)
79
Is
jsLr
Rr
Ir Rr(1-s)/s
3
3
3
3
Im
Vm 3
3 Zm=jsLm
Vs
Is
jsLr
Rr
Vth V s
Ir Rr(1-s)/s
Zm
Zs Zm
Z th
Zs Zm
Zs Zm
3
3
3
3
Comment: Zm>>ZS, so
VthVs, Zth=Zs is not a
bad approximation.
Vth
Tem 3
3 pVth Rr / s s
p 2 Rr
Ir
s
s
R
2
Rth r X th X r
s
Ir
V th
Z th ( Rr / s ) jX r
80
You may recall, from EE 303 or your undergraduate course on electric machines that
the torque-slip characteristic of the squirrel-cage induction generator (SCIG) appears
as below. One observes that the SCIG operates as a generator only when it is in
supersynchronous mode and a motor only when it is in subsynchronous mode.
Motoring
Generating
Subsynchronous
Supersynchronous
Now lets take a look at the torque-speed curves for the DFIG. (next slide)
81
Is
jsLs
jsLr
Rr
Ir Rr(1-s)/s
3
3
3
3
Req(1-s)/s
Im
Vm 3
3 jsLm
Vs
Pmech
Vr/s
Req
3 js Leq=jXeq/s
3
( Rr Req )(1 s )
3I
s
2
r
1
p
p 2 ( Rr Req )(1 s )
Tem
Pmech
Pmech 3
I r
m
m
m
s
( Rr Req )(1 s )
p
p 2 Rr Req
2
3 I r
3
I r
s (1 s )
s
s
s
82
s s
s r
3
3
3
3
Req(1-s)/s
Im
Vm 3
3 Zm=jsLm
Vs
Vr/s
Vth V s
Zth
jsLr
Rr
Ir Rr(1-s)/s
3
3
3
3
Vr/s
3 pVth2 ( Rr Req ) / s s
Rth
Rr Req
s
X th X r eq
s
Zm
ZZ
Z th s m
Zs Zm
Zs Zm
Comment: Zm>>ZS, so
VthVs, Zth=Zs is not a
bad approximation.
Req(1-s)/s
Vth
p R Req
Tem 3 I r2 r
s
s
Req
3 js Leq=jXeq/s
3
Ir
Req
3 js Leq=jXeq/s
3
V th
Z th ( Rr Req ) / s j ( X r X eq / s )
83
4 Rss
Tem
3p
2 Rs
V m V s I s Rs js Ls
Vs Vs2
Is
V I s Rs j s Ls
Ir Im Is s
Is
j s Lm
Z eq Req js s Leq
V r sV m I r Rr js s Lr
I r
Ir
Aside: The above points result from the turbine control characteristic. This characteristic
originates from the maximum power extracted from the wind, which is given by the power
curve, described by Pmech~m3. But Pmech=Temm therefore Tem~ m2.
2. For each value of Zeq, express Tem as a function of s (or m= s(1-s)) for various
values of s. torque-speed control point (slides 66-67):
3 pVth2 ( Rr Req ) / s s
p R Req
Tem 3 I r2 r
s
s
Rth
Rr Req
s
X eq
X th X r
84
Efficiency
Consider our HW assignment, at a speed of 1750 rpm and unity power factor.
Compute the efficiency of the DFIG.
Is
Rs
jsLs
Ir Rr(1-s)/s
3
3
3
3
Vs
jsLr
Im
Vm 3
3 Zm=jsLm
Req(1-s)/s
Vr/s
Req
3 js Leq=jXeq/s
3
Efficiency
Consider our HW assignment, at a speed of 1750 rpm and unity power factor.
Compute the efficiency of the DFIG.
Is
Rs
jsLs
jsLr
3
3
3
3
Vs
Ir Rr(1-s)/s
Im
Vm 3
3 Zm=jsLm
Req(1-s)/s
Vr/s
Req
3 js Leq=jXeq/s
3
87
Efficiency
Consider our HW assignment, at a speed of 1750 rpm and unity power factor.
