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Published in IET Renewable Power Generation
Received on 8th November 2007
Revised on 10th February 2008
doi: 10.1049/iet-rpg:20070107

ISSN 1752-1416

Small-signal model and dynamic analysis of

variable speed induction machine wind farms
A. Tabesh R. Iravani
Center for Applied Power Electronics, Department of Electrical and Computer Engineering, University of Toronto,
Toronto, Ont, M5S 3G4, Canada
E-mail: a.tabesh@utoronto.ca

Abstract: A unied, modular, small-signal dynamic model for an induction machine-based wind farm is presented.
The proposed model can represent an arbitrary number of xed-speed, partially variable-speed (doubly fed) and
variable-speed induction machine-based wind units in a wind farm. The model represents the dynamics of (i) each
wind turbine-generator electromechanical system, (ii) each converter system and the corresponding controls and
(iii) the host electrical grid, within the subsynchronous frequency range (0.1 60 Hz). In contrast to the widely
used state-space formulation, the proposed approach is based on developing electrical and mechanical
transfer-function matrices to formulate the overall system as a multivariable feedback system. Thus, it
provides signicant exibility to represent a large number of wind units and their controllers, identical or nonidentical, within a wind farm.
Based on the developed model, a frequency response-based method is also introduced, as an alternative to the
eigen analysis approach, for small-signal subsynchronous dynamic analysis of the wind farm and its host electrical
grid. The proposed method provides a new performance robustness criterion for performance evaluation and also
a design tool based on the size of the system transfer-function matrix. The concept of induced norm is adopted
here as a measure of matrix size. As an example, applications of the model and the analysis approach to a twounit wind farm is presented and the results are validated based on time-domain simulation studies in the PSCAD/
EMTDC environment.

Nomenclature
va , vb , vc

phase voltages

vq , vd (vqd)

q and d components of a voltage signal in the

qd rotating frame

ia , ib , ic
iq , id , (iqd)

phase-a, phase-b and phase-c line currents

q and d components of a current signal in the
qd rotating frame

Te , v P, Q

electromagnetic torque, angular frequency,

real and reactive power components

J, D, K

inertia, damping coefcient and spring

constant of the turbine
resistance, inductance, reactance and
magnetic ux
capacitance, dc-link voltage, amplitude and
phase modulation indices of a converter

r, L, X, l
C, Vdc , m, d

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doi: 10.1049/iet-rpg:20070107

g, l

subscripts signifying the machine-side and

the network-side variables of a converter
system

r, s, n

subscripts specifying the rotor, stator and

network variables

Introduction

Recent technological advancements for harvesting wind

power, environment issues and volatility of energy cost have
resulted in rapid proliferation of wind power in power
systems, and the trend is expected to continue in the
foreseeable future [1]. Increase in the depth of penetration
of wind power and installation of large-size wind farms
have raised a host of issues with respect to integration of
wind power in power systems [1, 2]. These issues can be
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categorised and investigated under (i) steady-state, (ii) smallsignal dynamics, (iii) large-signal dynamics and (iv)
electromagnetic transients [1, 2]. This paper deals with
subsynchronous small-signal dynamics of a power system
that includes wind farms. The proposed formulation of this
paper is based on a detail model of the induction machine
(IM). Using a simplied reduced order model [3], the
formulation can be modied as a tool for small-signal
stability analysis of a power system which includes multiple
wind farms.
Although production-grade software tools for the analysis
of small-signal dynamics of conventional power systems do
exist [4], to the best of our knowledge none represents
models of wind farms and wind units. In recent years,
several attempts have been made to develop small-signal
dynamics of wind farms [5] and wind units [6]. However,
such developments are tailored for specic systems or case
studies and do not provide a generalised platform for the
analysis of small-signal dynamic phenomena of a power
system that includes wind power. This paper introduces a
unied model for the analysis of IM-based wind farms in
power systems. The model provides a modular structure to
represent:
xed-speed squirrel-cage IM-based wind farms [7, 8];
partially variable-speed (doubly fed) IM-based wind
farms [9, 10];
fully variable-speed,
farms [2];

squirrel-cage

IM-based

wind

any hybrid of the above congurations within a wind farm.

In this paper, a dynamic model of each IM and the
corresponding converter system and controls is deduced as
a module. The system formulation is unied since each
module is embedded and interfaced with the rest of the
system model in terms of input output variables regardless
of the machine-converter type. The input output transfer
function of each module can be efciently obtained from a
state-space representation of the module. The proposed
model represents the dynamic phenomena of the overall
system, that is, the wind farm and the host utility grid,
within the subsynchronous frequency range and provides a
platform for the analysis of electromechanical (including
torsional) dynamics and dynamic interactions among
controls, among wind units within a wind farm and
between a wind farm and the host power system. Although
the developed model in this paper is discussed in the
context of IM-based wind farms, it can be extended to
represent synchronous machine based wind farms as well.
The proposed modelling approach is an alternative method
to the conventional state-space formulations and exploits
electrical and mechanical transfer-function matrices [11] to
represent overall dynamics of the power system as a
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multivariable feedback system. The proposed formulation

provides a exible platform to represent the large number
of wind units within a wind farm and accommodates
identical and non-identical wind units. Based on the
developed model, this paper also presents a frequency
response approach for the analysis of the overall systems
small-signal dynamics and a novel performance robustness
criterion, based on the notion of sensitivity transfer
function [11].
To demonstrate application steps and evaluate accuracy of
the developed model and the analysis approach, dynamics of
a power system that includes a wind farm with two doubly fed
IM (DFIM) based wind units is investigated. The study
results are validated based on time-domain simulation in
the PSCAD/EMTDC environment.

