BACK-TO-BACK

, 5.11.2004. : 165/98
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1. ............................................................................................................. 5

2. ..................................................................................... 7

3. ....................................................... 12

4. ... 14

5. .............. 16

6.
.............................................................................................. 20
6.1. .................................................... 24
7. BACK-TO-BACK .............................................................. 26
7.1. ........................................................... 27
7.1.1. .......................................... 31
7.2. ............................................................. 33
7.2.1. PWM ................................................................................ 33
7.2.2. Space Vector .................................................................... 35
8. M
...................................................................................................... 37
8.1. DFIG .......................................................................................... 41
8.2. ............................................................................... 44
8.3. ............................................................................. 48
9. ............................................................................................... 49

10. ........................................................................................... 51

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1.1 ........... 6
1.2 .................................................................................. 6
2.1 ..................................................... 8
2.2 .............................................................................. 8
2.3 ............................................. 9
2.4 ..................................................................... 9
2.5 600kW ..................................................................... 10
2.6 ................................................................................ 10
2.7 ................................................... 11
3.1 - .................................................... 12
3.2 ................................................................ 13
4.1 ................................................................................................... 15
5.1 ....................................... 16
5.2 ................................... 17
5.3 .................... 17
6.1 .............................................................. 21
6.2 .................................................................................. 21
6.3 ......................................................... 22
6.4 ....................................................... 23
6.5 ........................................................................... 24
6.6 .............................................. 24
6.7 ............................................. 25
7.1 back-to-back ....................................................... 26
7.2 ........................................................ 27
7.3 .................................................. 29
7.4 ................................................................. 30
7.5 ua .................................................................................................. 31
7.6 ........................................ 33
7.7 Ui(t).................................................................................. 34
7.8 ................................................. 35
7.9 ....................................................................... 35

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7.10 SV ............................................................... 36
8.1 DFIG...................................................................................... 38
8.2 ..................................................................... 40
8.3 ..................................................... 41
8.4 ............................................................................. 44
8.5 IMC ................................................................................................... 46
8.6 PI ........................................................... 46
8.7 ........................................................................... 47

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1.

,
. (
1.74x1017 kWh ) 1 2% .
()
, ,
; , .

, ,
, e
, (.,
).

:
.

,
.
.

19. , 20.
, 55kW. . (wind rush),
, , , , ,
. , ,
,
.
( 5W),
(>1%).
2020. 20%
[1],[2].

5/52
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1.1

.
,
(
20% ), -
.
, Danish windmill
.

( 2,3 4)
, ,
.
. 5

, .

, ,
back-to-back . 6
, .
. 7 , 8
.

1.2

6/52
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2.

,
,
( )
( ), , , .
, ,
, , .

,
,
.

() .
, ,
, . , ,
, 75% (.
), .
,
2300 (
8766), 1000W
2300x1000= 2.3TWh .

.
.

, (
) .

7/52
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2.1

.
, ()
. . 600kW 43-44m, .,
1.500m2.

, ,
.

2.2

(Betz Law)
16/27 59%. ,
() , 45%.

, , ,
. 2.3
, 7m/s.

8/52
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2.3

, ,
, 2.3 8.7m/s,
400W/m2.
,
( ):

2.4

.
8.7m/s, .
, .

2.4
(8.7m/s).
3-5m/s (cut in wind speed), 20-25m/s (cut off
wind speed), .

600kW:

9/52
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2.5 600kW

, .
.

.
, , .

2.6

,
9m/s. .
( , , ,
8.7m/s). (
), ,
.

, ,
, () !

10/52
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,
.

.
(=
) ,
, ,
.
.

, ,
, ,
( ).

, ,
, .
,
.

, . 2.7
.

2.7

,
.
, , ,
( ,
).

, . ,
., ,
, .

( ) ,
, ( , );
[1].
11/52
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3.

,
, . ( 3.1,
.)

3.1 -

(hub), 1, 2, 3 ()
(rotor blades). ,
. -
. ()
, .

12/52
 back-to-back

3.2

(,
gerabox), 50
. ,
, .

, 5MW
. .
, ,
, , .
, (yaw mechanism,
) .

