Modelling and validation of a squirrel cage induction generator wind turbine during connection to the local grid

G. Quinonez-Varela and A. Cruden Abstract: The increasing penetration of wind turbine generators (WTGs) into power systems can affect many network operational aspects such as stability and power quality. The accurate, validated representation of these generators and their components for studying particular operational events, such as cut-in and soft-starting, short-circuit faults and generator switching, remains a challenge. Accurate simulation is particularly important for investigating stability interactions within weak grids or localised networks (e.g. micro-grids or islanded networks). One of the events producing major transient interaction between a WTG and a local grid is the grid connection itself. A simulation model of the use of a soft-starter during the grid connection of a wind turbine equipped with a squirrel cage induction generator and thyristor-based soft-start module is presented. This model has been validated using experimental measurements taken from a wind turbine generator in an operational wind farm site. The analysis focuses on verifying the transients produced during the short-time after the connection to the local grid. Existing literature presents insufcient details about this particular process as well as the practical performance of the soft-starter. It is further demonstrated that ambiguities in this subject may lead to mistaken conclusions in technical assessments carried out by wind farm operators and Distribution Network Operators (DNOs).

Introduction

For traditional power system elements such as synchronous generators and their components, consensus has been achieved on appropriate characteristics and widely accepted standard models for power systems analysis have been developed. For models of wind turbine generators (WTGs), an international industry consensus on the appropriate composition and level of detail does not yet exist. Several models have been proposed in existing literature [1 5] whose level of complexity varies widely depending on the purpose of the investigations and the technology modelled, for example, xed- or variable-speed machines. Most models neglect/simplify some features of WTG depending on the scope of study required. For example, the suitability of aggregating many WTGs within large-scale wind farms into one representative WTG model is being investigated and proposed in [6, 7]. However, for the case of smaller-scale, localised power systems such as weak distribution, islanded networks or micro-grids, the authors believe it is important to model more detailed dynamic and transient behaviour of individual WTGs and their interaction with the local grid, specically the operation of the soft-starter. Moreover, comprehensively detailed models are necessary for investigating the impacts of WTGs on modern power systems,
# The Institution of Engineering and Technology 2008 doi:10.1049/iet-gtd:20060180 Paper rst received 13th December 2004 and in revised form 14th September 2007 The authors are with Centre for Economic Renewable Power Delivery, Institute for Energy and Environment, University of Strathclyde, 204 George St., Glasgow G1 1XW, UK E-mail: gustavo.quinonez@eee.strath.ac.uk IET Gener. Transm. Distrib., 2008, 2, (2), pp. 301 309

otherwise oversimplication of the model components could introduce signicant errors dening dynamic interaction and stability limits as suggested in [8, 9]. Despite the advances in WTG modelling, and the vast number of models available, the sensible replication of particular events, such as grid connection, short-circuit faults and transient interactions in power system models, remain a challenge. Currently, verication of WTG models is recognised as a key challenge by the wind industry and the research community in order to guarantee accurate power system analyses, and international efforts are being undertaken to address this issue, for example, the work carried out by the participants of the IEA Wind Annex XXI [10, 11]. The experimental work by the Annex focuses on dynamic operation during normal conditions, for example, power uctuations and icker emissions, and response to voltage dips experienced within the grid system. Also, verication of models via eld measurements for WTG tripping and islanding conditions have been published [12, 13] in open literature. One of the operating events producing major transient interaction between a WTG and the local grid is the connection process. This is particularly signicant in xed-speed stall-regulated WTGs equipped with squirrel cage induction generators (SCIGs), which are either directly-connected to the grid or via a soft-start module. However, it appears that this event has been overlooked in existing WTG power system modelling [14]. Moreover, sufcient, accurate data of soft-starting is lacking in the literature and information from manufacturers is ambiguous and not well documented. Despite the increasing deployment of doubly-fed induction generators (DFIG), a large number of SCIG-based machines are currently in operation within power systems worldwide. For example, according to the 2005 BWEA
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statistics of operational wind farms in the UK [15], 75% of the total installed wind turbines in the UK (i.e. 1067 machines) are equipped with SCIG, accounting for a total of 756 MW. Moreover, SCIG wind turbines are still available in the market from a number of manufacturers, within a vast range of power capacity from 30 to 2300 kW. This paper introduces a comprehensive simulation model of a thyristor-based soft-starter to analyse the grid connection of a xed-speed, stall-regulated SCIG WTG. Additionally, it focuses on the validation procedure based on experimental measurements performed on a WTG at an existing wind farm site, and in the analysis of the shorttime period after the grid connection. 2 SCIG wind turbine generators

