Comparison of fixed speed and doubly-fed induction

wind turbines during power system disturbances

L. Holdsworth, X.G. Wu, J.B. Ekanayake and N. Jenkins

Abstract: The dynamic modelling of large (MW) capacity fixed and variable speed induction
generator wind turbines is discussed. A reduced order dynamic machine model is derived suitable
for modelling both k e d speed and douhly-fed asynchronous generator wind turbines, Control
schemes for variable speed turbines. using doubly-fed induction generators (DFIG), are described
and simulated. Speed control characteristics and converter protection of the DFIG are
implemented in the model. The operation of the models during power system disturbances such
as network voltage sags and three-phase faults, as well as the possibility of network voltage
instability, are investigated. Simulation results are presented using typical turbine and network data
for wind farm installations.

stator and rotor voltage
stator, rotor and generated current
generated active and reactive power
power factor capacitor and transformer
reactance
generator, point of common coupling,
infinite bushars
stator, rotor machine resistance
synchronous, base and rotor angular
frequency
flux linkage
mutual inductance
stator and rotor leakage inductance
stator and rotor self-inductance
rotor slip
transient or short circuit reactance and
open circuit reactance
voltage behind transient reactance d-q
components
transient open circuit time constant
inertia constant
mechanical, electromagnetic, set point
torque
optimal power, torque and wind turbine
constant
stator and rotor active and reactive
Dowers
Qgrz<,, Q,,,og, grid side, magnetising (no-load) and
generated reactive power
superscript indicates a per unit quantity
I€€. 2003
IEE Proceeding.? online no. 20030251
doi:10.1049/ipgrd2W30?5 I
Wper first rffnved 15th A p d 2W2 and in revixd form 19th December 2W2
L. Holdswonh is with the The Milnchester Centre for Electtical Encrby
(MCEEI. UMIST. UK
X.C. Wu and N.Jenkins are with the Tyndall Centre for Climate Change
Research and MCEE. UMIST. UK
J.B. Ekanayake is with the Dept. ofElcc1tic;d and Electronic Eng., University of
Perddmiya. S i Lanka
IEE Proc-Gmm Trmsrn D l l t d . . Vol. 1.0, A'". 3, Mqv ZWi
1 Introduction
Throughout Europe, plans exist for a considerable increase
in power generation from land and offshore wind farms. In
the UK alone the Crown Estate has announced IS potential
sites offshore, which are each likely to he some 60MW
capacity using 2MW induction generator-based wind
turbines. Elsewhere in Europe, offshore wind farms of up
to IOOOMW capacity are being planned. Initial investiga-
tions have shown the importance of electrical stability of
both the turbines and the network voltage with the
continued increase of the ratio of wind farm generation
capacity to the network short circuit level [I, 21. Therefore,
suitable models and investigations of dynamic stability of
wind farms with the power system are required.
The majority of existing land-based UK wind turbines
use fixed speed induction generators (FSIG). Investigations
with fixed speed turbines have shown that depressed
voltage, resulting from short circuits in ]he connec-
ting networks, can lead to generator overspeed if
the network short circuit level to generating capacity
ratio is too low [3, 41. The induction generators may then
depress the voltage further, causing instability due to
high levels of reactive power being absorbed. Recently,
various papers have presented variable speed wind turbine
technologies and models, particularly the doubly-fed
induction generator (DFIG) [>IO]. In this paper the
performance of the FSIG and DFIG wind turbines during
power system disturbances is studied. A reduced order
dynamic asynchronous generator model is derived and
control strategies are modelled for the DFIG wind turbine
with simulations illustrating its operation. Application
studies are performed to observe the perfomiance of the
FSIG and DFIG wind turbines during voltage sags and
faults on the network.
2 System configuration of induction generator
based wind turbines
As this paper addresses the electrical interaction of the wind
turbine generator to the connecting network, the mechan-
ical components of the system are not modelled in detail.
The inertia constant for the dynarmc models is a
lumped mass representation of the turbine, gearbox and the
343
generator rotor. Multi-mass mechanical models of the wind
turbine shaft and gearbox are presented in [9, 1 I].
2.1 Fixed speed induction generator (FSIG)
wind turbine
Ths wind turbine uses a squirrel cage induction generator
that is coupled to the power system through a connecting
transformer. As the stator voltage of most wind turbine
electrical generators is 690 V, this transformer is essential for
connection to the distribution network and should be
