Electrical Engineering in Japan, Vol. 150, No.

2, 2005
Translated from Denki Gakkai Ronbunshi, Vol. 123-B, No. 12, December 2003, pp. 15731579

Power Maximization Control of Variable-Speed Wind Generation System Using Permanent Magnet Synchronous Generator

SHIGEO MORIMOTO, TOMOHIKO NAKAMURA, and YOJI TAKEDA

Osaka Prefecture University, Japan

SUMMARY This paper proposes sensorless output power maximization control of a wind generation system. A permanent magnet synchronous generator (PMSG) is used as a variable speed generator in the proposed system. The generator torque is suitably controlled according to the generator speed and thus the power from a wind turbine settles down on the maximum power point by the proposed MPPT control method, where the information on wind velocity is not required. Moreover, the maximum available generated power is obtained by the optimum current vector control. The current vector of PMSG is optimally controlled according to the generator speed and the required torque in order to minimize the losses of PMSG considering the voltage and current constraints. The proposed wind power generation system can be achieved without mechanical sensors such as wind velocity detector and a position sensor. Several experimental results show the effectiveness of the proposed control method. 2004 Wiley Periodicals, Inc. Electr Eng Jpn, 150(2): 1119, 2005; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/ eej.20043 Key words: wind power generation; MPPT control; permanent magnet synchronous generator; sensorless control; current vector control. 1. Introduction Efficient utilization of natural energy has attracted much attention recently in the context of depletion of energy sources and other environmental problems. In particular, wind power generation systems have been developed and implemented due to the renewability and cleanness of wind energy. Since wind energy fluctuates greatly over time, its stable efficient use is an important
Contract grant sponsor: Supported in part by a JSPS Grant-in-Aid for Fundamental Research (C(2) 14550271).

problem [1, 2]. Usually, wind power systems employ induction generators with constant speed or double speed (by changing the number of poles); however, recently, variablespeed systems capable of suppressing power fluctuations related to wind speed have been developed, and their control algorithms have been researched [3, 4]. In addition, permanent magnet synchronous generators (PMSG), which were previously employed for small wind power turbines, are now used in large-scale power plants of several hundred kilowatts, and variable-speed systems are under development [1, 5, 6]. This study deals with a variable-speed power generation system using PMSG. In particular, a new PMSG control system is proposed for maximally efficient utilization of wind energy to assure maximum output. For the same purpose, Ref. 7 presents a maximum output tracking control in which the optimum references for generator speed and d-axis current are found as a function of wind speed, and the PWM converter is controlled by using feedback. In contrast, the method proposed in this study has the following features. Maximum power point tracking (MPPT) is implemented without using wind speed data; instead, the torque is controlled appropriately according to the generators speed [8]. With torque control, the maximum output is achieved by minimization of generator loss while taking PWM converter capacity into account and performing current vector control depending on the operating conditions [810]. In addition, position and speed data are required for conventional PMSG control, but here high-performance sensorless control is used for this purpose [9, 10]. The characteristics of the proposed system are studied experimentally to demonstrate its effectiveness. 2. Generation Control System 2.1 Configuration of power generation system The configuration of the wind power generation system considered in this study is shown in Fig. 1. 2004 Wiley Periodicals, Inc. 11

Fig. 1. Configuration of wind power generation system.

The wind turbine shaft is connected to the PMSG via a speed-up gear (gear ratio G) so that the wind energy becomes the mechanical input of the generator. The PMSG is connected to a PWM converter, and optimum current vector control is applied to the PMSG current. The DC output rectified at the converter is supplied to a battery or a DC load, or is released to a network via an inverter. Since this study aims at maximization of the generated power, the converter output (DC power) is assumed to be absorbed and consumed completely. 2.2 MPPT control irrespective of wind speed The output of a wind turbine can be found as follows [4, 11]: (1) Here is the density of air, A is the wind turbine swept area, Vw is the wind speed, and Cp is the power coefficient. The power coefficient is a function of the tip speed ratio provided that the pitch angle is unchanged: (2) Here R is the wind turbine radius, and w is the wind turbine angular speed. Wind energy can be utilized most efficiently as generator input when the power coefficient is highest, and the tip speed ratio opt meeting this condition is determined uniquely irrespective of the wind speed. This condition is referred to as the maximum power condition in this study, and is denoted by the subscript opt. In addition, the speed and torque values discussed below pertain to the generator shaft unless specified otherwise. At the maximum power condition, the generators angular speed, input torque, and input power (turbine output) can be represented by functions of the wind speed as shown below:

