SYNCHRONOUS MACHINE WIND TURBINE MODELLING

FIDELITY
Jarrod Esau Mohammed, Mike Barnes*
*School of Electrical and Electronic Engineering, University of Manchester, PO Box 88, Manchester, M60 1QD, UK
Email: j-mohammed@neal-and-massy.com,, Mike.Barnes@manchester.ac.uk 
Keywords: Synchronous Machine, Modelling, Wind Power,
Quality

Abstract
This paper examines prevalent modelling problems for
dynamic Permanent Magnet Synchronous Generators
(PMSG) coupled to the power network via a back-to-back
PWM converter. A control strategy is employed using d-q
analysis of both the machine and the grid-side converter,
allowing a straight-forward control strategy for regulating
machine speed, electromagnetic torque and DC-link voltage.
The control strategy is implemented in simulation, together
with a linear time-invariant model of the machine and
converters. A full switching model is developed for
comparison against the linear or averaged model.
Reformulating the system equations to increase simulation
speed is discussed.
Transient test cases are developed to study the performance of
the system. The control strategies are shown to be effective as
the DC-link voltage is regulated well. In addition, a close
correlation is demonstrated in the response characteristics of
both linear and switching models. This result allows the use
of the less resource-intensive model in studies if harmonics
may be neglected, thus significantly improving simulation
speed without the loss of accuracy.

Modelling this kind of turbine will require differing levels of

fidelity. For manufacturers studying a single turbine, detailed
switching models of all the system components will be
required, to enable a close approximation to reality to be
achieved. For larger studies of a wind-farm, to assess control
system interaction between turbines, such models could result
in an unacceptably slow simulation runtime. A reduction in
fidelity is therefore permissible, as long as key dynamics are
not neglected. This paper addressed these key issues of
simulation time and fidelity.
1.1 Modelled System Layout
Figure 1 illustrates a block diagram of the wind energy
conversion system. Elements within the dashed boxes have
been excluded from the implemented model since only
electrical network transients are considered. The mechanical
transients, which are not dominant within the period of
interest, are neglected and the shaft is represented as a
constant torque fed to a machine with inertia and damping.

1 Introduction
The wide-spread application of offshore wind-power will
result in a gradual increase in wind turbine rating to minimise
the cost of foundations, civil engineering and maintenance
(all of which scale with turbine number). For higher-power
turbines the use of synchronous generators with a full backto-back rated converter has been proposed. Doubly-Fed
Inductor Generators are at present the preferred technology
for the majority of installations. However for large power
ratings, as the connection voltage is increased and as welldefined fault behaviour becomes more important, it is likely
that a gradual shift to synchronous machines will occur.
Recently, significant research effort has gone into the
application of Permanent Magnet Synchronous Generators in
Wind Energy Conversion Systems (WECS). Traditionally,
the cost of permanent magnet materials like NeodymiumIron-Boride (NdFeB) has restricted the use of permanent
magnets in large synchronous generators. As these costs have
substantially dropped in the past decade, more attention is
being given to applications using permanent magnets.

Figure 1 Modelled System Layout

The subsequent sections describe the mathematical model of
this system in Figure 1, as well as the two methods of
implementation in Matlab/Simulink (discretised, switchaveraged model) and PLECS (discretised, full switching
model).

2 Physical System Model

The method of d-q analysis in modelling the grid-side
converter of wind energy systems is well-known in the
literature, for example [1]. The convention is to use the Park
and Clarke transformation matrixes to transform quantities
from the three-phase stationary reference frame to the d-q
synchronous frame. Ultimately, d-q analysis leads to a very
simple method of controlling the real and reactive power
delivered by the converter.

In a similar manner, the d-q model of the synchronous

machine, which was developed based on the work of Blondel
and Park, is commonly used to control both machine speed
and developed electromagnetic torque. One of the main
benefits of the method is the treatment of stator flux linkages,
which are transformed from time varying quantities into fixed
quantities [2, 3] leading to a simpler representation of the
machine. The authors in [4] have adapted the method to study
the performance of the Permanent Magnet Synchronous
Machine (PMSM). Vector control is applied to the simplified
machine model, whereby developed torque is shown to be
proportional to the stator quadrature-axis current.
Developments in multi-phase direct-drive PMSG machines
[5] and multi-phase induction machines [6] offer further
potential reliability and hence these machines have been
suggested for offshore wind turbine duty. Similar control
strategies may be developed by mapping these more complex
machine control topologies into similar dq or extended-dq
quasi-dc control spaces.
2.1 Grid-Side Converter
A three-phase voltage source inverter is connected to an
infinite bus via a transmission cable as illustrated in Figure 2.
The infinite bus (the electricity grid), is modelled as a
balanced three-phase voltage source with fixed magnitude
and fixed frequency, while the cable is modelled as a series
combination of resistance and inductance. Sinusoidal Pulse
Width Modulation (SPWM) is used to control the power
switches (IGBT), thereby converting the DC supply into an
AC voltage. Neglecting higher order harmonics, a sinusoidal
voltage is synthesised and appears at the output terminals of
the converter. Power delivered by the machine side converter,
which is independently controlled, is shown as a constant
current source.