, (pitch angle control)
.

, ,
.
,
(cut in) , ,
, (cut off).

.
, 10%,
33%!
1%.

13/52
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4.

, ,
. , , ,

. (, ,
-), :
,
. (, -
,
.)

.
1000 , . ,
,
.

. ,
, , ,
.

(, , )
.
,
( 6 ) ,
. ,
, .

[19].

,
. , ,

14/52
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( 4.2m/s 10m, 7m/s

50m) ( ), ,
, , .

4.1

, 75m
55m ( )
500kW ( 1W).
350.000, ,
700/kW, 6
, 580/kW.
(, , ,..) ,
10 1.000.000.

,
, ,
.

15/52
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5.

, ,
,
.
,
DC ;
. ,
.

.
.
, .
,
(1-2%), , .
,
.

5.1

. ,
.

,
5.2.

16/52
 back-to-back

5.2

. , ,
.
, , DC
() .

,
. ,
. , .

(doubly fed induction generator)
. ,
. back-to-back .

5.3

. ,
.
0.7 synh 1.3 synh , synh . ,
,
.

, 25%
, .
, 1MW .

17/52
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,
,
( ),
, , .
, , ,
,
.

, ,
,
. ,
, .
(Opti Slip),
.

, .
(
).
, ,
,
, . ISET

[1].

.
.

pitch
angle control, stall
control.

. , ,
,
. .

,
,
. stall
. stall- pitch angle
.

.
,
.

18/52
 back-to-back

() ,
.

pitch
angle .

back-to-back .
, , ,
, , , .

19/52
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6.

2
.
, ,
.
:

1
Pmeh = CP R 2vwind
3
, (1)
2
:

R
vwind
CP .

Koe CP , CP = C P ( , ) ,
tip-speed ratio:

R
= , (2)
vwind

.
(2) , = r / N , r
N .

CP 6.1:

20/52
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6.1

pitch angle ,
, CP :

6.2

6.2 (1)
:

21/52
 back-to-back

6.3

, , .


(maximum power point tracking).

,
30%
.
.
.
, 14m/s
.
14m/s ()
, .

,
:

1.
3x380V/50Hz, , ,
- .
, .

2.
.

3.
. ( [13] [15])

4. (,
, ).

22/52
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6.4

.
(AC/DC) , DC ( )
(DC/AC) .
,
. IGBT (insulated gate bipolar transistor) ,
.

, .

(. )
().

,
, ,
.
.

, ,
30%
( ),
23% . 6.5.

23/52
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6.5

, ()
, .

,
.

6.1.

.
,
, ,
, . , ,
, ,
.
.

.
.
6.6 dq .

6.6
24/52
 back-to-back

,
( ).

( , ,
,...), 6.7.

6.7

,
(cut in speed),
(idle).
, , .

, , , ,
, . soft starting.

( , ,
, .)
, ( [18]).

25/52
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7. Back-to-back
Back-to-back
.

.
.

7.1 back-to-back

7.1 back-to-back .
(force-commutated)
( ) ,
DC . ,
,
.

; ,
, .
, .
.

.

, .

Back-to-back 26/52
 back-to-back

7.1.

() .
back-to-back , [11] [21].

7.2

.
, R .
.
back-to-back iLOAD,
. ,
uDC=UDC=const.

sa, sb, sc, s = 1

, s = 1 DC .

dia
ea L = ua
dt
di
eb L b = ub
dt
(3)
di
ec L c = uc
dt
du DC
C = sa ia + sb ib + sc ic iLOAD
dt

Back-to-back 27/52
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ea = U m sin(t + )
2
eb = U m sin(t + ). (4)
3
4
ec = U m sin(t + )
3

ia = I m sin(t )
2
ib = I m sin(t ) (5)
3
4
ic = I m sin(t )
3

Sa Sb Sc

1 < t + 1 -1 1
3
2
2 + < t + 1 -1 -1
3 3
2
3 + < t + 1 1 -1
3
4
4 + < t + -1 1 -1
3
4 5
5 + < t + -1 1 1
3 3
5
6 + < t + 2 -1 -1 1
3
7.1

