Small signal stability analysis and optimal control of a

wind turbine with doubly fed induction generator

F. Wu, X.-P. Zhang, K. Godfrey and P. Ju
Abstract: A novel method using particle swarm optimisation (PSO) is proposed for optimising par-
ameters of controllers of a wind turbine (WT) with doubly fed induction generator (DFIG). The
PSO algorithm is employed in the proposed parameter tuning method to search for the optimal par-
ameters of controllers and achieve the optimal coordinated control of multiple controllers of WT
system. The implementation of the algorithm for optimising the controllers parameters is
described in detail. In the analysis, the generic dynamic model of WT with DFIG and its associated
controllers is presented, and the small signal stability model is derived; based on this, an
eigenvalue-based objective function is utilised in the PSO-based optimisation algorithm to optimise
the controllers parameters. With the optimised controller parameters, the system stability is
improved under both small and large disturbances. Furthermore, the fault ride-through capability
of the WT with DFIG can be improved using the optimised controller. Simulations are performed
to illustrate the control performance.
1 Introduction
Wind power generation has been developed very quickly
during the past few years. At present, the capacity of the
installed wind power in the world is more than 40 GW.
With the growing penetration of wind energy into power
grids, the impact of WT on power system stability is of
increasing concern. In development of the wind turbine
(WT) techniques, several types of WT have been used.
Recently, the WT with doubly fed induction generator
(DFIG) is becoming popular [1]; this has the characteristics
of high transfer efciency of energy, low investment and
exible control. The stator of the DFIG is normally con-
nected to a power grid directly, and its rotor winding is
fed back from the terminal of the stator by controlled
voltage source converters. The converters only supply the
exciting current of the DFIG; hence the capacity is fairly
low, approximately 2025% of the DFIG rated capacity.
The fed back converters are based on insulated gate
bipolar transistors, such that the control of the DFIG is ex-
ible, and the controllers have signicant effect on the stab-
ility of the WT with DFIG.
Many models of WT with DFIG have been proposed in
recent years. A third-order model suitable for transient
stability analysis was presented in [2], it was implemented
in power system simulator for engineering (PSS/E), and
simulations of the dynamics of the WT with DFIG were
also given. In [3], a detailed dynamic model of DFIG
was proposed, and the small signal stability was analysed.
However in these papers, the detailed model of converters
and WT controllers are either not included, or are simpli-
ed. It has been recognised that the DFIG controllers have
signicant effects on the WT system stability, such that
the dynamic model of converters and controllers should
be derived and included in the model of WT with DFIG
system for the dynamic analysis.
A decoupling control strategy for the active power and
reactive power of DFIG was proposed in [4], and it has
been widely used in previous research work [58].
The control strategy is based on proportional-integral (PI)
controllers; these are well accepted and used in the engineer-
ing eld for their reliability and robust control performance.
It is well recognised that suitable parameters are needed for
controllers in order to achieve better control performance
for system stability. The decoupling control algorithm of a
WT with DFIG consists of ve different PI controllers. It
has been found that the coordination among these
controllers using the traditional trial and error parameter
tuning method is a very difcult and challenging task.
Recently genetic algorithm (GA)-based optimisation
methods have been utilised in controller parameter
tuning. In principle, the problem of parameter tuning is
to search a set of optimal parameters in the problem
space to achieve the best control performance of
systems. GA has been used in static VAr compensator
controller parameter design in [9], and hydro-generator
governor parameter tuning in [10]. However, some
deciencies of GA have been identied in recent research
work [11]. The degradation in efciency is apparent
when the parameters being optimised are highly corre-
lated, and the premature convergence of the GA degrades
its performance in terms of reducing the search capability
of GA.
Particle swarm optimisation (PSO) is a new optimisation
method, which is an evolutionary computation technique in
nature motivated by the simulation of social behaviour. In
searching the optimal solution of a problem, information
of the best position of each individual particle and the
best position among the whole swarm are used to direct
# The Institution of Engineering and Technology 2007
doi:10.1049/iet-gtd:20060395
Paper rst received 2nd October 2006 and in revised form 18th January 2007
F. Wu and X.-P. Zhang are with the Institute for Energy Research and Policy,
University of Birmingham, Birmingham B15 2TT, UK
K. Godfrey is with the School of Engineering, University of Warwick, Coventry
CV4 7AL, UK
P. Ju is with the College of Electrical Engineering, HoHai University, Nanjing
210098, China
E-mail: X.P.Zhang@bham.ac.uk
IET Gener. Transm. Distrib., 2007, 1, (5), pp. 751760 751
the searching. Hence, in comparison with GA, PSO is quite
immune to local optima and is reasonably efcient in
solving problems with complex hyperspace. In [12], PSO
has been applied in power system reactive power and
voltage control, and a multi-agent-based PSO has been uti-
lised in optimal reactive power dispatch [13]. In the eld of
controller design, PSO has been introduced successfully in
optimal design of automatic voltage controller [14] and par-
ameter tuning of PSS [15]. However, in [14, 15], only one
proportional-integral-derivative (PID) controller with three
parameters was optimised; hence the coordination
between different PID controllers was not addressed.
PSO has also been employed to design the optimal
control for the WT with DFIG in [16]. In this design,
the controller of the rotor-side converter was optimised,
and a time-domain tness function, which aims to
reduce the over-current in the rotor circuit and the
steady state error, was used in the optimisation. Using
the optimised controller, the current in the rotor circuit
under the system disturbance was reduced effectively.
However, as pointed out, since the settling time was not
considered in the design objective, and the controller of
the grid-side converter was not optimised, the cost of
reducing the over-current in the rotor circuit was an
increase of settling time of the rotor current and the
larger oscillations of the DC-link voltage.
The generic model of WT with DFIG including its con-
verters and controllers is presented, based on which the
small signal stability model is derived. With the objective
function of optimised dynamic damping performance, a
new optimal tuning method for the controllers parameters
of WT with DFIG using PSO is described. In the optimis-
ation, the rotor-side converter controller and the grid-side
converter controller are coordinated, and ten parameters
are optimised simultaneously. Simulations are performed
on a single machine innite bus (SMIB) system and a four-
machine system to simulate the dynamics of the WT system
under small and large disturbances to demonstrate the
control performance of the systems with the optimised con-
troller parameters.
2 Model of WT with DFIG
2.1 Model of DFIG system
Basically, DFIG is an induction-type generator. The equiv-
alent circuit of DFIG as shown in Fig. 1a is similar to that of
an induction machine [17].
Dening E
0
d
2(v
s
L
m
/L
rr
)c
qr
, E
0
q
2(v
s
L
m
/L
rr
)c
dr
,
X
s
v
s
L
ss
, X
0
s
v
s
[L
ss
2(L
m
2
/L
rr
)], T
0
0
L
rr
/R
r
, the
model of DFIG can be given as follows
X
0
s
v
s
di
ds
dt
v
ds
R
s

