Integration of Wind Power to Grid

A thesis submitted in partial fulfillment of the requirements for the degree of Bachelor of Technology

Submitted by Amiya Tiwari (09010805) Sarthak Gupta (09010822)

Under the supervision of: Dr. Praveen Tripathy, Assistant Professor, IIT Guwahati

Department of Electronics & Electrical Engineering Indian Institute of Technology, Guwahati Assam 781039 April 2013

ACKNOWLEDGEMENT

We would like to express our gratitude towards our supervisor, Dr. Praveen Tripathy, for giving us the opportunity to work in the research area of our interest. This thesis has been possible because of the guidance, confidence and trust shown by him in our work. In the coming years, experiences gained from this project will certainly help us in our professional as well as personal life. We are also thankful to the Department of Electronics and Electrical Engineering, IIT Guwahati, for the excellent research infrastructure and facilities provided, which was very helpful during the course of this thesis.

List of Figures
Figure 1: Diagram showing the components of WECS connected to grid . . . . . . . . . . . . . . . . . . . . . 01 Figure 2: Horizontal Axis and Vertical Axis Wind Turbines (VAWT) . . . . . . . . . . . . . . . . . . . . . . . . . 02 Figure 3: Power coefficient CP curves as a function of tip speed ratio and pitch angle . . . . . . . . . . . 04 Figure 4: Back to Back converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 05 Figure 5: Block Diagram of PM DC Generator coupled with Wind Turbine and its Control Strategy. . 14 Figure 6: Block Diagram of DFIG coupled with Wind Turbine and its Control Strategy . . . . . . . . . . . . 15 Figure 7: The torque speed plane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Figure 8: Phase Diagram of Sub Synchronous Motoring Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Figure 9: Sub Synchronous Motoring Power Flow Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Figure 10: Phase Diagram of Super Synchronous Motoring Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Figure 11: Super Synchronous Motoring Power Flow Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 Figure 12: Phase Diagram of Sub Synchronous Generation Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 Figure 13: Sub Synchronous Generation Power Flow Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Figure 14: Phase Diagram of Super Synchronous Generation Mode . . . . . . . . . . . . . . . . . . . . . . . . . 22 Figure 15: Super Synchronous Generation Power Flow Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 Figure 16: Schematic for Control of DFIG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 Figure 17: Plant Model for irq . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Figure 18: The close loop feedback control of the system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Figure 19: Complete control structure of irq with compensating terms . . . . . . . . . . . . . . . . . . . . . . . . 33 Figure 20: PI Control structure of ird . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Figure 21: Closed loop control structure of speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 Figure 22: Speed Control with PI controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 Figure 23: Schematic of Front End Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 Figure 24(a),(b),(c): Circuit representation & power flow of front end interface . . . . . . . . . . . . . . . . . 37 Figure 25: Plant Model for ifeq . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Figure 26: The closed loop current control scheme .................................... 39 Figure 27: Complete Control Structure with the controller and compensating terms . . . . . . . . . . . 40 Figure 28: Control structure for udc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 Figure 29-31: Results of MPPT for PM DC Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 Figure 32-38: Results of MPPT for DFIG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42, 43 Figure 39: Speed and Torque response of the DFIG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 Figure 40: Rotor Side Current in synchronous frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 Figure 41: DC link Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Figure 42: Speed and Torque response of the DFIG to a step change in ref . . . . . . . . . . . . . . . . . . . . . 45 Figure 43: Response of the Integrated System to the changing wind speed . . . . . . . . . . . . . . . . . . . . . 46 Figure 44: Rotor current control in the changing wind speed scenario . . . . . . . . . . . . . . . . . . . . . . . . . . 47 Figure 45: DC link voltage in the changing wind speed scenario . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Executive Summary
Title: Integration of Wind Power to Grid. Problem Statement: While integrating the wind power to grid through wind turbines various problems and issues are faced whose suitable solutions are needed to be found. One such issue is that of extracting maximum power available from the wind at any speed. This is carried out using techniques called Maximum Power Point Tracking. The project aims at studying various techniques presently employed and propose a solution to the above mentioned problem on this basis. Further, it aims to implement the found solution to a DFIG connected wind turbine to show its feasibility. Summary of Work Done in Semester 1: An in depth study of the working principles of a wind turbine were carried out. The relations governing the amount of extracted power from the turbine were understood and related MPPT techniques were studied. Correspondingly a hybrid MPPT technique was developed which employs a combination of Ant Colony Algorithm (ACO) and Steepest Descent Algorithm. This technique was found to generate optimal reference signals for the simulations carried on a PM DC Generator and a Doubly Fed Induction Generator. Summary of work done Semester 2: Modeling of the dynamics of the wind turbine was carried out. Scalar and vector control techniques for the variable speed of operation were studied and direct flux oriented control was found as a suitable technique for the project. An automatic optimization model involving the hybrid techniques proposed in the previous semester was developed which triggered the algorithm to run when the wind speed changes. Controllers were designed both for the rotor side and the grid side of the Doubly Fed Induction generators. This enabled to achieve a speed control with a constant DC link voltage. Lastly, the turbine, the optimization model and the DFIG model were integrated to successfully demonstrate the efficiency and applicability of the proposed strategy.
Table: Work Breakdown in 8th Semester

No. 1. 2. 3. 4. 5.

Task(with qty and metric) Papers read (25) Simulation Design Coding Discussions with Supervisor Report Writing Total

Hours: Amiya 30 55 30 30 25 170

Hours: Sarthak 40 45 30 30 25 170

CONTENTS
1 ...........................................................2
.......................................................

1. Overview 2. Theory

Wind Turbines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2 Wind Turbine Aerodynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 Wind Turbine Generators in Current Market . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Power Electronics Converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Issues on Grid Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

3. Approach towards the problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Maximum Power Tracking Theorem (MPPT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Optimization Problem Formulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 Ant Colony Optimization Algorithm for Wind Turbine . . . . . . . . . . . . . . . . . . . . 11 Steepest Ascent Method for Local Optimization . . . . . . . . . . . . . . . . . . . . . . . . 12 MPPT for a PM DC Generator Coupled Wind Turbine . . . . . . . . . . . . . . . . . . . . 13 MPPT for a DFIG Coupled Wind Turbine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

4. Doubly Fed Induction Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Basic Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Four Quadrant Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Dynamic Modeling of DFIG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ............................................

16
16 17 22

5. Speed Control of DFIG

27

Scalar Control Techniques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Vector Control Techniques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 ..................................................

6. Rotor Side Control

29

Design of Controllers Speed Control Loop

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 ..............................................

7. Front End Control Design of Controllers

36

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

8. Results

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

41

MPPT for a PM DC Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 MPPT for DFIG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Results for the application of the Speed and Voltage control to DFIG model . . 44 Response of DFIG to a step change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Integration of Wind Turbine with Grid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 .............................................................

9. Appendix 10. References

48 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50