The Steady-State Interaction of a Grid-Connected Doubly-Fed Induction Generator and the Wind Turbine

Kennedy Adinbo Aganah, Bijaya Pokharel and Olorunfemi Ojo Department of Electrical and Computer Engineering/Center for Energy Systems Research Tennessee Technological University Cookeville, TN 38505 kaaganah42@students.tntech.edu, jojo@tntech.edu
AbstractThe generic expressions for the steady-state stability profile of a doubly-fed induction generator operating in maximum power tracking (MPT), power regulation, and rated output power modes are derived in this paper. This paper considers both mechanical and electrical dynamics in the derivation of the stability criterion. The contour plots using these expressions reveal a reduced stability region than previously reported in literature for both MPT and rated power modes. The paper further explores the sensitivity of the steady-state stability region to changes in rotor speed, wind speed, and blade pitch angle as to guarantee a good prediction of the steady-state stability region. Specifically, the simulations show that when operating in the sub-synchronous region, the effect of the pitch angle on the stability region is more prominent than its corresponding super-synchronous region when the mechanical dynamics are accounted for.

I.

INTRODUCTION

Wind energy is increasingly becoming the most viable renewable alternative to the conventional fossil fuels. Generating costs for wind with existing technologies is lower than most other renewable energy sources. It is therefore not surprising that the U.S. Energy Information Administrations Annual Energy Outlook 2011, projects that the installed wind capacity will grow by about 48 percent per year from 2009 through 2016. As more wind farms are integrated into the existing power grids, the chief concern is its ability to provide the required power while remaining relatively stable. Several factors influence the steady-state stability of wind generating systems including wind speed, real and reactive power exchanges with the grid. The situation is even more complicated in variable-speed, variable-pitch wind generator systems. In variable-speed, variable-pitch wind turbines (WT), the objective is to maximize power extraction at low to medium wind speeds by following the maximum profile of the power coefficient as depicted in Fig. 1. However, at high wind speeds, below the turbine cut-out speed, blade pitch angle control is usually used to maintain some rated shaft

speed and to shed off aerodynamic power so as to maintain a safe operation [1]-[5]. Pitch angle control is very cumbersome because of the highly nonlinear characteristics which add to the complexity of the whole wind generation control architecture. The aforementioned reasons emphasize the need to investigate the stability of doubly-fed induction generator (DFIG) - WT system. In DFIG-WT systems, the slip power is limited by the converter ratings in addition to other electro-mechanical limitations. It is crucial to establish the steady state-stability boundaries especially at high wind speeds. Steady-state stability of the doubly-fed induction generator has been evaluated in [1] and [2]. Banakar et al. considers the electrical dynamics by taking the partial derivatives of the electromagnetic torque with respect to the rotor speed and neglecting the mechanical shaft dynamics while Liu et al. considers the shaft dynamics in the form of the derivative of the mechanical torque. In addition, Liu et al. also analyzes the effect of rotor excitation voltage on the steady-state stability. They however do not show the effect of blade pitching at high wind speeds and power regulation at both below and above rated wind speed. References [3]-[9] investigate the WT in a highly fluctuating wind environment. The control scheme developed by the authors employs pitch control to maintain rated power and rotor speed while keeping the torsional torque to a minimum. Reference [10] investigates the effect of shaft torsional dynamics for a DFIG and flywheel system. A coordinated shaft design and DFIG control using both frequency and time domain techniques so as to avoid torsional resonance, a potential threat to the safety of the system. In this work, a general expression for the steady-state stability of the DFIG for maximum power tracking (MPT), rated power, and power regulation modes are derived. The derivation takes into account the effects of changes in wind speed, rotor speed, and the blade pitch angle. Simulations results are compared with previous work to show the effects of these added parameters on the DFIG stability region. The paper takes a cue from [1] by omitting the DFIGs external

