IEEE PEDS 2005

Transient Stability Analysis of Wind Generator

System with the Consideration of Multi-Mass
Shaft Model
S. M. Muyeen, Mohd. Hasan Ali, Rion Takahashi,
Toshiaki Murata, and Junji Tamura
Dept. of Electrical & Electronic Engineering
Kitami Institute of Technology Hokkaido, Kitami, 0908507, Japan, email: muyeengpullout.elec.kitami-it.acjp
Abstract- In order to investigate the impacts of the integration
of wind farms into utilities networks, it is necessary to analyze the
transient characteristic of wind power generation system
(WPGS). In most of the cases, it is seen that the simple one-mass
lumped model is considered for transient stability analysis of
wind generator. But for the sake of exact analysis of transient
stability of WPGS, it is needed to consider multi-mass shaft
system model. In this study a detailed analysis has been done
with the consideration of two-mass shaft system model of wind
generator system when a severe network disturbance occurs in
power system. Moreover, an online logical pitch controller has
been proposed, which can enhance the transient performance of
WPGS as well as maintain output power of wind generator at
rated level when wind speed is above the rated speed.

Keywords-Multi-Mass Shaft System; Pitch Controller; Power

Coefficient Curve ; Wind Power Generation System (WPGS);
Transient Stability
I.
INTRODUCTION
rate of environmental
Recently due to the
concem, electrical energy generation using wlnd power has
all over e
receivendm uch nteres considerable
world [1]. A huge number of wind farms are going to be
connected
te existing network in the near
Due to
its low maintenance cost and simple construction, induction
generator is mostly used for wind power generation. As
induction generator has stability problem like synchronous
generator [2],t is essential to investigate the transient stability
of power system including wind power stations. There are
several reports
transient stability of wind
generator at faulted conditions [3-7]. In the given references,
however, wind turbine and wind generator are modeledasonemass lumnped model having a combined inertia constant.
Practically wind turbine shaft model is more complicated
compared to the over simplified one-mass lunped model.
Stability analysis based on one-mass shaft model may give
significant error. Care should be taken while multi-mass wind
turbine shaft model is considered for transient stability analysis
of WPGS, because WPGS is the only turbine generator unit in
utility network where mechanical stiffness is lower than
electrical stifliess (synchronizing torque coeffcient) [8].
Moreover, inertia constanlt of both turbine and generator has

incremgental

attretion
fucture

winth

investigationg

0-7803-9296-5/05/$20.00 2005 IEEE

Yuichi Tomaki, Atsushi Sakahara, and Eiichi Sasano

Hokkaido Electrical Power Co., INC.
060-8677, Sapporo, JAPAN

significant effect
on transient
Valuable study
transient
ne
about
stabilityistability.twoutypestof
indtis done
shaft model are used in simulation anralysis and ie effect of
.
reactive power control on wind generator stability is also

considered. Stability analysis of wind generator based on

multi-mass shaft model is presented also in [10-12].
In this paper, a detailed analysis of one-mass lumped model
and two-mass shaft model are presented for transient stability
of WPGS. It is shown here that shaft stiffiess, total inertial
constant of turbine and generator and inertia constant ratio of
turbine and generator have significant effect on transient
of wind generator. In one of our previous papers [13] a
stability
i pne
lgalpitch contror
which canenhance
logical
pitch controller is presented which can enhance
transient stability of wind generator. Moreover, that controller
can control the output power of induction generator at rated
level when wind speed is over the rated speed. But that

controller needs some modifications to function well with

multi-mass shaft system model, which is presented in this
paper. The value of PI controller will be changed online
depending on the operating status of pitch controller. Another
thing is that, to obtain the robust performance from the pitch
controller it is needed to consider the terminal voltage of
induction generator as one of the controller input. In our
previous work, pitch controller was designed by considering
reference power at rated value. But in some cases, depending
on the network parameters or conditions, there might be such a
situation when pitch controller with rated reference power
cannot make the induction generator stable. And it is true that
at lower terminal voltage pitch controller cannot generate rated
power. So it is logical to change the reference power of pitch
controller according to the terminal voltage of induction
generator. Then the system would be more stable and robust
due to any operating condition. This is one of the novel
features of this work.
II. MODELING OF WIND TURBINE
Modeling of wind turbine rotor is a complicated one.
to the blade element theory, modeling of blade and
According
shaft needs complicated and lengthy computations. Moreover,
detailed
rotor
git also needs
t A and
son, accurate
c d information
only theabout
electrical
r. F
behavior of the system, a simplified method of modeling of the

51 1

dodt is the rate of change of generator speed, 01 and 82 are

angle displacements of wind turbine and generator rotors, T,,t
and Te are the wind turbine mechanical input torque and
generator electromagnetic torque respectively. The torsional
natural frequency of the two-mass system can be calculated by
the following equation:

wind turbine blade and shaft is normally used. The

mathematical relation for the mechanical power extraction
from the wind can be expressed as follows:

3*C* C.(2,/)

R2
pw= 0.5 * p * X*

Pw =0.5*p*,T*R

...............

