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3, MAY/JUNE 2014
AbstractThis paper focuses mainly on the development of a the phase-locked loop (PLL) [5] is usually used in the doubly
completed typical doubly fed induction generator (DFIG) wind fed induction system to track the phase of the grid voltage and
turbine model. It includes the interaction between mechanical and the flux of the stator.
electrical parts. In the mechanical part, the aerodynamic of the
wind turbine blade was analyzed by the XFOIL. With the proper- The control method for classical DFIG wind turbines is usu-
ties of the blade, the model was established by the fatigue, aero- ally based on the stator voltage-oriented vector control or the
dynamics, structures, and turbulence (FAST) in the MATLAB/ stator flux-oriented vector control [6][9]. The main drawback
Simulink. The DFIG electrical model was constructed by using for these control schemes is that their performances rely highly
mathematical equations in MATLAB/Simulink that integrates on the tuning of the parameters of the proportional-integral (PI)
with the FAST. In the DFIG, the space vector is applied in the ac
machine to represent the flux, voltage, and current magnitudes. controller. Therefore, the direct control methods such as direct
The grid-side converter stabilized the voltage at the dc bus, and power control, direct current control, and direct torque control
the rotor-side inverter directly controls the electric torque in the (DTC) were proposed subsequently [10][13]. The operation of
generator. Currently, most research articles model the mechanical the DFIG system under distorted grid conditions was discussed
and the electrical parts of the wind turbine separately. In this in [14][17].
paper, both systems were discussed in detail and integrated into
a complete model for the DFIG-based wind turbine system. On the mechanical part, blade element momentum (BEM)
theory is one of the most commonly used methods for calcu-
Index TermsAerodynamic, doubly fed induction generator lating induced velocity on wind turbine blades [18]. The BEM
(DFIG), fatigue, aerodynamics, structures, and turbulence (FAST),
space factor, XFOIL. originally designed by William Froude (1878), David W. Taylor
(1893), and Stefan Drzewiecki was proposed to determine the
I. I NTRODUCTION behavior of propellers. In recent years, the National Renewable
Energy Laboratory (NREL) in the USA has also carried out
0093-9994 2013 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
YANG et al.: INTEGRATED MECHANICAL AND ELECTRICAL DFIG WIND TURBINE MODEL DEVELOPMENT 2091
f
f (t) = Rrif (t) + dr (t) + j(f e )
V f. (14)
where is the angle between two reference frames. s r
dt r
2094 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 50, NO. 3, MAY/JUNE 2014
where
LsR s Lr
Lr L2
R s Lm
Ls Lr L2m Fig. 13. Voltage vector of the converter.
[M1 ] = m
. (17)
R r Lm
Ls Lr L2m Ls Lr L2 +
R r Ls
je
m
Mathematical models are used in the space-vector voltage
In (16), the flux is the state vector. For convenience, the converter. The operation of switch S is opposite to that of
flux can be replaced by the current i using (11) and (12); switch S. In the converter model, when switch Sa turns on, the
equation (16) then becomes voltage between nodes a and o is Vdc . When switch Sa turns
s s off, the voltage between nodes a and o is zero. Therefore,
d iss is s
V voltages Vao , Vbo , and Vco depend on the switch operation and
s = [M2 ] s + [M3 ] s (18)
d r i i r Vr can be represented by
GSC vector.
Fig. 15. Determination of the V
TABLE II
PARAMETERS OF A T YPICAL 1.5-MW DFIG-BASED
W IND T URBINE S YSTEM
Fig. 18. Onoff controller with hysteresis band. The main mechanical part in wind turbine systems is the rotor
of the blade. The rotor speed in the generator can be increased
TABLE I
T HE V ECTOR S ELECTION W ITH UF AND UT by using the gearbox. In the simulation, aerodynamic properties
CL and CD are calculated by the XFOIL, and these data are
used in FAST to calculate the dynamic behavior of the wind
turbine. Notably, the FAST can be used to calculate the rotor
speed, mechanical load, and moment on the blade or tower.
