Design a wind turbine using Simulink

Mohammad Shkoor
30/09/2015

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Introduction

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• Wind energy gained in popularity in the nineteenth century when some people began to
use wind to produce electricity

• There was a renaissance in interest and studies concerning wind energy when oil
became scarce in the 1970’s

• Nowadays, wind power has become a method that is widely accepted and continues to
grow as a recognized part of the

• Along with advanced technology came other considerations that had to be addressed

• Modern wind turbine installation must be supported by the community both in terms of
politics and public interest

• Wind power has become a leader in growth in the area of renewable energy resources

• Control Systems have advanced to allow for a vast improvement in the functionality
and efficiency of permanent magnet synchronous generators

• In this project, the simulation tool provided by MATLAB, Simulink, has been chosen
to develop a wind turbine model
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Evolution of wind turbine size over the past decades.

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Wind turbine model
(Basic concepts to understand a wind energy conversion system (WECS))

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 Per unit system
• The model used : employment of per unit equations and variables
• This approach eases the analysis of the wind turbine performance
• It allows to work specifying only base variables (base mechanical power of
the turbine, base electrical power, base wind speed , base rotational speed of
the rotor.

Wind model
• Some studies include wind as another part of the WECS (wind energy
conversion system ).
• Wind speed is the source of the kinetic energy that moves the turbine´s blades.
• A wind model is needed in order to properly study and design any WECS.

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 Wind turbine structure and components

The main components of a standard wind turbine system from left to right :
• the aero-dynamical and mechanical part of the wind turbine (aerodynamic
rotor and gearbox
• the electrical system (generator, power electronic interface and transformer)
Mostly used in off-grid/remote applications
• its connection to the grid (through an elevator transformer that is installed at
the base of the tower of the turbine)

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Detail of the interior of a wind turbine´s nacelle
 Aerodynamic system
• The mechanical power contain in the wind can be expressed as :

(1)
• The kinetic energy of a mass of air in movement (wind) :
(2)
• The total power extracted from the wind is :
(3)
• Equation (3) can be normalized. In the per unit system it can be expressed as:
(4)
• The rotor power coefficient is usually given as a function of two parameters:
the tip speed ratio λ and the blade pitch angle β (in degrees):
(5)

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• The blade pitch angle is defined as the angle between the plane of rotation and
the blade cross-section chord. The tip speed ratio is defined as:
(6)
• In this project, the following expression has been used to calculate the power
coefficient:

(7)

with (8)

Turbine power characteristics for a pitch angle of zero degrees

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 Mechanical system
• The main mechanical components of a WECS are the following:
 Wind turbine blades
 Hub
 Shaft
 Gearbox
 Pitch control system
• All this mechanical components, except for the pitch control system, are
modeled, in this project, within the so called, drive-train system (or shaft
model).
• In this project, a one-mass model has been implemented.

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Schematic of a generic one-mass drive train
• The mechanical equation that defines the model is based on the Second Law of
Newton, and is the following:
(9)

• Advantages of pitch control system:

 good power control (power kept close to the rated power in high winds),
assisted start-up and emergency stop
 pitch controlled turbines can adjust the angle of the blades to reduce the
aerodynamic forces

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 Electrical system
The electrical system is composed of two main components: the generator and
the power electronics interface.

Generator
• In this project the doubly-fed induction generator is implemented

• The stator circuit is directly connected to the grid while the rotor winding is
connected via slip-rings to a three-phase converter.

Generic one-mass drive train DFIG schematic

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• The generic model for a wound rotor induction machine could be expressed as
follows
 Stator and rotor voltage equations:
(10)
(11)
(12)
(13)
 Stator and rotor flux equations:
(14)
(15)
(16)
(17)
• The magnetizing current
(18)
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• Since this project is focused in steady state results, it could be possible to neglect
the stator phase resistance. the stator voltage and current components become:
(19)
(20)
(21)
(22)
• Stator and rotor flux equations:
(23)
(24)
• Introducing the first four equations in the last two ones, it is possible to rewrite
the active and reactive power expressions as a function of the stator voltage and
rotor currents [24, 25], which are control variables
(25)
(26)
• The electromagnetic torque of the doubly-fed induction generator is expressed as
follows:
(27)
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Power electronics interface

• DFIG wind turbines employ a back-to-back AC/DC/AC converter system in

order to allow sub-synchronous and super-synchronous operating modes

• This system can be sub-divided into three systems

 AC/DC converter, also called rotor side converter
 DC Link capacitor which acts as a DC voltage source
 DC/AC converter, also called grid side converter

• Physically, this system normally comprises of a traditional inverter on the

machine side and of a three phase PWM boost rectifier on the grid side.

• The grid side converter is responsible for balancing power injected into the
DC link capacitor versus active power exchanged with the grid. The
converter at the grid side is controlled in a manner so as to achieve constant
link voltage across the DC link capacitor

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 Control system
• The control of a variable speed wind turbine can be defined according to
different speed control regions. Typically, four regions are used, as illustrated
in the figure below.