(1)

Where, PW is the extacted power from the wind, p is the

air density [kg/m3], R is the blade radius [m], V, is the wind f
speed [m/s] and Cp is the power coefficient which is a function
of both tip speed ratio, A, and blade pitch angle, a [deg]. In
this work, the Cp equation shown below is taken from MOD2
wind turbine characterisfic [14].

(Hwt + H

=-

III.

2H H

2Xf

)K
.......................

(7)

wt g

ONLINE LOGICAL PITCH CONTROLLER

The main purpose of using the pitch controller with wind

turbine
is to maintain a constant output power at the terminal of
VW(2A)
rated the
the
induction
generator (IG) when wind speed is over
WB
speed. The proposed controller shown in Fig. 1 can serve this
purpose well. Moreover, it can also enhance the transient
stability of induction generator. The controller input is
2
-0.17-2
C =- (A
.............. (2B)
(A-0.022/3 -5.6)e
set to INPUTI and it works in power control mode,
normally
2
where PIGREF is varied according to the tenninal voltage of
induction generator. It is because induction generator cannot
Wind turbine torque, T,, can be expressed as follows:
generate rated power when its terminal voltage is below the
rated voltage. A low pass filter is necessary when terminal
(3)
Twt = Pw I wB
voltage is sensed as a controller input to reduce harmonics of
terminal voltage. On the other hand if the IG rotor speed
increases to threshold value, i.e. 3% increase from its rated
where, cDB is the hub speed of wind turbine.
speed, the controller input will be set to INPUT2 and it works
Two types of expressions are used here for wind turbine- in speed control mode, where WIGTHR is the threshold value. It
is needed to mention here that due to the low shaft stiffness of
induction generator shaft system model.
shaft model in multi-mass wind turbine system, the turbine and
One-mass lumped model: All types of windmill drive train IG rotor speed oscillates rapidly afer the network disturbance.
components are lumped together anld work as a single rotating For this reason two sets of PI controllers are used here for the
mass whose dynamic behavior can be expressed by the adaptation of pitch controller with the multi-mass shaft system
following differential equation [15 ].
model. According to the switching function the desired PI
..................................................

dw

Twt - Te.(4)

IPTG

...(

dt

where, J is the moment of the rotating mass, w is rotor speed,

T,0, is the input mechanical torque applied on wind turbine
rotor and Te is the electromafgnetic torque developed inside
induction generator.
Two-mass shaft model: In this case drive train that consists
of turbine, gearbox and generator rotor is transformed to a
simple model consisting of two masses, i.e., turbine and E R
G
generator masses, connected by a single spring shaft. The
PIG
differential equation of motion for the two degree of freedom
(TDF) windmill drive train can be derived by using the Newton
Second Law of Motion [16].

|IN

WIt

2"g02 +Kw(&2-i)=-Te .

VVhUe, ~~B

Where,

dt

B9

&

(6)

0
dt

Here, H. and H8 are the windmill turbine and generator inertia

constants respectively, Kw is the stilThess of windmill shaftc,

S- C
PUT2 0

igin

C_ratOr-1

Rate

Hard

.0

StatUS

P_

2HWt 61 + KW(01 02) 'Twt ' ''

|
0
K,2500
T0//

g>0

orO

OR

Compa-

WIG

+>0

'VT

Lo

as

rator-2 W30 0
1
I

=VT&F>=@
Comaraor

1:l

IG
PIG.

--------------------------------------------

Fig. 1. Online logical pitch controller

512

TABLE I.
f3=0
>0

STATUS GAIN DETERMINATION

S; 1<0
S;g1>0
0
1
1

H (sec)

TABLE III.

Case-I, 1I & III

CB

v(pu)

Efd(pu)

_T7N

V=

3.

