An Overview of Grid-Forming Control for

Wind Turbine Converters

IECON 2021 - 47th Annual Conference of the IEEE Industrial Electronics Society | 978-1-6654-3554-3/21/$31.00 ©2021 IEEE | DOI: 10.1109/IECON48115.2021.9589838

Yun Yu Sanjay K Chaudhary Saeed Golestan

AAU Energy AAU Energy AAU Energy
Aalborg University Aalborg University Aalborg University
Aalborg, Denmark Aalborg, Denmark Aalborg, Denmark
[email protected] [email protected] [email protected]

Gibran David Agundis Tinajero Juan C. Vasquez Josep M. Guerrero

AAU Energy AAU Energy AAU Energy
Aalborg University Aalborg University Aalborg University
Aalborg, Denmark Aalborg, Denmark Aalborg, Denmark
[email protected] [email protected] [email protected]

Abstract—Wind turbine converters (WTCs) with grid forming Thus, the rate of change of frequency (RoCoF) will increase
(GFM) control can contribute to voltage and frequency support in the case of events like a large load variation or a loss of
in the power system, by emulating synchronous machine (SM) generation, which may in turn trigger cascading disconnections
dynamics, provided that there are sufficient buffers. Over the
past few years, several control algorithms have been developed [2]. Apart from this, under grid disturbances, inadequate
for the GFM operation of WTCs. This article investigates the power management limits the fault-ride-through capability and
state-of-the-art in the field of GFM control algorithms for then increases the risk of voltage collapse [3]. Regarding
WTCs, where the principle of each control algorithm is discussed the transient stability, less margins are available when con-
in detail, and corresponding characteristics are summarized. ventional SMs are replaced by electronic-based sources [3].
Comparison results with respect to voltage build-up strategies,
the synchronization of GFM WTCs, the interaction attenuation, Therefore, traditional grid-following (GFL) control methods
the virtual inertia realization and the complexity of individual applied to wind turbine converters (WTCs) may be insufficient
GFM algorithm are given in a table, which leads to the conclusion to ensure a reliable integration of WPPs. Currently, a shift
that mitigation of oscillations among WTCs, appropriate inertia from conventional GFL to GFM control is considered as a
emulation, and coordination with energy storage systems need to potential solution to deal with aforementioned challenges. The
be further investigated in the future GFM WTCs.
Index Terms—Wind power plants (WPPs), wind turbine con- GFM converters are controllable voltage sources with coupling
verters (WTCs), grid-forming (GFM) control. impedance, which emulates some of the SM characteristics
[4]. Moreover, in the case that WPPs are disconnected from
I. I NTRODUCTION the main grid, GFM converters may work with energy storage
systems to maintain WPP voltage and frequency, avoiding a
In recent years, increasing efforts have been devoted into complete collapse and being prepared for the reconnection.
using sustainable energy sources for the electric power gen- Another benefit of applying GFM control to WTCs is the
eration. Among all the renewable electricity generation tech- possibility of being used for early stages of system restoration
nologies, the wind power generation has already become the
mainstream, and the large-scale integration of offshore wind
power plants (OWPPs) is increasingly gaining more attention,
especially in Europe. As shown in Fig. 1, by the end of 2030,
new offshore wind installations in Europe are expected to
reach almost 14.5 GW [1]. With a large proportion of wind
energy integrated into the grid, ensuring system stability is
becoming a challenge.
One major problem that arises from a high penetration level
of electronic-based wind generation is the reduction of overall
system inertia, since there will be less synchronous machines
(SMs) in the system to contribute to the inertial response.

This work was supported by the Ministry of Foreign Affairs of Denmark,

Danida Fellowship Centre (Project No. 19-M03-AAU) and China Scholarship
Council (CSC). Fig. 1 Global offshore wind growth to 2030 [1].