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7.3:

7.3

i(t) i(t ) = sa (t )ia (t ) + sb (t )ib (t ) + sc (t )ic (t ) , ua, ub, uc

II :

ua + ub + uc = 0 .

ua ub uc
1 2 1
1 < t + U DC U DC U DC
3 3 3 3
2 2 1 1
2 + < t + U DC U DC U DC
3 3 3 3 3
2 1 1 2
3 + < t + U DC U DC U DC
3 3 3 3
4 1 2 1
4 + < t + U DC U DC U DC
3 3 3 3
4 5 2 1 1
5 + < t + U DC U DC U DC
3 3 3 3 3
5 1 1 2
6 + < t + 2 U DC U DC U DC
3 3 3 3
7.2

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( :

2 k a kb k c
ua =
U DC
3
k + 2kb kc
ub = a U DC (6)
3
k k + 2kc
uc = a b U DC
3
ki=1 si=1, ki=0 si=-1, i=a, b, c.)

i(t) :

+
t= 3

1
I = i (t ) =
T /6
(i a (t ) i b (t ) + i c (t ))dt (7)
t=

t = + t= + t = +
1 3 3
2 3
4
I= I (
m
t =
sin(t )d (t )
t =
sin(t
3
) d (t ) +
t =
sin(t
3
) d ( t ))

6
I= I m cos (8)

ia
3/2+
ib

ic
iLOAD
id iq

u DCref IREF -
i(t) 1/sC uDC
Kp
+ - +

7.4

, dq
,
.

Back-to-back 30/52
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7.1.1.

u a :

7.5 ua

ua :

ua = U m a sin( t ) , (9)
:
T
2 2
Uma =
T 0
ua (t ) sin(t )dt = ua (t ) sin(t ) d (t )
0
(10)

2
Uma = U DC (11)

Im:

2
ea = U me i , u a = U DCe i (12)

ea ua
ia = (13)
i L

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4 4
U m2 + U DC 2 + U DCU m cos( )
Im = 2
, (14)
L
= + .

, :

+
t= 3

qC =

i (t )dt (15)
t=

Im
qC = 2 cos , (16)

:

Im
qC max = 2 , (17)

:

Im
2
U DC max = . (18)
C

(14) :

2
Um +
U DC
I m max = , (19)
L

:

2
Um + U DC
2
Cmin = 2L . (20)
U DC max

, U DC U m ,
.
( 50/6Hz), (
) .

,
, ( kHz).
, ,

Back-to-back 32/52
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, ,
.

7.2.

. DC/AC
.
-
, , ,
,
.

PWM
space vector ;
([4],[5]).

7.2.1. PWM

PWM (Pulse Width Modulation)

.
( )
( ).

7.6

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R,
L e = .

Ui(t):

7.7 Ui(t)

T=1/f (f ~ 2kHz).

tON
U i _ sr = U DC .
T

( L ),
,
Ui(t).

T T
tON = + A cos(S t ) ,
2 2
S [0,1] ,
:

U DC U
U i _ sr = + A DC cos( S t )
2 2

, 2/3,
.

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7.2.2. Space Vector

PWM
, Ua(t), Ub(t) Uc(t). Space
vector ,
, , U
U .

7.8

7.8, ,
Ua(t), Ub(t) Uc(t),
:

7.9

(= )
.
,
,
.

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() U(t) U(t),
:

U uuur
e = arctg , A = U
U
N 7.9 .

A
e = e ( N 1) m= N-, N+1-
3 3
U DC
2
:

t N = mT sin( e )
3
t N +1 = mT sin( e )
t0 = T t1 t 2
T=1/f (f ~ 2kHz).
.

, I ,
:

7.10 SV

3
m U DC ,
2
2
PWM , 16% . ,
3
, 16% ,
PWM.

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8. M

6
.
,
.

, ()
:

5.
.

6. .

7.
.

, ,
.
.

, ,
(
). :
Rs
Xs
n
Xm
Rr
Xr .

DFIG (doubly fed induction generator).

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DFIG 8.1:

8.1 DFIG

Xm
Lm =
2 f s n
Xs
Ls = + nLm (21)
2 f s
X r Lm
Lr = +
2 f s n

fs , Ls Lr .

