Article

A Doubly-fed Induction Generator Adaptive Control

Strategy and Coordination Technology Compatible
with Feeder Automation
Peng Tian, Zetao Li and Zhenghang Hao *
College of Electrical Engineering, Guizhou University, Guiyang 550025, China; [email protected] (P.T.);
[email protected] (Z.L.)
* Correspondence: [email protected];

Received: 9 October 2019; Accepted: 21 November 2019; Published: 22 November 2019

Abstract: The extensive connection of distributed generation (DG) with the distribution network
(DN) is one of the core features of a smart grid, but in case of a large number, it may result in
problems concerning the DN-DG compatibility during fault isolation and service restoration, for
which no efficient and economic solutions have been developed. This paper proposes a
doubly-fed induction generator (DFIG) adaptive control strategy (ACS) and a coordination
technology to be compatible with the typical feeder automation (FA) protection logics in the ring
distribution system. First of all, an ACS simulating the inertia/damping characteristics and
excitation principles of synchronous generators is developed to achieve seamless switching
between DFIG grid-connection/island modes, and make distant synchronization possible. Next, a
technology coordinating the DFIG islands controlled by ACS and the remote tie-switches based on
local inspection of synchronization conditions for closing is developed to achieve the safety
grid-connection of DFIG islands in the absence of DN-DG communication. At the last, a detailed
simulation scenario with a ring DN accessed by five DFIGs is used to validate the effectiveness of
ACS and coordination technology compatible with FA in various faults scenes.

Keywords: distribution network (DN); doubly-fed induction generator (DFIG); feeder automation
(FA); compatibility; adaptive control strategy (ACS); coordination technology

1. Introduction
With more distributed generations (DGs) based on renewable energies integrating to the
distribution network (DN), traditional DNs are evolving into active ones with more prominent
DN-DG contradictions. Overall, the incompatibility and mutual repulsion between the DN and the
DG have hindered the upgrading of active DN to smart DN [1–3]. Traditional DNs are challenged
seriously by the compatibility between DG and DN in terms of topology structure, operating
standards, control modes and protection configuration [1,4]. From the perspective of protection,
traditional DN is generally a radiating structure from substations to users, and support fast fault
isolation and service restoration based on equipment such as relays, circuit breakers, reclosing
devices, sectionalizing switches and fuses [5–7]. Nevertheless, the application of DGs has changed
the topology structure of traditional radical DN, which may lead to serious problems in the normal
operation of protections to traditional DN, including false tripping of feeders, protection inaction,
raised or reduced failure level, unintentional islanding, asynchronous closing and failed automatic
reclosing [8,9]. Therefore, the reliability of traditional distribution systems are compromised by the
installation of DGs as it results in failure of protection coordination. In the meantime, the safety of
DGs is also challenged.

Energies 2019, 12, 4463; doi:10.3390/en12234463 www.mdpi.com/journal/energies

Energies 2019, 12, 4463 2 of 21

In recent years, researchers and institutions around the work have proposed various protection
strategies and specific control technologies for active DNs, aiming to fast isolate the failures in the
protection system at the grid side, and guarantee the safe operation of DGs at the DG side, while
power authorities and international power organizations have formulated protection standards and
specifications for DNs involving DGs to enhance the reliability of the DN [10,11]. Presently, the
mainstream engineering DN-side protection is fast and non-selective connection of all DGs in case
of any failure in the DN in any form, so that the existing protection will not be negatively affected
[12]. Where an islanding status is detected by an existing DG, its internal control system will, in
general cases, activate the anti-islanding protection mechanism to achieve disconnection and
shutdown of DGs quickly [10,13], while DGs with fault rid-through capacity can be removed from
the grid after a delay of a limited period in any failure [8]. For doubly-fed induction generator
(DFIG), it will start crowbar protection immediately under fault scenario [7]. Obviously, the
protection strategies at the DN and DG sides are comparatively conservative and weaken the
advantage of DGs in improving power supply reliability. Furthermore, the disconnection and
shutdown of DGs may affect stability of the grid, disadvantage service restoration, and result in
additional maintenance costs [12,14].
Therefore, some new strategies are put forward successively and can be categorized generally
into 2 types: ① DG improvements and reserved DG-side protection strategies; ② Improvements
in DG-side protections and reserved DG strategies. In the first solution, DG output is limited and
DG connecting position is optimized to avoid any impact on the DN protection [15,16]. Limiting
DG output is easy to implement, but deviates from the initial intention of sufficient and flexible
utilization of DG energies. Optimizing DG connecting position can reduce the power loss of the DN
and improve voltage distribution. However, the best DG connecting position is subject to natural
and geographical environments [17]. Therefore, optimizing the DG connecting position is not a
preferred strategy in an established active DN. The second solution achieves adaptation to the large
number of DGs by improving DG-side protection. It falls into six forms: voltage-based protection,
improved current protection, differential protection, distance protection, adaptive protection and
fault current compensation [2]. Those improved protection strategies have significantly improved
the reliability of protective device whenever the DGs are in grid-connected or island modes.
Essentially, they are developed against problems in the active DNs, such as fault identification,
location and isolation, and fail to take into consideration the safe operation of DGs when the
topology structure of the DN is changing dynamically. In particular, the specific strategies DG
follow to withstanding the abnormal DN-side interruptions and service restoration in the
continuous process from sudden tripping of circuit breakers to the closing of tie-switches are
seldom referred. Reference [18] suggests closing the tie-switch 15 ms before circuit breakers trip to
isolate the fault segments, to make sure DGs can maintain grid-connected power generation during
and after faults, but, closing the tie-switch at the presence of faults may result in overvoltage or
overcurrent, and the coordination between protection devices for actions in a ms places high
requirements on the communication system and the circuit breakers. Reference [19] proposed a
strategy of output matching of DGs through the local controllable load bank when they are
disconnected, in order to maintain their status before the fault without immediate stopping, and
realize fast reconnection by reclosing as the power is recovered. Instead of changing the structures
and settings of existing DN-side protection system, this strategy further expands the application
level of DGs, and directly reduces the costs of DG stopping and restart. However, it is a
conservative disconnection strategy essentially that the DGs fail to continuously supply powers to
local loads during a fault, and an additional controllable load bank is required.
It should be noted that in case of a fault, active DNs have achieved a lot in fault isolation, but
the compatibility between DGs and DN-side protection devices is still a challenge in a true sense.
The existing active DNs lack experience in technology docking and integration in terms of DN-DG
coordination, and the strategies adopted are more conservative, while standards and operation
guides concerning the deployments of DGs to the DN are based on the technical level at present,
Energies 2019, 12, 4463 3 of 21