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 after the black out, with the condition that there is sufficient
energy buffer that can be provided by either energy storage
systems or wind turbines.
Regarding the GFM operation of WTCs, extensive inves-
tigations have been conducted in the literature. For instance,
in [5], the distributed voltage and frequency control (DVFC)
method has been proposed, where the control was realized
by the combination of both distributed and centralized reg-
ulators. Further improvements have been made in [6] and
[7] for the expansion of fault-ride-through capabilities and
the reduction of harmonics in WPP voltage. In addition, the
fixed reference frame control (FRFC) was first proposed in (a)
[8] and [9] to make GFM characteristics available for WTCs, ∗
IF ∗
VW d IF q IF d
d VW q
where a centralized global positioning system (GPS) is used PI LT PI LT
to ensure a stable and constant WPP frequency. Moreover, the IF d VF d − ωgLT IF q IF q ωg LT IF d
voltage injection control (VIC) was applied in [10] for the
(b)
mitigation of transient overvoltages during a sudden islanding
operation. In addition to those methods based on centralized Fig. 2 The scheme of DVFC. (a) Overall control scheme. PROT represents
control frame, distributed PLL-based control (DPLLBC) has the protection, rec represents the rectangular coordinate, and pol represents
the polar coordinate, ωg∗ is frequency set point, and Vcom is compensation
been proposed in [11]. DPLLBC approach is less dependent voltage. (b) Current control loops.
upon the robustness of communication links, and it has been
further advanced in [12] with additional frequency-support
control. Another distributed approach proposed in [13] is the Kd for the predefined active power sharing. Under normal
two-sequential-loops-based control (TSLBC) method which operation conditions, voltage loops will be designed to stay
includes the mitigation of oscillations among GFM WTCs. saturated, and d-axis current references will be determined by
Furthermore, as one of the most widely used GFM control adjusting the corresponding limitation according to individual
methods, virtual synchronous generator (VSG) advantages in WTC’s power set point. However, in the case of an islanding
providing inertial responses [14]–[16], and this GFM control operation, distributed and centralized voltage control loops
concept has been applied to both type-III and type-IV WTCs will work together to regulate the voltage without reaching
for a better integration of wind in various applications [17]– current limitations. In addition, the WPP terminal voltage
[25]. vector angle is calculated for the synchronization of all WTCs,
The rest of this article is organized as follows: In Section and the measured angular frequency is utilized for the direct
II, the prevalent GFM control algorithms applied to WTCs calculation of reactive current references. Similar to the active
are presented. A comparison of those control algorithms is power dispatching applied in voltage loops, the reactive current
presented in Section III, and the requirements for future GFM contribution factor Kq is used in frequency loops for the
WTCs are given in Section IV. Finally, the suggestion for the predefined reactive current sharing as well. For the purpose
future research and the conclusion are given in Section V. of protection and fault ride through, protection strategies
demonstrated in [5] is used to dynamically set the limitations
II. GFM C ONTROL A LGORITHMS FOR WTC S of d-axis and q-axis currents.
A. Distributed Voltage and Frequency Control
Vdc
The DVFC algorithm was initially applied in [5] to let Lf
WTCs control WPP AC grid independently. In this algorithm,
If Vt
dc-link voltage of each generation unit is assumed to be well abc abc CF
regulated by the generator-side converter. Thus, control algo- abc
dq dq
rithms can be freely applied to the grid-side converter for con- dq θ
F ix Vt,dq
trolling the WPP AC grid. The corresponding control scheme ∗
Vdc If,dq
Vdc Current
is shown in Fig. 2(a). Assuming that the leakage impedance Control Control Reference
If∗d θF ix System GP S
(RT + jωF LT ) of medium voltage transformers is dominant Vdc
If∗q Ks 0
when compared with cables and the transformer magnetizing
Vtq
impedance, conventional vector current controllers are imple-
mented in inner loops with decoupling terms like Fig. 2(b).
Fig. 3 The scheme of FRFC.
The regulation of WPP terminal voltage is then achieved by
adjusting the d-axis current of each WTC, where distributed
proportional gain KP as well as centralized integral regu- B. Fixed Reference Frame Control
lator KI /s are both implemented, the corresponding output In order to handle instability issues in operating weak WPP
is multiplied by the wind turbine power contribution factor AC grids with conventional synchronization technologies, i.e.,