It is important to note that an intermediary step has been

skipped, where the three-phase system is first transformed
into a two-phase system, commonly known as the - model.
Vector rotation is then applied to quantities in the -
reference frame, to obtain corresponding quantities in the d-q
reference frame. By first computing the - quantities, the
angle of the grid voltage vector may be obtained as given in
(3).

(3)

The purpose of the analysis becomes clear by deriving an

equation for complex power. In the d-q reference frame, the
grid voltage is represented by a vector vdq = vd + jvq and the
current into the grid by idq = id + jiq. Assuming that vd, vq, id
and iq are per unit quantities, complex power is given by



The imaginary component of vdq is eliminated by aligning the
grid voltage vector with the d-axis. Alignment is achieved by
substituting for g in the Park transformation with computed
by (3). With vdq = vd + j0, the per unit real and reactive power
injected into the grid are given by p = vdid and q = vdiq,
which can be regulated by setting and controlling id and iq
respectively.
Regulating the DC voltage is achieved by equating the
instantaneous power delivered by the capacitor with the
instantaneous power delivered by the converter, neglecting
harmonics and switching losses. In d-q components, the
output power of the converter is vdid and the output power of
the capacitor is Vdcig. By making the appropriate substitutions
and manipulations, the capacitor voltage may be described by
(4).

(4)

2.2 Machine-Side Converter

Figure 2 Grid-side Converter fed by a constant current source

The dynamics of the system can be described mathematically
as given in Equation (1), where p denotes the differential
operator.

(1)
S

The stator coils of a permanent magnet synchronous

generator are connected to a three-phase converter as
illustrated in Figure 3. The rotor is connected to a wind
turbine which captures kinetic energy from the wind and
converts it into mechanical energy.

Application of the Park and Clarke transformations to (1)

yields:

Figure 3 Permanent Magnet Synchronous Generator

(2)
To simplify the analysis of the generator, the following
assumptions are made.

1.
2.
3.
4.

Space harmonics in the air-gap magnetic field are

neglected
Leakage effects due to stator slots are neglected
Magnetic hysteresis is negligible
Magnetic saturation effects are negligible

In matrix form, an expression for the three-phase stator

voltages may be written as given in (5). The convention
assumed here is that currents are directed out of the generator.

(5)

The flux linkage terms [a, b, c]T in (5) are functions of the
rotor angle r and are reproduced below [2]. Note that the
equations are based on a salient pole machine, thus
accounting for the second harmonic variation of the
inductance terms.

Laa0 =
Lab0 =

Laa2, Lab2 =
r =
m =

Average value of self inductance per phase,

including leakage flux
Average value of mutual inductance between
two phases, including leakage flux note that
Lab0 Laa0
Peak value of double frequency variable
component of self and mutual inductances
Electrical angle between the magnetic axis of
the rotor and the magnetic axis of the phase a
winding
Flux produced by permanent magnets

In [2] the author develops the flux linkage equations for a

synchronous generator with additional field and damper
windings. A permanent magnet generator contains neither
field nor damper windings, which are instead replaced with a
fixed flux component m, whose contribution to the flux
linkage of each stator coil varies with rotor position.
Application of the Park and Clarke transformation to (5),
together with a suitable substitution for the stator self, mutual

and variable inductances as given by (7), yields the d-q model

of the permanent magnet synchronous generator (6).

(6)

Ld and Lq are referred to as the direct axis and quadrature-axis

inductances and provide a convenient means of modelling the
machine. They can be considered as the inductance of two
fictitious coils in space quadrature, which represent the stator
windings of the generator, and which are located on a
reference frame fixed to the rotor.

(7)

For a balanced three-phase system, instantaneous stator

power may be expressed in d-q components as given in
Equation (8).

(8)

Substitution of ed and eq from (6) into (7), yields the

following expression for stator power, which comprises (from
left to right) air-gap power, armature resistance losses and the
rate of change of stored magnetic energy.

