Tutorial DFIM Part 1

Applications of the
Doubly Fed Induction Machine (DFIM)
Authors: Gonzalo Abad1

Miguel ngel Rodrguez2
Grzegorz Iwanski3
1Universityof Mondragon, Spain

2Ingeteam Transmission & Distribution S.A., Spain.
3Warsaw University of Technology, Poland.

Outline
1. Variable Speed Wind Energy Generator Systems.

Basic Modeling of the Wind Turbine.
Wind Turbine Control System.
Different Configurations According to the Electrical Generator.
2. Doubly Fed Induction Machine based Wind Energy Generator System.

Control System.
Basic Numbers of an 1,75 MW Wind Turbine.
3. Industrial solutions. DFIM Wind Turbine Manufacturers.

Different Industrial Solutions.
4. Applications with Prime Movers Different from Wind - Review.

Different Applications.
07-09-2009 Applications of the Doubly Fed Induction Machine, 2

by G. Abad, M.A. Rodrguez and G. Iwanski
Outline


Control System.



Variable Speed Wind Energy Generator Systems
H. Camblong, M. Rodrguez Vidal, J. R. Puiggali. Principles of a Simulation Model for a Variable-Spedd Pitch-
Regulated Wind Turbine. Wind Engineering, Vol 28, Pg 157-175. March 2004.

1 R t
Tt = R 3 Vv2 Ct =
2 Vp
C = C
p t
k2 7i
k
1
1
Pt = R 3 Vv2 C p C p = k1 k3 k4 k6 e
k5
i =
2 i + k8
Power coefficient Cp Torque coefficient Ct

0.5 Cp_max
opt =-2 0.06
=2 =-2
0.4
=2
0.3 =5 0.04
=5
0.2 =40
0.02
0.1 =40
opt
0 0
0 4 8 12 16 20 0 4 8 12 16 20


Wind Turbine Control System. Vv

est
Estimator *
m_nom Tem *
Regulator
m _min +
-
m Tem
Vv
*=opt
Vv
m* T em*
Max power
tracking
Regulator
+
-
m Tem
Vv
Vv
*= op t
m_Nom *
Regulator - T em *
+ - kopt
T em *=Tem_ nom +
m
D t_m
m2
m ^2
H. Camblong, I. Martinez Alegra, M. Rodrguez, G. Abad. Experimental evaluation of wind turbines maximum power point tracking
controllers. Energy Conversion and Management Vol 47, Issues 18-19, November 2006, Pg 2846-2858.
H. Camblong, G. Tapia, M. Rodrguez. Robust digital control of a wind turbine for rated-speed and variable-power operation regime.
IEE Proceedings Control Theory & Applications Vol 153, Issue 1, Pg 81-91. January 2006.

Wind Doubly Fed

Induction Machine
GEARBOX
Network
Transformer
Rotor side VSC Grid side VSC
rotor grid
filter filter
Characteristics (DFIM):
Limited operating speed range (-30% to +30%).
Small scale power electronic converter.
Complete control of active power and reactive power exchanged with the grid.
Need for slip-rings and gear box.

PM-Synchronous Machine Multi-Pole

and
Multipole wound rotor synchronous generator
Wind Machine side VSC Grid side VSC
Network
stator grid Transformer

filter filter
Characteristics (MPMG and WRSG):

Full operating speed range.
Full scale power electronic converter.
Elimination of the gear box.
No brushes on the generator in PMSM.

Wind
Induction Machine Machine side VSC Grid side VSC
GEARBOX
Network

filter filter
Characteristics (SCIM):
No brushes on the generator but Need for gear box.
Manufacturer: Ecotecnia 47 Variable Speed 750 kW (some prototypes)

Wind PM-Synchronous Machine

Multi-Pole Machine side VSC Grid side VSC
GEARBOX
Network

filter filter
Characteristics (PMSM):
Complete control of active power and reactive power exchanged with the
grid.
Multipole generator, permanent magnets needed in large quantities.
No brushes on the generator.

Outline


Control System.



Doubly Fed Induction Machine based
Wind Energy Generator System
Control System.
WIND TURBINE CONTROL:

- Divided in different control levels.
- Only first control level is studied in
this tutorial.

