Modeling and Simulation of Doubly Fed Induction Generator Coupled With Wind · PDF file · 2015-07-29Modeling and Simulation of Doubly Fed Induction ... Doubly-fed induction generator,

Journal of Engineering, Computers & Applied Sciences (JEC&AS) ISSN No: 2319-5606 Volume 2, No.8, August 2013 _________________________________________________________________________________

www.borjournals.com Blue Ocean Research Journals 45

Modeling and Simulation of Doubly Fed Induction

Generator Coupled With Wind Turbine-An Overview

Ankit Gupta, M.Tech Student, Alternate Hydro Energy Centre, Indian Institute of Technology Roorkee, Roorkee,

Uttarakhand (India)

S.N. Singh, Senior Scientific Officer, Alternate Hydro Energy Centre, Indian Institute of Technology Roorkee,

Roorkee, Uttarakhand (India)

Dheeraj K. Khatod, Assistant Professor, Alternate Hydro Energy Centre, Indian Institute of Technology Roorkee,

Roorkee, Uttarakhand (India)

ABSTRACT This paper gives an overview of Modeling and simulation of Doubly Fed Induction generator (DFIG) coupled with

wind turbine. Latest researches and developments which have been published in imminent journals through

rigorous review are overviewed in this paper. Because of the advantages of the DFIG over other generators it is

being used for most of the wind applications. Various researches have been done in modelling and simulation field

of DFIG coupled with wind turbine. This paper summarises the researches in the area of study of DFIG, steady

state and transient analysis, its modelling, simulation, reactive power control strategies and performance analysis

of DFIG coupled with wind turbine. The response of DFIG wind turbine system to grid disturbances, which is

simulated and verified experimentally, is overviewed here. The behaviour of DFIG wind turbine system for different

faults is also overviewed in this paper.

Keywords: Doubly-fed induction generator, wind turbine, wind energy, wind energy conversion system, voltage

sag.

Introduction The wind energy industry is booming due to its

capability of producing ecologically sustainable

energy. China has the most installed wind energy

capacity, followed by the United States, Germany,

Spain and India. Wind energy is one of the fastest

growing industries at present and it will continue to

grow worldwide, as many countries have plans for

future development.

According to the Centre for Wind Energy

Technology, Government of India- Growing concern

for the environmental degradation has led to the

world's interest in renewable energy resources. Wind

is commercially and operationally the most viable

renewable energy resource and accordingly,

emerging as one of the largest source in terms of the

renewable energy sector.

The Indian wind energy sector has an installed

capacity of 18.551 GW (up to 31.02.2013) [22]. In

terms of wind power installed capacity, India is

ranked 5th in the World [23]. Today India is a major

player in the global wind energy market. The

potential is far from exhausted. Indian Wind Energy

Association has estimated that with the current level

of technology, the „on-shore‟ potential for utilization

of wind energy for electricity generation is of the

order of 102 GW [24].

Wind turbines can either operate at fixed speed or

variable speed. For a fixed speed wind turbine the

generator is directly connected to the electrical grid.

For a variable speed wind turbine the generator is

controlled by power electronic equipment. There are

several reasons for using variable-speed operation of

wind turbines; among those are possibilities to reduce

stresses of the mechanical structure, acoustic noise

reduction and the possibility to control active and

reactive power. Most of the major wind turbine

manufactures are developing new larger wind

turbines in the 3-to-5-MW range. These large wind

turbines are all based on variable-speed operation

with pitch control using a direct driven synchronous

generator (without gearbox) or a doubly-fed

induction generator (DFIG). Fixed-speed induction

generators with stall control are regarded as

unfeasible for these large wind turbines. Doubly-fed

induction generators are commonly used by the wind

turbine industry for larger wind turbines [21].



Litrature Review Some of the important literature related to DFIG

modeling, simulation and analysis is presented in this

section. Wu et al. [1] presented a detailed model of

WT with DFIG and its associated controllers based

on which the small signal stability model is derived

which shows that the DFIG control can significantly

improve the stability of WT system. They performed

the dynamic simulations to illustrate the control

performance. The oscillation after the disturbances

was damped out very quickly. The peak DC link

voltage was reduced noticeably, which is very

beneficial to the operation of the fed back converters.

