Grid Connection of Doubly-Fed Induction Generators

in Wind Energy Conversion System

Ahmed G. Abo-Khalil , and Dong-Choon Lee and Se-Hyun Lee
Dept. of Electrical. Eng. Yeungnam Univ., 214-1, Daedong, Gyeongsan, Gyeongbuk, Korea
Electro-Mechanical Research Institute, Hyundai Heavy Industry Co., Ltd, Gyeongki, Korea
E-mail **: [Link]

Abstract-This paper presents a new synchronization wind turbine it offers several advantages over the fixed
algorithm for grid connection of a doubly fed induction speed generator systems. These advantages, including
generator (DFIG) in wind generation system. A stator flux- speed control and reduced flickers, are primarily achieved
oriented vector control is used for the variable speed DFIG by controlling the voltage source converter, with its
operation. By controlling the generator excitation current inherent bi-directional active and reactive power flow [4].
the amplitude of the stator EMF is adjusted equal to the Before connecting the stator of the DFIG to the grid
amplitude of the grid voltage. To set the generator terminals, the stator voltage has to be adjusted to be
frequency equal to the grid one, the turbine pitch angle synchronized with the line voltage. There are only a few
controller accelerates the turbine/generator until it reaches papers which handled the DFIG control for the
the synchronous speed. A slight difference of stator and grid synchronization process. There are some control schemes
frequencies may cause the large phase difference between
for DFIG synchronization [5], [6]. In these papers, the
transition state for synchronizing duration was not
the two voltages. To compensate for this phase difference, a
investigated in detail.
PLL algorithm is used. After the synchronization is
This paper describes a smooth and fast synchronization
achieved, the generator is connected to the grid and is scheme of the DFIG to the grid as well as independent
controlled to extract the maximum power. The effectiveness control of active and reactive power of the generator using
of the proposed synchronization algorithm is verified by the stator flux-oriented control at normal operation.
simulation results using PSCAD. During the synchronization process, the blade pitch angle
controller adjusts the speed closely to the synchronous
Keyword- Wind energy, synchronization, DFIG, PSCAD. speed to make it sure that the stator frequency is the same
as that of the grid. The magnitude of stator induced
INTRODUCTION
I. voltage is controlled by adjusting the rotor flux and the
phase difference between the stator and grid voltages is
Wind energy is one of the most important and compensated by PLL algorithm. The wind turbine control
promising sources of renewable energy all over the world, systems are developed using PSCAD software.
mainly because it is considered to be nonpolluting and
economically viable. At the same time, there has been a WIND TURBINE ODEL
II.
rapid development of related wind turbine technology [1]. A simplified aerodynamic model can be used when the
A doubly-fed induction generator is based on a wound electrical behavior of the wind turbine is the main interest.
rotor induction machine. The three-phase rotor windings The relation between the wind speed and aerodynamic
are supplied with a voltage of controllable amplitude and torque may be described by the following equation [10]:
frequency using an ac/ac converter. Consequently, the
speed can be varied while the operating frequency on the Tt = IpzR3 2 CP(A,,8) (1)
stator side remains constant. Depending on the required 2 A
speed range, the rotor converter rating is usually low where
compared with the machine rating. Therefore, a DFIG is T1: turbine aerodynamic torque [Nm]
preferable for variable-speed wind turbine applications p: specific density of air [kg/m3];
[2].
The choice of control strategy incorporated can vary v wind speed [m/s];
depending on wind turbine generators, but the most R: radius of the turbine blade[m];
popular control scheme for the DFIG of wind turbine CP coefficient of power conversion;
generators is a field-oriented control (FOC). This control
strategy is well established in the field of variable-speed ,l pitch angle.
drives and, when applied to the DFIG control, allows The rotational system may therefore be modeled by a
independent control of the electromagnetic torque and equation of motion [11]:
stator reactive power [3]. The DFIG using back-to-back [Link] Tg - - Bog (2)
PWM converters for the rotor-side control has been dt T,
well established in wind power system. When used with a where J is the system inertia, ag is the rotor speed, Tg