Velocidad Potencia salida Factor de Tensin lnea

(rpm) (KW) potencia (VRMS)
1 975 100 1.0 690
2 1100 167 1.0 690
3 1450 400 1.0 690
4 1615 600 1.0 690
5 1760 800 1.0 690
6 1800 1000 1.0 690
7 1800 1200 1.0 690
8 1800 1400 1.0 690
9 1800 1700 1.0 690
10 1800 1700 1.0 621
11 1800 1700 1.0 759
12 1800 1700 0.9 inductivo 690
13 1800 1700 0.95 capacitivo 690
14 1950 1842 0.95 capacitivo 690
15 1950 2125 0.9 inductivo 690

Motor 1.5 MW PU Motor 1.4 MW PU

Vsnom 690 V 690 V
Isnom 1395 A 1400 A
u=Ns/Nr 0.36 0.39
Vrnom 1916 V 1769 V
Rs 0.0015 0.0052 0.0018 0.0065

Rr 0.0015 0.0052 0.0019 0.0068
Lh 3.34 m 3.68 2.78 m 3.07
Lfs 95.49 0.105 86.58 0.096
Lfr 66.85 0.074 108.23 0.119
Rfer 26.2 91.74 66.28 232.93
3 3
r 2.27 s 7.23 e 1.50 s 4.76 e
s 2.29 s 7.29 e 3 1.56 s 4.96 e 3
0.047 0.047 0.067 0.067

Outline


Control System.



Industrial solutions.
DFIM Wind Turbine Manufacturers
Gamesa
G52 - 58 850k, 80 87 & 90 2MW
http://www.gamesacorp.com/es/productos/aerogeneradores/c
atalogo-de-aerogeneradores
Acciona
AW-70 77 & 82 1500 kW
AW-100 109 & 116 3000 kW
http://www.acciona-energia.com/default.asp?x=0002020601&lang=Es
Ecotecnia (Alstom)
Eco 74 1670kW, 80 2MW
Eco 100 3MW
http://www.power.alstom.com/home/new_plants/wind/wind_t
urbines/38796.EN.php?languageId=EN&dir=/home/new_pl
ants/wind/wind_turbines/

Vestas (NEG MICON):

V90 (only USA market)
http://www.vestas.com/es/soluciones-e%C3%B3licas/aerogeneradores.aspx
General Electric:
1.5, 2.5 & 3.6 MW (off-shore)
http://www.gepower.com/prod_serv/products/wind_turbines/en/index.htm
Sulzon:
S 82 88, 1500 & 2100kW
http://www.suzlon.com/
RePower:
2.05, 3.3 & 5MW
http://www.repower.de/index.php?id=12&L=1

Siemens (Bonus):
SWT-3.6-107, SWT-2.3-101
http://www.powergeneration.siemens.com/products-solutions-
services/products-packages/wind-turbines/products/Products.htm
Fuhrlaender:
FL2500
http://www.fuhrlaender.de/index_en.php
Nordex
N100 2.5MW
http://www.nordex-online.com/en/produkte-service/wind-turbines.html
Mitshubishi
MWT 95, 2.4 MW
http://www.mhi.co.jp/en/products/category/wind_turbine_generator
s.html

DeWind
D6, D8 & D8.2, 1 & 2 MW
http://www.compositetechcorp.com/OurCompanies/DeWindInc/tabid/145/Defau
lt.aspx

Outline


Control System.



Applications with Prime Movers
Different from Wind - Review
22MW adjustable speed generation unit with DFIG and

cycloconverter for Narude Power Station (Japan) 1987 [1]
80MW adjustable speed pumped storage unit with DFIG and
cycloconverter at Yagisawa Power Plant (Japan) 1990 [2]
2x400MW adjustable speed pumped storage units with DFIG and
cycloconverter for Ohkawachi Power Station (Japan) 1993 [1]
2x350MVA adjustable speed pumped storage units with DFIG and
cycloconverter for Goldisthal Power Station (Germany) 2003 [3]
[1] T. Kuwabara, A. Shibuya, H. Furuta, E. Kita, K. Mitsuhashi, Design and Dynamic Response Characteristics of 400MW Adjustable Speed
Pumped Storage Unit for Ohkawachi Power Station, IEEE Transaction on Energy Conversion, Vol. 11, Issue 2, June 1996, pp. 376 384.
[2] S. Furuya, T. Taguchi, K. Kusunoki, T. Yanagisawa, T. Kageyama, T. Kanai, Successful Achievement in a Variable Speed Pumped Storage
Power System at Yagisawa Power Plant, Power Conversion Conference PCC93, Yokohama, 19-21 April 1993, pp. 603 608
[3] K. Grotenburg, F. Koch, I. Erlich U. Bachmann, Modeling And Dynamic Simulation Of Variable Speed Pump Storage Units Incorporated
Into The German Electric Power System, 9th European Conference on Power Electronics and Applications EPE09, Graz, Austria, pp.10

