1ST INTERNATIONAL SYMPOSIUM on INNOVATIVE TECHNOLOGIES
in ENGINEERING and SCIENCE
Sakarya University Congress and Culture Center, 7-9 June 2013
TURKEY
Modelling and Control System Design for
Doubly-Fed Induction Generator (DFIG)
Based Wind Turbines
Melik ah ZAKTRK, PhD
Lecturer
Eskisehir Osmangazi University
Department of Electrical & Electronics Engineering
8 June 2013
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Overview
Doubly-Fed Induction Generator (DFIG)
DFIG Modelling
Rotor-side Converter (RSC)
Inner Loop Control
Outer Loop Control
Grid-side Converter (GSC)
Inner Loop Control
Outer Loop Control
Simulation Results
Conclusions
Future Work
2/17
Doubly-Fed Induction Generator (DFIG)
Leading the market
Variable speed (run at low wind speed, e.g. 3 m/s)
Reduced converter cost (25 - 30% of rated power)
Lower mechanical loads
Reduced acoustic noise
Cost-effectiveness
Needs more detailed control
N.B. Direct-driven synchronous generators (PMSG) has been gaining ground for past few years.
3/17
DFIG Modelling
The main components of a DFIG are:
- a back-to-back converter (a rotor-side and a grid-side
converter)
- a DC-link capacitor placed between these two converters
- protection of power electronic devices (a rotor crowbar
or/and a DC-link brake)
- As seen in Fig. 1, the DFIG is connected to the grid via a
transformer while its rotor windings are connected to the
rotor-side converter via slip rings.
is_abc
i r_abc
i g_abc
Fig. 1: Typical DFIG-based wind turbine system
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Rotor-side Converter (RSC)
Controls the real and reactive power of the DFIG
Provides magnetisation power to the generator
RSC Inner (Current) Loop Control
p = d / dt
vr _ d _ set = Rr ir _ d + Lc pir _ d slip Lcir _ q
Lc = Lrr ( L2m Lss )
vr _ q _ set = Rr ir _ q + Lc pir _ q + slip Lcir _ d + slip k s _ d
m
slip
i r_d_set
ir_d
Kp +
m
L ci r_q
vr_d_set
K i u r_d
s
m
slip
i r_q_set
ir_q
Kp +
K i u r_q
s
L m
s
L ss
Lci r_q
vr_d
L ci mr_d
vr_q_set
m
slip
slip
slip
1
Lcs+R r
i r_d
1
Lcs+R r
i r_q
Lci r_d
v r_q
slip
slip = s r
Lm
Lss
Fig. 2: Decoupled current (inner) loop control of RSC
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RSC Outer (Power) Loop Control
Qs* = (3Vs
2Lss )(s Lmir*_ d )
Ps* = (3Vs Lmir*_ q
2 Lss )
- PID controller is used to be able to set
both the bandwidth and the damping
3 2 Vs L m
2
Lss
*
s
i r_d_set
1
Kpo +Kio +KDs
s
i r_d
Qs
G inner
3 2 Vs
2
Lss
Ps*
i r_q_set
1
Kpo +Kio +KDs
1
s
G inner
i r_q
Ps
3 2 Vs L m
2 Lss
Fig. 3: Outer (power) loop control of RSC utilising PID controller
6/17
Grid-side Converter (GSC)
Keeps the DC-link voltage constant at a pre-set value, that
is maintained by a DC-link capacitance
Transfers the rotor power to or from the network
A typical GSC arrangement is illustrated in Fig. 4
i rsc i gsc
ic V
dc
ig_a
ig_b
ig_c
Eg_abc
L gsc
Vg_abc
R gsc
Fig. 4: Grid-side converter configuration
7/17
GSC Inner (Current) Loop Control
vg _ d = Rgscig _ d + Lgsc pig _ d e Lgscig _ q + eg _ d
vg _ q = Rgscig _ q + Lgsc pig _ q + e Lgscig _ d + eg _ q
is chosen as the supply angular frequency, s
Lgsc and Rgsc are the coupling inductance and resistance to the grid, respectively
e
m
v g_d
i g_d_set
ig_d
v g_d
eg_d_set
K ii u g_d
K pi +
s
m
s
eg_d
m
L gsci g_q
m
v g_q
i g_q_set
ig_q
m
s
i g_d
Lgsci g_q
v g_q
eg_q_set
K ii u g_q
K pi +
s
1
L gscs+R gsc
m
L gsci g_d
eg_q
1
L gscs+R gsc
s
i g_q
L gsci g_d
Fig. 5: Decoupled inner (current) loop control of GSC
8/17
GSC Outer (Voltage) Loop Control
-The GSC is now represented as the DC-link voltage plant (see Fig. 6) to
derive the outer (voltage) loop plant model and to design the control of the
outer loop of the GSC.