U.S. Government work not protected by U.S. copyright

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1800 1600 1400 Vw = 10 m/s 1200 Pm [Watts] 1000 800 600 400 200 0 Vw = 8 m/s Vw =7 m/s Cpmax Vw = 11 m/s

p r =
pr =

f r

op

f u
Tm r

op

Vw +

op

(2)
Tm
op

P 2J

Te r

op r

op r

Tm u

op Vw

(3)
Vw = 9 m/s

P Te p 2 J r

op

P Tm 2 J r

op r

P 2J

Tm u

op Vw

Tm

op

(4)

Vw = 5 m/s 0 20 40 r [rad/s] 60 80 100

r Vw

= 0

P Tm V w 2 J u op = P Te P Tm p op + 2 J r 2 J r

op

(5)

Fig. 1: WT mechanical output power vs rotor speed at different wind speeds controls and other connections and only focusing on the intrinsic causes of instability of the system. The remaining sections of this paper are organized as follows: In section II, the dynamic model of the wind turbine is outlined. The generalized stability criterion is derived here and used in section III to map out the stability profiles under MPT, rated power, and power regulation modes. Discussion of simulation results is also covered in section III. Finally section IV draws conclusions from the results and discussions of the preceding sections. II. DYNAMIC MODEL OF WIND TURBINE SYSTEM

Vw = 0

P Tm op 2 J = P Te P Tm p op + 2 J r 2 J r

op

(6)

From the transfer functions in (5) and (6), the system is stable if the poles are located in the left hand plane. That is:
p= P Te Tm <0 2 J r r (7a)

Te r

op

Tm r

<0
op

(7b)

A. Steady -State Stability Criterion The DFIG-WT interaction is governed by the behavior of the rotor shaft dynamic equation. Assuming the simplified single mass system and neglecting frictional losses, the shaft dynamics is given by:
p = P (Te Tm ) = f ( 2J
r ,Vw ,

(1)

B. Partial Derivatives of the Wind Turbine Torque In part A of Section II, the wind DFIG-WT system steady-state stability criterion, was established by (7). The immediate task then is to find the torque expressions and their corresponding partial derivatives. The turbine mechanical torque is given by (8) from which the derivatives in (3) are given by (9), (10), and (11) [3]. P 1 (8) Tm = m = R 2C p (, ) Vw 3 r r 2

where J is the equivalent inertia of the turbine-generator system, Tm is the turbine mechanical torque, and Te , is the generated electromagnetic torque. The shaft speed, wind speed and the blade pitch angle are respectively r ,Vw , and

C p Tm R 2 2 V = Vw C p w + R r r 2 r C p Tm R 2 V = Vw 3C p w R Vw r 2
Tm R 2 3 C p Vw = 2 r

(9)

and f (.) stands for a function of. The linearized model of (1) at an operating point say, op ( r 0 , Vw 0 , 0 ) , can be approximated using the Taylor series expansion and neglecting higher order terms [3]. The resulting equations are given by (2)-(4). From (4), the transfer functions in (5) and (6) can be obtained.

(10)

(11)

c c i C p ( , ) = c1 2 c3 c4 e 5 + c6 i

(12)

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c 1 8 c7 3 + 1

(13) (14)

= r R Vw

C. Partial Derivative of the Electromagnetic Torque The steady-state generator model is governed by [12]: Vqds rs je Ls je Ls I qds (17) V = qdr j (e r ) rr j (e r ) Lr I qdr

In (8)-(14), the variables are defined as follows: Pm is the turbine mechanical power, is the air density, R is radius of rotor blade, C p is the power coefficient given by (12) and is the blade tip speed ratio defined in (14). The symbols c1 to c8 are constants for a given turbine type and are listed in the Appendix. Substituting (13) into (12), and differentiating, the partial derivatives of the power coefficient with respect to the tip speed ratio and pitch angle are shown respectively in (15) and (16). c 5 C p c1 c c e i 2 5 c3 c5 c4 c5 c2 + c6 (15) = 2 ( c 7 ) i
C p

and the electromagnetic torque is given by (18). * * Te = k Im(qds I qds ) k Im(Lm I qdr I qds )

(18)