LG

Vw (m/s)

l (deg) -

z
Ebus

2.4
_..__

MVA

__

00

T'do(sec)

0.003.
-.
0.13
1.2
0.7
0.3
0.22
0.22
0.25
5.0

T"qo (sec)

0.05

ra(pu)

xa

Xd(pu)
Xqg(pu)

X'd(pu)
X'(pu)
X"d (pu)
XJ-q (pu)

T"do (sec)

0.04

IG
MVA

50

rl (pu)
0.01
^ S
0.Xru)0.1

Xmu(pu)
r21 (pu)

x21 (pu)
r(pupu)
x22 (pu)
Hg (sec)

H,, (sec)

K. (pu)

3.

1.0
(0.24)*

1.803
1.003

50.71
0.0

-1.09%

11.79

0
(*)reactive power demand of induction generator

Case-I: The objective of this case is to demonstrate the

effect of spring constant of multi-mass shaft system model on
transient stability of WPGS. A 3LG fault is considered to occur
at point F of Fig. 2. The fault occurs at 0.1 sec, the circuit
breakers (CB) on the faulted lines are opened at 0.2 sec and at
1.0 sec the circuit breakers are closed. Responses of rotor speed
of IG and wind turbine speed are shown in Fig. 3 and Fig. 4
respectively. As can be seen from the figures, transient stability
of WPGS is dependent on spring constant for two-mass shaft
model. KW-"40 gives unstable results and turbine speed
continues to accelerate. If we decrease K, by 50%, then also
system is unstable. But if we increase Kw by 50% or 100%,
then the system become stable and gives almost the same result
of one-mass lumped model. Therefore, we have to be careful
about the spring constant for multi-mass shaft model, as WPGS
with large spring constant is transiently more stable.

GENERATOR PARAMETERS
SG

10.72

1.03

1.33
0.334

IIad1sefoCseV.Inta. ausue inntesmlto

III and 15 sec for Case-IV. hIntial Values used the simulation
for all of the cases have been
shown in Table III. The logical
in Case-IV. The simulation
pitch controller is considered only
has been done by using PSCAD/EMTDC [I7].

Fig. 2. Model System

TABLE 11.

-0.79%

IG
0.50
1.0

for transient stability analysis of two-mass shaft system model

of WPGS.and also for te performance analysis of the
proposed pitch controller. Time step has been chosen 0.00005
sec and simulation time has been chosen 10 sec for Case-I, II &

50Hz ,lOOMVA BASE

c t

Case-IV

[7]. Generator parameters are shown in Table II. The system

base is IOOMVA.
For the simulation purpose four cases have been considered

V=l

P=- O sJ'0.2 0.05+jO.3

1.03

0.04
(0.2)*

1.725
1.002
50.507
0.0
-

SG
1.0

0.40

1.33
0334

Twne (pu)
Load angle (deg)
slip

O.O4+JO.2 CB
0.04+jO.2

<

V=1.03

IG

1.0
1.03

Q(pu)
Q(pU)

IV. SIMULATION ANALYSIS

Fig. 2. shows the model system used for simulation of the
transient stability. Here, one synchronous generator (SG) is
connected to infinite bus through a transformer and a double
circuit transmission line. In the figure, the double circuit
transmission line parameters are numerically shown in the form
ofofR.jX,
R+jX, where
where R
R and
and X
X represent
represent the
the resistance
resistance and
and reactance,,
reactance,
respectively. One wind farm (Induction generator, IG)
G . isn
respectively.
Oithtnetwind
the networkfiarm
via a(Ianduction
transformergenetrator,
and transmission
connected with
line. A capacitor bank has been used for reactive power
compensation at steady state. The value of capacitor C is
chosen so that the power factor of the WPGS becomes
unity
jO.1

SG

_P(pu)

controller will be chosen for power or speed control mode. The

controller will not work all times. Pitch controller operating
status will be determined by a status gain whose input will be
the output of logical comparator. The output of logical
comparator can be determined from Table I. It is needed to
mention that the pitch angle of wind turbine cannot change
instantly. Depending on the size of wind turbine the maximum
rate of change of pitch angle is in the order of 3 to 100/s. In this
work, the rate limiter value has been chosen 100/s. Mechanical
delay time constant, T, has been chosen 5 sec.

