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Modeling and Control of Standalone Direct-Driven PMSG WECS for Grid

Compatibility at Varying Wind Speeds

Article in International Journal of Engineering Trends and Technology · November 2014

DOI: 10.14445/22315381/IJETT-V17P297

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 International Journal of Engineering Trends and Technology (IJETT) – Volume17 Number 10–Nov2014

Modeling and Control of Standalone PMSG WECS

for Grid Compatibility at Varying Wind Speeds
Shilpa Mishra#1 S Chatterji#2 Shimi S.L.#3 Sandeep Shukla#4
1
M.E. (Student Instrumentation and Control), NITTTR Chandigarh, India
2
Professor and Head, 3 Assistant Professor, Dept. of Electrical Engineering, NITTTR Chandigarh, India
4
Phd Research Scholar EE, RGIPT, Raebareli India

Abstract— Wind energy is one of the most available and

exploitable forms of renewable energy. Variable speed PMSG Spain
Italy India
France
based Wind Energy Conversion System (WECS) offers many
Germany 1% 1% 7%
4%
advantages compared to the fixed speed squirrel cage induction China
7%
generators such as improved stator output operation at better 26%
power factor, no maintenance cost for gear box (as it is direct-
driven) reduction in weight and losses, higher efficiency and Portugal
ability to run at low speeds. The elimination of the gear box and 4%
brushes can enhance the efficiency of wind turbine by 10%. In USA
this paper a Permanent Magnet Synchronous Generator (PMSG) Rest of
34%
is modeled whose stator is connected to the constant single phase world
load (in place of grid) through AC/DC thyristors based rectifier 16%
followed by capacitor (dc-link) and DC/DC converter control.
Overall arrangement provides constant output to connected load
if applied with proper controlling techniques. Hence this
proposed wind generation system design can be extended for grid
connection also via DC/AC inverter control. Results are Fig.1 Contribution of Different Countries to Total Installed Wind Power
simulated and verified in MATLAB/Simulink platform at Globally
constant rated (12m/s) and varying (stepped) wind speed for As a result, the turbine will be the most efficient in
smooth and constant output voltage. extracting the maximum power from the wind for
Keywords— WECS, Direct-Driven PMSG, Thyristor Converter
control, dc-link voltage Introduction only one particular wind speed and wasted
significant amount of energy [2]. Also as turbine is
I. INTRODUCTION forced to operate at constant speed, it necessary for
It is important to find an alternative form of energy the turbine to be extremely robust to withstand a
before the world’s fossil fuels are depleted as it is significant amount of mechanical stress due to the
predicted that oil and gas reserves will be depleted wind speed fluctuations On the other hand with
by 2032[1]. Wind energy has been the subject of variable speed wind turbine systems the rotor of the
much recent research and development. The only generator is allowed to rotate freely. Thus, it is
negative point that degrades the performance of possible to control the rotor speed by the means of
Wind Energy Conversion System (WECS) in terms power electronics to maintain the optimum tip
of maximum utilization of available power is high speed ratio at all times under varying wind
variation in wind-velocity (ranging from 3 m/s to conditions. Several different configurations are
15 m/s and above). Now a day’s wind system researched and developed like fixed speed system
operation is widely being worked out so as to with a Squirrel Cage Induction Generator (SCIG),
extract maximum active power at all possible wind variable speed system with Permanent Magnet
speeds with least detrimental effects on overall Synchronous Generator (PMSG) and Doubly Fed
performance. In a fixed speed wind turbine system, Induction Generator (DFIG) to improve the
the generator rotates at an almost constant speed for efficiency While recent research has considered
which it is designed regardless of variation in wind larger scale designs, the economics of large
speed. volumes of permanent magnet material has limited
their practical application. But now a day’s as cost
of magnet has fallen down in global market
significantly, PMSG WT has become most

