Small-Signal Modelling and Analysis of Doubly-Fed Induction Generators in Wind Power Applications

The worldwide demand for more diverse and greener energy supply has had a significant impact on the development of wind energy in the last decades. From 2 GW in 1990, the global installed capacity has now reached about 100 GW and is estimated to grow to 1000 GW by 2025. As wind power penetration increases, it is important to investigate its effect on the power system. Among the various technologies available for wind energy conversion, the doubly-fed induction generator (DFIG) is one of the preferred solutions because it offers the advantages of reduced mechanical stress and optimised power capture thanks to variable speed operation. This work presents the small-signal modelling and analysis of the DFIG for power system stability studies. This thesis starts by reviewing the mathematical models of wind turbines with DFIG convenient for power system studies. Different approaches proposed in the literature for the modelling of the turbine, drive-train, generator, rotor converter and external power system are discussed. It is shown that the flexibility of the drive train should be represented by a two-mass model in the presence of a gearbox. In the analysis part, the steady-state behaviour of the DFIG is examined. Comparison is made with the conventional synchronous generators (SG) and squirrel-cage induction generators to highlight the differences between the machines. The initialisation of the DFIG dynamic variables and other operating quantities is then discussed. Various methods are briefly reviewed and a step-by-step procedure is suggested to avoid the iterative computations in initial condition mentioned in the literature. The dynamical behaviour of the DFIG is studied with eigenvalue analysis. Modal analysis is performed for both open-loop and closed-loop situations. The effect of parameters and operating point variations on small signal stability is observed. For the open-loop DFIG, conditions on machine parameters are obtained to ensure stability of the system. For the closed-loop DFIG, it is shown that the generator electrical transients may be neglected once the converter controls are properly tuned. A tuning procedure is proposed and conditions on proportional gains are obtained for stable electrical dynamics. Finally, small-signal analysis of a multi-machine system with both SG and DFIG is performed. It is shown that there is no common mode to the two types of generators. The result confirms that the DFIG does not introduce negative damping to the system, however it is also shown that the overall effect of the DFIG on the power system stability depends on several structural factors and a general statement as to whether it improves or detriorates the oscillatory stability of a system can not be made

Nonlinear Dual-Mode Control of Variable-Speed Wind Turbines with Doubly Fed Induction Generators

This paper presents a feedback/feedforward nonlinear controller for variable-speed wind turbines with doubly fed induction generators. By appropriately adjusting the rotor voltages and the blade pitch angle, the controller simultaneously enables: (a) control of the active power in both the maximum power tracking and power regulation modes, (b) seamless switching between the two modes, and (c) control of the reactive power so that a desirable power factor is maintained. Unlike many existing designs, the controller is developed based on original, nonlinear, electromechanically-coupled models of wind turbines, without attempting approximate linearization. Its development consists of three steps: (i) employ feedback linearization to exactly cancel some of the nonlinearities and perform arbitrary pole placement, (ii) design a speed controller that makes the rotor angular velocity track a desired reference whenever possible, and (iii) introduce a Lyapunov-like function and present a gradient-based approach for minimizing this function. The effectiveness of the controller is demonstrated through simulation of a wind turbine operating under several scenarios.Comment: 14 pages, 9 figures, accepted for publication in IEEE Transactions on Control Systems Technolog

Sensorless control of doubly-fed induction generators based on stator high frequency signal injection

High frequency signal injection based methods have been widely investigated for sensorless position/speed control of induction machines (IMs), permanent magnet synchronous machines (PMSMs) and more recently for doubly fed induction generators (DFIGs). When used with IMs and PMSMs, the high frequency signal is injected in the stator windings, an asymmetric (salient) rotor being required for this case. Contrary to this, both stator and rotor terminals are accessible and sensored in DFIGs, being therefore possible to inject the high frequency signal either in the stator or the rotor terminals. As consequence of this, the method can be used even if the machine is non-salient. In the implementation of the method with DFIGs, the high frequency voltage signal is typically injected in the rotor, the high frequency components (voltages of currents) induced in the stator being used for rotor position estimation. A drawback of this alternative is that the method is sensitive to the grid impedance in the stator side, which will be affected by the grid configuration, and is normally unknown. This paper proposes the sensorless control a DFIG injecting the high frequency voltage in the stator side, and using a high frequency current cancellation strategy in the rotor side. The main advantage of the proposed strategy is that the estimated position is independent of the grid characteristic

Effiziente Modellierung von Windenergieanlagen mit doppelt gespeister Asynchronmaschine und Vollumrichter für Untersuchungen der Frequenzstabilität

