Low Cost PWM Converterfor Utility Interface of Variable Speed Wind

Turbine Generators
Ali M. El-Tamaly*

H. H. El-Tamaly**

*Power Quality Laboratory

Electrical Engineering Dept.
Texas A&M University
Collage Station, TX. 77843-3 128
Te1.(409)845-7466
Fax: (409) 845-6259
E-mail: enjeti@tamu.edu

E. Cengelci

**Electrical Engineering Dept.

Faculty of Engineering
Elminia University,
Elminia, Egypt
Tel. 2-086-322083
Fax: 2-086-342601
E-mail: rumenia@,rusys.eg.net

P. N. Enjeti*

E. Muljadi***

***National Renewable Energy

Laboratory
1617 Cole Boulevard
Golden, Colorado 80401
Tel: (303) 384-6904
Fax: (303) 384-6901
E-mail: eduard muliadi@nrel.aov

To interface a VSCF WTGs to electric utility, a power

converter is required. The power converters must be
controlled to give a constant voltage, constant frequency
output at the utility side. In addition, it should be low cost and
reliable to minimize the cost of energy. The aerodynamic
power from the wind is converted to mechanical power. The
power from the wind turbine is transferred to AC generator
via gearbox to increase the shaft speed. Some turbines use
direct-drive concept where the turbine is directly connected to
a generator. The output of AC generator is connected to
electric utility via power conditioner (power converter). The
output power of the generator (which is in the form of
variable frequency AC) must be transferred to the utility at
constant frequency, constant voltage and good power quality

Abstract In this paper a low cost PWM converter for a

variable speed Wind Turbine Generator (WTG) is
descussed. A six-switch PWM converter is utilized to
convert a three-phase power from a WTG to a singlephase electric utility. The proposed converter consists of
two stages. The first stage is a variable frequency PWM
converter with 4-IGBT's to control the output power of
the generator. The second stage employs 2-IGBT's to
return the power to the electric utility. These two stages
have common DC-link. The utility output current is
sinusoidal with a good quality. Suitable PWM control via
Space Vector Modulation is designed to control the
generator. And current regulated PWM is used to control
the utility side. Results from the simulation of the power
converter are presented in this paper. The proposed
converter is suitable for utility interface of WTGs up to 20
kW ratings
I-Introduction
Wind energy conversion is a very mature technology after
many years of development. Its applications are widely
accepted all over the world. The wind power has a huge
potential to supply electrical power without generating
pollution. It has the potential to provide many countries with
one-fourth or more of their electricity demand. There are two
major types of operation to generate the electricity using
WTGs. The first one is called constant-speed constantfrequency (CSCF) operation and second one is variable-speed
constant-frequency (VSCF) operation. Most of the new
WTGs are designed for VSCF operation. The VSCF
operation has many potential benefits over CSCF operation
such as
(1) It generates more energy by operating at higher
turbine efficiency.
(2) The cost per k W h is lower.
(3) It reduces stresses in the drive train due to flywheel
effect of the rotor.
(4) It minimizes the audible noise when operating in light
winds.
( 5 ) It simplifies the mechanical design.

0-7803-5160-6/99/$10.00 0 1999 IEEE.

Fig. 1 The bonventional method to interface three phase WTG bith single
phase electric utility

11-Proposed System
The existing configuration for the converter as shown in
Fig.1, uses six switches (Six switch Topology, SST) at the
generator side and four switches at the utility side, a total of
ten. Fig.2.shows the proposed six-switch P W M converter with
four switches (Four Switch Topology, FST) at generator side
and two switches at the utility side. Then, four switches in
SST are replaced with only one capacitor at DC link. It is
apparent that the cost and reliability are two major advantages
of the proposed converter. The cost reduction can be
accomplished by reducing the number of switches and by
reducing the complexity of control system. Space Vector
Modulation (SVM) technique is chosen as the algorithm to
control the generator. At the utility interface, the current

