A Novel Control Scheme for a

Doubly-Fed Induction Wind

Generator
Under Unbalanced Grid
Voltage Conditions
Ted Brekken, Ph.D.
Assistant Professor in Energy Systems
Oregon State University
Outline

Wind Energy Overview

Research Objectives
DFIG Overview
DFIG Control
Unbalance and Induction Machines
DFIG Unbalance Compensation
Hardware Results
Global Wind Energy

Almost 12 GW added between 2004 and

2005.
Source: Global Wind Energy Outlook 2006, Global Wind Energy Council
New Installations - 2005

Most of new installations continue to be in

US and Europe.
Source: Global Wind Energy Outlook 2006, Global Wind Energy Council
Wind Energy Overview
Germany
US
Spain
Denmark
India
US Installed Projects

Because of slow Midwest growth, the US still has

huge potential.
Source: American Wind Energy Association, www.awea.org/projects
Wind Energy Overview
Wind generators and farms are getting larger.
5 MW wind generators are now available with 7 MW in the
works.

(graphic from Vestas.com)

Wind Generator Topologies

Direct connected.
Simplest.
Requires switch to prevent motoring.
Draws reactive power with no reactive control.
Wind Generator Topologies

Doubly-fed.
The doubly-fed topology is the most common for high power.
Rotor control allows for speed control of around 25% of
synchronous.
Rotor converter rating is only around 25% of total generator rating.
Reactive power control.
Wind Generator Topologies

Full-rated converter connected.

Lower cost generator than DFIG. Lower maintenance.
Converter must be full-rated.
Full-rated converter allows for complete speed and reactive power control.
Could also be used with a synchronous generator.
Wind Generator Topologies

Direct-drive.
Eliminate the gearbox by using a very-high pole synchronous generator.
Resulting generator design is relatively wide and flat.
No gearbox issues.
Full-rated converter is required.
Full speed and reactive power control.
Wind Energy Issues

Wind is intermittent
Limits winds percentage of the energy mix
Wind energy is often located in rural areas
Rural grids are often weak and unstable, and prone to
voltage sags, faults, and unbalances
Unbalanced grid voltages cause many problems
for induction generators
Torque pulsations
Reactive power pulsations
Unbalanced currents
Outline

Wind Energy Overview

Research Objectives
DFIG Overview
DFIG Control
Unbalance and Induction Machines
DFIG Unbalance Compensation
Hardware Results
Research Objectives

Research was carried out from 2002 to 2005 at the U of

M and at NTNU in Trondheim, Norway on a Fulbright
scholarship
Doubly-fed induction generators are the machines of
choice for large wind turbines
The objective is to develop a control methodology for a
DFIG that can achieve:
Variable speed and reactive power control
Compensation of problems caused by an unbalanced grid
Reduce torque pulsations
Reduce reactive power pulsations
Balance stator currents
Outline

Wind Energy Overview

Research Objectives
DFIG Overview
DFIG Control
Unbalance and Induction Machines
DFIG Unbalance Compensation
Hardware Results
DFIG Overview - Topology

stator grid

DFIG

rotor
DC link
AC DC

DC AC

Rotor control allows for speed and reactive power

control. (Cage IG are fixed.)
DFIG Overview Variable Speed
Control

Higher Cp means
more energy
captured
Maintain tip-speed
ratio at nominal
value

(graphic from Mathworks)

DFIG Overview Reactive Power
Control

Rr ' Re Vr I r
*
2 R ' P
Ps I r ' Ir ' r r
2

s s s s

Im Vr I r
2 2
Vs Vs Qr
Qs
Xm s Xm s
0.2 s 0.2
Outline

Wind Energy Overview

Research Objectives
DFIG Overview
DFIG Control
Unbalance and Induction Machines
DFIG Unbalance Compensation
Simulation Results
Hardware Results
DFIG Control
Control is done by transforming three-phase to
two-phase
DFIG Control Machine Flux
Oriented

q-axis controls reactive power (flux)

d-axis controls torque
DFIG Control Grid Flux Oriented

Align d-axis with

voltage, instead of
flux
Easier, more stable
d-axis -> torque
q-axis -> reactive
power (Qs)
DFIG Control

d-axis controls torque, hence speed

DFIG Control

q-axis controls reactive power (Qs)

DFIG Control Stability

DFIGs naturally
have complex
poles near the
RHP, near the
grid frequency

(ird/vrd transfer function)

Outline

Wind Energy Overview

Research Objectives
DFIG Overview
DFIG Control
Unbalance and Induction Machines
DFIG Unbalance Compensation
Hardware Results
3 Phase Voltage Unbalance

Causes torque puslations, reactive power

pulsations, unbalanced currents, possible
over heating
Unbalance can be seen as the addition of
a negative sequence
Unbalance factor (VUF, IUF) is the
magnitude of the negative sequence over
the magnitude of the positive sequence
Unbalance Second Harmonic
balanced unbalanced