Fig.1, 2 and 3 shows the terminal voltage, active

power output and DC-link voltage results achieved

by them. Petersson et al. [7] simulated and verified

the DFIG WT system to grid disturbances. A full-

order model with a reduced order model was used for

simulatioon. Response were verified to the

symmetrical and unsymmetrical voltage sags. 80%

voltage sag was handled very well. They measured

the power quality impact by the DFIG WT system

and found that the flicker emission is very low, the

reactive power is close to zero and the current THD

is always less than 5%.

Fig.1. Terminal Voltage [1]

Fig. 2. Active Power output [1]

Fig. 3. DC- Link Voltage [1]

Lima et al. [8] studied a simplified model for DFIG

based WT system. They presented a new dynamic

model for wind turbines, based on DFIG, able of

representing accurately its behaviour during both the

steady state and the transient of the grid voltage. The

accuracy of the performance of the model was tested

under different conditions, by means of

PSCAD/EMTDC simulations. They concluded that

their model can be useful when simulating large scale

wind power applications. Babu and Mohanty [9]

presented the modeling and simulation of wind

turbine driven DFIG which feeds power to the utility

grid. DFIG model used by them was based on the

vectorized dynamic approach and was applicable for

all types of induction generator configurations for

steady state and transient analysis. The power flow

control was obtained by connecting two back to back

PWM converters between rotor and utility grid.

Ostadi et al. [10] studied the DFIG based wind power

system connected to a series-compensated

transmission line. They developed a nonlinear

mathematical model that takes into account dynamics

of DFIG flux observer, phase-locked loop (PLL),

controllers of the power-electronic converter, and

wind turbine. Choudhury et al. [2] simulated DFIG

system with a back-to-back converter at the rotor end

using PI controllers. They analysed the system

performance under steady state and for a sudden

change in grid voltage as the fig.4 shows the

simulation results under voltage sag. The generated

stator voltages and currents, active power supplied to

grid, VAR requirement for the DFIG are observed

and it is concluded that with the implemented vector

control strategy, the DFIG system under simulation

study is suitable under sudden change in grid voltage.



Fig. 4. Simulation result under voltage sag [2]

Masaud and Sen [11] proposed a detailed DFIG

model in Matlab/Simulink and simulated it by vector

control strategy based in stator flux oriented frames

with satisfactorily results. They presented a new

vector control strategy based on the rotor flux

oriented reference frame and compared with the

stator flux oriented vector control. Zhang and Wang

[3] analysed characteristics of every part of control

system of wind turbine by entirely dynamic

mathematical model with good precision for variable-

speed variable-pitch wind turbine. Then they took

step and turbulent wind speed signal and simulated

for typical control strategy in Matlab/Simulink

environment as shown in the fig. 5 and 6. Fig. 5

shows the simulation result for step wind step signal

it a, b and c parts shows the torque change, rotation

speed change and pitch angle change curves of

generator while a, b and c parts of fig. 6 shows the

dynamic torque, dynamic rotation and dynamic

power change curves of generator.

(a) Torque change curve of generator

(b) Rotation speed change curve of generator

(c) Pitch angle change curve

Fig. 5. Simulation result of step wind speed signal [3]



(a) Dynamic torque change curve of generator

(b) Dynamic rotation speed curve of generator

(c) Dynamic power change curve of generator

Fig. 6. Simulation result of turbulent wind speed

signal [3]

Zhang et al. [12] analysed the steady state

characteristics of DFIG in detail and proved from the

analytic expression of DFIG electromagnetic power

that it has a very extensive stability region and

intrinsic stability. It‟s all operating points are stable.

They did the stability assessment of stator-flux-

oriented system and stator-voltage-oriented system

comparably by using small signal stability analysis

scheme by linearizing the DFIG model. Alkandari et

al. [13] did the steady state analysis of DFIG, they

assumed that the machine is excited on the rotor side

by a slip-frequency current injected from an exciter

mounted on the same shaft of the machine. The

resulting magnetic field rotates at the synchronous

speed. Effects of the excitation voltage magnitude

and angle on both the active and reactive power when

the machine runs at constant speed are investigated

and shown that controlling the excitation voltage

magnitude and phase angle controls the mode of the

operation of the machine. Sediki et al. [4] established

the steady state characteristics of a DFIM under unity

power factor operation. Based on the forth

synchronized mathematical model, analytic

determination of the control laws is presented and

illustrated by various figures to understand the effect

of the applied rotor voltage on the speed and the

active power. They included the stator resistance

while other previous works neglected that. The

analytical expressions lead to a very interesting and

easy open loop control of the DFIM without any

sensors. Because of more simplicity it is more

reliable. Fig.7 shows their simulation results for

reference speed and DFIM speed, fig.8 shows the

simulation results of stator active power and reactive

power and fig. 9 shows the simulation results of

stator current components (d and q).

