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Journe des Doctorants, 25 Avril 2012 de Technologie, UFAS, SETIF

Dpartement dElectrotechnique, Facult

CONTROL OF A DOUBLY FED INDUCTION GENERATOR FOR WIND ENERGY CONVERSION SYSTEMS
1 2 Louarem sabah , Belkhiat sad . Electrotechnic department, DAC HD Labratory University Stif I, Algeria. 2 1 L_sabah2006@yahoo.fr Belsa_set@yahoo.fr The fixed speed induction generator has otherwise low Abstract-In recent year, renewable energy generation is efficiency of wind power conversion and no ability to
coming up for effective use of natural energy, such as wind energy conversion systems. It is very different in nature from conventional generators. The considered wind generators are the squirrel cage induction generator (SCIG) (with a fixed speed), the doubly-fed induction generator (DFIG) and the converter driven synchronous generator (CDSG) with variable speed. In this work, the doubly fed induction generator (DFIG) for wind energy conversion system is studied. The dq model of the wound rotor induction machine, in rotor reference frame, is presented. Implementation in similink and fast simulations are shown. In order to control the power flowing between the stator of (DFlG) and the grid, a control law is synthesized using PI controllers.

I.

INTRODUCTION

Recently, the increasing concerns to environmental issues and utilization of fossil fuel fired based conventional energy source to be exhausted in the future, lead to rapid research and development for more sustainable and alternative electrical sources [1]. Wind power has been considered as one of the most prominent renewable energy sources in years to come. It is increasingly considered as not only a mean to reduce the CO2 emissions generated by traditional fossil fuel fired utilities but also a promising economic alternative in areas with appropriate wind speeds [2]. The installation of wind turbines in power systems has been developed rapidly in the last 20 years and the national and international growth rates and policies indicate that this development will continue. During 1999, 3920 MW of wind turbine capacity was installed in the world, making up a total accumulated installation of 13 932 MW of wind power at the end of 1999 [3]. Prospects for 2020 in the United States aim at a total 100,000 MW installed capacity of wind power [4]. There are two kinds of wind turbine systems in current application: the fixed-speed wind turbine system, based on the electrical topology and wind turbine generators which can be grouped into four categories [5], [6], [7]: 1) fixed-speed squirrel-cage induction generators. 2) variable-slip (wound rotor) induction generators with variable rotor resistance. 3) variable-speed doubly fed asynchronous generators. 4) variable- speed generators with full converter interface. The key advantage of the variable-speed generator is its ability to extract maximum electric power at various wind speed via rotor speed adjusting. The variable speed generator reduces the mechanical stress imposed to the turbine. The fixed-speed generator has no ability to vary the rotor speed. Though it requires no complex power electronics interface.

provide reactive power support. It also imposes tense mechanical stress on turbines and requires complex pitch control to maintain a constant rotor speed [8]. The wind turbine induction generator (WTIG) absorbs the reactive power but this later is provided by the grid or by some devices like capacitor banks, SVC, STATCOM or synchronous condenser [9], [10]. Usully for converting mechanical power, in to electrical power we use the induction machines or synchronous and permanent generators. For asynchronous inductions generators, power factors lower than 0.86 will not be allowed at their rated power, so that the capacitors will have to be installed in order to achieve this objective. As for synchronous and DFIG type generators are concerned, their power factor will have to be kept between 0.8-1 leading or lagging- at their connecting point, and devices to assure synchronism will also be compulsory [11] .DFIG-based wind turbines offer variable speed operation, lower converter cost and reduced power loss compared to wind turbine using fixed speed generators or fully-fed synchronous generators with full-sized converters [12], [13]. The main objective of the paper is the development the control strategy of power flow exchanged between the stator of (DFIG) and the grid. After modeling the (DFIG), then a simple and robust control algorithm based on an IntegralProportional controller. The dynamic performance of the developed wind farm model is simulated using MATLAB/SIMULINK.

II.

