UEE2621 - Wind Energy Conversion Systems

Unit III
Fixed Speed Systems

Presentation by
Dr. A. MARISELVAM
SSN College of Engineering
Syllabus
 Generating Systems
▪ The nature of wind energy is very different from conventional
sources.
▪ It is intermittent, and hence, it has to be collected as it appears.
▪ Because of this intermittency, it cannot supply firm power and
has to be used with an energy storage scheme.
▪ However, when interconnected with a power grid having a
capacity many times more than WGS, the fluctuations in
energy input of WGS can be taken care of by proper load
sharing with other stations in the grid.
▪ Intermittency, therefore, is not a serious problem.
▪ But there is another aspect of wind energy which is more
difficult to handle – Variations in wind velocity
 Generating Systems
▪ Variations in wind velocity cause the wind rotor to run at
varying speeds.
▪ If there are no mechanical or electrical constraints, the prime
mover rotates at varying speeds following the wind speed in
the normal operating range of the turbine.
Output of a usual AC generator with DC field excitation will then
be of varying frequency. This is unsuitable, of course, for
interconnection with the power grid.
 Generation Schemes
▪ Electric generation schemes for wind power generation
suitable for interconnection with the power grid can be
generally classified as
1. Constant Speed Constant Frequency (CSCF) scheme and
2. Variable Speed Constant Frequency (VSCF)
Constant Speed Constant Frequency Systems
▪ This scheme is used when the wind speed is controlled by
pitch control.
▪ The pitch control system of the blades keep the rotational
speed of the machine, driven through a gearbox as a constant.
▪ The following two types are falls under this scheme
1. Synchronous Generator
2. Induction Generator
Constant Speed Constant Frequency Systems
▪ Because the grid maintains constant voltage and constant
frequency, a synchronous generator coupled to the wind rotor,
in parallel with the grid, can run at only one speed, the
synchronous speed.
▪ An induction generator on a power grid runs at speeds above
synchronism but not very different from it.
▪ Normally, slip speeds are 1 to 5 percent of synchronous
speed which is very small compared to variations in wind
speed which may vary from 10 mph to 60 mph in the
operating range of the wind rotor.

Hence, these two systems which maintain constant speed due

to electrical constraints imposed by the grid, irrespective of
wind speed, are classified as CSCF systems.
 Synchronous Generator
▪ A synchronous generator of a WGS operating in parallel with
a power grid is similar to other types of generating stations
such as hydrostations.
▪ However, as the input power is fluctuating, a control
mechanism may be necessary to control the pitch of the
rotor so that input power is held fairly constant.
▪ Power in the wind goes as the cube of wind velocity. During
gust periods, the machine is subjected to rapid changes in
velocity and, hence, violent changes in input power.
▪ The control system must therefore be very sensitive in order
to damp out these transient changes in input power so that the
machine does not swing over the stability limit.
 Induction Generator
▪ An induction machine run above synchronous speed performs
as a generator.
▪ The wind rotor is geared up to the induction generator such
that in the normal operating region of the WGS the generator
is run above synchronous speed.
▪ However, the speed of the rotor is constrained by the
frequency of the power grid.
▪ The generator runs at slip speeds above synchronous
speed determined by the grid frequency corresponding to
its power input.
▪ If the power input exceeds that corresponding to the pull-
out torque, the region of stability will be trespassed.
▪ So, though a constant speed controller is not necessary, there
must be a mechanism to spill the power above the safe value
of the generator.
Pull-Out Torque
Pull-Out Torque of
Induction Motor

