Presenter:

Hossein A. Mohammadpour

Mohammah@email.sc.edu
February 2014
Grid-Connected
Advanced
Power Electronics
Systems GRAPES
Supervised by:

Prof. Enrico Santi

Santi@engr.sc.edu
USC & DOE 2
1. H. A. Mohammadpour, E. Santi, Modeling and control of gate - controlled series capacitor interfaced with a
DFIG-based wind farm, IEEE Transactions on Industrial Electronics, DOI:10.1109 /TIE.2014.2347007, Available
on-line: 12 August 2014.
2. H. A. Mohammadpour, E. Santi, Sub-synchronous resonance analysis in DFIG-based wind farms: definitions
and problem identification - Part I, IEEE Energy Conversion Congress and Exposition (ECCE) 2014, pp. 1 - 8,
14 - 18 September, Pittsburgh, PA , USA.
3. H. A. Mohammadpour, E. Santi, Sub-synchronous resonance analysis in DFIG-based wind farms: mitigation
methods - TCSC, GCSC, and DFIG controllers - Part II, IEEE Energy Conversion Congress and Exposition (ECCE),
pp. 1 - 8, 14 - 18 September, Pittsburgh, PA , USA.
4. H. A. Mohammadpour, Y. J. Shin, E. Santi,SSR analysis of a DFIG-based wind farm interfaced with a gate-
controlled series capacitor, IEEE Twenty-Ninth Annual Applied Power Electronics Conference and Exposition
(APEC) 2014, pp. 3110 - 3117, 16 - 20 March, Fort Worth, TX, USA.
5. H. A. Mohammadpour, E. Santi, Sub-synchronous resonance mitigation in wind farms using gate-controlled
series capacitor, IEEE 4th International Symposium on Power Electronics for Distributed Generation Systems
(PEDG) 2013, pp. 1 - 6, 8 - 11 July, Rogers, AR, USA.
Please ask for full paper at Mohammah@email.sc.edu , if you do not have
access to the paper.s Please do not hesitate to ask any question
regarding this presentation.
Thanks you.
Hossein
USC & DOE 3
Offshore
wind farm
Long HVAC
transmission line
Inf. bus
Fixed series capacitor
Maximum transmittable power is reduced by transmission line reactance.
Indeed, the longer the line, the less maximum transmittable power.
Series compensation is the most economical way to increase maximum
transmissible power of a transmission line.
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Fixed series capacitor
Sub-synchronous resonance
(SSR) may appears in the
system and make the system
unstable.
But:
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Control
Series FACTS
A well-designed FACTS
controller can damp the SSR
and stabilize the wind farm.
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Gate-controlled
series capacitor (GCSC)
1. A SSR damping controller is used to stabilize the wind farm.
2. Eigenvalue analysis approach is used to design the SSRDC.
3. Residue-based analysis is used to find the optimum input control signal (ICS)
to SSRDC.
4. Root-locus approach is used to compute SSRDC gain.
5. PSCAD /EMTDC is used to validate the approach.
Introduction to Wind Farms
Series Compensation Basics and FACTS Devices
Modeling of Series Compensated DFIG
Studied Power System
Basics: Small-Signal Stability and abc to dq Transformation
Mathematical Modeling and Implementation in Matlab/Simulink
Sub-Synchronous Resonance (SSR)
Definition and Basics
Eigenvalue Analysis of DFIG
Detailed Time-Domain Simulation in PSCAD/EMTDC

7 USC & DOE
Gate-Controlled Series Capacitor (GCSC)
Basic Structure
Power Scheduling Controller (PSC)
SSR Damping Controller (SSRDC)
SSR Damping Controller (SSRDC) Design
Residue-Based Analysis for Optimal Input Selection to SSRDC
Rotor speed, line current, and voltage across GCSC
Root-Locus Diagram for Computing SSRDC Gain
Detailed Time-Domain Simulation in PSCAD
Conclusion and Future Work