2.2

Generator system

Many existing wind turbines are designed on the concept known as the Danish concept, consisting of a turbine rotor coupled to a directly grid-connected SCIG induction generator through a gearbox. The use of the gearbox is required as the rated rotor speed and generator speed ranges are different. Therefore rotor speed variations are very small, because the only speed variations that can occur are changes in the rotor slip. The order of magnitude of these speed changes are very small (usually up to  2%), and the turbine is normally considered to operate at a xed speed. 2.1 Stall-regulation

In general, a xed-speed wind turbine is equipped with a SCIG whose stator winding is directly connected to the power network. Despite the term xed-speed, the SCIG operates within a narrow range of rotational speed, which varies according to the generated output power (e.g. slips of about 1 2%). Owing to its nature, a SCIG wind turbine requires a continuous source of reactive power to feed its magnetic circuit, which is drawn from the local grid. A common solution to alleviate this condition is the utilisation of power factor compensation capacitors that supply the whole or part of this reactive demand. A soft-start module is normally utilised to minimise the inrush current required to magnetise the SCIG, which can result in overcurrents of between 4 and 6 p.u. of the rated current, and related large starting torques in the drive train. Fig. 1 illustrates a typical single line representation of a three phase, thyristor-based soft-starter. 2.3 Soft-starting

The power extracted from the wind needs to be limited as otherwise the generator could be overloaded or the pullout torque could be exceeded, leading to rotor speed instability. In most existing wind turbines this is usually done by means of the aerodynamic stall effect. This means that the blade geometry is designed in such a way that its aerodynamic properties make the rotor efciency decrease in high wind speeds, thus limiting the power extracted from the wind and preventing the generator from being damaged and the rotor speed from becoming unstable. Thus, the implementation of active turbine controllers is not necessary when the stall effect is used, leading to associated cost benets. Although there are advances towards employing concepts such as pitch and variable speed regulation and the use of DFIGs, xed-speed stall-regulated machines with SCIG still make up a signicant proportion of manufacturers and WTG operators portfolios.

The soft-start module features a pair of thyristors connected in anti-parallel (back-to-back conguration) on each phase. Each thyristor is held in the off condition, that is, all current ow is blocked, and it is triggered into the on condition by ring a pulse into its gate. To operate in a current-limiting feature, delayed ring pulses are generated, with a trend of increasing the conduction angle of each thyristor. In this fashion, the phase current is increased from zero to rated current. Each thyristor in the anti-parallel array conducts on the appropriate positive half cycle of the supplied voltage, enabling full wave control. Fig. 2 illustrates the effect of modifying the thyristor conduction angle, which is related to the ring angle a by the relationship a 1808 2 u. The soft-start operates over a short time interval and thereafter it is by-passed via a contactor in order to eliminate losses generated in the thyristors. Soft-starters also incorporate RC snubber circuits, illustrated in Fig. 1 as Rsn and Csn , which ensures that the thyristors are not exposed to excessive rates of change of voltage during transient conditions, which may consequently result in damage or failure of the thyristors. Generally, three types of soft-starter congurations are applicable in induction machines (e.g. induction motor

Fig. 1 Single-line diagram of a wind turbine equipped with a SCIG electrical system
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manufacturers description available to the utility regarding soft-starting of the existing wind turbines (to be described subsequently) was: the soft-starter is by-passed a few seconds after the grid connection [18]. Experimental testing proved the soft-starter was only actually active for 0.20 s (ten cycles). Certain wind turbine specications are regarded as a business secret by manufacturers as mentioned in [11], which makes model validation difcult. In this case, to account for accurate operation is crucial, as any mistreatment will produce erroneous conditions in terms of actual voltage drop and inrush current.
Fig. 2 Single-phase layout of a typical soft-start module