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 2

using the phase-locked loop (PLL), FRFC concept was initially Vdc
Lf
proposed in [8] as an alternative solution which can be easily
applied to both type-III and type-IV wind energy conversion If Vt
θg CF
systems [9]. By replacing commonly used distributed PLLs abc
dq θg
abc abc
with the centralized reference system (e.g., GPS signals), the dq θg dq
phase angle and the frequency for the control of each WTC can Vt,dq PLL
fg∗ If,dq
be accurately coordinated, and preservation of conventional fg
WTC control blocks can be largely attained. As indicated in ∗ V
∗ fg P∗ IP ∗
IQ
Fig. 3, reactive current sharing is achieved by the traditional Vdc
Vdc 0
Kv Vo∗
droop controller, while traditional dc-link voltage and inner Control −Pmax
Vdc V Vremote
current control loops are preserved without additional modifi- V
cations. (a)

Vdc ∗ V ∗
IQ IP
Rf Lf ∗ ∗
Vf,d Vf,q
If Vf
θg abc Cf CF ∗ ∗
IP − IP IQ − IQ
abc dq
dq θ
g
abc θg (b)
Vf,dq
Current If,dq dq
Control PLL Fig. 5 The scheme of VIC, where fg∗ and Vo∗ are frequency and voltage set
Vf,dq ωg points, ω0 is the nominal grid frequency, and Vremote is PCC voltage. (a)
P∗ Vf∗d Vf,dq
PI Voltage ωg ωg∗ Overall control structure. (b) Inner voltage injection control loops.
Control Q∗
Pwt Vo∗ Kf Kq
Vf∗q ω∗ Qwt
tackle transient overvoltage issues in the case of a sudden
Fig. 4 The scheme of DPLLBC, where ωg∗ and Vo∗ are frequency and islanding operation. One distinct feature of VIC is that con-
voltage set points ventional inner PI current regulators are replaced by high-pass
washout filters, as shown in Fig. 5(b). By doing this, adequate
damping for transient processes can be carefully designed
C. Distributed PLL-Based Control without integration functions, and the current regulator windup
Fig. 4 shows the overall scheme of the DPLLBC solution which results in the overvoltage can be avoided since voltage
proposed in [11], where all the control loops are arranged in a references are directly generated without integrating current
conventional cascaded frame. This method uses conventional errors. WTCs can be controlled to behave more like voltage
PI controllers as inner current regulators for a fast current sources when WPPs are disconnected from the main grid.
response together with a easy implementation of current Moreover, reactive power controller with droop characteristics,
limitations during transients. Each WTC is equipped with a conventional DC-link voltage regulator and over-frequency
LC filter, and the voltage on filter’s terminal is measured and emergency control can be applied in outer loops respectively,
regulated for controlling the WPP voltage. As indicated in as shown in Fig. 5(a), a detailed description can be found in
Fig. 4, the active power output of converters is adjusted by [10], [26]
the conventional PI controller to follow the set points (e.g.,
obtained from maximum power point tracking curves), and the E. Two-Sequential-Loops-Based Control
reactive-frequency droop controller is applied as well to share areInindependently
the aforementioned
regulated GFM control grid
to establish algorithms
voltage for
andWTCs,
adjust
designed to synchronize
reactive currents amongthe voltage
WTCs by angle of eachthe
modifying WT inverter
individual either synchronous (dq) frame voltages or currents of case
each
power flow among grid-forming inverters. However, in the
by reducing q-axis voltage V , and the latter
frequency reference. Additionally, distributed frequency con-
f q is set according WTC are independently regulated to control the grid voltage
of parallel grid-forming WT inverters, the risk of interactive
to
trolWT capacities
loops which use for reactive
frequency current
error sharing.
to adjust q-axis voltage and adjust power may flowsincrease,
among GFM WTCs. However, in
power oscillations especially when individual
Vf q is embedded following the PLL synchronization principle, the case of many parallel-connected GFM
inverter’s terminal voltage amplitude responses to power flowunits, the risk
D.
i.e.,Voltage
drivingInjection Control Vf q to zero. It is worth noting
q-axis voltage of interaction-triggered
changes with different oscillations may increase,theespecially
transients. Considering risk of
that the frequency regulator
Different from other grid-forming Kf in solutions
Fig. 4 differs from for
developed the oscillations among WT inverters, voltagevoltage
when individual converter’s terminal angle andresponses
amplitude to
contribution factor K of DVFC, even though
WT inverters, voltage injection control was initially proposed
q they appears power-flow changes with different transients. Considering
at each inverter’s terminal are selected as the variables to be the
in [5]
in similar
for Typecontrol
4 WPPsloops,to the
tackle former is mainly
transient designed
over-voltage issuesto risk of interactions
controlled in [7], andamong WTCs,
classical voltage angle
power-angle and is
control amplitude
applied
synchronize the voltage angle of each WTC
in the case of a sudden islanding. One distinct feature of by reducing q-axis at each converter’s terminal have been selected
with an additional frequency PI regulator to construct the as the variables
outer
voltage V
voltage f q , and the
injection latterisisthat
control set according
conventional to WTinnercapacities
PI cur- to be ofcontrolled
layer and coordinated
two sequential loops-basedin control,
[13], and as the classical
indicated in
for an appropriate reactive current sharing.
rent regulators are replaced by high-pass washout filters. By power-angle
Fig. 6. Sincecontrol
terminal is applied
voltage with an additional
magnitude frequency
is synchronously
doing this, adequate PI regulatorby toutilizing
construct thethesame
outerfrequency
control layers of TSLBC,
D. Voltage Injection damping
Control for transient processes can be corrected deviation, more
obtained without current injection functions, and the current stable operations with less risk of oscillations can magnitude
as indicated in Fig. 6. Since terminal voltage be antici-
Different
regulator windupfrom which
other results
GFM control solutions
in AC grid developed
over-voltage can for
be is synchronously
pated. corrected
In the inner control by conventional
layer, utilizing the current
same frequency
regulator
WTCs, the VIC strategy was initially proposed
avoided. WT inverters can be then controlled more like voltage in [10] to deviation, more stable operations with less
is applied together with current reference generator, risk of oscillations
and the
sources when wind power plants are disconnected from the reference can be calculated based on steady-state analysis in
grid, since voltage references are generated without namely [7].