DFIG dq ( )
:

d
vds = Rs I ds + ds s qs
dt
d
vqs = Rs I qs + qs + s qs
dt
(22)
d
vdr = Rr I dr + dr k qr
dt
d
vqr = Rr I qr + qr + k dr
dt

s=2fs k=s-r, r .

ds = Ls I ds + Lm I dr
qs = Ls I qs + Lm I qr
(23)
dr = Lr I dr + Lm I ds
qr = Lr I qr + Lm I qs

II , , ,
:

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d r
J = M em + M meh (24)
dt

:

em
mh .
( )

3
M em = P ( ds I qs qs I ds ) (25)
2

(P ).

(1), :

1 1
M meh = Pmeh / r = C P ( ) R 2vwind
3
. (26)
2 r

dq d
. :

ds = s , qs = 0 (27)

3
M em = P s I qs (28)
2

Rs, :

d si
Vsi ; ,i = a , b, c (29)
dt

, s=const, :

d ds d s
= =0 (30)
dt dt

, (29)
, :

vds = 0, vqs = Vs , (31)

Vs
s = . (32)
s

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8.2

(27) (23)
:

s Lm
I ds = I dr
Ls Ls
(33)
L
I qs = m I qr
Ls

(23) :

L2m L
dr = ( Lr ) I dr + m s
Ls Ls
(34)
L2m
qr = ( Lr ) I qr
Ls

3
Ps = (vds I ds + vqs I qs )
2 (35)
3
Qs = (vqs I ds + vds I qs )
2

(33) (32) :

3 L
Ps = Vs m I qr
2 Ls
(36)
3 V2 V L
Qs = ( s s m Idr )
2 s Ls Ls

(36) (28) : dq
d ,

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( )
.
Iqr, a Idr.

, ,
. A
dq (34) (22),
vdr vqr :

L2m dI dr L2
vdr = Rr I dr + ( Lr ) k ( Lr m ) Iqr
Ls dt Ls
(37)
L2 dI L2 LV
vqr = Rr I qr + ( Lr m ) dr + k ( Lr m ) Idr + k m s
Ls dt Ls s Ls

k -,
.
. - .

8.1. DFIG

, .

(=
),
rot/rot.

8.3

,

:
41/52
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1 1
1 Xa
X 2 2 2
X = Xb (38)
3 0 3 3
X c
2 2

, .
II :

vs Rs + sLs 0 sLm cos r sLm sin r is

v
s = 0 Rs + sLs sLm sin r sLm cos r is
, (39)
vrot sLm cos r sLm sin r Rr + sLr 0 irot

vrot sLm sin r sLm cos r 0 Rr + sLr irot

s=d/dt .

dis Rs Lr is Lm ( Lrr sin r + Rr cos r )irot

=
dt L2m Ls Lr
Lr vs + Lm cos r vrot Lm sin r vrot
+ (40)
L2m Lr Ls
L2mr is + Lm ( Rr sin r Lr r cos r )irot
+
L2m Lr Ls

dis L2mr is + Lm ( Lr r cos r Rr sin r )irot

=
dt L2m Ls Lr
Lr vs + Lm sin r vrot + Lm cos r vrot
+ (41)
L2m Lr Ls
Rs Lr is Lm ( Lr r sin r + Rr cos r )irot
+
L2m Lr Ls

dirot Lm ( Lsr sin r + Rs cos r )is + Rr Ls irot

=
dt L2m Ls Lr
Lm cos r vs + Lm sin r vs Ls vrot
+ (42)
L2m Lr Ls
Lm ( Lsr cos r Rs sin r )is + L2mr irot
+
L2m Lr Ls

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dirot Lm ( Rs sin r Lsr cos r )is Lm2 r irot

=
dt L2m Ls Lr
Lm sin r vs + Lm cos r vs Ls vrot
+ (43)
L2m Lr Ls
Lm ( Rs cos r + Lsr sin r )is + Rr Ls irot
+
L2m Lr Ls

s Ls 0 Lm cos r Lm sin r is

s = 0 Ls Lm sin r Lm cos r is
, (44)
rot Lm cos r Lm sin r Lr 0 irot

rot Lm sin r Lm cos r 0 Lr irot

3
M em = ( s is s is )
2 (45)

43/52
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8.2.