considered when modelling the electrical interaction with
the power system. Induction machines consume reactive
power and so it is conventional to provide power factor
correction capacitors at each wind turbine. These are
typically rated at around 30% of the wind farm capacity
and are used to compensate the induction machine
magnetising current. A typical configuration of a FSIG-
based wind turbine is shown schematically in Fig. 1.
xpFc T model is primarily to be used for wind turbine applications,
Fig. 1 Bmi<:configuration ofFS1G wind turbine
2.2 Doubly-fed induction generator (DFIG)
wind turbine
An induction generator, with a wound rotor using slip rings
to take current into or out of the rotating secondary
winding, is used for the DFIG based wind turbine. As with
the FSIG, the DFIG is connected to the power system
through a local transformer. The rotor winding is fed
through a back-to-back variable frequency power converter.
The system is typically two AC/DC IGBT based voltage
source converters (VSC), linked by a DC bus. The machine
and converters are protected by voltage limits and an
overcurrent 'crowbar'. A typical configuration of a DFIG-
based wind turbine is shown schematically in Fig. 2. The
converter system enables variable speed operation of the
wind turbine by decoupling the power system electrical
frequency and the rotor mechanical frequency. One control
scheme, implemented by a number of manufacturers, and
modelled in this paper, is to use converter C1 to provide
speed control together with terminal voltage and power
factor (PF) control for the overall system. Papers have
presented converter C2 as a shun-connected reactive power
compensator, which is also used to charge the interconnect-
ing DC bus [6, 9-12]. For the control strategy modelled in
Fig. 2 &sic mnfqurufion of DFIG itid turblne
344
this paper, converter C2 is used to maintain the DC bus
voltage and provide a path for rotor power to and from the
AC system at a unity power factor.
Dependent upon the rotational speed of the DFIG,
power can be delivered to the grid through the stator, and
the rotor, while the rotor can also absorb power. If the
DFIG runs at a sub-synchronous speed, the rotor absotbs
power and a fraction of the stator power enters the rotor
circuits. In contrast, if the DFIG runs at super-synchronous
speeds, the rotor produces power and power is delivered to
the grid via the stator and rotor circuits [9]. In the model the
generated active power was calculated by:
where P, is the power delivered by the stator, P, is the
power to the rotor, Pg is the total power generated and
delivered to the grid.
3 Model implementation
3.1 Development of the asynchronous
machine model
The general procedure followed to create the electrical
model was similar for both the FSIG and the DFIG. As the
a generator convention was implemented. The stator
currents are positive when flowing towards the network
and real power and reactive power are positive when fed
into the grid, as shown in Figs. 1 and 2. The equations
describing an asynchronous machine in terms of phase
variables were derived to develop the model with all rotor
variables referred to the stator. The equations were then
transformed into a direct (4 and quadrature (4) axis
reference frame with axes rotating at synchronous speed
(ws = 2n,fr) using standard transformations [1>14]. When
deriving the model, the q-axis was assumed to be 90" ahead
of the d-axis in the direction of rotation and the d-axis was
chosen such that it coincides with the maximum of the
stator flux [7-91. Therefore, vq. equals the terminal-v,oltage
and vd, is equal to zero. Using the defined reference frame,
the following per unit fourth-order asynchronous model
was derived
Stator voltages:
em = -R x Idr - asx 2, + 5i* (2)
vqs = -R, x ,i + O,?x I d $ + $iqS I
Rotor voltages:
- -
= R , x Id - 3 x W,X Tu. +$Id
+ s x 0,x A+ + &Xc (3)
~
I xi,
The flux linkages in these equations were calculated from:
- ~ - ~ -
Zdr = -i, x Th + i, x = L, x id - L, x i*
= E,, x Zqr - 1, x s,?
(41
For representation of the induction machine in power
system stability studies, the fourth-order model was
simplified to a second-order model. This corresponds to
ignoring the DC component in the stator transient current,
permitting representation of only fundamental frequency
components. By substitution of the flux linkage equations
to eliminate the rotor currents, a relationship for the stator
IEE Proc-Gener. T r m m . DkIrib., Vol. 150. No. 3, Mop 2W3
and rotor voltages in terms of a voltage behind a transient circuited rotor is a special case. To obtain the complete
reactance was obtained. The stator and rotor voltages were dynamic model of the induction generator, (5) and (6) were
derived in the following per unit form: combined with the rotor swing equation [14]:
-~
vdr = -R, x i g + 2'x Tqs + ed
uqs = -R, x i , -X' x & + eq (5)

