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Modelling and Control of Tidal Energy Conversion Systems with Long

Distance Converters

Conference Paper · January 2014

DOI: 10.1049/cp.2014.0367

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Modelling and Control of Tidal Energy Conversion Systems with

Long Distance Converters

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Sousounis, M, Shek, J & Mueller, M 2014, 'Modelling and Control of Tidal Energy Conversion Systems with
Long Distance Converters'. in IET International Conference on Power Electronics, Machines and Drives.
IET., 10.1049/cp.2014.0367

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10.1049/cp.2014.0367

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IET International Conference on Power Electronics, Machines and Drives

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 Modelling and Control of Tidal Energy Conversion Systems with
Long Distance Converters

M C Sousounis*, J K H Shek*, M A Mueller*

*Institute for Energy Systems, School of Engineering, The University of Edinburgh, United Kingdom
[email protected]

Keywords: Tidal energy system, direct torque control, long approach needed regarding power transmission and drive-
distance drives, induction generator. train design. Some of these characteristics are: predictable
direction and speed of the tidal current, predetermined
Abstract available area in a tidal channel, less swept area due higher
density of water, continuous underwater operation and
In order to optimise a tidal energy conversion system smaller distances to shore [5].
operation, maintenance and power generation aspects have to
be taken into account. As a result the key focus of this paper To be more specific, the continuous underwater operation
is to propose and investigate an alternative method of requires that the tidal system must work reliably with high
implementing a tidal energy conversion system using a pitch- availability. This dictates that onsite visits must be reduced to
regulated turbine and a variable-speed squirrel cage induction a minimum since tidal devices are usually installed at
generator with long distance converters. The generator power locations with high tidal currents. At these locations, the
output can be optimised by utilising variable-speed control windows of opportunity for onsite visits are relatively short
strategies allowing the system to operate at maximum power (often less than one hour), which means that major operations
coefficient while availability can be increased by reducing the need to be extremely quick or be able to continue in high tidal
components installed offshore by using long three-phase flows [5]. Another aspect of tidal arrays that affect power
cables between the generator and onshore voltage source transmission is that they will be close enough to shore and
converters. The tidal current energy conversion system is therefore offshore substations and high-voltage subsea
investigated by developing a full resource-to-grid model in transmission can be avoided. Eliminating the equipment
MATLAB/Simulink and by performing system analysis which is installed offshore can consequently reduce the
regarding the effects of harmonics. Simulation results show offshore maintenance. In this context, it has been suggested
that by manipulating the harmonic components, by adding that tidal energy developers can extend the availability of
passive filters, the problems associated with the harmonics their systems by moving the power electronics from the
and the reflecting voltage waves in the cables can be nacelle to the shore. This could reduce onsite visits since the
minimised. failure frequency of power converters can be significant based
on data from onshore wind turbines [6]. Locating the power
1 Introduction electronics on land means that the generator has to be
controlled using long subsea cables and therefore long
The potential to generate carbon free power from the world’s distance drives are needed. Long distance converters have
tides is evident. The UK alone has a significant tidal current been used to drive electrical submersible pumps (ESPs) in oil
energy resource which can supply 29% of the UK electricity offshore platforms.
demand based on 2012 statistics [1, 2]. Moreover, a study has
estimated that the energy available in tidal currents could The literature regarding long distance drives focuses on the
supply 14.25TWh per year using ’first-generation’ technology variable speed operation of low power motors [7 - 11] which
options without significantly impacting the underlying are usually designed to be used as pumps in offshore oil
resource [3]. From the massive tidal energy resource in the platforms [9 - 13]. The main points discussed are the reasons
UK waters only 18TWh per year of the total energy has been behind the appearance of over-voltages at the terminals of
assessed as being economically recoverable with today’s motors with long feeders [7, 9], filtering techniques in order
technologies [4]. At certain locations tidal currents can to mitigate the problems associated with the long feeders [7,
possess very high energy density which can lead to large 8], the importance of accurate frequency domain analysis in
amounts of power. As a result of high energy density, devices order to investigate system resonant frequency in different
are subjected to large forces in order to maximise conversion topologies [10] and [8] also discusses the effect of long cables
of the available energy. Still, tidal current devices are in a PWM vector controller.
expected to operate reliably under harsh conditions and even
though they have similarities to offshore wind turbines in Currently, tidal current turbine developers have not yet
many aspects, a number of characteristics differentiate the decided on the optimal tidal current conversion system

