1

Control Dynamics of a Doubly Fed Induction Generator Under Sub- and Super-Synchronous Modes of Operation
M. Aktarujjaman, Student Member, IEEE, M.E. Haque, Member, IEEE, K. M. Muttaqi, Senior Member, IEEE, M. Negnevitsky, Member, IEEE and G. Ledwich, Senior Member, IEEE
back PWM converters [6]. These converters are used for exchanging the slip power to and from the grid for variable speed operation [7]. It is possible to control rotor current injection using fully controlled electronic converters to ensure effective operation in both sub- and super-synchronous modes [8, 9]. In sub-synchronous mode, the RSC works as an inverter and LSC as a rectifier and controls the power flow into the rotor. In the case of super-synchronous mode, RSC acts as a rectifier and LSC as an inverter, the direction of power flow is out of the rotor. In reference [1-3], maximum wind power extraction capability by using DFIG has been demonstrated. Active and reactive power control technique using vector controls are presented in [4-5]. Authors in [7] have described the ability of DFIG to compensate unbalance situation. The effect of commutation angle of the converters during sub- and super-synchronous operations is reported in [9-10]. For effective control, it is necessary to understand the control dynamics of DFIG based variable speed wind turbine and converters action under sub- and super-synchronous modes of operation and during the transition of these two modes. This paper investigates the control dynamics of a DFIG based variable speed wind turbine during two modes of operation and subsequent transition period with a battery storage. This paper is organized as follows: In section II, system configuration is presented. The model of the turbine-generator system is given in section III. In section IV, Operation and control issues in sub- and super-synchronous modes are discussed. Simulation and discussion are given in section V. Finally, conclusions are made in section VI. II. SYSTEM CONFIGURATION A typical DFIG based wind turbine system shown in Fig. 1 consists of a wound rotor induction machine with slip rings, and a bidirectional back-to-back PWM converter between the rotor slip-rings and the grid. The stator is directly connected to the grid. Both the stator and rotor windings are able to supply power to the grid. The direction of the power flow in the rotor circuit depends on the variation of the wind speed. The bidirectional converter controls both the direction and magnitude of the power flow of the machine. In subsynchronous mode, the converter feeds the rotor windings from the grid, whereas the rotor supplies power to the grid in

Abstract-- Depending on wind speed, a doubly fed induction generator (DFIG) based variable speed wind turbine is capable of operating in sub- or super-synchronous mode of operation using a back to back PWM converter. A smooth transition between these two modes of operation is necessary for reliable operations of the wind turbine under fluctuating wind. This paper presents the analysis and modeling of DFIG based variable speed wind turbine and investigates the control dynamics under two modes of operation. A battery energy storage (BESS) with a bidirectional dc-dc converter is added for a smooth transition between the modes. Mathematical analysis and corresponding modeling results show that the power flow in the rotor circuit under two modes can be controlled by changing current and voltage phase sequence through the rotor side converter (RSC) and line side converter (LSC). A coordinated control among RSC, LSC and DC link storage system ensure variable speed and maximum power extraction from the fluctuating wind and reduce the possibility of instability around synchronous speed. Extensive simulations have been conducted to investigate control dynamics under the two modes of operation and during transitions. Index Terms-- DFIG, Sub-and super-synchronous, rotor side converter, Line side converter.