1
v
s
T
0
0
(X
s
X
0
s
)
_ _
i
ds
(1 s
r
)E
0
d

L
m
L
rr
v
dr

1
v
s
T
0
0
E
0
q
X
0
s
i
qs
(1)
X
0
s
v
s
di
qs
dt
v
qs
R
s

1
v
s
T
0
0
(X
s
X
0
s
)
_ _
i
qs
(1 s
r
)E
0
q

L
m
L
rr
v
qr

1
v
s
T
0
0
E
0
d
X
0
s
i
ds
(2)
dE
0
d
dt
s
r
v
s
E
0
q
v
s
L
m
L
rr
v
qr

1
T
0
0
E
0
d
(X
s
X
0
s
)i
qs
_ _
(3)
dE
0
q
dt
s
r
v
s
E
0
d
v
s
L
m
L
rr
v
dr

1
T
0
0
E
0
q
(X
s
X
0
s
)i
ds
_ _
(4)
where c
dr
and c
qr
are the direct (d) and quadrature (q)
axis rotor ux linkages, respectively; L
ss
is the stator
self-inductance; L
rr
is the rotor self-inductance; L
m
is
the mutual inductance; R
r
is the rotor resistance; v
s
is
the synchronous angle speed; s
r
is the rotor slip; X
s
is the stator reactance; X
0
s
is the stator transient reactance;
E
0
d
and E
0
q
are the d and q axis voltages behind the tran-
sient reactance, respectively; T
0
0
is the rotor circuit time
constant; i
ds
and i
qs
are the d and q axis stator currents,
respectively; v
ds
and v
qs
are the d and q axis stator term-
inal voltages, respectively; v
dr
and v
qr
are the d and q axis
rotor voltages, respectively.
2.2 Model of drive train
The drive train comprises turbine, gearbox, shafts and
other mechanical components of WT, which is usually
represented by a two-mass model [3]. The generator
rotor shaft is connected to the turbine shaft exibly via
gearbox and coupling, the two-mass model is given by
2H
t
dv
t
dt
T
m
T
sh
(5)
Fig. 1 Equivalent circuit of DFIG system
a Equivalent circuit of DFIG
b Equivalent circuit of fed back converter
IET Gener. Transm. Distrib., Vol. 1, No. 5, September 2007 752
du
tw
dt
v
t
v
r
v
t
(1 s
r
)v
s
(6)
2H
g
ds
r
dt
T
em
T
sh
(7)
T
sh
K
sh
u
tw
D
sh
du
tw
dt
(8)
where H
t
and H
g
are the inertia constants of the turbine
and the generator, respectively; v
t
is the WT angle
speed; v
r
is the generator rotor angle speed; u
tw
is the
shaft twist angle; K
sh
is the shaft stiffness coefcient;
D
sh
is the damping coefcient; T
sh
is the shaft torque;
T
m
is the wind torque, which is the power input of the
WT; T
em
is the electromagnetic torque. T
m
and T
em
are
given by
T
m