889

voltage from AC generator and A, B and C are

corresponding to the terminal voltage of AC generator.
The line voltages at the terminals of AC generator (A, B
and C) expressed in terms of variables S1 and S2 as follows

regulated PWM converter gives a good power quality (it can

easily achieve the requirements of IEEE 519-1992 [I]). The
power can flow in both directions and the output power at the
utility can be adjusted to produce or to absorb reactive power
(leading or lagging power factor). Thus the generator can
function as a motor to start the wind turbine and the utility
side can function as a reactive power compensator at light
load.
Vd = 2 VL-LI moi
(1)

Vd
Vd
Vd
VIE = s, - s, = (2s1- 1)2
2
2

And,

v.
2

(2)

vel,= SI - s, VJ = (2s1- 1)- V d

2

(3)

From equation (2) and (3), it can be found that

I

VeaA,= v,,,, - v,.,,

= (SI - S 1 ) v d

Constant
Frequency PWM

IG ,Variable frequency PWM

W G

I ~ c ~ i nI Converter
k
I

Converlcr

The SVM is better understood if the line quantities are

transferred into the a p form. By taking mid point of DC bus
as a reference, let
Vmp= A VAoBT#
(4)
Where

Wind

Fig2 Proposed converter 1

The main shortcoming with this topology (FST, Fig.2) is

that the DC link voltage must be at least twice the maximum
line to line input voltage as shown in (1). The topology in
Fig,.2 is suitable for lower utility voltage (230V). Another
Variation of the converter is shown in Fig.3. This topology is
suitable for higher utility voltage (460V). However, the
induction motodgenerator needs to be lower voltage (230V).
Since standard induction motodgenerator are available in dual
voltage (460/230V) the induction generator connection can be
altered and topology in Fig.3 can be employed.
Constant
...
~

IG

able frequency P
anvcnsr

W DC Link
I

FrequencyPWM
Converter I

Applying (2), (3) into (4), we get

(5)

And, Vp =

VI
I

(6)

The combination of states of switches (S1-S4) produce four

different vectors in the a p plane as shown in Table (1). These
vectors are shifted of d 2 from each other as shown in Fig.4.
From this figure, we can see that, the vectors V, and V, are
opposite directions and they have equal amplitude. The
amplitude is 6 times the amplitude of 5 and V3 . Similarly,
vectors VI and VI are opposite direction and equal in
magnitude.

Vap
I

$(s3- i)
vd

SI S3
0 0

va
-- vd
2fi

Fig.3 Proposed converter2

111-System Analysis
In this study Space Vector Modulation, (SVM) for Fig.2 is
discussed. In Fig.2 let us assume the conduction state of
power switches be associated to the binary variables SIto s6.
The binary 1 indicates a closed switch and 0 an open one.
The switches (SI, S2), (S3, S4) and ( S S , s6) are complementary
and as consequence, &=I- S2, S3=1- S4 and S5=l- s6. The
points A, B and C correspond to the terminal of generated

890

VP

Vap=Va+jVp

vd

.2fi

- e

Jz

.2n
J-

vb

If t1-t3>0,then tl= tl-t3

(16)
Or
If t1-t3<0,then tl= t3-tl
(17)
Applying the values of tl and t3 into ( 8 ) and solve with (15)
to obtain tz and t4. The minimum harmonics for a regular
sampled PWM scheme are obtained when the voltage pulses
on each phase leg are centered within the switching period
[ 5 ] . Using this strategy, then the sequence switching
waveform will be as shown in Fig.5 and Table (2)