HE contribution of renewable based distributed generation has been increasing dramatically into the power system for last two decades [1]. A variable speed generator based wind turbine can extract more power from the wind than a fixed speed wind turbine [2]. Doubly fed induction generator (DFIG) is a popular choice for variable speed wind turbine application, as it is able to generate power at constant voltage and frequency while the rotor speed varies. A decoupled control of the real and reactive power is possible [3, 4]. Moreover, a fraction of total system power needs to be controlled, resulting in the reduction of the power losses and the cost of the converters, filters and EMI filters [2, 5]. Generally, the stator of the DFIG is connected to the grid directly, and the rotor is fed through bi-directional back-toThis research has been financially supported by the Australian Research Council under ARC Linkage Grant K0014223 Integration of Distributed and Renewable Power Generation into Electricity Grid Systems, collaboration with Aurora Energy, Tasmania. Md. Aktarujjaman, Dr. Md Enamul Haque, Dr. Kashem Mohammad Muttaqi, and Prof. Michael Negnevitsky are with the School of Engineering, University of Tasmania, Hobart, Australia; and Prof. Gerard Ledwich is with the School of Engineering Systems, Queensland University of Technology, Brisbane, Australia, (emails: mda0@utas.edu.au; M.Kashem@utas.edu.au; Michael.Negnevitsky@utas.edu.au; g.ledwich@qut.edu.au).

I. INTRODUCTION

2008 IEEE.

super-synchronous mode of operation. The converter handles only 25% of the machine rated power, while the range of speed variation is 33% around the synchronous speed [6]. To ensure variable speed operation, both converters need to be controlled under sub- and super-synchronous modes of operation. A Battery Energy Storage System is connected to the DC link of the DFIG. The BESS provides extra source of energy in the system as well as better DC link voltage stability. The BESS consists of batteries and a bidirectional DC/DC converter with associated controller. III. MODELING OF TURBINE-GENERATOR SYSTEM A. Wind Turbine Model Wind turbine is a non-linear system whose output depends on optimal values of various parameters. Total power of a wind turbine can be defined as [11], Pwind = 0.5 Ar v 3 (1) where is the air density, Ar is the area swept by the rotor and v is the wind speed. The wind power output is given by

DFIG

RSC DC Link C

LSC L

Turbine

PWM BESS

PWM

Vector Controller

Software

Fig. 1. DFIG based wind turbine system.

Turbine Torque Characteristics 1.2 Locus of Maximum Power 1 Turbine Torque (p.u.) 0.8 0.6 0.4 0.2 Curves constant power 16 m/s 15 m/s 14 m/s 13 m/s 12 m/s 10 m/s 6 m/s 8 m/s

Pwind

Prated ; vr < v vo = P( v ); vi < v vr 0 ; v > v > v o i

(2)

where vi , vr and vo are the cut-in, rated and cut off wind speed, respectively. The function, P(v) , describes the wind power between cut-in wind speed and rated wind speed. Average wind power depends on the value of turbine performance coefficient. Pavg = Pwind .C p (3) The mechanical power of wind turbine can be determined by [11]: Pmec = Pwind C p ( , ) (4) where, C p is the power coefficient. According to Betz the ideal power coefficient will be 59% in the lossless power extraction. Actual power coefficent C p is less than 59%. In practice, a wind turbine generator with good blade profile may reach to 0.5 [12]. The tip speed ratio is the ratio of the speed at the tip of the blades to the speed of the wind and can be defined as [11]: (5) v The performance coefficient, c p , of a wind turbine is not constant but varies with wind speed, rotational speed of the turbine, and angle of attack and pitch angle . Fig.2 shows the turbine torque characteristic curve of the wind turbine for different wind speeds. For each wind speed a set of constant power lines are shown in Fig.2. The locus of maximum power indicates the maximum torque and speed for the turbine.

0 -0.2

0.2

0.4

0.6 0.8 Turbine speed (p.u.)

1.2

1.4

Fig.2. Turbine toque characteristics.

B. DFIG Model An equivalent circuit of the doubly fed induction machine is presented in Fig.4. In this figure, Rs and X s are the resistance and leakage reactance of the stator, respectively, Rm and X m represent core loss and the magnetizing reactance, and Rr and X r are the resistance and the reactance of the rotor, respectively. The slip s is defined as: r s= e (6)

e where, e and r are the synchronous and the rotor speed, respectively. The mechanical power Pmec , developed by the turbine depends on the slip depended resistance and voltage source, as shown in Fig. 3. Fig.3 also shows both converters represented LSC and RSC as a phase controlled voltage source, Vl and Vr , respectively. DC link of the DFIG is represented as a bidirectional current source.