From the generator stator and rotor voltages in (17), we can obtain the corresponding currents given respectively by (19) and (20). The derivative (with respect to the rotor speed) of the electromagnetic torque (18) is obtained by substituting (19) and (20) into (18) and differentiating. The resulting equations are given respectively by (22) and (23). I qds = 1 [(rr j so Lr )Vqds + jLmVqdr ] (19) I qdr = 1 [ jso LmVqds + (rs jLs )Vqdr ] = (rr jso Lr )(rs jLs ) + L2 m so
(20) (21)

c5 cc c 3c 2 c2 c7 3c c 2 c7 + 3 8 2 = c1e i + 32 8 2 c3 1 2 5 c1c3c5 c1c4 c5 (16) ( c7) 2 ( + 1) ( c7) 2 ( + 1) i 2 2 kL Te = m so Lm rr Vqds Lm rs Vqdr + (rr rs + so Lr Ls ) Im(VqdsVqdr ) + L2 so Im(VqdsVqdr ) (Ls rr so Lr rs ) Re(VqdsVqdr ) m 2 (22) 2 2 2 Lm rr Vqds Lr Ls (VqsVdr VdsVqr ) Lm (VdsVqr VqsVdr ) + Lr rs (VqsVqr + VdsVdr ) dTe Lm k = 4 L r V 2 L r V 2 + (r r + L L )(V V V V ) 2(L L L2 ) rs rr Ls so Lr m d r m s qdr r s so r s qs dr ds qr s r so m r qds + L2 m so + L2 so (VdsVqr VqsVdr ) (Ls rr so Lr rs )(VqsVqr + VdsVdr ) m 2 Lr rs (Ls rr + so Lr rs ) (23) In (17)-(23), k = 3P 4 ; P is the number of poles of the induction machine; Lm is the machine magnetizing inductance; I qds and I qdr represent the stator and rotor q-d axis currents respectively; Vqds and Vqdr are respectively the stator and rotor q-d voltages; rs and rr are the stator and rotor resistances ; is the stator frequency and the slip speed is so = r . III. MAPPING THE DFIG STABILITY BOUNDARIES tip speed ratio is null. That is, C p = 0 and (9) reduces to:

A. Maximum Power Point Tracking Mode At low to medium wind speeds, the objective of the WT control is to track the maximum power coefficient profile as shown in Fig. 1. Under this consideration, the partial derivative of the power coefficient (12) with respect to the

Tm R 2 C p 3 V = (24) 2 w 2 r r Substituting (23) and (24) into (7), the criteria for the DFIG steady-state stability when operating in MPT mode is obtained. Fig. 2 shows the stability profile as a function of the rotor speed, r and rotor voltage angle , at different peak rotor voltages, Vr when operating in the MPT mode using the criteria given in (7). For comparison purposes, the stability profile by the conventional approach (i.e., using only (23) and neglecting Tm r ), is also depicted in Fig. 3. The contour in Fig. 2 reveals the following:

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The stability boundary is much wider in the supersynchronous than in the sub-synchronous region. When compared with the conventional approach, the method used in this paper reveals a significant narrowing of the stability region in the sub-synchronous region but shows a much milder effect in the supersynchronous region.
150
00
0

rewritten for rated power mode by differentiating (25) and substituting the obtained derivative into (9) to obtain (27). Alternatively, substituting (15) into (9) introduces the pitch angle explicitly into the stability criteria as given by (28). The effect of both (27) and (28) will be explored.