Applications with Prime Movers
Different from Wind - Review
2500kVA range series diesel engine based rotary uninterruptible
power supply system with slip ring induction machine by
Starshine [1]
Flywheel based energy storage systems with DFIG described in
several papers [2][3][4][5]
Variable speed power system with UPS function [6].
[1] http://www.onsitepowerinc.com/documents/supplierDocs/Rotary%20UPS%20Brochure.pdf
[2] Yoon-Ho Kim; Kyoung-Hun Lee; Young-Hyun Cho; Young-Keun Hong, Comparison of harmonic compensation based on wound/squirrel-
cage rotor type induction motors with flywheel, IPEMC 2000, Volume 2, 15-18 Aug. 2000 Page(s):531 536
[3] H. Akagi, H. Sato, Control and performance of a doubly-fed induction machine intended for a flywheel energy storage system, IEEE Trans.
on Power Electronics, Volume 17, Issue 1, Jan. 2002, Page(s):109 - 116
[4] Gang Li; Jing Zhang; Shijie Cheng; Jinyu Wen; Yuan Pan, State Space Formulation and Stability Analysis of a Doubly-fed Induction
Machine with a Flywheel Energy Storage System Int. Conf. on Power System Technology, 2006. PowerCon 2006. 22-26 Oct. 2006 Page(s):1 - 6
[5] C. Batlle, A. Doria-Cerezo, R. Ortega, Power flow control of a doubly-fed induction machine coupled to a flywheel, Int. Conf. on Control
Applications, 2004. Vol. 2, 2-4 Sept. 2004 Page(s):1645 - 1650
[6] G. Iwanski, W. Koczara: DFIG based Power Generation System with UPS Function for Variable Speed Applications IEEE Trans. on
Industrial Electronics. Vol. 55, Issue 8, pp. 3047 3054, Aug. 2008

Mathematical Model of the
Doubly Fed Induction Machine.

Grzegorz Iwanski3


Outline
1. Dynamic Model of the DFIM.

Simplified Model of the DFIM.
Space Vector Representation.
Model of the DFIM.
dq Model of the DFIM.
State Space Representation of the Model.
State Space Representation of the dq Model.
2. Dynamic Model of the DFIM Considering the Iron Losses.
Model of the DFIM Considering the Iron Losses.
dq Model of the DFIM Considering the Iron Losses.
3. Dynamic Modeling of the DFIM based on Symmetrical Components Analysis.
Basic Definitions.
DFIM in Balanced Operation.
DFIM in Unbalanced Operation.
4. Steady-State Analysis of the DFIM.
Basic Operation Modes Attending to the Speed and Powers.
Performance Analysis. Amplitude, Frequency and Phase Shift Variation.
Performance Analysis. Torque and Reactive Power Control.
5. Estimator and Observer Structures for the DFIM.
Directly Measurable and Estimated Magnitudes.
Stator Active and Reactive Power Estimation.
Stator and Rotor Fluxes Estimator.
Stator Flux Estimator from Stator Voltage.
Stator Flux Synchronization from the Stator Voltage.
Stator and Rotor Flux Observer.
07-09-2009 Mathematical Model of the DFIM, 2

Outline

Model of the DFIM.
Basic Definitions.

Dynamic Model of the DFIM
Doubly Fed Induction Machine (DFIM).
Machine under study:

Simplified Model of the DFIM. Objectives.
- First dynamic modelling approach of the machine.

- Oriented to design control strategies and validate performances of the machine.

Simplified Model of the DFIM
- 3 windings in the stator (ABC) and 3 windings

in the rotor (abc).
- The windings are considered as ideal [1]-[2].
- Oriented to design control strategies and
validate performances of the machine.
[1] W. Leonhard, Control of electrical drives. Springer-Verlag, 2001.

[2] M.P. Kazmierkowski, R. Krishnan, F. Blaabjerg, Control in Power Electronics Selected Problems, Academic Press, 2002.

Electric Equivalent Circuit of the DFIM
3 phase equations for the stator (Pulsation s ) 3 phase equations for the rotor (Pulsation r )
[1] W. Leonhard, Control of electrical drives. Springer-Verlag, 2001.

[3] J.L. Rodriguez Amenedo, "Analisis dinamico y disefno del sistema de control de aeroturbinas de velocidad variable con
aerogenerador asincrono de doble alimentacion", Ph. Thesis, Universidad Carlos III, 2000.
Space Vector Representation. Reference frames.
1.- The stator reference frame (-): Aligned with the stator, the rotating speed of the frame is
zero, and the space vector referenced to it, rotates at the synchronous speed s.
2.- The rotor reference frame (D-Q): Aligned with the rotor, the rotating speed of the frame is the
angular speed of the rotor m, and the space vector referred to it rotates at the angular speed r.
3.- The synchronous reference frame (d-q): The rotating speed of the frame is the synchronous
speed s, and the space vector referenced to it does not rotate, i.e. it presents constant real
and imaginary parts.