3
Induction Generator

Pmac [WindTurbine ]
R' r / s
Rr ( 1 s ) Vr ( 1 s ) s s

Vqs = ( Rs iqs +
Rotor Side Converter (RSC)

dqs dt dqr

+ e ds )

(13) (14)

i s

Rs

jX s im

jX ' r

i' r jX m Em
Vr s

Vs 0

Rm

+ ( e r )dr ) dt Where, ds = Ls ids + Lm idr , dr = Ls ids + Lm idr , Vqr = ( Rr iqr +

Vr

. d ,q are d- and q-axis components; Vs ,Vr are stator and rotor voltage; is ,ir are stator and rotor current; Ls , Lr are stator and rotor self inductance; Lm is mutual inductance; Rs , Rr are

qs = Ls iqs + Lm iqr qr = Ls iqs + Lm iqr

,

R LSC

jX LSC

I1

R1 Vl

R2 I2

Line Side Converter (LSC)

DC Link

Fig.3. Equivalent circuit of Doubly Fed Induction Generator (DFIG) with RSC, DC-link and LSC.

From the equivalent circuit given in Fig.3, the total air-gap power can be expressed as:
Pairgap = 3Vr ir cos( ) + Pmec Pmec = ( 1 + s )Pairgap

stator and rotor resistances; is flux linkage; e and r are the synchronous and rotor angular velocity in rad/sec. Electromagnetic toque of the DFIG machine can be expressed in d-q complex form as, 3 p 3 p Te = jdqs .idqs = jdqr .idqr (15) 2 2 2 2 The complex torque equation (15) can be expressed in the d-q reference frame as,

(7)

Te =

3 p 3 p ds .iqs qs ids = dr .iqr qr idr 2 2 2 2

(16)

where Pmec = ( 1 s )Pairgap for sub-synchronous mode and for super-synchronous mode of operations. Rotor voltage magnitude and direction of Vr and phase angle depends on the value of the slip. The value of rotor voltage and sign can be expressed as,
Vr = sVs

IV. OPERATION UNDER SUB- AND SUPER-SYNCHRONOUS

MODES

(8)

For simplicity, stator and rotor turn ratio as well as rotor losses are not considered in this equation. The mechanical power of the prime mover can be expressed as a combination of slip dependent resistance and voltage source as, 1 s * 1 s * (9) Pmec = ReVr ir ir ir Rr s s where, ir , Vr , and R r are rotor current, voltage and resistance, respectively. Stator power can be expressed as,
Pstator = 3Vs is cos

(10)

where, Vs and is are stator voltage and current respectively. is the angle between them. C. D-Q Modeling of DFIG Direct and quadrature axes (d-q) representation of the DFIG is used for analysis, simulation and control. The d-q model of a doubly fed induction generator in the synchronous reference frame can be written as, d (11) Vds = ( Rs ids + ds + e qs ) dt dqr Vdr = ( Rr idr + ( e r )qr ) (12) dt

DFIG can be operated in two modes of operation namely; sub- and super-synchronous mode depending on the rotor speed below and above the synchronous speed. Traditional Wound Rotor Induction Generator (IG) will never produce power at sub-synchronous mode of operation. In this mode, it produces motoring torque which can be utilized by controlling rotor voltage or current. The component of rotor side converter must need to be controlled properly for reliable operation of the machine under sub- and super-synchronous modes. RSC controls the imposed voltage and current for the rotor circuit of the machine. The control of imposed current is necessary for creating generating torque in sub-synchronous mode of operation. The control of voltage or current is necessary to utilize extra generating torque in supersynchronous mode. At the same time, LSC inverse control is essential for cooperating with the RSC control. During sub-synchronous mode, the speed of the rotor is less than the machine synchronous speed. As a result the slip is positive ( s > 0 ), and a motoring torque is produced. To utilize this torque, negative power (according to the positive slip) is required in the rotor circuit of the machine [8]. These can be achieved by the changing the phase sequence of the injected current to the rotor circuit and the rotor receives power form the grid through LSC and DC-link. In supersynchronous mode, the rotor speed is greater than the machine synchronous speed and slip is negative ( s < 0 ). The rotor voltage/current sequence has to be reversed to supply extra generating power to the grid through DC-link and LSC. The sequence of the rotor current and voltage is changing according to the wind variations.