which will surely be removed through the technical route and utmost goals of smart DN to achieve
the real integration of DGs and the DN.
Therefore, this paper gives a solution and the contributions of this paper which are
emphasized in the following points:
① This paper proposes a doubly-fed induction generator (DFIG) adaptive control strategy
(ACS) which possesses the capabilities of dual-mode operation, restraining sudden
changes of rotor current and distant synchronization, making seamless switching between
grid-connection and island can be achieved and making distant synchronization possible
without switching control strategies.
② This paper proposes a coordination technology which combines the DFIG islanding
controlled by ACS with remote tie-switches based on local inspection of synchronization
conditions for closing to achieve the safety grid-connection of DFIG islands in absence of
communication between DFIG and DN.
③ The ACS and coordination technology allows DFIG (not limited to a single wind turbine)
continuously supply power to partial local loads during the dynamic process of feeder
automation (FA) fault isolation and power recovery without shutdown and restart of
DFIG, realizing the compatibility between DFIG and feeder automation (FA).
This paper consists of Section 2, which summarizes the active distribution system studied
herein, and analyzes the contradictions between existing FA protection logics and DFIG, Section 3,
which specifies the solution for DN-DFIG compatibility, Section 4, which describes and analyzes
the proposed DFIG ACS and coordination technology in details, and Section 5, which exhibits the
simulation results in various scenes and some discussions are given. Conclusions can be found in
Section 6.

2. Contradictions in Active Distribution Network

2.1. System under Study

Modern DNs require flexible and reliable operations based on closed-loop design and
open-loop operation [20]. Accordingly, an active DN as shown in Figure 1 is selected, in which, the
primary system adopts a ring network structure with S1, S2, S3 and S4 at the outlet switches by
both sides of the substation.

Figure 1. Active distribution network system under study.

Three feeders are led out via S1, S2 and S3, and interconnected through the ring main unit
(RMU). All inlet and outlet switches of the RMU are circuit breakers, while the tie-switches L41 and
L62 are normally opened. The tie-line 1 connects with feeders 1 and 3, and the tie-line 2 connects
with the feeders 2 and 3. All feeders are underground cables. Five DFIGs connect to the DN
through RMUs at different positions. The secondary system is configured as a typical intelligent
Energies 2019, 12, 4463 4 of 21

distributed FA independent from the overall information from the master stations or slave stations,
and exchanges fault information by peer-to-peer communication between intelligent electronic
devices (IEDs), to realize fast isolation of feeder faults and service restoration [21–23]. The
communication network supports optical fiber Ethernet structures according to IEC 61850, while
the IEDs at the substations and the RMUs communicate with each other through the core switchers.
The generic object oriented substation event (GOOSE), a fast message communication mechanism,
is adopted for communications between IEDs [20].

2.2. FA Protection Logics

In Figure 1, permanent faults of cable feeders are designated as F1, F2 and F3. In case of a fault
in the DN, FA controls the circuit breakers at both sides of the fault feeder through GOOSE message
communication mechanism to isolate faults by tripping, after which, a GOOSE message of fault
isolation successful (FIS) will be sent to the corresponding tie-switch for closing. For the relations
between feeders and tie-switches, feeder 1 corresponds to the tie-switch L41, and feeder 3 to L62.
Therefore, when a fault takes place on feeders 1 or 3, the tie-switches L41 or L63 is closed after fault
isolation by FA accordingly.

2.3. Contradictions between FA and DFIG

Traditionally, DFIG is controlled by PQ (active and reactive power control) [24] for
grid-connection and VF (constant-voltage constant-frequency control) for islanding [25]. In case of
islanding a number of DFIGs, master-slave, peer-to-peer or hierarchical control is required [26].
Therefore, DFIG works on continuous grid-connection or pure islanding mode at present without
switching between the two. There are few DFIGs capable of operating under the two modes, or
supporting their seamless switching. As different modes demand different control strategies and
operation rules, DFIG requires island detection technology to achieve switching between
grid-connection and island modes. There are three island detection technologies:
communication-based, active and passive [10], and the establishment of communication between
DFIG and DN results in additional costs and higher complexity of DFIG penetration. Operated by
different companies, the DFIG is not connected to the DN through secondary cables in real cases,
while the active and passive island detection technologies are not reliable enough and a certain
period of time elapses before an island is detected [10]. Furthermore, the DFIG is located
comparatively remote from the DN (1-2 km in general cases), and the tie-switches are flexibly
positioned, requiring a distant synchronous grid-connected process for DFIG islands in
grid-connection through tie-switches, which makes this new mode essentially different from the
traditional local synchronous grid-connection technology of DFIG. Again, the existing GOOSE fast
communication mechanism, in essence, works by repeated transmission of state messages (e.g.,
circuit breaker tripping or closing) and fails to achieve the real-time transmission of remote
sinusoidal quantity, while the SV message is not an economic and reliable solution for the DN.
For those reasons, when the DFIG is connected to the DN (Figure 1), 2 contradictions are
expected between FA and DFIG to make sure the DFIG serves partial local loads without
interruption, and safely close in coordination with the tie-switches. Contradiction 1: a series of
switch state messages in the discretion of FA cannot be timely “notified” to DFIG, rendering the
latter’s failure to adapt to the topology changes of the grid; without supports to dual-mode
operation, DFIG cannot adjust its control modes timely for the purpose of seamless switching
between the grid-connection and islanding. Contradiction 2: the information channel and message
specifications of the DN provide no supports to the distant synchronization function to transform
the DFIG status from off-grid to grid-connection. The two contradictions account for the
incompatibility and mutual repulsion between existing FA technologies and DFIGs, and hinder the
upgrading from active DN to smart DN.
Energies 2019, 12, 4463 5 of 21