Fig. 7. Simulated reference speed and DFIM speed

[4]

Fig. 8. Simulated stator active and reactive power [4]



Fig.9. Simulated stator current [4]

Lei et al. [14] first reviewed the electrical equations

of the induction machine then by eliminating the flux

linkage variables in these equations, a DFIG model

which is compatible with transient analysis programs

was obtained. Then they simulated the independent

control of torque and reactive power for wind

turbines based on the assumption that the frequency

converter is ideal and simulated as a controllable

voltage source. To test the performance of the

proposed model, wind turbine responses both to a

step increase in wind speed and to a voltage dip

caused by an electrical fault were simulated using

PSS/E and compared with detailed models developed

by others.

This model is computationally efficient and suitable

for large scale power system analysis. However, due

to the assumption adopted, the model cannot be used

to study the internal dynamics of the power

converter. Wei Qiao [15] developed two different

models in PSCAD/EMTDC to represent a wind

turbine equipped with a DFIG. One is a detailed

switching-level (SL) model, in which the variable

frequency converter (VFC) is fully represented by

individual IGBT switches and a dc-link capacitor.

The other is a simplified fundamental-frequency (FF)

model, in which the VFC is represented by two

current-controlled voltage sources which take into

account the dc-link dynamics. He simulated the 3.6

MW DFIG wind turbine using both the models and

concluded that both the models provides same level

of accuracy and FF model should be used in order to

speed up the simulation process. He also concluded

that the two mass model (for shaft system models)

should be used for the study of power system

transient dynamics. Babypriya and Anita [16]

simulated operating characteristics of DFIG using

Matlab. The simulated stator real power

characteristics of the DFIG show that with increase in

the rotor injected voltage, the DFIG real power

characteristics shifts more in to the sub-synchronous

speed range and the pushover power of the DFIG

rises. For both motoring and generating modes, the

DFIG sends additional real power through its rotor to

the grid. The characteristics of rotor power are

mainly influenced by the rotor injected voltage. Rotor

power is normally smaller than the stator power and

the difference between the two depends on the values

of Vd and Vq and slip. It can also be seen that the

DFIG rotor power is capacitive when the DFIG

operates in the generating mode under a sub

synchronous speed and is inductive otherwise.

Tremblay et al. [17] presented the comparison of

three most widespread and well performing control

strategies (vector control, direct torque control and

direct power control) for controlling DFIG in wind

energy conversion system. They implemented it in an

experimental setup based on a digital signal

processor. They concluded that VC strategy imposes

lower instrumentation constraints and has the lowest

THD, the direct method are up to four times faster

than VC in transitory response. They also concluded

that the DTC strategy was outperformed by the other

two strategies. It is acknowledged that (more

complex) variations of DTC, DPC, and VC could

yield different results. Vicatos and Teqopoulos [18]

investigated the overall performance of the DFIG

under synchronous operation. Stator and rotor

currents, active and reactive power as well as

mechanical power and electromagnetic torque are

expressed as a function of slip, the rotor excitation

voltage, the angle and the DFIG parameters.

Variable-speed constant-frequency operation can be

performed by supplying the rotor with a voltage

phasor having frequency equal to the difference

between the actual speed and the synchronous speed.

Active power can be controlled by angle and reactive

power can be controlled by varying the magnitude of

the rotor excitation voltage. Then operation of DFIG

connected to isolated passive load is analysed. They

also concluded that the principle used by them may

also be applied to hydroelectric generators. Vieira et

al. [5] developed a steady state model of DFIG-based

wind turbines and demonstrated its application for

load flow analysis. They assessed the steady state

behaviour of the DFIG, under varying system

conditions. They proposed the method based on

Newton-Raphson algorithm. The results obtained are

directly usable as initial values in a fifth order

dynamic model of the DFIG. Fig. 10 shows the graph

of terminal voltage with respect to time and fig 11



shows the variation of stator active power with

respect to time.

