Detailed Dynamic Modeling of Permanent Magnet

Synchronous Machine based Wind Turbine for Power

System Dynamic Analysis

M. A. Tabrizi, IEEE Graduate student member, G. Radman, IEEE Senior member,
Electrical and Computer Engineering Department
Tennessee Technological University
Cookeville, TN, USA


AbstractWind energy system as a renewable energy source
has been developed remarkably during the last decade to
supplement large scale power systems, micro grids and smart
grids. While Considerable research efforts have been directed to
wind energy system modeling and analysis, comprehensive model
developments for grid integration studies have been relatively
sparse. This paper presents a detailed dynamic modeling for wind
energy conversion system based on Permanent Magnet
Synchronous Generator. The wind turbine system is equipped
with maximum power point tracking module and pitch angle
control. The control system aims to regulate the generator shaft
speed, DC link voltage, and output reactive power while
minimizing generator losses. The overall system is simulated in
MATLAB. The simulation result indicates the presented model
adequately represents the details of the system performance while
meeting all control objectives.
I. INTRODUCTION
Wind energy conversion system converts the energy stored
in wind to the mechanical energy ready to be used by
generator. Wind turbine may operate with either fixed speed
(approximate speed deviation within 1% of nominal speed
determined by power system) or variable speed. Since fixed
speed wind turbines generator, which is an induction machine,
is directly connected to the grid, the generator shaft speed is
almost fixed to the grid frequency. Thus, storing power
fluctuations caused by wind variations and drive train is not
possible. Therefore, fixed-speed wind turbines have a negative
impact on the power quality of the grid [1]. Variable speed
wind turbines are connected to the grid through power
electronic devices making it possible to control the shaft speed.
As a result, the power variations caused by wind turbulence can
be absorbed by changing the shaft speed. Hence, in comparison
with fixed-speed wind turbine, variable speed wind turbines
result in a better grid power quality [2].
Permanent Magnet Synchronous Generator (PMSG) is one
of the most popular kinds of synchronous generators used in
variable speed wind system applications [3] [4]. No need for
external excitation system, no copper losses in the rotor
circuits, relatively maintenance-free operation, high efficiency,
high reliability and high power density are the main reasons
contributing to their popularity [5]. Different types of PMSGs
such as Interior Permanent Magnet Synchronous Generator
(IPMSG) and Surface-mounted Permanent Magnet
Synchronous Generator (SPMSG) have been utilized in power
systems applications and electric machine industries [6]. In
SPMSG, the magnets are mounted on surface of the rotor and
due to their high reluctance, the equivalent air gap is large and
considered as uniform making the saliency effect negligible. As
a result, the quadrature-axis synchronous inductance is equal to
direct-axis one and only magnet torque is produced. In
comparison with SPMSG, IPMSG has gained more attention in
wind energy industry. Due to non-uniform equivalent air gap,
the saliency effect in IPMSG is significant. The quadrature-axis
synchronous inductance is usually larger than its direct-axis
synchronous inductance providing both magnetic and
reluctance torque. Therefore, IPMSG offers higher efficiency
in addition to higher controllability meaning that the output
power could be kept constant within a wider speed range by
utilizing flux weakening regime; magnets are covered and
protected providing more robust and solid structure [7], [8], [9].
This paper presents a detailed dynamic modeling of a
IPMSG based wind turbine as shown in Fig. 1. The turbine is
connected to the grid through a back-to-back converter and is
assumed to be equipped with maximum power point tracking
module and pitch angle control. The control system aims to
control generator shaft speed, DC link voltage, output reactive
power and minimize the generator losses. While the presented
model is detailed enough to capture all performance objectives,
this model can be integrated to power system model for the
purpose of transient and dynamic stability studies.
Series filter &
transformer
IPMSG
Gear Box
(GB)

=
=
MSC GSC

=
Vt
Rfw+jXfw
It
Vdc
I1 I2
Vs
Is
Pt ,Tt
Grid
Control
System
(M1) (M2)
Measurements
Measurements
V
Fig. 1. IPMSG based wind turbine system connected to the system.
Center for Energy System Research, Cookeville, TN.
The remainder of the paper is organized as follow: Section
II, III and IV illustrate the wind power, aerodynamic power
control and maximum power point tracking, respectively.
Section V and Section VI present a comprehensive formulation
for IPMSG and its control system modeling. Section VII
provides the model performance test results and Section VIII
concludes the paper.
It should be noted that all the symbols and notations used in
this paper are standard symbols for corresponding parameters
and their definitions may be found in [10] [11].
II. WIND POWER
Power extracted from the wind by wind turbine blades is
given by:
3
) , (
2
1
w p t
V C A P = |