(3) (4) (5) Here Kw, Kt, and Kp are coefficients specific to the wind turbine. In addition, the generators speed, torque, and power at the maximum power condition are interrelated as follows:

Fig. 2. Characteristics of wind turbine.

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(6) (7) A polynomial or another approximation is used to represent the power coefficient Cp that governs the turbine characteristics; for example, when Eq. (8) [11] is applied, the characteristics shown in Fig. 2 are obtained. Here the parameters given in Table 1 are used in the calculations: (8) Here is the wind speed to generators speed ratio [mph/(rad/s)]. The power coefficient in Eq. (8) reaches its maximum Cp-opt = 0.4176 at opt = 11.5 mph/(rad/s) = 5.14 (m/s)/(rad/s). In Fig. 2(a), the curve connecting the maximum power points at various speeds (marked by circles) corresponds to Eq. (7). The torque is represented by the optimum torque curve [see Fig. 2(b)], which shows the relationship between the generators speed and the torque required to obtain the maximum output from the turbine, which corresponds to Eq. (6). Maximum power point tracking can be implemented by controlling the generators speed or torque according to the wind speed by using Eqs. (3) or (4). When a wind speed sensor is installed, wind speed data can be used for efficient control. In this study, however, MPPT control is implemented without using the wind speed. Equation (6) is used to control the generators torque Tg as a function of the speed g: (9) This control operation is illustrated by Figs. 2(b) and 3. Suppose that at wind speed Vw3 (7 m/s), the generators torque Tg and turbines torque Tw coincide at the optimum operating point A in Fig. 2(b). When the wind speed changes to Vw2 (9 m/s) at t = 0.1 s as shown in Fig. 3, Tw changes abruptly and moves to point B; however, the

Fig. 3. Dynamic responses in MPPT control.

change of speed wg is impeded by inertia, and the generators torque Tg is maintained at point A. The generator is accelerated by the torque Tw Tg so that the speed increases, and the torque Tg controlled in accordance with Eq. (9) increases along the optimum torque curve. On the other hand, the turbines torque drops with increasing generator speed so that Tw and Tg eventually reach the same value (point C). This is the maximum power point at wind speed Vw2. Hence, MPPT control can be implemented without using wind speed sensors. Figure 3 also illustrates the case in which the wind speed drops from Vw2 to Vw3. In this case, too, the characteristic converges to the optimum operating point (point A) in a similar way. 3. PMSG Control 3.1 Configuration of control system The configuration of the PMSG control system is shown in Fig. 4. In the position/speed estimation unit, the ^ (electrical angle) and speed estimated generator position ^ (electrical angle) are calculated from the currents i, i obtained by converting the detected generator currents iu, iv ^, and the voltage into coordinates at estimated position references v , v. In the MPPT control unit, the generators torque reference T g is generated from the estimated speed

Table 1. Specifications of wind turbine

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Fig. 4. Configuration of the PMSG control system.

