Simulations and Control of Direct Driven

Permanent Magnet Synchronous Generator

Project Work
Dmitry Svechkarenko
Royal Institute of Technology
Department of Electrical Engineering
Electrical Machines and Power Electronics
December, 2005
Contents
1 Introduction 3
2 Wind Turbine Model 4
2.1 Generator Model . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.2 Converter Model . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.3 Grid Representation . . . . . . . . . . . . . . . . . . . . . . . 6
3 Control of PMSG 7
3.1 Control of the Generator Side Converter . . . . . . . . . . . . 7
3.2 Control of the Grid Side Converter . . . . . . . . . . . . . . . 10
4 PMSG Analysis 11
5 Conclusions 14
Chapter 1
Introduction
One of the benets of using a permanent magnet synchronous generator in
wind power applications as an alternative to conventional generators is its
higher eciency, as the copper losses in the rotor disappear. The elimination
of the gearbox and introduction of the variable speed control would even
further increase the availability of the system, reduce its active weight and
the need for maintenance.
In this project, the wind turbine with a permanent magnet direct driven
synchronous generator and power converter connected to a strong grid is
analyzed. The control strategy is established in order to maintain the output
characteristics of the system at the optimum level. The model is realized in
MATLAB
R
/SIMULINK.
Chapter 2
Wind Turbine Model
2.1 Generator Model
The voltage equations of a permanent magnet synchronous generator in the
dq reference frame are given by
v
qs
= R
s
i
qs
+
m

ds
+
d
qs
dt
,
v
ds
= R
s
i
ds

qs
+
d
ds
dt
.
_
_
_
(2.1)
Where v is the voltage, i the current, the ux linkage, R the resistance,

m
the angular velocity of turbine rotor. The subscripts d and q stand for
direct and quadrature components, respectively (see g. 2.1), the subscript
s for stator. The quantities are given in per unit (p.u.). The correlation
between physical values and per unit can be among others found in (3).
The ux linkages are

qs
= (L
qm
+L
s
)i
qs
,

qs
= (L
dm
+ L
s
)i
ds
+
f
.
_
(2.2)
Where
f
is the ux produced by the permanent magnets.
In order to simplify analysis of the wind generator, the transients occurred
in the stator, according to the assumptions used in PSDSs, can be neglected
(1). By substituting ux linkages eq. 2.2 in system of eqs. 2.1 the voltage-
current relationship can be obtained
u
qs
= R
s
i
qs
+
m
(L
dm
+ L
s
)i
ds
+
m

f
,
u
ds
= R
s
i
ds

m
(L
qm
+ L
s
)i
qs
.
_
(2.3)
2.2 Converter Model 5

Figure 2.1: Salient-pole permanent magnet synchronous machine in dq reference

frame.
Where L
qm
, L
dm
are the mutual inductances in q and d axes, respectively,
and L
s
is the stator leakage inductance.
The torque in the airgap T
ag
is given by
T
ag
=
ds
i
qs

qs
i
ds
=
f
i
qs
+ (L
dm
L
qm
)i
qs
i
ds
(2.4)
The active P
s
and reactive power Q
s
of a synchronous machine are
P
s
= v
ds
i
ds
+v
qs
i
qs
,
Q
s
= v
qs
i
ds
v
ds
i
qs
.
_
(2.5)
2.2 Converter Model
The power converters can according to (1) be modeled as a fundamental
frequency current sources. The dynamic dc-link voltage V
d
can be derived
as (2)
I
v
I
d
= C
dV
d
dt
(2.6)
Where the dc current owing into the grid side converter I
d
is given by
I
d
=
v
qc
i
qc
+ v
dc
i
dc
P
d,loss
V
d
(2.7)
The dc current owing out of the generator side converter I
v
is derived as
2.3 Grid Representation 6
I
v
=
v
qs
i
qs
+ v
ds
i
ds
P
s,loss
V
d
(2.8)
By substituting eqs. 2.7 and 2.8 in 2.6, the dynamic equation of the dc-
link voltage could be dene as
dV
d
dt
=
1
CV
d
_
(v
qc
i
qc
+ v
dc
i
dc
) + (v
qs
i
qs
+ v
ds
i
ds
) (P
s,loss
+ P
d,loss
)
_
(2.9)
In eqs. 2.6 - 2.9 the subscript c stands for converter, and P
s,loss
, P
d,loss
are
the converter losses.
The active P
c
and reactive power Q
c
of the converter are given by
P
c
= v
dc
i
dc
+ v
qc
i
qc
,
Q
c
= v
qc
i
dc
v
dc
i
qc
.
_
(2.10)
2.3 Grid Representation
The grid side converter is connected through a step-up transformer with
internal reactance x
t
to the sti bus with the voltage V
ex
e
j
= v
qex
+ jv
dex
.
The common practice for the sti bus is however to assume = 0 and
V
ex
= 1 p.u. The active P
ex
and reactive power Q
ex
delivered to the grid by
the generator is calculated as follows
P
ex
= v
dex
i
dc
+ v
qex
i
qc
,
Q
ex
= v
qex
i
dc
v
dex
i
qc
.
_
(2.11)
Chapter 3
Control of PMSG
The schematic representation of the system subject to control is depicted in
g. 3.1. As it can be observed, the generator is fully decoupled from the grid
by means of the power converter; thus, the power factor of the generator is
independent of the reactive power factor at the grid connection.
3.1 Control of the Generator Side Converter
The terminal voltage of the generator in terms of modulation ratio m
1
and
phase angle is dened as
v
qs
= m
1
V
d
cos(),
v
ds
= m
1
V
d
sin().
_
(3.1)
Where the phase angle is
d
dt
=
base
(
m
f) (3.2)
The reference power to archive the maximum eciency of a wind turbine
is given by
P
ref
= T
m

