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132
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Article
Active and reactive power control of the doubly fed
induction generator based on wind energy conversion
system
Energy Reports
Suggested Citation: Kaloi, Ghulam Sarwar; Wang, Jie; Baloch, Mazhar Hussain (2016) : Active and
reactive power control of the doubly fed induction generator based on wind energy conversion
system, Energy Reports, ISSN 2352-4847, Elsevier, Amsterdam, Vol. 2, pp. 194-200,
https://doi.org/10.1016/j.egyr.2016.08.001
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Energy Reports 2 (2016) 194–200
Energy Reports
journal homepage: www.elsevier.com/locate/egyr
1. Introduction the fixed speed generator. Variable speed wind turbines with the
new standards are effective because of their improved efficiency in
The renewable energy resources have emerged as a new model capturing more wind power and their ability to achieve the higher
to meet the energy requirements of our society. In recent years, power quality (Luna et al., 2011; Tohidi and Behnam, 2016).
the production of electricity from hydropower, solar, the wind Moreover, wind turbine of the variable speed with control of
and geothermal energy, tides, waves and biomass energy sources the speed of the turbine output power and reduces the load stress
have gained much attention (Yaramasu et al., 2015). Energy is on different parts of the turbine structure, including the blades
considered to be the decisive input for the growth of the wind and tower. As a result, higher energy efficiency, longer life time,
energy. Nowadays, conventional resource depletion is more con- and improve the quality of energy to make these wind turbines
cerned about environmental degradation and takes advantage of inexpensively competitive, despite the high initial costs (Zhan
renewable energy resources to meet growing energy demands. En- et al., 2014; Baloch et al., 2016; Yang et al., 2012). The dynamic
ergy production cost is very low as compared to the conventional model of DFIG depends upon the non-linear parameters such as
method. The potential sources of clean energy are considered for electromagnetic torque, stator current; rotor current and stator
the future such as wind energy. For electricity production through flux are controlled with state feedback linearization techniques to
wind energy, DFIG is commonly used for this purpose because of get the better results as compared to the exit method (Baroudi
its numerous advantages over its counterparts (Dinesh and Ra- et al., 2007; Hu et al., 2010). Implementation of DFIG is increasing
jasekaran, 2015; Ebrahimi et al., 2016). for many reasons, such as reducing the mechanical stress, to
Variable speed operation of the DFIG wind turbine based on the mitigate the noise, and flexible control of the active and reactive
active and reactive power abilities, lower cost of the converter and power on the basis of back to back converter between the induction
power losses are decreased as compared to wind turbine by using machine and the power grid (Mishra et al., 2009; Rahimi, 2016).
As a result, the complexity of the system increases and it
becomes difficult to analyze without a systematic point of view.
∗
Corresponding authors. In short terms, there must be the ability to support dynamic
E-mail addresses: ghulamsarwar@sjtu.edu.cn (G.S. Kaloi), frequency of wind energy rapidly in the near future to ensure
jiewangxh@sjtu.edu.cn (J. Wang). the stability of the frequency of the system. In addition, it can be
http://dx.doi.org/10.1016/j.egyr.2016.08.001
2352-4847/© 2016 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.
0/).
G.S. Kaloi et al. / Energy Reports 2 (2016) 194–200 195
contributed to the inertia of wind energy to further improve the where ρ represents the air density, RT represents the wind turbine
accessibility of wind power in the grid (Zhan et al., 2014; Xiao et al., radius, Vw represents the wind speed and Cp represents the wind
2013; Hu et al., 2010). In order to control the generator speed is turbine power coefficient is given by
used to rotor side converter (RSC) and reactive power controlled
1.16
with grid side converter (GSC) is connected to the grid through grid −12.5 λ1
Cp (λ, β) = 22 − 0.004β − 0.05 e i , (2)
filter and is used to control the dc link voltage and reactive power λi
exchange with the grid.