3.2 Development of DFIG converters and

control scheme model
For the model, it was assumed that the converters are ideal
and that the DC link voltage between the converters is
constant. This decouples converter C2 from Cl. The speed,
terminal voltage and power factor control of the DFIG
model was implemented through converter Cl. A voltage
source injecting the required rotor voltage was implemented
to represent the operation ofconverter C1 in the model. The
where the components of the voltage behind the transient
per unit rotor voltage components for the control model
reactance were defined as:
~

ed = -_w,L,
L,
= -id,
and
L,
e,
-
W,L, -
(7)
were expressed by substitution of the rotor fluxes in current
component form into (3), as:

The reduced order model transient reactances were defined

as: .
x = w,L,,= x,+ x,

The transient open-circuit time constant was defined as:

when simulating the electrical model and observing the
voltages and currents within the machine, it is important to
notice that the time derivative in (6) is a per unit quantity. If
the, output variables of the simulated model are required in
rea! time, that is, the time in seconds, the equations should
be multiplied through by the base angular frequency,
u>horp = 2rr f&.<
Equation (5) and (6) provide a second order model suitable
for the FSlG or DFIG. For a FSIG (squirrel cage), the
rotor windings are shortcircuited and therefore the rotor
voltages (Gqr and Ed,) will be wro. The second-order voltage
behind a transient reactance asynchronous machine model
equivalent circuit, shown in Fig. 3, can be used to represent
this [14]. This is not the case for the DFIG (wound rotor),
as in a practical implementation a voltage potential
difference is created via the slip rings. For modelling
purposes, this can be represented by an injected rotor
voltiige. Therefore, (5) and (6) represent a general second-
order asynchronous machine model where the short-
The rotor speed was controlled by uqr, with U,+ being used
for the terminal voltage and power Factor control. The dq
decoupled control procedure described in [IS] was imple-
mented in the model to decouple the rotor current
components.
3.2.1 Modelled power extraction/speed control
strategy: A typical wind turbine characteristic with the
optimal power extractionspeed curve plotted to intersect
the C,,,,, points for each wind speed is illustrated in Fig. 4.
If the control strategy is applied to maintain Po,,,,since the
rotor speed w, is proportional to the wind speed U, the
power increases with d and w:, and the corresponding
generator torque with U* and wf [16]. The optimal
characteristic for the model can be defined for optimal
torque by [IO]:
Top = %pw? (13)

generator speed
Fig. 3 Asynchronour machine .second-order equiwlent circuit
model Fig.4 Maximum power ertruction cuntrd struteqy cume