0:5rpR
2
C
p
V
3
w
v
t
(9)
T
em
P
s
=v
s
(10)
where
C
p

1
2
RC
f
l
0:022b 2
_ _
e
0:255RC
f
=l
(11)
where r is the air density; R is the WT blade radius; V
w
is
the wind speed; C
f
is the blade design constant coefcient;
b is the blade pitch angle; l is the blade tip speed ratio,
l v
t
R/V
w
; C
p
is the power coefcient, the maximum C
p
may be achieved by controlling the WT speed in order to
track the maximum power from wind; P
s
is the stator
active power.
2.3 Model of converter
The conguration of the fed back converters is shown in
Fig. 1b, the active power ow through the converters is
balanced. With the directions of the currents as shown in
Fig. 1b, the power balance equation can be obtained
P
r
P
g
P
DC
(12)
where P
r
is the active power at the AC terminal of the rotor-
side converter; P
g
is the active power at the AC terminal of
the grid-side converter; P
DC
is the active power of the DC
link. These are given by
P
r
v
dr
i
dr
v
qr
i
qr
(13)
P
g
v
dg
i
dg
v
qg
i
qg
(14)
P
DC
v
DC
i
DC
Cv
DC
dv
DC
dt
(15)
where i
dr
and i
qr
are the d and q axis rotor currents, respect-
ively; i
dg
and i
qg
are the d and q axis currents of the grid-side
converter, respectively; v
dg
and v
qg
are the d and q axis vol-
tages of the grid-side converter, respectively; v
DC
is the
capacitor DC voltage; i
DC
is the current of the capacitor;
C is the capacitance of the capacitor.
Substituting (1315) into (12), the model of the conver-
ters and DC link can be derived as follows
Cv
DC
dv
DC
dt
v
dg
i
dg
v
qg
i
qg
(v
dr
i
dr
v
qr
i
qr
) (16)
3 Model of controllers
The decoupling control strategy developed in [4] is used for
the active power and reactive power of WT with DFIG
system. Aligning the direction of the d axis of the d 2q
reference frame with the stator voltage, v
qs
becomes zero,
wheareas v
ds
is equal to the magnitude of the terminal
voltage, and then the grid-side active power and reactive
power can be controlled independently by i
dg
and i
qg
,
respectively. The stator active power and voltage can also
be controlled independently using a decoupling control
technique.
3.1 Rotor-side converter controller model
The rotor-side converter controller aims to control the DFIG
output active power for tracking the input of the WT torque,
and to maintain the terminal voltage to control setting. The
active power and voltage are controlled independently via
v
qr
and v
dr
, respectively. The control block diagrams are
shown in Fig. 2a, while control equations are given by
dx
1
dt
P
ref
P
s
(17)
i
qr ref
K
p1
(P
ref
P
s
) K
i1
x
1
(18)
Fig. 2 Control block of the WT system
a Rotor-side converter control block diagram
b Grid-side converter control block diagram
c Pitch control block diagram
IET Gener. Transm. Distrib., Vol. 1, No. 5, September 2007 753
dx
2
dt
i
qr ref
i
qr
K
p1
(P
ref
P
s
) K
i1
x
1
i
qr
(19)
dx
3
dt
v
s ref
v
s
(20)
i
dr ref
K
p3
(v
s ref
v
s
) K
i3
x
3
(21)
dx
4
dt
i
dr ref
i
dr
K
p3
(v
s ref
v
s
) K
i3
x
3
i
dr
(22)
v
qr
K
p2
(K
p1
DP K
i1
x
1
i
qr
)
K
i2
x
2
s
r
v
s
L
m
i
ds
s
r
v
s
L
rr
i
qr
(23)
v
dr
K
p2
(K
p3
Dv K
i3
x
3
i
dr
)
K
i2
x
4
s
r
v
s
L
m
i
qs
s
r
v
s
L
rr
i
dr
(24)
where K
p1
and K
i1
are the proportional and integrating gains
of the power regulator, respectively; K
p2
and K
i2
are the pro-
portional and integrating gains of the rotor-side converter
current regulator, respectively; K
p3
and K
i3
are the pro-
portional and integrating gains of the grid voltage regulator,
respectively; i
dr_ref
and i
qr_ref
are the current control refer-
ences for the d and q axis components of the generator
side converter, respectively; v
s_ref
is the specied terminal
voltage reference; P
ref
is the active power control reference
and is given by
P
ref