Pull-Out Torque of
Induction Generator
 Induction Generator
▪ This is accomplished by having a controller similar to the one
used with a synchronous generator, but with less stringent
control requirements.
▪ This can also be simply achieved by designing the airfoil in
such a way that the blade efficiency falls down drastically as
the wind velocity exceeds the normal value – passive stall
control.
Choice of Generators - Deciding Factors
▪ A synchronous generator runs at constant speed and, hence,
calls for costly speed controls, as discussed before. But, it
has a reactive value because it can supply reactive power to
the system, and if necessary, it operates as a synchronous
condenser.
▪ An induction generator not only does not have this capability,
but it also calls for additional power-factor improvement
equipment.
▪ However, if the WGS capacity is not too insignificant
compared to the capacity of the grid system, stability of
synchronous machines becomes a serious problem.
▪ In such a case, the induction generator has a distinct
advantage.
 Merits of Synchronous Generators
1. It has very low excitation requirements (about 1%).
2. Active and reactive power can be adjusted by field controls
and pitch controls.
3. It provides a synchronous tie with the utility system.
4. It has reactive value to the system.
 DeMerits of Synchronous Generators
1. As power is proportional to wind velocity, the machine is
subjected to violent fluctuations in power input during gusts.
Transient stability (depending on the relative size of the
machine with the system) may be a serious problem.
2. Even if the machine does not go out of step, it may cause
undesirable fluctuations in the system.
3. It may call for speed control equipment which may add
considerably to the total cost of the system.
4. Synchronizing equipment is necessary to connect the
generator to the grid.
5. It is impractical for speeds lower than say, 600 rpm, so that
proper gearing is required to connect to the wind rotor which
normally has a speed range of 25 to 50 rpm.
 Merits of Induction Generators
1. It does not back up short circuits in the system.
2. It has considerably relaxed stability criteria and is free from
hunting. Small variations in the speed of prime mover are
unimportant. The generator can be run in parallel with a
"thin" network.
3. Synchronizing is not necessary, and it can easily be
connected on and off the grid.
4. Voltage and frequency are completely determined by the
power grid.
 DeMerits of Induction Generators
1. It requires synchronous machines running in parallel to
supply reactive kVA which may be 20-30% of machine
kVA.
2. It always operates at a power factor less than that of the load.
3. It is better suited for high speed of rotation.
4. It is impractical for speeds lower than, say, 600 rpm, so that
proper gearing is required to connect to the wind rotor which
normally has a speed range of 25 to 50 rpm.
 Induction Generators are predominantly
used in
Constant Speed Constant Frequency Systems
Model of WECS
 Model of Wind Speed
▪ Naturally, the wind's speed constantly varies.
▪ In order to be able to predict a wind turbine's production it is
necessary to know exactly how often the wind blows how
strongly.
▪ Normally, the wind is measured with an anemometer and the
mean wind speed is recorded every 10 minutes.
▪ This data can be sorted into wind speed classes of 1 m/s each.
▪ The energy contained in the wind at a certain site may then be
expressed by this frequency distribution.
 Weibull Distribution
▪ The Weibull distribution is often a good approximation for the
wind speed distribution.
▪ The function of probability density Weibull is given as
𝑘 𝑣 𝑘−1 − 𝑣 𝑘
𝑓 𝑣 = ∙ ∙𝑒 𝐴
𝐴 𝐴

𝐴 is the Weibull scale parameter in m/s; a measure for the

characteristic wind speed of the distribution. 𝐴 is proportional to
the mean wind speed.

𝑘 is the Weibull form parameter. It specifies the shape of a

Weibull distribution and takes on a value of between 1 and 3. A
small value for 𝑘 signifies very variable winds, while constant
winds are characterized by a larger 𝑘.
 Weibull Distribution - Example

https://wind-data.ch/tools/weibull.php?lng=en
 Weibull Distribution - Example

https://windroseexcel.com/guides/wind-speed-distributions-and-fitting-a-weibull-distribution/
Model of wind power and wind turbine
▪ We know that the power available in the wind
1
𝑃𝑤 = 𝜌𝐴𝑣 3
2
▪ The extracted mechanical power can thus be expressed as

1
𝑃𝑤 = 𝜌𝐴𝑣 3 ∙ 𝐶𝑝
2
Where 𝐶𝑝 is the power coefficient.
 Model of wind power and wind turbine
▪ As already shown, 𝐶𝑝 is a function of the pitch angle 𝛼 and tip
speed ratio (TSR).
Model of Wind power and Wind turbine
▪ An analytical expression for 𝐶𝑝 in terms of the tip speed ratio
and pitch angle is approximated as

𝐶𝑝 = 𝑐1 𝑐2 − 𝑐3 𝛼 − 𝑐4 𝛼 2 − 𝑐5 𝑒 −𝑐6

where, c1= 0.5, c2 = 116/λi, c3 = 0.4, c4 = 0, c5 = 5, c6 = 21/λi and

1 0.035
𝜆𝑖 = − 3
𝜆 + 0.08𝛼 𝛼 + 1
Mechanical Modelling - D’Alembert’s law
Newton’s second law of motion states that in an inertial
reference frame, the vector sum of the external forces Fext on an
object is equal with the product of to the mass 𝑚 and
acceleration 𝑎 of the object
෍ 𝐹𝑒𝑥𝑡 = 𝑚𝑎

If we bring the right-hand side of the equation to the left, we’ll

get:
෍ 𝐹𝑒𝑥𝑡 − 𝑚𝑎 = 0
Mechanical Modelling - D’Alembert’s law
If we consider 𝑚𝑎 to be a force (inertial force), we are getting
D’Alembert’s law:
෍𝐹 = 0

which basically means that the sum of all forces (external and
internal) acting on a body is equal to zero when the body is in
equilibrium.