IEE Pruc.-Giner. Tranm. Dimib.. Vol. 180. No. 3, May 2003 345
The complete generator torque-speed characteristic, which
was applied for the controller model, is shown in Fig. 5. For
optimal power extraction, the torque/speed CUNC was
characterised by (13). This is between points B and C.
Within this operating range, during low-medium wind
speeds, the maximum possible energy is obtained from the
turbine. Owing to power converter ratings, it is not
practicable to maintain optimum power extraction from
cut-in up to the rated speed. Therefore, for very low wind
speeds the model operates at almost constant rotational
speed (A-B). Rotational speed is also limited by aero-
dynamic noise constraint [16], at which point the controller
allows the torque to increase, at essentially constant speed,
until rated torque (C-D). If the wind speed further increases
to exceed the turbine torque rating. the control objective
follows &E, where the electromagnetic torque is constant.
When the system reaches point E, pitch regulation takes
over from the torque control to limit aerodynamic input
power. For very high wind speeds, the pitch control will
regulate input power until the wind speed shutdown limit is
reached. Pitch regulation was not included in the developed
model.
cut-in Speed os Shutdown speed
generator speed
Fig. 5 Torque-speed cliur.acteristic/or turbine control s t m r r g ~
3.2.2 Electromagnetic torque/speed control
scheme: The torque-speed characteristic (Fig. 5) was
used as a dynamic reference for generator torque demand
as a function or measured generator speed. The speed
control scheme operates by modifying the electromechanical
torque of the generator to respond to variations in the rotor
speed. Given a rotor speed measurement, the torque-speed
characteristic was used to obtain a reference torque T,,
which after some manipulation was imposed upon the
DFIG rotor. This control methodology is known as
current-mode control [8]. Maintaining the reference frame
for the machine model, with i., = 0 and = 1K.~/W.~,
where 1 Vsl is the magnitude of the terminal voltage, the per
unit electromagnetic torque was derived as [I:
The primary stage of the speed control scheme was
developed using (14) to calculate a reference value of iq,m,,
as shown in Fig. 6.
The actual machine current, &, was calculated from (4)
with &=O, as shown in (15). Comparing the reference
variable to the actual machine current, an error signal
346
I
WJ
Fig. 6 Speed control scheme: primury stuge
required for controllin& the speed of the machine was
obtained.
Igr = (15)
Although iqr imposes the effect of torque control. the
converter CI is a controlled rotor voltage source. Hence, a
secondary stage of the speed controller was implemented
using the current error resulting from the reference torque
T,. To determine the required rotor voltage, a standard PI
controller and the summation of the direct rotor current
compensation term, derived from (1 I), was implemented.
This control scheme is shown in Fig. 7.
Fig. 7 Speed control sclwe: secondury stage
3.2.3 Terminal voltage and power factor (PFI
control scheme: For the developed controller model, a
strategy of terminal voltage and PF control using converter
Cl was also applied. The controller was developed by
maintaining the reference frame with the stator resistance
neglected, and considering the total grid (stator) side
reactive power given by:
~-
Qs= Qg"d = U,,$ X ?,i7
~ U* X T,,
(16)
Hence, Qgrj,, was defined as the total per unit reactive power
absorbed by the machine at the stator terminals. Consider-
ing (16) with Udr assumed to he zero, & was obtained from
(4). The stator voltage Uqq was obtained from (2) with the
stator resistance and the stator transients neglected, there-
fore uyr = asx lb. Also, as >" = 0, then U,$ = 1 and the v.1
following relationship was obtained between the total grid
side reactive power and the rotor current &:
The rotor current component Tb was subdivided into a
generator magnetising component and a component
for controlling reactive power flow (or terminal voltage)
with the connecting network idr4. The total reactive power
was also divided into em<, e,,,.
and Equation (17) was then
I€€ P m . - G " . Tm" Dislrib., Vu/. 150, h b 3,May 2W3
expressed in the following form:
To compensate for the no-load reactive power absorbed by
the machine, &, must equate to zero. To obtain this, the
value of Tdr,, was controlled to equal:
Delivering more, or less, reactive power to the grid will
increase, or decrease, the terminal voltage. If the terminal
voltage is too low or too high, when compared to a required
reference value then ?+, should be adjusted appropriately.
The primary stage of the terminal voltage and PF control
scheme was developed such that a reference value, 7*w, was
obtained by the summation of the required control
variables, 7+fl +
&, and compared to the previous value
of ?+,*,providing an error control signal to an integral
controller, as shown in Fig. 8. The 7d,m,variabk represents
the no-load magnetising current and the required compo-
nent for controlling reactive power flow (or terminal
voltage). The actual machine direct axis rotor current was
calculated from (20).
Fig. 8 Terminal tioltuye und PF control scheme: prirnury stage
The secondary stage of the controller was again constructed
using the primary stage reference current but now compared
to the direct component of measured rotor current. As with
the speed control model, the machine rotor current was
controlled by the injection of a rotor voltage. The required
rotor voltage was obtained from a PI controller and the
summation of the quadrature rotor current compensation
term, derived from (12). This control scheme is shown in
Fig. 9.
idi
Fig. 9 TemTinal oulluge and PF control scheme: secondary sroge
3.3 Protection of the DFlG system
Faults in the power system, machine or converter devices
may result in high voltages or currents that damage the
IEE Proc.-Gpnrr: Trmsrn. DMnb., Vol. I50 ~VO.3. May 2073
equipment. Suitable protection is therefore provided in
wind turbine systems to minimise the effects of possible
abnormal operating conditions. The controller model of the
DFlG system included rotor voltage and current limits. The
limits set depend on the MW capacity of the machine and
the rating of the converters. A voltage limit of 750 V_on the
AC side of converter Cl, was implemented in the model.
The converter is protected against over-current on the rotor
circuits by a ‘crowbar’, as shown in Fig. 2. To represent the
operation of the crowbar the model deactivates the
converters upon the detection of rotor current magnitude
above the current protection limit. A rotor current limit
of = 1 . 5 ~was ~ implemented in the model.
By deactivating the converters, the wound rotor was
short-circuited, I K.1 = 0 p
4 Simulation results
4.1 Simulation of DFIG control
A 4-pole 2 M W doubly-fed induction wind turbine and
control model was simulated. The control strategy pre-
sented in Section 3.2 was applied for the model. For
observation of the doubly-fed system control, the machine
terminal bus was modelled as an infinite source busbar.
Results are in per unit with the base values, machine and
speed control parameters given in the Appendix Section 8.
The dynamic performance of the DFIG system was
modelled by applying mechanical torque to the generator
rotor, representative of step changes in wind velocity. The
operation of the system in the optimal power extraction
region (EC) was modelled for a step decrease (T,.= 0 . 3 ~ ~
at f = 2.0s) and increase (T,,,=O.8pu at 1=60.0s) in
mechanical applied torque. This models the speed control
for sub-synchronous and super-synchronous operation. The
rotor speed and controlled rotor voltages are given in
Figs. IO and 11. This illustrates that the large lumped
turbine. shaft and generator rotor inertia dominates the
dynamic control performance of the DFIG in current mode
speed control. The steady-state optimal operating point for
rotor speed and power extraction was obtained satisfiicto-
rily by the model, with the control variables smoothly
approaching the optimal values.
The operation of the system around the cut-in speed and
beyond the speed limit of the generator (i.e. between points
A-B and C-D). was investigated by applying load torque’s
1.3
1.2
1
2 1.1
U
E 1.0
b
e
I
0.9
0.8
0.7
sub-sychronousoperation
0 10 20 30 40 50 60 70 80 90 100
lime, s
Fig. 10 Rotor speed dwunrir conrrol, operuling in region E C
347
 0.15