P
B
v
t
v
tB
(25)
where v
tB
is the base of the WT rotating speed; P
B
is the
maximum output active power at v
tB
.
3.2 Grid-side converter controller
The grid-side converter controller, as shown in Fig. 2b, aims
to maintain the DC link voltage, and control the terminal
reactive power. The voltage of the DC link is controlled
by i
dg
while the reactive power is controlled by i
qg
. With
introducing the intermediate variables x
5
, x
6
and x
7
, the fol-
lowing equations based on Fig. 2b can be obtained
dx
5
dt
v
DC ref
v
DC
(26)
i
dg ref
K
Pdg
Dv
DC
K
Idg
x
5
(27)
dx
6
dt
i
dg ref
i
dg
K
Pdg
Dv
DC
K
Idg
x
5
i
dg
(28)
dx
7
dt
i
qg ref
i
qg
(29)
Dv
dg
K
pg
dx
6
dt
K
ig
x
6
K
Pg
( K
pdg
Dv
DC
K
Idg
x
5
i
dg
) K
Ig
x
6
(30)
Dv
qg
K
pg
dx
7
dt
K
ig
x
7
K
Pg
(i
qg ref
i
qg
) K
Ig
x
7
(31)
where K
pdg
and K
idg
are the proportional and integrating
gains of the DC bus voltage regulator, respectively; K
pg
and K
ig
are the proportional and integrating gains of the
grid-side converter current regulator, respectively; v
DC_ref
is the voltage control reference of the DC link; i
qg_ref
is
the control reference for the q axis component of the grid-
side converter current.
3.3 Pitch controller
The pitch of the blade is controlled to maintain the rotating
speed of the WT to the optimal speed. The control block
diagram is illustrated in Fig. 2c, while the control equation
is given by
db
dt
K
p4
T
m
T
sh
2H
t
K
i4
Dv
t
(32)
where K
p4
and K
i4
are the proportional and integrating gains
of the WT speed regulator, respectively; Dv
t
is the devi-
ation of the WT rotating speed.
4 Dynamic model of WT with DFIG system
Equations (1)(7) and (16) form the model of the WT with
DFIG, among which (1) and (2) describe the dynamics of
the stator current, and may be neglected in electromechani-
cal transient stability analysis by making the left hand side
differentials equal to zero. Equations (17), (19), (20), (22)
(24), (26), (28) (32) form the model of the controllers. The
dynamic model of the WT with DFIG may be written in the
compact form
_ x f (x, z, u) (33)
z g(x, u) (34)
where x, z, u are the vectors of the DFIG state variables,
control output variables and input variables, respectively,
and they are given by
x [v
t
, b, u
tw
, s
r
, i
ds
, i
qs
, E
0
d
, E
0
q
, x
1
, x
2
, x
3
, x
4
, v
DC
, x
5
, x
6
, x
7
]
T
,
z [v
dr
, v
qr
, v
dg
, v
qg
]
T
,
u [v
ds
, v
qs
, i
dg
, i
qg
]
T
5 Small signal stability analysis model of WT
with DFIG
5.1 Interfacing with power grid
Taking the single machine and innite bus (SMIB) system
shown in Fig. 3a as an example, the voltage equation can
be obtained
V
s
/w V/0 jX
TL
( I
s
I
g
) (35)
where V is the voltage of the innite bus; V
s
/w is the term-
inal voltage of the DFIG generator stator winding; X
TL
is the
combined reactance of the transformer and transmission
line, and given by X
TL
X
T
X
L
.
The network voltage equation (35) and the WT model are
presented in xy and dq references of frame, respectively.
The relationship between these two references of frame is
illustrated in Fig. 3b, while the corresponding transfer
IET Gener. Transm. Distrib., Vol. 1, No. 5, September 2007 754
function is given by
f
d
f
q
_ _

cos w sin w
sin w cos w
_ _
f
x
f
y
_ _
(36)
where f
d
and f
q
are the d and q axis components, respect-
ively; f
x
and f
y
are the x and y axis components, respectively.
Substituting (36) into (35), we have
v
ds
v
qs
_ _

cos w
sin w
_ _
V
0 X
TL
X
TL
0
_ _

i
ds
i
qs
_ _

i
dg
i
qg
_ _ _ _
(37)
The voltage equation of the grid-side converter is
v
ds
v
qs
_ _

v
dg
v
qg
_ _

0 X
Tg
X
Tg
0
_ _
i
dg
i
qg
_ _
(38)
where X
Tg
is the reactance of the grid-side transformer.
Linearising (37) and (38), we have
Dv
ds
Dv
qs
_ _