The air-gap power, when divided by the mechanical speed of
the rotor (and noting that the ratio of electrical speed to
mechanical speed is equal the number of machine pole-pairs
pp), results in an expression for the electromagnetic torque Te
as given in (9).

(9)

The machine description is now completed by including

expressions for the dynamics of the mechanical system.

(10)

3 Control System Design

An overview of the grid-side converter and control is
illustrated by the block diagram in Figure 4. Transformations
from three-phase to synchronous d-q quantities, as well as the
key signals required and generated by each controller are
illustrated. DC-link voltage is regulated by setting a reference
value, which is then compared with the actual capacitor
voltage. The error signal is then sent through a proportional
plus integral controller which generates a reference directaxis current.
Feedback nulling is employed to decouple the current loops,
which allows independent control of real and reactive power.
The switching inverter will typically operate at a moderate
frequency (~2kHz).

Figure 4 Overview of Grid-Side Converter and Implemented

Control Scheme
rm*+

PI

iq*
+

eq'*+

PI

id*+

eq*

PI

ed'*+

The models used here were discretized. In developing the

discrete-time models, the controllers and plants were first
represented in the continuous-time domain. Controller gains
were computed based on a specified undamped natural
frequency and an ideal damping ratio, while system stability
was determined via Bode plots. Once the design was
considered acceptable in the s-domain, a discrete-time or zdomain equivalent was then made. The method used here
simply involved replacing the s-domain integral functions
within each control loop with the z-domain approximation of
integration, which Simulink implements using a ForwardEuler integration algorithm. Additionally, the software was
configured to build discrete state-space models of the
physical switching circuits, which it does by transforming the
continuous-time state-space equations to the z-domain using
the Tustin transformation.

SPWM
3

ed*
+

In such circumstances, a method for reducing the simulation

duration is necessary. The obvious choice is to discretize the
model, so that a discrete-time, fixed-step solver can be used.
These solvers are better suited to non-linear system models,
such as those containing switching converters, and can result
in a significant speeding up of the simulation.

vabc*

dq
abc

The high accuracy of the variable step solver means that the
time step is made very small during and after switching
instants, which leads to an increase in simulation time. This is
particularly a problem when running large models, or runtime restricted packages (such as student versions of some
popular software).

r
+ rm

Lq
r

pp

rm
PMSG

Ld

rm

iq

from speed
transducer

id

dq
abc

iabc

Figure 5 Overview of Machine-Side Converter and

Implemented Control Scheme

4 Software Implementation
A potential problem with some simulation packages for
certain cases employing large, complex models (such as wind
farms consisting of many un- or partly aggregated windturbines) is if such packages employ a continuous-time
variable-step solver. This type of solver computes and adjusts
the duration of the each simulation time step, during the
current time step, depending on the rate of change of state
variables within the model. Models which contain state
variables that change slowly can benefit from this feature
since the time step can be made larger and the simulation can
be completed quickly. However, models which contain
switching devices can give rise to rapidly changing dynamics.

Figure 6 Implementation of continuous-time (top) and

discrete-time (bottom) proportional plus integral controllers
in Simulink
As an example, both continuous-time and discrete-time
models are constructed for the current control loop of the full
switching inverter. The proportional plus integral controllers
implemented in Simulink are illustrated in Figure 6. The
switching frequency of the inverter is set to 2250Hz, which
requires a small simulation step time in order to accurately
capture the system dynamics. As such, the maximum step size
for the continuous-time model is set to 1/50th of the switching

period, which is also taken as the sampling period for the

discrete-time model.

Figure 7 Comparison of step response characteristics of the

grid direct-axis current when using continuous-time and
discrete-time models of the grid-side switching converter
Figure 7 illustrates the step responses of both models where
very little difference can be observed. However, the
simulation duration is reduced by almost a factor of four,
from 1.31s for the continuous-time model to 0.35s for the
discrete-time model. For larger system models, which include
more state variables, switching devices and non-linear
elements, the time savings is much greater, with very little
loss of accuracy. This technique was especially useful when
performing simulations of the machine-side converter in
speed control tests, due to the large time constants associated
with the mechanical system.