Wind farm

starters) namely star, delta and branch delta [14]. In wind turbine applications, mainly the delta and star are utilised, having basically the same layout for the thyristor circuit but differentiated by the connection of the generator winding. The monitored WTG discussed in Section 3 at Hagshaw Hill wind farm has a star congured soft-starter. 2.4 Soft-start operation

From a search of available literature, it is clear that very little information exists regarding the practical operation of wind turbine soft-start devices. Some publications describing the operation of these devices quote different operating times; for example, in [16], it is stated that soft-start sequence of wind turbines occur during the period of between 1 and 3 s, some only refer to a period of for few seconds as in [17] and others do not make any mention of this issue [14]. Moreover, operational data available from manufacturers is found to be ambiguous. For example, in the experimental monitoring carried out as part of this work, the only

Hagshaw Hill wind farm is located in the south west of Scotland and is owned by Scottish Power plc. It consists of 26 wind turbines giving a combined 15.6 MW power rating. This was the rst wind farm in Scotland and has been operational since 1995. Fig. 3 illustrates the physical layout of the wind farm site. The wind turbines at Hagshaw Hill are Bonus 600 machines rated at 600 kW each. The turbine rotor is a three blade cantilevered construction, mounted upwind of the tower, with stall effect power control. Fig. 4 illustrates the Bonus wind turbine monitored at Hagshaw Hill (circled in Fig. 3). These wind turbines are equipped with a SCIG, which are operational from a cut-in wind speed (4.5 m/s) to a ceiling cut-out wind speed (25 m/s). The power output increases with the wind speed up to 15 m/s (i.e. its rated wind speed). Afterwards, the power is limited by the stall effect of the turbine blades. Once the wind speed is sufcient to self-start the turbine, it accelerates the rotor to synchronous speed (at cut-in wind speed) and the grid connection process is initiated by closure of the generator circuit breaker. To smooth the grid connection, each wind turbine employs a thyristor-based soft-start module. The wind turbines are

Fig. 3 Layout of the Hagshaw Hill wind farm in Scotland

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wind farm is interconnected to the main Scottish grid by a nearby 20 MV A substation. 4 Simulation model

A wind turbine model previously developed by the authors [19], which replicates the dynamics and start-up conditions of a xed-speed stall-regulated wind turbine generator was utilised to generate a simulation model of the grid connection process. A simplied diagram of the entire model is shown in Fig. 6, which has been implemented in the industry standard power system simulation tool PSCAD/ EMTDC. Although electromagnetic transient simulation tools such as PSCAD/EMTDC may not be advantageous for simulating large-scale power systems, mainly because of its smaller time steps (i.e. larger computation time), they are of great signicance when simulating transient events such as grid connection. The authors model can be explained as follows: the kinetic energy content of wind speed is converted to mechanical torque by the turbine blades/rotor module, which is computed by (1) Twt 1 U3 Cp (l) r Ar l 2 (1)

Fig. 4 Monitored wind turbine at Hagshaw Hill (air brakes deployed)

also equipped with capacitors to compensate for the reactive power consumption of the SCIG. However, the capacitors are not switched during the initial cycles but shortly after the connection to the grid Fig. 5 illustrates the internal connection panel of the monitored wind turbine comprising the main turbine circuit breaker, by-pass contactor, soft-starter and power factor correction capacitors. Each of the 26 wind turbines is connected to the local 33 kV distribution network via a 0.69/ 33 kV step-up transformer rated at 630 kV A. The whole

where Twt is the mean aerodynamic torque (accelerating torque during the grid connection) in N m, l the tip speed ratio that describes the relationship between the rotating blade tip speed and the wind speed, Cp the power coefcient (which is a function of l) and is determined using a look-up table of the turbine Cp 2 l curve, r(&.) the air density at the site in kg/m3, Ar the swept area of the rotor in m2 and U the free-stream mean wind speed in m/s. Twt is fed into the drive-train module which computes the high-speed shaft angular speed v by balancing the opposing forces of Twt and the electromagnetic torque Te developed in the SCIG with respect to the combined turbine/generator inertia. The drive-train system equations are dvwt Twt Ks us Dwt vwt dt 2Hwt dvg Ks us Te Dg vg dt 2Hg   dus 2pf vwt vg dt (2) (3) (4)