2 Structure of an IM-based
wind farm
Fig. 1 illustrates the three possible congurations of an
IM-based wind farm. Fig. 1a shows a schematic diagram
of a fully adjustable speed (which also known as variablespeed) IM-based wind farm. In this conguration, the
squirrel-cage IM of each wind unit is interfaced to the
electrical system through a back-to-back ac dc ac
voltage-sourced converter (VSC) system. The VSC system
controls the rotor speed in a wide range for maximum
wind power extraction and delivers the generated power at
the desired voltage, power factor or reactive power to the
utility system.
In the DFIM-based wind farm shown in Fig. 1b, the
IM stator is directly connected to the electrical system and
operates at the xed frequency of the system. The threephase IM rotor windings are interfaced to the electrical
system through a back-to-back VSC system. The rotor-side
VSC controls the rotor speed for maximum wind energy
capture. This conguration is also a variable-speed wind
energy system; however, the range of rotor speed variations
is limited as compared with that of Fig. 1a.
Fig. 1c shows a schematic diagram of a xed-speed
IM-based wind farm. In this conguration, the stator of
each squirrel-cage IM is directly interfaced to the electrical
system, and the machine operates at the systems xed
frequency. This paper concentrates on the congurations
shown in Figs. 1a and 1b since the model of conguration
shown Fig. 1c, which is a special case of the developments
of this paper, is fully described in [8].
Fig. 2 shows a block representation of the VSC system and
the corresponding controls, adopted for each wind energy
conversion unit shown in Figs. 1a and 1b. The machineand network-side VSCs are independently controlled. A
vector control strategy is adopted to control the generator
rotor speed [1013]. The vector control scheme controls the
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reactive power, Qg . For the vector control scheme, the
stator ux angle is used to specify a rotating qd reference
frame such that the stator ux, ls , is in the direction of
d-axis, that is, lds , and thus its q-axis component, that is,
lqs is zero. The stator voltages vqds [vqs vds ]T in the
qd reference frame are [15]

vqds rs iqds

ve
0


0
l
p qds

(1)

where rs and ve are the stator resistance and frequency and

p d=dt: iqds [iqs ids ]T and lqds [lqs lds ]T are the stator
current and ux linkage, respectively. The stator ux
linkage in the qd frame is [15]

lqds Lls iqds Lm (iqds iqdr )

(2)

where Lls and Lm are the leakage and mutual inductances and
iqdr [iqr idr ]T is the rotor current. The electromagnetic
torque equation (per unit) in the qd reference frame is [15]
Te vb (lds iqs  lqs ids )

(3)

Substituting for lqs 0 and iqs from (2) in (3), we deduce


Figure 1 IM based wind farm congurations
a Fully adjustable speed conguration
b Doubly fed conguration
c Fixed-speed conguration
Subscripts s, r and n stand for stator, rotor and network
variables, g and l stand for machine- and network-side VSC
variables, respectively

Te vb lds iqs 


Lm vb
lds iqr
Ls

Equation (4) shows that in the vector control scheme, the

torque (speed) is proportional to the q-axis component of
the VSC current which is the stator current in a squirrelcage IM or rotor current in a DFIM. The instantaneous
reactive power (per unit) absorbed by the machine at the
terminals of the stator windings is [13, 16]
Qg vqs ids  vds iqs

Figure 2 Control block diagram of the VSC systems

shown in Figs. 1a and 1b
torque (speed) and the machine reactive power. For the
network-side VSC, a decoupled control strategy is employed
to independently control real and reactive power exchanges
between the network-side VSC and the grid [12, 14].

2.1 Machine-side vector controller

The reference inputs to the machine-side VSC controller,
Fig. 2, are the desired rotor speed, vg , and the stator
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(4)

(5)

ids in the fully adjustable speed conguration shown in Fig. 1a

is the same as the d-axis component of the VSC current.
Also, for the DFIM conguration, ids is primarily
controlled by idr based on (2). Hence, the control of the
stator reactive power, in both the fully adjustable speed and
the DFIM congurations, is achieved by regulating the
direct current component of the machine-side VSC.
Equations (4) and (5) convey that torque (speed) and stator
reactive power can be independently controlled via the qd
current components of the machine-side VSC.

2.2 Network-side controller

The network-side VSC, in each conguration shown in
Fig. 1 maintains the dc-link voltage at a prescribed level
and regulates the network voltage and/or reactive power
[12]. A schematic diagram of the network-side control
strategy is also shown in Fig. 2. Synchronous rotating
reference frame of the innite source, Fig. 1 is the global
qd reference frame of the network side. To be consistent
with the machine-side notations, qd axes of network-side
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reference frame are selected such that the VSC current
components iql and idl control real and reactive power
components, respectively.
Reference dc voltage, Vdc , is compared with the measured
dc-link voltage to generate an error signal. This error signal is
applied to a controller (error amplier) to produce a reference
for the quadrature component of current, iql . The reference
for the direct component of current, idl , is computed based
on the desired reactive power, Ql , at the VSC terminal.
Each reference signal is compared with the corresponding
measured current in a feedback loop and the error is
applied to the corresponding controller. These controllers
produce reference signals for the corresponding qd voltage
components of the network-side VSC.

3 Small-signal dynamic model of

the power conversion system and
the controllers

A small-signal dynamic model of the converter system is

deduced by linearising (8) and (10) as

2Vdc0

vqd g



mg Vdc cos dg
sin dg ,
2

vqd l



ml Vdc cos dl
sin dl
2

(6)

(mg , dg ) and (ml , dl ) are modulation indices and angles

of the machine- and network-side VSCs, where

mg

q
2
v2
qg vdg

0:5Vdc
!
vdg
1
dg tan
,
vqg

ml

q
2
v2
ql vdl
0:5Vdc
1

dl tan

vdl

(7)

vql

vqg , vdg and vql , vdl in (7) are the machine- and networkside VSC reference voltages, respectively, and Vdc the
dc-link nominal voltage (Vdc0 ). Substituting for (mg , dg )
and (ml , dl ) from (7) in (6), we deduce
vqd g

Vdc 
v ,
Vdc0 qd g

vqd l

Vdc 
v
Vdc0 qd l




dV
3
Vdc Idc Vdc C dc vTqd g iqd g vTqd l iqd l
2
dt
Substituting for Vdc (dVdc =dt)
rearranging the equation, we obtain

(9)

Dvqd g

Dvqd l

Dvqd g

3vqd g0

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!