3. Solution for DN-DFIG Compatibility

The active distribution network system studied in this paper is 10 kv level, and DFIG is
megawatt class (1.5 MW). It is assumed that FA can instantly isolate any fault. In addition, there is
no any communication between DFIG and DN, and no support of energy storage widely used in
microgrid [27,28]. With remarkable kinetic energy stored in its wind wheels and shafts, the
megawatt DFIG can continuously supply power to partial local loads through advanced control
strategies in case of an emergency. To sufficiently and flexibly leverage the potential of DFIG for
enhanced resilience of the DN where no conditions for DN-DG communication are created, this
paper proposes a DN-DG compatibility solution as shown in Figure 2, which contains two steps.
Step 1: As the circuit breaker trips for fault isolation, the DFIG switches into the unintentional
islanding mode seamlessly and operates stably. At the same time, DFIG islanding actively create
distant synchronous conditions at remote tie-switch. Step 2: Remote tie-switch is permitted to close
synchronously for the purpose of reconnection of DFIG island and recovering DFIG to the pre-fault
status or to a new stable status.
For DFIG, the solution is to realize the continuous and seamless switching amongst
unintentional stable operation of islands, distant island synchronization and island grid-connection.
Such a process relies on advanced DFIG grid-connection/island dual-mode control strategy and
coordination between DFIG and DG-side protection devices. Therefore, an adaptive control strategy
and a coordination technology are proposed in the following Section.

Figure 2. DN-DG compatibility solution.

4. The Proposed Adaptive Control Strategy and Coordination Technology

4.1. DFIG Adaptive Control Strategy

A typical DFIG system is illustrated in Figure 3. The wind wheels transform the wind energy
captured into rotary mechanical energy which is delivered to DFIG via the gearbox shafts [29]. The
stators of DFIG directly connect to the DN, while the rotators are through the back-to-back
converter. The grid-side converter (GSC) is responsible for constant DC bus voltage, while the
rotor-side converter (RSC) regulates the excitation voltage of rotors to realize DFIG grid-connection
and power generation. This paper adopts GE 1.5 MW DFIG system [30] as an example, which
contains mechanical and electrical controls. Mechanical control further divides into speed control,
compensation control and torque control, and electric control consists of the GSC-side control and
the RSC-side control. The nomenclatures of all variables used in this paper are shown in Table A1
(Appendix A). All quantities are in per unit except for the variables related to phase and special
instructions in Section 4. Table A2 (Appendix A) and corresponding Figures shows the variable
units in Section 5.The DFIG ACS proposed in this paper aims at RSC-side control and it has three
capabilities, including dual-mode operation、restraining sudden changes of rotor current and
distant synchronization. The basic control structure of the GE 1.5 MW DFIG [30] for the mechanical
part is adopted, while the GSC-side control still follows the typical vector control strategy based on
phase-locked loops (PLL) [31]. The maximum power point tracking (MPPT) of the wind turbine [30]
is calculated as follows:
Energies 2019, 12, 4463 6 of 21

ωm∗ = −0.67 Pe 2 + 1.42 Pe + 0.51 (1)

where ωm∗ is the reference angular velocity of the wind turbine, and Pe is the actual output
electromagnetic power. Therefore, in the MPPT, the speed of the wind turbine depends on the
actual output electromagnetic power.

Figure 3. DFIG system.

Whene the rotor follows motor convention and the stator applies generator convention, the
space vector model of the DFIG in the stator static reference frame can be expressed as:

us = −Rs is + D ( −Ls is + Lm ir ) (2)

ur = Rr ir − jωm ( Lr ir − Lm is ) + D ( Lr ir − Lm is ) (3)

where all quantities are in per unit. D is the differential operator ( d / dt ); ωm the electric angular
frequency of rotor; Rs and Rr are resistances of stator and rotor, respectively; Ls , Lr and are
stator self-inductance, rotor self-inductance and mutual inductance, respectively; us and ur , is
and ir are voltage and current space vectors of stator and rotor under stator static reference frame
respectively.
The proposed DFIG ACS is shown in Figure 4 and consists of power control, voltage control
and current inner loop, of which, the power control simulates the inertia/damping characteristics of
the synchronous generator [32]. 1 ( 2H As ) is the inertial link of power control; H A inertia time
constant of power control; K A proportional coefficient of power control. The electromagnetic
power reference Pe∗ is produced by torque control in the mechanical control part. Where the actual
power output losses its balance with the reference, ACS will regulate the inner potential angular
frequency of the stator ωsi through the inertial link and the proportional link, based on which, the
inner potential control phase of the stator θsi is obtained through the integral. ωb = 50Hz is the
angular frequency of fundamental wave and the rotor’s excitation current phase θIr is obtained by
θsi minus the rotor phase θ m =  ω m dt . In the meantime, damping negative feedback control is
introduced to inhibit the frequency oscillations in the DFIG. The damping power PD is
determined by the difference between the inner potential angular frequency of the stator ωsi and
the reference angular frequency of the grid ωg∗ after the damping link. D A is the power control
damping coefficient.
The voltage control simulates the excitation principles of the synchronous generator. The
reference of rotor’s excitation current amplitude I r∗ is obtained through a typical PI controller
based on the difference of Us∗ , the reference of stator voltage amplitude, and Us , the actual stator
Energies 2019, 12, 4463 7 of 21

voltage amplitude. PUs,A and I Us ,A are respectively the voltage control proportion and integral
coefficient.
A three-phase independent control mode is adopted for the current inner loop, in which, “r”
(superscript) represents the value in the rotor reference frame. The space vector reference of the
r∗
rotor excitation currents i r is defined by the phase and amplitude obtained by power and voltage
controls, and converted to abc coordinate to obtain the reference of three-phase rotor excitation
currents ( irra∗ , irrb∗ and irrc∗ ), which correspond to the actual excitation currents of rotor ( irra , irrb and
ircr ), different between which is based on to obtain the three-phase excitation voltages of the rotor
( urar , urbr and urcr ) through the GQPR ( s ) control. GQPR ( s ) , quasi-proportional resonant controller
(QPR), better fits for precision control of sinusoidal signal as compared with traditional PI
controllers, and the transfer function can be expressed as [33,34]:
2 K QPR ωi s
GQPR ( s ) = PQPR + (4)
s 2 + 2ωi s + ωr2

where PQPR is the proportional coefficient, K QPR the resonance term gain, ωi the resonance term
bandwidth (actual value), and ωr the slip angular frequency (actual value). The design of QPR
parameters can be found in [33,34].