Table (2) The switching sequence in each sector

Sector I Switching seauence

I Condition 1

v4 (001)
v3 (1.1)
Fig.4 Sector diagram in the a p plan

If the rectifier modulation index m,i =1, then the locus of

vector Vrefconsists of circle as shown in Fig.4. The maximum
value of this voltage Vref is (0.612Vd). Therefore, the
maximum circular locus Vrefis 0.866 (about 87%) compared
to the conventional six-switch inverter [3].
The over modulation gives rise to a significant torque
ripples due to generation of lower harmonic voltages like fifth
and seventh harmonics. However the maximum possible
value of the reference vector with over modulation is 0.735 Vd
[4] (which increase Vrefabout 20%)
Let vref =va+jvp and T, is the time period for switching
frequency. In general the space vector modulation technique
gives
Vref Ts=v~
t I+vztz+v3t3+~4t4
(7)
Where
T~=tl+t*+t3+t4
(8)
From Fig.4
V I = - V ~ Tia+jvip
(9)
And
v2=-v4 -Y2cz+JV2p
(10)
Substitute (9), (10) into (7) then ,
(va+jVp)T,= (via+jvip)*(ti-t3)+(vza+jvzp)*(tz-t4)
(1 1)
By equating the real and imaginary parts of (1 l), then
~aTs=~la(flt3)+~2a(t~-t4)
(12)
vpTsvl
p(tl-t3)+v2p(t2-t4)
(13)
Substitutingthe values of vla, vIp, vza and vzp from Table(1)
into (12) and (13) then,

II

Fig.5 The switching sequence in sector I

The switching requirements can be stated as follows, let the

input three-phase voltages are
V, =

f i Sin(wit+6,)
~

V, = f

iF

&(wit

+ 240+ Si)

(18)

Then, the three phase line voltages are

V,,=&*fiV,

Sin(w,t+30+Si)

VBc = f i * f i h S i n ( w i t + 2 7 0 + S i )
VcA = &*f i V i Sin(wit + 150+ S i )

(19)

Where, V , is the generated phase voltage of AC generator,

6i is the phase shift between V,,, and VUG.Then,

= & * f i v i~in(w,t+30)

V A , ~

Vrc, =

&*fi 5 Sin(wit+ 270)

VrA, =&*&Vi

(20)

Sin(wit+150)

The line voltages at the generator terminals can be

expressed as follows,

I:;[ ] ! - [ * I
=

The main task now is how to calculate tl-t4.these switching

time can be calculated by the following methodology.
For the purpose of reducing the switching losses three
switching time only can be used in each switching cycle the
forth one will be zero. In this methodology tl or t3 will be
zero each switching cycle according to the following logic.

But, S z = l - S l a n d S 4 = l - S ,
vAB=(2s,-l)(+)

Then,
V& = (2S3- 1)

and

(3
-

Then from (20), (21), (22) and (23)

89 I

(22)

(23)

S , = 0.5 +

&fl;VS .i n ( w , t

+ 30)

V d

S, = 0.5 -

f l p LV S. i n ( w i t +

30)

V d

S , = 0.5 +

flfl

V.
I S i n ( w i t + 90)

S, = 0.5 -

flfl

V.
;Sin(w,t

V d

+ 90)

V d

Then the shift angle for switching signal of leg A is 30"

and for leg C is 90". Then,
Fig.7 The vector diagram of the rectifier section

At the utility side, V,,,,

represents the converter output
voltage. The maximum output voltage V,o,v,ois given as

ccc"= mal+ 150

(27)

From (1) the DC voltage must be at lease twice the

maximum of input line to line voltage to avoid the input
current distortion. Vd can be maintained constant by adjusting
mai at changing of V L -(output
~
of AC generator). The value
of v d is function in power flow across the converter. It is
required that the net-power-flow through the capacitor to be
zero. If the power output fiom WTG is greater than the power
transferred to the electric utility. Then, the voltage across the
capacitors will be increased gradually. On the other hand, if
the power output from WTG is less than the power
transferred to the electric utility. Then, the voltage across the
capacitors will be decreased gradually. The control system
must ensure the power balance between the input and the
output power.
The circuit and phasor diagrams at the rectifier side are
shown in Fig.6 and Fig.7 respectively. Where Vi is the no
load phase voltage (internal EMF) of AC generator and,
Vconv,iis the phase voltage at the rectifier legs. The real and
reactive powers out of WTG are: * V , , , * Sin Si
p,=3
(29)