(1)
According to Betz Law, the highest possible value for power
coefficient, C
P
, is proved to be 0.5926 [10]. Furthermore, the
power coefficient will be even smaller than Betz limit and can
be expressed as a function of tip speed ratio and wind turbine
pitch angle. For 3-blade wind turbine, the power coefficient is
given by [12]:
) 17 . 0 ( 2
) 6 . 5 022 . 0 ( 5 . 0 ) , (

| |

= e C
p

(2)
where for 3-blade wind turbine the tip speed ratio is defined as:
W
t
V
R e

=

(3)
As seen from above equations, at a given wind speed, the
amount of power captured by wind turbine blades is only
controlled by turbine shaft angular speed and turbine blades
pitch angle.
III. AERODYNAMIC POWER CONTROL
Fig. 2 shows an ideal wind turbine output power vs. wind
speed curve. At any wind speed higher than rated wind speed,
it is necessary to limit the input power to the wind turbine to
prevent turbine mechanical and electrical damages, i.e.
aerodynamic power control. There are three major ways of
performing the aerodynamic power control namely stall, active
stall and pitch control [10]. For newer larger wind turbines,
pitch control is the most common method of controlling the
aerodynamic power at wind speed higher than rated wind
speed. Below rated wind speed, the turbine should use a pitch
angle that maximizes the energy capture from the wind i.e.
pitch angle equal to zero. Above rated wind speed, the pitch
angle is controlled in such a way that the angle of attack is
decreased and aerodynamic power remains fixed at its rated
value. The dynamics of the pitch control is moderately fast and
can have significant impact on dynamic studies. The pitch
control block diagram is shown in Fig. 3.
In this model, the blade position actuators are rate limited
and there is a time constant associated with the translation of
blade angle to mechanical output. The pitch control does not
differentiate between shaft acceleration due to increase in wind
speed or due to system faults. In Fig. 3, for power levels above
rated, the rotor speed will be controlled primarily by the pitch
control, with the speed being allowed to rise above the
reference transiently.

Fig. 2. Typical variable-speed wind turbine output power vs. wind speed
curve (ideal case)

Delay Block
& Rate limit
P-I +
-
P-I +
-
Rotor speed
maximum
speed
Output
power
Maximum
power
cmd
|
|
Blades
pitch

Fig. 3. Turbine pitch control block diagram

Fig. 4. Power Coefficient variations as a function of Tip Speed Ratio and
pitch angle for a typical wind turbine
IV. MAXIMUM POWER POINT TRACKING
Fig. 4 shows the power coefficient as a function of tip speed
ratio and pitch angle for a typical 3-blade wind turbine. As
discussed, at any wind speed below the rated wind speed, the
pitch angle is kept at zero. Therefore, below the rated wind
speed, the only control variable is the tip speed ratio which is
itself a function of turbine shaft angular speed. As seen from
Fig. 4, for each power coefficient curve at any given pitch
angle, there is unique tip speed ratio (
mppt
) which maximizes
the power coefficient and consequently the captured power
from wind. This tip speed ratio corresponds to a unique turbine
shaft angular speed (
mppt
). For a wind speed below the rated
wind speed, maximum power point tracking is guaranteed if the
tip speed ratio is equal to:
) 6 . 5 022 . 0 (
17 . 0
1
2
+ + = |
mppt

(4)

0 7 18 2425
0
20
40
60
80
100
120
Wind speed (m/s)
p
o
w
e
r

(
%
)
rated power
at rated wind
speed
cut-in wind
speed
cut-out
wind speed
0
5
10
15
20
25
30
0
0.5
1
1.5
2
-3
-2.5
-2
-1.5
-1
-0.5
0
0.5
Tip Speed Ratio ()
Pitch Angle (|)
P
o
w
e
r

C
o
f
f
i
c
i
e
n
t

(
C
P
)
V. IPMSG BASED WIND SYSTEM MODELING
In following subsections, IPMSG dynamic model is
presented based on synchronously rotating qd reference frame
theory in which the quadrature axis (q-axis) leads the direct
axis (d-axis) by 90
0
[13] i.e. the voltage or current space vector
in abc reference is projected into q-axis and d-axis as follows:
) (
) (
t j
d q
e jf f f
c
=