0.10 1

f
d-axis m o r voltage

q-axis rotor voltage

-0.25 -0.3

0 10 20 30 40 50 EO 70 EO 90 100 -04' " " " ' " '

0 10 20 30 40 50 EO 70 80 90 100
lime. s
time. 5
Fig. 11 Conrrulled m o r wlruge, operating in region B-C
Fig. 13 Rotor vo/roge.soperating up to control modd speed limrts

rotor speed limit (1800 revimin)

0.5 ' ' ' ' ' ' ' J 01 ' " " " ' ' 8
0 10 20 30 40 50 EO 70 EO 90 100 0 10 20 30 40 50 60 70 EO 90 100
time, s time. s

Fig. 12 Rotor speed operutiq up lo control model .speed h i i s Fig. 14 Elecrromugneric torque conrrol

1.4
total active power
of T,,,=0.2pu at / = 2 . 0 s and T,,=l.Opu at t=60.0s, 1.2
respectively. Fig. 12 shows the rotor speed controlled to
operate beyond the limits of the optimum characteristic. 1.o
I
The rotor voltages for this simulation, given in Fig. 13, are
still within their operating limits, due to the modelled
torque/speed control characteristic. The electromagnetic
torque, given in Fig. 14, illustrates the full range of the
speed control. As the rotor speed approaches its upper limit,
the control system enables the rated value of power to be
extracted through the stator (i.e. T,= I.Opu), whilst limiting
the speed of operation and hence the power generated
through the rotor circuits. This can be observed in Fig. IS -0.2
where the total active power increases with stator active
power but the active power generated through the rotor
0 10 20 30 40 50 60 70 EO 90 100
circuits, at super-synchronous speeds above the speed limit, time. s
is maintained constant at a maximum of 0 . 2 ~ ~ .
The PF control operation of the model was observed Fig. 15 Sprem a c r m power output
from the rotor currents and the reactive power at the
machine terminals, as shown in Fig. 16. With the PF
control disabled and an applied mechanical torque of 4.2 Operation of protection circuits
T,,,= l.Opu, the model was simulated to a steady state The operation of rotor side converter voltage limit,
operating point. At / = 30.0s the PF control was activated described in Section 3.3, was investigated by the application
and id was controlled to provide both the magnetisation of a very low wind speed (rn
= 0.1 pu at f = 2.0 s). The
current (no-load reactive power) and leakage current controller was modified to allow the speed control to
(reactive power absorbed due to generation). This provides operate up to the imposed rotor voltage limits, and so the
a PF operation of unity as illustrated by the zero reactive operation of the converter protection voltage limits could be
power absorbed by the system. seen. Also, the operation of the overcurrent 'crowbar'
348 IEE P r o . ~ G e n e rTromrn. DrFrrih.. Vol. 150. No. 3, May ZW3
 05 ~

crowbar protection
04 -
0.2 I
03 -

0.1 I d-axis rotor voltage

\

I
29.8 29.9 30.0 30.1 30.2 30.3 30.4 30.5
time ( 5 )
time. s
Fig. 16 Reactiw power and rotor current &), with PF control
Fig. 18 Voltage limits and crowbar operutiun on rotor vo1taye.r