The inertial force it’s also called D’Alembert’s force and it

appears when an external force tries to accelerate a body with
mass.
The direction of the inertial force is always opposite to the
defined positive direction of the body mass position.
Mechanical Modelling - D’Alembert’s law
If we consider 𝑚𝑎 to be a force (inertial force), we are getting
D’Alembert’s law:
෍𝐹 = 0

which basically means that the sum of all forces (external and
internal) acting on a body is equal to zero when the body is in
equilibrium.

The inertial force it’s also called D’Alembert’s force and it

appears when an external force tries to accelerate a body with
mass.
The direction of the inertial force is always opposite to the
defined positive direction of the body mass position.
D’Alembert’s law for Rotational Systems
Newton’s second law of motion for a rotating inertia is:
𝑑2𝜃
෍ 𝑇𝑒𝑥𝑡 = 𝐽 2
𝑑𝑡
𝑑2 𝜃
Where 𝐽 is the moment of Inertia and is the angular
𝑑𝑡 2
acceleration
D’Alembert’s law:
෍𝑇 = 0
 Torques in Rotational Systems

Inertial Torque Elastic torsion torque

𝑑2 𝜃 𝑇𝑒 = 𝐾𝜃
𝑇𝑖 = 𝐽 2
𝑑𝑡

Damping torque
𝑑𝜃
𝑇𝑑 = 𝐵
𝑑𝑡
 Mechanical Drive Train Model
▪ The drive train of a wind turbine generally consists of
o turbine rotor,
o low speed rotor shaft,
o gearbox with transmission ratio 𝒂,
o high speed shaft of the generator and
o the generator itself (either synchronous or induction)
▪ More than 90 % of the drive train moment of inertia is
accounted for by the rotor (blades and hub).
▪ The generator accounts for 6–8 %, while the remaining parts
account for 2–4 % of the total moment of inertia.
▪ Since the generator’s torsional stiffness is very high,
approximately two orders of magnitude higher than that of the
rotor shaft, and about fifty times higher than the hub with
blades, the torsional vibration on the drive train elements
cannot be ignored.
 Mechanical Drive Train Model
▪ Typically, the masses of the rotor and the generator are much
larger than the mass of the gearbox. If we neglect the mass of
▪ the gearbox, the properties (stiffness constant and torsional
constant) of the two shafts can be combined into one
equivalent shaft resulting in a two-mass model as shown in
the figure.
 Mechanical Drive Train Model
▪ Figure shows the two mass model of the drive train with
opposing torque action.

▪ For the turbine rotor torque, equation can be written as

𝑑2 𝜃
𝐽𝑇 2 = 𝜏 𝑇 − 𝐵𝑒𝑞 𝜔 𝑇 − 𝜔𝐺 − 𝐾𝑒𝑞 𝜃𝑇 − 𝜃𝐺
𝑑𝑡
 Mechanical Drive Train Model

▪ For the generator torque, equation can be written as

𝑑2𝜃
𝐽𝐺 2 = −𝜏𝐺 + 𝐵𝑒𝑞 𝜔 𝑇 − 𝜔𝐺 + 𝐾𝑒𝑞 𝜃𝑇 − 𝜃𝐺
𝑑𝑡
 Induction Generator Model
▪ Consider a two pole, wound rotor induction machine.
 Induction Generator Model
▪ Consider a two pole, wound rotor induction machine.
 Induction Generator Model
▪ The voltage equations in machine variables are
𝑑
𝐯𝑎𝑏𝑐𝑠 = 𝐫𝑠 𝐢𝑎𝑏𝑐𝑠 + 𝛌𝑎𝑏𝑐𝑠
𝑑𝑡 s subscript denotes
𝑑 variables and
𝐯𝑎𝑏𝑐𝑟 = 𝐫𝑟 𝐢𝑎𝑏𝑐𝑟 + 𝛌𝑎𝑏𝑐𝑟
𝑑𝑡 parameters related to
the stator and r
denotes for rotor
Where

