Controlandsimulationofdoublyfedinductiongenerator

forvariablespeedwindturbinesystemsbasedonan
integratedFiniteElementapproach
QiongzhongChen*,MichelDefourny#,OlivierBrls*
*DepartmentofAerospaceandMechanicalEngineering(LTAS),
UniversityofLige,Belgium
#SAMTECHHeadquarters,Lige,Belgium

EWEA2011,Brussels,Belgium

Outline
Background
Control of DFIG
Integrated simulation approach
Examples & validation
Conclusions
1

Background
Wind turbine concepts
Equipped gen. types
WT types

Gen. types

DFIG WTs

DFIG

FSWTs

SCIG

FCWTs

PMSG, SCIG etc.

Other

OSIG

(Data source: A. Perdala, dynamic models of wind turbines, PhD thesis, 2008)

Evolution of WT size:
Increased flexibility
Increased coupling effects
(Figure from EWEA factsheets)
2

Background
Computer-aided analysis for WT systems
Software specialized in a certain field
Aerodynamics: AeroDyn etc.
Structure: ADAMS/WT etc.
Electrics: DIgSILENT etc.
? Different systems on different simulation platforms
?? No detailed coupling analysis
Integrated simulation packages:
GH Bladed, Simpack Wind, HAWC2, FAST etc.
? Weak coupling (DLLs or co-simulation)
?? Numerical stability?
Need for integrated optimization tools (Bottasso, 2010)
3

Background
Samcef for Wind Turbine (S4WT)
Nonlinear FE flexible multibody solver: SAMCEF/MECANO
One single platform:
Aeroelastics, multibody, control, electrodynamics etc.
Flexibility in blades, shafts, tower etc.
Simulation approaches: Weak & strong coupling

An integrated model on S4WT

(Courtesy: Samtech)

Highlights of the paper

Improved control strategies of DFIG WTs
Grid-synchronization
Power optimization

Strongly-coupled approach for

mechatronic systems [B. & Golinval 2006]
Integrated structure-control-generator
analysis on S4WT

Brls, O. and Golinval, J. C. The generalized- method in mechatronic

applications. Zeitschrift fr angewandte mathematik und mechanik
(ZAMM) 86, 10 (2006), 748-758.
5

Control of DFIG
Working process of WT systems
Wind turbine

Gear
box

Grid

Transformer

SWs
DFIG
SWr

RSC
AC/
DC

GSC
DC/
AC

SWg

A schematic configuration of a DFIG wind turbine

Power
Limitation
D

Wind power

soft grid connection

power optimization

Power
Optimization

Power Limitation

Turbine output power

Control of DFIG:

B
0

Wind speed

D, E
Power Optimization
C

B
A
Rotor speed

Grid synchronization control

Objective:
Regulate stator voltage, frequency, phase angle
grid before connection

Method:
Grid-voltage-oriented reference frame
Vector control
PI Controller designed based on internal model control
(IMC) method
FF term

sl Lr idr sl Lr idr

FF term

sl Lr iqr sl Lr iqr

DFIG

iqr_ref +
_

Cqr(s)

Vqr +

iqr
Gr(s)

DFIG

idr_ref +
_

Cdr(s)

idr

Vdr +

Gr(s)

D,q-axis rotor current control loops

7

Power control
Objective:
Follow a pre-defined power-speed characteristics
profile speed regulation

Method
Stator-flux-oriented reference frame
Vector control
q-axis rotor current active power
d-axis rotor current reactive power
IMC or pole placement method for design of controllers

Power control
Power control scheme
ref

controller:
CT(s)

+
_

Te_ref

controller: iqr_ref +
CiT(s)
_

controller:
Cvi_qr(s)

vqr

iqr

DFIG

Qref

controller:
CiQ(s)

idr_ref +

controller:
Cvi dr(s)

vdr

idr

Decoupled speed and reactive power control of DFIG

Controllers: PI or IP regulators
Design of controllers
PI : IMC method (current loop)
IP : pole placement method (speed loop)
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Design of controllers
PI controller for q-axis rotor current
i-v transfer function
Gvi_qr ( s )

I qr ( s )
Vqr ( s )

Eqr

1
X
Rr 1 s
s

iqr_ref +
_

Gqr 1 ( s )

iqr

Gvi_qr(s)

current control block

PI controller on IMC
Cvi_qr ( s )

Cvi_qr(s)