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 International Journal of Engineering Trends and Technology (IJETT) – Volume17 Number 10–Nov2014
preferred system for wind generation. The primary Power in air flow,
advantage of Permanent Magnet Synchronous 1
P   Av 3
Generators (PMSG) is that they do not require any air
2 (2.1)
external excitation current. A major cost benefit in The aerodynamic efficiency of a wind turbine is
using the PMSG is the fact that a thyristor bridge described by the power coefficient function, Cp (β,
rectifier may be used at the generator terminals λ) given by,
since no external excitation current is needed. P m
Further, the elimination of the gear box and brushes C p

w P (2.2)
can increase the efficiency of wind turbine by
Wind turbine is applied to convert the wind Energy
10%[2]-[4]. Hence wind turbines generators based
on Permanent Magnet Synchronous Generators to mechanical torque. The mechanical torque of
turbine can be calculated from mechanical power at
(PMSG) without gear box is more useful over
electrically excited machines [3]-[4]. the turbine extracted from wind power. This fact of
the wind speed after the turbine isn’t zero. Then, the
Main objective of this research is to model and
power coefficient of the turbine (Cp) is used. The
control the standalone PMSG wind turbine
power coefficient is function of pitch angle (β) and
connected to RL load at different wind velocities in
tip speed (λ), pitch angle is angle of turbine blade
such a way to give constant and smooth output at
whereas tip speed is the ratio of rotational speed
desired voltage to load. The simulation results show
and wind speed. The power coefficient maximum
that given PMSG wind turbine design can be
of (Cp) is known as the limit of Betz. The power
extended for grid connection. Output power and
coefficient is given by [11],
voltage of WECS gets effectively smoothed using
1 1 0.035
proposed method.   3
Pitch angle control is also provided in proposed  i
  0.08   1
(2.3)
model of WECS for adjusting the power output of The Cp-λ characteristics, for different values of the
the wind turbine when wind speed is above rated pitch angle β, are illustrated in Fig. 3. The power
speed coefficient is given by,
II. MODELLING OF PMSG WIND TURBINE IN P m
C  p
MATLAB/SIMULINK P w (2.4)
This section will present mathematical model of S 3
P m
 C  ,  . 2 V
p wind
(2.5)
PMSG based on WECS. It consists of wind energy
conversion, wind turbine, drive train, PMSG and
converter as show in Fig. 2

PM AC/ DC/A
WIND TURBINE SG DC C
& DRIVE TRAIN

To Grid
PITCH
ANGLE
CONTROL
LER

Fig.3 Wind Turbine MATLAB Model

Fig.2 WECS Schematic Diagram Based on PMSG

A. Wind Turbine Aerodynamic Characteristic

The mechanical torque is given by,
P m
T m

 (2.6)

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 International Journal of Engineering Trends and Technology (IJETT) – Volume17 Number 10–Nov2014
Where, Cp = Performance coefficient of the turbine,
ρ = Air density, S = Turbine swept are, Vwind =
Wind speed, λ = Tip Speed Ratio, β = Blade Pitch
Angle.

B. Modelling of PMSG

The voltage equations of PMSG as shown in Fig. 5

are given by [12];

d 1 R L p
q

dt i d Ld vd L d i d
   i r q
Ld (2.10) (ii)
Fig.5 Modelling of PMSG using Mathematical Equations for (i)
Electromagnetic Torque (ii) Rotor Speed and Rotor Angle.
 Ld p  r id   r
d 1 R 
i q
 vq
 i q C. Mathematical Inverse Park and Clark Transform
dt Lq Lq Lq Lq (2.11)
A practical generator produces 3 phase AC power.
The electromagnetic torque equation is given by For this reason, the inverse Park and Clarke
transforms are introduced to implement the 3 phase
T e  0 . 75   iq  L d  L q i d i q  (2.12) AC output from the generator model. As Fig 6
Where, Lq = q axis inductance, Ld = d Axis- shows, the transform from the stator axis reference
inductance, R = Resistance of the stator windings, iq frame (α, β) to the rotating reference frame (d-q) is
= q axis current id = d axis current, vq = q axis called the Park transform (Texas Instruments 1997).
voltage, vd = d axis voltage ω = Angular velocity of The Clarke transform is the transformation of the 3-
the rotor, λ = Amplitude of flux induced, p = phase reference frame to the 2- phase orthogonal
Number of pole pairs. The dynamic equations are stator axis (αβ) [12].
given by,
d r 1
 T e  F  r  T m 
dt J (2.13)
d
dt  r

