Doubly Fed Induction Generator (DFIG) Fed

Wind Energy Systems:

Modelling and Analysis

B. Wu PhD
Professor
Dept of Electrical & Computer Engineering
Ryerson University

May 13, 2015 at Universidad de Talca

Nordex N100

Universidad de Talca
 Outline

 Introduction
 Modelling of DFIG
 Power and Loss Calculation
 Stator Voltage Oriented Control (SVOC)
 Transient Analysis
 Steady-State Analysis
 Experiments
 Conclusions

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 Introduction
Global cumulative installed wind power

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 Introduction
Top 10 countries in cumulative installed wind power
as of 2014

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 Introduction
Top 10 countries in new installed wind power in 2014

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 Introduction
Top 10 Wind Turbine Manufacturers as of 2014

Source: Global Wind

Energy Council (GWEC)

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 Introduction
Configurations -- Fixed Speed SCIG WECS

Squirrel cage
induction generator
(SCIG)

Simple technology
Low cost & low maintenance
X Low wind energy conversion efficiency (No MPPT) MPPT – Maximum
X High mechanical stress on turbine components Power Point Tracking
X Requires soft starter and PF compensator

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 Introduction
Configurations -- Fixed Speed SCIG WECS

V82, 1.65 MW, Source: Vestas

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 Introduction
Configurations -- Variable-Speed (0-100 %) IG/SG WECS

High wind energy conversion efficiency (MPPT control)

Excellent grid code compliance, optional gearbox
X High power converter cost

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 Introduction
Configurations -- Variable-Speed (0-100 %) IG/SG WECS

Enercon E126, 6.0 MW

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 Introduction
Configurations - Semi Variable-Speed (±30 %) DFIG WECS

Reduced power converter capacity (only 30% of rated power)

High wind energy conversion efficiency (MPPT control)
X Requires maintenance for slip rings and gearbox

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 Introduction
Configurations - Semi Variable-Speed (±30 %) DFIG WECS

DFIG WECS:
> 50% market share

RePower RE6M, 6.0 MW

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 Modelling of DFIG
System Configuration

DFIG
Transformer Grid
Stator
Rotor ~

Rotor-side Grid-side
Converter Harmonic
Converter Filter
(RSC) (GSC)

 DFIG power rating: hundred kW ~ several MW

 Converter power ratings: 0.3 x generator rated power
 Most widely installed WECS
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 Modelling of DFIG
Operation Mode: Sub- & super-synchronous modes
Pm (pu)
Sub-synchronous mode Super-synchronous mode

-1.0

MPP1
vw1
-0.75
Wind turbine MPP2
power-speed vw2
curves MPP3
vw3
-0.5

DFIG
-0.25 Pm  ω r3
(with MPPT)
Rated slip /
-0.074
rotor speed
0
0.5 0.4 0.3 0.2 0.1 0 -0.1 -0.2 -0.3 s (slip)
0.5ωs 0.6ωs 0.7ωs 0.8ωs 0.9ωs ωs 1.1ωs 1.2ωs 1.3ωs ωr
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 Modelling of DFIG
How to Model DFIG for Steady State Analysis?

DFIG PS Transformer Grid

Stator
Rotor ~
RSC GSC Filter

Super-synchronous mode
Pr
Sub-synchronous mode

• Bidirectional power flow in the rotor circuit

• Stator power controlled by the RSC

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 Modelling of DFIG
How to Model DFIG for Steady State Analysis?

DFIG
Transformer Grid
Stator
Rotor ~
Req jXeq
RSC GSC Filter

Q: Can we model the RSC with a simple RL circuit?