4
Torque (+ve)

A. Operation mode of DFIG with RSC The operation mode of a DFIG can be represented in a torque-speed plane as shown in Fig.4. Implementation of four quadrant operation of the DFIG is possible through the control of RSC. Mode I & II relies on motoring torque whereas, III and IV are generating torque. Fig. 5 shows the d-q equivalent circuit for generating modes. Sub- and supersynchronous modes are presented in space diagram of current and flux vectors in Fig.6. The relationship between stator and rotor current for changing slip is presented in Fig.7. Control variables and the status of rotor power changed during sub to super and super to sub transitions are presented in Table 1. A simplified (d-q) equivalent T-model of DFIG with the effect of rotor current injection by rotor side converter is shown in Fig. 5. Where, rotor current I dqr must supply the required stator current I dqs subtracted from the magnetizing current I dqm .
Vdqr / s represents that current control converter applied

Mode II (Sub-synchronous)

Mode I (Super-synchronous)

Slip (+ve) Mode III (Sub-synchronous) Mode IV (Super-synchronous)

Slip (-ve)

Torque (-ve)

Fig.4. Operation mode of DFIG with RSC

I dqs
I dqr

Ls
X

L' r

R ' r /s
V
dqr

on the rotor side of the DFIG machine. Machine slip can be expressed by the stator and rotor impressed voltage Vdqs and Vdqr are given in eq. (17) as,
s= Ls Vdqr Lm Vdqs

V dqs

dqs

I dqm

or

r Ls Vdqr = s Lm Vdqs

(17)

Fig.5. T-model of DFIG with converter

It is assumed that the magnitude of the stator voltage Vdqs to be always positive. Rotor voltage Vdqr in reference frame is DC quantity, can be negative or positive. The positive and negative values are representing due to the positive phase sequence (a-b-c) and the negative phase sequence (a-c-b) of the voltage phasor, respectively. Considering stator flux orientation of the DFIG, stator current i dqs can be expressed by active and reactive components. idqs = isP j( isQ ) (18)

dr

q
qs = 0
i qr

qr
s qs
dr

idqr

qs
r

isP

i dr

isQ

s ds

r
d
e dr s

s = ds

Where isP and isQ are the hypothetical active and reactive component, respectively. By using eq.16, the complex torque equation (15) can be rearranged and written as
3 Re( jdqs .idqs ) 2 3 TQ = Im( jdqs .idqs ) 2 Similarly, it can be expressed in d-q reference frame as, TP = 3 (ds .iqs qs ids ) 2 3 TQ = (qs .iqs + ds ids ) 2 TP =

d e

(19) (20)

Fig.6. Diagram of space current and flux vectors for super-synchronous mode of operation.

(21) (22)

Fig.6 shows the relationships among space flux vectors with respect to stationary (superscript s), synchronous, and rotor (superscript e) reference frames for sub- and supersynchronous operations. Rotor axis lagging and leading with respect to d-axis synchronously rotating reference frame are sub and super-synchronous mode, respectively. In subsynchronous mode, slip becomes positive and the vector rotation that takes the field coordinates to the rotor frame automatically reverses the phase sequence [12]; whereas, slip is negative in the super-synchronous mode.