Dynamic Modeling of Wind Power Generation System

Wind is an intermittent and variable source of energy. Wind speed is random in magnitude and direction at any site except that average wind speed and direction distribution on an annual basis is repeatable within moderate limits. Wind variations, including time variation and spatial variation, are caused by many factors such as wind turbulence, wind shear, and tower shadow and turbine rotation [14]. However, the effect on the turbine torque can be modeled using wind profile at the hub height to produce the equivalent torque variations. A. Aerodynamic Model The aerodynamic model is governed by a nonlinear formule giving the mechanical power P extracted from

UFAS

FT

Dept. ELT

JD'2011

Journe des Doctorants, 25 Avril 2012 de Technologie, UFAS, SETIF

Dpartement dElectrotechnique, Facult

the wind, aerodynamic coefficient C p , Tip speed ratio TSR and aerodynamic torque T . They are expressed by the well-known equations (1, 2, 3, 4) used [15]:

components also have a rotational damping, due to wind resistance and bearing friction. To simplify the electrical model of the wind turbine, the drive train is modeled entirely on the high-speed side [17].
J = J gen + J rot G2

wh R vwind

(1) (2) (3)

(5)

1 3 P = . . .R 2c p ( , )vwind 2 5 1 w T = . . .R 5 h3 c p ( , ) 2 : is the air density (kg / m3 )

C. The mathematical model of DFIG based on dq coordinate system When modeling a doubly fed induction machine, it is essentiel to consider that this kind of wound rotor machine has to be fed both from stator and rotor sides, as sketched in Fig.2. Normally, the stator is directly connected to the grid and the rotor is interfaced throught a variable frequency power converter. In order to cover a wide operation range from subsynchronous to synchronous speeds, the power converter placed on the rotor side bas to able to operate with power flowing in both directions [18].

: is the tip speed ratio of the rotor blade tip speed to wind speed : Blade pitch angle (deg) .
Fig.1 shows C p evolution depending on

v wind : is the wind speed (m/s).

and

, it depends

on turbine geometry, for most commercialized three pale wind turbine power efficiency. It is about 0.45 when is null [16].

116 i C p ( , ) = 0.5176 0.4 5 e + 0.0068 i


1

21

(4)

+ 0.08

0.035

3 +1

Fig.2 Boubly fed induction machine basic configuration.

0.5 Aerodynamique Efficienty Cp 0.4 0.3

Fig.3 Wind turbine global scheme.


0.2 0.1 0 30 20 10 10 Pitch Angle 5 15

Fig.1 Aerodynamic Efficiency


B. Drive Train MODEL

C p = f ( , )

T Speed R ip atio

In a synchronous rotating reference frame (the stator side using generator convention and the rotor side using machine convention in the equivalent circuit), the mathematical model can be expressed as [19]: The stator votage equation: d Vsd = Rs I sd + (sd ) ssq dt (6)

Vsq = Rs I sq +

d (sq ) + ssd dt

A drive-train model represents wind turbine mechanical behavior. The turbine blades and associated low speed rotates more slowly, and are connected to the high speed generator shaft through a gearbox, while generator rotating at synchronous speed. All rotating components of the drive train are characterized by an aggregated inertia moment J (5), which depends on the component mass and geometry. Most

The rotor votage equation: d Vrd = Rr I rd + (rd ) (s r )rq dt d Vrq = Rr I rq + ( ) + ( ) (7) rq s r rd dt The stator flux linkage equation: sd = Ls I sd + MI rd sq = Ls I sq + M rq I (8)

UFAS

FT

Dept. ELT

JD'2011

Journe des Doctorants, 25 Avril 2012 de Technologie, UFAS, SETIF

Dpartement dElectrotechnique, Facult

neglected because of their small influence. The input block The rotor flux linkage equation: rd = Lr I rd + MI sd rq = Lr I rq + MI sq Electromagnetic torque equation:
J d J dr = dt p dt 3 M = p (rd I sq rd I sd ) Cr f r (10) 2 Ls

relating Vdq to Vdqr presents simplified rotor converter model. (9) c. PI regulator synthesis This controller is simple to elaborate. Fig.5 shows the block diagram of the system implemented with this controller. The term K p and K i respectively are the proportional and integral gains [23]. The regulator terms are calculated with a polecompensation method. The time reponse of the controlled system will be fixed at 10 ms. This value is sufficient for our application and a lower value might involve transient with important overshoots. The calculated terms are:

III.