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 Modelling of DFIG
Equivalent Circuit of DFIG
Is Rs jXls jXlr Rr /s Ir RSC

Im


Req /s
Vs Vm jXm Vr /s Zeq /s
jXeq /s
Pag

DFIG steady-state equivalent circuit

Rotor side converter

represented by Req
Q: How to find Req and Xeq ??
and Xeq
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 Modelling of DFIG
Calculation of Req and Xeq (Unity PF Operation)
Step 1: Find Stator current

With UPF operation, air-gap power:

ω sTm
Pag  3(Vs  I s R s )I s  ωs – stator frequency (given)
P Tm – mechanical torque (given)
P – Number of pole pairs (given)
4R s ω sTm
Vs  Vs2 
3P
Is 
2R s
For unit power operation:

Vs  Vs 0 and I s  I s 180

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 Modelling of DFIG
Calculation of Req and Xeq (Unity PF Operation)
Is Rs jXls jXlr Rr /s Ir RSC

Im


Req /s
Vs Vm jXm Vr /s Zeq /s
jXeq /s
Pag

Step 2: Find rotor current Ir  Is  Im

Step 3: Find rotor voltage V r  s V m  I r R r  jsω s Llr 
Vr
Step 4: Equivalent impedance  Req  jXeq
Ir
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 Modelling of DFIG
Example: Calculation of Req and Xeq (PFs = 1)
Given: 1.5MW/690V/50Hz/1750rpm DFIG wind energy system.
Rotor speed: 1750rpm, super-synch mode of operation
Find: Req and Leq

With the rated speed of 1750rpm and rated power of 1.5MW →

Tm = -8185N.m (rated)

Step 1: Find Stator current

4R sTm ωs
Vs  Vs2 
3P
Is   1068.2 A (I s  1.514 × 10 5 A omitted)
2R s

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 Modelling of DFIG
Calculation of Req and Xeq (Unity PF Operation)

Step 2: Find rotor current

V m  V s  I s R s  jωs Lls   401.2  j 56.6  405.28 A

Vm
Im   24.23  j 232.82  234.1  84.1 A
jωs Lm

I r  I s  I m  810.50  j 232.82  843.28164.0 A

Step 3: Find rotor voltage

V r  s V m  I r R r  jsωs Llr   67.97  164.9 V

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 Modelling of DFIG
Calculation of Req and Xeq (Unity PF Operation)
Step 4: Equivalent impedance

Req  0.05375 
Z eq  V r / I r  0.05375   j 0.2751 
 X eq  0.02751 

Is Rs jXls jXlr Rr /s Ir RSC

Im


Req /s
Vs Vm jXm Vr /s Zeq /s
jXeq /s
Pag

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 Modelling of DFIG
Calculation of Req and Xeq (Unity PF Operation)
Vr, Ir (pu) Super-synchronous mode
Sub-synchronous mode
1.0
Ir
0.5
Vr
0
0.3 0.2 0.1 0 -0.1 -0.2 s (slip)
Req, Xeq (pu)

0
Xeq Req > 0
Req
-0.4
Req < 0 (PFs=1)
-0.8
0.3 0.2 0.1 0 -0.1 -0.2 s (slip)
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 Power and Loss Calculation
Equivalent Circuit for Power and Loss Calculation
Is Rs jXls jXlr Rr /s Ir RSC

Im


Req /s
Vs Vm jXm Vr /s Zeq /s
jXeq /s

Is Rs jXls jXlr Rr Ir jXeq /s Req

Pcu,s Im Pcu,r Pr

Vs Vm jXm (Rr +Req)(1-s)/s Pm

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 Power and Loss Calculation
Super-synchronous Mode Req > 0 Pg  Ps  Pr
(To grid) Pr Pcu,r Pcu,s
Prot jXeq /
Req > 0 Ir Rr jXlr jXls Rs Is
s
Im
ωm Vs
(Rr +Req)(1-s)/s jXm
Ps To Grid
Pin Pm Pag

Pcu , r  3I r2 R r
Pm  3I r2 (Rr  Req )(1  s) / s
P = I2R Pcu , s  3I s2 R s
Pr  3I r2 Req  0 Ps  3Vs I s cos s

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 Power and Loss Calculation
Sub-synchronous Mode Req < 0 Pg  Ps  Pr