, ~respect
~
to utility grid
The angle of V C ~ is ~6,~with
voltage this angle controls the output power to electric utility
as shown in (32). The equivalent circuit and vector diagram
of inverter stage are shown in Fig.8 and Fig.9 respectively
The real and reactive power output from WTG to electric
utility are

eo =

* UG
v,,,, *VUG*COS6,

- ViG

(33)

XUG

Where VOutlis the fundamental component of the inverter

output voltage.
I

xs

Fig8 The circuit diagram of inverter section

Fig.6 The circuit diagram of rectifier section

Io

Fig.9 The vector diagram of the inverter section

892

IV-Design Example for the Computer Simulation

For a 10 kW Induction Generator, IG, VLL=460V (for
SWC) and 230 V. Its reactance is 0.8mH per phase. The
electric utility voltage is 230 V and its inductance is 0.3 mH.
If the power factor required for IG is 0.9 leading (IG needs
reactive power for voltage build up). Then the input current is
27.891-2. From Fig.6 tii =2.66'. And from (29) VcOnv
=I36 V
for m~ = 1, Vd=667 V (Compared with 1300V with SWC).
For 0.96 output power factor by using (32) and (33) tio=
1.O15' and V,,v,0=23 1.23. The output modulation index can
be calculated using (31), mao=0.982. The output current is
IoU,1=45.29A.

"I1

V-Simulation Results
The DC link capacitors are charged initially to twice of
peak line to line voltage, then Vd(O)=667V. In practice, this
voltage is initiated by the output of the rectifier. The
switching frequency is chosen as 6kHz at variable frequency
converter and 9kHz at constant frequency converter. Fig. 10
and Fig. 11 show the waveform of DC voltage, Vd and Fourier
analysis for this voltage. Fig.12 and Fig.13 show the threephase input currents and Fourier analysis for these currents.
Fig.14 and Fig.15 show the waveform of the output voltage
and Fourier analysis for this voltage. Fig. 16 and Fig. 17 show
the waveform of the output current and Fourier analysis of
this current. The Total Harmonic Distortion (THD) of input
current to the converter is a function in the modulation index.
The THD of input currents is about 11% at mai=l. The THD
of output current is about 3.2% with a modulation index,
m,,=0.982. THD of output voltage is 50%, this harmonic
componets occures at high frequency (arround the switching
frequency) which can be eleminated by using very simple
low pass filter. The THD can be reduced to about 5% if the
connection done with three phase electric utility and using the
output modulation frequency multible of three. This
connection is not much differ than Fig.2 where four switches
used in variable frequency converter and also four switches in
the constant frequency converter.

...-.

Fig.13 Fourier analysis of the three phase input current

6Q#l~
,
o m on

,
OB

,
ox

om on

,
117s

,
om

om on om

,
oa

om on

,
mr

ofl

1(*)

Fig.10 The steady state waveform of DC voltage

I
8 s

8ZU

0254

IZ5S

QZd

LET

8X4

82R

8-

811

Fig.14 Inverter output voltage and electric utility voltage

893

#tn

Fig.15 Fourier analysis of output voltage from the inverter

v.,.

na.

*ut

.-.

amplified error between Vd and V i is multiplied with signal

proportional to the input voltage Vi waveform to produce the

Jon.

a1

(4) Good stability and reliability over wide speed range

(sub-synchronous and super-synchronous).
The output from WTGs is variable in voltage and
frequency and to interface it to UG Vd must be constant
value. The control of Vd can be done by controlling mai as
shown in (1). The value of Vd also is function in power flow
where Vd increases when the input power greater than the
output power or visa versa. Then the feed forward
compensation from the power measurement can be added to
the controller in the output to improve the performance of
controller where the input power must be equal the output
power plus the switching losses. The control circuit to
regulate Vd is shown in Fig. 18. The value of Vd is regulated
at its reference value V i by using PI controller. The

01.