P=l .0 S

|
2.5
IMTIAL CONDITIONS OF GENERATORS AND TURBINE

One-Mass
^- ^ Two-Mass(50%
Decrease)

2.2

--

2.0

- Two-Mass(K '=40)

X 1 .8 - 1
s~~~~~
i

0.035
0(.030

Two-Mass(50%

*
~~~~~~~~
#|, -1.6 *,

1.2 -

1. O... t.
1
0.8
0.6

0.014
0.098
0.2
3.0

40

____

Increase)

rease)
Two-Mass(I00% Increase)

I_|*f t ',' 'i

Time[sec]

,
,(
.:
.,
l,' :,: '

Fig. 3. Rotor speed of induction generator (Case-I)

513

10

15

...

Two-Mass(50% Decrease)
Two-Mass(Kj=40)

1.4- ---Two-Mass(50% Increase)

-Two-Mass(100% Increase)

2.2

,"

2,0

,*8.

,'

1.3

1.3

One-Mass

Two-Mass(H.,=3.0,H =02)
Two-Mass(H,,=2. 5H =0.7)

----Two-Mass(Hw=2.0H

1.8

12)

1
4.8
.

2
-8.'

---

~~

1.4

1.2

,'

Case-II: Ie objectieofthis ase is topresent i effect o

0nertia
2onstarlt 4fturbine 6nd 8enerator 10nstallt. 0.8.oqlses of

8
10~~~~~~~~~~.1

1 s - --Two-Mass(Hw,=1.6,11
4 =1.6)
,

Time[sec]

Time[sec]
Fig.7. Rotor speed of induction generator (Case FI,)

Fig. 4. Wind turbine speed (Case-I)

Case-Il: The objective of this case is to present the effect of

1.5

----ToMs(,,3

,1=.2

total inertia constant of turbine and generator for multi-mass X

.4. Two-Mass(H.5=25,Hg =0e7)
* TwoTMass(H,,,2.0,H,=I .2)
s 80.>
shaft system model on transient stability HT
condition is the same as case-1.Simulation has been performed
Fb
using two-mass model in which 4 values are used for the total
inertia constant of turbine and generator, keeping the ratio of
u
1.2r
inertia constant of turbine and generator constant. Responses of 2.6~~ wind
~ turbine
~ ~ speed
~ ~areowo-ass(
Fault
8
6)
1
rotor speed of IG
and
shown in Fig.
5 =0.Two-Mass(H1e)60H21
ptr
-----

-o0

3.0 -

,-I.5,H=0.I.>50% Decrease)
2-1.8 -Two-Mass(Hi
---Two-Mass(H.,3.0H,110.2)
28

Two-Mass(Hw,

2.6 -

4.5H=0.3->50%Increase)

00%
< Increase)
=Two-Mass(H.0,H /h4->I

2.4 -I

~2.2-

1.2

1.0

...50%

Time[sec]

10

Fig.5. Rotor speed of induction generator (Case-II)

_01 >50% Decrease)
-2-Mass(HA,=.5,H
1.9 --___
~~2-Mass(H ='3.0,H .0.2)
1.8 ....2-Mass(H=.,4.5,H =03->50% Increase)
as( .0H04>0% nres)shaft system
10 1.7

1.6

1.5
~~
1.4~
1.3
1.2

~ ~ ~ ~ ~~~

___________________
2

Time[secl

10

and Fig. 6 respectively. As can be seen from the figures,

transient stability of WPGS is dependent on total inertia
constant for two-mass shaft model. Turbine and generator total
inertia constant 3.2 [3(Hwr) +0.2(I-L.)] gives unstable result.
decrease of total inertia constant also gives unstable
results. But 50% increase of total inertia constant starts to
improve the results and 100%/ increase gives completely stable
result. Therefore, WPGS with large total inertia constant is
transiently more stable during power system disturbance or

fault condition.
Case-HI: The objective of this case is to present the effect of
inertia constant ratio of turbine and generator for multi-mass
model on transient stability of WPGS. Fault
condition is the same as case-I. Simulations have been
~~~~~~~~~~~~performed using one-mass lumped model and two-mass model
in which 4 combinations are used for the inertia constant of
~~~~~~~~~~~turbine and generator, keeping the total inertia constant of
~~~~~~~~~~~~turbineand generator constant. Responses of rotor speed of IG
and wind turbine speed are shown in Fig. 7 and Fig. 8
As can be seen from the figures, transient stability
of WPGS is dependent on the ratio of inertia constant for twomass shaft model. Two cases of the two-mass modlel, in which
,.''
the inrtia
cnstant
are Hw,2./H0=12 and_

~ ~ ~ ~ ~ ~ ~ respectively.