1 1 0.035
Hence with increased penetration of the DFIG, the inertia of = − , (3)
the effective system will be reduced. Grid integration of this λi λ + 0.08β β3 + 1
variable power in increased capacity raises concerns about its
where β represents the blade pitch angle and λ represents the tip
impact on the power system stability (Carrasco et al., 2006;
speed ratio as described below.
Gayen et al., 2015). Nonetheless, it is imperative for large scale
transient strength studies to consider the rotor field elements of ωr RT
the induction generator since it assumes a critical part in deciding λ= . (4)
Vw
the inner voltage behind transient reactance. In order to reduce the
efficiency of the machine due to the response of reactive power Owing to the presence of a gearbox with the gear ratio ng , the
is increased. But state feedback linearization control technique dynamic model wind turbine rotational speed ωr is associated to
is used to improve the efficiency of the machine and reduce the the rotor speed ωr is given as follows:
transient effect in the system. (Yousefi-Talouki et al., 2014; Abdel-
Khalik et al., 2013). ωr = ng ωroptimum . (5)
This paper proposes a new strategy for feedback control
systems for wind power generation on the basis of DFIG with The exact dynamic model of the torque equation of the generator
constant switching frequency to improve transient performance. is given by,
The direct method in calculating the required voltage circuit
Tm ωr = Pm (6)
control the transition period, based on the estimated stator
flux, active and reactive power, and their errors. The transient where, Tm represents the rotor torque, ωr represents the wind
performance of the nonlinear model of the DFIG is described by the turbine speed, it is a measure of the ratio of wind power turbines.
limit of the rotor control voltage with a direct method of the active Power coefficient is a function of wind turbine speed. Cp is 0.59 the
and reactive power. The aim of this paper is to provide a great idea theoretical limit, but practical range is 0.2–0.4 (Patel, 2005).
for the dynamic behavior of the DFIG wind turbine. Control of DFIG
parameters has a significant effect on the dynamic performance of 1
ωroptimum = λoptimum ng Vw . (7)
wind turbines. The controller of the DFIG will play an important RT
role in the energy system in the future with the increased
penetration of the wind energy conversion system (WECS) Which corresponds to the most extreme extraction of wind energy
max
(Bourdoulis and Alexandridis, 2014; Wang and Wang, 2011). Pm , at that point in the determination of the rotor torque of the
The proposed technique is considered by the feedback con- generator can be determined as
troller to regulate the rotor currents and the grid current. In order −1
Tmoptimum = 0.5ρπ R5T Cpoptimum ωroptimum λ3optimum .
to consider the effects of the rotor and the filter of network pa- (8)
rameters to control the dynamic performance DFIG under voltage
It is obvious that the wind turbine operates with ideal rotational
dips. It represents the vital phenomena that are much faster than
the phenomena of interest in transient stability analysis. The use speed and with the optimum torque of the doubly fed induction
of the detailed model in the study of transient stability leads to a generator.
harsh mathematical model with fast transients and long simulation
times and greatly increases the computational effort. In any case, 3. Dynamic model of the DFIG wind energy system
as a result of complexity of the DFIG model, extra suppositions are
utilized as a part of the transient stability program for simplify-
The power convertor of the wind turbine generator contains the
ing it (Naidu et al., 2014; Trilla et al., 2014). In this paper, feedback
rotor converter to control the generator speed and grid convertor
control design is developed and considered for the DFIG wind tur-
to inject reactive power in the grid. The grid side converter
bine system. Non-linear dynamic model of the DFIG is essentially
components of the real and reactive power are shown in Fig. 1.