^ (mechanical angle) by means of Eq. (9). In the optimal g current vector unit, the optimal current vector references i d, iq are generated from the torque reference and the estimated speed according to the operating conditions, and feedback control is applied to the PWM converter. Each control unit is described in detail below. 3.2 PMSG model and optimal current vector control The mathematical model for a permanent magnet synchronous generator (PMSG) is basically the same as that for a permanent magnet synchronous motor (PMSM). The equivalent circuits (for the d- and q-axes) and the torque equation of the PMSM with regard to iron loss are given in Fig. 5 and Eq. (10), respectively: (10) Here Pn is the number of pole pairs, a is the armature flux linkage due to PM, and Ld, Lq are the d- and q-axis inductances. In Fig. 5, Rc is the equivalent loss resistance representing iron loss. This loss is taken into consideration in maximum efficiency control (described below), but is disregarded in other control algorithms for the sake of simplicity. In the latter case, the circuits in Fig. 5 become the most common equivalent circuits of the PMSM. Generator operation (Tg > 0) takes place when control is applied so that the motors torque Tmot becomes negative. MPPT control can be implemented by applying a torque reference output by the MPPT unit to the generators torque. However, as is evident from Eq. (10), there is some freedom in choosing the current to generate the same torque. Therefore, appropriate setting of the current vector is important in order to maximize performance. Since this study aims at

Fig. 5. Equivalent circuits of PMSM.

maximization of the generated output, two control schemes are designed: one to minimize generator losses, and the other to obtain maximum output with regard to the capacity of the PWM converter. 1. Maximum efficiency control The authors have shown that the optimal current vector at a given generated torque can be calculated as a function of torque and speed with regard to iron loss as shown in Fig. 5 [12]. In this study, considering the specific implementation for torque control, the current references for d- and q-axes are approximated as (11)

(12) Here K0, K1, K2, K3 are first-order functions of . The locus of the optimum current vector i(id, iq) specified by Eqs. (11) and (12) is shown in Fig. 6 as the maximum-efficiency curve. As the wind speed rises, the torque reference increases. Therefore, the current vector shifts along the maximum-efficiency curve toward point A [as shown by (1) in the diagram]. 2. Control with regard to converter capacity As stated above, the generators speed and torque increase with the wind speed. As a result, the generators terminal voltage and current increase so that the maximum

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voltage and current values governed by the converters capacity and generators ratings are surpassed. Therefore, the following control algorithm is applied to the operating area where the limit values are exceeded. When the current Ia (= | i |) surpasses the limit Iam, the current vector is adjusted in phase so as to obtain greater torque at the same current compared to the maximum efficiency control. In other words, when the current vector reference during maximum efficiency control goes beyond point A in Fig. 6 (Ia = Iam), the q-axis current is increased along the negative direction of the current limit circle, and the current vector is shifted toward point B [shown by (2) in the diagram]. Point B is associated with the current vector producing maximum torque at Ia = Iam, being defined as follows [13]: (13)

From the conditions Vo = Vom and Ia = Iam, the d-axis current reference can be found in the following way. The d-axis current reference is obtained from the d-axis current reference in Eq. (16) by using Eq. (14):

(16) The current vector shifts along the current limit circle as the speed increases [shown by (3) in the diagram] so that the current and voltage are kept within their limits. 3.3 Sensorless control of PSMG Position and speed data are required for control of a permanent magnet synchronous generator (PSMG); hence the need for sensors. In this study, however, the required data are estimated from the current and voltage, thus providing sensorless control. In particular, a control algorithm is used that was previously proposed by the authors for interior permanent magnet synchronous motors [14]. The estimation of position and speed is briefly explained below. The electric system model of the PMSG in estimated coordinates ( coordinates) that rotate at the electrical ^ while lagging by the electrical angle angular speed e ^ (= ) behind the dq coordinates (the rotating reference frame of PMSG), is expressed as shown below [14]: (17)

(14) In the speed area in which the generators voltage exceeds its limit value, flux-weakening control [13] is applied so that the induced emf Vo does not exceed its limit value Vom. The following equation is obtained by ignoring iron loss in the equivalent circuit in Fig. 5: (15)

where

(18)

(19) Based on Eq. (17), e and e are estimated by the disturbance observer. Assuming that the speed estimation error err (= ^ ) in Eq. (18) is sufficiently small, the estimated extended emf [the first term on the right-hand side in Eq. (18)] indicates that the position estimation error e is (20) ^ Using PI compensation, the estimated angular speed (electrical angle) is found, and is then integrated to obtain ^: the estimated position

Fig. 6. Locus of optimum current vector.