1+0.2 sin(2 x-30 /180)

1.2
Therefore,
compensate for the
1.1

second harmonic in
0.9

0.8
0 1 2 3
x
4 5 6
the dq system
Outline

Wind Energy Overview

Research Objectives
DFIG Overview
DFIG Control
Unbalance and Induction Machines
DFIG Unbalance Compensation
Hardware Results
Unbalance Compensation

Intentionally injecting a disturbance with an auxiliary

controller to drive the disturbance to zero
d-axis Inner Loop

Compensation controller looks like a bandpass and lead-

lag filter

s 0 Q filt s z 1
Cd ,comp Cd ,comp ,bp Cd ,comp ,ll k 2
s s Q 2 s 1
0 filt 0 p
Compensation Controller Design

(Cd,comp) (d-axis loop gain)

Outline

Wind Energy Overview

Research Objectives
DFIG Overview
DFIG Control
Unbalance and Induction Machines
DFIG Unbalance Compensation
Hardware Results
Hardware Pictures
 Hardware Results (15 kW)
Transient activation of compensation
VUF = 0.04
Generator Torque Generator Stator Reactive Power

reactive power (per unit)

-0.5
0.2
torque (per unit)

0.1
-1 0
-0.1
-0.2
-1.5
0 0.2 0.4 0.6 0.8 1 1.2 0 0.2 0.4 0.6 0.8 1 1.2
time (seconds) time (seconds)
Generator Torque 100 Hz Magnitude Generator Stator Reactive Power 100 Hz Magnitude
reactive power (per unit)
torque (per unit)

0.4
0.2
0.3

0.2 0.1
0.1

0 0
0 0.2 0.4 0.6 0.8 1 1.2 0 0.2 0.4 0.6 0.8 1 1.2
time (seconds) time (seconds)
Hardware Results (15 kW)
Generator Stator and Rotor Active Power Stator Voltage and Current Unbalance Factor
0.3
active power (per unit)

stator VUF
0
rotor IUF

-0.5 0.25

-1

unbalance factor
0.2
0 0.2 0.4 0.6 0.8 1 1.2
time (seconds)
Generator Total Active Power 0.15
active power (per unit)

total
0

0.1
-0.5

-1 0.05

0 0.2 0.4 0.6 0.8 1 1.2 0 0.2 0.4 0.6 0.8 1 1.2
time (seconds) time (seconds)

Stator Current Rotor d-Axis Voltage

0.2
isa

voltage (per unit)

current (per unit)

1
isb 0.1
isc
0 0

-0.1
-1
-0.2
0 0.2 0.4 0.6 0.8 1 1.2 0 0.2 0.4 0.6 0.8 1 1.2
time (seconds) time (seconds)
Stator Current 50 Hz Magnitude Rotor q-Axis Voltage
0.2
isa
voltage (per unit)
current (per unit)

isb 0.1
1
isc
0
0.8
-0.1

0.6 -0.2
0 0.2 0.4 0.6 0.8 1 1.2 0 0.2 0.4 0.6 0.8 1 1.2
time (seconds) time (seconds)
Hardware Results (15 kW)
Steady
Torque 100 Hz Component Stator Reactive Power 100 Hz Component
0.4
no comp (hardware) no comp (hardware)
0.35 w/comp (hardware) w/comp (hardware)
no comp (simulation) 0.25 no comp (simulation)

state
w/comp (simulation) w/comp (simulation) y=6.2e+000*x-0.00
0.3

reactive power (per unit)

0.2 y=6.6e+000*x-0.01

torque (per unit)

0.25
y=6.8e+000*x-0.00
y=9.3e+000*x+0.01
0.2 0.15

0.15
0.1
0.1

0.05
0.05 y=3.2e-001*x+0.02
y=2.9e-001*x+0.00
y=5.9e-001*x-0.00 y=3.5e-001*x-0.00
0 0
0 0.01 0.02 0.03 0.04 0.05 0.06 0 0.01 0.02 0.03 0.04 0.05 0.06
stator voltage unbalance factor (VUF) stator voltage unbalance factor (VUF)
Stator Current Unbalance Factor (IUF)

no comp (hardware) Reduction, Simulation:

Torque -> 11.5
w/comp (hardware)
0.25 no comp (simulation)

Qs -> 17.7
w/comp (simulation)

0.2 y=7.1e+000*x-0.01 y=6.1e+000*x-0.00

IUF -> 7.4
unbalance factor

0.15

0.1
Reduction, Hardware:
Torque -> 29.1
y=1.3e+000*x+0.02

0.05
Qs -> 22.8
IUF -> 5.5
y=8.2e-001*x-0.00

0
0 0.01 0.02 0.03 0.04 0.05 0.06
stator voltage unbalance factor (VUF)
Thank You!

Questions?