protection was investigated by applying a mechanical

torque of T,, = 0.8 pu at I = 25.0s and then reducing the
terminal voltage to I Vsl = 0 pu at t = 40.0 s for t = I50 ms,
to model a three-phase fault. The controlled rotor speed
and rotor voltages, Figs. 17 and 18, respectively, show the
DFIG protection in operation. The crowbar protection in
the model, which deactivates the rotor side converter and
short-circuits the rotor windings, can be fully observed after
I = 40.0 s, as the rotor voltages now equal zero. As the speed
control-has been disabled, the rotor speed starts to increase
resultint from the reduced terminal voltage, similar to a
fixed speed machine during three-phase terminal faults [2].
In a real wind turbine the rotor speed would be restricted by
rotor overspeed limits. Mechanical rotor overspeed limits
are not included in the developed model.
14
1.3
2 1.2
a
g 1.1
a
2 1.0
2 0.9
0.8
0.7
0 5 10 15 20 25 30 35
time, s
Fig. 17 Voltage limits and crowbar uperation on rutor speed
5 Comparison of FSIG and DFIG during power
system disturbances
Previous investigations have shown the effect of network
parameters, such as the short circuit level (SCL) and the
X/R ratio, upon the stability of fixed speed asynchronous
generator wind turbines [2].To observe the response of the
FSIG and DFIG wind turbines to power system dis-
IEE Pror-Gmer T r m . DLrIrB., Vol. 150, No. 3, May 2W3
turbances, a two-bus double circuit power system was
modelled. The fixed speed and doubly-fed induction wind
turbines, connected to the point of common coupling (PCC)
busbar of the power system model, were represented as
shown in Fig. 19. An infinite source busbar was used to
represent a very large power system.
Network parameters representing wind turbines con-
nected to strong and weak power systems were used for the
power system model. At the point of connection (B,,,),
short circuit levels (SCL) of 40MVA and I6MVA were
modelled. An X/R ratio of 5 was selected to represent a
distribution network. The connection transformer was rated
at 2.5MVA with a leakage reactance of 5.9%. The PF
correction capacitor used for the FSIG model was rated at
30% of the wind turbine MW capacity. The developed
asynchronous machine model for the FSIG and DFIG was
used for a 2MW wind turbine with the parameters of the
Appendix Section 8. All simulations were conducted with
f the generators operating at rated output power.
A fixed speed induction wind turbine was simulated with
a three-phase balanced fault ( I = 40.0 s), with a clearance
time of 150ms. at point A on the power system. Network
parameters representing turbine connection to a strong
distribution network were used (40MVA at B,d. Fig. 20
shows that, post-fault, the generator and the network
maintain stability after the terminal voltage variations. The
stability of the turbine generator connected to a weak power
system was investigated by reducing to 16MVA. For
normal system conditions, the operation of the wind turbine
is satisfactory. However. during the network fault, due to
the rotor being accelerated by the prime mover, the reactive
power absorbed by the induction generator increases. With
40 45
a significant voltage drop at the machine terminals, the
rotor continues to overspeed and, post-fault, the busbar
voltage fails to recover, as shown in Fig. 21.
Maintaining the power system model parameters for a
weak network connection, the stability of the DFIG wind
turbine was investigated. With converter C1 modelled to
control speed and PF operation, a three-phase fault was
applied. The simulated DFIG rotor speed and network
voltage at the PCC busbar are given in Fig. 22. The results
indicate the potential stability improvements with the DFIG
system connected to a weak power compared to the FSIG.
The performance of the asynchronous generator wind
turbines during large duration network voltage sags on the
power system was also modelled For these investigations,
349
 point of connection infinitebusbar

point 01 connection infinite busbar

Fig. 19 Connection of FSIG and DFIG iurbinw IO douhle circuit power sptem tmdel

$ 0.96

8 0.92
0.90
39.5 40.0 40.5 41.0 41.5 42.0 42.5 43.0
0.6
39.5
' 40.0 40.5 41.0 41.5 42.0 42.5 43.0

-
1.020 1

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" 1.015
,

b 1.010
0
1.005
39.5
t-+
,

n,

40.0
-
,

40.5
,
,

41.0
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41.5
s
42.0 42.5 43.0
1.210