-en-nn-

nir

rk

oh

o n

ob

QJ

WI

oi

o n

t i

o
h

Fig.16 The steady state output current waveform

I

(InJon,1
m1

mn

In

zn

11:

UR

5n

CR

7n

8~

rimi

SR: . 0 1

iin

izn

IIR IUR I

Fig.17 The Fourier Analysis for the output current

VI-The control System

The control system used in WES must achieves the
following objectives,
(1) Constant frequency constant voltage at the point of
common coupling (PCC),
(2) Adjustable reactive power control,
(3) Good tracking capability for the torque speed curve
specified to maximize WTGs

reference current signal ii. Then we use a fixed frequency

control as a current controller to obtain the controller voltage,
which compared with a fixed frequency (switching frequency
fs) triangular waveform. Then, from (32) we can control the
output power by controlling the angle 6 ,
As shown in Fig.2 the Ac generator and the load are
not completely de-coupled because phase B of AC generator
is connected directly to the electric utility. This makes the
control system must insure the DC bus is constant, and
without changing with sudden change of input voltage. To
enhance the performance of the control system a battery set is
used in parallel with the two-capacitor [6] as shown in Fig. 19.
The battery deliver or absorb energy from the system if the
power required by the loads plus losses is larger or smaller
than the power delivered by AC generator respectively.
The pole changing technique of IG can modify the
performance of this topology and it can extend the speed
range of output power by using higher number of poles at low
speed and lower number of poles at high speed. The
application of pole changing technique in wind energy
schemes has many advantages
1- Extend the speed range of output power without
increasing the IG ratings
2- Reduce the maximum torque difference at low and high
speeds
3- Constant Vlf can be easily achieved for wide speed
range
4- It reduces the reactive power required for IG work.
5- No special induction machine needed but pole changing
can done with a very simple commercial machine

894

Feed
Forward

Vi I

- A
PI
Regulator

Comparator

__*

-b

Variable frequency
WTG

--+

Switchmode

IG

converter

DC

Link

constant
Frequency
W Converteq

I Single Phase UG

V
I

Fig.19 Three phase to single phase converter using two batteries shunt with DC link

VJI-Conclusions
This paper introduces a low cost system to deliver power
from a three-phase WTGs to a single phase utility grid.
The system employs only six switches. The controller uses
Space Vector Modulation technique to control the
generator at the rectifier side and a current regulated PWM
converter at the utility side. The vector analysis is
presented. The maximum circular locus (referance vector)
of this converter is 0.866 compared than conventional sixswitch converter, howerver, for a small wind turbine up to
20 kW this system will be an excellent alternative. The
results of the simulation are shown to prove the concept
and to verify the stability of the system. The total harmonic
distortion is calculated and presented. The main
advantages of this topology is the minimum number of
switches which leads to a lower cost and a higher
reliability design. The control algorithm is simple and
stable. Using two battaries in shunt with the capacitors in
DC link will enhance the stability of the control strategy.
The output at the utility side has a good power quality with
adjustable power factor. With bidirectional power
capability, the system can be used as a motor or as a
generator. Pole changing technique can modify the
operating performance for this system.

References:
[l] ANSIlIEEE Standard 519 1992 IEEE Guide for harmonic control and
reactive compensation of static power converters
[2] A. M. Lima, C. B. Jacoba, E. R. C. Dasilva and R. L. A. Rribeiro Vector
and scalar control of a four switch three phase inverterIEEE,1995
[3] Gi-Taekkim and Thomas A. Lip0 VSI-PWM rectifiedinverter system with
a reduced switch count, IEEE199
[4] S. Freysson, H. H. hansen and S. Hansen Design of a low cost single phase
to three phase converter with power factor control Master Thesis, Institute
of Energy technology, Aalborg university, Aalborg, Denmark, 1994
[SI H. W.van der Broeck,Analysis of the harmonics in voltage feed converter
drives caused by PWM schemes with discontinuouse switch operation, in
conference rec. 1991 EPE., pp.3:261-3:266
[6] C. B. Jacobina and, E. R. C. da Silva, A. M. N.Lima, and R. L. A. Ribeiro
Induction generator static systems with a reduced number of components,
IEEE 1996

895