2
2sCVdc0

(10)

DVdc

(11)

DVdc

(12)

Vdc0
vqd l 0

Vdc0

(13)

T
Dvqd g
vTqd g0 Diqd g  iqd
g0


T
(14)
Dv
vTqd l 0 Diqd l iqd
qd l
l0
!
3vqd l 0  T

T
Dvqd l
Dvqd g
vqd g0 Diqd g  iqd
2
g0
2sCVdc0

T
Dv
(15)
vTqd l 0 Diqd l iqd
qd
l0
l

Solving (14) and (15) for Dvqdg and Dvqdl yields

Dvqdg Rg1 Dvqdg Rg2 Dvqdl Rg3 Diqdg Rg4 Diqdl

(16)

Dvqdl Rl1 Dvqdg Rl2 Dvqdl Rl3 Diqdg Rl4 Diqdl

(17)

where matrices Rgi and Rli , i 1, 2, 3, 4 are given in

Appendix 1. Equations (16) and (17) provide a small-signal
dynamic model of the ac dc ac VSC system in the
frequency domain.

3.2 Machine-side controller model

Reference voltages of the machine-side VSC vqdg shown in

by
Fig. 2 are related to reference currents iqd
g

vqdg Gdg iqd
g

(18)

where Gdg is a 2  2 decoupling transfer-function matrix for

the fully adjustable speed and the DFIM congurations as

given in Appendix 1, respectively. Reference currents iqd
g
are the outputs of the machine-side regulator. Dynamics of
the regulator is modelled by a linear transfer-function
matrix, in Laplace domain, as
"

in (9) and


dVdc2
3 T

vqd g iqd g vTqd l iqd l

dt
C

dDVdc 3  T
T

vqd g0 Diqd g  iqd

Dvqd g
g0
dt
C

T
Dv
vTqd l 0 Diqd l iqd
qd l
l0

(8)

where vqdg [vqg vdg ]T and vqdl [vql vdl ]T . The dc

voltage dynamics is expressed by the power balance
equation [14] as

(1=2)(dVdc2 =dt)

Dvqd l

Dvqd l

vqd g0

Transferring (11) (13) to Laplace domain and substituting

for DVdc from (13) in (11) and (12), we deduce

3.1 Converter system model

The fundamental-frequency component model of the
ac-sides of the VSC system shown in Fig. 2 is [14]

Dvqd g

Dvqd g


iqd
g

G cg

vg  vg
Qg  Qg

#
(19)

where Gcg is a 2  2 matrix and consists of the regulator

transfer functions. Gcg components are either PI or other
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linear controllers. Since DQg Dvg 0, and substituting

from (19) in (18), the incremental machine-side
for iqd
g
reference voltage is
Dvqdg


G d g G cg

Dvg
DQg

Ql in (27) is the reactive power exchanged between the VSC

and the network (Figs. 1a and 1b) and given by

(20)

From linearisation of (28), we deduce

DQl [vdn0 vqn0 ]Diqdl  [idl 0 iql 0 ]Dvqdn

Linearising (5), DQg is obtained as

DQg [vds0 vqs0 ]Diqds  [ids0 iqs0 ]Dvqds

(21)

Kl3 Dvqdl Kl4 Diqdl Kl5 Dvqdn

where
"
Kg1 Gdg Gcg

ids0
 
1
Kg3 Gdg Gcg
0

"
,

iqs0

K g 2 G d g G cg

vds0

vqs0

Equation (22) expresses a small-signal dynamic model of the

machine-side VSC controller shown in Fig. 2.

3.3 Network-side controller model

Reference voltages of the network-side VSC (vqdl in Fig. 2)

are related to reference current iqd
by
l

vqdl Gdl (iqd
 iqdl )
l

(23)

where Gdl is a 2  2 transfer-function matrix that regulates

voltage references in the rst feedback loop (Fig. 2) based

are the
on current error signals. Reference currents iqd
l
outputs of the network-side regulator in the second
feedback loop (Fig. 2). A dynamic model of the regulator,
in Laplace domain, is

iqd
l


G cl

Vdc  Vdc
Ql  Ql


(24)

where Gcl consists of either a PI or other linear controller

transfer functions. Since DVdc DQl 0 at a prespecied operating point, the incremental network-side
voltage and current references are obtained from (23)
and (24) as

 Diqdl )
Dvqdl Gdl (Diqd
l


DVdc

Diqdl Gcl
DQl

(25)
(26)


from (26) in (25), we obtain
Substituting for Diqd
l

Dvqdl


Gdl Gcl



DVdc
Diqdl
DQl

Dvqdl Kl1 Dvqdg Kl2 Diqds

(22)

Kg1 Dvqds Kg2 Diqds Kg3 Dvg

(27)

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(29)

Substituting for DQl and DVdc from (29) and (13) in

(27), we obtain

Substituting for DQg from (21) in (20), we obtain

Dvqdg

(28)

Ql vqn idl  vdn iql

(30)

where
Kl1

3Gdl Gcl

iqg0

idg 0

2sCVdc0


,

Kl2

3Gdl Gcl

vqg0

2sCVdc0 0
0
0
"


0
3Gdl Gcl iql 0 idl 0
, Kl5 Gdl Gcl
Kl3
idl 0
2sCVdc0
0
0
2
3
3vqg0
3vdl 0
1

6 G  2sCV
2sCVdc0 7
6
7
dc0
Kl4 Gdl Gcl 6 cl
7
4
5
1
vdn0
 vqn0
G cl

vdg0
0
0


#

iql 0

Equation (30) describes a small-signal dynamic model for the

network-side VSC controller shown in Fig. 2 corresponding
to either conguration shown in Figs. 1a or 1b.

4 Model of a multi-unit
IM - based wind farm
In this section, a unied model to represent small-signal
dynamics of various IM-based wind farm congurations
shown in Fig. 1 is developed.