(From grid) Pr Pcu,r Pcu,s

Prot Req < 0 jXeq / Ir Rr jXlr jXls Rs Is

s
Im

Vs
ωm jXm
(Rr +Req)(1-s)/s
Ps To Grid
Pin Pm Pag

Pr  3I r2 Req  0

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 Stator Voltage Oriented Control
Principle of SVOC SVOC: Align Vs with d-axis of the
q-axis synchronous rotating frame.
ωs
 ωs d-axis
ωs vs
idr ωr
iqr
 ωs θsl Rotor
ir
θr θs
 vqr Stator
is ωs ωs

 vdr
vr

Space vector diagram (super-synchronous mode)

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 Stator Voltage Oriented Control
Relation between Rotor Current and Stator Power
Based on SVOC and DFIG model, we can derive:

 2L s
i dr   3v L Ps
 ds m

i  2Ls Q  v ds
 qr 3v ds Lm s ωs Lm

The stator active and reactive power can be controlled by

the rotor dq-axis currents independently.

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 Stator Voltage Oriented Control
Block Diagram SVOC
DFIG Grid
vs
GB
RSC GSC
~
vdc
Grid-side converter:
θr iar, ibr dc voltage control &
θsl vas, vbs
PWM PWM Grid-side reactive
θs power control (if required)
v*ar, v*br, v*cr
GSC θs
abc/dq dq/abc Controller
θsl Calculator
iqr idr vdr* v*qr
PI PI
*
vdc Q*GSC θs vds
(vqs = 0)

v ds
Generator-side converter:
ω s Lm
idr* iqr* MPPT & stator reactive
ωm Te* 2ω s L s 2Ls
MPPT Q*s power control
3PLmv ds 3v ds Lm

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 Transient Analysis
Power-Speed Curve DFIG, 1.5MW/690V/50Hz
Sub-synchronous Mode Super-synchronous Mode
Pm (pu)

-1.0
A
MPP vw = 1.0pu Rated wind speed →
ωm=1 pu (Point A).
-0.8
Wind turbine DFIG 3 Wind speed suddenly
P – ω curve |Pm| = ωm decreased to 0.7pu →
-0.6 (pu) ωm=0.7 pu (Point C).

Transients from super- to

-0.4
C sub-synchronous mode.
MPP vw = 0.7 pu
-0.2
1500rpm
s=0
0
0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 1.1 ωm (pu)
0.650 0.533 0.417 0.30 0.1833 0.067 -0.05 -0.1667 -0.283 s (slip)
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 Transient Analysis
Torque-Speed Curve DFIG, 1.5MW/690V/50Hz
Sub-synchronous Mode Super-synchronous Mode
Tm (pu)

A
-1.0
Wind DFIG vw = 1.0pu
2
turbine |Te| = ωm
T – ω curve (pu)
-0.8
-0.735pu
D Mechanical Toque
-0.6 Tm : A→B→C
C
-0.4
Electromagnetic
B Torque Te : A→D→C
-0.2
1500rpm vw = 0.7 pu
s=0
0
0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 1.1 ωm (pu)
525 700 875 1050 1225 1400 1575 1750 1925 ωm (rpm)

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 Transient Analysis
Simulation DFIG, 1.5MW/690V/50Hz

ωm (pu)
Super-synch Sub-synchronous mode
1.0
0.857pu (1500 rpm)
0.8
0.7pu
0.6

0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 t (sec)

Tm, Te (pu)
0
B Tm
-0.2 Tm : A→B→C C
Te -0.49pu
-0.6
D -0.735pu
A Te : A→D→C
-1.0 1500rpm

0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 t (sec)

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 Transient Analysis
Simulation DFIG, 1.5MW/690V/50Hz
var (pu)
1.0 var var1
0.5

-0.5

-1.0
iar, ibr (pu)
2.0
ibr iar iar ibr
1.0

-1.0
1500rpm
-2.0
ias (pu)
2.0

1.0 1.2pu
0.592pu
0

-1.0

-2.0
0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 t (sec)

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 Steady-State Waveforms
Steady State Waveforms at 0.7pu Rotor Speed
var, iar (pu)
1.0
var φr = -150.3°
0.664pu
0.5
iar var1 0.273pu
0