𝑟𝑠 0 0 𝑓𝑎𝑠
𝐫𝑠 = 0 𝑟𝑠 0 𝐟𝑎𝑏𝑐𝑠 = 𝑓𝑏𝑠
0 0 𝑟𝑠 𝑓𝑐𝑠 𝛌𝑎𝑏𝑐𝑠 𝐋𝑠 𝐋𝑠𝑟 𝐢𝑎𝑏𝑐𝑠
= 𝑇
𝛌𝑎𝑏𝑐𝑟 𝐋𝑠𝑟 𝐋𝑟 𝐢𝑎𝑏𝑐𝑟
𝑟𝑟 0 0 𝑓𝑎𝑟
𝐫𝑟 = 0 𝑟𝑟 0
𝐟𝑎𝑏𝑐𝑟 = 𝑓𝑏𝑟
0 0 𝑟𝑟
𝑓𝑐𝑟
 Induction Generator Model
1 1
𝐿𝑙𝑠 + 𝐿𝑚𝑠 − 𝐿𝑚𝑠 − 𝐿𝑚𝑠
2 2
1 1 𝐿𝑙𝑠 and 𝐿𝑚𝑠 are leakage
𝐋𝑠 = − 𝐿𝑚𝑠 𝐿𝑙𝑠 + 𝐿𝑚𝑠 − 𝐿𝑚𝑠 and magnetizing
2 2 inductance of the stator
1 1
− 𝐿𝑚𝑠 − 𝐿𝑚𝑠 𝐿𝑙𝑠 + 𝐿𝑚𝑠
2 2
1 1
𝐿𝑙𝑟 + 𝐿𝑚𝑟 − 𝐿𝑚𝑟 − 𝐿𝑚𝑟
2 2
1 1 𝐿𝑙𝑟 and 𝐿𝑚𝑟 are leakage
𝐋𝑟 = − 𝐿𝑚𝑟 𝐿𝑙𝑟 + 𝐿𝑚𝑟 − 𝐿𝑚𝑟 and magnetizing
2 2 inductance of the rotor
1 1
− 𝐿𝑚𝑟 − 𝐿𝑚𝑟 𝐿𝑙𝑟 + 𝐿𝑚𝑟
2 2
 Induction Generator Model

2𝜋 2𝜋
cos 𝜃𝑟 cos 𝜃𝑟 + cos 𝜃𝑟 −
3 3
2𝜋 2𝜋
𝐋𝑠𝑟 = 𝐿𝑠𝑟 cos 𝜃𝑟 − cos 𝜃𝑟 cos 𝜃𝑟 +
3 3
2𝜋 2𝜋
cos 𝜃𝑟 + cos 𝜃𝑟 − cos 𝜃𝑟
3 3

𝐿𝑠𝑟 is the amplitude of the mutual inductances between stator

and rotor windings
Observe that the mutual inductance is dependent on the rotor
position indicated by 𝜃𝑟 .
 Induction Generator Model
▪ Referring the rotor variables to stator considering turns ratio
𝑁𝑠
𝑁𝑟
𝑑 𝑑 ′
𝐫𝑠 + 𝐋𝑠 𝐋𝑠𝑟
𝐯𝑎𝑏𝑐𝑠 𝑑𝑡 𝑑𝑡 𝐢𝑎𝑏𝑐𝑠
′
𝐯𝑎𝑏𝑐𝑟 = 𝑇 ′
𝑑 ′ ′
𝑑 ′
𝐢 𝑎𝑏𝑐𝑟
𝐋𝑠𝑟 𝐫𝑟 + 𝐋𝑟
𝑑𝑡 𝑑𝑡

1 1
𝐿′𝑙𝑟 + 𝐿𝑚𝑟 − 𝐿𝑚𝑟 − 𝐿𝑚𝑟
2 2
1 1
𝐋′𝑟 = − 𝐿𝑚𝑟 𝐿′𝑙𝑟 + 𝐿𝑚𝑟 − 𝐿𝑚𝑟
2 2
1 1
− 𝐿𝑚𝑟 − 𝐿𝑚𝑟 𝐿′𝑙𝑟 + 𝐿𝑚𝑟
2 2
 Induction Generator Model

2𝜋 2𝜋
cos 𝜃𝑟 cos 𝜃𝑟 + cos 𝜃𝑟 −
3 3
2𝜋 2𝜋
𝐋′𝑠𝑟 = 𝐿𝑚𝑠 cos 𝜃𝑟 − cos 𝜃𝑟 cos 𝜃𝑟 +
3 3
2𝜋 2𝜋
cos 𝜃𝑟 + cos 𝜃𝑟 − cos 𝜃𝑟
3 3
 Torque Equation