Compute the efficiency of the DFIG.
Is
Rs
jsLs
jsLr
3
3
3
3
Im
Vm 3
3 Zm=jsLm
Vs
Ir Rr(1-s)/s
Req(1-s)/s
Vr/s
Req
3 js Leq=jXeq/s
3
Plosses ,s 3I s2 Rs
3(1068.2) 2 (0.00265)
9.07 kW
88
Efficiency
Consider our HW assignment, at a speed of 1750 rpm and unity power factor.
Compute the efficiency of the DFIG.
Is
Rs
jsLs
Ir Rr(1-s)/s
3
3
3
3
Vs
jsLr
Im
Vm 3
3 Zm=jsLm
Req(1-s)/s
Vr/s
Req
3 js Leq=jXeq/s
3
690
1068.2 cos(180) 1276.64kW
3
89
Efficiency
Consider our HW assignment, at a speed of 1750 rpm and unity power factor.
Compute the efficiency of the DFIG.
Is
Rs
jsLs
jsLr
3
3
3
3
Vs
Ir Rr(1-s)/s
Im
Vm 3
3 Zm=jsLm
Req(1-s)/s
Vr/s
Req
3 js Leq=jXeq/s
3
The difference between Pm and Pg is the losses on the stator and rotor windings:
| Pm | | Pg | Plosses ,r Plosses , s 1500 1480.93 19.07
Efficiency is:
Pg
Pm
1480.93
98.7%
1500
90
The Electrical System Operator (IESO) of Ontario essentially requires reactive power
capabilities for large wind farms that are equivalent to that for synchronous generators,
taking into consideration an equivalent impedance between the generator terminals and
the POI [2]. The requirements include: Supplying full active power continuously while
operating at a generator terminal voltage ranging from 0.95 pu to 1.05 pu of the
generators rated terminal voltage.
The Alberta Electric System Operators requirements [4] include: The wind farms
continuous reactive capability shall meet or exceed 0.9 power factor (pf) lagging to 0.95
pf leading at the collector bus based on the wind farm aggregated MW output.
E. Camm and C. Edwards, Reactive Compensation Systems for Large Wind Farms, IEEE Transmission and Distribution
Conference and Exposition, 2008.
91
92
93
Is
jsLs
jsLr
Rr
Ir Rr(1-s)/s
3
3
3
3
Req(1-s)/s
Im
Vs
Vm 3
3 jsLm
Vr/s
Req
3 js Leq=jXeq/s
3
I s I s (cos j sin )
Ps
P
sin
(cos j sin ) s (1 j
)
Therefore: I s
3Vs cos
3Vs
cos
94
Is
jsLs
jsLr
Rr
Ir Rr(1-s)/s
3
3
3
3
Req(1-s)/s
Im
Vs
Vm 3
3 jsLm
Vr/s
Req
3 js Leq=jXeq/s
3
1 cos 2
Ps
Is
(1 j
)
3Vs
cos
The sign of Ps determines the sign of the real part of the current.
Ps is negative if machine is in generating mode (supplying real power).
In this case, cos is negative because is in quadrant 2 or 3.