8.4 ,
vrd vrq.

8.4

1) 3/2 .

i r
2) e ()
rot/rot :

ir = irot cos r ir sin r

(46)
ir = irot sin r + ir cos r

3)
, :
uuur uur
s ; Lm ims (47)

44/52
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Ls
ims = is + ir
Lm
(48)
L
ims = s is + ir
Lm

4) DEC/POL ,

uur
ims , s.

5) e is

dq :

isd = is cos s + is sin s

(49)
isq = is sin s + is cos s

ird = ir cos s + ir sin s

(50)
irq = ir sin s + ir cos s

i ( s r )
6) e dq
rot/rot :

vrot = vrd cos( s r ) vrq sin( s r )

(51)
vrot = vrd sin( s r ) + vrq cos( s r )

7) PWM .
Space Vector ,
2/3 .

(28) (36) ird irq

( ) .
, , d- q-
(. -, (37)).
.

. IMC (Internal
Model Control):

45/52
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8.5 IMC

8.5 d q . Gm(s)
(37) -:

1
Gm ( s) = (52)
L2
Rr + s ( Lr m )
Ls

F(s) :

1
F ( s) = , (53)
Tf s + 1

f .

, , -
, F(s).

PI ,
, ,
cross-coupling-:

8.6 PI

46/52
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(decoupling) vrd_dec vrq_dec

(37), Decoupling Voltages 8.6:

L2m
vrd _ dec = k ( Lr )irq
Ls
, (54)
L2 L2 uur
vrq _ dec = k ( Lr m )ird + k m ims
Ls Ls

k= s- r .

PI anti wind-up
.

,
.
, ,
( ),
(
).

8.7

,
Ps_ref .
. , .

1 cos 2
Qs _ ref = Ps _ ref = Ps _ ref tg (55)
cos

, , ,
, ( ) :

Qs _ ref = ( Ps _ ref + Pr )tg Qr (56)

47/52
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8.3.

,
.
, ,
.
cos = 0.9 .

back-to-back .
( ),
.

.

. (36) :

3Vs 2 3L V ur 2
Ps 2 + (Qs ) = ( m s ) 2 ir (57)
2s Ls 2 Ls

ur 2
ir = ird 2 + irq 2 .

(57) ,
, P-Q DFIG
.
660kW:

,
ur
ir , P-Q .

.

48/52
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9.
.
,
.

,
.

,
,
back-to-back .

.
, . ,
, , .

, .

,
back-to-back .
,
, ,
.

Back-to-back ,
.
,
DC , .

. ,
,
.
.

49/52
 back-to-back

,
.

. (
, ,...)
[15], [17], [21].

.
.
.

50/52
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10.
[1] www.windpower.org
[2] www.balkanenergy.org
[3] www.nordex.de
[4] :
[5] :

[6] M :
[7] , , :

[8] A. Tapia, G. Tapia, J. X. Ostolaza, J. R. Saenz: Modeling and Control of a Wind Turbine
Driven Doubly Fed Induction Generator, IEEE Transaction on Energy Conversion, Vol. 18,
N2, June 2003.
[9] F. Poitiers, M. Machmoum, R. Le Doeuff and M.E. Zaim: Control of a Doubly-Fed
Induction Generator for Wind Energy Conversion Systems
[10] Shibashis Bhowmik, Ren Spe, Johan H. R. Enslin: Performance Optimization for
Doubly Fed Wind Power Generation Systems IEEE Transactions on Industry Applications, Vol.
35, N4, July/August 1999.
[11] Anders Carlsson: The back to back converter control and design, May 22, 1998
[12] Nijaz Dizdarevi, Matislav Majstorovi, Sran utobradi: Pogon vjetroelektrana, 2003.
[13] Hans verseth Rsten, Tore M. Undeland, Terje Gjengedal: Doubly Fed Induction
Generator in a Wind Turbine
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