1-4244-0449-5/06/$20.00 ©02006 IEEE IPEMC 2006

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 Wind turbine
Wind
*.- DFIG
SW3 Trari

Ge arbo~x
I.-
Raio :n SW

Pitch-angle D
controller
q V-OtageX
Fig. 1. Basic configuration of DFIG wind turbine coesrntrolIlerxrole
s
e A iqs
e qp i
\s
cA9 ds
\i
\\
I./
L: roto sefidutne
,;91 1 dr
S0 atordls
Stator flux

del-iqnfuxctinage
srrtato
Fig. 2. Vector diagram for stator flux-oriented control
Kidr qrrotor
* d-q flux linkage;
is the generator torque, T7 is the turbine torque and B is '1,
dS dr :magnetizing, stator and rotor d-axis
the damping coefficient. currents.
CONTROL OF DFIG
III. Rotor voltages in d-q reference frame can be expressed as
a function of rotor and magnetizing currents
A schematic diagram of the overall system is shown in
Fig. 1. Back-to-back PWM converters are connected
between the rotor of 2[MW] DFIG and the grid utility. Vdr =Rridr + ir dd
dt Ctslir qr (7)
The DFIG is controlled in a rotating d-q reference frame,
with the d-axis aligned along the stator-flux vector as (8)
Vqr = -Rrqr +0r dtq + sl(OLridr + m
ims
shown in Fig. 2. For the stable control of the active and
reactive power, it is necessary to independently control where
them. The stator active and reactive power of the DFIG is Vdr Vqr: rotor d-q voltages;
controlled by regulating the current and voltage of the
rotor windings. Therefore the current and voltage of the Rr: rotor resistance;
rotor windings need to be decomposed into components Cos: slip angular frequency.
related to the stator active and reactive power. The stator flux angle is calculated as follows:
A. Stator-Flux Oriented Control of DFIG ds= d(vs -Rs dt (9)
For the stator active and reactive power control, a d-q = J(vs -Rsis )dt (10)
reference frame synchronized with the stator flux is AS
chosen. The stator flux vector is adjusted to be aligned 0L/e ta -1 /qs
sI
(1 1)
with the d-axis. The flux linkages of the stator and rotor /ds
are expressed as [7]: where a superscript "s"~represents quantities in stationary
reference frame and
As ids =Lmims = Lsids + midr (3)
RS stator resistance;
Adr = L'f' ims + oEridr (4) Oe: synchronous frame angle.
B. Power control
Aqr JLridr
= (5)
Adjustment of the q-axis component of the rotor
L 2

(6) current controls either the generator developed-torque or

c = I
LrLs the stator-side active power of the DFIG.
where
Lm : magnetizing inductance; 3 Lm(12)
(12)
Ls stator self-inductance;
I
2 (Vqs qs +Vdsids) 2 L
-
qs qr

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 "
Power optimization O
ii perating speed range

-
_~~~~~~ c
D E
0
D,E

2 A A
Vc Vn Vs tOtiJ
CiJn CD,aA
Wind speed[m/s] Generator speed [rpm]
(a) (b)

Fig. 4. Wind turbine characteristics

src
srcj e =o
+ ds
V src

Vds _
Ssos
Vbs
Fig. 6. Sequence of synchronization
Fig. 5. Phase difference compensation for synchronization

