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Wind Energy Research Center, Korea Institute of Energy Research, Yuseong-gu Jang-Dong 71-2,305-343 Daejeon, Republic of Korea
Chungbuk National University, Republic of Korea
a r t i c l e
i n f o
Article history:
Received 19 July 2008
Received in revised form 1 August 2009
Accepted 5 August 2009
Available online 22 October 2009
Keywords:
Permanent-magnetic synchronous
generator
Variable speed
Wind turbine
Wind farm
a b s t r a c t
This paper presents a control scheme of a variable-speed wind turbine with a permanent-magnetic
synchronous generator (PMSG) and full-scale back-to-back voltage source converter. A comprehensive
dynamical model of the PMSG wind turbine and its control scheme is presented. The control scheme
comprises both the wind-turbine control itself and the power-converter control. In addition, since the
PMSG wind turbine is able to support actively the grid due to its capability to control independently active
and reactive power production to the imposed set-values with taking into account its operating state and
limits, this paper presents the supervisory reactive power control scheme in order to regulate/contribute
the voltage at a remote location. The ability of the control scheme is assessed and discussed by means of
simulations, based on a candidate site of the offshore wind farm in Jeju, Korea.
2009 Elsevier B.V. All rights reserved.
1. Introduction
VARIABLE-SPEED power generation enables the operation of the
turbine at its maximum power coefcient over a wide range of
wind speeds, obtaining a larger energy capture from the wind with
a power converter which allows variable-speed operation. One of
the problems associated with variable-speed wind systems today
is the presence of the gearbox coupling the wind turbine (WT) to
the generator. This mechanical element suffers from considerable
faults and increases maintenance expenses. To improve reliability
of the WT and reduce maintenance expenses the gearbox should
be eliminated.
Megawatt (MW) class wind turbines equipped with a
permanent-magnetic synchronous generator (PMSG) have been
announced by Siemens Power Generation and GE Energy. In this
concept, the PMSG can be directly driven or have smaller gearboxes
or even gearless and is connected to the ac power grid through the
power converter. Use of the power converter is essential because
it allows the linkage of the generator operating at variable speed
to the ac power grid at a xed electrical frequency. The converter
rating must be similar to or even larger than the rated power of the
generator. Permanent-magnetic excitation allows to use a smaller
pole pitch than do conventional generators, so these machines can
be designed to rotate at rated speeds of 20200 rpm, depending on
the generator rated power [1].
47
1 d ds
= vd1 + Rs ids + e
b dt
qs ,
1 d qs
= vq1 + Rs iqs e
b dt
ds
with
ds
= Lds ids
m,
qs
= Lqs iqs
Load
Bus: 4 (PCC); v (pu): 1.1435.
p (pu)
q (pu)
0.419
3.562
3.981
0.8039
0.1687
0.9725
Resistance
Reactance
0.3099
0.0757
(2)
(3)
Table 1
Operating conditions.
IB
WF
Total
(1)
48
For example, in the TL model (see. Eq. (4)) vsd corresponds to vd3 at
bus 3 and ved corresponds to vd4 at bus 4.
2.2. Transmission line (TL)
LTL didl
= vd4 vd3 RTL idl + e LTL iql ,
b dt
LTL diql
= vq4 vq3 RTL iql e LTL idl ,
b dt
CTL dvd3
s
+ e CTL vq1 ,
= idc
b dt
CTL dvq3
s
e CTL vd3 ,
= iqc
b dt
CTL dvd4
e
+ e CTL vq4 ,
= idc
b dt
CTL dvq4
e
e CTL vd4
= iqc
b dt
Fig. 4. Block diagram of the VSC controller showing the input/output variables.