1
(TCCS) and therefore a number of different designs appear then a step-up transformer is used in order to match the grid
[12]. Most of the designs are bottom mounted, with low high voltage.
solidity blades and horizontal axis rotors, while the
approaches differ in generator technology. Dominant choices 2.1 Tidal resource
are direct drive generators or geared permanent magnet
synchronous generators (PMSGs) and squirrel cage induction The power potential of tidal currents can be derived by the
generators (SCIGs). Power limitation is achieved using fixed same formula as for wind energy systems.
pitch or variable pitch blades. Research papers are focused on
the power limitation mechanisms [13, 14], grid integration of Ptide = 0.5ǜȡwaterǜAǜVcurrent3 (1)
tidal current conversion systems [15] and power capture
maximisation control methods [16]. Where ȡwater is the sea water density approximately equal to
1025kgǜm-3, A is the swept area by the tidal turbine blades
The aim of this paper is to present a full resource-to-grid and Vcurrent is the fluid speed in m/s.
dynamic model of a single tidal current turbine with the
proposed long distance converters. The system is based on a As input to the model a half-cycle with high peak flow speed
three-bladed tidal turbine with pitch-regulated blades and a was chosen in order to represent the most complex period of
SCIG controlled using direct torque control with space vector operation of the system. The tidal current speed used is shown
modulation (DTC SVM). Utilising the model, the in Figure 2.
applicability of long distance converters in tidal current Tidal flow speed
5
systems will be investigated and ways to mitigate the
challenges associated with them such as high harmonics and 4
Flow Sped (m/s)

over-voltages will be presented. In section 2 the modelling of

the tidal resource, tidal turbine power characteristics, pitch 3
controller, generator controller and the grid side are briefly
explained. Section 3 shows the results from the simulation of 2
the reference model and finally in section 4 frequency domain
system analysis is performed regarding the effects of passive 1
harmonic filters in the tidal current conversion system with
long distance converters. 0
0 50 100 150 200 250 300 350
Time (minutes)
2 Modelling of tidal current conversion system Figure 2: Tidal current speed used as input to the system

In this section all the modelling aspects of a tidal current 2.2 Tidal turbine model
conversion system will be described. The proposed topology
can be seen in Figure 1. The model is based on the steady-state power characteristics
of the turbine. The output power of the turbine is given by the
following equation.
Pm = Cp(Ȝ,ȕ)ǜPtide (2)

Where Pm is the mechanical output power of the turbine in

watts and Cp(Ȝ,ȕ) is the power coefficient of the turbine
which is a function of the tip speed ratio, Ȝ, and blade pitch
angle, ȕ. In this model a maximum Cp of 0.48 is assumed. The
turbine power characteristics can be seen in Figure 3 [17].

Tidal Turbine Power Characteristics (Pitch angle 0 deg)

1.5 2.8 m/s
Tidal Turbine output(pu)

Figure 1: The complete tidal current conversion system

modelled
1 Max. power at 2.5 m/s 2.5 m/s

The tidal turbine shaft is connected to the SCIG rotor through

a gearbox. The output of the medium voltage generator is 2.2 m/s

transmitted to shore by long three-phase subsea cables. The 0.5 1.9 m/s
medium voltage is transformed to low voltage using an 1.6 m/s
onshore transformer. Before the voltage source converter 1 m/s
1.3 m/s
(VSC) filters are installed. The importance of the filtering 0
0 0.2 0.4 0.6 0.8 1 1.2 1.4
method will be discussed later. The DTC SVM method Tidal Turbine speed (pu)
enables variable speed operation of the SCIG. On the grid Figure 3: Tidal turbine power output versus turbine speed at
side, the low voltage output of the inverter is first filtered and different tidal current speeds

2
2.3 Pitch controller
Power limitation in high tidal current speeds is achieved by
using pitch angle control. This action corresponds to changing
the pitch value such that the leading edge of the blade is
moved into the flow increasing the angle of attack and thus Figure 7: Block diagram of the Space Vector Modulation
inducing a blade feathering effect. The control structure of the method modelled [20]
pitching system developed can be observed in Figure 4. The
pitching mechanism limits the turbine speed to rated speed by 2.5 Grid side modelling
reducing Cp in equation (2) and so reducing the mechanical
power captured. The power generated by the TCCS is delivered to the grid
through a VSC. The grid-tied inverter is connected to the grid
through a line reactor, which helps to reduce line current
distortion, a filter that reduces harmonics and a step-up
transformer from 690V to 11kV. The inverter is controlled by
a PWM scheme called voltage oriented control (VOC) with
decoupled controllers [20] which ensures a constant DC link
Figure 4: Pitch controller structure based on turbine speed voltage of 1100Vdc, constant frequency output of 50Hz on the
AC side and control over the amount of reactive power
2.4 Generator Controller flowing based on grid requirements. The equations that
describe the output of the VOC with decoupled controllers
In order to ensure variable speed operation the SCIG is are:
controlled from an onshore VSC using DTC SVM. The DTC vdi = -PI(s)ǜ(i*dg – idg) + ȦgǜLgǜiqg + vdg (5)
SVM methods are based on the classical DTC [18] but they
also operate at constant switching frequency. From the family vqi = -PI(s)ǜ(i*qg – iqg) - ȦgǜLgǜidg + vqg (6)
of DTC SVM methods the DTC SVM scheme with closed-
loop torque and flux control in stator flux coordinates has Based on equations (5) and (6) the control structure
been implemented [19]. The control structure of the DTC implemented can be seen in Figure 8.
SVM method modelled can be seen in Figure 5.