5
iqs b

From equivalent circuit Fig.5 the magnetizing current of the machine can be expressed in the d-axis as [10], im = idr + ids (23) and in the q-axis, it is 0 = iqr + iqs (24) Where, stator resistive drop and flux co-efficient are neglected. According to eq. (24), it is shown that the magnitude of the q-axis components of the rotor is directly proportional to stator q-axis component. Loci of rotor and stator currents in generating modes ( III and IV) are shown in Fig.7. During generating torque situations, the rotor current component irq is negative and rotor current ir on point A at Mode III. When the rotational speed increases, the system enters into super-synchronous mode (Mode IV). ir increases up to its maximum limit which is represented by point B (depends on converter rating). Similarly, stator current locus moves from a to b. The power transition from sub- to super-synchronous operating mode can be noticed by changing the voltage phase sequence. Overall view of the control variables during the mode transition is presented in TABLE I. Changes have been noticed in rotor power as well as stator power due to change of control variables. B. Smoothing Transition Between sub- and Supersynchronous Modes It is shown in [15,16] that the possibility of instability of DFIG is higher when the rotor speed is close to the synchronous speed. Overlapping angle of the converters depends on the rotor speed and DC link current. When machine operates around the synchronous speed, the rotor frequency as well as rotor voltage is reduced. So, controlling of DC link voltage and current is necessary for smooth transition between super to sub or sub to super-synchronous mode of operation. From stability point of view, small slip speed (close to synchronous speed) is the region of least stability. DC link storage with DC/DC converter can be utilized for controlling the increased current and stable operation in narrow slip. Furthermore, it provides extra source of real and reactive power support for the system [17,18]. V. SIMULATION RESULTS & DISCUSSIONS Simulation has been conducted using Simulink/Simpower dynamic system simulation software. The parameter of the machine is given in Table II. Simulations have been carried out considering two scenarios- one is the transition from sub to super-synchronous and the other is super- to subsynchronous modes of operation. In both scenarios, the wind variation is occurred at t = 20 s to see the effects of mode changing. Machines initial conditions are also considered. For the sake of simplicity, generating torque mode is considered for sub- and super-synchronous operations.
q-axis

a im idr A ids d-axis

iqr

Fig.7. Phasor diagram and locus of rotor and stator current for slip change. TABLE I Control variables

Mode Sub to supersynchronous Super to subsynchronous

ir vr changing sequnece ir vr changing sequnece

Rotor Power +ve to -ve

-ve to +ve

A. Scenario 1: Sub-to Super Synchronous Operation Starting wind speed of 7 m/s is considered for creating subsynchronous situations. After 20 seconds of total simulation time, wind speed is increasing slowly up to 18 m/s to create super-synchronous situation. Rated wind speed is 16 m/s. Pitch angle controller activates when the wind speed is above the rated speed. Fig.8 to Fig.13 represent the responses during sub-and super-synchronous mode of operations and the transitions from sub to super-synchronous mode. Positive rotor power indicates that power flows into the rotor circuit through RSC. Negative rotor power indicates that power flows into the grid at the stator terminal through RSC. Total power exchange by the rotor side converter is shown in Fig.8. Initially, converter provides 0.075 p.u. real power (indicated by solid line) and 0.12 p.u. reactive power (indicated by dash line) to the rotor circuit of the machine. After 20 seconds of the simulation start, power injection into the rotor circuit starts to decrease and change the direction nearly after 26 seconds. This state indicates the change of operating mode from sub to super-synchronous. Fig.9 shows that the current injection for sub- and super-synchronous mode of operations and during the transition period from sub to super synchronous mode of operation. It is noted that the qaxis rotor current remains negative during the transition period and at the super-synchronous mode whereas; d-axis component (responsible for reactive power) changes its direction. This means that more reactive power is needed to supply more real power to the system.