Space Vector Representation. Reference frames.
One space vector can be represented in

3 different reference frames.

Model of the DFIM.
Equivalent electric circuit:
Voltage and Flux

Space Vector equations:

Model of the DFIM.
Torque equation (there are several versions):
Stator and rotor, active and reactive power equations:

Voltage and Flux

Space Vector equations:

Torque equation (there are several versions as well):
Equivalent equations to
the model !!

Compact version:
- Fluxes as state-space magnitudes.

- Useful for simulation purposes.
Expanded version:

- Currents as state-space magnitudes.
Expanded version:
Compact version:

Compact version: - Fluxes as state-space magnitudes.

- Useful for evaluation purposes.
Expanded version:

Compact version:

Expanded version:

Outline

Model of the DFIM.
Basic Definitions.

Dynamic Model of the DFIM Considering the Iron Losses
- The iron losses can be approximated to:

Ploss=k*f*B2
- The iron losses are modelled as a resistance (Rfe)
in parallel to the mutual inductance (Lh) of each phase.
- Rfe is approximately proportional to the frequency.
- Current ife does not create flux.


Space vector equations:
- Voltage equations (same as previous model)
- Flux equations (different from previous model)
- New node equations (voltage and current)

Torque equation (only equivalence with the previous model):
only this expression is

equivalent with
the previous model !!!


Voltage, flux and node space vector equations

Torque equation:
Equivalent equations to
the model !!

Compact version:

Expanded version:

Outline

Model of the DFIM.
Basic Definitions.

Dynamic Modeling of the DFIM based
on Symmetrical Components Analysis
Basic Definitions.
Phasor complexor:
steady state representation or sinusoidal variables (x can be a voltage,
current or flux)
x (t ) = X cos( t + ) = Real (X e j( t + ) ) = Real ( x e jt )
x = X e j( )
Three phase system
x a (t ) = k 1U cos ( t + + 1 )
X a = k 1U e ( + 1 )
2
x b (t ) = k 2U cos t + + 2
+ 2
2

3 X b = k 2 U e 3
4
x c (t ) = k 3U cos t + + 3
4
+ 3
3 X c = k 3U e 3

Basic Definitions.
Fortesquieu:
Representation of unbalanced system by means of three balanced systems
xo 1 1 1 xa 2
+ 1
a 2 x b
j
x = 3 1 a
3
a=e
x 1 a 2 a x c

x , x and x
unbalanced system a b c
xc
the three phase unbalanced
xa system phasors,
xb
+
ax
ax xo the zero sequence component
2 /3 x
2 /3 xo xo x+ the positive sequence
2 /3
2 /3
xo
component
2 /3
+
2 /3
x
a2 x x- the negative sequence
a2 x+
positive sequence negative sequence zero sequence component

Basic Definitions.
Space vector :
Represents three phase systems in steady or transient state
r 2
(
x (t ) = x (t ) + j x (t ) = xa (t ) + a xb (t ) + a 2 xc (t )
3
)
Im
B
a 3/2 u
a2 uc(t)
u
a ub(t)
ua(t)
1 A, Re
a2

Basic Definitions.
Relationship: Space vector and Phasor
r
x = x e jt = x e j (t + )
r r r + r + r
x (t ) = x + + x + x = x e jt + x e jt + x =| x + | e j (t + ) + | x | e j (t + ) + x
0 0 0
Three wire connection system, i.e. not neutral point connection
i a ( t ) + ib ( t ) + i c ( t ) = 0 va (t ) + vb (t ) + vc (t ) = 0
r r+ r r+ r+ r r
x (t ) = x (t ) + x (t ) = ( x (t ) + jx (t )) + x (t ) + jx (t ))

Stator flux, rotor flux and open rotor voltage

Vs
Steady state
r r r
r r ds r ds r vs
vs = Rs is + vs s
dt dt j s
s
r
r Lh r Lh ds r Lh vs r
r = s vr = ( j m s ) vr = ( s) s=
Ls Ls dt Ls j s