0 X
TL
X
TL
0
_ _

Di
ds
Di
qs
_ _

Di
dg
Di
qg
_ _ _ _
(39)
Dv
ds
Dv
qs
_ _

Dv
dg
Dv
qg
_ _

0 X
Tg
X
Tg
0
_ _
Di
dg
Di
qg
_ _
(40)
Combining (39) and (40)
Du K
1
Dx K
2
Dz (41)
5.2 Small signal stability analysis model
Linearising (33), (34), and substituting (34) and (41) into
(33), small signal stability analysis model of the WT with
DFIG can be obtained as follows
D x ADx (42)
where A is the system state matrix, whose dimension is
16 16.
The dynamics of the stator current may be neglected in
the small signal stability analysis by setting the differentials
of the stator currents equal to zero in (42). Then the reduced
small signal stability analysis model is given by
D x
0
BDx
0
(43)
where B is the reduced system state matrix, whose dimen-
sion is 14 14. x
0
is the reduced state vector, given by
x
0
[v
t
, b, u
tw
, s
r
, E
0
d
, E
0
q
, x
1
, x
2
, x
3
,
x
4
, v
DC
, x
5
, x
6
, x
7
]
T
6 PSO-based optimal control of WT system
6.1 Overview of PSO algorithm [1820]
PSO, introduced by Kennedy and Eberhart in 1995, is an
evolutionary computation technique, and developed from
simulation of behaviours of bird ocking. It is a population-
based search algorithm, and the searching starts from a
group of initial positions (particles or solutions) in the
problem space in order to increase the possibility of
nding the optimal solution of the problem. The searching
strategy of PSO is similar to that of other evolutionary com-
putation techniques, for instance GA. The searching pro-
cedure for the PSO technique is summarised as follows [18].
Step 1: Initialisation: This is to generate a group of particles
(which are named individuals in the other evolutionary
algorithms) where each particle is a candidate solution of
the problem.
Step 2: Evaluation: This is to calculate the tness value of
each particle.
Step 3: Stopping criteria: If one of the stopping criteria is
satised, then stop, else go to Step 4.
Step 4: Updating velocities and positions: According to the
tness value, different operators are used in different algor-
ithms to update the position of the particles, so as to search
the other area in the space.
The major difference between PSO and evolutionary
algorithms is in Step 4, which is velocity and position updat-
ing. The velocity and position updating of PSO are
Fig. 3 Interface with power grid
a SMIB system
b d2q frame respect to x2y frame
Table 1: Eigenvalue and participation factor analysis
of WT
l s v f, Hz ASV
1
ASV
2
ASV
3
l
1,2
21.19 66.7 10.6 s
r
u
tw
-
l
3,4
26.34 29.2 4.65 E
0
d
v
DC
E
0
q
l
5
22.0 0 0 v
t
-
l
6
272.8 0 0 v
DC
E
0
d
-
Table 2: Eigenvalues and participation factor analysis
of WT with controllers
l s v f, Hz ASV
1
ASV
2
l
1,2
270.2 113.4 18 E
0
q
x
3
l
3,4
22.24 60 9.55 S
r
u
tw
l
5,6
270.4 52.4 8.34 E
0
d
x
1
l
7,8
20.32 0.68 0.11 v
t
b
l
9
217 041 0 0 v
DC

l
10
2173.6 0 0 x
5
x
6
l
11
281.89 0 0 x
1
x
7
l
12
214.5 0 0 x
5
x
6
l
13
224.1 0 0 x
2
x
4
l
14
224.97 0 0 x
4
x
2
IET Gener. Transm. Distrib., Vol. 1, No. 5, September 2007 755
determined by
v
i, j
(t 1) w(t) v
i, j
(t) c
1
r
1
(x