Control strategy of the DFIG

a. Reference-frame By choosing a reference frame linked to the stator flux, rotor currents will be related directly to the stator active and reactive power. An adapted control of these currents will thus permit to control the power exchanged between the stator and the grid. If the stator flux is linked to the d-axis of the frame we have [20] [21]:

Pref

Kp +

Ki p

1 M2 Rr + p Lr Ls

M V Ls

Y
s

Fig.5 active power block Fig 4. Voltage and flux vectors settings.

For the axes d and q the transfer fonction in open loop incorporating the presence of regulators is:
Kp FB T O = M s V M2 Ls Lr Ls p

ds = s and ds = 0
b. Control strategy The torque and consequently the active power only depend on the q-axis rotor current component. If the per phase stator resistance is neglected, which is a realistic approximation for medium power machines used in wind energy conversion, the stator voltage vector is consequently in quadrature advance in comparison with the stator flux vector [22].

(13)

Ki = Kp

Vds = 0 and Vqs = Vs = s s

Ls Rr M2 (14) Ls Lr Ls The transfer function of closed loop is expressed by:

The stator active and reactive power can then be expressed only versus these rotor currents as

P = Vs

M iqr Ls

Q=

Vss Vs M idr Ls Ls

M2 Ls Lr 1 FTBF = , Ls 1 1+r p r = Kp MVs

(15)

(11)

We can now express the gains correctors based parameter of the machine and the reponses time:
(12)

M 2 di dr M2 iqr Vrd = Rr I rd + L r g Lr s Ls dt Ls M 2 di qr M2 MV s iqr + gs Vrq = Rr I rq + L r + gs Lr Ls dt Ls s Ls

In steady state, the second derivative in (15) is nil. The third term constitutes cross- coupling terms and can be

UFAS

FT

Dept. ELT

JD'2011

Journe des Doctorants, 25 Avril 2012 de Technologie, UFAS, SETIF

Dpartement dElectrotechnique, Facult

(16)

T ens ion [V], C ourant [A]

M2 Ls Lr 1 Rr Ls Ls K i = 1 r MVs Kp = r MVs IV. Results and interpretation

1000 500 0 -5 0 0 -1 0 0 0 0

C o u ra n t T e n s io n 0 .0 1 0 .0 2 0 .0 3 T im e [ s e c ] 0 .0 4 0 .0 5

We present the simulation of DFIG connected directly to the network through the stator. To control the power exchanged between the stator and the network one uses the vector control with direct stator flux [24]. Figure.7 shows as well as for the active and reactive power there is a dynamic that reacts quickly. A phase shift between the current and the voltage stator is illustrated in Figure.6. Where the power factor is equal to 0.8277.
0 x 1 0 P m e s P re f
R e a c tiv e p o w e r [V A r]
5

Fig.8 Stator

voltage and current Cos = 1 .

x 1 0

If we had changed a parameter Rr , Lm , Lr ,of the machine for direct control .The reference of active and reactive power does not follow perfectly instructions and cause errors on static power and the change of power factor.
0 x 1 0 P m e s P re f
R e a c tiv e p o w e r [V A r]
5

2 0

1 0

A c tiv e pow er [P ]

0
-5
A c tiv e p o w e r [W ]

-2 Q m e s Q re f 0 .0 2 0 .0 4 0 .0 6 T im e [ s e c ] 0 .0 8

-5

-2 Q m e s Q re f 0 .0 2 0 .0 4 0 .0 6 0 .0 8 T im e [ s e c ]

-1 0 0

0 .0 2

0 .0 4 0 .0 6 T im e [s e c ]

-4 0 .0 8 0

-1 0 0

0 .0 2

Fig.6 Stator active and reactive power.


1000
5

0 .0 4 0 .0 6 T im e [ s e c ]

-4 0 .0 8 0

Fig.9 Stator active and reactive power


0 x 1 0

Cos = 0.784 .
2 x 1 0
5

Rr

of

+ 80%

Tension [V], Courant [A]

500

-5
A c tiv e p o w e r [W ]
0

0
R e a c tiv e p o w e r [V A r]

-1 0 P m e s P re f 0 .0 2 0 .0 4 0 .0 6 T im e [ s e c ]

-2 -4 -6 0 Q m e s Q re f 0 .0 2 0 .0 4 0 .0 6 0 .0 8 T im e [ s e c ]