1.0

f8

Fig.8. Wind turbine speed (Case-I11)

1.8

0.8
0.6

Time[sec]

2.06
1.6
1.4

_Case-III:_The_bjective _of_thi_case_is_to9presnt_the_effect_ o

10

_,

HwT=1.6/ =1.6, as well as the one-mass lumped model, give

stable results. On the other hand, the other two cases of the
two-mass model, in which the inertia constants are
HwT=3.0/HO=0.2 and Hwr=2.5/Hr=0.7, give unstable results in
L
which the wind turbine speeds continue to accelerate.
WPGS
with
i.e.

inertia
constant
of
Therefore,
large
generator,
small inertia constant ratio is transiently more stable during
power system fault.
Case-IV: The objective of this case is to demonstrate the
effectiveness of the proposed pitch controller for multi-mass
shaft system model on transient stability of WPGS. Fault
condition is the same as case-I. Simulations have been
performed using one-mass lumped model and two-mass shaft
model. First some simulation results using the logical pitch
controller as proposed in our previous work [13] are presented
where one-mass lumped model is used. Responses of IG rotor
speed and IG real power are shown in Fig. 9(a) and Fig. 9(b)
respectively from which we can see that after the fault
occurrence the controller proposed in [13] can control both
power and speed of induction generator for lumped model.
Now some more simulation results are presented with the
proposed online logical controller of this paper and the
controller proposed in [13], where two-mass shaft model is
0o
used for both controllers. Responses of real power, rotor speed
.
of IG, wind turbine speed and pitch angle are shown in Fig.

2.0 g
.-

ew c ontro

2.0
1.5
d
l

-0-.

0.0
-0.5 ]
-1.0
-1.5

1.6 -

1.4-

ao

1.8

1.6i
1.

1.4
12

...

ontro

Ibr

1
_

0.8

T
- Tme
[sec]

12

15

Fig. 1 0(b) Rotor speed of induction generator (Case-IV)

-| New Controlir
9 tro,-:

1.25

..
-e

,c
8

10

0 u C onr

-----Reference Value

.....

1.5

1.0

Fig.9(a). Rotor speed of induction generator (Case-IV, one-mass model)

2.5

1.20
1.1 0

Time[sec]

1.00
0

-With Old Controller

_ 2.0 -.NoController

65

15

----Threshold Value

Old Controller
|-With
No Controller

1.0
~~~~10
0

12

Vae
----Threshold
-New Controlinr

11 .0

l.2
1.2

0.8

6
9
T mn e [see]

Fig. 10(a) Real power of induction generator (Case-IV)

1.8&

(br

0.5

10(a), Fig. 10(b), Fig. 10(c) and Fig. 10(d) respectively. As can
2.2-

D w)
----eference
---Referenelew)

2.5

1.5

.95
0

66

T in e [secJ

12

15

Fig.l10(c) Wind turbine speed (Case-IV)

1.0
0.5

0.0..
-1.0

can

-1.5 0

be seen from these figures, the newly proposed controller can

- -0.5 -maintain output power at rated level and also can control the
and turbine speeds after the occurrence of the fault
generator
for two-mass shaft model. Therefore, it
be concluded that
care
is
needed
to
controller
for multi-mass
specialmodel compared design pitch
10
to one-mass lumped model. Our
shaft
proposed controller can work well with multi-mass shaft
system well.

Time[sec]

Fig.9 (b). Real power of induction generator (Case-IV, one-mass model)

515

[8] F.P.deMello and C.Concordia, "Concepts of Synchronous Machine

Stability as Affected by Excitation System Control", IEEE Trans. Power
25
x,
(D

-.,

20
Lu]

{s/w;.&

.;

New C ontro ler

-0 W Controllr

,.

O
0

__5 ________r _______X __* _______*______ r___ I_

15
9
3
6
12
T mee se ]

Fig. 10(d) Pitch angle of wind turbine (Case-IV)

V.

CONCLUSION

In this work, the effect of various parameters of two-mass

model on transient stability has been analyzed. It can be seen
that large spring constant or large total inertia constant of
turbine and generator or small inertia constant ratio of turbinegenerator unit can improve transient performance of WPGS
after the network disturbance. Moreover, a online logical pitch
controller is proposed which can enhance the transient stability
of two-mass shaft model of WPGS. The same controller can
maintain the output power at rated level when wind speed is
above the rated speed. Finally it can be concluded that, for
transient stability analysis of WPGS, it is needed to consider at
least two-mass shaft model rather than one-mass lumped model
and special care is needed to design pitch controller for using
two-mass shaft model. In our future study we want to
investigate the effect of more high order shaft model rather
than two-mass shaft model on transient stability of WPGS.
Flicker analysis and reactive power compensation of multimass WPGS are under consideration.

[2]

[3]
[4]

[5]
[6]
[7]

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[1]

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