Figure 5: DTC SVM method with closed-loop torque and flux

control in stator flux coordinates

The block diagram of the flux and torque estimator and the
SVM can be seen in Figure 6 and Figure 7 respectively.
Figure 8: Control structure of the grid side controller

3 Reference model simulation results

In this section the operation of the proposed TCCS will be
demonstrated. In order to do so a reference model was
developed with the following characteristics:
• Cable model: PI section
Figure 6: Block diagram of the flux and torque estimator • Cable length: 3.5km
• Passive filter with single tuning at 250Hz and quality
factor of 2
• Reactive power of 80kVAr

3
In Figure 9 the power generated by the SCIG, the pitch angle In all cases the tuned frequency is 250Hz, the quality factor is
and the generator speed in a 350 minutes simulation can be 2, reactive power is 80kVAr and the cable length is 3.5km.
observed. Until a certain generator speed is reached no power Also, the frequency domain analysis is performed when rated
is produced because system losses will be significant power is generated.
compared to the power generated. After a certain speed is
reached, approximately 0.25pu at 38 minutes, the generator is By performing frequency-domain analysis in case 1 the
connected to the grid. Between 38 and 77 minutes the harmonic components that distort the voltage at the generator
generator speed follows the maximum power point curve of terminals can be identified. The results of the fast Fourier
the turbine in order to achieve maximum Cp until maximum transform (FFT) can be seen in Figure 10.
generator speed is reached. At maximum speed,
approximately 1.002pu, and since tidal flow continues to Observing Figure 10 predictable results are produced by the
increase, the pitch angle starts to increase. There is a small FFT. Major harmonic components appear at even multiples of
period of time between 77 and 80 minutes where maximum the fundamental operating frequency of the generator, which
speed is reached but torque still increases to match rated is approximately 50Hz at rated power. Also, significant
power. At 80 minutes rated power is reached. From that point harmonic components appear near the multiples of the
and onwards as tidal current speed increases, the pitch angle operating frequency of the VSC, which is 2500Hz, plus and
also increases to limit mechanical torque input and keep minus the multiples of the fundamental frequency.
power constant. Accordingly, when tidal flow decreases pitch
angle decreases to zero and the generator is disconnected 60
Fast Fourier Transform in Case 1

when generator speed is below 0.25pu. Magnitude of Fundamental (%)

50
5
Speed
(m/s)
Flow

40

0 30
0 50 100 150 200 250 300 350
1
Power

20
Active

(p.u.)

0.5
10
0
0 50 100 150 200 250 300 350
20 0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500 6000 6500 7000 7500
Angle
(deg)
Pitch

Frequency (Hz)
10
Figure 10: Fast Fourier transform of the voltage at generator
0 terminals in case 1.
0 50 100 150 200 250 300 350
Generator

1
Speed
(p.u.)

0.5 By adding passive harmonic filters at the inverter output the

0 harmonic components at the generator terminals can be
0 50 100 150 200 250 300 350 filtered. Table 2 shows the changes in voltage total harmonic
Time (minutes)
Figure 9: Flow speed, power generated, pitch angle and distortion at the generator terminals (VTHDm) and at the low
voltage side of the generator transformer (VTHDmt) for each
generator speed during a half tidal cycle.
case studied.
4 Frequency-domain system analyses Case VTHDm (%) VTHDmt (%)
In order to explore the ways the long cables affect the TCCS 1 41.37 54.11
different cases regarding cable modelling and filter design are 2 10.25 38.5
considered. These cases are described in Table 1 where PI 3 8.21 27.46
cable model and distributed parameter line (DPL) cable 4 10.31 39.38
model are compared when different filters are used. Based on Table 2: Voltage total harmonic distortion at the generator
these cases, the system impedance versus frequency will be terminals and at the low voltage side of the generator
investigated in order to identify the changes in resonant transformer for each case studied.
frequencies and how the harmonics components can cause
over-voltages at the generator terminals. Apart from the mitigation of low order harmonics, the
addition of passive filters can change the impedance paths of
Case Cable Model Filter type high order harmonics which, if not properly damped, can
1 PI None cause overvoltage at machine terminals because of the
2 PI Single tuned reflecting voltage waves in the cables as discussed in the
3 PI C-type literature referenced in section 1.
4 DPL Single tuned
Table 1: Cases considered for the frequency-domain analysis. Therefore in order to understand the appearance of over-
voltages, which can be seen in Figure 11 for each case, the
impedance for a given frequency is calculated at generator
terminals, as seen in Figure 12, shows the impedance paths