Figure 4. Structure diagram of proposed ACS.

4.1.1. Grid-connection/island Dual-mode Operation

According to Equation (2) and by neglecting the resistant of stator, the inner potential of stator
es can be expressed as:

es = jX m ir = us + jX s is , (5)

Where, X s = ωs Ls , X m = ωs Lm , ir = ir r e jθm , and ωs is the synchronous angular frequency.

According to ACS control structure (Figure 4) and Equation (5), and by taking the current inner
loop with rapid dynamic response as an ideal link, the inner potential of stator es can be further
expressed as:

es = Es e jθEs = jX m ir r ∗e jθm = jX m I r∗e jθsi (6)

where Es is the inner potential amplitude of the stator, and θ Es , the inner potential phase of the
stator. According to formula (6), the difference between θ Es and θsi is π 2 , and the amplitude
reference of rotor’s excitation current I r∗ is proportional to the inner potential amplitude of the
stator. Therefore, the inner potential of stator is subject to the direct control of ACS. When the DFIG
is grid-connected, the stator voltage is clamped down by the grid voltage, and the power control
Energies 2019, 12, 4463 8 of 21

will adjust the inner potential of stator based on the grid voltage, and transmit power to the grid.
Thus power control plays a leading role, and the voltage control plays an auxiliary role. When the
DFIG is suddenly islanded, and supply power to partial loads, the loss of supports from grid
voltage will result in the voltage control at the dominating role and the power control automatically
adjust the speed of the wind turbine and output energy to serve the island loads under the MPPT in
formula (1). By damping negative feedback control and frequency amplitude limitation, the island
frequency is controlled within a certain range. Instead of tracking the maximal wind energy, the
MPPT under islanding mode guides the wind turbine to adjust its speed based on the loads. The
particular case is that multiple DFIGs are suddenly islanded when the slow dynamic response of
DFIG mechanical control will lead to the gradually balance between the mechanical energy
absorbed by each wind turbine and the loads to jointly supply power for loads. Therefore, ACS can
transmit the power captured to the grid during grid-connection mode, and supply power to loads
by controlling the voltage of stators in the island mode. Furthermore, when the system switches
between grid-connection/island modes, the ACS can directly produce the inner potential phase θ Es
of the stator by power control to avoid sudden change in the stator’s voltage phase and facilitate the
seamless switching between the two modes.

4.1.2. Equivalent Inertia / Damping Characteristics

The equivalent inertia/damping characteristics of DFIG take both mechanical control and
electrical control into consideration. To facilitate analysis, it is assumed that the stator voltage, the
wind speed vw (actual value) and the pitch angle β (actual value) of blades remain constant
when the mechanical energy capture by the wind wheel Pwt is out of balance with Pe , and the
impact of speed ωm on the wind turbine is neglected. By linear processing of the mechanical
control of the wind turbine and the electrical control of the ACS, a small signal equivalent model as
shown in Figure 5 is obtained. ωm0 is the stable speed of the wind turbine at a certain operation
point, H m the time constant of the wind turbine’s inherent mechanical inertia, D m the inherent
mechanical damping coefficient of the wind turbine, Pv and I v the proportional and integral
coefficient of the torque control.

Figure 5. Small signal equivalent model of DFIG under ACS control.

The small signal equivalent model of DFIG in the Figure 5 is properly converted to obtain the
equivalent inertia/damping model of DFIG as shown in Figure 6, where, Teq and Deq represent the
equivalent inertia and equivalent damping of DFIG under ACS control. Equations (7) and (8) are
the expressions of Teq and Deq, respectively.

Figure 6. Equivalent inertia/damping model of DFIG under ACS control.

Energies 2019, 12, 4463 9 of 21

4H m H A s 2 + 2 Dm H A s
Teq = ,
4H mωm0 K A H A s + ( 2 Dmωm0 K A H A + 2 Pv K A H A + 2 H mωm0 ) s 2
3
(7)
+ ( 2I v K A H A + Dmωm0 + Pv ) s + I v

Equations (7) and (8) reflect the equivalent inertia’s association with the inertia time constant
H A and the proportional coefficient K A , while the equivalent damping is related with the inertia
time constant H A , the proportional coefficient K A and the damping coefficient DA . It is assumed
that the wind speed is 15 m/s, then the stable speed ωm0 = 1.2 pu , the inherent inertia/damping of
the wind turbine are H m = 4.96 s , Dm = 1.5 , and the parameters of the torque control are Pv = 3
and I v = 0.6 [32]. The maximal equivalent inertia of different inertia time constant H A and
proportional coefficient K A are as shown in Figure 7(a). When K A ∈ ( 0, 0.5) , the equivalent inertia
significantly increases with H A and when K A ≥ 0.5 , the increase slows down. Under the same
operation conditions, the maximal equivalent damping of different inertia time constant H A ,
damping coefficient DA and proportional coefficient K A are shown in Figure 7(b). Overall, when
the proportional coefficient satisfies the relation of K A ∈ ( 0, 0.5) , the equivalent damping
significantly increases with the coefficient of damping DA , and a smaller inertia time constant H A
corresponds to a larger equivalent damping. Obviously, ACS can have large equivalent inertia and
damping by choosing appropriate parameters. In this paper, the parameters selected are H A = 4.96 ,
DA = 151 and K A = 0.11 .

Figure 7. ACS control parameter’s impact on DFIG equivalent inertia/damping: (a) Maximal
equivalent inertia with different inertia time constant and proportional coefficient; (b) Maximal
equivalent damping with different inertia time constant, damping and proportional coefficient.