8 USC & DOE
Introduction to Wind Farms
Series Compensation Basics and FACTS Devices
Modeling of Series Compensated DFIG
Studied Power System
Basics: Small-Signal Stability and abc to dq Transformation
Mathematical Modeling and Implementation in Matlab/Simulink
Sub-Synchronous Resonance (SSR)
Definition and Basics
Eigenvalue Analysis of DFIG
Detailed Time-Domain Simulation in PSCAD/EMTDC

9 USC & DOE
Advantages :
No air pollution
No greenhouse gasses
Does not pollute water with mercury
No water needed for operations

Disadvantages:
Intermittent source of power
Only when the wind blows (night? day?)
Transmission constraints
Offshore wind farms are far away from customers
Need long transmission lines


10 USC & DOE
Offshore Wind Farms vs Onshore Wind Farms:
Much bigger
Further distance from customers
Require a reliable transmission lines with high voltage




11 USC & DOE
Studies show that HVAC option is technically feasible for distances larger
than 250 km provided that capacitive series compensation is used.
Transmission Line Options:
High voltage DC (HVDC)

High voltage AC (HVAC)
Expensive
Type A: Conventional
Induction
Generator (fixed speed)
Type B: Wound-Rotor Induction
Generator w/variable Rotor
Resistance
Type C: Doubly-Fed Induction
Generator (variable speed)
Type D: Full-
Converter Interface
12 USC & DOE
Introduction to Wind Farms
Series Compensation Basics and FACTS Devices
Modeling of Series Compensated DFIG
Studied Power System
Basics: Small-Signal Stability and abc to dq Transformation
Mathematical Modeling and Implementation in Matlab/Simulink
Sub-Synchronous Resonance (SSR)
Definition and Basics
Eigenvalue Analysis of DFIG
Detailed Time-Domain Simulation in PSCAD/EMTDC

13 USC & DOE
The most economical way to increase the transmittable power
Disadvantage:
It can increase the risk of sub-synchronous resonance (SSR)
14 USC & DOE
Definition:
Alternating current transmission systems incorporating power
electronics-based and other static controllers to enhance
controllability and increase power transfer capability.

Advantages of FACTS Devices
Transient stability improvement
Inter-area oscillation damping
Greater flexibility in power network
Deliver the optimum power
15 USC & DOE
Sub-synchronous resonance mitigation

Static VAR
Compensator - SVC
Thyristor Controlled
Series Compensator - TCSC
Gate Controlled
Series Compensator - TCSC
Unified Power Flow
Controller (UPFC)
16 USC & DOE
Solid State Series
Compensator - SSSC
Static Synchronous
Compensator - StatCom
Introduction to Wind Farms
Series Compensation Basics and FACTS Devices
Modeling of Series Compensated DFIG
Studied Power System
Basics: Small-Signal Stability and abc to dq Transformation
Mathematical Modeling and Implementation in Matlab/Simulink
Sub-Synchronous Resonance (SSR)
Definition and Basics
Eigenvalue Analysis of DFIG
Detailed Time-Domain Simulation in PSCAD/EMTDC

17 USC & DOE
100 MW wind farm is aggregation of 2 MW x 50 DFIG wind turbines
Wind turbine aerodynamics
and a 3rd order two-mass
shaft system
A 4th order series compensated
transmission line model
A 6th order induction
generator model
An 8th order rotor and
generator side converter
controllers
A 1st order DC link model
The entire system is of 22nd order
18 USC & DOE
Any dynamic system can be expressed by a set of n first
order nonlinear ordinary differential equations
For small disturbances, the differential equations can be
linearized around operating points and can be expressed in
state-space form.
19 USC & DOE
Stationary circuit variables referred to a synchronously rotating reference frame.
20 USC & DOE