On the other hand, regulating the rotor d-axis current coordinates, these must be transformed into the same
component controls directly the stator-side reactive reference frame. This is achieved by rotating the rotor
power. current reference vector by an angular position Os,. Due
3 3 L to the rotor speed variation, O,s is updated at every
Q, =-2(vqsids- Vdsq) = 22 LVqs (ims
Ls
idr) (13)
sample interval. Once the reference frames for both the
It is noticeable that the stator active and reactive power reference and measured current vectors are conformed,
components are proportional to the iq, and idr, respectively. simple proportional plus integral (PI) regulators can be
Fig. 3 shows the schematic configuration of the DFIG used to control the d-q components of the rotor current.
wind turbine system and its simplified control scheme. C. Synchronization control
The stator of the DFIG is connected to the utility grid. The
back-to-back PWM converters provide a bidirectional The process of connecting the DFIG to the grid
power-flow control thereby enabling the DFIG to operate consists of two stages, that is, synchronization stage and
either in subsynchronous ( < °e ) or in (or
running stage. At standstill, rotor blades are in a
feathering position and the generator is disconnected
supersynchronous modes ( r > Coe )' In both modes the from the grid. From a complete stop, the first step is to
stator active power is generated from the DFIG and charge the dc link voltage by closing SWI as shown in
delivered to the grid. On the other hand, the rotor active Fig. 1. The anemometer measures the wind speed and if
power is either supplied to the machine in the the wind speed is higher than the cut-in value, the switch
subsynchronous mode or delivered to the grid in the SW2 is closed and the pitch controller changes the blade
supersynchronous mode. The stator active power is pitch angle so that the turbine begins to rotate. The
controlled directly assuming that a maximum generator controller of the generator rotor side is activated so an
developed power is known from the optimum generator excitation current is sent through the rotor.
speed value. The excitation current generates the generator flux and
The operating curve of the studied wind turbine, which then the stator EMF. The turbine accelerates until it
is applied to most modem wind turbines [8], is illustrated reaches near the rated speed. At this point the frequency
in Fig. 4. This curve is characterized by four sections as of the stator EMF is about the same as that of the grid
follows; A-B for minimum rotor speed which is less voltage. The amplitude of the stator EMF is about the
than that for optimal operation, B-C for an optimal same as that of the grid. Even slightly different
characteristic curve given by P* = Koptv3(where v is the frequencies may cause the phase difference between the
two voltages. To compensate for the phase difference
wind speed) between the cut-in speed and the rated speed, between the stator EMF and grid voltage, the phase
C-D for a constant speed characteristic up to the rated difference compensation component 0s, is added to the
power, and D- E for a constant power characteristic for
higher wind speed than the rated value followed by a calculated slip angle as shown in Fig. 5. The
blade pitch control. compensation component 3Os, is calculated by
The optimum power P* of the DFIG is used as the controlling the stator d-axis voltage component to be zero,
reference value for the power control loop. In the inner equally to the grid d-axis voltage.
current control loop, the stator-flux vector position is The synchronization process is summarized in the flow
used to establish a reference frame that allows q-axis chart shown in Fig. 6. After the synchronization
components of the rotor current to be controlled. As the conditions are achieved, the stator-side contactor is
rotor current reference is expressed in stator-flux closed, and the generator is connected to the grid.

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 Fig. 7. Block diagram of pitch angle control

The pitch angle controller sets the blade pitch at the

optimum point if the blades are not yet at this point. The
generator power reference is set to the maximum value
which is determined by the wind speed and the pitch
angle. Usually the reactive power reference between the
grid and the generator is set according to the grid
requirements.

D. Pitch angle control

The aerodynamic model of the wind turbine has shown
that the aerodynamic efficiency is strongly influenced by
variation of the blade pitch angle with respect to the
direction of the wind or to the plane of rotation. Small
changes in the pitch angle may have a dramatic effect on
the power output. In low to moderate wind speeds, the
pitch angle should only be at its optimum value to
produce the maximum power. In high wind speeds, the
pitch angle control provides a very effective means of
regulating the aerodynamic power and loads produced by
the rotor so that design limits are not exceeded. The
relationship between pitch angle and wind speed is shown
in Fig. 7.
IV. SIMULATION RESULTS
The proposed model is implemented using PSCAD
software and simulated to investigate the DFIG operation
during starting and normal running. From a complete stop,
the dc link capacitor is connected to the grid utility
through the back-to-back PWM converters at t=O[s].
Speed, torque, rotor and stator currents are all zero
initially since the rotor and stator are open-circuited.
The pitch angle is controlled from the feathering
position to the turbine rated speed position. At t=0.5[s],
the rotor terminals are connected to the dc link capacitor
through SW2. The stator voltage amplitude increases
(a) m

*L

(a) B

(b) F

0
60

.=
3.0k

2U 1

2.2k
-

0-50

SO-
'Gridl nari

ZO2.E ........................