4.1.3. Features of Current Inner Loop Control

When the wind turbine accidentally enters into the island mode, the loads may be out of
proportion to the outputs, resulting in fluctuation of stator’s voltage amplitude and large induction
voltage and current at the rotor side. Therefore, the switching between grid-connection/island
modes requires proper control of the rotor current to avoid loss of control and damages to the rotor
and the RSC. The current inner loop in ACS is designed as rapid dynamic response, and the voltage
control is designed as slow dynamic response. In the transient of switching between
grid-connection/island, it can be approximately taken as the reference of the rotor excitation current
due to voltage control remains the same, and the current inner loop based on QPR can restrain the
large current of the rotor to achieve stable and safe control.
Energies 2019, 12, 4463 10 of 21

4.1.4. Principles of Distant Synchronization

The absence of secondary cable connection between the DFIG and the tie-switch results in the
fact that the grid-connection of DFIG islands via remote tie-switches cannot be solved by traditional
DFIG local synchronous grid-connection technologies. Tie-switches cannot create conditions for
synchronization actively. Instead, it is the DFIG responsible for this. The principles of distant
synchronization of DFIG islands as proposed in this paper are shown in Figure 8. The negative
feedback control of damping in the ACS is equivalent to the proportional controller of the stator’s
voltage angular frequency ωs . According to the principles of automatic control, proportional
control is based on difference regulation, which will lead to inequality between the island’s angular
frequency ωsi = ωs and the grid’s voltage angular frequency ωg ; furthermore, the given the slow
dynamic response from the mechanical control of the DFIG, when the DFIG is accidentally islanded,
its generation fails to reach a balance with the loads in a short period of time, leading to deviation in
the island’s voltage frequency. Henceforth, the difference regulation of ACS to the stator’s voltage
angular frequency and the power imbalance will result in relative movement between the DFIG’s
island voltage uI and the grid voltage ug that as time elapses, the synchronization conditions at
any remote tie-switch can be satisfied automatically.

Figure 8. Principles of distant synchronization.

4.2. Coordination Technology

Traditional protection of passive DN focuses on the coordination of protection devices. In the
active DN, if the tie-switch still follows the mechanism of closing upon receipt of the GOOSE
message of fault isolation successful (FIS), the DIFG island is likely to be non-synchronized
connection to grid, resulting in the failure of closing and even the destruction of DFIG and circuit
breakers. Therefore, DN-DG coordination is also required in active DN. In this paper, a DN-DG
coordination technology is proposed as shown in Figure 9. First is the synchronization check device
at the tie-switch whose closing conditions are set as follows: in the process of automatically creating
the distant synchronization conditions by the DFIG island under the control of ACS, the tie-switch
closes immediately after the receipt of the FIS and detection of synchronization through the check
device. As the DFIG controlled by ACS supports grid-connection/island dual-mode operation,
DFIG will automatically adapt to the change from island to grid-connection after the tie-switch
closes, and recover grid-connected operation. Therefore, in this paper, the technology of
coordinating DFIG under the control of ACS with remote tie-switches for local check of
synchronization conditions is proposed to realize the secure grid-connection of DFIG islands
without an expensive and complex DN-DG communication system.
Energies 2019, 12, 4463 11 of 21

Figure 9. Coordination technology.

5. Case Analysis
To validate the effectiveness of the DFIG ACS and coordination technology compatible with
FA, the simulation scenario as shown in Figure 1 and detailed models of DFIGs and converters
[30,35] are established in MATLAB/Simulink. The selecting of five DFIGs in Figure 1 is to simulate
the situation of multiple DGs connected to DN from different locations, the probabilities of multiple
DGs unintentional island and multiple DGs reconnecting to grid. For parameters of DFIG, ACS and
the DN, please refer to Table A2 (Appendix A). The first test target is the effectiveness of ACS in
grid-connection mode, followed by the effectiveness of ACS and coordination technology after the
tripping of circuit breakers under FA control in different DN fault scenes.

5.1. Grid-connection Test

The electromagnetic power waveforms of DFIG under traditional PQ control and ACS control
at the same wind speed are shown in Figure 10, in which, the simulation time is 80 s, vw is set as
the typical wind speed, Pe,PQ is the electromagnetic power waveform under traditional PQ control
strategies, and Pe,ACS is the electromagnetic power waveform under the ACS. It is obvious that
when the wind speed varies sharply from 10s to 50 s (7.9–15.45 m/s) in a jagged form, the waveform
at Pe,PQ can follow up the changes of the wind speed more quickly as compared with Pe,ACS which
changes more smoothly; when the wind speed changes slightly from 50 to 80 s (13 to 16.5 m/s),
there is no huge difference between the waveforms of Pe,PQ and Pe,ACS . The reason for this
phenomenon is that the traditional PQ control does not have a large inertia characteristic, and its
dynamic response to electromagnetic power is faster. However, the ACS control proposed in this
paper has a large inertia, so its dynamic response to electromagnetic power is slower. In general,
both waveforms have experienced the similar trends, and the DFIG under ACS control can track the
power of wind turbine achieving effective operation in grid-connected mode.

Figure 10. Electromagnetic power waveforms of DFIG under PQ control and proposed ACS control.

5.2. Tests under Different Fault Scenes

The DN in Figure 1 includes three permanent fault scenes of cable feeders, and has simulated
the adaption and coordination process of different number of DFIGs with the DN at various wind
speeds when they are islanded out of schedule. This paper ignores the effects of faults and assumes
Energies 2019, 12, 4463 12 of 21

that the FA can isolate faults instantaneously. It is assumed that the maximal allowable transient
frequency of the DN is 51 Hz, and the error between the voltage phases by both sides of the
tie-switches is 180 .

Scene 1: Unintentional Island with One DFIG Reconnecting to Passive Feeder

Feeder 3 is designed with a F1 fault and the wind speed at DFIG4 is 15 m/s. FA controls the
circuit breakers L42 and L51 tripping for fault isolation at 30 s, and the island load is 1.12 MW. The
tie-switch L52 closes after detection of synchronization conditions. Figures 11 and 12 exhibit the
changes in major electrical quantity at the grid side and the wind turbine side after a F1 fault.