Typical abc-to-dq transformation
RSC real power
GSC real power
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Matlab/Simulink Model
A first order DC-link model
Maximum Power Point Tracking (MPPT)
The aim of the GSC and RSC are to enable the
DFIG to work on the MPPT curve.
Rotor-side converter (RSC) controllers
Grid-side converter (GSC) controllers
MPPT is used in order to achieve high
efficiency in the DFIG wind farm.
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23 USC & DOE
Matlab/Simulink Model
A 6
th
order induction generator model
24 USC & DOE
Matlab/Simulink Model
A 4
th
order transmission line model
25 USC & DOE
Matlab/Simulink Model
A 3
rd
order mechanical system model
Introduction to Wind Farms
Series Compensation Basics and FACTS Devices
Modeling of Series Compensated DFIG
Studied Power System
Basics: Small-Signal Stability and abc to dq Transformation
Mathematical Modeling and Implementation in Matlab/Simulink
Sub-Synchronous Resonance (SSR)
Definition and Basics
Eigenvalue Analysis of DFIG
Detailed Time-Domain Simulation in PSCAD/EMTDC

26 USC & DOE
SSR definition based on IEEE committee:
Sub-synchronous resonance is an electric power system condition where the electric
network exchange energy with a turbine generator at one or more of the natural
frequencies of the combined system below the synchronous frequency of the system.
[1]

[1] Readers guide to sub-synchronous resonance, IEEE Trans. Power Systems, vol.7, no.1, pp.150-157, Feb. 1992.
Natural electrical frequency,

Natural torsional
frequencies,

There are two types of SSR in wind farms:
1. Torsional Interactions (TI)
2. Induction Generator Effect (IGE)
27 USC & DOE
Generator rotor oscillates at frequency

(torsional frequency).
Armature voltage component is induced at sub-synchronous
frequency:

=

.
If

, the sub-synchronous torque, generated by sub-

synchronous voltage component is sustained.
This interplay between mechanical and electrical part of the
system is termed as TI-SSR, which may result in shaft failure.
Because of the low shaft stiffness of the wind turbine drive train,
the frequency of torsional modes in wind turbines is in the range
of 1 to 3 Hz so that in order to cause TI, a very high level of series
compensation is required.
28 USC & DOE
Equivalent circuit of system under sub-synchronous frequency

: The entire reactance seen from
infinite bus

: Frequency corresponding to rotor

speed

and If
sum of resistances
of the armature
and the network

< 0

>
Then there will be a negative
resistance at the sub-synchronous
frequency, and the sub-synchronous
current will increase with time.
This phenomenon is called induction generator effect (IGE).
IGE is the major problem in wind farms.
29 USC & DOE
Wind
speed
(/)
Mode 1
SSR Mode
Mode 2
Sup-SR Mode
Mode 3
Shaft Mode

Mode 4
Elec. Mech. Mode

7 . . 5.3126 640.1460 1.0405 5.9975 18.4753 95.5005
8 0.7958 106.4835 6.1834 642.3497 1.5952 5.7523 7.3302 64.5295
9 4.0322 107.0110 7.1346 645.3255 3.2322 4.6631 2.4978 31.2250

(%) Mode 1
SSR Mode
Mode 2
Sup-SR Mode
Mode 3
Shaft Mode
Mode 4
Elec. Mech. Mode
50 5.3908 179.2258 4.9224 572.6882 0.9432 6.0249 4.8676 97.6290
75 . . 5.2066 617.1976 0.9221 5.9992 9.9111 99.9693
90 . . 5.3126 640.1460 1.0405 5.9975 18.4753 95.5005
I. High series compensation, e.g. 90%, and different wind speeds
II. Low wind speed, e.g. 7 m/s, and different series compensation levels
IGE-SSR in DFIG is affected by:
Wind speed
Series compensation level
30 USC & DOE
At lower wind speed, i.e. 7 m/s, even at a very realistic compensation level, i.e. 75%,
the DFIG wind farm is unstable due to SSR Mode.
Time-domain simulation confirms the eigenvalue analysis.
Electric Torque
Rotor Speed
Terminal Voltage
31 USC & DOE
At higher wind speed, i.e. 9 m/s, even at a very high compensation level, i.e. 90%, the
DFIG wind farm is still stable
Electric Torque
Rotor Speed
Terminal Voltage
32 USC & DOE
A step-by-step comprehensive approach to modal analysis
A useful understanding of the grid-connected series compensated
DFIG
Valuable starting point for small-signal analysis of multi-machine
systems
At higher wind speeds the SSR mode is stable.
At lower wind speeds the SSR mode could be unstable; however,
this instability could be solved using FACTS devices.
33 USC & DOE
Gate-Controlled Series Capacitor (GCSC)
Basic Structure
Power Scheduling Controller (PSC)
SSR Damping Controller (SSRDC)
SSR Damping Controller (SSRDC) Design
Residue-Based Analysis for Optimal Input Selection to SSRDC
Rotor speed, line current, and voltage across GCSC
Root-Locus Diagram for Computing SSRDC Gain
Detailed Time-Domain Simulation in PSCAD
Conclusion and Future Work