The rotor speed of the blade multiplied by the gear ratio is the
rotor speed of the generator m , and m multiplied by the pole
numbers is the electric angular speed e . When the rotor speed
of the blade is known, the electrical torque reference value of
the generator can be calculated, and the electrical torque can
be fixed by the DTC. As the load on a blade includes the
aerodynamic load and electrical torque, the electrical torque
should be fed back to the FAST.
In this paper, four different wind-speed conditions were
simulated. The first one represents an ideal condition (see
Fig. 20), in which the step function is used to simulate the wind
speed. The wind speed in the 20-s period is divided into three
levels, including 7, 10, and 9 m/s. The rotor speed of the wind
Fig. 19. Block diagram for the DTC.
turbine initially is constant when the wind speed is 7 m/s. When
the wind speed suddenly increases and subsequently stays at
10 m/s, the rotor speed increases. Finally, the wind speed is
IV. S IMULATION R ESULTS
decreased to 9 m/s, which causes lower rotor speed.
In this paper, a typical 1.5-MW DFIG-based wind turbine It is obvious from Fig. 20 that the output power from the
was modeled. The complete model of the wind turbine, includ- machine (Pm ), rotor (Pr ), or stator (Ps ) is highly dependent on
ing electrical and mechanical parts, is used in our simulation. the rotor speed and torque. In Fig. 20(h), the positive sign rep-
After measuring the rotor speed, the mechanical power output resents generation, and the negative sign means consumption.
and the torque of the induction machine can be instantaneously Fig. 20(i) shows the voltage curve at the dc bus, in which the
calculated. The parameters of the DFIG-based wind turbine are voltage can be maintained at 1100 V. There is a little oscillation
shown in Table II. that appears on the power of the stator (Ps ), the voltage at
By using the wind-speed data and the calculation tool Aero- the dc bus, and the current of the rotor (ir ). These oscillation
Dyn, the kinetic energy on the blades can be achieved. Then, the signals appear when the slip is closest to zero. The simulation
appropriate torque of the induction machine can be calculated results indicate clearly that the frequency of the rotor current
based on the transformation from the kinetic energy into the is dependent on the slip. The frequency of the rotor current
electrical energy. Additionally, the voltage at the dc bus is changes to the opposite direction when the slip reversed its sign.
almost a constant value because of the control by GSC. A stable Additionally, the frequency of the stator current is as fast as the
voltage at the dc bus could help the RSI control the rotor torque. frequency at the grid.
YANG et al.: INTEGRATED MECHANICAL AND ELECTRICAL DFIG WIND TURBINE MODEL DEVELOPMENT 2097
Fig. 20. Simulation results under an ideal wind condition. (a) Wind speed. (b) Rotor speed of the wind turbine. (c) Rotor speed of the generator. (d) Slip.
(e) Electrical torque. (f) Power output of the machine. (g) Power output from the stator. (h) Power output from the rotor. (i) DC-bus voltage. (j) Three-phase
voltage at grid. (k) Current from the stator. (l) Current from the rotor.
The second time series of wind speed as shown in Fig. 21 cillation in the signals at the stator power and the dc-bus voltage
was measured from Penghu, Taiwan. The wind-speed data were when the slip is zero (the synchronous operation of the DFIG).
measured every 0.5 s and have been used in the simulation. Another two wind conditions were also considered: a wide
Fig. 21 shows the rotor speed of the turbine and the generator; wind-speed range (see Fig. 22) and a low wind-speed series (see
both speeds are directly proportional to the gear ratio. The Fig. 23). In Fig. 22, the wind-speed range was 4.411.3 m/s,
torque and power are controlled according to the speed of the which was measured at the Penghu Wind Farm. The speed of
rotor. It is obvious from this figure that there appears a little os- the rotor follows the trend of the wind speed. Additionally,
2098 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 50, NO. 3, MAY/JUNE 2014
Fig. 21. Simulation results under a high wind-speed series. (a) Wind speed. (b) Rotor speed of the wind turbine. (c) Rotor speed of the generator. (d) Slip.