based on stator flux as compared to conventional flux model of the
The instantaneous power can be defined as follows (Krause et al.,
wound rotor induction generator and GSC model. Non-linear dy-
2013):
namic model of the DFIG is improved by using the feedback con-
trol technique for alignment of the rotor and grid sides. Active and Ps = 1.5(Vds Ids + Vqs Iqs ); (9)
reactive power of the DFIG stator and GSC output are connected to
the grid. This paper is organized as follows: in Section 2 wind tur- Qs = 1.5(Vqs Ids − Vds Iqs ), (10)
bine model is described. In Section 3 dynamic model of the DFIG Pg = 1.5(Vds Idg + Vqs Iqg ) (11)
wind energy System is developed. In Section 4, a controller is de-
Qg = 1.5(Vqs Idg − Vds Iqg ) (12)
signed for a DFIG Wind Turbine System. The simulation results are
shown in Section 5. Final conclusion of the paper is described in where Ps and Qs represent the active and reactive power stator
Section 6. of the DFIG respectively, and Pg and Qg represent the active and
reactive power of the grid respectively. The nonlinear dynamic
2. Wind turbine model
model of the DFIG wind turbine is normally described by the active
and reactive powers. To simplify the dynamic model is assuming an
The captured mechanical power from a wind turbine is given as
approximately constant stator voltage for DFIG. This assumption is
follows (Yang et al., 2012):
used only under a steady state condition and grid voltages vary at
Pm = 0.5ρ AVω3 Cp (λ, β), (1) the point of the common coupling typically less than ±0.005 p.u.
196 G.S. Kaloi et al. / Energy Reports 2 (2016) 194–200
3.1. The DFIG wind turbine system modeling in the dq reference frame Using Eqs. (9) and (10) into Eqs. (19a) and (19b) the following
equation can be obtained.
The nonlinear dynamic model of the doubly fed induction
d 2
generator represents the flux and the voltage equations can be Ps = − α1 (rs lr + rr ls )Ps − ωslip Qs
summarized as (Rezaei et al., 2012): dt 3
+ (α1 rr Vds + pα 1lr Vds ωr )λds
d
λds = Vds − rs Ids + ωs λqs (13) + (α1 rr Vqs + pα 1lr Vqs ωr )λqs
dt
d − α1 lm Vds Vdr + V qr (20a)
λqs = Vqs − rs Iqs − ωs λds (14) d 2
dt Qs = ωslip Ps + α1 (rs lr + rr ls )Qs
d dt 3
λdr = Vdr − rr Is + (ωs − pωr )λqr , (15) + (α1 rr Vqs + pα 1lr Vqs ωr )λqs
dt
d
+ (α1 rr Vds + pα 1lr Vds ωr )λds
λqr = Vqr − rr Is − (ωs − pωr )λdr (16) − α1 lm Vds Vdr + α1 lm Vds Vqr (20b)
dt
and where,
λds = ls Ids + lm Idr ; λdr = lr Idr + lm Ids (17) 3
α1 = , V qr = α1 lm Vqs Vqr + α1 lr Vs2 .
λqs = ls Iqs + lm Iqr . λqr = lr Iqr + lm Iqs (18) 2σ lr ls
where, Rs and Rr are the stator and rotor resistance, ls and lr are The equation of the stator flux can be described by substituting for
the stator and rotor inductance while lm represents the mutual Is from (12) into (13) for λ̇sd and λ̇sq
inductance, ωs is the synchronous (stator) frequency respectively.
Subscript S and r indicates the stator and rotor variables. In d
λds = α3 rr Vds Ps − α3 rr Vqs Qs + ωs λqs , (21a)
addition Vs , Is and λs represent the stator voltage, current and stator dt
flux, Vr , Ir and λr are represent the rotor voltages, current and flux d
vectors. λqs = −α3 rr Vqs Ps + α3 rr Vds Qs + ωs λds (21b)
dt
By substituting Eqs. (17) and (18) into Eqs. (13) and (14) for dtd Ids
and d
I , the following equation can be obtained: where, α3 = 2rs
.