where Te is the electromagnetic torque in N m, Hwt and Hg the inertias of the turbine and the generator rotor, respectively, in kg-m2, Ks the effective shaft stiffness in (N m)/ rad and us the twist in the shaft system in rad. The values Dwtvwt and Dgvg representing the damping torque in the wind turbine and the generator, respectively, in N m, vwt

Fig. 5 Connection panel of the monitored wind turbine

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Fig. 6 Simplied block diagram of the simulation model

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Table 1:
Parameter

Parameters of the wind turbine

Value 42 35 30 1:50 4.5 15 25 150
2

Table 2: Parameters of the wind turbine SCIG

Parameter active power, kW terminal voltage, V armature current, A power factor characteristic at 100% full-load at 75% full-load at 50% full-load at 25% full-load equivalent circuit stator resistance (Rs), mV stator reactance (Xs), mV rotor resistance (RR), mV rotor reactance (XR), mV magnetisation reactance (Xm), V operational slip, % moment of inertia, kg m2 0.90 0.89 0.84 0.67 7.10 72.3 5.60 88.3 3.05 20.8 10.5 Value 600 690 555

rotor diameter, m hub height, m synchronous rotor speed, rpm gearbox ratio cut-in wind speed, m/s rated wind speed, m/s cut-out wind speed, m/s moment of inertia, kg m

and vg the angular speeds of the wind turbine and the generator rotor, respectively, in rad/s and f the nominal grid frequency in Hz. During the initial time step of the simulation, a predened value of Te is computed according to the initialisation conditions. The low-speed shaft angular speed vwt is fed back to the aerodynamic model for the next time step, in order to calculate related variables such as power coefcient Cp(l). The parameters of the modelled wind turbine are presented in Table 1. 4.1 Induction generator (SCIG)

The induction generator was modelled as a conventional squirrel cage machine in the state variable form using generalised machine theory [20]. The stator and the rotor windings are transformed to their two-phase equivalent using the dq transformation. This machine model is generally available in most power system simulators, as illustrated in Fig. 7. In this circuit, RS and XS are the stator resistance and reactance, respectively, RR and XR are the rotor resistance and reactance, respectively, and XM is the magnetisation reactance. The parameters of the induction generator modelled as part of the wind turbine are presented in Table 2. 4.2 Soft-start model

controller generates the ring pulses to the thyristor gates (e.g. to ThF and ThR in Fig. 1). The ring pulse controller illustrated in Fig. 8, comprises a phase-locked loop module with a phase detector and proportional-integral (PI) controller that tracks the positive sequence of the input signals, namely the three-phase phase voltages (Va , Vb and Vc). The equations that represent this part of the controller are p    3 2 1 1 2 Va Vb Vc Va Vb Vc ; Vb 3 2 2 3 2 (5)

ferr (t) Va Kv Sin(f) Vb Kv Sin(f) t f Kp (ferr ) Ki ferr 40

0

(6) (7)

A soft-starter model for a typical SCIG wind turbine was assembled using existing models of high frequency switches and control blocks available within the PSCAD/EMTDC standard library. The conguration of the soft-starter is made up of three pairs of thyristors connected in antiparallel (usually referred to as back-to-back as shown in Fig. 1 for a single phase). A RC snubber circuit connected in series across the thyristor is included in order to control the rate of change of voltage across the device. A separate contactor controls the by-pass of the soft-starter after a dened switching time. The thyristors are red by a pulse supplied to the gate terminal and are turned off when the device current tries to reverse direction following conduction. An external

Fig. 7 Equivalent circuit of a typical SCIG

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Fig. 8 Diagram of the ring pulse controller