4.1 Model of electrical components

A linearised model of the electrical system of the IM of the
jth wind unit shown in Figs. 1a or 1b is [15]
"
Mj

Diqdsj
Diqdrj

"

Dvqdsj

Bj Dvgj
Dvqdrj
"
#
Diqdsj

DTej Cj

Diqdrj

(31)

(32)

where DTej and Dvgj are the electromagnetic torque and the
rotor electrical angular speed of the jth unit. Mj , Bj and Cj
are the functions of the machine parameters as given in
Appendix 1. Diqds , Dvqds , Diqdr and Dvqdr are the qdcomponents of the stator and rotor currents and voltages,
respectively. To include the dynamic model of the
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converter system within the corresponding machine model,
the machine-side variables of the back-to-back VSC system
are expressed in terms of the network-side parameters. For
the fully adjustable speed conguration, Fig. 1a, the VSC
terminal quantities are related to the IM and the network
quantities by
vqdg vqds ,

vqdl vqdn

iqdg iqds ,

iqdl iqdn

(33)

Substituting for vqdg and vqdl from (22) and (30) in (16) and
(17), respectively, and solving the equations for Diqdg Diqds
and Dvqdg Dvqds , we deduced
Diqds Ki1 Dvg Ki2 Dvqdn Ki3 Diqdn

(34)

Dvqds Kv1 Dvg Kv2 Dvqdn Kv3 Diqdn

(35)

to the machine and the network quantities based on

vqdg vqdr ,

iqdg iqdr

vqds vqdn ,

iqdl iqdn  iqds

(38)

and terminal voltages of the network-side VSC in abc frame,

vabcl , are related to the network voltages vabcn , Fig. 1b, as
vabcn  vabcl rl iabcl Ll

diabcl
dt

(39)

Transferring (39) to the qd reference frame of the networkside VSC shown in Figs. 1b and 2, we deduce [15]
(40)

vqdn  vqdl Gl iqdl

where

where coefcients Ki1 to Ki3 and Kv1 to Kv3 are given in

Appendix 1. In the conguration shown in Fig. 1a, each
unit employs a squirrel-cage IM. Therefore for the jth
unit Dvqdr 0. Substituting for Dvqds and Diqds from (34)
j
j
j
and (35) in (31) and (32) and rearranging the results, we
deduce
Mj0 Dij Dj0 Dvj Bj0 Dvgj

(36)

DTej C1j0 Dvgj C2j0 Dvj C3j0 Dij

where


Ki3j

z22

Kv3j

M j Mj
z22
z22 I22



Ki2j
Kv2j z22
D0 j
 Mj
z22 I22
z22
0

Bj0 Bj
C2j0


Cj

Kv1j

z21

Ki2j

z22

z22

I22


 Mj


z21
C3j0

Dvj [Dvqnj Dvdnj , 0, 0]

Ki1j




(37)

I22

C1j0 Cj

Cj


z22
z22

z22

Ki3j

z22

z22

I22




Ki1j

z21

Dij [Diqnj Didnj , Diqrj , Didrj ]T

Iij and zij are i  j identity and zero matrices, respectively.
Equation (36) expresses the dynamics of a fully adjustable
speed wind energy conversion unit in terms of terminal
voltages and currents of each unit. This formulation
embeds the dynamic of the VSC system of each unit
within the corresponding machine model. Analogous to
(36), a mathematical model can be developed for the jth
DFIM-based unit shown in Fig. 1b. For a DFIM wind
energy unit, the VSC system terminal quantities are related
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r sLl
Gl l
vLl

vLl
rl sLl

Substituting for Dvqdl Dvqdn  Gl Diqdl , Dvqdg Dvqdr

and Diqdg Diqdr in (16) and (17) and solving for iqdl and
vqdr , we obtain
Diqdl Ri1 Dvg Ri2 Dvqdn Ri3 Diqdn Ri4 Diqdr

(41)

Dvqdr Rv1 Dvg Rv2 Dvqdn Rv3 Diqdn Rv4 Diqdr

(42)

where Ri1  Ri3 and Rv1  Rv3 are given in Appendix

1. Substituting for Diqdl and Dvqdg from (41) and (42) in
(31) and (32) and rearranging the results for the jth wind
unit, we deduce an analogous mathematical model
described by (36), except that the coefcients are
Mj0


Mj

I22  Ri3j

Ri4j

"

z22
Rv3j
#

z22
Rv4j


I22

 " I
z22
Ri2j z22
22
0
(43)

Dj Mj
Rv2j I22
z22 z22

 "z #


Ri1j
Ri1j
21
0
Bj Mj

Bj , C1j0 Cj
Rv1j
z21
z21




I22  Ri3j Ri4j
Ri2j z22
0
0
C3j Cj
C2j Cj
z22 z22
z22
I22
z22

Equation (43) also embeds the small-signal dynamic model

of the VSC system and the controllers in the DFIM
electrical model.
An overall and unied machine-converter mathematical
model of the IM-based wind farms shown in Fig. 1a and
1b is deduced by combining the models of all N units,
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where Dv and Di are given by (44) and

(36), in a matrix form as given by

M 0 Di D0 Dv B0 Dvg
DTe C 0 Dvg C 0 Dv C 0 Di
1

(45)

diag{M10 , M20 ,

. . . , MN0 },

Di

[Di1T , Di2T ,

. . . , DiNT ]T

0
D0 diag{D10 , D20 , . . . , DN
}, Dv [DvT1 , DvT2 , . . . , DvTN ]T
2 0
3
B1 z41 . . . z41
6z
B0 . . . z41 7
6
7
T
B0 6 41 2
7 Dvg [Dvg1 , Dvg2 , . . . , vgN ]
4 ... ... ... ... 5
0
z41 . . . . . . BN

C10

diag{C10 1 , C10 2 ,
2

C20 1

6
6 z14
6
6 ...
4
z14
2 0
C3
6 1
6 z14
C30 6
6 ...
4
z14

C20

where R is a 2N  4N given by
2

where
0

Gn RT Gqd R

(44)

I22
6 z22
R6
4...
z22

z22
I22
...
z22

z22
z22
...
z22

...
...
...
...

z22
z22
...
I22

3
z22
z22 7
7
... 5
z22 s

(48)

Substituting for Dv from (47) in (44), and solving (44)

for Di, we obtain
Di (M 0  D0 Gn )1 B0 Dvg

(49)

Substitution for Di from (49) in (47) results in

. . . , C10 N }

z14 . . . z14

z22
z22
...
z22

Dv Gn (M 0  D0 Gn )1 B0 Dvg

7
C20 2 . . . z14 7
7
... ... ... 7
5
. . . . . . C20 N
3
z14 . . . z14
7
C30 2 . . . z14 7
7
... ... ... 7
5
. . . . . . C30 N