dt qs 3rr Vs2
The nonlinear dynamic model of the DFIG wind turbine
d rs lm pωr lm
Ids = − Ids + ωs Iqs + rr Idr + Iqr equation of the rotor and torque model is given as follows (Balogun
dt σ ls σ ls lr σ ls et al., 2013):
ωr
l2m lm Vds
+p Iqr − Vdr + , (19a) d
ωr =
P
Te −
P
Tm , (22)
σ ls lr σ ls lr σ ls dt J J
d rs pωr lm lm
Iqs = ωs Ids − Iqs + Idr + rr Iqr where P, J and Tm are the number of pole pairs of the machine, rotor
dt σ ls σ ls σ ls lr inertia and mechanical torque of the machine respectively.
l2m ωr lm Vqs The electric torque is given (see Krause et al., 2013):
+p Ids − Vqr + , (19b)
σ ls lr σ ls lr σ ls Te = 1.5p(λqs Idr + λds Iqr ). (23)
where,
In Eq. (17) mechanical torque is the input of the dynamic model
σ = (lr ls − l2m )/(lr ls ). and electric torque based on Eq. (18). It can be expressed in terms
G.S. Kaloi et al. / Energy Reports 2 (2016) 194–200 197
Table 1
1.5 MW DFIG wind turbine parameters.
Symbol Quantity Values Symbol Quantity Values
Fig. 3. Over all control diagram and study system of the nonlinear dynamic model of the DFIG.
real power and reactive power. The active and reactive power
are controlled independently via Vdr and Vqr , respectively. The
12
state feedback linearization control is achieved by controlling the
reactive power to keep it within the desired range. The pulse width
11
modulation is employed to generate the control signal Vr and Vg
both are derived from the RSC and GSC. Overall system oscillation
10
is decreased by using a control signal after the disturbance
elimination. It is an easy way to use the voltage single Vr and Vg
9
as input parameters of the controller. Under all circumstances, it is 0 2 4 6
easy to measure the angular velocity and fluxes and it has been
implemented in the steady state condition. The analysis of the
Fig. 4. Wind speed versus time.
DC link voltage is equivalent to the stable system under normal
operating conditions of the wind turbine. We take the following
enhanced model. 5. Simulation results and discussion
Again, we conclude (24) and (31) as follows:
The analysis of proposed scheme and performance of the
d controller is extensively estimated in this section and by using
ωr = x C̃ x + C̃o ,
T
(35) real-time data to obtain the results. The 1.5-MW DFIG wind
dt
turbine parameters are presented in Table 1. The state of feedback
d 2 linearization controller gains are given in the Appendix. However,
Vdc = E1 X + XE3 U1 + XE2 U1 (36)
dt in the simulation environment, we have verified the effectiveness
of the proposed controller of DFIG wind turbine systems
where
considering a case 1.5 MW, at 575 Vrms and at 50 Hz frequency.
02×4 02×2 Moreover, the wind always vary from time to time due to uncertain
P Tm
C̃ = 02×4 c11 , C̃0 = , wind conditions, we are considering a ramp change around in
J 05×1
02×4 02×2 between 10 and 12 m/s and can be easily visualized in Fig. 4.
The newly generated state variables of the controller are depicted
E11
1 as in Figs. 5–9. Therefore, our main focus is to control and to
E1 = , E3 = E21 ,
05×1 get maximum power at the grid side. The stator flux response
E31
versus time of the DFIG is depicted in Fig. 5, where it is observed
02×2 02×2
that the exactly after 2.5 a very small change in the flux occurs.
E2 = E22 , E2 = E22 . Furthermore, the rotor speed response has been discussed in
02×2 02×2 Section 3 in Eq. (15), can be controlled around after 0.1 up as shown
G.S. Kaloi et al. / Energy Reports 2 (2016) 194–200 199
2 1.5
1
1.5
0.5
1
0
0.5
-0.5
0 -1
0 2 4 6 8 0 2 4 6
Fig. 5. (a) Response of the stator flux λds versus time, (b) response of the stator flux λqs versus time.