Turbine´s control zones over generator speed characteristic

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 Simulink wind turbine simulation model structure
• The Simulink has been chosen as a preferred working tool because of its great
power that helps the designer on this task.

• Simulink toolbox comes with some built-in modules for modelling renewable
energy systems. This is the case for the DFIG wind turbine. The wind turbine
model used for this project has taken advantage of some MATLAB modules.
The core of the model is presented in the following figure:

Wind turbine doubly-fed induction generator Simulink block

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• The inputs of this box are the following
 Wind speed (m/s)
 Trip. It is a binary, enabling signal that tells the system to trip. This signal
is used on fault analysis implementing external modules that change the
trip signal accordingly.
• The outputs of the box are
 m: is a vector of 29 different signals, chosen individually, that could
contain from the phasor currents and voltages up to the active and
reactive powers, including also the mechanical torque and the rotor
speed, to name a few.
 A, B and C: these are the three terminals of the wind turbine DFIG
(WTDFIG).

Schematic of the wind turbine model implemented 18

• The WTDFIG Simulink block implements different sets of Simulink modules
to model the whole WTDFIG

Simulink model of the project developed

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Blocks inside the mask of the module WTDFIG

Wind turbine blocks modeling the aerodynamic equations

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. Generator and converters blocks of the WTDFIG Control blocks of the WTDFIG

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Turbine power characteristics of the wind turbine for a zero degrees pitch angle
Block diagram of the power control loop implemented in the WTDFIG

Detail of the the pitch control and power tracking characteristic blocks

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MW wind turbine model design
(specifications of the model developed using Simulink)

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 Parameters selection
• Simulink WTDFIG model is set up to represent a 1.5 MW wind
turbine[27], with the corresponding 1.5 MW generator
Generator Data
Nominal Power, 𝑷𝒏 (VA) 1.67·106
Line to Line Voltage, 𝑽𝒏 (Vrms) 575
Nominal frequency, 𝒇𝒏 (Hz) 60
Stator [𝑹𝒔 , 𝑳𝝈𝒔 ] (pu) [0.00706, 0.171]
Rotor [𝑹′𝒓 , 𝑳′𝝈𝒓 ] (pu) [0.005, 0.156]
Magnetizing inductance, 𝑳𝒎 (pu) 2.9
Inertia constant, friction factor and pole
[5.04, 0.01, 3]
pairs [H (s), F(pu), p]
Initial conditions [s(), th(deg), 𝑰𝒔 (pu), 𝝋𝑰𝒔
[0.2, 0, 0, 0, 0, 0]
(deg), 𝑰𝒓 (pu), 𝝋𝑰𝒓 (deg) ]
Default parameters of the generator employed in the model

Turbine Data
Nominal wind turbine mechanical power, 6
1.5·10
𝑷𝒎 (W)
Tracking characteristic speeds [speed_A
[0.7, 0.71, 1.2, 1.21]
(pu)…speed_D(pu)]
Power at point C (pu of the mechanical
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power)
Wind speed at point C (m/s) 12
Pitch angle controller gain [𝑲𝒑 ] 500
Maximum itch angle (deg) 45
Maximum rate of change of pitch angle
2
(deg/s) 24
Default parameters of the turbine employed in the model
 Converters Data
Converter maximum power (pu of generator
0.5
nominal power)
Grid-side coupling inductor [L (pu) R (pu)] [0.15, 0.15/100]
Coupling inductor initial current [𝑰𝑳 (pu), 𝝋𝑰𝑳
[0, 90]
(deg)]
Nominal DC bus voltage (V) 1200
DC bus capacitor (F) 0.1
Default parameters of converters employed in the model

Control Data
Reference grid voltage 𝑽𝒓𝒆𝒇 (pu) 1
Grid-side converter generated reactive
0
current reference, 𝑰𝒒−𝒓𝒆𝒇 (pu)
Grid voltage regulator gains [𝑲𝒑 , 𝑲𝒊 ] [1.25, 300]
Droop 𝑿𝒔 0.02
Power regulator gains [𝑲𝒑 , 𝑲𝒊 ] [1, 100]
DC bus voltage regulator gains [𝑲𝒑 , 𝑲𝒊 ] [0.002, 0.05]
Grid-side converter current regulator gains
[1, 100]
[𝑲𝒑 , 𝑲𝒊 ]
Rotor-side converter current regulator
[0.3, 8]
gains [𝑲𝒑 , 𝑲𝒊 ]
Maximum rate of change of reference grid
100
voltage (pu/s)
Maximum rate of change of reference
1
power (pu/s)
Maximum rate of change of converter
200
reference currents (pu/s)

Default parameters for the controllers employed in the model

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• A quick analysis of these parameters would tell that the whole system has
been designed for the use of per unit variables. Different strategies have
been carried out in this project in order to meet the objective of achieving
and output power of 1.1 ± 5% MW. This is an output power between 1.045
MW and 1.155 MW.

Output power for default parameter, 1.5 MW, fixed wind speed of 12 m/s and pitch angle of 0°

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 1st strategy: changing the pitch angle
• It is very complex to determine the exact pitch angle analytically. On the
other hand, it is quite straightforward to realize that there will be different
“optimal” values of the pitch angle for different wind speed in order to
achieve the same power output.