Transient state
r
r r ds
vs = Rs is +
dt
( t + t0 )
r r r
s (t ) = sf + k so e
= L /R
s s
Vector k is calculated in such a way the flux keep continuous
For example for a three phase dip from v to v in t=t
1 2 0
( t + t0 )
( t t0 )
r r r vs 2 v s 2 v s1
s (t > t 0 ) = sf + k so e
= e j s t + e j s t 0 e
j s j s
Transient state
r ( t t0 )
r Lh r Lh ds r L
r = s vr = ( jm s ) v ro = h vs ( s(1 p)e jst (1 s) pe jst0 e
)
Ls Ls dt Ls
( t t0 )
p = v s 2 v s1 = p v s v
DQ
ro =
Lh
vs ( s(1 p)e jst (1 s) pe jst0 e
) e jmt
Ls
Rotor voltage is much higher than slip of

the stator voltage

Steady state
r+ r+ r+ r + vrs+ r r
v s+ Rs i s+
v s = Rs i s + js s s
j s
r
vs+
r r r r
v s = Rs i s js s r
s
vs
r
s
j s r s+
Rs is+
r
r r+ r v + js t
e v j s t vs
se
vs vs r
s
s =
s r
r r Rs is
j s j s j s j s v s Rs is s

Transient state
( t t0 ) r
r r r Lh ds r
s (t ) = sf + k so e vr = ( j m s )
Ls dt
( t t0 )
Lh
vr = k e
+ ((2 s )vs e jst + s vs+ e jst ) (2 s ) = ( s + m ) / s
Ls
Rotor voltage is increased in term (2-s) for

negative sequence

Active and reactive power

r 3 rr
S ( t )= P ( t )+ jQ ( t )= v i *
2
{ } 3 rr 3
{ }
P ( t )= Re v i * = ( v i +v i )
2 2
3 rr 3
{ }
Q ( t )= Im vi * = ( v i v i )
2 2
r r r r r r
i = (i + + i ) = i + ji = (i+ + i ) + j (i+ + i ) v = (v + + v ) = v + jv = (v+ + v ) + j (v + + v )
r
{
3r r * r r * r r * r r *
S ( t )=P ( t )+ jQ ( t )= v + i + +v i +v + i +v i +
2
} Q= AQ + B Q +C Q + D Q
P = AP + B P + C P + D P
3 r r * 3
AP = Re{v + i + } = (v+ i+ + v + i+ ) 3 r r * 3
2 2 Constant terms CP = Re{v + i } = (v+ i + v+ i )
2 2
3 r r * 3 3 r r * 3
BP = Re{v i } = (v i + v i ) BQ = Im{v i } = (v i v i )
2 2 2 2
3 r r * 3 3 r r * 3
DP = Re{v i + } = (v i+ + v i+ ) CQ = Im{v + i } = (v+ i v+ i )
2 2 2 2
Oscillating 2s
3 r r * 3 terms 3 r r 3
AQ = Im{v + i + } = (v+ i+ v+ i+ ) D Q = Im{v i +* }= ( v i + v i + )
2 2 2 2

Torque
Tem =
3
2
{
r *r r *r r *r r *r
p Im s+ is+ + s+ is + s is+ + s is }
Tem
3 1
{
r + r +* r r * r r +* r + r * r+ 2 r 2
= p Re v s is v s is v s is + v s is Rs (| is | | is | )
2 s
}
r+ 2 r 2
Es _ T = Rs (| is | | is | )
p
Tem = ( As _ P Bs _ P + C s _ P Ds _ P E s _ T )
s

Torque and reactive power
Ps = As _ P + B s _ P + C s _ P + D s _ P
Tem s
Ps = + 2 Bs _ P + 2 Ds _ P + E s _ T
p

Outline

Model of the DFIM.
Basic Definitions.

Steady-State Analysis of the DFIM
Power curves at constant torque:

Basic Steady-State equations:
Four Operating Modes:
Basic relations:

One simple approach to derive the space vector locations:
- The speed of the machine defines clockwise or anticlockwise rotation of the space
vectors.
- The electromagnetic torque defines the relative position between the rotor flux and
the stator flux, i.e. motoring or generating mode of operation on equation.
- The stator voltage space vector is always approximately 90 shifted with the rotor
flux vector.
- The rotor voltage space vector is always approximately 90 shifted with the rotor
flux vector.
- The reactive power of the stator defines the relative position between the space
vectors of the stator current and stator voltage.
- The rotor current can be calculated from the flux-current equations.


Mode 1. Motoring at
Hypersynchronous Speed
Qs < 0 Qs > 0
Mode 2. Generating at
Hypersynchronous Speed

Mode 3. Generating at
Subsynchronous Speed
Qs > 0 Qs < 0
Mode 4. Motoring at
Subsynchronous Speed

The torque and the speed can be

established by a giver rotor voltage:
- Variation of the rotor voltage.

- No torque control.
- Stability problems.


Electromagnetic torque performance at different rotor voltage operation (2MW, 690V, Ns/Nr=1/3 DFIM)
- Maximum Torque available at different voltages.

- Depending on the speed the angle and amplitude must be changed to reach positive or negative torque.
- Limited performance.