Fig. 10. DFIG Terminal voltage [5]

Fig. 11. DFIG Stator Active Power [5]

Zhang et al. [6] discussed the steady-state operation

characteristics and power relations in detail on the

basis of the equivalent circuit of DFIG. Then they

simulated the DFIG‟s steady state characteristics.

Their paper has laid the foundation for making in

depth study of the DFIG. Fig. 12 shows the

characteristics curve of the rotor voltage and speed

obtained by them and fig. 13 shows the

characteristics curve of active power with respect to

speed obtained in their paper.

Fig. 12. The curve of the rotor voltage and speed [6]

Fig. 13. The curve of the active power and the speed

[6]

Li et al. [19] compared real and reactive power

control for a DFIG based wind turbine using stator-

voltage and stator-flux oriented frames and presented

both DFIG steady-state and transient models in d-q

reference frame. They used steady-state model to

obtain the general relationship between rotor d/q

current and stator real/reactive power references

using stator-flux and stator-voltage oriented frames.

The transient model, together with the analysis based

on DFIG d-q steady state equivalent circuit, was used

to develop and design DFIG controller. They

concluded that it is easier to estimate a stator-voltage

space vector position than a stator-flux space vector

position and controller design using both stator-

voltage and stator-flux oriented frames has equivalent

performance. Islam et al. [20] explored the steady

state characteristics of a DFIG in wind power

generation system using Matlab. Stator and rotor real

and reactive power as well as electromagnetic torque



are analysed as function of slip, the rotor injected

voltage and the angle α. From the simulation results it

is clear that the characteristics of DFIG are affected

by its injected rotor voltage.

Wind Energy Conversion System A wind turbine catches the wind through its rotor

blades and transfers it to the rotor hub. The rotor hub

is attached to a low speed shaft through a gear box.

The high speed shaft drives an electric generator

which converts the mechanical energy to electric

energy and delivers it to the grid. As the wind speed

varies, the power captured, converted and transmitted

to the grid also varies[16]. The output power of the

turbine is given by the following equation.

Pm = Cp (λ, β) wind (1)

Where, Pm is Mechanical output power of the turbine

(W), Cp is performance coefficient of the turbine, ρ

is the air density (kg/m3), A is the turbine swept area

(m2), Vwind is wind speed (m/s), λ is tip speed ratio of

the rotor blade tip speed to wind speed and β is the

blade pitch angle (deg).

A conceptual diagram of wind turbine – DFIG based

system connected with the electric grid is shown in

Fig. 14. The stator of the wound rotor induction

machine is connected to the three-phase grid and the

rotor side is fed via the back-to-back IGBT voltage-

source inverters with a common DC bus. The grid

side converter controls the power flow between the

DC bus and the AC side and allows the system to be

operated in sub synchronous and super synchronous

speed. The general control strategy of a DFIG can be

divided into three different control levels as given

below:

Fig 14: Conceptual Diagram of Wind Turbine – DFIG based system [21]

Control level I regulates the power flow between the

grid and the electrical generator. The rotor side

converter is controlled in such a way that it provides

independent control of the electromechanical torque

of the generator and the stator reactive power.



Control level II is responsible for controlling wind

energy conversion into mechanical energy, that is, the

amount of energy extracted from the wind by the

wind turbine rotor. This control level calculates the

references for control level I.

Control level III is dedicated to the wind turbine–

grid integration. This control level provides the

voltage (Vgrid) & frequency (fgrid) control and

responds to active and reactive power references

from the grid operator [21].

DFIG Model The DFIG model using d-q synchronous reference

frame is being presented here with the equations,

Modeling can be of different type depending upon

the type of study but basically modeling consists of

the mathematical equations of DFIG which can be

achieved from the equivalent circuit of the DFIG.

a. Equivalent circuit of DFIG: The equivalent

circuit of the DFIG, with inclusion of the

magnetizing losses, can be seen in Fig. 15. This

equivalent circuit is valid for one equivalent Y

phase and for steady-state with the jω-method for

calculations.