-500 Courant Tension 0 0.01 0.02 0.03 Time [sec] 0.04 0.05

-1 5 0

0 .0 8

-1000

Fig.10 Stator active and reactive power

Ls

of

+ 10%

Fig.7 Stator voltage and current Cos

= 0.8277

.
0 -5
A c tiv e p ow er [W ]

Cos = 0.706 .
x 1 0
5

R e a c tiv e p o w e r [V A r]

To remedy the problem about deterioration power factor on the network, we enjoy in this part an advantage among several advantages that offer the vector control of DFIG. The results of simulations are obtained with reactive power Qs _ ref = 0 and application of the echelon of active power. We can say that the control of active power for the wind power generator is perfectly realized Cos = 1. The figure shows the phase shift between voltage and current of phase stator is 0.

2 0 -2

1 0

-1 0 -1 5 0 P re f 0 .0 2 0 .0 4 0 .0 6 T im e [s e c ]

P m e s -4

-6 0 .0 8 0

Q m e s Q re f 0 .0 2 0 .0 4 0 .0 6 0 .0 8 T im e [ s e c ]

Fig.11 Stator active and reactive power Lr of

Cos = 0.7662 .

+ 10%

UFAS

FT

Dept. ELT

JD'2011

Journe des Doctorants, 25 Avril 2012 de Technologie, UFAS, SETIF


0 -5
A c tiv e p o w e r [W ]

Dpartement dElectrotechnique, Facult

x 1 0
2 0 -2

x 10

[5]

[6]
Q m es Q re f 0 .0 2 0 .0 4 0 .0 6 T im e [ s e c ] 0 .0 8

-1 0 P m e -s 4 -1 5 0 P re f 0 .0 2 0 .0 4 0 .0 6 T im e [s e c ]
-6 0 . 0 80

[7] [8]

Fig.12 Stator active and reactive power

Cos = 0.803 .

Lm of 10%

[9]

[10]

V.

Conclusion
[11]

In this paper a device intended to lift in wind mill based on double fed induction Generator connected to the grid has presented. After a description of this device and connection procedure we have established a mathematical model of DFIG. The decoupling control of active and reactive powers of DFIG has been developed. An appropriate model and vector control strategy are first established. Simulation has been investigated with classical proportional-integral based calculated with a pole compensation method. We can also note that this regulator presents several disadvantages: A zero is present in the numerator of transfer function The integrator introduces a phase difference and can induce instability. The regulator is directly calculated with the parameters of the machine, if these parameters are varying, the robustness of the system can be affected. The eventual perturbations are not taken into account and the system has few degrees of freedom to be tuned. The variation of the rotor resistance and inductances deteriorates the performance of direct control. Finally we exploit in further the regulation of stator active and by controlling the machine inverter with different controllers: PI-fuzzy-controller, the PI regulator calculated by genetic algorithm method. We hope to validate the proposed
scheme by experimental tests. The state of progress of my work is 40%.

[12]

[13]

[14]

[15]

[16] [17]

[18]

[19]

[20]

References
[1] Gerardo Tapia, Arantxa Tapia and Jos Ramon Senz, "A new simple and robust control strategy for wind power farm reactive power regulation". IEEE2002 [2] R. Melcio a, V.M.F. Mendes b, J.P.S. Catalo a,"Power converter topologies for wind energy conversion systems: Integrated modeling, control strategy and performance simulation" _ 2010 Elsevier Ltd. All rights reserved Contents lists available at ScienceDirect Renewable Energy [3] Slavamir Seman, Student Member, IEEE, Jouko Niiranen, Senior Member, IEEE, Sami Kanerva, Antero Arkkio, Performance Study of a Doubly Fed Wind-Power Induction Generator under Network Disturbances. IEEE 2005, transactions on energy conversion. [4] Jiaxin Ning, Student Member, Wenzhong Gao, Senior Member, and Joseph Ojo, Senior Member, IEEE ; "Decoupled Control of Doubly Fed Induction Generator for Wind Power System".IEEE 2008. [21]

[22]

[23]

[24]