- The control imposes the rotor voltage,

from Tem and Qs references .
- Good performance.
Formula:

- Modification of Tem and Qs references not simultaneously.

- Most relevant magnitudes of the machine as function of time.



Outline

Model of the DFIM.
Basic Definitions.

Estimator and Observer Structures for the DFIM
Available magnitudes in general:

- Stator voltage ( frame).
- Stator current ( frame).
- Rotor current (DQ frame).
- Speed of the machine (also position).
Depending on the used control strategy, it will be

necessary to estimate:
- Rotor Flux (DTC, DPC).
- Stator Flux (Vector Control).
- Torque (DTC, Vector Control)
- Stator active and reactive powers (DPC, Vector
control).

From stator voltage and current measurements

(simplest solution):

Stator and Rotor Fluxes Estimator from Currents Measurements.
It is possible to simply estimate the stator and

rotor fluxes in reference frame:

The model of the machine, defines a

simple expression to derive the flux
from measured variables:
For the Vector Control: Only the angle is required


Integrator: Problems with the offsets => low pass filter
Discretize:
Compensation of mod and angle:

Neglecting the stator resistance voltage drop:

Flux observer with stator current feedback:

Closed loop observation of the fluxes. Useful also for torque estimation:


Choice of G matrix:
Observer dynamic: k times faster than the machines dynamic:

Control Strategies for Grid Connected
DFIM based Wind Turbines

Grzegorz Iwanski3


Outline
1. Introduction.
2. Scalar based Control. Voltage Frequency Control.
Block Diagram.
Experimental Rig.
Experimental Results.
3. Field Oriented Control (Vector Control).
Block Diagram. Vector Control Oriented to the Stator Flux.
Dynamic Differential Equations.
Control loops.
Flux Estimator.
Reference Frames.
PI Controllers Tuning Procedure.
4. Classic Direct Torque Control (DTC) and Direct Power Control (DPC).
Classis DTC.
Classic DPC.
Conceptual Analysis of DPC.
5. Predictive Direct Torque Control (PDTC) and Direct Power Control (PDPC).
DPC Block Diagram. Classic Control Blocks.
DPC Block Diagram. PDPC Control Blocks.
Performance Comparison.
Predictive DTC (PDTC).
6. Predictive DTC and Predictive DPC for Multilevel NPC Converters.

Predictive DPC Block Diagram.
7. Start-up of the Wind Turbine.

Encoder Calibration.
Grid Synchronization.
07-09-2009 Control Strategies for Grid Connected DFIM based Wind Turbines, 2
Outline
1. Introduction.
Block Diagram.
Experimental Rig.
Control loops.
Flux Estimator.
Reference Frames.
Classis DTC.
Classic DPC.


Introduction
Doubly Fed Induction Machine (DFIM) based Wind Energy Generation
Machine under study:
Introduction
Simplified Model of the DFIM. Objectives.
- First dynamic modelling approach of the machine.

- Oriented to design control strategies and validate performances of the machine.
Introduction
Wind Turbine Control Requirements.
GENERAL CONTROL REQUERIMENTS
Quick Flux-Torque or Active-Reactive Power Control (Dynamic Response).

Capacity to Operate at Variable Speed.
Reduced Flux-Torque or Active-Reactive Power Ripples (Power Quality).
Reduced THD of Currents (In Some Cases Rotor side Filter Requirement).
On Line Implementation Simplicity.
Robustness Against Model Uncertainties.
Reduced Tuning and Adjusting Efforts of the Controllers.
Good Perturbation Rejection.
Reduced Stress of the Semiconductors (Low, Constant Switching
Frequencies, etc)
Introduction
Doubly Fed Induction Machine Control, State of the Art.

General classification of AC Induction machines Control Techniques [3]
Variable Frequency
Control
Scalar Based Vector Based

Controllers Controllers
V/F=Constant is=f(wr) Field Oriented Feedback Direct Torque-Power Passivity Based

Volt/Hertz Stator Current Linearization Control Control
Rotor Flux Stator Flux Direct Torque Space Circle Flux Trajectory Hexagon Flux Trajectory
Oriented Oriented Vector Modulation (Takahashi) (Depenbrock)
Direct Indirect Open Loop NFO Constant Switching Constant Switching

(Blaschke) (Hasse) (Jonsson) Variable Hysteresis (Idris) Predictive DTC-DPC
[1] M.P. Kazmierkowski, R. Krishnan, F. Blaabjerg, Control in Power Electronics Selected Problems, Academic Press, 2002.
Introduction
Doubly Fed Induction Machine Control, State of the Art.
Benefits of Predictive Direct Control
Introduction
Doubly Fed Induction Machine (DFIM) based Wind Energy

Generation System.
Supplying topology under study:
Torque and Flux control
Power flow control (Ps & Qs)
Outline
1. Introduction.
Block Diagram.
Experimental Rig.
Control loops.
Flux Estimator.
Reference Frames.
Classis DTC.
Classic DPC.