Fig. 15: Equivalent circuit of the DFIG. [21]

Applying Kirchhoff‟s voltage law to the circuit in

Fig. 1.4 yields

Vs= RsIs+ jω1LsλIs + jω1Lm(Is + Ir+ IRm)……(2)

Vr/s=(Rr/s)Ir+jw1LrλIr+j1Lm(Is+Ir+IRm) ……(3)

0 = RmIRm+ jω1Lm(Is+ Ir+ IRm) ……… (4)

Where, Vs is stator voltage, Rs is stator resistance, Vr

is rotor voltage, Rr is rotor resistance, Is is stator

current, Rm is magnetizing resistance, Ir is rotor

current, Lsλ is stator leakage inductance, IRm is

magnetizing resistance current, Lrλ is rotor leakage

inductance, ω1 is stator frequency, Lm is

magnetizing inductance, s is slip.

The slip,

s = (w1 – wr) / w1 = w2 / w1 …………. (5)

Where, ωr is the rotor speed and ω2 is the slip

frequency. Moreover, if the air-gap flux, stator flux

and rotor flux are defined as

Ψm = Lm(Is + Ir + IRm) ………… (6)

Ψs = LsλIs + Lm(Is + Ir + IRm) = LsλIs +Ψm ……… (7)

Ψr = LrλIr + Lm(Is + Ir + IRm) = LrλIr +Ψm …(8)

The equations describing the equivalent circuit can be

rewritten as:

Vs = RsIs + jω1Ψs……………………… (9)

Vr / s = (Rr / s) Ir + jω1Ψr ................. (10)

0 = RmIRm + jω1Ψm ………………… (11)

The resistive losses of the induction generator are

Ploss = 3 ( Rs |Is|2 + + Rr|Ir|

2 + Rm|IRm|

2 ) ……..(12)

And it is possible to express the electro-mechanical

torque, Te, as

Te = 3 npIm[ΨmIr*] = 3 npIm [ ΨrIr

*] ……..(13)

DC-Link Model The energy, Wdc, stored in the dc-link capacitor, Cdc,

is given by:

Wdc = (1/2)Cdcvdc2 ………………..(14)

Fig. 16: DC-link model [21]

Where vdc is the dc-link voltage. In Fig. 16 an

equivalent circuit of the dc-link model, where the

definition of the power flow through the grid-side



converter (GSC) and the machine side converter

(MSC) is shown. Moreover, if the losses in the actual

converter can be considered small and thereby be

neglected, the energy in the dc-link capacitor is

dependent on the power delivered to the grid filter, Pf,

and the power delivered to the rotor circuit of the

DFIG, Pr

dWdc / dt = (1/2) Cdc dvdc2 / dt = ‒ Pf‒ Pr…… (15)

This means that the dc-link voltage will vary as

Cdcvdcdvdc/ dt = ‒ Pf‒ Pr …………….. (16)

means that Pf =−Pr for a constant dc-link voltage.

Control of DFIG System In this section, different aspects of designing and

implementing control systems of DFIG are named.

Controlling of DFIG depends upon the requirement,

type of study and method to be used. The literatures

reviewed have described some controlling

techniques, which are: space vectors, power and

reactive power in terms of space vectors, phase-

locked loop (PLL)-type estimator, modified PLL-

type estimator, internal model control (IMC), active

damping, saturation and integration anti-windup,

discretization. On the basis of these techniques

controlling of DFIG can be done.

Conclusion The main objective of this paper is to give an

overview of research and development in the field of

Modeling and Simulation of DFIG coupled with WT.

Wind energy conversion system, DFIG equivalent

circuit, modeling of different parts and control of

DFIG is discussed. So that the reader should be

familiarized with the DFIG WT systems.

This paper also discussed the different type of

characteristics simulated for DFIG. This paper

familiarised the reader about the work which has

been done such as: the transient behaviour, steady

state behaviour, load flow analysis, comparison in the

real and reactive power control using stator-voltage

and stator-flux oriented frames, experimental

verification of the dynamic response to voltage sags,

small signal stability analysis, comparison between

rotor flux oriented reference frame and stator flux

oriented vector control.

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Modeling and Simulation of Doubly Fed Induction Generator Coupled With Wind · PDF file · 2015-07-29Modeling and Simulation of Doubly Fed Induction ... Doubly-fed induction generator,