Hee-Sang Koa, Gi-Gab Yoonb, Nam-Ho Kyung,Won-Pyo Hong Modeling and control of DFIG-based variable-speed Wind-turbine.2008 Elsevier B.V. M Zhao,Z. Chenn, F.Blaabjerg, Probabilistic capacity of a grid connected wind far based on optimization methodinstitute of energy technology, A lborg University; Denemark ;Renewalable energy 2005. Luis M. Fernandeza, Jose Ramon Saenz, Francisco JuradoDynamic models of wind farms with fixed speed wind Turbines.2005 Elsevier Ltd. S,K Salmanand 2 G Wan voltage control of distribution outwork with high penetration of renewable energy based embedded generation ,School of Engineering; The Robert Gordon University, Aberdeen R. Jayashri ,, R.P. Kumudini Devi Effect of tuned unified power flow controller to mitigate the rotor speed Instability of fixed-speed wind turbines . 2008 Elsevier Ltd. Lucian Mihet-Popa, Frede Blaabjerg, Fellow, IEEE, and Ion Boldea, Fellow, IEEE,"Wind Turbine Generator Modeling and Simulation Where Rotational Speed is the Controlled Variable".EEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 40, NO. 1, JANUARY/FEBRUARY 2004. Vijay Chand Ganti, Bhim Singh, Fellow, IEEE, Shiv Kumar Aggarwal, and Tara Chandra Kandpal,"DFIG-Based Wind Power Conversion With Grid Power Leveling for Reduced Gusts".IEEE TRANSACTIONS ON SUSTAINABLE ENERGY, VOL. 3, NO. 1, JANUARY 2012. Wei Qiao, Student Member, IEEE, Wei Zhou, Member, IEEE, Jos M. Aller, and Ronald G. Harley, Fellow, IEEE, "Wind Speed Estimation Based Sensorless Output Maximization Control for a Wind Turbine Driving a DFIG".IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 23, NO. 3, MAY 2008 Rasool Aghatehrani, Student Member, IEEE, Lingling Fan, Senior Member, IEEE, Rajesh Kavasseri, Senior Member, IEEE,"Coordinated Reactive Power Control of DFIG Rotor and Grid Sides Converters".2009 IEEE. Changhong Shao , Xiangjun Chen and Zhonghua Liang" Application Research of Maximum Wind-energy Tracing Controller Based Adaptive Control Strategy in WECS". 2006 IEEE. S,K Salmanand 2 G Wan, voltage control of distribution outwork with high penetration of renewable energy based embedded generation ,School of Engineering; The Robert Gordon University, Aberdeen Hamzaoui, F bouchafiaa, A. Hadjamaar, A.Talha. "Improving of the performances MPPT system of wind generation".IEEE.2011. G. Slootweg S.W, H, de Haan2 H. Polinderz, W.L. Kling. "Modeling Wind Turbines in Power System Dynamics Simulations".2001 IEEE. K.Ghedamsi, D.Aouzellag ,E.M.Berkouk ,"Power Control of a Variable Speed Wind Turbine Driving an DFIG". Renevelable energy 33 (2008) 2145-2156. F. Poitiers , T. Bouaouiche, M. Machmoum ,"Advanced control of a doubly-fed induction generator for wind energy conversion". Electric Power Systems Research 79 (2009) 10851096. aramand BOYETTE, "Controle commande d'un generateur asynchrone a double alimentation avec systeme de stokcage pour la production olienne". thse de doctorat de L'Universit Henri Poincar, Nancy I.11 Septembre 2006. Y. Zhao, Zou, Xu, Kang and J.Chen, "Maximal Power Point Tracking under Speed-Mode Control for Wind Energy Generation System with Doubly Fed Introduction Generator". 2006 IEEE. Frdric POITIERS," ETUDE ET COMMANDE DE GENERATRICES ASYNCHRONES POUR L'UTILISATION DE L'ENERGIE EOLIENNEMachine asynchrone cage autonome -Machine asynchrone double alimentation relie au rseau", Thse de Doctorat de lUniversit de Nantes, Le 19 dcembre 2003 M.B.Mohamed, M.Jemli, M-Gossa, K. Jemli, "Doubly fed induction generator (DFIG) in wind turbine, Modeling and power flow control". 2004 IEEE International Conference on Industrial Technology (ICIT). Salma EL AIMANI, "Mdelisation de differentes techniques d'olienne integrees dans un resera de moyenne tension", Ecole centrale de LILLE universit des sciences ey technologies de LILLE. Soutenue le 06/12/2004.

UFAS

FT

Dept. ELT

JD'2011

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