1.195
39.5 40.0 40.5 41.0 41.5
time. s
42.0 42.5 43.0

Fig. 20 Network fault sruhility of FSIG connected to .strong Fig. 22 Nrtwrk fiiulr stability of DFIG connected IO w e k
network itetwork

a FSIG connected to a weak power system, voltage sags at

the terminal busbar may result in voltage instability, as
shown in Fig. 23. The response of the DFIG model (given
in Fig. 24) shows that implementing the voltage controller
can result in maintaining the PCC busbar voltage througb-
I out the voltage sag, thereby offering possible stability
39.5 40.0 40.5 41.0 41.5 42.0 42.5 43.0
improvements.
1.20 r Preliminary investigations of the steady-state stability
margins of the DFIG have shown that P F and speed
1.15 control can assist in maintaining stability during power
system disturbances [17]. The steady-state modelling of the
FSIG discussed in [2] shows the effect of the voltage
5 1.05 variation on the torque-slip characteristic, A reduction in
1.00 terminal voltage results in a reduced peak pull-out torque. If
39.5 40.0 40.5 41.0 41.5 42.0 42.5 43.0 the applied generating torque is maintained, throughout the
time. s reduced voltage, the rotor speed will increase. This may lead
Fig. 21 Network fuulr stability of FSIG connected to weuk to machine instability when the terminal voltage and the
nefin~~rk pull-out torque recovers if the rotor has accelerated past
the peak torque. The terminal voltage support, provided by
the PFC capacitors in FSIG wind turbines, is reduced
with the square of the voltage. In contrast, the DFIG
the infinite bus voltage was reduced to 0.6pu for S00ms at reduces terminal voltage variations during power system
1=40.0s. The DFIG converter C1 was modelled to include disturbances by implementing a PF control strategy
the voltage control facility as presented in Section 3.2~).For independent of the terminal voltage. This is provided that
350 IEE Proc-Getter. Trumrvn Dntrih.. Vol. 150, No. 3. Muy 2oU3
 1 .o

0.9
3'0 I
0.8
a
ai
0
'
0.7 1.5
P
Y
CI
0.6

0.5

0.4 1
39.5 40.0 40.5 41.0 41.5 42.0 42.5 43.0
0.5
0
t 1 " " " " ' ~
39.8 39.9 40.0 40.1 40.2 40.3 40.4 40.5 40.6 40.7 40.8
time. s time. s

Fig. 23 Revponse oJFSIG ro mlluge .sug.s nhen connecred I O weak Fig. 25 FSIG mmnt dwing remorefiult UI t=40.0-40.15~
network

1
1 5.0
1.15

4.5
4.0 t n

0.90 t
0.85
0.80
39.5
L1 40.0 40.5 41.0
time. s
41.5 42.0 42.5 43.0
0.5

39.8 39.9 40.0 40.1 40.2 40.3 40.4 40.5 40.6 40.7 40.8
lime, s
Fig. 24 Revpiinre of DFIG to uoltage suqs when connected to weuk
nelwork Fig. 26 DFIG srami cunw11 during remore fizulr ut I = 40.0-
40.I5 s

the DC capacitor is large enough to hold its voltage 6 Conclusions

and converter C2 continues to operate correctly. Maintain-
ing the peak torque reduces the risk of instability as the
rotor accelerates but does not go beyond the pull-out
torque. Controlling7,,, to limit the rotor speed in the DFIG
model also assists in post-fault stability as the rotor
acceleration during the network fault is reduced compared
to the FSIG.
As the generating capacity of wind farms increases, it
will become necessary to maintain connection of the
wind turbines throughout power system disturbances.
Simulations of the DFIG wind turbine model have shown
that improvements in turbine and network stability can
be obtained, compared to the FSIG during network
three-phase faults. However, the converter's voltage and
current ratings, together with the size of the DC capacitor,
are critical to ensure good performance during power
system disturbances. To investigate the current ratings
required,
the crowbar protection overcurrent limit was set for a
transient rating of 300% of the normal rated rotor current.
Figs. 25 and 26 show the stator currents of the FSIG and
DFIG, respectively. for a power system disturbance on a
weak power system. Fig. 26 shows the stator current if the
machine and network voltage stability is to be improved by
the DFlG crowbar set at a high value.
The modelling and control strategies of fixed speed and
doubly-fed asynchronous generator wind turbines have
been described and their performance compared during
power system disturbances. A generalised per unit machine
model was derived for the FSIG and DFIG wind turbines.
Both fixed speed (squirrel cage) and doubly-fed (wound
rotor) machine constructions are represented by one set of
equations, differing only by the representation of rotor
voltage (i.e. short-circuited or injected voltage). The
electrical machine model was reduced to second order for
use in dynamic simulation tools capable of analysing very
large power systems. The main assumptions were neglect of
stator transients and saturation effects, together with a
single rotor equivalent circuit.
Modelling of the DFIG converters (Cl and C2) was
discussed and a dq decoupled control procedure was
implemented in the model. The control was implemented
using a voltage source representation of converter CI to
provide rotor voltage dq components. A typical industrial
control scheme applied through the converters of the DFIG
model was described. A full speed control strategy was
described, and modelled, for an optimal power extraction
scheme, as well as cut-in and speed limits for the generator
rotor. The quadrature component of injected rotor voltage