If machine is supplying Q, then sign of Qs should be negative, sign of Im{Is*} should
be negative, and therefore sign of Im{Is} should be positive. Given cos is negative:
1 cos 2
Ps
Is
(1 j
)
3Vs
cos
95
Is
jsLs
jsLr
Rr
Ir Rr(1-s)/s
3
3
3
3
Req(1-s)/s
Im
Vm 3
3 jsLm
Vs
Vr/s
Km
Ir Im Is
Im
I s ,rated
Req
3 js Leq=jXeq/s
3
I m K m I s ,rated
jI m or I m jK m I s ,rated
I r jK m I s ,rated I s
1 cos 2
Ps
(1 j
) . Substituting into I :
If the machine is absorbing Q, then I s
r
3Vs
cos
I r jK m I s ,rated
1 cos 2
Ps
(1 j
)
3Vs
cos
96
Is
jsLs
Rr
jsLr
Ir Rr(1-s)/s
3
3
3
3
Req(1-s)/s
Im
Vs
Vm 3
3 jsLm
I r jK m I s ,rated
Vr/s
Req
3 js Leq=jXeq/s
3
1 cos 2
Ps
(1 j
)
3Vs
cos
I r jK m I s ,rated
Ps ,rated
1 cos 2
(1 j
)
cos
P
3Vs
Ps
s , rated
Recall from slide 94: I s 3V cos I s ,rated 3V cos
s
s
and the substitute into previous expression :
Ps ,rated
Ps ,rated
1 cos 2
I r jK m
(1 j
)
3Vs cos
3Vs
cos
Factor out the Ps,rated/3Vs.(next slide):
97
Is
jsLs
jsLr
Rr
Ir Rr(1-s)/s
3
3
3
3
Req(1-s)/s
Im
Vs
Vm 3
3 jsLm
Vr/s
Req
3 js Leq=jXeq/s
3
Ps ,rated
Ps ,rated
1 cos 2
I r jK m
(1 j
)
3Vs cos
3Vs
cos
Factor out the -Ps,rated/3Vs
Combine terms with j
Simplify
Ps ,rated jK m
1 cos 2
Ir
(1 j
)
3Vs cos
cos
Ps ,rated
2
K
1
cos
m
1 j
Ir
cos
3Vs
cos
K 1 cos 2
Ps ,rated
1 j m
Ir
3Vs
cos
98
Is
jsLs
jsLr
Rr
Ir Rr(1-s)/s
3
3
3
3
Req(1-s)/s
Im
Vs
Vm 3
3 jsLm
Vr/s
Ir
Ir
Req
3 js Leq=jXeq/s
3
Ps ,rated
K 1 cos 2
1 j m
cos
3Vs
K 1 cos 2
1 j m
cos
Ps ,rated
3Vs
The difference in sign on the square root term indicates higher rotor current is required
for overexcited operation than for underexcited operation. No big surprise there!
And so the rotor winding should be rated for the overexcited operation, at
rated stator active power output. This would be. (next slide)
99
Is
jsLs
Rr
jsLr
Ir Rr(1-s)/s
3
3
3
3
Req(1-s)/s
Im
Vs
Vm 3
3 jsLm
Vr/s
Ir
K rs
Ir
I s ,rated
K 1 cos 2
1 m
cos
Ps ,rated
3Vs
Req
3 js Leq=jXeq/s
3
Is
K 1 cos
3Vs cos Ps ,rated
1 m
Ps ,rated
3Vs
cos
P
Ps
I s ,rated s ,rated
3Vs cos
3Vs cos
2
K 1 cos 2
K rs cos 1 m
cos
100
Is
jsLs
Rr
jsLr
Ir Rr(1-s)/s
3
3
3
3
Req(1-s)/s
Im
Vs
Vm 3
3 jsLm
Vr/s
Ir
Ps ,rated
3Vs
pf 1.0
r
Req
3 js Leq=jXeq/s
3
K 1 cos 2
1 m
cos
Ps ,rated
3Vs
I rpf 1.0
1 K m2
K 1 cos
1 m
cos
1 K m2
2
Ir
101
Is
jsLs
Rr
jsLr
Ir Rr(1-s)/s
3
3
3
3
Req(1-s)/s
Im
Vs
Vm 3
3 jsLm
Vr/s
K 1 cos 2
K rs cos 1 m
cos
K rspf 1.0 1 K m2
Req
3 js Leq=jXeq/s
3
K 1 cos
1 m
cos
cos
1 K m2
2
K rs
K rspf 1.0
102
Km
Im
I s ,rated
K 1 cos 2
cos 1 m
cos
I m K m I s ,rated
103
K rs
104
Ir
I s ,rated
K 1 cos
1 m
cos
cos
1 K m2
2
K rs
K rspf 1.0