(2.14)
Where, J = Inertia of rotor; F = Friction of rotor; θ
= Rotor angle. Fig.6 Inverse Park Transform

As of Fig. 6 illustration, assumes the αβ frame has

an angle θ Field with the dq frame, the inverse Park
transform (dq - αβ) which can be expressed as
follows:
  cos field sin  field
 d 
     
   sin  field sin  field   q  (2.15)

The mathematical inverse Clarke transform is given

as follows;
(i)

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 International Journal of Engineering Trends and Technology (IJETT) – Volume17 Number 10–Nov2014
  rate, thereby reducing [the effective area of the
V a   1 0  blade resulting in the reduced power output. The PI
  1 3    controller inputs are in per-unit.
V b   2  
 2   The most common typical rectifier topologies
 
V c    1 3 employed in variable speed PMSG wind turbine
 
 2 2  (2.16) thyristor bridge rectifier control, At the generator
side, the rectifier circuit consists of 6 passive
thyristors. For this type of converter, the current
III. CONTROLLING OF PMSG WIND TURBINE
from the wind turbine generator can only flow
PMSG wind turbine is provided with Power toward to the load, i.e. one way power flows from
Electronic Control whether connected to grid, or the generator to the load/grid[10].
operated for battery charging through load. The The VSC controller stabilizes the voltage of the dc
wind resource is intermittent, which results in the link using the capacitors between the thyristor
unstable PMSG output. However, in order for the based bridge rectifier and the constant RL load
system to reliably connect to the power grid or to (considered here).
the load for battery charging purpose, the dc bus D. Pitch Angle Power Control
link is required to be stable at constant voltage.
Based on these requirements, the ac/dc rectifier Pitch angle controller controls the wind flow around
control described in this section. The amplitude and the wind turbine blade, thereby controlling the
frequency of the voltage output from a PMSG vary toque exerted on the turbine shaft. If the wind speed
for a variable speed wind turbine when the wind is less than the rated wind speed of the wind turbine,
speed changes from time to time, while in this the pitch angle is kept constant at its optimum value.
circumstance the generator power output should be
stabilized. The ac/dc converter circuits can be
classified as uncontrolled rectifier and controlled
rectifier circuits [9]-[10].

Fig.8 Pitch Angle Control Model in MATLAB with PI Control

From Fig.8, when the wind turbine rotor speed wr1
is lower than the rated rotor speed of wind turbine,
the error signal is negative and pitch angle is kept at
its optimum value. When the rotor speed exceeds
the rated (here for twice the rated rotor speed
controller actuates), the error signal is positive and
the pitch angle changes to a new value, at a finite
rate, thereby reducing [the effective area of the
blade resulting in the reduced power output. The PI
controller inputs are in per-unit.
Fig.7Thyristor Rectifier Control with Pulse Generator
The curve between the pitch angle and the wind
From Fig.7, when the wind turbine rotor speed wr1 speed for optimum power output is shown in Fig.9.
is lower than the rated rotor speed of wind turbine,
the error signal is negative and pitch angle is kept at
its optimum value. When the rotor speed exceeds
the rated (here for twice the rated rotor speed
controller actuates), the error signal is positive and
the pitch angle changes to a new value, at a finite

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 International Journal of Engineering Trends and Technology (IJETT) – Volume17 Number 10–Nov2014
V. SIMULATION RESULTS AND ANALYSIS