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(21) In the proposed method, position and speed cannot be estimated at standstill or in low-speed operation. However, this is a sensorless control method providing position/speed estimation by a relatively simple control configuration without any special additional signals, and thus is suitable for PMSG in a wind power system with no stoppages or low-speed operation. 4. Experimental Study of Characteristics 4.1 Configuration of experimental system Experiments were performed on the proposed system as shown in Figs. 1 and 4. However, an AC servomotor (2 kW, 2000 min1) was employed instead of a wind turbine to drive the experimental PMSG. The specifications of the PMSG are listed in Table 2. Since the q-axis inductance varies depending on the magnetic saturation, the following model is used in the position/speed estimation unit and control units: (22) The coefficient in Eq. (9) for the MPPT control unit was set to Kopt = 2.52/(188.52) = 7.09 105 Nm/(rad/s)2 according to the rated torque and speed. Proceeding from the generator specifications given in Table 2, the coefficients in Eq. (11) for the d-axis current reference in maximum efficiency control were set as follows [12]:

shown by the dotted line in Fig. 4 was performed by a DSP (TMS320C32) at a sampling period of 0.1 ms. In addition, PWM control of the converter was performed by comparison with a triangular carrier, with a carrier frequency of 10 kHz and a DC link voltage Vdc of 150 V.

(23)

The gains for speed estimation in Eq. (21) were set to K1 = 45, K2 = 2025. All processing in the control block

Table 2. Specifications of tested PMSG

Fig. 7. Steady-state characteristics as a function of generator speed.

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In panel (a), the d- and q-axis currents are varied with the speed to obtain the optimal current vector. In the speed area below 1, both the voltage and current are within their limits, as shown in panel (c); therefore, maximum efficiency control is implemented, and the generators torque is kept on the optimal torque curve [see panel (b)]. When g = 1, the current Ia reaches its limit value (set to the rated current 8.66 A). As the speed increases further, Ia is kept constant, and the torque is increased by advancing the currents phase. When g = 2, the voltage also reaches its limit (98 V); therefore, at higher speeds, flux-weakening control is performed by applying a negative d-axis current, which makes high-speed operation possible while keeping the voltage and current within limits [see panel (c)]. As a result, the generators torque becomes unable to follow the optimal torque curve as soon as the speed exceeds its rating. However, nearly the rated torque can be generated, so that the output increases [see panels (b), (d)]. Thus, the energy of the wind turbine can be utilized as efficiently as possible due to the optimal current vector control. 4.3 Transient characteristics Figure 8 presents the dynamic response when the generator speed is varied as 1400 2200 1400 min1 using the AC servomotor. Current vector control is switched among the three algorithms near 1800 min1. The speed estimation error in the transition is small, amounting to 10 min1 at most. Regarding the position estimation characteristic shown in panel (b), an error of up to 20 occurs during acceleration. However, the characteristic converges rapidly, providing basically good results without steady-state error. The generators current and the d- and q-axis currents are shown in panel (c). Due to switching among control algorithms according to speed, the actual d- and q-axis currents follow their respective references properly. As is evident from the electrical output shown in panel (d), stable output control in the presence of varying speed is realized. 5. Conclusions This study has dealt with a wind power generation system using a permanent magnet synchronous generator. In particular, a control method for PMSG was proposed in order to maximize the utilization of wind energy. MPPT control was implemented by maintaining the optimal relation between the generators speed and the torque. In addition, a current vector control algorithm was proposed to minimize generator losses while keeping the voltage and current within limits with regard to the capacity of the PWM converter (used to drive the PMSG), thus maximizing the output power. The proposed control scheme was

Fig. 8. Dynamic responses of proposed system.

4.2 Steady-state characteristics The experimental steady-state characteristics versus the generator speed are shown in Fig. 7.