C p (, ) =

Vw3
1 R 2

(25)

Vr = 20 V Vr = 40 V Vr = 70 V ( Te/ r - Tm/ r <0) Stable region

0
00

100 Rotor voltage angle, [deg]

= 2 Pm,rated

(26)

50

0
0 0
0 00
0

Tm 1 = 2 Pm,rated 2 r r

(27)

-50

-100 ( Te/ r - Tm/ r >0) -150

0 0

Unstable region
0

40

60

80

100 120 140 160 180 Generator speed, r [rad/s]

200

220

240

V Rc1 Cp w + 2 r ( c7) Tm R 2 2 Vw c5 = 28) 2r r i c2 c5 c3c5 c4 c5 c2 + c6 e i In the above equations, Pm,rated is the WT rated output power. At any rotor speed r , the tip speed ratio is given by (14) and C p ( , ) can be found by (25). In this situation the only unknown term is the pitch angle required to maintain the rated power. The roots of the exponential function in (12) or its equivalent polynomial using curvefitting gives the corresponding . Fig. 4 illustrates the contour of the DFIG stability region corresponding to the rated output power mode using the effect of (27) proposed in this paper. As in the MPT mode, the stability region is much wider in the supersynchronous region. However, in the sub-synchronous region, the stability profile is narrower and varies for various combinations of the rotor voltage magnitude and phase angle. Equation (12) can be used to depict the contour of the power coefficient as shown in Fig. 5. One can infer from this contour that at low tip speed ratios (about < 10 ), the power coefficient is less sensitive to changes in the pitch angle than at higher tip speed ratios (about > 10 ). In the rated power mode, the wind speed is inversely proportional to the turbine power coefficient. Therefore in Fig. 5, increasing contour lines means decreasing wind speed. For a given wind speed for example, Fig. 5 shows there are infinite number combinations of and to obtain a fixed C p . Combining (12) and (25) and solving, results in the solution of for varying as shown in Fig. 6. It should be mentioned that some of the solutions
0

Fig. 2: Steady- state stability region for the MPT mode ( proposed approach)
150
0

Vr = 20 V Vr = 40 V Vr = 70 V

100 Rotor voltage angle , [deg]

50 ( Te/ r - Tm/ r <0) Stable region 0 -50 -100

0
0
0

0 0

-150 0
0

Fig. 3: Steady- state stability region for the DFIG (conventional approach) This is a significant result since it shows that incorporating the effect of the mechanical defines a more accurate region of operation of the DFIG-WT system. B. Rated Power Mode At high wind speeds, blade pitch angle control is used to limit the wind turbine power to its rated value. With the output power controlled to the rated value, the power coefficient C p is shown to be only a cubic function of the wind speed as given by (25). Equation (9) can then be

0
0

( Te/ r - Tm/ r >0) Unstable region

0
0

50

100 150 Generator speed, r [rad/s]

200

250

2660

150

V r = 20 V V r = 40 V V r = 70 V
0

100 Rotor voltage angle, [deg]

50 ( Te/ r - Tm/ r >0) Unstable region

-50
0
0

-100

( Te/ r - Tm/ r <0) Stable region

-150 200 205 210 215 220 225 230 235 Generator speed, r [rad/s] 240 245 250

Fig. 4: Steady- state stability region for the DFIG in rated power mode (proposed approach)
p

of may turn out to be very large or negative and have been dropped for obvious practical considerations. The solutions of and shown in Fig. 6 show that in order to maintain a constant power, while varying rotor speed, the range of is very limited. At lower wind speeds above the rated speed, the range of is small, increasing as the wind speed moves towards the cut-out speed. Fig. 7 shows the contour of the DFIG-WT in the rated power mode evaluated using the solutions of and found in Fig. 6. This compares with a similar contour depicted in Fig. 4. It shows that the sub-synchronous stability boundary has been significantly narrowed by the effect of the pitch angle regulation. Fig. 8 shows the same pattern as the wind speed is changed. It can be seen that the sub-synchronous region is heavily affected as the speed changes but the supersynchronous regions remain fairly constant.
0
0 0

30
16 79 9 0.0
Rotor voltage angle, [deg]

0
0

150
0
0 0

25

100

50

20
0.079916

( Te/ r - Tm/ r >0)

0

16 99 07 0.