Substituting for Di and Dv from (49) and (50) in (45),

we deduce

where
Ge (C 0 1 (C 0 2 Gn C 0 3 )(M 0  D0 Gn )1 B0 )

(46)

where
Dvqd [Dvq1 , Dvd1 , . . . , DvqN , DvdN ]T

Ge describes the small-signal dynamic behaviour of the

electrical subsystem of the grid-connected wind farm
shown in Figs. 1a and 1b, including the dynamics of VSCs
and their controllers. This formulation for Ge can also be
employed for a wind farm based on xed-speed IM by
eliminating the VSC model shown in Fig. 1a, that is, (34)
and (37), and considering a direct connection, that is
Ki1 z21 ,

Ki2 z22 ,

Ki3 I22

Kv1 z21 ,

Kv2 I22 ,

Kv3 z22

(52)

in (34) (37). Development and analysis of a xed-speed

wind farm based on this formulation are fully discussed
in [8].

4.2 Model of mechanical components

Diqd [Diq1 , Did1 , . . . , DiqN , DidN ]T

For a wind farm including N generators, Gqd is a 2N  2N
network transfer-function matrix, observed from the
generator terminals while the innite bus is shorted.
Details on obtaining elements of Gqd are given in [8, 11].
To combine the electrical equations of the network and the
wind farm, the augmented form of the multi-port electrical
network is dened as
Dv Gn Di

(51)

DTe Ge Dvg

To develop the overall electrical model of a wind farm and

the corresponding network, the network dynamic model
is merged with the wind farm dynamic model. The
network, Fig. 1, includes the wind farm collector
system and the utility grid. The network is a multi-port
circuit and is assumed to be balanced and linear. Applying
the superposition principle, the relationship between the
incremental generator terminal voltages, Dvqd , and the
incremental terminal currents, Diqd , is [8]
Dvqd Gqd Diqd

(50)

(47)

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To evaluate the overall dynamics of the system, Fig. 1, the

dynamic model of the mechanical systems of wind units
must be developed and combined with the corresponding
electrical model of (51).
The mechanical system of a wind turbine-generator unit
shown in Figs. 1a or 1b is represented by two rotating rigid
sections, that is, low-speed (turbine-side) and high-speed
(generator-side) shafts. The two rigid masses represent the
turbine (hub and blades) and the generator rotor [17, 18].
Fig. 3 represents the transferred low-speed shaft parameters
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and

Figure 3 Mass-spring-damper representation of the

mechanical system of an IM-based wind turbine-generator
(turbine-side) to the high-speed (generator-side) [17] in
which J, K and D represent mass, spring and damping
coefcients, respectively. Subscripts h and l specify highspeed and the transferred low-speed parameters to the
high-speed side, respectively. A small-signal dynamic
model of the mechanical system, Fig. 3, in Laplace
domain, for the jth unit, is [8, 11]
!



K lj
Dlj Dvrj  Dvhj
Jrj s Drj Dvrj DTrj 
s
!




Khj
Dhj Dvhj  Dvgj
Jgj s Dgj Dvgj DTej
s
!
!




Klj
Khj
Dlj Dvrj  Dvhj
Dhj Dvhj  Dvgj
s
s


(53)
A wind farm is exposed to both mechanical and electrical
disturbances. However, the mechanical disturbances, for
example, a wind gust, merely excite inertial modes [8] of
units at low frequencies. This paper considers the effects
of electrical disturbances in the frequency range of
electromechanical dynamics (up to 50/60 Hz). To investigate
the impact of electrical disturbances on the overall system
dynamic behaviour, we assume a constant mechanical input
power for each unit, thus DPmj 0, and since Pmj Trj vgj ,
we deduce
DPmj Trj0 Dvrj vrj0 DTrj 0

(54)

Transferring (57) to Laplace domain and solving for DTrj ,

we deduce
DTrj 

Trj0

vrj0

Dvrj

(55)

Substituting for DTrj from (55) in (53), and solving for Dvgj ,
we obtain
Dvgj Gmj DTej
where
Gmj

s(Lj Hj )(Rj Trj0 =vrj0 ) sLj Hj

Ej (Lj Hj )(Rj Trj0 =vrj0 )
Hj Lj (Rj Trj0 =vrj0 ) Ej Lj

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(56)

Lj Klj sDlj ,

Hj Khj sDhj

Rj s( Jrj s Drj ),

Ej s( Jgj s Dgj )

Developing (56) for all N wind energy conversion units and

combining them in a matrix equation, we obtain the
mechanical transfer-function matrix Gm as
Dvg Gm DTe

(57)

where
Gm diag{Gm1 , . . . , Gmj , . . . , GmN }
Dv [Dvg1 , . . . , Dvgj , . . . , DvgN ]T
DTe [DTe1 , . . . , DTe2 , . . . , DTeN ]T
Gm is an N N diagonal transfer-function matrix which relates
deviations of electrical torques to deviations in angular speeds of
the N generator rotors within the wind farm.

5 Analysis of small-signal
dynamics and performance
evaluation criterion
Electromechanical dynamics of the systems shown in Figs. 1a
or 1b, are represented by (51) and (57). Substituting for DTe
from (51) in (57), we obtain
(IN N Gm Ge )Dvg 0

(58)

where N is the number of units within the farm and IN N is

an N  N identity matrix. Equation (58) represents a smallsignal dynamic model of the grid-connected wind farm as a
multivariable, closed-loop, feedback system. Therefore
linear system analysis tools, for example, the generalised
Nyquist criteria, can be employed to investigate the system
dynamics [19].
In addition to the stability of the operating point,
performance robustness is equally of importance and
interest. Performance robustness is a measure of system
ability to operate satisfactorily in the presence of
disturbances. Formulating a multi-machine power system
to represent interactions between the electrical and
mechanical transfer-function matrices, that is (58), provides
a convenient approach and a novel tool for performance
robustness evaluation and stability analyses.
Electrical disturbances can result in electromagnetic torque
perturbations. Hence, to investigate the effect of a
disturbance on the machines toques, we introduce
disturbance torque vector Td in (51) as
DTe Ge Dvg Td