-0.5
To be
1 / fsl Verified
( fsl =9.17Hz) by
-1.0 calculation
3.8 3.84 3.88 3.92 3.96 t (sec)
(a) Rotor-side waveforms

Calculations verified by simulation

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 Steady-State Waveforms
Steady State Waveforms at 0.7pu Rotor Speed
vag, iag, ias (pu)
2.0
vag 1.41pu

1.0 ias 0.59pu

0
0.48pu
iag
-1.0 To be
Verified
-2.0
by
3.8 3.84 3.88 3.92 3.96 t (sec) calculation
(b) Grid-side waveforms

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 Steady-State Analysis
Continued with the previous case:
DFIG: 1.5MW / 690V / 50Hz with 0.7pu rotor speed

At ωm =0.7 pu, the shaft input torque:

Tm  (ωm,pu )2  Tm,R  (0.7)2  8185  4010.7 N.m

Stator current:
4R sTm ωs
Vs  Vs2
3P
Is   525.3 A (I s  1.509 × 10 5 A omitted)
2R s
Magnetizing voltage:
V m  V s  I s Rs  jωs Lls   400.74.0 V

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 Steady-State Analysis
Zeq Calculation
Vm
The magnetizing current: I m   233.0  86.0 A
jωs Lm

The rotor current: I r  I s  I m  589.27156.8 A

The rotor voltage: V r  sV m  I r Rr  jsωs Llr   76.996.5 V

where s  (ωs  ωr ) / ωs  0.1833

The slip frequency: ωsl  sωs  57.58 rad/sec (0.9165Hz)

Equivalent impedance for RSC:

Req  0.11351 

Z eq  V r / I r  0.11351   j  0.06472 
X eq  0.06472 


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 Steady-State Analysis
Power and Loss Calculation
Mechanical power:
Pm  Tmωm   4010.7  1750  0.7  2π /60  514.50 kW

The rotor power:

Pr  3(I r )2 Req  118.24 kW

The stator and winding losses:

P  3(I ) R  2.19 kW
2 and P cu , r  3(I r Rr  2.74 kW
) 2
cu , s r s

The stator active power:

Ps  3Vs I s cosφs  690 / 3  589.27  cos(180)  627.81 kW

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 Steady-State Analysis
Current and Voltage Calculation
The total power delivered to the grid: Pg  Ps  Pr  509.57 kW

Efficiency of the DFIG: η  Pg / Pm  509.57 / 514.50  99.0%

Pg 509.6  10 3
Grid current: Ig    426.37 A Consistent with
3Vg 3  398.4 simulation results

Peak grid value: i g  2 I g  603.0 A (0.48 pu)

Peak stator current: i s  2 I s  2  525.3  742.9 A (0.59pu)


i r  2I r  2  589.27  833.25 A (0.664 pu)
Peak rotor current 
and voltage: 
v r  2Vr  2  76.99  108.9 V (0.273 pu)

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 Experiments
Experimental Setup

Wind Turbine DFIG

Simulator 5hp/208V Grid
SW1 transformer
~
SW2 208V
RSC Vdc GSC

DSP Controller DSP Controller

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 Experiments
System Synchronization

Grid voltage, 60 Hz

iar ibr vas ias

Rotor current, 12 Hz
(phase a and b)

Rotor speed: 1440 rpm

SW1 closed 50 ms/div

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 Experiments
Transients
Super-synch Sub-synch

ibr iar iaribr

500ms/div

Transients from super-to sub-synchronous operation

(Rotor speed from 1.1 pu to 0.9 pu)
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 Conclusions

• A simple RL equivalent circuit is developed to model the

operation of the DFIG rotor-side converter with bidirectional
power flow in super- and sub-synchronous modes of operation.
• The RL circuit can be easily integrated into the conventional
induction machine model for steady-state analysis of the DFIG.
• A simple control scheme (SVOC) is proposed for the DFIG
wind turbines.
• The steady-state model and dynamic performance of DFIG
wind turbines are investigated and verified by simulation.

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