4
for each frequency. If a frequency component has a low
impedance path to the filter then this harmonic component is
filtered. Respectively, if a frequency component has a high
(
FDPL = 1 / 4 ⋅ d ⋅ Lc ⋅ Cc ) (6)
impedance path to the filter then the harmonic component is
Where d is the cable length, Lc is the cable inductance per
not filtered as expected. This can help in identifying system
unit length and Cc is the cable capacitance per unit length.
resonant frequencies which must be avoided. Also it gives a
With Lc = 0.594mH/km and Cc = 0.31ȝF/km zeroes and poles
comprehensive view of how impedance can change at each
appear every approximately 5266Hz. In both cases, PI section
frequency from the addition of passive filters or by changing
model and DPL, a low impedance path appears near 5000Hz
the cable model.
which is two times the operating frequency of the active
rectifier and harmonics should appear but as shown in Figure
In Figure 11 it can be observed that without the addition of a
10 these harmonics have very low magnitude.
passive filter (case 1), an overvoltage higher than 1.2pu
appears which can cause insulation damage and lead to a
At frequencies lower than 4000Hz, shown in Figure 13, the
fault. With the addition of a passive filter harmonics are
filter tuned at 250Hz has a great effect in creating a low
reduced to desirable levels for the generator side.
impedance path at the specific frequency. The C-type filter
2 (case 3) creates an even lower impedance path and this is why
Case 1
Case 2 the VTHD is lower. In cases 2 and 4, where the same filters
1.5
Case 3 are used but different cable models, the results are identical
Case 4
showing that the cable model has no effect at low frequencies.
Generator Voltage (pu)

0.5 At the fundamental frequency, cases 2, 3 and 4 create a lower

impedance path compared to case 1 and this is the reason why
0
the filter introduces extra losses to the system.
-0.5
5
10
-1 Case 4
Case 3
-1.5 4 Case 1
0 0.005 0.01 0.015 0.02 0.025 0.03 10
Case 2
Impedance (ohms)

Time(s)

Figure 11: Voltage at the generator terminals during rated 3

10
operation for each case.
2
4
10
10
Case 4
Case 3 1
3
10 Case 1 10
0 500 1000 1500 2000 2500 3000 3500 4000
Case 2 Frequency (Hz)
Impedance (ohms)

Figure 13: Filter impedance versus frequency graph for each

2
10

1
case at frequencies below 4000Hz.
10

0
10 Apart from the zero created by the filters at the tuned
-1
frequency, single tuned filters (cases 2 and 4) create a small
10
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9 2 pole as well. On the other hand, the C-type filter impedance
Frequency (Hz) 4
x 10
smoothens after the zero. For frequencies between 1000Hz
Figure 12: Filter impedance versus frequency graph for each and 4000Hz, the C-type filter has higher impedance compared
case. to all other cases making it less efficient at this range.
In Figure 12 the filter impedance versus frequency as
calculated from the generator terminals can be observed. All 5 Conclusion
the components of the system affect this graph, however filter An alternative way of integrating TCCS was proposed using
and cable choice affect the number of zeroes and poles. long distance controls. System components were explained in
detail. A reference model was developed in order to
At frequencies higher than 4000Hz zeroes and poles appear demonstrate the ability of the proposed system to operate
because of the long cables. In the case of a single PI section using measured tidal current speed. Analysis focused on the
(cases 1,2 and 3) a zero appears at approximately 4800Hz. frequency domain of the system since high harmonic
Depending on the filter chosen the position and the magnitude components flowing in the cables can cause overvoltage to
of the zero can change but not significantly. The single PI the generator terminals. For that purpose a single tuned and a
section model also has a pole at approximately 6700Hz with C-type filter were used. In addition, the PI section cable
the exact position and magnitude to be affected by filter model and the distributed parameter line cable model were
design as well. In case 3, the C-type filter reduces the effect compared in the proposed system. Impedance versus
of the zero and pole. On the other hand, when DPL cable frequency graphs were used in order to demonstrate the
model was used multiple zeroes and poles appear at specific effects of different filters and cable models used. Based on
steps which can be calculated as shown in equation (6): the simulated results the proposed system cannot operate

5
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