00|
CO . . . . . . . . . . . .

Ok

001|
c i-124i.........................

_
11K . . . . . . . . . . . .
08
0525

Fig. 9. Generator performance

ao
Synchroriior

Q550

(a) Stator current (b) Rotor current (c) Speed

After the fault clearing, the synchronization process

can be applied again for recovering the generator power.
In Fig. 10, the fault occurs after 2 [s], then the
aforementioned steps are performed to resynchronize the
generator. The stator currents during the disconnection
are zeros, while the rotor current is equal to the
magnetizing current as shown in Fig. 10(a) and (b). The
stator active power is adjusted to the optimum power
value during normal operation and is set to zero during
faults. Consequently, the generator runs at the
synchronous speed during the synchronizing process at
57 0.a .

Fig. 8. Stator and grid

(a) Phase angle (b) Voltage
SbMe cureEtb

1.20
. 0S

1AO

with the rotor flux current and the phase angle is adjusted starting and re-synchronizing process after fault clearing.
using the PLL algorithm. It is noticeable that the After synchronization, the generator runs at a speed
synchronization process takes almost two cycles, which corresponding to the optimum power as shown in Fig.
means that the synchronization control is fast as shown in 1O(c) and (d).
Fig. 8. After satisfying the synchronization conditions, The generator performance for step variations of wind
the stator contactor is closed and the generator supplies speed is shown in Fig. 11. At low wind speed the
the grid with the power corresponding to the wind speed. controller operates at constant pitch angle and varying
From that time, the control algorithm for normal rotational speed. The generator active power reference is
condition replaces the starting algorithm. The rotor d, q- adjusted to extract the maximum power and the reactive
axis currents are adjusted according to the active and power reference is determined by the grid side
reactive power reference. The stator and rotor currents requirement. In this study, the reactive power reference is
and generator speed are shown in Fig. 9. set to zero. The active and reactive power controllers give
During fault condition, the stator terminals are a fast dynamic response and good steady state
disconnected from the grid while the rotor terminals are performance.
kept connected. The pitch angle controller adjusts the At high wind speeds, the pitch angle controller controls
pitch angle to the position which reduces the effect of the the generator speed at the rated value. It is noticeable that
abnormal condition. the generator power is limited to the rated value of

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 2[MW] during the high wind speed operation as shown in
Fig. 11 (a). It is noticeable that the system is reliable and
fast to achieve synchronization as well as excellent
control for normal operating condition.
CONCLUSIONS
V.
In this paper, a new synchronization scheme of stator (b) |
G

flux-oriented DFIG control systems to the utility gird has

been proposed. Compared to the existing DFIG
synchronization algorithms, the proposed method gives
fast starting and can take only 2 cycles to be performed.
.......... .............

The stator EMF, frequency and phase angle are adjusted

according to the grid values. The pitch angle controller ..
2.....................SI:Z.

adjusts the turbine speed at the synchronous speed for

equal frequencies. The stator EMF is generated then [Link]~anctie ate difeetootrlmoe
10
adjusted by controlling the generator d-axis current to be
equal to the grid voltage. The voltage phase difference is
compensated by comparing the d-axis voltage component v

of both sides. The proposed synchronization algorithm

gives smooth and fast synchronization, which enables the Fig. 10 Generator performance at different control modes
system to be resynehronized quickly after grid fault
W e p1w-2Mard
AfN
clearing. The steady state and transient responses of the
power, current and pitch angle controllers show excellent
performance for the different modes and wind speed. (clz
PSCAD simulation has verified that the proposed
Q 0..................................... .................. ........................................................................... ........................

synchronization and control algorithms are effective and

advantageous for 2[MW] DFIG wind power system. ~24M

a1
PO
ACKNOWLEDGMENT
This work has been supported by the KEMCO (Korea
Energy Management Corporation) under project grant (b) >|
Xok
o
(2004-N-WD12-P-06-3-010-2005).
46............
REFERENCES
.....................................

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