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 TABLE I: A general comparison of GFM control for WTCs

Grid integration Initial voltage Synchronization Interaction Inertia Controller

GFM control methods mitigation emulation complexity
in the study build-up method

DVFC DR-HVDC WTCs Centralized calculation No No Complex

FRFC DR-HVDC External grid GPS signals No No Simple
DPLLBC DR-HVDC WTCs Distributed PLL No No Simple
VIC VSC-HVDC Not addressed Distributed PLL No No Complex
TSLBC DR-HVDC Not addressed Distributed PLL Yes No Simple
LCC-HVDC
VSG-Basd (for type-III) HVAC Not addressed Switching equation No Yes Simple

VSG-Basd (for type-IV) HVAC Not addressed Switching equation No Yes Simple

Vdc
Lf

If Vf
Cf Vdc abc
θg abc dq
Pwt abc dq
P∗ θmax dq θg θg
PI θ0 abc θr ωg∗
If,dq dq Dp
θmin θs abc
ωg∗ Current PLL dq abc
ωg Control Vf,dq Vf,dq ωg dq 1
PI ∗ ∗ Vd∗ s ωm
If,d If,q
Vmax Vd0
dq θ0
Q∗
KQ V0 PI
Qwt Vo∗ pol V0 PI
Vq0
Dq
Fig. 6 The scheme of TSLBC, where ωg∗ and Vo∗ are frequency and voltage
set points, ω0 is the nominal grid frequency, and Pwt is the output power Fig. 7 The scheme of VSG-based control for type-III WTCs, where ωg∗ and
of the WTC V ∗ are frequency and voltage set points