(59)

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where
Td [ T d1 ,

T d2 , . . . , T dN ] T

Td for example, represents the impact of an electrical fault or a

load change on the generators of wind units. Substituting for
DTe from (59) in (57) and solving for Dvg , we obtain
Dvg STd

(60)

where
S (In Gm Ge )1 Gm
S is an N  N transfer-function matrix. Diagonal entries of S
express the disturbance effects on angular speeds of generator
rotors. An off-diagonal entry of S represents the impact of a
generator disturbance torque on the rotor angular speed of
another generator. Thus, the size of S is a suitable
measure to investigate performance robustness of the
system [11]. For a single-machine system, magnitude of S
as a function of frequency, that is, jS( jv)j, can be readily
employed as a measure of size. For a multi-machine case,
the concept of induced norm can be used to express the
size of a matrix [19, 20]. If the Euclidean vector norm
is employed, then the induced norm of matrix S, that is,
k S k, is dened as [19]
S( jv) sm (S( jv))

(61)

where s2m () is the maximum eigenvalue of S H ( jv)S( jv) and

H denotes complex conjugate transpose. Hence, similar to a
single-machine case, a plot of kS( jv)k with respect to v,
which is the indicator of the size of S( jv), quantitatively
shows performance robustness of the system in terms of
disturbance rejection capability at frequency v.

Application example

To demonstrate the proposed modelling and frequency

response analysis approach, this section presents its
application to the system shown in Fig. 4. The study
system includes two DFIM-based wind units (Fig. 4). The
control scheme described in Fig. 2 is employed to control
each VSC system. The system parameters are given in
Appendix 2.

6.1. Frequency response analysis of

the study system
Performance of the system at four different operating points,
that is, when wind input power to unit 1, Fig. 4, is varied
from 0.7 to 1.0 pu in steps of 0.1 pu, and the input power
to unit 2 is xed at 1.0 pu, is investigated. To obtain the
study system frequency response, rst the steady-state
operating point is calculated. The steady-state solution
determines matrix coefcients of the converters and
machines adopted within the study system. Since the study
system uses DFIM, the machine-converter model of (44)
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Figure 4 Oneline diagram of the study system

and (45) with the given matrix parameters in (43) are used
to develop the electric transfer-function matrix Ge required
by (51). The mechanical transfer-function matrix Gm is
calculated based on the mechanical system parameters
(Appendix 2). Then, we obtain the sensitivity transferfunction S in (60) using Ge and Gm . The frequency
responses of the induced norm of the sensitivity matrix are
obtained by substituting s jv in the transfer-function
matrix S and calculating sm (S( jv)) at v. Fig. 5 shows
sm (S( jv)) against v corresponding to the four operating
points.
Induced norm sm (S( jv)) shown Fig. 5 shows the size of
the sensitivity transfer-function matrix based on (61).
sm (S( jv)) characterises the disturbance rejection capability
of the study system at the four operating points by
comparing the size of sensitivity transfer function at
various frequencies. A higher value of sm (S( jv)) at
frequency v indicates less capability of the system to reject
a disturbance at that frequency.
Fig. 5 shows that at v 1.032 rad/s (which corresponds
to the inertial oscillatory mode of the rotating shaft
system), the system exhibits the lowest disturbance rejection
capability at the highest loading condition, that is,
Pin1 1pu. This reveals that at Pin1 1pu, an electrical
disturbance that can excite v 1.032 rad/s results in
undesirable oscillatory electrical toque at a higher
magnitude in comparison to the other operating points.
However, at other frequencies, Fig. 5, sm (S( jv))
characteristic corresponding to Pin1 1pu has the least
value as compared with the corresponding values for Pin1 at
0.9, 0.8 and 0.7 pu, and thus is less responsive to
disturbances. This piece of information can be used to
adjust controllers or to design auxiliary controls to reduce
system propensity to respond to specic disturbances.
Deduced from the results shown in Fig. 5, Fig. 6a shows
the size or the maximum induced norm of the transferfunction matrix S, max(sm (S( jv))), at the inertial mode
(v 1.032 rad/s), corresponding to Pin1 at 0.7 to 1.0 pu.
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Figure 5 Frequency responses of the study system at

four different operating points
Fig. 6b shows the induced norm, sm (S( jv)), at the torsional
mode (vtor 25:91rad =s) for the same four operating points.
Fig. 6a shows that max(sm (S( jv))) monotonically increases
with respect to the magnitude of input power. This
indicates that the magnitude of electrical torque deviation
because of an electrical disturbance, increases as the input
wind power to unit 1 increases.
Fig. 6b shows that the induced norm at the torsional
frequency, that is, s (S( jvtor )), monotonically decreases as
the input wind power increases from 0.7 to 1.0 pu. This
indicates that the propensity of unit 1 to torsional
oscillations decreases as the unit input power increases.
Fig. 6a and 6b show that the level of captured wind power
has opposite effects on the propensity of unit 1 to respond
to the inertial and the torsional modes of the unit.
The pieces of information that are obtained from the
frequency response of the study system (Figs. 5 and 6) are
not directly attainable from eigen analysis of the system.
Furthermore, these pieces of information can be used to
optimise the controllers and other adjustable parameters of
the system, for example, series compensation level, to
achieve an overall optimum performance.