(4)
Co dvq1
= iql e Co vd1
b dt
(5)
Lca didl
= vd3 vd2 Rca idl + e Lca iql ,
b dt
Lca diql
= vq3 vq2 Rca iql e Lca idl ,
b dt
Cca dvd2
s
+ e Cca vq2 ,
= idc
b dt
Cca dvq2
s
e Cca vd2
= iqc
b dt
(6)
2.5. RL load
The RL load in the dq-domain can be described as
Lload didL
= vd4 Rload idL + e Lload iqL ,
b dt
Lload diqL
= vq4 Rload iqL e Lload idL ,
b dt
Co dvd4
= idL + e Co vq4 ,
b dt
Co dvq4
= iqL e Co vd4
b dt
(7)
(8)
Fig. 6. Block diagram of the generator-side converter controller.
49
The transfer function from the stator voltage to the stator current is approximated as
Ids (s)
(s)
Vds
Iqs (s)
(s)
Vqs
T
1
Rs + s(Lds /b )
1
Rs + s(Lqs /b )
T
(9)
Similarly, the transfer function from the stator current to reactive and active power is approximated as
Qg (s)
Iqs (s)
Ps (s)
Ids (s)
T
=
Lqs
Rs + s
b
L
Rs + s ds
b
T
(10)
Then, (9) is used to tune PI2 and PI4, and (10) is used to tune PI1
and PI3.
Grid-side converter controller: Fig. 7 shows a block diagram of
the grid-side converter controller module, which also includes two
internal PI controllers PI5 and PI6, with corresponding de-coupling
terms between the d and q axes.
The voltage equation for the grid-side converter RL-lter can be
expressed as
L di
dg
lt
b
dt
dt
L di
qg
lt
Idg (s)
T
Iqg (s)
Vd1 (s)
Vq1 (s)
1
Rlt +s(Llt /b )
1
Rlt +s(Llt /b )
T
(12)
The inputs to the grid-side controller are the set-values for the
currents, which ows to the grid through the VSC. The set-values of
the input currents are calculated by the active and reactive power
commands Psset and Qgset as follows:
set
iqg
set
idg
=
vq1
vd1
vd1
vq1
1
Psset
Qgset
(13)
where Psset and Qgset are the set-point of the active and reactive
power commands. The value for Psset is provided by the dc-link controller, which determines the ow of active power and regulates the
dc-link voltage by driving it to a constant reference value.
DC-link dynamic model and its controller: The capacitor in the
dc-link is an energy storage device. Neglecting losses, the time
derivative of the energy in this capacitor depends on the difference
of the power delivered to the grid lter, Pg , and the power provided
by the stator circuit of the PMSG, Ps , which can be expressed as
2
1 Cdc dvdc
= Pg Ps
2 b dt
controller PI7. The set-point for the output active power by Psset =
set .
vdc idc,s
3. The supervisory reactive power control
The purpose of the supervisory reactive power control presented in this section is to regulate the voltage at the specied
remote PCC (see Fig. 1) by adjusting the reactive power produced by
the grid-side converter, taking into account its operating state and
limits. As shown in Fig. 9, the control objective is to utilize Qj from
the grid-side VSC to control the voltage at the PCC to the predened
value by the reactive power set-point control signal Qjset .
When controlling WT, it is important that the operating limit of
WT is not exceeded. The reactive power required from an individual
grid-side converter of the VSC can be computed as
(11)
from which the transfer function from the lter voltage to current
is
Qjset = min
Qjmax ,
Qjmax
max Qpcc
Q1max + + Q5
(14)
(15)
50
Thus, the maximum available reactive power from the each gridside converter can be expressed as
Qjmax =
(Sjmax )2 Pj2
(16)
Fig. 14. Active and reactive power from WF to PCC for wind-speed variation.
Fig. 15. Voltage observed at the PCC due to the 20% impedance decrease.
51
Fig. 16. Active and reactive power from WF to PCC for the load variation.
at the PCC from Mode 1 operation. Fig. 16 shows the measured data
of the active power and the reactive power from the WF to the PCC.
The reactive power contribution from the WTs is the difference
between Mode 2 and Mode 1.