1.6
Acknowledgments
1.4
1.2
Support of Natural Science Foundation P R China under
1 Grant No. 61374155, and the Specialized Research Fund for the
0.8 Doctoral Program of Higher Education, PR China under Grant No.
0.6 20130073110030 is highly acknowledged.
0.4
0 2 4 6
Appendix
0.00589 0.00489
0 0 0 0
in Fig. 6. Besides that, the voltage of a dynamic system is improved K1 = ,
0.0888 0.0665 0 0 0 0
by the DC link around after 1.2 s on the both sides of the rotor
−0.0022 −0.00315 −0.0027 −0.00192 −0.0012 −0.0023
and grid as showed in Fig. 7. As summarized in Eq. (23). Fig. 8 K2 = ;
shows that the reactive and real power response versus time has a −0.0022 −0.00315 −0.0027 −0.0092 −0.0012 −0.0023
better performance of DFIG at 0.4 p.u after 1.1 s recover the fault
a1 −a2 a3 a4 0 0
or remove the disturbance and it can be observed to improve the A11 = a2 a1 a4 , A12 = a3 0 0 ,
stability and damping characteristics after the symmetrical fault. a7 a8 0 ωs 0 0
In order to validate the performance of the proposed controller
−a8 a7 ωs
0 0 0
with the conventional one, the real power varies with the small
A21 = 0 0 0 , A22 = 0 a9 −ωs .
step change from 0.4 p.u to −0.6 p.u, and at the same time
0 0 0 0 ωs a9
reactive power is set to be around zero (p.u). The real and reactive
power time settlement is small and is without the overshooting a 1 02×2
B11 = 5 , B12 = ,
of symmetrical fault as shown in Fig. 8. The proposed method a5 a6 02×2
easily tracks the reference signal of the real and reactive power of a
0 a10 −1
dynamic system as showed in Fig. 9. It is verified that the proposed B22 = 2×2 , B23 = .
02×2 a10 a11
control method is robust in performance than the conventional
2
method as described in Rezaei et al. (2012). In addition, it is clearly a1 = α1 (rs lr + rr ls ), a2 = ωslip , a3 = (α1 rr Vds + pα1 lr Vds ωr ),
3
observed that the peak value of the DC-link voltage is minimized.
a4 = (α1 rr Vqs + pα 1lr Vqs ωr ), a5 = α1 lm Vds ,
Finally, DFIG wind turbine system performance is improved.
a6 = α1 lm Vds , a7 = α3 rr Vds , a8 = α3 rr Vqs ,
6. Conclusion and future work rf 3 Vds 3 Vqs
a9 = , a10 = , a11 = .
lf 2 lf 2 lf
The model has been integrated in a transient stability program P2
which applies the simultaneous implicit method of numerical 0 −
JVs
, b1 0
simulation to the network equations stated in the current balance c11 =
P2 E11 = ,
0 b2
form. The ability of the feedback controller in optimizing the wind 0
JVs
200 G.S. Kaloi et al. / Energy Reports 2 (2016) 194–200
0.5
0.4
0
0
-0.5 -0.4
-1 -0.8
0 2 4 6 8 0 2 4 6
Fig. 8. (a) Performance stator real power versus time, (b) Performance stator reactive power versus time.
1
-0.3
0.9
-0.35
0.8
-0.4
0.7
0.6 -0.45
0.5 -0.5
0 2 4 6 8 0 2 4 6
Fig. 9. (a) Performance real power of GSC versus time, (b) Performance reactive power of GSC versus time.
0 0 b2 0 b3 0
E21 = , E31 = , E22 = Junyent-Ferré, A., Gomis-Bellmunt, O., Sumper, A., Sala, M., Mata, M., 2010.
0 0 0 b1 0 b4 Modeling and control of the doubly fed induction generator wind turbine.
Simul. Modell. Pract. Theory 18, 1365–1381.
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