(5)
Dynamic models are given in terms of per unit quantities.
Turbine rated power and magnitude of rated phase voltage at
IPMSG terminal are chosen as base power and base voltage for
per unitizing of the dynamic model of IPMSG.
A. IPMSG and MSC Dynamic model
In contrast to conventional synchronous generators, IPMSG
does not have any damper winding located on its rotor. In
addition, the magnetic field is provided by permanent magnets
which are poor electrical conductors. As a result, the dynamic
of the rotor can be neglected. The IPMSG dynamic model in
rotor reference frame (Parks transformation) is given by:
sq sq r sd
b
sd
sd s sd
I X pI
X
I R V e
e
+ =
m r sd sd r sq
b
sq
sq s sq
I X pI
X
I R V e e
e
+ =
sq m sd sq sd sq e
I I I X X T + = ) (
(6)
The electrical torque expression is positive for generator
action with positive direction of stator current assumed out of
the stator terminals. The torque and generator shaft speed are
related by the following dynamic equation:
e t r
T T p H = e 2
(7)
where H is the turbine and generator shaft inertia constant in
second.
Machine Side Converter (MSC) can be modeled using
average model i.e. controllable voltage source:
2
;
2
1 1
dc
d sd
dc
q sq
V
M V
V
M V = =

(8)
where M
1
is a modulation index and is decided by control
loops.
B. DC link dynamic model
Using KCL, the dynamic equation for DC link of the back-
to-back converter in per unit is given by:
2 1 1
) (
2
1 1
I I M I M pV B
sd d sq q dc c
b
+ =
e

( 9)
C. GSC and R-L series filter dynamic model
Similar to MSC, Grid Side Converter (GSC) can be
modeled using average model i.e. controllable voltage source:
2
;
2
2 2
dc
d d
dc
q q
V
M V
V
M V = = (10)
where M
2
is a modulation index and is decided by GSC
associated control loops. Using KVL, the dynamic equation
associated with the series R-L filter in synchronously rotating
reference frame is given by:
d fw e q
b
fw
q fw q tq
I X pI
X
I R V V e
e
=
q fw e d
b
fw
d fw d td
I X pI
X
I R V V e
e
+ =
(11)
Active and reactive power flow equation at IPMSM Point
Of Interconnection (POI) bus in synchronously rotating
reference frame is given by:
q td d tq gw d td q tq gw
I V I V Q I V I V P = + = ;
(12)
Using Phase Lock Loop (PLL), the q-axis and d-axis
components of the POI voltage can be obtained such that the q-
axis component is aligned with the POI bus voltage i.e. V
tq
=V
and V
td
=0 making the decouple control of active and reactive
power possible.
VI. IPMSG CONTROL SYSTEM DESIGN
As mentioned, in this paper four control objectives are
considered. In following sub-sections each of these control
objectives is explained in details and controller parameters are
designed based on well-known pole-placement strategy.
MSC is assigned with two tasks namely: maximum power
point tacking and generator loss minimization. To meet these
two control objectives, two control loops based on the model
provided in previous sections is developed. The stator reference
current components (d and q-axis) are calculated using these
two control loops such that the two objectives are met. Stator
reference current components (q and daxis) generated by these
outer-level loops are fed to inner-level current control loops
which consequently generate the reference voltages for
Voltage-Source Converter switching.
In order to extract the maximum power from wind power at
any given pitch angle and wind speed below the rated speed,
the generator electrical desirable (reference) rotor speed in
rad/sec is given by:
R
V
n
Pole
MPPT w
gb MPPT r

e

=
2
,
(13)
For generator rotor speed to follow the above reference
value, a Proportional-Integrator (PI) controller is used. This
controller is designed using per unitized generator torque-speed
equation:
e
c e = =
e t r
T T p H 2
(14)
The closed loop transfer function for the speed control loop
is given by:
)
2
( )S
2
(
2H
1
) (
2
,
H
k
H
k
S
k S k
s G

p
i p
MPPT r
r
+ +
+
= =
e e
e
e
(15)
Comparing the denominator of above 2
nd
order transfer
function with Butterworth polynomial, the PI gains are
calculated:
0
2
0
2 2 ; 2 e e
e e
H k H k
p i
= =
(16)
Neglecting all other generator losses except stator copper
losses, total generator losses are given by:
) (
2 2
sq sd s loss
I I R P + =