Figure 8 Inverter response to step increase in reference

current id* (top trace direct-axis current, bottom trace
quadrature-axis current)

5 Simulation Results
Initially the performance of the inner current loops was
tested. Using parameters shown in the appendix a variety of
tests were applied. Figure 8 shows a step change in d-axis
reference current. Four simulations are shown - the
discretized model with a converter switching modelled
(labelled switching), a switch-averaged model with d and q
axis control decoupled (labelled decoupled), a second order
approximation to the switch-averaged model (labelled
appoximate) used to for initial tuning of the controller (based
on an approximation of the system closed-loop transfer
function to a second order system).
As can be seen, while the switched averaged model tracks the
switching model lower-frequency response well, significant
higher frequency current harmonics are not represented. This
is more evident in the q-axis current.
In Figure 9 a 0.01pu step decrease in speed (from rated speed)
is commanded at time t = 0.5s. The initial input torque and
DC-link voltage are at nominal values. Note that these results
are displayed in per unit for easier comparison with the step
command.
The DC-link voltage exhibits a sudden sharp decrease (within
1% of the initial voltage), before rising again and then settling
to the reference value. This phenomenon can be explained by
a sharp rise in machine quadrature-axis current (not shown).

Figure 9 DC-link voltage, machine speed and electromagnetic

torque response characteristics due to a step decrease in
reference speed rm*

The speed controller generates an increase in the reference

quadrature-axis current so that an electromagnetic torque may
be developed that exceeds the input torque. This causes the
rotor to decelerate as desired. The sudden increase in current
results in a large change in stored magnetic energy. The
temporary disruption in the flow of energy to the DC link
results in an imbalance which causes the DC-link voltage to
fall. After the initial transient, the quadrature-axis current
begins to fall and, as the stator fields collapse energy is
released to the DC link. By this time however, the output
power to the grid has fallen in accordance with the initial drop
in DC-link voltage. This new imbalance causes the DC-link
voltage to rise. Eventually, the power balance is restored and
the DC-link voltage returns to the reference value.
It should be noted that the transient effect witnessed can be
mitigated to a certain extent by reducing the gains of both the
machine speed and current controllers. From the base selected
gains, it can be seen that the integral term of the current
controller is indeed vary large, and should be reduced by
lowering the bandwidth of the current loop.

6 Summary
The paper has presented a model for a PMSG connected
through an AC/DC/AC inverter stage to a utility network. The
system modelling and controller design has been discussed.
Means to increase computational speed for very large
systems, such as might be found in some large wind farm
representations, have been discussed. Simulation results have
been presented and the impact of some of the trade-offs in
controller gain selection have been discussed.

References
[1] R. Pena, J. C. Clare, and G. M. Acher, "Doubly fed
induction generator using back-to-back PWM converters and
its application to variable-speed wind-energy generation,"
Electric Power Applications, IEE Proceedings, vol. 143, no.
3, pp. 231-241, May 1996.
[2] Prabha Kundur, Power System Stability and Control, 1st
ed., Neal J Balu and Mark G Lauby, Eds. New York, United
States of America: McGraw-Hill, Inc., 1994.
[3] A E Fitzgerald, Jr., Charles Kingsley, and Stephens D
Umans, Electric Machinery, 5th ed., Stephen W Director, Ed.
London, United Kingdom: McGraw-Hill, Inc., 1992.
[4] P. Pillay and R. Krishnan, "Modeling, simulation, and
analysis of permanent-magnet motordrives. I. The permanentmagnet synchronous motor drive," Industry Applications,
IEEE Transactions on, vol. 25, no. 2, pp. 265-273, March
1989.
[5] H. Polinder, F. van der Pijl, G. de Vilder, P. Tavner,
Comparison of Direct-Drive and Geared Generator
Concepts for Wind Turbines, IEEE Trans. Energy
Conversion, vol. 21, no. 3, pp.725-33, Sept. 2006.
[6] J.M. Apsley, S.Williamson, A.C.Smith, and M.Barnes,
Induction Motor Performance as a Function of Phase
Number, IEE Proceedings Electric Power Applications, vol.
153, no. 6, pp. 898-904, Nov. 2006.

Appendix - System Parameters

Description

Value

Units

Three-phase nominal volt-ampere rating

MVA

RMS Line Voltage

4000

Nominal DC-link voltage

7.8

kV

Frequency of grid voltages

50

Hz

Frequency of grid voltages

314.2

rad/s

RMS Line current

288.7

Base impedance

Impedance of transmission cable

0.05

pu

Inductive to Resistive impedance ratio

10

Transmission cable inductance

1.27

mH

Transmission cable resistance

39.8

DC-link capacitance

Inverter Switching Frequency

2000
0
2250

Discretization sample time

22.22

Hz

Table A1 Base grid-side converter system parameters

Control Loop

n (rad/s)

Kp

Ki

Current

0.707

691

1.20 V/A

Voltage

0.707

17.3

-0.778
A/V

605
V/A.s
-9.51
A/V.s

Table A2 Base grid-side converter controller gains