Scalar based Control. Voltage Frequency Control
Block Diagram.
Simplest solution
CHARACTERISTICS:
- Implementation simplicity.
- Good power quality.
- No good dynamic response.
- No torque control.
- Constant switching frequency modulator
Experimental Rig.
Laboratory set-up
Ps ir is
Rotor
is - spectrum Tem - spectrum

m
T em
Stator
Outline
1. Introduction.
Block Diagram.
Experimental Rig.
Control loops.
Flux Estimator.
Reference Frames.
Classis DTC.
Classic DPC.


Field Oriented Control (Vector Control)
General Control Block Diagram.
CHARACTERISTICS:
- Tuning of regulators is required - Torque control in full speed range.
- Good power quality. - Constant switching frequency modulator
- Good dynamic response.
[2] R. Pena, J.C. Clare and G.M. Asher, Doubly fed induction generator using back-to-back PWM converters and its application to variable-speed
wind-energy generation, Proc. IEE. Elec. Power Appl., vol. 143, no. 3, pp. 231241. May 1996.
Vector Control Oriented to the Stator Flux.
- One speed loop. - Two current loops.

- One reactive power loop.
Vector Control Oriented to the Stator Flux
From the original model equations:
Synchronously rotating dq reference

frame aligned with the stator flux vector
Stator flux: The stator flux and iqr determines the torque:
The stator voltage determines the stator flux: The stator flux and idr determines the reactive power:
Relation between the rotor voltages and currents:
Control Loops.
Coupling terms:
Flux Estimator.
The model of the machine, defines a

simple expression to derive the flux
from measured variables:
For the Vector Control: Only the angle is required
Flux Estimator.
Integrator: Problems with the offsets => low pass filter
Discretize:
Compensation of mod and angle:
Reference Frames.
Coordinates transformation:
Angle calculation:
Simplified dq current loops dynamics:
Current PI Controller: With Ti = i
Closed loop dynamics: Gains:
Vector Control. PI Controllers Tuning Procedure.
Simplified speed loop dynamic:
Vector Control. PI Controllers Tuning Procedure.
Simplified reactive power loop dynamic:
Experimental transient (15kW step) & steady-state performance at 1kHz switching frequency
Rotor
m
T em
Stator
Experimental transient (15kW step) & steady-state performance at 1kHz switching frequency
Ps ir is
Rotor

m
T em
Stator
Outline
1. Introduction.
Block Diagram.
Experimental Rig.
Control loops.
Flux Estimator.
Reference Frames.
Classis DTC.
Classic DPC.


Classic Direct Torque Control (DTC) and
Direct Power Control (DPC)
Classic DTC.
DTC (Direct Torque Control) Block Diagram
CHARACTERISTICS:
- Implementation simplicity. - Torque control in full speed
range.
- Very Fast dynamic response
- Non-constant switching
- No tuning of controllers
frequency behaviour
[3] Gomez, S.A., Amenedo, J.L.R., Grid synchronisation of doubly fed induction generators using direct torque control , IECON 02,vol. 4, Nov. 2002.
Classic DTC.
DTC Space vector diagram for two level converter
- Torque expression:
- The stator flux is imposed

by the stator voltage:
r
rs r dss
v s = R s is +
s
dt
- Keep the rotor flux controlled
by using rotor voltage vectors
(Tem control is also achieved).
Classic DTC.
Rotor Flux Vector Variation in Motor Mode:
- Relation between rotor

voltage and flux:
- If one rotor vector is injected,

the new rotor flux:
- So the rotor flux variation yields:
Classic DTC.
Rotor Flux Vector Variation in Motor Mode:
- Relation between rotor

voltage and flux:
- If one rotor vector is injected,

the new rotor flux:
- So the rotor flux variation yields:
Classic DTC.
DTC rotor voltage vector selection (Look-up table)
- The rotor voltage vector is chosen according to:

- The sector where the rotor flux vector is located.
- To correct the torque and flux errors.
Classic DTC.
DTC Torque and Flux waveforms
- Torque and flux control.

- Non-constant switching
frequency behaviour.
Classic DTC.
On-Off Controllers
Classic DTC.
Torque, Flux and Sector Estimation
- There are several possibilities.