Vqr

X 1 Rr
s

IMC parameter: = ln 9 / trise

For electrical dynamics, the rise time is set to 10ms
10

Design of controllers
IP controller for speed control
Close-loop transfer function
Ki /J
r ( s )
= 2
ref ( s) s + ( K p /J ) s + Ki /J
Pole placement method
K p =2 d nd J

2
K i =nd J

Tm
ref +
_

Ki/s

+
_

Te_ref +

1/(Js)

Kp

Speed control block

For over-damped systems: nd =5.8 /tsd

For mechanical dynamics, the settling time is set to
1s,
DFIG alone
2.5s, with WT system
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Integrated simulation approach

Strongly-coupled representation for
mechatronic systems
y

( q , q , q, )

Tq (k p) g(q, q,
t ) La y 0
Mq

k(q) 0

Control system

x f (q, q,
q,, x, y, t ) 0

y h(q, q,
q,, x, y, t ) 0
Coupling in a mechatronic system
Mechanism

Extended generalized- solver

Coupled 1st / 2nd order systems

Second order accuracy
Unconditional stability
More details can be referred to [B. & Golinval 2006]
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Mechatronic Modelling on SAMCEF

Considerations for the Mechatronic
modelling:
Functional system decomposition
Modularized, parameterized components
E.g. DFIG, PI, PID modules etc.
Nodes are introduced for
Mechanical DOFs
A uniform tangent matrix for
State variables
Newton iteration
Outputs
On a general-purpose use
User-friendly
Reusable

13

Examples & validation

2MW DFIG parameters:
Base voltage (line-to-line): Vbase= 690 V;
Base power: Pbase= 2 MW;
Grid frequency: fs= 50 Hz;
Number of poles: np= 4;
Stator resistance: Rs= 0.00488 p.u.;
Rotor resistance : Rr= 0.00549 p.u.;
Stator Leakage inductance: Lsl= 0.09241 p.u.;
Rotor leakage inductance: Lrl= 0.09955 p.u.;
Mutual inductance: Lm= 3.95279 p.u..
Inertia of the generator rotor: 100kgm2

WT parameters:
Blade length: 41m;
Tower height: 75m;
Gearbox ratio: 106
Etc.
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Ex. 1:DFIG with defined input torque

Simulation situation
Synchronization process starts at 0.8
p.u. of the rotating speed
Reactive power reference: 0 p.u.
Speed (active power) control situation:
Reference speed:
p.u., time 4sec
1

s 0.9 p.u., 4sec time 6sec

1.1 p.u., time 6sec

Input torque:
p.u., time 8.5sec
1

Tm 0.5time 5.25 p.u., 8.5sec time 9.5sec

0.5
p.u., time 9.5sec

15

Results
Grid synchronization
Synchronization
starts

Synchronization
finishes

A-phase grid voltage

A-phase stator voltage
Grid synchronization process
16

Results
Power control
Speed response

iqr

idr

Rotor current response

Reactive power response

17

Ex. 2: DFIG with WT structure model

Integration of DFIG with WT structure
model on S4WT
Simulation situation:

Initial WT speed:
1.1rad/s (0.74p.u.)

Grid synchronization
starts at 0.8p.u. of
generator speed

Reactive power
reference: 0

Active power control

according to wind
speed:

WT models on S4WT

8 m /s, time 8sec

11 m /s, time 8sec

wind

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Results
Grid synchronization
Synchronization
starts

Synchronization
finishes

A-phase grid voltage

A-phase stator voltage
Grid synchronization process
19

Results
Power control

Schematic power-speed
characteristics
Speed response

Reactive power

Active power

Power response
20

Results
Influence of structural flexibility

Generator torque

Blade

Rigi.

Flex.

Youngs module (Gpa)

100

30

Damping (N/m/s)

4.55e-2

4.55e-3

Shaft

Rigi.

Flex.

Bending stiffness (Nm/deg)

86.92

43.46

Bending damping (kgm2/s)

Torsional stiffness (Nm/deg)

55.85

27.93

Torsional damping (kgm2/s)

7858

785.8

Other applied elements:

Flexible tower

Simple gearbox, bedplate

elements etc.

Speed response
21

Conclusions
Improved control strategies for DFIG
Grid synchronization & power control
Solution to the difficulty in the configuration of the
controllers coefficients

Integrated FE approach with strong coupling

instead of weak coupling
Unconditional stability, less intricacy
Could be less efficient

Modular models of the generator/control systems

for S4WT package (on a general purpose)
Integrated variable-speed DFIG WT system model
analysis and validation
22

In acknowledgement of
DYNAWIND (grant number: 850533)
funded by Wallonia government, Belgium

Thank you for your Attention!

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