i, j
x
i, j
(t))
c
1
r
1
(x

j
x
i, j
(t)) (44)
x
i, j
(t 1) x
i, j
(t) v
i, j
(t 1) (45)
where i 1, 2, . . . , n, j 1, 2, . . . , m; n is the number of
particles in each group; m is the number of the members
in a particle; v
i, j
(t) and v
i, j
(t 1) are the velocities of
member j in particle i at time t and t 1, respectively; w
is the weighting factor of velocity; c
1
and c
2
are the accel-
erating constants; r
1
and r
2
are random numbers between
0 and 1; x
i, j
(t) and x
i, j
(t 1) are the current positions of
member j in particle i at time t and t 1, respectively; x

i, j
is the best position which particle i has achieved so far, it
is called pbest; x

j
is the best position that was obtained
by any particles among the group, it is the potential solution
to the problem and is called gbest.
Equation (44) is used for the velocity updating, which
determines the direction and the velocity for changing of
position for each particle. Equation (45) is used for updating
positions, which determines the new positions of particles
with respect to the previous positions of particles.
From (44) and (45), it can be seen that the best position of
the particle itself and the global best position among the
swarm are utilised to direct the position updating in PSO
algorithm, which is different from that of the other evol-
utionary algorithms. This feature enables PSO to have
quick convergence speed and a high possibility of nding
the global optimisation solution of the problem.
6.2 PSO-based controller parameter tuning
PSO algorithm is employed to search the optimal par-
ameters for the controllers of WT with DFIG in order to
achieve the optimal coordinated control of multiple control-
lers of the WT system. The procedure of the optimal con-
troller design is shown as follows:
Step 1: Initialisation
From Section 2, there are 12 parameters, K
p1
, K
i1
, K
p2
, K
i2
,
K
p3
, K
i3
, K
pdg
, K
idg
, K
pg
, K
ig
, K
p4
and K
i4
for the controllers
of WT system. The electrical dynamics are much faster than
mechanical dynamics, so that the control of electrical
dynamics can be decoupled from that of mechanical
dynamics. The controllers of electrical dynamics are
Table 3: Eigenvalues and participation factor analysis with optimised controllers parameters
l l
1,2
l
3,4
l
5,6
l
7
l
8
l
9
l
10
l
11
l
12
l
13
l
14
s 2101 22.46 277.7 268 251 2193 289.6 217.9 217.6 24.18 20.15 20.03
v 67.8 63.4 59.9 0 0 0 0 0 0 0 0
Fig. 4 Responses of DFIG under small disturbance
IET Gener. Transm. Distrib., Vol. 1, No. 5, September 2007 756
optimised while the parameters, K
p4
and K
i4
, are not
included in the optimisation. In this way, the number of par-
ameters to be optimised is reduced to 10.
In the initialisation, the upper and lower bounds, X
max
and X
min
, respectively, of the parameters should be speci-
ed at rst; these dene the searching space. In the search-
ing space, n particles fX
i
(0), i 1, 2, . . ., ng can be
generated randomly where X
i
(0) fx
i,j
(0), j 1, 2, . . .,
10g are the initial group of particles, and they are the start
points of the searching.
The velocity for the position updating should also be
initialised, the bound of the velocity is given by
v
j, max