m
= K
turb

3
m
, (3.3)
Where T
m
is mechanical torque and K
turb
is the turbine coecient, which,
according to (2), can be calculated as follows
3.1 Control of the Generator Side Converter 8
P
r,loss
f m
1
P
d,loss
m
2
P
m
i
qc
+ji
dc
u
qc
+ju
dc

v
V
d
C
x
t
i
qs
+ji
ds
u
qs
+ju
ds

u
qex
+ju
dex
Figure 3.1: Schematic of the control system.
K
turb
=
1
2
C
p,opt
r
5

3
base

3
opt
S
base
, (3.4)
Where is the air density [kg/m
3
], C
p,opt
is the optimal turbine eciency,

opt
is the optimal tip speed ratio, r is the turbine radius [m], S
base
is the base
power of the generator [MVA], and w
base
is the nominal rotor speed [rad/s].
Recognize that for a synchronous generator the stator frequency is equal
to the rotor speed in per unit values, the control of the generator frequency
can be performed as presented in g. 3.2.
The modulation ratio m
1
of the generator side converter is controlled as
shown in g 3.3, where
|V
s
| =
_
v
2
qs
+ v
2
ds
(3.5)
3.1 Control of the Generator Side Converter 9
K
Ts+1
P

m
P
s

P
ref
= K
turb m
3
P
ref
Figure 3.2: Control of the generator frequency f.
K
Ts+1
P

V
s,set
|V
s
|

Figure 3.3: Control of the modulation ratio m

1
.
3.2 Control of the Grid Side Converter 10
3.2 Control of the Grid Side Converter
The terminal voltage of the grid side converter is given by
v
qc
= m
2
V
d
cos(),
v
dc
= m
2
V
d
sin().
_
(3.6)
The phase angle and the modulation ratio m
2
can therefore be con-
trolled independently (gs. 3.4, 3.5).
K
Ts+1
P

V
d,set
V
d
Figure 3.4: Control of the phase angle .
K
Ts+1
P

Q
c,set
Q
c

Figure 3.5: Control of the modulation ratio m

2
.
Chapter 4
PMSG Analysis
The control strategy for the control of the converter is to be established in
MATLAB
R
/ SIMULINK. The wind turbine parameters used in the simula-
tions are summarized in tab. 4.1.
Table 4.1: Simulation parameters of the wind turbine.
Parameter Unit Value
Nominal generator speed,
base
[rad/s] 2.26
Nominal generator power, P
base
[MW] 2.5
Mutual inductance in q-axis, L
qm
[p.u.] 0.7
Mutual inductance in d-axis, L
dm
[p.u.] 0.7
Stator leakage inductance, L
s
[p.u.] 0.02
Stator resistance, R
s
[p.u.] 0.0025
Compensating capacitor, C [p.u.] 0.1
Rotor radius, R [m] 40
Air density, [kg/m
3
] 1.1
Optimal turbine eciency, C
p,opt
[] 0.474
Optimal tip speed ratio,
opt
[] 7.5
The control of the converters was performed in such way that the following
constraints were fullled:
Generator terminal voltage V
s
1 p.u.
DC-link voltage V
d
= 1.75 p.u.
Sti bus voltage V
ex
= v
qex
+ jv
dex
= 1 p.u.
12
Reactive power delivered to the grid Q
ex
= 0 p.u.
To fulll the last constraint, a certain quantity of reactive power should
be produced by the grid side converter in order to compensate transformer
reactance x
t
. Recognize that sti bus voltage in d-axis is v
dex
= 0, the
required greed side converter voltage