can be anticipated. In the inner control loops, conventional Vdc

Rf Lf
vector current regulators are applied, and the references can
be calculated using the steady-state analysis as described in If Vf
Cf
θm abc
[13]. dq
abc
dq θ θm
F. VSG-Based Control m abc
dq
Vf,dq
1) For Type-III WTCs: A simplified diagram of VSG-based ωg∗ Current If,dq Vf,dq
Dp Control
control for type-III WTCs is indicated in Fig. 7 [22], [23]. V
P∗ θm Voltage Vf,dq V
When the concept of VSG is applied to type-III WTCs, the 1 1
Js ωm s Control Dq
control of grid-side converter can remain the same, which Pwt V∗
1 Q∗
means the normally used vector control can be still used for Vf∗q = 0 Vf∗d s K
the grid-side converter. Regarding the control for generator- Qwt
side converter, the swing equation will be applied to regulate Fig. 8 The scheme of VSG-based control for type-IV WTCs, where ωg∗ and
V ∗ are frequency and voltage set points
both phase angle of the terminal voltage and transmitted active
power. By adjusting the inertia coefficient JP and damping
factor DP , desired inertial responses and damping effects
can be attained. The voltage amplitude reference is calculated actively controls the phase angle and amplitude of the terminal
through the feedback control of stator reactive power, where a voltage. As shown in Fig. 8, similar to the VSG-based control
voltage droop control is also included to generate the reactive for type-III WTCs, swing equation is used for both phase angle
power reference. In comparison to the traditional GFL control and active power control, and reactive power feedback control
for type-III WTCs, the VSG-based GFM control is able to together with voltage droop control are used for generating
provide improved stability, especially in the case of weak grids the voltage amplitude reference. It differs from the type-III
[18]–[20], [22], [23]. wind generation system, as the generator is fully decoupled
2) For Type-IV WTCs: When the VSG control is applied form the grid in type-IV system. Thus, for GFM control, LC
to type-IV WTCs, generator-side converter is responsible for filter is installed, and inner voltage control loops are applied
regulating the DC-link voltage, and the grid-side converter to regulate the terminal voltage.

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 III. C OMPARISON OF GFM C ONTROL FOR WTC S among GFM WTCs and other sources (e.g., GFL units
A general comparison of aforementioned GFM control and SMs) cloud be studied.
algorithms is presented in TABLE I, where the initial voltage 2) GFM WTCs will attempt to adjust the output active
build-up, the grid integration, the synchronization, the miti- power automatically according to the instantaneous fre-
gation of interactions, the inertia emulation and the controller quency deviation. The resulting power ripples can be
complexity are included. Regarding the initial voltage built up, passed to turbine side. Thus, the assessment of those
DVFC and DPLLBC approaches are able to provide effective power ripples on generators and wind turbines could be
solutions which only use WTCs and the DC-link energy, while included in the future research.
FRFC still needs the help of external grid or additional energy 3) In the case of a large frequency deviation, the frequency-
storage systems. Compared with centralized synchronization support characteristics of GFM WTCs will slow down
technologies used in DVFC and FRFC methods, the distributed the wind turbine speed. The worst case would be that the
PLL used in DPLLBC, VIC and TSLBC does not rely on event happens when the wind speed is low, and the wind
communication links and is easy to be implemented. However, turbine may be tripped because of the low rotation speed.
when the distributed PLL is applied, special attention need To avoid the unnecessary tripping of wind turbines, the
to be paid to the stability in the case of weak grids. On soft switching between GFM and GFL modes or the
the other hand, VSG-based control is able provide improved adaptive GFM control algorithm could be investigated
stability in the case of weak grids and involves the emulation in the future research.
of inertia for the frequency support, which is an advantage in 4) To provide grid-support functions or even black-start
interconnecting with grids with a high renewable penetration services, additional energy storage systems are required,
level [27], [28]. Furthermore, the risk of interactions among either distributed or aggregated storage systems, consid-
parallel GFM WTCs has only been considered in TSLBC. ering the inherent variability of the wind speed. The
coordination control of GFM WTCs and energy storage
IV. R QUIREMENTS FOR F UTURE GFM WTC S systems must be investigated in the future work.
5) In order to have a better understanding of GFM WTCs’
With less conventional power plants in the system, large-
contribution to the overall inertia, adequate inertia as-
scale WPPs play an important role in maintaining system
sessment approaches could be studied in the future
stability and contributing to the system restoration. Consid-
research, where available wind power, energy buffers
ering the ongoing structural changes, potential requirements
form the storage and applied WTCs control algorithms
for future GFM WTCs can be listed as follows [29]:
could be simultaneously included.
• Build up and maintain the WPP voltage. The voltage am-
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