[deg]

0.1 59 8

Unstable region Vw = 16 m/s

15

10

75 39 0. 2

0. 15 9 8 0.07 3 99 16
0. 31 9 66
0. 2 39 75
0. 1 59 0. 07 83 99 16

-50
0

Vw = 17 m/s

-100 ( Te/ r - Tm/ r <0) -150 150 Stable region

Vw = 18 m/s

0.15983

0.079 916

0
0

58 99 0.3

0.319 66 5 0.2397

200

10

12

14

16

18

20

250 Generator speed ,r [rad/s]

300

350

Fig. 5: The Contour of the power coefficient as a function of the tip speed ratio, and pitch angle,
18 V w = 12 m/s 16 14 12 V w = 14 m/s V w = 16 m/s

Fig. 7: Contour of the stability region at selected wind speeds showing the effect of pitching
Vr = 20 V Vr = 40 V Vr = 70 V
0 0

150

100 Rotor voltage angle , [deg]

50
0

( Te/ r - Tm/ r >0) Unstable region

[deg]

10 8 6 4 2 0

0
0

-50

-100

( Te/ r - Tm/ r <0) Stable region

-150
0
0

10

12

14

16

18

150

200

250 Generator speed , r [rads/s]

300

Fig. 6: The blade pitch angle and the tip speed ratio at various wind speeds

Fig. 8: Contour of the stability region at selected rotor voltages showing the effect of pitching (Vw = 16m/s)

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350

C. Power Regulation Mode 1) Wind speed less than rated speed With the increased penetration level of wind power in power system, it is not enough to operate the WT in MPT and rated output power modes only. For maintaining regulated frequency and voltage in the power system, the generated power should be equal to the demanded power. Hence in that condition, the variable-speed, variable-pitch WT should be operated in power regulation mode whenever necessary. When the wind speed is less than the rated speed, the pitch angle is always kept as zero and the power output of turbine varies with rotor speed. Fig. 9 is used as the reference to obtain the stability profiles shown in Figs. 11 and 12. Figs. 11 and 12, depict that there is no significant effect on the stability profile as the power level varies. However, as in the case of MPT, increased rotor voltage magnitude reduces the stability region. 2) Wind speed greater than rated speed If the wind speed is more than rated speed, then the turbine speed is maintained at rated turbine speed and the blade is pitched to extract less mechanical power from the wind for safe operation of wind generator. When the load decreases, the power output from the turbine should be reduced to match the load. Fig. 10 shows the variation of the blade pitch angle with wind speed during power regulation operation mode. Using Fig. 10, the stability region is investigated at rated turbine speed and it is found that within this range of pitch angle shown in Fig. 10, the system is always stable.
12

25 Pm = 0.9 pu 20 Blade pitch angle, [Deg] P m = 0.8 pu P m = 0.7 pu 15

10

0 12

13

14 15 16 Wind Speed ,Vw [m/s]

17

18

Fig. 10: Wind speed, Vw (above rated wind speed) vs pitch angle , at various turbine output power levels
0

150
000

100 Rotor voltage angle, [deg]

0

Pm = 0.4 pu Pm =0.6 pu Pm = 0.8 pu

50 ( Te/ r - Tm/ r >0) 0 Unstable region

0 0

-50

-100
0

-150 200

( Te/ r - Tm/ r <0) Stable region 220

11.5 11 Wind Speed, V w [m/s] 10.5 10

P m = 0.8 pu

240 260 280 Generator speed , r [rads/s]

Fig. 11: Stability region in power regulation for wind speed less than rated speed at various turbine output powers
P m = 0.6 pu

0 0
0 300

320

150

100
P m = 0.4 pu 9 8.5 8 100

Rotor voltage angle, [deg]

9.5

50 0 0
0

( Te/ r - Tm/ r >0) Unstable region

150

200 250 Generator Speed, r [rad/s]

300

350

-50

-100
00

Fig. 9: Wind speed, Vw (below rated wind speed) vs rotor speed r , at various turbine output power levels

-150 200

( Te/ r - Tm/ r <0) Stable region 220

240 260 280 Generator speed , r [rads/s]

Vr = 20 V Vr = 40 V Vr = 70 V

Fig. 12: Stability region in power regulation for wind speed less than rated speed at various rotor voltage magnitudes

300

320

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IV.