6
0.15 0. Rotor Converter Voltage

Fig.10 shows the rotor converter voltage during the transition. It is seen in Fig 13 that polarity changes from positive to negative. Voltage direction which means that phase sequence changes from a-b-c to a-c-b. This changing provides the change in power flow in the rotor circuit. Figs. 11 & 12 represent the LSC responses during two modes of operations and at the transition. Fig. 11 shows the stator current response and Fig.12 shows the stator voltage. In current response shown in Fig. 11, it is observed that the d- and q-axis components of stator current flow in opposite direction at the rotor circuit. In voltage responses shown in Fig.12, d- and q-axis components are with opposite polarity. The magnitude of the d-axis component is increased during super synchronous operation whereas q-axis component is decreased. Total stator power shown in Fig.13 represents the actual view of the system responses during two modes of operations and at the transition. Total real output power for sub-synchronous mode of operation stay at a constant value up to 20 seconds of simulation time. It starts rising from 20 seconds to 35 seconds. This indicates that during super-synchronous mode of operation, the power is delivered from machine stator as well as from rotor.
0.15 0. 0.05 Sub-Synchronous Rotor Power Rea Reactive

Voltage in p.u.

0.05 0

Sub-Synchronous

d-axis q-axis

Super-

Time (s)
Fig.10: RSC voltage the transition of sub- to super-synchronous
0. 0. Stator Current

Current in p.u.

d-axis q-axis Sub-Synchronous 0 Super-

0.

Time (s)
Fig.11: stator current at the transition of sub- to super-synchronous
0. 0. Super0. Stator Voltage

Power in p.u

Voltage in p.u.

0. 0 -1 0

Sub-Synchronous

d-axis q-axis

Super-

Time (sec.)
Fig. 8. Rotor power at the transition of sub to super-synchronous.
0.6 0.4 Rotor Converter Current d-axis q-axis

Time (s) Fig.12: stator voltage at the transition of sub- to super-synchronous.

1. Stator

Current in p.u.

0.2 0

Sub-Synchronous

Super-Synchronous

1 0. 0. 0. 0. 0 -0.2 Sub-Synchronous Sub Super- Super Rea Reactive(Q)

-0.2 -0.4 -0.6 -0.8

10

20

30

40

50

Time (s)
Fig.9. RSC current injection at the transition of sub- to super-synchronous

Power in p.u.

10

20

30

40

50

Time (s) Fig.13. Stator power at the transition of sub- to super-synchronous

B. Scenario 2: Super-to Sub -Synchronous Operation When wind speed is higher than the rated speed providing negative slip, the machine operates at super-synchronous mode of operation. Initial wind speed for this scenario is 18 m/s and stays upto 20 seconds. The wind speed starts falling from 18 m/s after 20 seconds and reaches 7 m/s at 35 seconds. From Fig. 14 to Fig 18 show the responses during both modes of operation and at the transition of mode. Initial responses may not be the correct representation due to simulation starting effects and should be ignored. For this case, first 5 seconds represents the sub synchronous mode even though speed is higher than rated speed, which is theoretically not correct. After 5 seconds, machine enters supersynchronous mode and transition from super to sub is happened in the period of 20 seconds to 30 seconds. Fig. 14 shows the rotor power responses during the transition of modes. Negative real and reactive powers are observed during super-synchronous mode of operation. In the transition period, power flow starts to change from negative to positive. Here, negative rotor power means power flows from RSC to grid through LSC. Positive power means the power is required by the rotor circuit. Rotor current is increasing during supersynchronous operation until pitch angle comes into effect. It starts to fall during the transition and remains negative during sub-synchronous operation because of the presence of generating torque. The polarity of RSC voltage decides the power flow of the rotor circuit. During transition, the polarity of voltage changes as shown in Fig.15. d- and q-axis components of stator current are flowing in opposite direction are shown in Fig. 16. Fig.17 shows the stator voltage responses, where the components are stayed in the same directions. The magnitude of the d-axis component is increased from 0.5 p.u to 0.7 p.u during super-synchronous operations, whereas q-axis component is decreased from -0.85 p.u. to -0.75 p.u. The stator real and reactive power responses are shown in Fig.18. It is noted that control variables can handle the machine dynamics for any operations. Fig. 19 shows stator and rotor currents with respect to slip. The generation of rotor and stator current during positive slip (sub-synchronous speed) and negative slip (super-synchronous speed) can be observed in the figure. The operating range of DFIG is considered with s = 0.2 . Rotor current component is remained negative in both operating modes due to generating torque and stator current component is remained positive according to eq. 24. Fig.19 shows stator and rotor current responses during slip variations. Fig.20 shows stator flux loci during super and subsynchronous mode of operation while the DFIG system is connected with the grid system. The flux remains within 0.9 p.u. to 1 p.u. circle regardless the mode of operation. The constant flux ensures the voltage stability of the system. Overall responses during both modes of operation and at transition are shown in Fig.21. The relationships among power