𝑇𝑒
𝑃 ′
1 ′ 1 ′ ′ 1 ′ 1 ′
= − 𝐿𝑚𝑠 ቊቈ𝑖𝑎𝑠 𝑖𝑎𝑟 − 𝑖𝑏𝑟 − 𝑖𝑐𝑟 + 𝑖𝑏𝑠 𝑖𝑏𝑟 − 𝑖𝑐𝑟 − 𝑖𝑎𝑟
2 2 2 2 2
′
1 ′ 1 ′
+ 𝑖𝑐𝑠 𝑖𝑐𝑟 − 𝑖𝑎𝑟 − 𝑖𝑏𝑟 ቉ sin 𝜃𝑟
2 2
3 ′ ′ ′ − 𝑖′ ′ ′
+ 𝑖𝑎𝑠 𝑖𝑏𝑟 − 𝑖𝑐𝑟 + 𝑖𝑏𝑠 𝑖𝑐𝑟 𝑎𝑟 + 𝑖𝑐𝑠 𝑖𝑎𝑟 − 𝑖𝑏𝑟 cos 𝜃𝑟 ቋ
2
Summary of Transformation Matrix
 Induction Generator - 𝒅𝒒𝟎 Model
𝑑𝜆𝑑𝑠 Where the flux linkages are given
𝑣𝑑𝑠 = 𝑟𝑠 𝑖𝑑𝑠 + 𝜔𝑠 𝜆𝑞𝑠 + by
𝑑𝑡 ′
𝑑𝜆𝑞𝑠 𝜆𝑑𝑠 = 𝐿𝑙𝑠 𝑖𝑑𝑠 + 𝐿𝑀 (𝑖𝑑𝑠 + 𝑖𝑑𝑟 )
𝑣𝑞𝑠 = 𝑟𝑠 𝑖𝑞𝑠 − 𝜔𝑠 𝜆𝑑𝑠 + ′ )
𝜆𝑞𝑠 = 𝐿𝑙𝑠 𝑖𝑞𝑠 + 𝐿𝑀 (𝑖𝑞𝑠 + 𝑖𝑞𝑟
𝑑𝑡
𝑑𝜆0𝑠 𝜆0𝑠 = 𝐿𝑙𝑠 𝑖0𝑠
𝑣0𝑠 = 𝑟𝑠 𝑖0𝑠 +
𝑑𝑡 𝜆′𝑑𝑟 = 𝐿′𝑙𝑟 𝑖𝑑𝑟
′ ′
+ 𝐿𝑀 (𝑖𝑑𝑠 + 𝑖𝑑𝑟 )
′ ′ 𝑑 ′ 𝜆′𝑞𝑟 = 𝐿′𝑙𝑟 𝑖𝑞𝑟
′ + 𝐿 (𝑖 + 𝑖 ′ )
𝑣𝑑𝑟 = 𝑟𝑟′ 𝑖𝑑𝑟+ 𝜔− 𝜔𝑟 𝜆′𝑞𝑟 + 𝜆𝑑𝑟 𝑀 𝑞𝑠 𝑞𝑟
𝑑𝑡 𝜆′0𝑟 = 𝐿′𝑙𝑟 𝑖0𝑟
′

′ ′ ′ ′ 𝑑 ′
𝑣𝑞𝑟 = 𝑟𝑟 𝑖𝑞𝑟 − 𝜔 − 𝜔𝑟 𝜆𝑑𝑟 + 𝜆𝑞𝑟
𝑑𝑡
′ ′ ′
𝑑 ′
𝑣0𝑟 = 𝑟𝑟 𝑖0𝑟 + 𝜆0𝑟
𝑑𝑡
Equivalent Circuit
 Torque Equation

The equation of torque in dqo model is given by

3 𝑃 ′ − 𝑖 𝑖′
𝑇𝑒 = 𝐿𝑀 𝑖𝑑𝑠 𝑖𝑞𝑟 𝑞𝑠 𝑑𝑟
2 2
 Synchronous Generator Model
▪ Consider a two pole, three phase synchronous machine
Synchronous Generator – 𝒂𝒃𝒄 Model
Synchronous Generator – 𝒂𝒃𝒄 Model
Synchronous Generator – 𝒂𝒃𝒄 Model
Synchronous Generator – 𝒂𝒃𝒄 Model
Synchronous Generator – 𝒂𝒃𝒄 Model
Synchronous Generator – 𝒅𝒒𝟎 Model
Synchronous Generator – 𝒅𝒒𝟎 Model