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Table 3: Parameters of the soft-start module

thyristors manufacturer model parameter snubber resistance (Rsn), V capacitance (Csn), mF controller proportional gain integral gain time delay, s 50 900 0.1 0.005 as in Fig. 9 ten cycles 33.0 0.47 Westcode Semiconductors N330CH22 value

Fig. 9 Soft-starter ring angle characteristic of a Bonus 600 kW wind turbine

pulse duration, s ring angle characteristic operating time

where Va and Vb are Clarkes components the three-phase phase voltages, KV the proportional constant of the base voltage, ferr the phase error in rad, Kp and Ki the proportional and integral gains of the PI controller, v0 the tracked frequency by the phase locked loop and f the phase output signal synchronised to phase a in rad. This module returns an array of six sawtooth signals (via a signal generator) separated by 608 from one another, with the rst signal being taken as the reference input phase (i.e. f) and the remaining signals derived from this input. Of these six signals, 1 and 4 drive phase a, 3 and 6 drive phase b and 2 and 5 drive phase c, respectively. The phase identiers are inputs (entry H in Fig. 8) to a ring pulse generator that drives the corresponding ring pulses (an array of six signals linked to gates ThF and ThR of phases a, b and c) and the appropriate ring delay for a soft-start turn-on of the thyristors. The inputs in H are continuously compared with input L of the desired ring angle (i.e. a ramp signal of ring angle evolution over time). The linear ramp of the Bonus 600 kW shown in Fig. 9 was determined from the measured thyristor voltages from Fig. 10. A pulse sequencer circuit is also employed in order to block or pass the ring pulses. The sequencer assigns a xed time delay related to the ring pulse commands. Equations and algorithms for these blocks can be found in the PSCAD/ EMTDC documentation [20]. The parameters of the soft-starter model are presented in Table 3. These correspond to the monitored Bonus 600 kW wind turbine.

4.3

Network model

The network consists of the wind farm internal distribution network, which is fed from the grid. The local grid is represented by a Thevenin source (i.e. a constant voltage source connected in series with its Thevenin impedance). The parameters of the local 33-kV grid are presented in Table 4 [21]. 5 Experimental eld measurements

A series of eld measurements were conducted at the existing SCIG wind turbine with the purpose of validating the authors simulation model of the wind turbine grid connection. 5.1 Experimental equipment

The monitoring equipment comprised recording the instantaneous voltage and current waveforms during the turbine start and connection to the network. During the start up, the rotor slowly accelerated from rest to cut-in speed and was then connected to the grid. This procedure was repeated a number of times. A Dranetz-BMI Power Platform PP-4300 power analyser, shown in Fig. 11, was utilised for monitoring. The PP-4300 uses interchangeable task cards to perform different functions using the same mainframe instrument. The multi-DAQ card was used, which allows capture of highspeed transients. 5.2 Experimental results

Fig. 12 illustrates a record of the instantaneous current in each phase during the initial cycles of the connection procedure. Similarly, Fig. 13 illustrates the instantaneous grid phase voltage in each phase during this same period. The action of the soft-start module in limiting the magnitude of the current during the initial cycles is clearly
Table 4: Parameters of local grid
Parameter fault level, p.u. Value 20.1 2.93
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Fig. 10 Three-phase voltage across the thyristors during the connection stage of the wind turbine measured at the wind farm
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X/R ratio

Fig. 13 Three-phase grid voltage during the connection stage of the wind turbine measured at the wind farm

Fig. 11 Monitoring mainframe instrument

Fig. 14 Stimulated three-phase currents during the connection of the wind turbine to the network

Fig. 12 Three-phase phase currents during the connection stage of the wind turbine measured at the wind farm

demonstrated in Fig. 12. The thyristors operate over the initial ten cycles before being by-passed by the main contactor. The thyristor voltage was also measured directly and is shown in Fig. 10. This illustrates the instantaneous phase voltage across the thyristors during the initial cycles of the connection procedure. The effect of increasing the thyristors conduction angles is evident. 6 Simulation results and validation

Fig. 15 Simulated three-phase voltage across the thyristors during the connection stage of the wind turbine