4.3. Voltage sag in the innite bus
To emulate this scenario, it is assumed that there was a fault at
t = 0.5 s in the network that caused 10% voltage drop at the innite
bus with wind speed 12 m/s. As can be noted in Fig. 17, Mode 1 operation showed the signicant voltage drop by 14.5% while Mode 2
operation resulted in the voltage recovery to its predened voltage
at the PCC. Fig. 18 shows the measured data of the active power
and the reactive power from the WF to the PCC.
4.4. Fault ride-through study
Fig. 17. Voltage observed at the PCC due to voltage sag in the innite bus.
Fig. 18. Active and reactive power from WF to PCC for the voltage sag.
Fig. 20. Active and reactive power from WF to PCC due to the fault.
52
WT. From this point of view, it is desirable to minimize and/or suppress the voltage swings. During the fault, the voltage drop has
been slightly improved in Mode 2. After the fault was cleared, faster
voltage recovery to reach to its predened voltage at the PCC was
noticed in Mode 2.Fig. 20 shows the measured data of the active
power and the reactive power from the WF to the PCC. The reactive
power contribution from the WTs is the difference between Mode
2 and Mode 1.
5. Conclusion
The paper presented the modeling and the control design of
the variable-speed wind turbine with a permanent-magnetic synchronous generator. The detailed models of a candidate industrial
site with multiple wind turbines were developed and were used to
perform simulation studies and evaluate alternative control solutions. The goal of the investigation was to make use of available
wind-turbine technology, namely the variable-speed permanentmagnetic synchronous generator with power electronic converters,
to actively participate in improving voltage control in the system.
To ensure reliable operation of the supervisory reactive power control scheme, the operating-point-dependent reactive power limit of
each grid-side converter was taken into account. The overall supervisory reactive power control scheme can be applied to larger wind
farms and network congurations.
Appendix A.
Base values
Sb = 2 MVA,
Vdc = 800 V,
Jb =
Sb
b2
V / 3
Z
1
S
Zb = b
, Lb = b , Cb =
, Tb = b ,
b
Zb b
b
ib
idc =
Sb
,
Vdc
Zdc =
Vdc
,
idc
Ldc =
Zdc
,
b
Cdc =
1
Zdc b
Smax = 1
LTL = 0.1132,
Cca = 0.042,
Ltr1 = 0.001,
CTL = 0.025,
Rlt = 0.014,
Rca = 0.006,
Llt = 0.175,
Rtr2 = 0.0005,
Ltr2 = 0.004
PMSG (pu)
Rs = 0.042,
Lds = 1.05,
Lqs = 0.75,
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= 1.16
Hong-Woo Kim received his B.S. degree in mechanical engineering from Daejeon
Engineering University, Daejeon, Korea, in 1990, his M.Sc. degree in energy system
engineering from Sunggyun University, Daejeon, Korea, in 1998, and his Ph.D. candidate in electrical engineering at Chungbuk National University, Korea since 2005. He
is a senior engineer in the wind energy research center at Korea Institute of Energy
Research (KIER), Daejeon, Korea since 1990.
Sung-Soo Kim received his M.S. degree in electrical engineering from the University
of Arkansas-Fayetteville in 1989 and his Ph.D. from the University of Central Florida
in 1997. He is presently a professor of electrical engineering at Chungbuk National
University. Prof. Kims interests include signal processing, communication theory,
and articial intelligence.
Hee-Sang Ko received his B.Sc. degree in electrical engineering from Jeju National
University, Jeju, Korea, in 1996, his M.Sc. degree in electrical engineering from Pennsylvania State University, University Park, USA, in 2000, and his Ph.D. in electrical and
computer engineering from the University of British Columbia, Vancouver, Canada,
in 2006. He is a researcher in the wind energy research center at Korea Institute of
Energy Research (KIER), Daejeon, Korea. His research interests include wind power
generation, power systems voltage and transient stability, data processing for power
systems security analysis, electricity market analysis, control design, and system
identication.