and rotor control variables are explained with help of power, rotor flux and current. Left side plane describes the requirements of the control variables for sub-synchronous operation and right side plane for super-synchronous operation.
Rotor Power 0.15 0.1 0.05 0 -0.05 -0.1 -0.15 -0.2 Real Reactive

Super-Synchronous

Power in p.u.

Sub-Synchronous

-0.25

10

20

30

40

50

Time (s) Fig.14. Rotor power at the transition of super to sub-synchronous

Rotor Converter Voltage 0.15 d-axis 0.1 q-axis

Voltage in p.u

0.05

0 Super-Synchronous Sub-Synchronous

-0.05

-0.1

-0.15

-0.2

10

20

30

40

50

Time (s) Fig.15. RSC voltage at the transition of super to sub-synchronous

Stotor 0.6 d-axis 0.4 q-axis

Current in p.u.

0.2

0 Super-Synchronous

-0.2

-0.4

Sub-Synchronous

-0.6

-0.8

10

20

30

40

50

Time (s) Fig.16. Stator current responses for super to sub-synchronous.

0. 0. 0. Stator Voltage

Voltage in p.u.

0. 0 -0.2 -0.4 -0.6 -0.8 -1 0 10 20 30 40 Super-

d-axis q-axis

Sub-Synchronous

50

Time (s) Fig.17. stator voltage at the transition of super to sub-synchronous operation

8 Fig.21. 3-D plot of power, rotor flux and rotor current trajectory during sub and super-synchronous operations

1. 1

Stator

Power in p.u.

0. 0. 0. 0. Super0 -0.2

Real Reactive

VI. CONCLUSIONS This paper investigates the control dynamics of a DFIG based variable speed wind turbine in two modes of operation and during transition period. Mathematical analysis and corresponding modeling results show that the power flow in the rotor circuit under different modes can be controlled by changing current and voltage phase sequence through the rotor side converter and line side converter. Control variables of both converters are explained for sub- and supersynchronous mode of operations. Control technique for smooth transition between different modes of operations is presented. Extensive simulations have been performed to show the natures of control variables during both operation modes and transition period. Simulation results show that the system with DC link storage system plays great role to increase the stability limit during the modes transitions. Results show that the system performed well in both operations modes and a smooth transition is achieved.
TABLE II Wind turbine: Rating: Generator: Doubly Fed Induction Generator Stator resistance Stator inductance Inertia constant H Poles Inverter: Each Rating 400 kW 0.00706 p.u 0.171 p.u 2.9 p.u 3.00 6 120 kW

Sub-Synchronous Sub

10

20

30

40

50

Time (s) Fig.18. Stator power at the transition of super to sub-synchronous

0. 0. 0. 0 Slip Vs Stator and Rotor Current

Iqr &

Iq Iq

-0.2 -0.4 -0.6 -0.8 0.

0.1

0.

0.0

-0.05

-0.1

-0.15

-0.2

-0.25

Slip Fig.19: Stator and rotor currents during sub- and super-synchronous operation