Figure 11. Changes in electrical quantity at the grid side after a F1 fault.

① Grid-connection/Island Switching: the power supply from feeder 3 is cut off at 30 s, DFIG4,
RMU4, tie-line 2 and loads constitute single island. DFIG3 enters into the islanding mode
under ACS control, while the voltage uT2 of the tie-line 2 jitters to 1.1 pu for within 1 cycle.
No sudden change in phase is observed. However, mainly due to the sudden change of
power (from 1.5 MW to 1.12 MW), the voltage frequency f T2 of tie-line 2 shows a peak of
50.6 Hz less than allowed (51 Hz); the rotor current amplitude of DFIG4, I r-DFIG4 rapidly
reduces from 0.8 pu to 0.65 pu without overcurrent; the electromagnetic power Pe-DFIG4 of
DFIG4 also rapidly adapts to the island loads of 1.12 MW. It can be seen that the DFIG4
under ACS control can seamlessly enter into the single island mode.
② Distant Synchronization Process: when the DFIG4 enters into the islanding mode with
imbalanced power, the amplitude of uT2 remains relatively stable while I r-DFIG4 fluctuates
at a frequency of 1.5 Hz with a decreasing tendency; Pe-DFIG4 matches with the island loads
of 1.12 MW without significant fluctuation basically; f T2 fluctuates around 50.1 Hz to
cause the error of voltage phase Δθ L62 between both sides of the tie-switch L62 reducing
Energies 2019, 12, 4463 13 of 21

from 180 to 0 . It is obvious that the DFIG4 under ACS control can maintain the island
stability and automatically create distant synchronization conditions.
③ Island Grid-connection Process: the tie-switch L62 receives the FIS GOOSE message
through FA as the circuit breakers L42 and L51 trip. Δθ L62 reduces to 0 at 34.9 s, and
L62 immediately closes to passive feeder 2 as the synchronization conditions are inspected
locally through the synchronization check device, when the DFIG4 turns to the
grid-connection status, and I r-DFIG4 and Pe-DFIG4 rise gradually, during which, no vibrant
fluctuation is experienced. The stable status before fault is recovered in about 10s. In the
meantime, uT2 and f T2 remain constant as they are clamped down by the voltage of
feeder 2 after grid-connection, and Δθ L62 reserves 0 ; Current amplitude I L62 of
tie-switch L62 rises from 0pu after closing without dash current, and enters into a stable
status about 10 s later. It is obvious that the DFIG4 island under ACS control can securely
recover the grid-connection status through coordination with L62 for local synchronous
closing.

Figure 12. Changes in electrical quantity at the wind turbine side after a F1 fault.

Scene 2: Unintentional Island with Multiple DFIGs Reconnecting to Passive Feeder

Feeder 3 is designed with a F2 fault and the wind speed is 10m/s at DFIG4 and 15 m/s at DFIG5.
FA controls the circuit breakers L52 and S3 tripping for fault isolation at 30 s, and the island load is
2 MW. The tie-switch L62 closes after detection of synchronization conditions. Figures 13 and 14
exhibit the changes in major electrical quantity at the grid side and the wind turbine side after a F2
fault.

① Grid-connection/Island Switching: as L52 and S3 trip, DFIG4, DFIG5, RMU4 and RMU5,
tie-line 2 and loads constitute an island with two wind turbines. DFIG4 and DFIG5 enter
into the islanding mode under ACS control, while the voltage uT2 of the tie-line 2 jitters
slightly with a continuous waveform. Similarly, mainly due to the sudden change of
power (from 2.3 MW to 2 MW), the voltage frequency f T2 of tie-line 2 shows a peak of
50.26 Hz below allowable; the rotor current amplitudes of DFIG4 and DFIG5 ( I r-DFIG4 and
I r-DFIG5 ) rapidly change without overcurrent; the total electromagnetic power of DFIG4 and
DFIG5 ( PC = Pe-DFIG4 + Pe-DFIG5 ) also rapidly adapts to the island loads of 2 MW. It can be seen
that the DFIG4 and DFIG5 under ACS control can seamlessly enter into the multiple
islands mode.
② Distant Synchronization Process: when the DFIG4 and DFIG5 enter into the islanding
mode with imbalanced power, the amplitude of uT2 remains relatively stable while
I r-DFIG4 and I r-DFIG5 ; DFIG4 and DFIG5 automatically allocate Pe-DFIG4 and Pe-DFIG5 to
maintain PC at 2 MW constantly; f T2 fluctuates around 50.05 Hz and its undulatory
property gradually weakens to cause the error of voltage phase Δθ L62 between both sides
of the tie-switch L62 reducing to 0 . It is obvious that the island with DFIG4 and DFIG5
under ACS control can automatically create distant synchronization conditions.
Energies 2019, 12, 4463 14 of 21

③ Island Grid-connection Process: the tie-switch L62 receives the FIS GOOSE message
through FA as the circuit breakers L52 and S3 trip. Δθ L62 reduces to 0 at 39.6 s, and L62
immediately closes to passive feeder 2 as DFIG4 and DFIG5 switch to grid-connection
mode, I r-DFIG4 and I r-DFIG5 rise gradually. The pre-fault stable status is recovered in about
15 s for Pe-DFIG4 and Pe-DFIG5 (1.5 MW and 0.8 MW). In the meantime, uT2 and f T2
remain constant as they are clamped down by the voltage of feeder 2 after grid-connection,
and Δθ L62 maintains at 0 ; I L62 rises rapidly after closing without dash current, and
enters into a stable status about 15 s later. It is obvious that the island with DFIG4 and
DFIG5 under ACS control can securely recover the grid-connection status through
coordination with L62 for local synchronous closing.

Figure 13. Changes in electrical quantity at the grid side after a F2 fault.