The contribution of wind turbines (WTs) to enhance the frequency stability of power systems is traditionally analyzed using commonly applied root mean square (RMS) models. RMS WT models require smaller simulation time steps compared to conventional active devices (i.e., synchronous generators and dynamic loads) due to the comparatively smaller time constants of the converter controllers. Such small time steps become relevant in simulations of large-scale power systems with a high level of WT penetration and lead to high computational time and effort. This paper presents simplified simulation models of a doubly-fed induction generator-based WT and a full-scale converter-based WT, which enable higher simulation time steps due to the negligence of very small time constants with no relevant effects in the time frame of interest of frequency stability analysis. The models are derived from detailed RMS WT models based on fundamental machine and converter equations. In order to verify the validity of the underlying simplifications, the simplified models are compared to the detailed RMS models with a focus on their general behavior in case of step responses and their frequency responses in the event of a frequency drop in a 220 kV test system. For this purpose, both the detailed RMS WT models as well as the simplified WT models are extended with a droop-based fast frequency response controller and implemented in a MATLAB-based RMS simulation tool. The results of the case studies show feasible and comparable general behavior of the WT models as well as plausible frequency responses.Der Beitrag von Windenergieanlagen (WEA) zur Erhöhung der Frequenzstabilität wird klassischerweise mit quasistationären Modellen untersucht. Die Verwendung quasistationärer Modelle von WEA erfordert, aufgrund der im Vergleich zu konventionellen aktiven Betriebsmitteln (wie Synchronmaschinen oder dynamischen Lasten) kleineren Zeitkonstanten der Umrichterregelung, kleinere Zeitschritte in der Simulation. Diese kleinen Zeitkonstanten werden relevant bei der Simulation ausgedehnter Elektroenergiesysteme mit hohem Anteil von WEA und führen zu hohen Rechenzeiten. In dieser Veröffentlichung werden vereinfachte Modelle für WEA mit doppelt gespeister Asynchronmaschine bzw. mit Vollumrichter vorgestellt. Durch die Vernachlässigung kleiner Zeitkonstanten ohne größere Auswirkungen im Zeitbereich der Frequenzstabilität können die Zeitschritte der Simulation deutlich erhöht werden. Die Modelle werden aus detaillierten quasistationären Modellen abgeleitet, die auf den grundlegenden Gleichungen der Maschinen und Umrichter basieren. Um die Gültigkeit der getroffenen Vereinfachungen zu bestätigen, werden die vereinfachten mit den detaillierten quasistationären Modellen verglichen. Der Fokus liegt dabei auf der Sprung- und Frequenzantwort im Falle eines Frequenzeinbruchs in einem 220-kV-Testsystem. Für die Untersuchungen werden die vereinfachten und die detaillierten Modelle um einen auf einer Statik basierenden Fast Frequency Response-Regler ergänzt und in einem quasistationären Simulationstool in MATLAB implementiert. Die Ergebnisse der Fallstudien zeigen plausible und vergleichbare Verhalten der Modelle der WEA sowie plausible Frequenzverläufe

The adequacy of the present practice in dynamic aggregated modelling of wind farm systems

Large offshore wind farms are usually composed of several hundred individual wind turbines, each turbine having its own complex set of dynamics. The analysis of the dynamic interaction between wind turbine generators (WTG), interconnecting ac cables, and voltage source converter (VSC) based High Voltage DC (HVDC) system is difficult because of the complexity and the scale of the entire system. The detailed modelling and modal analysis of a representative wind farm system reveal the presence of several critical resonant modes within the system. Several of these modes have frequencies close to harmonics of the power system frequency with poor damping. From a computational perspective the aggregation of the physical model is necessary in order to reduce the degree of complexity to a practical level. This paper focuses on the present practices of the aggregation of the WTGs and the collection system, and their influence on the damping and frequency characteristics of the critical oscillatory modes. The effect of aggregation on the critical modes are discussed using modal analysis and dynamic simulation. The adequacy of aggregation method is discussed

Modeling and Control of a Doubly-Fed Induction Generator for Wind Turbine-Generator Systems

Wind energy plays an increasingly important role in the world because it is friendly to the environment. During the last decades, the concept of a variable-speed wind turbine (WT) has been receiving increasing attention due to the fact that it is more controllable and efficient, and has good power quality. As the demand of controllability of variable speed WTs increases, it is therefore important and necessary to investigate the modeling for wind turbine-generator systems (WTGS) that are capable of accurately simulating the behavior of each component in the WTGS. Therefore, this thesis will provide detailed models of a grid-connected wind turbine system equipped with a doubly-fed induction generator (DFIG), which includes the aerodynamic models of the wind turbine, the models of the mechanical transmission system, the DFIG models and the three-phase two-level PWM voltage source converter models. In order to obtain satisfying output power from the WTGS, control strategies are also necessary to be developed based on the previously obtained WTGS models. These control schemes include the grid-side converter control, the generator-side converter control, the maximum power point tracking control and the pitch angle control. The grid-side converter controller is used to keep the DC-link voltage constant and yield a unity power factor looking into the WTGS from the grid-side. The generator-side converter controller has the ability of regulating the torque, active power and reactive power. The maximum power point tracking control is used to provide the reference values for the active power at the stator terminals. The pitch angle control scheme is used to regulate the pitch angle and thus keep the output power at rated value even when the wind speed experiences gusts. Various studies in the literature have reported that two-level converters have several disadvantages compared with three-level converters. Among the disadvantages are high switching losses, high dv/dt, and high total harmonic distortion (THD). Hence, the models and field oriented control schemes for three-level neutral-point-clamped (NPC) converters are also investigated and applied to a WTGS. Besides, an advanced modulation technology, namely, space vector PWM (SVPWM), is also investigated and compared to traditional sinusoidal PWM in a WTGS

Impact Of Wind Farms With Energy Storage On Transient Stability

Today’s energy infrastructure will need to rapidly expand in terms of reliability and flexibility due to aging infrastructure, changing energy market conditions, projected load increases, and system reliability requirements. Over the few decades, several states in the U.S. are now requiring an increase in wind penetration. These requirements will have impacts on grid reliability given the inherent intermittency of wind generation and much research has been completed on the impact of wind on grid reliability. Energy storage has been proposed as a tool to provide greater levels of reliability; however, little research has occurred in the area of wind with storage and its impact on stability given different possible scenarios. This thesis addresses the impact of wind farm penetration on transient stability when energy storage is added. The results show that battery energy storage located at the wind energy site can improve the stability response of the system