x
j, max
x
j, min
N
v
j, min
v
j, max
, j 1, 2, . . . , 10 (46)
where x
j,max
and x
j,min
are the upper and lower bounds of
member j of particles, respectively; v
j,max
and v
j,min
are
the maximum and minimum velocities of member j of par-
ticles, respectively; N is the interval of the dimension, which
is normally chosen between 5 and 10. Then the initial vel-
ocities V(0) fv
i,j
(0), i 1, 2, . . ., n, j 1, 2, . . .,10g are
generated randomly between [v
j,min
, v
j,max
].
Step 2: Evaluation
Evaluate the tness value of the initial group of particles
[14], which is given by
F max {Real(l
g
), g 1, 2, . . . , 14} (47)
where F is the tness value; l
g
is the eigenvalue of the
system state matrix in (43); g is the number of the state
variables. The optimisation aims to minimise F in order to
shift all the eigenvalues as far to the left of the left hand
side of the complex plane as possible. It can be seen from
(43) that the intermediate variables of the controllers are
all included in the state equations. Hence, if the system is
stable, both the WT system and its controllers are stable.
Based on the tness value, the pbest and gbest can be
obtained.
Step 3: Stopping criteria
If the stopping criteria are satised, then stop, else continue
to next step. Here, the stopping criteria may be the maximal
number of iterations, or the tness value of gbest smaller
than a specied negative value.
Step 4: Updating velocities and positions
The velocity updating is given by (44) while the upper and
lower limits are considered as follows
if v
i,j
(t 1) . v
j, max
then v
i,j
(t 1) v
j, max
if v
i,j
(t 1) , v
j, min
then v
i,j
(t 1) v
j, min
(48)
The position updating is given by (45) while the upper
and lower limits are handled as follows
if x
i,j
(t 1) . x
j, max
then x
i,j
(t 1) x
j, max
if x
i,j
(t 1) , x
j, min
then x
i,j
(t 1) x
j, min
(49)
go to Step 2.
Fig. 5 Responses of DFIG under large disturbance
IET Gener. Transm. Distrib., Vol. 1, No. 5, September 2007 757
7 Small signal stability analysis of WT system
7.1 WT without controllers
The reduced small signal stability analysis model (43) is
used for the small signal stability analysis. The eigenvalues
and participation factors of the system state matrix are
calculated using the parameters presented in Appendix A.
The results are shown in Table 1, and it can be seen that
the WT system is stable since all the eigenvalues have
negative real parts. In particular, there are two modes of
oscillation with frequencies of 10.6 and 4.65 Hz, respect-
ively. The mode with the higher oscillation frequency is
associated with the DFIG rotor speed state variables, and
the mode with the lower oscillation frequency is associated
with the DFIG stator state variables and the DC link state
variable.
7.2 WT with controllers
Small signal stability analysis for the WT with controllers
was carried out using the controller parameters listed in
Appendix B [21]. The results are shown in Table 2. It can
be found that the system is stable. In comparison with the
results in Table 1 where WT controllers are not considered,
the damping of the system increases and there are two
additional modes of oscillation: one is mainly associated
with E
0
q
with a frequency of 18 Hz; the other one is associ-
ated with v
t
of the WT with a frequency of 0.11 Hz. The
frequency of the mode associated with E
0
d
increases notice-
ably, wheareas the frequency of the mode associated with
slip S
r
of the DFIG rotor decreases slightly.
7.3 Optimisation of controllers parameters
The new proposed algorithm-based PSO is used to tune the
parameters of the controllers of the WT system. The par-
ameters of the PSOand the lower and upper bounds of control-
lers parameters used in optimisation are listed in Appendix C.
The proposed algorithm-based PSO was implemented in
MATLAB, and was run on a Pentium 4 2.20 GHz PC with
1 GB of RAM. It took 101 s to optimise the parameters. The
optimised parameters are presented in Appendix D.
Applying the optimised parameters of the controllers, small
signal stability analysis is carried out, and the results are
shown in Table 3. It can be seen that the number of the oscil-
lation modes decreases from 4 to 3, while the damping
increases, and the rest of the modes are damping modes.
8 Dynamic simulations
Simulations, which were performed in MATLAB/
SIMULINK, aimed to verify the improvement in stability
by the controllers of the WT system with the optimised par-
ameters. A SMIB system and a four-machine system were
used in the simulations.
8.1 SMIB system
The SMIB system consists of a wind farm, a motor load and
an innite voltage source. The wind farm connects with the
innite voltage bus through a 10 km transmission line and
the load is located at the terminal bus of the transmission
line near the innite voltage source; the details can be
found in MATLAB v7.1 Demo [21]. The small disturbance
Fig. 6 Responses of four-machine system under small disturbance
IET Gener. Transm. Distrib., Vol. 1, No. 5, September 2007 758
and large disturbance are applied to the simulated system
during simulation.
8.1.1 Small disturbance: The step changes of 20.1 and
0.1 pu are applied simultaneously to the voltage reference
and active power reference, respectively. The dynamics of
terminal voltage, output active power, output reactive
power and DC-link voltage are simulated, and the simu-
lation results are shown in Fig. 4. It can be seen that
using the optimised controller parameters, the dynamic per-
formance of the WT has been signicantly improved where
the oscillation after the disturbance was damped out very
quickly.
8.1.2 Large disturbance: In order to investigate the
robustness of the controllers, simulations were performed
under large disturbance. A permanent three-phase ground
fault was applied on the transmission line terminal bus
near the innite voltage source.
The responses of the WT system under this permanent
disturbance are shown in Fig. 5. It can be seen that the
responses of the WT system with the optimised controllers
are much better than those of the WT system with non-
optimised controllers. With the optimised controllers, the
terminal voltage of the WT with DFIG is restored to a
higher level than that with the non-optimised controller,
and the peak voltage of the DC-link is much lower than
that of the WT system with non-optimised controller.
Under the disturbance, the output power of the WT
system with the optimised controller can restore to the
initial level; however, the output active power of the WT
with the non-optimised controller dropped to zero because
of the limit of the stator current. It can be concluded that
applying the optimised controllers, the stator current can
be controlled within the current limit under the disturbance;
therefore the fault ride-through capability of the WT with
DFIG can be improved.
8.2 Four-machine system
The four-machine system used in the simulations was modi-
ed from the four-machine system used for small signal
stability analysis [17]. The original four-machine system
can be divided into two areas, and each of them consists
of two machines, the details of which can be found in [17,
22]. Generator 3 is replaced by a wind farm, which is the
same as that used in the above SMIB system.
8.2.1 Small disturbance: The step change of 20.1 pu
was applied to the voltage reference of the DFIG. The
dynamics of terminal voltage, DC-link voltage and output
active power are shown in Figs. 6ac, respectively. It can
be seen that using the optimised controller parameters, the
dynamic performance of the WT has been signicantly
improved where the oscillation after the disturbance was
damped out very quickly. Generator 4 (G4) is near the
WT, and its dynamic responses were affected signicantly.
The dynamics of the terminal voltage of G4 are illustrated in
Fig. 6d. It can be seen that applying the optimised control-
lers, the oscillation of the terminal voltage of G4 was
damped quickly, the damping the multi-machine system
was enhanced.
Fig. 7 Responses of four-machine system under large disturbance
IET Gener. Transm. Distrib., Vol. 1, No. 5, September 2007 759
8.2.2 Large disturbance: The ground fault happened in
the middle of the transmission line linking the two areas.
The fault was applied at time t 0