34 USC & DOE
A
a
a
a
a
a
a

Gate-controlled series capacitor (GCSC)
Effective reactance of the GCSC
By controlling the GTOs in GCSC, the effective reactance of this device could be
controlled.
35 USC & DOE
Considered signals:

a) Rotor speed
b) Line current
c) Voltage across GCSC
36 USC & DOE
USC & DOE 37
For a complex root

, the residue

is a complex number, which can be

considered as a vector having a certain direction.

Right and left eigenvectors

In a root locus diagram,

is representation of the direction and magnitude

of the closed loop eigenvalue

, which leaves the pole

.
Basics:
USC & DOE 38
The above equations show that residue influences closed-loop system
root, by determining the direction and magnitude of it.
Suppose dynamics of all eigenvalues are ignored, except one specific eigenvalue,

.
If the magnitude of the residue is large enough, then a smaller gain is
needed for the feedback control system

USC & DOE 39
This will increase the difficulty of the
controller design.
The reason is that a simple
proportional controller chosen to
increase damping of the SSR mode will
decrease the damping of the SupSR
mode.
The residue magnitude of
the SSR mode is small.
A larger gain is needed for
the feedback control.
The residues of the SSR and
SupSR modes are in an opposite direction.
USC & DOE 40
However, since the residues of the SSR
and SupSR modes in this case point in
opposite directions, stabilizing the SSR
mode via a feedback gain will decrease
the SupSR mode damping.
The residue magnitude of
the SSR mode is large.
A smaller gain is needed for
the feedback control.
USC & DOE 41
The SSR and SupSR modes are in the same
directions. This make the design of the
feedback control simple so that a small
gain will be enough to force both the SSR
and SupSR modes to move to the left and
make the system stable.
The residue magnitude of
the SSR mode is large.
A smaller gain is needed for
the feedback control.
Introducing an unstable mode while stabilizing the SSR mode.
Large gain is needed to stabilize the SSR mode.
SSR Mode
SupSR
Mode
42 USC & DOE
Destabilizing the SupSR mode, while stabilizing the SSR mode.
SSR Mode
SupSR Mode
43 USC & DOE
All system modes could be stabilized using GCSC voltage as ICS.
SSR Mode
SupSR Mode
44 USC & DOE
Gate-Controlled Series Capacitor (GCSC)
Basic Structure
Power Scheduling Controller (PSC)
SSR Damping Controller (SSRDC)
SSR Damping Controller (SSRDC) Design
Residue-Based Analysis for Optimal Input Selection to SSRDC
Rotor speed, line current, and voltage across GCSC
Root-Locus Diagram for Computing SSRDC Gain
Detailed Time-Domain Simulation in PSCAD
Conclusion and Future Work


45 USC & DOE
Super-synchronous oscillations
Electric Torque Terminal Voltage
46 USC & DOE
1. Time-domain simulation verifies the designed controller.
2. A well-designed GCSC can damp the oscillation.
3. Voltage across the GCSC is an optimal input control signal to SSRDC.

The GCSC can stabilize the SSR mode.
A control system design procedure is presented for GCSC.
Rotor speed, line current, and cap. Voltage tested as ICS to SSRDC block.
The best signal as ICS to SSRDC block is voltage across series capacitor.

47 USC & DOE
USC & DOE 48
Supported by NSF I/U CRC for
Grid-Connected Advanced Power Electronics Systems
(GRAPES)
USC & DOE 49