Output power for default parameter, 1.5 MW, Output power for default parameter, 1.5 MW,
fixed wind speed of 12 m/s and pitch angle of 5° fixed wind speed of 12 m/s and pitch angle of 2.226°

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 1st strategy: changing the pitch angle
• If the wind speed increases, even if it stayed constant at the new value,
the pitch angle selected is not enough to achieve the power objective

Output power for default parameter, 1.5 MW, Output power for default parameter, 1.5 MW,
fixed wind speed of 18 m/s and pitch angle of 2.226° fixed wind speed of 24 m/s and pitch angle of 2.226°

. Output power for default parameter, 1.5 MW, . Output power for default parameter, 1.5 MW, 28
fixed wind speed of 18 m/s and pitch angle of 22.618° fixed wind speed of 24 m/s and pitch angle of 31.42°
 1st strategy: changing the pitch angle
• When a variable wind speed profile is applied the system is not able to
produce the desired power. The pitch angle is not enough to keep the
output power steady at the wanted value. Besides, the pitch controller
becomes active from rated wind speed and up

Output power for default parameter, 1.5 MW, fixed wind speed of 24 m/s and pitch angle of 31.42°

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 2nd strategy: modifying the tracking characteristic
• With the first strategy modifying the pitch angle is enough to achieve the
output power goal with a fixed wind speed. However, this strategy fails when
it comes to control a variable wind speed.
• In In order to fix the previous issue, it could be thought that modifying the
tracking curve and so the power reference could help the pitch angle strategy
meet the power objective.
Tracking Characteristic Data
Tracking characteristic speeds [speed_A
[0.7, 0.71, 1.2, 1.21]
(pu)…speed_D(pu)]
Tracking characteristic power [power_A
[0, 0.147, 0.71, 0.733]
(pu)…power_D(pu)]

Values of rotor speed (pu) and corresponding power (pu) for the tracking characteristic

Screen capture of the Look-up table used to model the tracking characteristic
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 2nd strategy: modifying the tracking characteristic
• By only varying the tracking characteristic it is not enough to get the right
output power

Output power for 1.5 MW, fixed wind speed of 12 m/s Output power for 1.5 MW, fixed wind speed of 18 m/s
and pitch angle of 0° with modified tracking characteristic and pitch angle of 0° with modified tracking characteristic

.Output power for 1.5 MW, fixed wind speed of 24 m/s and pitch angle of 0° with modified tracking characteristic
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 2nd strategy: modifying the tracking characteristic
• The power output when a variable speed wind profile is applied. Once again,
it is clear that just by changing the tracking curve is not enough to obtain the
objective power

Output power for 1.5 MW, variable wind speed and pitch angle of 0°
with modified tracking characteristic

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3rd strategy: modification of a mechanical component
• The last strategy studied consists of modifying one or some mechanical
components of the wind turbine.
• It is enough to change the mechanical power of the turbine and adapt the
tracking characteristic

Output power for 1.1 MW, fixed wind speed of 12 m/s Output power for 1.1 MW, fixed wind speed of 18 m/s

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3rd strategy: modification of a mechanical component
• The shape of the curve for a fixed wind speed of 24 m/s is almost
identical to that of 18 m/s. This kind of behavior is totally normal as the
turbine is running above rated wind speed, its expected performance
should be the same on the whole range until the cut-out wind speed,
where it would be disconnected.

Output power for 1.1 MW, fixed wind speed of 24 m/s

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3rd strategy: modification of a mechanical component
• According to the theory of control employed in this project, for above rated
wind speeds, the pitch control becomes active. However, it is easy to notice
that there is some transient occurring. The pitch control does not become active
until roughly 10 seconds after the start. This is the time that the rotor needs to
develop the supersynchronous speed required for above rated wind speeds.

Pitch angle evolution for fixed wind speed of 24 m/s Rotor speed evolution for fixed wind speed of 24 m/s

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3rd strategy: modification of a mechanical component
• The results under variable speed winds

Output power for 1.1 MW and variable wind speed profile given below

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Wind speed profile used to test performance under variable wind speed conditions
3rd strategy: modification of a mechanical component
• the input mechanical torque against time and the output electromagnetic torque
against time, respectively. Both variables are negative because they are both
generated torques, one by the wind turbine and the other by the generator

Mechanical torque input to the generator for 1.5 MW WTDFIG Electrical torque output of the generator for 1.5 MW WTDFIG

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3rd strategy: modification of a mechanical component
• The efficiency can be calculated as:

• under the proposed situation of a 1.1 MW wind turbine connected to a 1.67

MVA generator. Where the efficiency is calculated following the same equation
as above:

• Finally, it can be said that form the point of view of the generator efficiency,
there is no inconvenient in the performance of the proposed wind turbine-
generator configuration

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3rd strategy: modification of a mechanical component

Mechanical torque input to the generator for 1.1 MW WTDFIG

Electrical torque output of the generator for 1.1 MW WTDFIG

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