IEE Proc-Gener Tranr,n DLwih., Vol. 150, No. 3, May 2lN3 351
 was used to control generator rotor speed. To replace the
fixed capacitor, PF correction techniques used in FSlG
wind turbines terminal voltage control schemes were
implemented for the DFlG model using the direct
component of rotor voltage. Simulation results of the
normal operation of the complete DFIG model illustrate
the control of the wind turbine in low, medium and high
wind speeds. The DFIG converter system overvoltage and
overcurrent protection was discussed and modelled in the
form of rotor voltage and rotor current limits. Operation of
the modelled voltage and current (crowbar) protection was
shown by simulation results in response to low wind speed
and three-phase terminal Faults tripping the overcurrent
protection.
A two-bus double circuit power system was used
to investigate the effect of three-phase faults and voltage
sags on the stability of the turbine generator and network
bus voltages. The operation of 2 MW FSlG and DFIG
wind turbines was compared for power system disturbances
with strong and weak network connections. Observing
the FSlG model connected to a weak power system, with
either a three-phase fault or voltage sag, the limitations
of fixed capacitor power factor correction and un-
controlled acceleration of the generator rotor upon the New York, 1986) '
machine and network voltage stability were identified. "be KUNDUR. P.: 'Power system stability and control. (McCraw-Hill
simulations illustrate that the speed and power factor Inc, New York. 1994)
SCHAUDER. C.. and MEHTA, H.: 'Vector analysis and control of
control modelled within the DFIG system assists advanced static VAR compensators', IEE Pror C. Gener T r m m .
in improving stability when the turbine rating to power Dirlrih. 1993. 140, (4), pp. ? Y M 0 6
system short circuit ratio is low. However, the model BURTON, T., SHARPE. D., JENKINS, N., and BOSSANYI, E.:
'Wind energy handbook', (John Wiley, Chichester 2001)
assumes an ideal voltage source for converter CI, which HOLDSWORTH, L.. and WU. X.: 'Dynamic and steady-state
provides continuous PF and speed control during terminal modelling of the doubly-fed induction machine (DFIM) for wind
turbine applications'. lntemal repon for Manchester Centre of
voltage variations. In a practical DFIG system the converter Electncal Energy (MCEE) at UMIST, 2002
voltage and current ratings together with the size of the DC 18 MUUADI, E., PIERCE, K., and MIGLIORE, P.: 'Soft-stall control
link capacitor are all critical to ensure good performance for vanable-speed stall regulated wind turbine', J Wind fig. h d
Aemfymmies, ?WO, 85, (3). pp. 277-291
during network disturbances. Simulation of the DFIG
model voltage control technique illustrates the improve-
ments in network busbar voltage profiles. Controlling the
terminal voltage at wind farm installations may improve
the steady-state stability limit of the network and 8 Appendix
increase the wind farm capacity that can be connected.
Improved stability margins using DFIG wind turbines 8.1 Model base values
may prove invahabk if the continued operation of wind Vhye= 690 V, S h e= 2 MW, w h e = 2~fhe, = 50 HZ
farms through abnormal power system conditions is
required. 8.2 ZMW induction wind turbine model
parameters
Stator resistance (RJ:0.00488 pu
7 References Rotor resistance (R,):0.00549~~
1 JENKINS, N., and STRBAC. G.: 'Impact of embedded generation Stator reactance (Xis):0.09241 pu
on distibution system voltage stability'. Presented at the IEE Rotor reactance (&): 0.09955 pu
Magnetising reactance (Xm):3 . 9 5 2 7 9 ~ ~
Lumped inertia constant (H): 3.5s
lntemational &Terence on AC-DC power transmission, London
"... .."
Xth-lMh
_, Nnv~mluri?MI
8.3 Control model parameters
3 AKHMATOV, V.. KNUDSEN, H.. NIELSEN. A.H.. PEDERSEN.
J.K.. and POULSEN. N.K.: 'A dynamic stability limit of gid- Cut-in speed = IOOOrev/min, speed limit= 1800rpm,
connected induction eeneriltom'. Presented at the IASTED Intema-
tional Conference ;n Power and energy systems, 191h-22nd shutdown speed = 2000 rev/min. KPpt
= 0.56, K ~=L0.05,
Septemkr 2M0, Marklla, S p i n &= 10.0, Kp3=5.0, Kn=32.5.

352