Figure 14. Changes in electrical quantity at the wind turbine side after a F2 fault.
Energies 2019, 12, 4463 15 of 21

Scene 3: Unintentional Island with Multiple DFIGs Reconnecting to Active Feeder

Feeder 3 is designed with a F3 fault and the wind speed is 15 m/s at DFIG1, 11.8 m/s at DFIG2
11.1 m/s at DFIG3, 12.1 m/s at DFIG4 and 11.4 m/s at DFIG5. FA controls the circuit breakers S1 and
L11 tripping for fault isolation at 50 s, and the island load is 3 MW. The tie-switch L41 closes after
detection of synchronization conditions with a F3 fault. Figures 15 and 16 exhibit the changes in
major electrical quantity at the grid side and the wind turbine side after a F3 fault.

Figure 15. Changes in electrical quantity at the grid side after a F3 fault.

① Grid-connection/Island Switching: the service is cut off at 50 s, DFIG1, DFIG2, DFIG3,

RMU1, RMU2, RMU3, tie-line 1 and loads constitute an island with three wind turbines.
DFIG1, DFIG2, and DFIG3 enter into the islanding mode under ACS control, while the
voltage uT1 of the tie-line 1 jitters to 1.2 pu of the amplitude maximally for about 2.5
cycles, and the waveform transits flatly. Similarly, mainly due to the sudden change of
power (from 3.9 MW to 3 MW), the voltage frequency f T1 of tie-line 1 shows a peak of
50.48 Hz, no more than the allowable value; the rotor current amplitudes of DFIG1, DFIG2,
and DFIG3 ( I r-DFIG1 , I r-DFIG2 and I r-DFIG3 ) suddenly change without overcurrent; the
electromagnetic powers of DFIG1, DFIG2, and DFIG3 ( Pe-DFIG1 , Pe-DFIG2 and Pe-DFIG3 ) also
rapidly change and their sum ( PC = Pe-DFIG1 + Pe-DFIG2 + Pe-DFIG3 ) matches with the island loads
of 3 MW. It can be seen that the DFIG1, DFIG2, and DFIG3 under ACS control can
seamlessly enter into the multiple wind turbine island mode.
② Distant Synchronization Process: when the DFIG1, DFIG2, and DFIG3 enter into the
islanding mode with imbalanced power, the amplitude of uT1 remains relatively stable
while I r-DFIG1 , I r-DFIG2 and I r-DFIG3 close to each other; DFIG1, DFIG2, and DFIG3
automatically distribute Pe-DFIG1 , Pe-DFIG2 and Pe-DFIG3 to maintain PC at a relative stable
value; f T1 fluctuates around 50.1 Hz to cause the error of voltage phase Δθ L41 between
both sides of the tie-switch L41 reducing to 0 . It is obvious that the island with DFIG1,
Energies 2019, 12, 4463 16 of 21

DFIG2, and DFIG3 under ACS control can automatically create distant synchronization
conditions.
③ Island Grid-connection Process: the tie-switch L41 receives the FIS GOOSE message
through FA as the circuit breakers L11 and S1 trip, and immediately closes to active feeder
3 as the synchronization conditions ( Δθ L41 = 0 ) are detected locally through the
synchronization check device at 54.7 s, when the DFIG1, DFIG2 and DFIG3 switch to the
grid-connection status, and I r-DFIG1 , I r-DFIG2 and I r-DFIG3 recover in an undulatory manner,
during which, I r-DFIG2 and I r-DFIG3 fluctuate significantly; I r-DFIG4 and I r-DFIG5 fluctuate
transitorily (about 5 s) when L41 closes, and then stabilizes; Pe-DFIG1 , Pe-DFIG2 and Pe-DFIG3
show the similar change tendency as the rotor currents, while Pe-DFIG2 and Pe-DFIG1 are
subject to larger fluctuation as compared with the Pe-DFIG1 during grid-connection
recovery, and Pe-DFIG4 and Pe-DFIG5 are shocked to a certain degree when L41 closes. In the
meantime, uT1 and f T1 remain constant as they are clamped down by the voltage of
feeder 3 after grid-connection, and Δθ L41 maintains at 0 ; Current amplitude I L41 of
tie-switch L41 rises rapidly without dash current, and enters into a stable status after slight
fluctuation. It is obvious that the DFIG1, DFIG2 and DFIG3 islands under ACS control can
securely recover the grid-connection status through coordination with L41 for local
synchronous closing, while DFIG4 and DFIG5 stabilize rapidly after temporary and
limited shocks.
It can be seen from three fault scenes: the magnitude and fluctuation of the island system
frequency are closely related to the power variation rate. The greater the power changes, the bigger
the frequency magnitude changes (including the overshoot), the larger the frequency fluctuates.
However, the frequency fluctuation during island operation will gradually decrease over time (e.g.,
Figure 13). Moreover, the more the frequency of the island system changes, the faster the
synchronization conditions are met, so the islanding time of DFIG is closely related to the power
change rate too. In addition, the DFIG under ACS control is a temporary island during the
coordination with FA, which, on the one hand, helps solve the problem of power quality arising
from the long-term islanding of the DFIG, and on the other hand, upgrades the traditional one-way
power supply recovery mechanism from feeders to loads to the two-way power supply recovery
mechanism from DG and feeders to loads. Therefore, the solution proposed in this paper can make
the DFIG truly non-off-grid and more economical than other existing solutions.
Energies 2019, 12, 4463 17 of 21

Figure 16. Changes in electrical quantity at the wind turbine side after a F6 fault.

It should be noted that, however, this paper mainly focuses on a situation that the total island
loads are smaller than the total real-time capacity of all wind power generations in island, without
consideration to other cases, including equivalent or larger relations. The underlying reasons shall
be when the output of the wind turbine matches with the load, the wind turbine experiencing
switching between grid-connection and island will not have obvious changes in status while the
output of the wind turbine is smaller than the load, it has to coordinate with other power
generation units (such as energy storage) to stabilize islands. Moreover, the compatibility between
the FA technology and DFIG of the DN based on underground cables is another focus in this paper,
while the FA technology for DN with overhead lines requires repeated reclosing, and different
strategies to achieve compatibility with DFIG. In addition, this paper only studies DFIG, a type of
DG. From the thought of DN-DG coordination, the solution proposed in this paper should have
similar effect when applied to other types of DGs, such as photovoltaic, energy storage, permanent
magnet synchronous generator, etc. However, if ACS proposed in this paper is to be applied to
other DGs, appropriate modifications and adjustments may be required. Furthermore, for devices
such as energy hub and energy router [36,37], which may be used in future smart grid, the idea in
this paper should be helpful in solving the coordination problem between them and protection
devices.