Figure 6 Magnitudes of frequency responses of unit 1 at

inertial and torsional frequencies
a Magnitudes of frequency responses of unit 1 at inertial
frequency v 1.032 rad/s
b Magnitudes of frequency response of unit 1 at torsional
frequency, v 25.91 rad/s

Fig. 7a and 7b illustrate the deviations in electrical and

torsional torques of unit 1 because of the disturbance at
different input wind power levels of 0.7 and 1.0 pu. Fig. 7a
shows that the maximum deviation in the electrical torque,
corresponding to 1.0 pu input power, is larger than that of
0.7 pu input power. However, the torsional torque at 0.7 pu
input power, Fig. 7b, is larger than that of 1.0 pu input
power.
Figs. 8a and 8b show the maximum deviations in electrical
and torsional torques of unit 1, extracted from time-domain
simulation studies, similar to those shown Fig. 7, at four
input power levels. Simulation results shown in Fig. 8a,
consistent with those of the small-signal dynamic analysis
shown in Fig. 6a, show that the system experience a higher

6.2 Time-domain simulation results

To verify the study results of the proposed frequency
response analysis method, for example, Figs. 6a and 6b, the
system shown in Fig. 4 is simulated in the PSCAD/
EMTDC environment and the electrical and torsional
torque deviations are extracted from time-domain
simulations results. As an electrical disturbance, a
temporary fault at the middle of the 138 kV line is applied
to the system. The fault is a three-cycle, three-phase to
ground fault via 20 V resistors.
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Figure 7 Electrical and torsional torque deviations of unit 1

a Electrical torque deviations of unit 1
b Torsional torque deviations of unit 1

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on electrical and mechanical transfer functions. This
sensitivity function can be employed as a design tool for
the design of the system parameters.
To demonstrate the accuracy and procedural steps of the
proposed formulation and the analysis approach, small-signal
dynamics of two parallel DFIM-based wind units and the
host power system are investigated. The study results are
validated based on comparison with time-domain simulation
studies in the PSCAD/EMTDC environment.

8
Figure 8 Maximum deviation in electrical and torsional
torques of unit 1
a Maximum deviation in electric torque of unit 1
b Maximum deviation in torsional torque of unit 1

electrical torque deviation at a higher input wind power,

following an electrical disturbance. Simulation results
shown in Fig. 8b, consistent with those of the small-signal
dynamic analysis shown in Fig. 6b, indicate that the
system propensity to experience torsional oscillations is
higher at a lower input wind power after an electrical
disturbance. Agreement between the corresponding
simulation and small-signal dynamic results, for example,
Figs. 6a and 8a and 6b and 8b veries the accuracy of the
linearised model.

Conclusions

This paper presents a unied small-signal dynamic model for

the representation of an IM-based wind farm and the
corresponding host utility grid. The model can represent a
wind farm composed of (i) xed-speed squirrel-cage IMbased units, (ii) partially variable-speed DFIM-based units,
(iii) fully variable-speed squirrel-cage IM-based units or (iv) a
hybrid combination of various units. The model is intended
for the subsynchronous frequency range, that is, a fraction of
a Hz to 60 Hz, and represents (i) electromechanical
(including torsional) dynamics, (ii) interactions between the
wind farm and the host power system, (iii) interaction among
wind units within a farm, (iv) controller interactions and (v)
interactions among adjacent wind farms.
The proposed modelling approach formulates the overall
system dynamics based on electrical and mechanical
transfer-function matrices as a multivariable feedback
system. This formulation allows to utilise well-established
frequency response techniques for analysing of a wind farm
with a large number of wind units. The salient feature of
the proposed method is that it facilitates dynamic analysis
of a wind farm by means of frequency response of the
sensitivity transfer-function matrix which is dened based
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References

[1] ACKERMANN T.: Wind power in power systems (Wiley,

2005)
[2] HANSEN L.H., HELLE L., BLAABJERG F. , ET AL .: Conceptual
survey of generators and power electronics for wind
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[3] ROUCO L. , ZAMORA J.L. : Dynamic patterns and model
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18 22 June 2006
[4] PowerTech Labs Inc, Dynamic Security Assessment
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[6] MEI F., PAL B.C.: Modelling and small-signal analysis of a
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[7] SAAD-SAOUD Z., JENKINS N.: Simple wind farm dynamic
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[8] TABESH A., IRAVANI R.: Small-signal dynamic model and
analysis of a xed-speed wind farm a frequency
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(2), pp. 778 787
[9] PETERSSON A., THIRINGER T., HARNEFORS L., PETRU T.: Modeling
and experimental verication of grid interaction of a DFIG
wind turbine, IEEE Trans. Energy Convers., 2005, 20, (4),
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[10] MULLER S., DEICKE M., DE DONCKER R.W.: Doubly fed
induction generator systems for wind turbines, IEEE Ind.
Appl. Mag., 2002, 8, (3), pp. 26 33
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[11] TABESH A.: Dynamic modelling and analysis of multimachine power systems including wind farms, Ph.D
Thesis, University of Toronto, 2005
[12] PENA R. , CLARE J.C. , ASHER G.M. : Doubly fed induction
generator using back-to-back PWM converters and its
application to variable-speed wind-energy generation,
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[13] TANG Y. , XU L. : A exible active and reactive power
control strategy for a variable speed constant frequency
generating system, IEEE Trans. Power Electron., 1995, 10,
(4), pp. 472 478

T
Rg1 Tg Tg Kg il0
Rl1 ,

Rg3 Tg Kg (vTg0 ilT0 Tl3 ),

[16] NABAE A., TANAKA T.: A new denition of instantaneous

active-reactive current and power based on instantaneous
space vectors on polar coordinates in three-phase circuits,
IEEE Trans. Power Deliv., 1996, 11, (3), pp. 12381243
[17] LEITHEAD W.E., ROGERS M.C.M.: Drive-train characteristics of
constant speed HAWTs. Part I: representation by simple
dynamic models, Wind Eng., 1996, 20, (3), pp. 149 174
[18] SALMAN S.K., TEO A.L.J., RIDA I.M.: The effect of shaft
modelling on the assessment of fault CCT and the power
quality of a wind farm. Proc. IEEE Conf. Harmonics and
Quality of Power, October 2000, vol. 3, pp. 994 998
[19] MACIEJOWSKI J.M.: Multivariable feedback design,
(Addison-Wesley Publishing, 1989)
[20] MEYER C.D.: Matrix analysis and applied linear algebra
(SIAM Press, 2000)
[21] NOVOTNY D.W., LIPO T.A.: Vector control and dynamics of
AC drives (Oxford University Press, 1996)

Rg4 Tg Kg (vTl 0 ilT0 Rl4 )

9.2 Decoupling matrices

Decoupling matrices of vector control scheme, Gdg in (18),
for the fully adjustable speed unit, that is Fig. 1a, are [21]

Gd

rs s L0s sL2m rr =Lr (rr sLr ) ve L0s

ve (L0s L2m rr =Lr (rr sLr )) rs sL0s

and for the DFIM unit, that is, Fig. 1b, are [11]