Proposed simulation model has PMSG wind turbine

with rated capacity of 8.5KW. Output of wind
turbine is connected to RL load via thyristor
rectifier, IGBT boost converter circuit and dc link
capacitor designed such that it would give constant
output voltage across load at 325 Volts. Proposed
model is simulated for constant wind speed input of
12m/s which is rated wind speed for wind turbine
system under consideration.
Simulation results obtained thus give the
performance of proposed PMSG based wind
generation system load with RL by analyzing the dc
Fig. 8 Pitch Angle Variation with Wind Speeds link output voltage across load. Here objective is to
achieve constant dc link output voltage at 315 volts
IV. SIMULATION MODEL (desired) and better power smoothing with least
Fig. 9 illustrates the simulation model of the PMSG fluctuations across load IN such a way that it would
be flexible to extend the design for grid connected
wind turbine generator connected to constant RL
load created in MATLAB/Simulink, under the PMSG wind generation system having constant
voltage and frequency.
condition of rated wind speed and rated rotational
speed. CASE 1- At wind speed = 12 m/s (rated) as shown
It consists of wind speed, wind turbine, drive train, in Fig 10 below;
PMSG, Pitch angle controller, rectifier, dc link
capacitor and constant RL load. Fig.8 PMSG WT
Simulation Model connected to RL load showing
pitch control and power electronic Converter
Control. At the generator side, the rectifier circuit
consists of 6 passive thyristors. For this type of
converter, the current from the wind turbine
generator can only flow towards the load, i.e. one
way power flows from the generator to the
load/grid [10].

Fig.10 Wind Speed at 12m/s (Rated)

Here simulation results are shown for output

voltage across load with proposed model.

Fig. 9 PMSG Based WECS Simulation Model in MATLAB

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 International Journal of Engineering Trends and Technology (IJETT) – Volume17 Number 10–Nov2014
VI. SIMULATION DATA
PMSG wind generator power rating is 8.5 KW.

Table 1. Showing Simulation Data

Stator direct axis 0.0082Mh

Inductance (Ld)

Stator quadrature 0.0082mH

axis Inductance (Lq)

C_dc_link 0.2 microfarad

Fig. 11 Voltage Output across RL Load at Constant Wind Speed

It is observed from above results, that magnitude of C_out 1 microfarad

voltage output is constant at 310 volts with almost
no fluctuations. Load resistance, R 10 ohm
CASE 2 - At varying wind speed (multistepped
Load Inductance, L 50mH
signal wave) as shown below from12m/s to 7m/s.
Due to change in wind speed from 12m/s to 0.8 pu of Rated
Maximum output
7m/s suddenly (step-change) voltage output across
RL load changes from 315 volts to around 300 volts power power
suddenly at 3 second and then stabilizes at around
300 volts.
VII. CONCLUSION
This paper shows the performance of variable speed
PMSG based wind turbine when wind energy
system is connected to RL load via dc link capacitor
and thyristor converter control. For constant as well
as changing wind speed it maintains the setting
voltage to almost constant at 310V, which is very
near to desired voltage across RL load. Also output
is smooth having least amount of fluctuations which
is highly needed for grid compatibility. Hence this
arrangement provides wind turbine generator
control and the DC bus voltage stabilization. It is
Fig.12 Wind Speed Changing at 3 Second
thus proved that the proposed PMSG wind turbine
design can be extended for constant grid connection.
References
[1] S.M. Muyeen,Junji Tamura Toshiaki Murata“Stability Augmentation of
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[2] Malcom Barnes, “Practical Variable Speed Drives and Power
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[5] O. Carlson, J. Hylander, and K. Thorborg, "Survey of Variable Speed
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Fig. 11 Output Voltage across RL Load at Varying Wind Speed [6] D. Grenier, L. A. Dessaint, Y. Bonnassieux, and B. Lepiufle,
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 International Journal of Engineering Trends and Technology (IJETT) – Volume17 Number 10–Nov2014
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