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implemented without any sensors. The performance of the proposed system was examined and estimated experimentally, using an AC servomotor instead of wind turbine, and good characteristics were confirmed. In this study a constant pitch angle was assumed, but the proposed method can also be applied to a system with a pitch angle controller. Specifically, one needs only to adjust the MPPT coefficients according to the power coefficient (a function of the pitch angle). The proposed method does not require wind turbine characteristics beyond the rated wind speed, and hence there is no direct effect of pitch angle control. However, the operating characteristics may be improved by combining pitch angle control with the proposed method. In the future, the authors plan to thoroughly examine the performance of the proposed method under realistic conditions of a wind power system (e.g., variation of wind speed), and to apply it to a real system. Acknowledgment The present study was supported in part by a JSPS Grant-in-Aid for Fundamental Research (C(2) 14550271). REFERENCES 1. Shimizu Y, Maeda T. Progress and prospects for wind turbine R&D study on stabilization of a wind generator power fluctuation. J IEE Japan 1998;118:366 369. (in Japanese) 2. Kawahito T, Suzuki T. Maximizing output power of wind generator by output current control. Trans IEE Japan 1994;114-B:283289. (in Japanese) 3. Chikaraishi H, Hayashi Y, Sato N. A variable speed control of the induction generator without speed sensor for wind generation. Trans IEE Japan 1990;110D:664672. (in Japanese) 4. Matsuzaka T, Tuchiya K. Study on stabilization of a wind generator power fluctuation. Trans IEE Japan 1997;117-B:625633. (in Japanese) 5. Tamai S, Kawamura M, Itoh D, Kinpara Y, Inoue M, Matsushita T, Nakayama H. Variable speed wind

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generation system with PM synchronous generator. 1999 National Convention Record IEE JapanIndustry Applications Society, p 111112. (in Japanese) Nagata I, Hayakawa K, Arinaga S, Inomata N. Development of gearless variable-speed wind turbine. Mitsubishi Juko Goho 2001;38:100103. (in Japanese) Senjyu T, Hamano T, Urasaki N, Uezato K, Funabashi T, Fujita H. Maximum power point tracking control for wind power generating system. Trans IEE Japan 2002;122-B:14031409. (in Japanese) Nakamura T, Morimoto S, Takeda Y. Optimum control of IPMSG for wind generation system. Proc PCC-Osaka 2002, p 14351440. Nakamura T, Morimoto S, Takeda Y. Sensorless control of interior permanent magnet synchronous generator for wind power generation. 2002 National Convention Record, IEE Japan, p 209210. (In Japanese) Nakamura T, Morimoto S, Takeda Y. Wide speed range operation of sensorless wind generation system using IPMSG. Papers of Technical Meeting on SPC, IEE Japan, SPC-03-17, 2003. (in Japanese) Tirumara R, Mohan N. Dynamic simulation and comparison of slip ring induction generators used for wind energy generation. Proc IPEC-Tokyo 2000, p 15971602. Morimoto S, Hatanaka K, Tong Y, Takeda Y, Hirasa T. Loss minimization control of permanent magnet synchronous motor drives. IEEE Trans Ind Electron 1994;41:511517. Morimoto S, Hatanaka K, Tong Y, Takeda Y, Hirasa T. Variable speed drive system of permanent magnet synchronous motors with flux-weakening control. Trans IEE Japan 1992;112-D:292298. (in Japanese) Morimoto S, Kawamoto K, Takeda Y. Position and speed sensorless control for IPMSM based on estimation of position error. Trans IEE Japan 2002;122D:722729. (in Japanese)

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AUTHORS (from left to right)

Shigeo Morimoto (member) completed the M.E. program at Osaka Prefecture University in 1984, became a research associate there in 1988, and has been an associate professor since 1994. His education and research interests are motor drive systems and motion control. He holds a D.Eng. degree, and is a member of IEEE, SICE, ISCIE, and JIPE. Tomohiko Nakamura (student member) completed the first term of his doctorate at Osaka Prefecture University in 2003 and is now employed by ST Microelectronics. His student research dealt with wind power systems using permanent magnet synchronous generators. Yoji Takeda (member) completed the M.E. program at Osaka Prefecture University in 1968, joined the faculty as a research associate, and has been a professor since 1993. His education and research interests are variable-speed motor control and linear actuators. He holds a D.Eng. degree, and is a member of IEEE, ISCIE, and JIPE.

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