6. Conclusions
An adaptive control strategy of DFIG and coordination technology compatible with FA is
proposed in this paper. The simulation is carried out based on MATLAB/Simulink and the results
reveal that:
① The ACS proposed herein has similar power control characteristics as found in traditional
PQ control that the DFIG can work effectively in grid-connection mode.
② As the FA isolates a feeder fault, one or multiple DFIGs under different wind speeds can
achieve seamless switching between grid-connection/island modes under ACS control, and
continuously supply power to partial local loads.
Energies 2019, 12, 4463 18 of 21

③ During DFIG islanding, ACS’s differential regulation to frequency and power imbalance
result in the automatic satisfaction of synchronization conditions at remote tie-switches.
④ After FA fault isolation, the tie-switches can close based on local detection of
synchronization conditions and the DFIG under ACS control can be securely
grid-connected without establishing an additional communication system with the DN.
In general, the ACS and coordination technology in this paper realize the compatibility
between DFIG and FA without DFIG shutdown and restart.
Author Contributions: Z.H. contributed to the project idea, the results discussion and conclusions. P.T.
contributed to specific strategy, theoretical analysis, simulation experiment design and data analysis. Z.L.
reviewed the final manuscript and the results discussion.

Funding: This research was funded by the National Natural Science Foundation of China (51567005), in part by
the Guizhou Province Science and Technology Platform and Talent Project of China ([2017]5788/LH Word
[2017]7230), in part by the Guizhou Province Science and Technology Plan Project of China ([2018]5615), in part
by the National Natural Science Foundation of China (61963009).

Conflicts of Interest: The authors declare that there is no conflict of interests regarding the publication of this
paper.

Appendix A

Table A1. Nomenclature.

Variable Description
Pe∗ Electromagnetic power reference
Pe Actual output electromagnetic power
PC Total electromagnetic power of DFIG island
Pe,PQ Electromagnetic power under traditional PQ control
Pe,ACS Electromagnetic power under ACS control
PD Damping power
Pe-DFIGx Electromagnetic power of DFIGx
ωm Electric angular frequency of rotor
ωm ∗ Reference angular velocity of wind turbine
ωb Angular frequency of fundamental wave
ωg ∗
Angular frequency reference of grid
ωg Grid voltage angular frequency
ωr Slip angular frequency
ωm0 Stable speed of wind turbine at a certain operation point
ωs Synchronous angular frequency/ Stator voltage angular frequency
ωi Resonance term bandwidth of quasi-proportional resonant controller
ωsi Island voltage angular frequency/ Inner potential angular frequency of stator
Rs & Rr Resistances of stator and rotor
Ls & Lr Self-inductance of stator and rotor
Lm Mutual inductance
f T1 Voltage frequency of tie-line 1
f T2 Voltage frequency of tie-line 2
es Inner potential of stator
Es Inner potential amplitude of stator
uI Space vectors of island voltage
ug Space vectors of grid voltage
uT1 Voltage of the tie-line 1
Energies 2019, 12, 4463 19 of 21

uT2 Voltage of the tie-line 2

us & ur Voltage space vectors of stator and rotor in stator static reference frame
r r r
u ra , urb & u
rc Three-phase excitation voltages of the rotor in rotor reference frame
U s∗ Reference of stator voltage amplitude
Us Actual stator voltage amplitude
Xs Synchronous reactance
Xm Mutual reactance
is & ir Current space vectors of stator and rotor in stator static reference frame
irra∗ , irrb∗ & irrc∗ Reference of three-phase rotor excitation currents in rotor reference frame
irar , irbr & ircr Actual excitation currents of rotor in rotor reference frame
∗
I r Reference of rotor excitation current amplitude
I r-DFIGx Rotor current amplitude of DFIGx
I L62 Current amplitude of tie-switch L62
I L41 Current amplitude of tie-switch L41
r ∗
ir Space vector reference of rotor excitation currents in rotor reference frame
Δθ L62 Error of voltage phase between both sides of tie-switch L62
Δθ L41 Error of voltage phase between both sides of tie-switch L41
θ si Inner potential control phase of stator
θ Ir Excitation current phase of rotor
θ Es Inner potential phase of stator
θm Rotor phase
PQPR Proportional coefficient of quasi-proportional resonant controller
K QPR Resonance term gain of quasi-proportional resonant controller
vw Wind speed
β Pitch angle of blades
HA Inertia time constant of power control
KA Proportional coefficient of power control
DA Damping coefficient of power control
Pwt Mechanical energy capture by wind wheel
Hm Inherent mechanical inertia time constant of wind turbine
Dm Inherent mechanical damping coefficient of wind turbine
Teq & Deq Equivalent inertia and damping of DFIG under ACS control
Pv & I v Proportional and integral coefficient of torque control
PUs ,A & I Us ,A Proportion and integral coefficient of voltage control

Table A2. Simulation system parameters.

DFIG machine
Parameter Value Parameter Value
Rs 0.023 pu U dc 1150 V
Rr 0.016 pu Rated power 1.5 MW
Ls 3.08 pu Stator voltage 690 V
Lr 3.06 pu Pole pairs 3
Lm 2.9 pu Normal speed 1.2 pu
H m 4.96 DC-link capacitor 10000 uF
Dm 1.5 Rated frequency 50 Hz
Energies 2019, 12, 4463 20 of 21

Table A2. Cont.

ACS
Pv 3 PQPR 20
Iv 0.6 K QPR 33
KA 0.11 ωi π
HA 4.96 PUs,A 1
DA 151 I Us,A 40

DN
Rated voltage 10 KV Line inductance 0.9337×10-3 H/km
Rated frequency 50 Hz Line capacitance 12.74×10-9 F/km
Line resistance 0.01273 Ω/km

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