- A small signal linearisation method is utilised. Thus, a stable system
within the limited operating region is maintained.
in
Vdc
idc
Vg_d ,ig_d
C
Fig. 6: DC-link voltage plant
Applying the Kirchhoff's Current Law to node O in Fig. 6
Using the power invariant principle for the DC-end and AC-end (PDC =
PAC) gives the DC-voltage term as
pVdc = ( in C ) + ( 3vg _ d ig _ d 2CVdc ) = f
Taking partial differentials and ignoring all terms apart from the noise term,
the direct current the DC-voltage terms turn the equation into
C Vdc = in 1.5 K v K s vdc + 1.5 K v ig _ d + 1.5 K s vg _ d
9/17
GSC Outer (Voltage) Loop Control
C Vdc = in 1.5 K v K s vdc + 1.5 K v ig _ d + 1.5 K s vg _ d
in
Vdc*
K iv i g_d_set
K pv +
s
Ginner 1
i g_d
1
sC
1.5K v
vg_d
1.5K s
Vdc
1.5K v K s
Fig. 7: Outer (Vdc) loop control of the grid-side converter
10/17
Simulation Results - RSC
The reference values of the stator real, reactive power and the DC-link
voltage are set to -1MW, -1MVAr and 1kV, respectively. Step changes are
applied to the reference values of the powers in turn, while keeping one of
them constant at its pre-set value at every turn (see Fig. 8).
Qs* = (3Vs
2Lss )(s Lmir*_ d )
Ps* = (3Vs Lmir*_ q
Fig. 8: The relationships between the rotor currents,
the stator active and reactive power
2Lss )
As long as the stator active
power varies, only the qcomponent of the rotor
current changes, while the
change in the stator
reactive power causes a
change in only the dcomponent of the rotor
current. Fig. 8 confirms that
the simulation results are
consistent
with
the
mathematical analyses.
11/17
Simulation Results - RSC
The waveforms of the stator active and reactive power step
responses are shown to be effectively same in Fig. 9.
Fig. 9: The waveforms of the stator active and reactive power
12/17
Simulation Results - GSC
PDC = vdcidc and PAC = 3 2(vg _ d ig _ d )
vdcidc = 3 2(vg _ d ig _ d )
A direct proportional
relationship between the DClink voltage and the dcomponent of the grid-side
current (ig_d), where the dcomponent of the grid-side
voltage (vg_d) is constant.
There is also a direct relation
between the d-component of
the grid-side current (ig_d)
and the grid-side real power
(AC-end real power).
Therefore, an indirect
relationship between the DClink voltage and the grid-side
real power occurs (see Fig.
10)
Fig. 10: Simulation results of the GSC control
13/17
Conclusions
The DFIG modelling and its dynamic equations are briefly
given.
The control of the inner and outer loops of the RSC and
GSC are designed and their control block diagrams are
depicted.
The DFIG system including its all electrical components is
investigated as a whole system.
The control designs established for the rotor-side and gridside converters of the DFIG based wind turbine system are
shown to work precisely.
The mathematical equations of the DFIG model are
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justified by the simulation results.
Future Work
The turbine aero-mechanical dynamics and effects, which
are excluded in this study, will be investigated.
Fault-ride through techniques will be developed and
checked if they can work accurately under balanced
and/or unbalanced voltage sags introduced to the system
Aggregate model will be built.
The connection types (e.g. HVAC or HVDC) of the wind
farm to the network will be examined.
Hybrid model (e.g. wind + solar) could be tried.
15/17
ACKNOWLEDGEMENT
Ministry of National Education of Republic of Turkey.
16/17
THANK YOU!
ANY QUESTIONS?
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