(17)
The second objective is to minimize the stator copper losses
subject to the fact that the generator electrical torque must be
maximized for any given wind speed below the rated speed i.e.:
MPPT
t sq m sd sq sd sq e
T I I I X X T = + = ) ( (18)
This minimization problem subject to single equality
constraint can be formulated as a Lagrange Multiplier
optimization problem. Implementing the necessary and
sufficient condition for this optimization problem results in the
following 4
th
order polynomial:
0
0
1
, 1
2
, 2
3
, 3
4
, 4
= + + + + a I a I a I a I a
ref sd ref sd ref sd ref sd
(19)
where
2
3
3
4
) ( 3 ; ) (
sd sq m sd sq
X X a X X a = =
3
1
2
2
; ) ( 3
m sd sq m
a X X a = =
2
0
) (
MPPT sd sq
T X X a =
(20)
In order to satisfy both control objectives, i.e. maximum
power point tacking and loss minimization, (14) and (20) are
combined. Therefore definition of a
0
is replaced by:
2
0
) ( ) (
e
c =
t sd sq
T X X a (21)
The quadrature component of stator current reference is given
by:
m sd sd sq
t
ref sq
I X X
T
I

c
e
+

=
) (
,

(22)
While outer loops provide the inner current control loops
with current reference values, the inner current loops generate
the desirable modulation indices used to produce switching
signals for converter. MSC current control loops are shown in
Fig. 5.
To design the gains of PI controllers in current control
loops, their transfer functions are compared with the 2
nd
order
Butterworth Polynomial. The gains are calculated as follow:
2
0 0
; 2 e
e
e
e
b
sd
iisd s
b
sd
pisd
X
K R
X
K = =
2
0 0
; 2 e
e
e
e
b
sq
iisq s
b
sq
pisq
X
K R
X
K = =

( 23)

+
-
+
-
I
sd,ref
I
sd
M
d1
+
+
isd , p
K
S
K
isd , i
sq sq r
I X e
dc
V
2
+
-
+
+
-
I
sq,ref
I
sq
M
q1
+
+
isq , p
K
S
K
isq , i
sd sd r
I X e
m r
e
dc
V
2

Fig. 5. Machine side converter current control loop

Despite of MSC, GSC is locked to the grid frequency. It is
assigned the task of DC link voltage control and reactive power
(or power factor) control at the POI bus. To regulate the DC
link voltage, a PI controller is used. Using the dynamic
equation for DC link voltage, the control loop transfer function
is given by:
c
b
idc
c
b
pdc
idc pdc
c
b
ref dc
dc
dc
B
K S
B
K S
K S K
B V
V
s G
e e
e
+ +
+
= =
2
,
) (

(24)
Comparing the denominator of above 2
nd
order transfer
function with Butterworth polynomial the PI gains are
calculated:
2
0 0
; 2 e
e
e
e
b
c
idc
b
c
pdc
B
K
B
K = =

(25)
Assuming the quadrature-axis is aligned with IPMSG
terminal voltage, the direct axis of reference current at POI bus
can be calculated using the reference reactive power:
tq
ref g
ref d
V
Q
I
,
,
=
(26)
Neglecting the inverter power loss, the following is proven:
) (
2
1
2 2 2 d d q q
I M I M I + = (27)
In order to implement the DC link control and reactive
power control, the quadrature component of terminal reference
current is calculated by combining (9) and (27):
2
, 2 1 1
,
2
) (
q
ref d d
c
dc b
sd d sq q
ref q
M
I M
B
pV
I M I M
I
+
=
e
(28)
Similar to MSC control loops, while GSC outer control
loops provide the inner current control loops with current
reference values, the inner current loops generate the desirable
modulation indices used to produce switching signals for GSC.
GCS current control loops are shown in Fig. 6.
+
-
+
-
I
d,ref
I
d
M
d2
+
+
id , p
K
S
K
id , i
q fw e
I X e
dc
V
2
V
td
+
+
-
+
+
+
I
q,ref
I
q
M
q2
+
+
iq , p
K
S
K
iq , i
d fw e
I X e
tq
V
dc
V
2

Fig. 6. Grid side converter current control loop

Based on the similar procedure used for MSC, the PI gains
for GSC current control loops are given by:
fw
b
fw
iq p id p
R
X
K K = =
0 , ,
2 e
e