(e) Electrical torque. (f) Power output of the machine. (g) Power output from the stator. (h) Power output from the rotor. (i) DC-bus voltage. (j) Three-phase
voltage at grid. (k) Current from the stator. (l) Current from the rotor.
stator power and voltage on the dc bus oscillate little when the In the simulation, all electrical components were modeled
slip value is zero. In Fig. 23, the range of low wind-speed series using mathematical equations. However, in the computing pro-
was 3.265 m/s (mean of 3.95 m/s), which was also measured at cess, all operational procedures used the discontinuous dis-
the Penghu Wind Farm. In that case, wind speed was relatively crete signal. To acquire realistic simulation results, one can
stable such that fluctuations in turbine speed and generator alter the sampling time in Simulink. For example, a small
speed were small. Furthermore, no obvious oscillations existed sampling time increased the accuracy of the simulation result
in stator power and voltage on the dc bus because the slip value and computational time and vice versa. In this simulation,
did not cross zero. the sampling time was fixed at 106 s. Moreover, simulation
YANG et al.: INTEGRATED MECHANICAL AND ELECTRICAL DFIG WIND TURBINE MODEL DEVELOPMENT 2099
Fig. 22. Simulation results under a wide wind-speed range. (a) Wind speed. (b) Rotor speed of the wind turbine. (c) Rotor speed of the generator. (d) Slip.
(e) Electrical torque. (f) Power output of the machine. (g) Power output from the stator. (h) Power output from the rotor. (i) DC-bus voltage. (j) Three-phase
voltage at grid. (k) Current from the stator. (l) Current from the rotor.
V. C ONCLUSION
speed also depends on hardware specifications. For example,
by using the industrial-grade software package, RT-LAB, near- The complete modeling of the DFIG-based wind turbine was
real-time simulation speed is achieved. In this paper, model performed in this work by using the MATLAB/Simulink and
simulation was implemented on a personal computer with an the FAST. The whole model of the wind turbine considering
Intel i5-3210 CPU with 4.0-GB RAM. The computer took both mechanical and electrical parts was seldom discussed be-
31.62 min to implement a 60-s-long simulation for the proposed fore. With the analysis of the aerodynamic, the characteristic of
DFIG generator. Notably, FAST can only be used in the 32-b wind turbine blades is obtained in this work. Furthermore, the
MATLAB environment, prolonging computation time. DTC can directly control the response of the torque and power.
2100 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 50, NO. 3, MAY/JUNE 2014
Fig. 23. Simulation results under a low wind-speed series. (a) Wind speed. (b) Rotor speed of the wind turbine. (c) Rotor speed of the generator. (d) Slip.
(e) Electrical torque. (f) Power output of the machine. (g) Power output from the stator. (h) Power output from the rotor. (i) DC-bus voltage. (j) Three-phase
voltage at grid. (k) Current from the stator. (l) Current from the rotor.
Four wind-speed conditions have been used in this paper, and most used a transfer function to replace a complete generator
the simulation results indicate that the proposed model works model. In such cases, power output corresponds to rotational
well. The proposed wind turbine model can also be applied to speed when using a transfer function, and the power output will
other wind-speed conditions if necessary. be somewhat inaccurate. Owing to the switching characteristics
Most studies modeling the wind turbine failed to integrate the of power electronics (i.e., the step-function signal), the wind
mechanical and the electrical systems, subsequently ignoring turbine system has discontinuous characteristics.
some wind turbine properties. Generally, purely mechanical Electrical torque is produced by the generator. Machine
studies failed to analyze the details on the generator; instead, components under discontinuous loading for a long period are
YANG et al.: INTEGRATED MECHANICAL AND ELECTRICAL DFIG WIND TURBINE MODEL DEVELOPMENT 2101
damaged more easily than when under continuous loading. was constructed on detailed mathematical equations. Therefore,
Therefore, when stress analysis for wind turbines is imple- these models are useful reference models for further studies of
mented, boundary conditions can be determined based on an- wind turbine technology.
alytical results in this work. Additionally, many mechanical
characteristics of wind turbines, such as loading of the blade,
A PPENDIX
tower, and bearing, can also be determined using analytical
D ERIVATIVE OF THE DFIG I NDUCTION
results.