Using the model from Section 4 and the experimentally determined ring angle characteristics over a period of ten cycles, the simulated instantaneous generator currents in each phase are illustrated in Fig. 14, giving very good
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correlation with the experimental results illustrated from Fig. 12. The voltage across the thyristors in each phase has been simulated (Fig. 15) and compared with the experimental results from Fig. 10. Again good correlation is evident. Using a statistical methodology namely the chi-square goodness-of-t test a correlation coefcient was determined, resulting in a correlation of a 0.98 for both cases. At the instant of switching of the wind turbine to the network, a voltage drop is created by the ow of reactive
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Fig. 16 Experimental against simulated reactive power requirement during the connection of the wind turbine to the local network

Fig. 18 Simulated three-phase current during the connection of the wind turbine to the network without a soft-starter

power into the generator (refer to Fig. 16). The experimental (Fig. 13) against simulated voltage drop (Fig. 17) showed good correlation. Applying the statistical test resulted in a 0.97 correlation. RMS values of the grid connection voltage are also presented in Fig. 17 of both waveforms in order to provide a better appreciation of the correlation between experimental and simulated results. The benet of employing a soft-starter on each turbine can be shown by simulating direct grid connection of the SCIG in the absence of a soft-starter, which produces a large voltage drop as a result of the large inrush current. Fig. 18 illustrates the simulated three-phase instantaneous current of the SCIG during the grid connection without a

soft-starter. Fig. 19 compares simulated voltage drops with and without the soft-start module. And it also highlights the importance of the operating time of the soft-starter as the resultant voltage drop can be further altered by, for example, simulating a longer operating time of the softstarter from the measured 0.20 1.0 s. As active and reactive powers were not directly measured during data logging at the wind turbine, calculations were subsequently performed to derive these parameters, which are shown in Figs. 16 and 20. These gures also illustrate the experimental against simulated active and reactive

Fig. 19 RMS voltage drop during the connection of the wind turbine to the local network with and without the soft-start module

Fig. 17 Voltage drop during the connection of the wind turbine to the local network
a Instantaneous voltage drop b RMS voltage drop
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Fig. 20 Experimental against simulated active power evolution during the connection of the wind turbine to the local network
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power, respectively, during the connection to the network. The simulated results are also found to be in very good agreement with those calculated from the experimental measurements. The computed correlation is 0.98 for both active and reactive power. The small waveform within Fig. 16 illustrates a 10-s evolution of active power. This evidences the occurrence of power oscillations immediately after the network connection, which subsequently stabilise after  5 s. This makes clear why the active power evolution illustrated in the larger waveform in Fig. 16 progresses to rated power at  1 s after the connection. In contrast, reactive power oscillations did not occur. 7 Conclusions

References

The accurate modelling and representation of WTG operation is required in order to manage the increasing penetration of these generators in power systems in a safe, reliable fashion. It is particularly vital to investigate the specic impact in terms of stability and power quality in local grids such as weak distribution and prospective islanded networks and microgrids. Although much research has been accomplished and advanced models developed in recent years, replication and validated modelling of particular events such as grid connection transients have not been fully reported in existing publications and this paper represents a major contribution to this area. A comprehensive simulation model of the use of a softstarter to grid connect a xed-speed WTG equipped with a SCIG has been presented and validated using experimental measurements taken from an existing wind farm. The average correlation between the measured and simulated results is 0.98. The analysis in this paper focused on verifying the transients produced during the actual grid connection of the turbine. A signicant discrepancy with the suggested soft-start operating intervals quoted in the existing literature has been highlighted by the results of this investigation. The authors testing indicates that some soft-start modules operate only for  0.20 s (i.e. ten cycles) rather than for a few seconds (13 s) as previously quoted in the open literature. Wind farm operators and DNOs requiring detailed models and accurate representations of particular WTG events, for example, grid connection, should recognise these potential discrepancies with actual WTG operating conditions. 8 Acknowledgment

The authors acknowledge the assistance of ScottishPower Power Systems, ScottishPower Wind Farm Operations Group and Sinclair Knight Merz (SKM) for the monitoring at Hagshaw Hill wind farm. The authors also gratefully acknowledge the nancial assistance given to Mr. Quinonez-Varela by the Scottish Executive.

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