2
0 , ,
e
e
b
fw
iq i id i
X
K K = =
(29)
VII. IPMSG MODEL PERFORMANCE TEST
In this section, IPMSG model performance in case of
different disturbances is evaluated. Test system is assumed to
be an IPMSG connected to the infinite bus through its POI bus.
The infinite bus with a known voltage magnitude and angle
represents a strong power grid. Two different scenarios are
considered and the model performance is evaluated as follow:
A. pitch angle control activated
As the first scenario, IPMSG based wind turbine responses
to the change in wind speed is considered while pitch control is
activated and turbine is working in unity power factor mode.
The results are shown in Fig. 7. As shown in this figure, the
pitch control loop is set such that for a wind speed above 13.5
m/s (1.156 pu), the blades are pitched to keep the turbine shaft
speed and output power at the maximum acceptable values and
once the wind speed falls below the maximum acceptable
value, the pitch angle goes back to zero to let the turbine work
at maximum power point tracking mode.
B. pitch angle control deactivated
As the second scenario, IPMSG based wind turbine
response to the change in wind speed is considered while pitch
control is deactivated and turbine is working in unity power
factor mode. The results are shown in Fig. 8. As shown in this
figure, turbine pitch angle is kept at zero for all the wind speeds
and turbine works under maximum power point tracking mode
even though speed, output power and current is far more than
the nominal and acceptable values.
VIII. CONCLUSION
This paper presented a comprehensive dynamic model for
Internal Permanent Magnet Synchronous Generator based wind
system. While numerous research efforts have focused upon
the modeling of IPMSM, the developments of the
comprehensive model required to evaluate the technology for
the purpose of grid interconnection have been relatively sparse.
The presented model includes maximum power point tracking
module, pitch angle control and average model for grid side
and machine side converters. Control system aims to control
the generator speed, DC link voltage and reactive power while
minimizing the generator ohmic losses to achieve better
efficiency. While this model is detailed enough to capture all
performance objective, this model can be integrated to power
system model for the purpose of transient stability studies
Simulation results indicate that the model accurately and
adequately represents the system performance details and all
control objectives are met. However, as an ongoing research
effort, authors believe more challenging performance tests by
using larger test systems and other types of disturbances should
also be carried out.

Fig. 7. Model performance test results in case of wind speed change with pitch angle control activated.
0 20 40 60 80 100 120
1
1.1
1.2
1.3
1.4
1.5

e
r

-

V
w

(
p
u
)
time (sec.)
0 20 40 60 80 100 120
1.998
1.999
2
2.001
2.002
2.003
2.004
V
d
c

(
p
u
)
time (sec.)
0 20 40 60 80 100 120
-2
0
2
4
6
8
10
B

(
D
e
g
r
e
e
)
time (sec.)
V
w
e
r
0 20 40 60 80 100 120
0.9
0.92
0.94
0.96
0.98
1
1.02
P
g
e
n

(
p
u
)
time (sec.)
0 20 40 60 80 100 120
-1
-0.5
0
0.5
1
1.5
x 10
-21
Q
g
e
n

(
p
u
)
time (sec.)
0 20 40 60 80 100 120
0.16
0.17
0.18
0.19
0.2
0.21
0.22
P
l o
s
s

(
p
u
)
time (sec.)


Fig. 8. Model performance test results in case of wind speed change with pitch angle control deactivated.

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0 20 40 60 80 100 120
1
1.1
1.2
1.3
1.4
1.5

e
r

-

V
w

(
p
u
)
time (sec.)
0 20 40 60 80 100 120
1.9996
1.9998
2
2.0002
2.0004
V
d
c

(
p
u
)
time (sec.)
0 20 40 60 80 100 120
-1
-0.5
0
0.5
1
B

(
D
e
g
r
e
e
)
time (sec.)
0 20 40 60 80 100 120
0.8
1
1.2
1.4
1.6
1.8
2
P
g
e
n

(
p
u
)
time (sec.)
0 20 40 60 80 100 120
-1.5
-1
-0.5
0
0.5
1
x 10
-22
Q
g
e
n

(
p
u
)
time (sec.)
0 20 40 60 80 100 120
0.1
0.2
0.3
0.4
0.5
0.6
P
l o
s
s

(
p
u
)
time (sec.)