CONCLUSIONS

[3]

A generic expression for the intrinsic stability criteria of a variable-speed, variable-pitch DFIG-based WT system has been derived. The inequality obtained represents the acceptable region of operation of the wind system when it is capturing maximum power at low to medium wind speeds, constant power at high wind speeds and power regulation operation mode. A number of specific conclusions may be drawn. When rotor speed, wind speed and pitch angle taken into account, a more accurate prediction of the stability region is defined. It reveals narrower stability region than the conventional method for both MPT and rated power modes. The effect of pitch angle regulation shows up more significantly in the sub-synchronous region than in the super-synchronous region. It is also found that there no significant effect of output power variation on the stability region when WT system operating in the power regulation modes.

[4]

[5]

Endusa Billy Muhando, Tomonobu Senjyu,Aki Uehara, Toshihisa Funabashi, and Chul-Hwan Kim, LQG Design for Megawatt-Class WECS with DFIG Based on Functional Models Fidelity Prerequisites, IEEE Transactions on Energy Conversion, vol. 24, no. 4, pp. 893-904, December 2009. P. Ledesma, and J. Usaola, Doubly fed induction generator model for transient stability analysis, IEEE Transactions on Energy Conversion, vol.20, no.2, pp. 388- 397, June 2005. R. Vepa, Nonlinear, Optimal Control of a Wind Turbine Generator, IEEE Transactions on Energy Conversion, vol.26, no.2, pp.468-478, June 2011.

APPENDIX Induction Machine Parameters 5hp, 60Hz, 220V line-line (rms), 6 pole wound-rotor Stator resistance (rs) 4.24 Rotor referred resistance (rr) 6.38 Stator leakage inductance (Xs) 44.05 Rotor referred leakage inductance (Xr) 42.02 Magnetizing inductance (Xm) 39.89 Wind Turbine Rated power (Pm,rated) Air density () Moment of inertia (J) Blade radius (R) Rated wind speed

2238 W 1.225 kg/m3 0.089 kgm2 1.25 m 12 m/s

Coefficients of the power coefficient, Cp: c1= 0.5175, c2 = 116, c3 = 0.4, c4 = 5, c5 = 21, c6 = 0.0068, c7=0.08, and c8=0.035.

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H. Geng, and G. Yang, Robust pitch controller for output power levelling of variable-speed variablepitch wind turbine generator systems, IET Renewable Power Generation, vol.3, no.2, pp.168179, June 2009. [7] C. Y. Tang, Y. Guo, and J. N. Jiang, Nonlinear Dual-Mode Control of Variable-Speed Wind Turbines With Doubly Fed Induction Generators, IEEE Transactions on Control Systems Technology, vol.19, no.4, pp.744-756, July 2011. [8] N. A. Schinas, N. A. Vovos, and G. B. Giannakopoulos, An Autonomous System Supplied only by a Pitch-Controlled VariableSpeed Wind Turbine, IEEE Transactions on Energy Conversion, vol.22, no.2, pp.325-331, June 2007. [9] M. Soliman, O. P. Malik, and D. T. Westwick, Multiple Model Predictive Control for Wind Turbines with Doubly Fed Induction Generators, IEEE Transactions on Sustainable Energy, vol.2, no.3, pp.215-225, July 2011. [10] H. De Battista, and R. J. Mantz, Dynamical variable structure controller for power regulation of wind energy conversion systems, IEEE Transactions on Energy Conversion, vol.19, no.4, pp. 756-763, December 2004. [11] Li Ran; Dawei Xiang; and J.L. Kirtley, Analysis of Electromechanical Interactions in a Flywheel System with a Doubly Fed Induction Machine, IEEE Industry Applications Society Annual Meeting (IAS), 2010, pp.1-8, 3-7th October 2010, Houston, TX. [12] P. Krause, O. Wasynczuk and S. D. Sudhoff, Analysis of Electric Machinery and Drive Systems, IEEE Press, Wiley-Interscience, John Wiley & Sons, Inc., New Jersey, 2002.

[6]

[2]

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