, and cleared after

0.2 s. The dynamics of the terminal voltage, DC-link
voltage and active power of the WT with DFIG are shown
in Figs. 7ac, respectively. It can be seen that in the multi-
machine system, the dynamics of the WT with the opti-
mised controllers under large disturbance were improved.
The dynamics of the terminal voltage of G4 is also illus-
trated in Fig. 7d. It can be seen that applying the optimised
controllers, the oscillation of the terminal voltage of G4 was
damped quickly under the large disturbance.
9 Conclusion
A dynamic model of the WT with DFIG including its con-
verters and controllers has been presented, based on which
the model for small signal stability analysis has been estab-
lished. The small signal stability analysis of the WT system
with and without controllers has also been carried out. It has
been found that the WT with DFIG system without the con-
trollers is originally stable, while using the controllers the
dynamic performance of the WT system can be improved.
A novel parameter tuning method based on PSO was pro-
posed to optimise the parameters of the controllers. The
coordinated control of the WT system controllers has
been achieved by using an optimisation technique for
multiple controllers parameters. In the optimisation, it
has also been found that the PSO algorithm is very easy
to implement, and can nd the optimised controllers
parameters very quickly. In addition, using the optimised
parameters, the dynamic performance of WT system can
be improved, and therefore the capability of the fault ride-
through can be enhanced. The numerical examples have
demonstrated the importance of the DFIG control with
properly tuned controller parameters on both the SMIB
system and the multi-machine system.
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11 Appendix A: parameters of WT system
Per unit system
S
B
1.5 MW, V
B
575 V
WT:
H
t
3 s, H
g
0.5 s, K
sh
10 pu/rad, D
sh
3.14 pu

s/
rad
DFIG:
R
s
0.00706 pu, L
s
0.171 pu, L
m
2.9 pu, R
r

0.005 pu, L
r
0.156 pu, L
ss
L
s
L
m
, L
rr
L
r
L
m
Converter:
C 0.01F, V
DC
1200 V, X
Tg
0.55 pu
12 Appendix B: original controller parameters
k
p1
1 pu, k
i1
100 s
21
, k
p2
0.3 pu, k
i2
8 s
21
, k
p3

1.25 pu, k
i3
300 s
21
, k
p4
k
p2
, k
i4
k
i2
, k
pdg
2.4 pu,
k
idg
60 s
21
, k
p5
10 pu, k
i5
100 s
21
, k
pg
1 pu,
k
ig
100 s
21
13 Appendix C: parameters used during
optimisation
Parameters of PSO
n 100, N 10
w 0.9, c1 2, c2 2
Lower and upper bounds for controller parameters
X
max
[1.5, 150, 0.45, 12, 1.875, 450, 0.05, 0.1, 1.5,
150];
X
min
[0.5, 50, 0.15, 4, 0.625, 150, 0.001, 0.025, 0.5, 50]
14 Appendix D: optimised controller parameters
k
p1
0.6 pu, k
i1
80.4 s
21
, k
p2
0.27 pu, k
i2
5.1 s
21
,
k
p3
1.48 pu, k
i3
219 s
21
, k
p4
k
p2
, k
i4
k
i2
k
pdg
14.4 pu, k
idg
64.8 s
21
,
k
pg
0.73 pu, k
ig
131 s
21
IET Gener. Transm. Distrib., Vol. 1, No. 5, September 2007 760