[14] SONG Y.H., JOHNS A.T.: Flexible Ac transmission systems

(FACTS) (IEE Publishing, 1999)
[15] KRAUSE P.C., WANSYNCZUK O., SUDHOFF S.D.: Analysis of electric
machinery and drive systems (Wiley, IEEE Press, 2002)

Rg2 Tg Kg ilT0 Rl2

Gd

r 0r sL0r
ve s0 L0r

ve s0 L0r
r 0r sL0r

where s0 is the generator slip at the operating point and

Ls Lls Lm ,
L0 s Ls  L2m =Lr ,

Lr Llr Lm
L0 r Lr  L2m =Ls

9.3 Machine matrices

Mj of (31) is [15]
2

rsj vs Xssj
b

6  ve X
6 vb ssj
6
6 s X
4 v b Mj
sj0 vve XMj
b

ve
vb

s
vb XMj
 vve XMj
b
rr0j vs Xrr0 j
b
sj0 vve X 0rrj
b

Xssj

rsj vs Xssj
b

sj0 vve XMj

b

s
vb

XMj

ve
v b X Mj
s
v b X Mj
sj0 vve Xrr0 j
b
rr0j vs Xrr0 j
b

3
7
7
7
7
5

where vb is the network-based frequency. Bj , Cj of (31)

and (32) are
h
Bj 0
Cj

0e
[XMj idr0
j

sj0 vve (XMj Xrr0 j ) sj0 vve (XMj Xrr0 j )

b

iT

0e
XMj iqr0
j

e
 XMj ids0
j

e
XMj iqs0
]
j

where sj0 ve  vg0j =ve is the j th machine slip.

9.4 Coefcient matrices of (34) and (35)

Appendix 1

Ki1 Ni (N1 N3 F1 ),

9.1 Coefcient matrices of (16) and (17)



T
T
Rl2 (I  Kl ilT0 )(I (I  Kl ilT0 )1 Kl ig0
Tg Kg il0
)

1

Rl1 Rl2 Kl igT0 Tg , Rl3 Rl2 Kl igT0 Tg Kg vTg0

Rl4

Rl2 Kl (vTl0

where Ni (I  N3 F3 )1 and

F3 F (Rg1 Kg2 Rg2 Kl2 Rg3 ),

where I is a 2  2 identity matrix, vl vqdl , vg vqdg and

Kg

Ki3 Ni (N4 N3 F4 )

F1 FRg1 Kg3 , F2 FRg2 (Kl2 Kl5 ),

igT0 Tg Kg vTl0 )

T 1
) ,
Tg (I Kg ig0

Ki2 Ni (N2 N3 F2 )

3vg0
2
2sCVdc0

Kl

3vl0
2
2sCVdc0

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N2 NRl2 (Kl3 Kl5 ),

F4 FRg4

N1 NRl1 Kg3 ,

N3 N (Rl1 Kg1 Rl2 Kl1 )

N4 N (Rl2 Kl4 Rl4 )F (I  Rg1 Kg1  Rg2 Kl1 )1

N (Rl1 Kg2 Rl2 Kl2 Rl3 )1
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Table 1 Resistances, reactances and ratings of Fig. 4
lv1

lv2

mv

hv

Transformers

T1 and T2

T3

T4

R(pu)

0.0005

0.0005

0.046

0.115

0.005

Power (MVA)

16

76.8

178

X (pu)

0.047

0.047

0.104

0.393

0.032

Volt. ratio (kV/kV)

0.48/13.8

13.8/69

69/138

Lines

and

10
Kv1 F1 F3 Ki1

Kv2 F2 F3 Ki2

Appendix 2: study system data

10.1 Per unit based values

Sb3f 100 MVA,

Kv3 F4 F3 Ki3

Vbmv 69 kV,

Vbgen 480 V ,

Vbhv 138 kV,

Vblv 13:8 kV

vb 2p  60 rad/s

10.2 Wind turbine-generator parameters

9.5 Coefcient matrices of (41) and (42)
Ri1 Pi (Q3 Q1 P2 ),

Ri2 Pi (Q4 Q1 P3 )

Parameters of each wind turbine-generator

(Sbgen 373 kV A, Vbgen 480 V) are

Ri3 Pi (Q2 Q1 P1 ),

Ri4 Pi (Q5 Q1 P5 )

rs 0:0185 pu,

Xls Xlr 3:894 pu,

where Pi (I  Q1 P4 )1 and

Jr 0:116 pu s2 ,

Q1 QRl2 Kl1 , Q4 QRl1 Kg2 ,

Q2 Q(Rl2 Kl2 Rl3 ),

Q5 QRl1 Kg3

P1 P(Rg2 Kl2 Rg3 )

Q3 Q(Rl2 (Kl3 Kl5 ) Rl1 Kg1  I )

P2 P(Rg1 (Kg1 Rg2 (Kl3 Kl5 )
P3 PRg1 Kg2 ,

r 0 r 0:0132 pu,

unit

Xm 3:809 pu

Kh 305:23 pu,

Kl 7:706 pu

Jg 0:0112 pu s2

and damping coefcients are zero.

10.3 Network parameter

The network is modelled with lumped RLC components. The
line resistances, reactances and ratings of transformers are given
in Table 1. The leakage reactance of each transformer is 8%

P5 PRg1 Kg3

P4 P(Rg4 Rg2 Kl4  Rg2 Kl3 Gl  Rg1 )

10.4 Converter controllers

For the study system shown in Fig. 4, the DC-link capacitor
C is 20 mF and the VSC controllers are

P (I  Rg2 Kl1 )1

Q (Rl2 Kl4 Rl4  Rl1 Kg2  Rl2 Kl3 Gl  Gl )1

1
1
1
, Gcg22 0:01 , Gcl 22 2
,
0:01s
s
0:4s
1
1
Gcd11 0:0001  , Gcd22 0:01 
5s
5s
Gcg11 100 

and
Rv1 P2 P4 Ri1 ,

Rv2 P3 P4 Ri2

Rv3 P1 P4 Ri3 ,

Rv4 P5 P4 Ri4

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idl is calculated based on the desired network-side reactive

power, Ql .

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