V
c
= V
c
e
j
can be obtained as follows

S
ex
= P
ex
+jQ
ex
= P
ex
=

V
ex

I

S
c
= P
c
+ jQ
c
=

V
c

I

I
c
=

V
c

V
ex
jx
t
P
1
=

V
ex

c


V

ex
jx
t
=

V
ex

V

c


V
2
ex
jx
t

V
c
=
V
2
ex
+ jx
t
P
ex
V

ex
= V
ex
+ j
x
t
P
ex
V
ex
|V
c
| =

_
V
2
ex
+
_
x
t
P
ex
V
ex
_
2
= arctan
_
x
t
P
ex
V
2
ex
_
To keep the reactive power exchange between the turbine and the grid equal
to zero, the grid side converter terminal voltage should be equal to

V
c
=
v
qc
+jv
dc
= 1 +j0.05 p.u. and the produced reactive power should therefore
be Q
c
= 0.05 p.u.
The results of the performed simulations of the wind turbine are shown in
g. 4.1. The rotor speed was selected to be in the range of
m
= 0.91.1 p.u.
As it can be observed, the generator terminal voltage is 1 p.u., the dc-link
voltage is 1.75 p.u. The active power delivered into the grid tends to change
with changing of the rotor angular speed. The amplitude is however somehow
dierent. One of the probable reasons for it can be the coarse adjustment
of the PI-controllers. Therefore, more thorough investigation of the eect of
the coecients on the behavior of the entire system is required. The grid
side converter terminal voltage has an expected amplitude and changes in
order to keep the exchange of reactive power with the grid at zero level.
13
PSfrag replacements
Generator terminal voltage V
s
Time t, [s]
[
p
.
u
.
]
0 50 100 150 200 250 300
0.9
0.92
0.94
0.96
0.98
1
1.02
1.04
1.06
1.08
1.1
PSfrag replacements
PMSG production of active power P
s
Time t, [s]
[
p
.
u
.
]
Active power Ps
Rotor speed m
Active power Ps
0 50 100 150 200 250 300
0.5
0.6
0.7
0.8
0.9
1
1.1
1.2
1.3
1.4
1.5
PSfrag replacements
DC-link voltage V
d
Time t, [s]
[
p
.
u
.
]
0 50 100 150 200 250 300
1.7
1.71
1.72
1.73
1.74
1.75
1.76
1.77
1.78
1.79
1.8
PSfrag replacements
Grid side terminal voltage V
c
Time t, [s]
[
p
.
u
.
]
0 50 100 150 200 250 300
1
1.01
1.02
1.03
1.04
1.05
1.06
1.07
1.08
1.09
1.1
PSfrag replacements
Active power deliverd to the grid P
c
Time t, [s]
[
p
.
u
.
]
Active power Pc
Rotor speed wm
Active power Pc
0 50 100 150 200 250 300
0.5
0.6
0.7
0.8
0.9
1
1.1
1.2
1.3
1.4
1.5
PSfrag replacements
Reactive power delivered to the grid Q
ex
Time t, [s]
[
p
.
u
.
]
0 50 100 150 200 250 300
-0.05
-0.04
-0.03
-0.02
-0.01
0
0.01
0.02
0.03
0.04
0.05
Figure 4.1: Simulation results of the wind turbine.
Chapter 5
Conclusions
The control system for the permanent magnet direct driven synchronous
generator was developed and tested. The system in the selected range of
the wind speed showed good correspondence with the expectations. In order
to further improve the control system, the coecients of the PI-controllers
should be tuned more precise. This study would also be necessary for the
testing of the system in higher wind speed range, which would be a case for
the o-shore wind turbines.
With the increasing of the amount of electrical power produced by means
of wind turbines, an important aspect to consider will be the voltage sag
ride-through ability of a generator, as it has relatively big impact on a power
quality and stability of the power system in general.
Bibliography
[1] Wind Power in Power Systems, edited by T. Ackermann, ISBN 0-470-
85508-8, John Wiley & Sons, Chichester, England, 2005.
[2] Ian Norheim, Dynamic Modelling of Turbines (2): Generators, convert-
ers, control. Course in Wind Power held in Smla, Norway, 6-10 June,
2005.
[3] Chee-Mun Ong, Dynamic Simulations of Electric Machinery, ISBN 0-
13-723785-5, Prentice Hall PTR, Upper Saddle River, New Jersey, USA.
1998.