M ACHINE M ODEL
Many studies on the DFIG examined how to control torque
and power within a short time. Hence, several advanced control Equation (8) that is used to transfer the vector from the rotor
methods, including predictive control, have been developed. reference frame to stator reference frame can be expressed as
Nevertheless, the blades can restore energy. For a large wind
turbine, inertia is very considerable, explaining why storage r = exp(je ) X
X s (A.1)
capacity for mechanical energy is also very large. When one
where the vector of X can be represented as voltage, current,
uses a control method that is not the best or uses a controller that
or flux. The voltage equations of the space vector for the stator
has an inaccurate sampling time, torque cannot be controlled
and rotor are, respectively,
accurately; however, energy that cannot be transferred directly
into electric energy can restore temporarily the kinetic energy s
of the blade, which causes the increase of rotor speed and, as s (t) = Rsis (t) + ds (t)
V (A.2)
s s
dt
a result, increases the torque reference value.In other words, rr (t)
wind energy that is not transformed into electric energy on r (t) = Rrir (t) + d
V r r . (A.3)
time does not disappear, and the energy transfer is implemented dt
later. Therefore, the accurate and timely control of generator Inserting (A.1) into (A.3), one can yield
torque and power may not be necessary when one considers the
mechanical characteristics of wind turbines. d sr eje
The rotor speed of a large wind turbine depends on wind rs eje = Rrirs eje +
V (A.4)
dt
speed. The rotor speed in this work is 620 r/min, approxi-
s
mately 0.10.34 Hz, but the normal grid frequency is 50 or s eje = Rrirs eje + dr eje je
V s eje
r r
60 Hz. Therefore, a large difference exists between grid fre- dt
quency and rotor speed. Thus, wind turbine modeling cannot (A.5)
only consider the mechanical or electrical characteristics; they s
Vrs (t) = Reisr (t) + dr (t) je sr (t). (A.6)
must be integrated. Simulation results can then provide an dt
actual response for the DFIG.
The novel contributions of this work are as follows. This The relation between the fluxes and currents in the space vector
work thoroughly analyzes and models the complete DFIG wind for the stator and rotor can be expressed, respectively, as
turbine system, including the blade, generator, and back-to- ss = Lsiss + Lmisr
(A.7)
back converter. The complete model for a wind turbine has
seldom been discussed in the literature. The work provides very rr = Lmirs + Lrirr .
(A.8)
realistic boundary conditions for the mechanism characteristics
of the wind turbine, such as the loading of the blade, tower, Inserting (A.1) into (A.8), one can yield
and bearing. The FAST utilized in this work can calculate a s eje = Lmis eje + Lris eje
r s r (A.9)
lot of data about mechanical characteristics. This work only
derives the rotational speed of the wind turbine by the FAST. s s s
r = L m is + L r ir . (A.10)
Notably, the FAST can be used to determine, for example,
the deflection of the blade, acceleration of the blade, shear Solving the iss and isr by using (A.7) and (A.10), one could yield
force on the blade, moment on the blade, and moment on s s
the bearing. Although most DFIG studies failed to consider iss = Lr s Lm r (A.11)
Ls Lr L2m
mechanical parts, the mass moment of inertia of the blade is
s s
very large. Therefore, the mechanical and electrical properties isr = Ls r Lm s . (A.12)
of the integrated model differ markedly from that of models Ls Lr L2m
with a constant-rotor-speed or variable-rotor-speed generator.
This work is based on Taiwans Thousand Wind Turbines Replacing (A.11) and (A.12) with (A.2) and (A.6), respectively,
Project. Before large-scale wind turbines are constructed, the yields the state equations of DFIG, as in (A.13) and (A.14),
complete wind turbine modeling is of priority concern. This which are the same as (16) in the matrix form
work also uses real measured wind speeds that were measured ss
d R s Lr s R s Lm s s
at Taiwans Penghu Wind Farm to facilitate meaningful simula- = s + + Vs (A.13)
dt Ls Lr Lm2 Ls Lr L2m r
tions. This work includes flow-field analysis of airfoils, dc-bus
control at the back-to-back converter, electrical torque control srq
d R r Lm s R r Ls
= + je s +V
rs. (A.14)
at the generator, and induction machine modeling. Each model dt Ls Lr L2m s Ls Lr L2m r
2102 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 50, NO. 3, MAY/JUNE 2014