Rs Ls

Magnetizing inductance Lm

(pu)

sd

VII. REFERENCES
[1] [2] [3] [4] A. Miller, E. Muljadi, and D. Zinger, A Variable Speed Wind Turbine Power Control, IEEE Trans. on Energy Conversion, Vol. 12, No. 2, June 1997, pp. 181-186. S. Mller, M. Deicke, and R. W. De Doncker, Doubly fed induction genertaor system for wind turbines, IEEE Industry Applications Magazine, pp. 26-33, May/June, 2002. D. J. Atkinson, R. A. Lakin, and R. Jones, A vector-controlled doubly-fed induction generator for a variable-speed wind turbine application, Trans. Inst. Meas. Contr., vol. 19, no. 1, 1997, pp. 212. R. Pea, J. C. Clare, and G. M. Asher, Doubly Fed Induction Generator using back-to-back PWM converters and its application to variable speed wind-energy generation, Proc. Inst. Elect. Eng., Elect. Power Appl., vol.143, no. 3, pp. 231241, May 1996. L. Xu and W. Cheng, Torque and Reactive Power Control of a Doubly Fed Induction Machine by Position Sensorless Scheme, IEEE Trans on Industry Applications, Vol.31 , No.3, May/June 1995, pp.636-642. O. Anaya-Lara, F. M. Hughes, N. Jenkins and G. Strbac, Rotor Flux Magnitude and Angle Control Strategy for Doubly Fed Induction Generator, Wind Energy, 2006. L. Xu, and Y. Wang, Dynamic Modeling and Control of DFIG Based Wind Turbines Under Unbalanced Network Conditions, IEEE Transactions on Power Systems, Vol. 22, No.1, February 2007, pp. 314323. A. Tapia, G. Tapia, J.X. Ostolaza and J.R. Saenz, Modeling and Control of a Wind Turbine Driven Doubly Fed Induction Generator IEEE Transactions on Energy Conversion, Vol. 18, No. 2, June 2003, pp. 194204.

sq (pu)

Fig.20. Locus of d-axis and q-axis stator fluxes

[5] [6] [7]

[8]

9 [9] I. Cadirci and M. Ermis, Double-output induction generator operating at sub-synchronous and super-synchronous speeds: steady-state performance optimization and wind-energy recovery IEE Proceedings-B, Vol.139, No: 5, September 1992, pp. 429-442. Z.M. Salameh, and L.F Kazda.., "Analysis of the Double- Output Induction Generator Using Direct Three Phase Model, Part 1Commutation Angle Analysis", IEEE Transactions on Energy Conversion, Vol.EC-2. No.2, June 1987, pp.175-181. G.M. Masters, Renewable and Efficient Electric Power Systems, IEEE press, Wiley-Interscience, Hoboken, New Jersey, 2004. M. Korpas, Distributed Energy Systems with Wind Power and Energy Storage, Doctoral Thesis, Norwegian University of Science and Technology, Trondheim, Norway,2004. M. G. Simoes and F. A. Farret, Renewable Energy Systems Design and Analysis with Induction Generators, CRC press LLC, 2000 N.W Corporate Blvd., Boca Raton, Florida, 2004. R. Datta and V.T. Ranganathan, Direct power control of grid-connected wound rotor induction machine without rotor position sensors, IEEE Transactions on Power Electronics, Vol. 16, No.3, May 2001, pp. 390399.

[10]

[11] [12] [13] [14]

[15] F. Mei and B. Pal, Modal Analysis of Grid-Connected Doubly Fed Induction Generators, IEEE Trans. on Energy Conversion, Vol. 22, No. 3, September 2007, pp. 728-736. [16] E. Akpinar, P. Pillay, and A. Ersak, A Variable Speed Wind Turbine Power Control, IEEE Trans. on Energy Conversion, Vol. 12, No. 2, June 1997, pp. 181-186. [17] M. Aktarujjaman, M. A. Kashem, M. Negnevitsky, and G. Ledwich, Smoothing Output Power of a Doubly Fed Wind Turbine with an Energy Storage System , Australasian Universities Power Engineering Conference (AUPEC 2006), 10-13 Dec. 2006, Melbourne, Australia. [18] M. Aktarujjaman, M. A. Kashem, M. Negnevitsky, and G. Ledwich, Black Start with DFIG Based Distributed Generation after Major Emergencies, Proc. IEEE 2006 Power Electronics, Drives and Energy Systems for Industrial Growth-2006 (PEDES-2006), 12-15 Dec. 2006, New Delhi, India.