- This is a very simple version.
Classic DPC.
DPC (Direct Power Control) Block Diagram
- Same principles as DTC

- Very Similar characteristics to DTC
[4] Datta, R. and V.T. Ranganathan, , Direct power control of grid-connected wound rotor induction machine without rotor position sensors, IEEE Trans. Power
Electron., vol. 16, no. 3, pp. 390-399, May 2001.
Classic DPC.
Conceptual Analysis of DPC
- The stator active and reactive power depends on the rotor and stator fluxes
and the phase shift between them ()
- The stator reactive power can be controlled by:
- The stator active power can be controlled by:
Classic DPC.
Conceptual Analysis of DPC
Classic DPC.
DPC rotor voltage vector selection (Look-up table)
The rotor voltage vector is chosen according to:

- The sector where the rotor flux vector is
located.
- To correct the stator active and reactive
power errors.
Look-up table
Outline
1. Introduction.
Block Diagram.
Experimental Rig.
Control loops.
Flux Estimator.
Reference Frames.
Classis DTC.
Classic DPC.


Predictive Direct Torque Control (PDTC) and
Direct Power Control (PDPC)
Predictive DPC
2 level Converter
CHARACTERISTICS:
7 Tasks (Blocks): - Implementation simplicity.

Blocks 1-4: Basic Direct Power Control Principles. - Fast dynamic response.
Blocks 5-7: Predictive Direct Power Control Principles. - No tuning of controllers.
[5] E. Flach, R. Hoffmann, P. Mutschler, Direct mean torque control of an induction motor, in Proc. EPE97 Conf., 1997. - Constant switching frequency
[6] J. K. Kang and S.K. Sul, New direct torque control of induction motor for minimum torque ripple and constant switching behaviour.
frequency, IEEE Trans. Ind. Applicat., vol. 35, no.5, pp. 1076-1086, Sept.-Oct. 1999.
Predictive DPC Block Diagram. Classic Blocks.

Predictive DPC
2 level Converter

Predictive DPC
2 level Converter
ePs
-1
ON-OFF Controllers
without hysteresis band 1
-1
eQs

Predictive DPC
2 level Converter
Only one active vector per

constant switching period (h),
selected from a Look-up table

Predictive DPC
2 level Converter
Two active vectors per constant

switching period (h), selected from
two Look-up tables.
DPC Space vector Diagram for 2 Level Converter.
DPC first active vector selection
3 Vectors per Switching Period.
AC machines demand sinusoidal waveforms.
Efficient generation of AC voltage, with VSC.
3 vectors at constant switching period (SV,PWM)
Nearest 3 vectors principle:

- 2 consecutive active vectors
- 1 zero vector
Predictive DPC
2 level Converter
First active vector selection Second active vector
Predictive DPC Block Diagram. PDPC Control Principles.
Predictive DPC
2 level Converter
Necessary for duty

cycles calculation
Ps =
3
2
(
vs is + v s i s ) Derivative Expressions. Qs =
3
2
(
v s is vs i s )
dv dQ s dv s
3 di dv di s
dPs 3 dv
s i + dis v + s i + v
di s
= is + s v s s i s vs
= s s s s dt
dt 2 dt 2 dt dt dt
dt dt dt dt
r 2 r
Rs dQs Rs Rr 3 Rr | vs |2
dPs
= Ps +
Rr Q + 3 | v s|
+ = Qs + + r Ps +
Ls Lr r s r
dt Ls Lr 2 L L
dt 2 L s s r s s
Lh r Lh r
+ Vbus | vs | sin( r t + ( n 1 )) Vbus | vs | cos( r t + ( n 1 ))
Ls Lr 3 Ls Lr 3
Ps(k) Ps(k+1)
slope s1
slope s3
Ps_ref
slope s2
- Predictive horizon: One switching period (h).
slope s11
Qs(k) - At the beginning of the switching period:
Qs(k+1)
Qs_ref - The vector sequence is selected (AV1, AV2, ZV).
slope s33 - The duty cycles are calculated (hc1 and hc2).
hc1
slope s22 - The cost function is minimized.
hc2
h
Active Active Zero
Vector 1 Vector 2 Vector

Minimization Criteria.
Power Ripples (Cost Functions):
Ps(k) Ps(k+1)
slope s1
slope s3
Ps_ref
slope s2
slope s11
Qs(k)
Qs(k+1)
Qs_ref
slope s33
slope s22
hc1
hc1 and hc2 are calculated in order to
hc2 minimize the cost functions (power ripples):
h
Active Active Zero
Active and Reactive Power Ripples Root Mean Square Minimization
Ps(k) Ps(k+1)
slope s1 slope s12
- Unique analytic solution (non-recursive).
slope s3 - Implementation simplicity.
Ps_ref
slope s2
slope s11
Qs(k)
Qs(k+1)
Qs_ref
slope s33
slope s22
hc1
hc2
h
Active Active Zero
Active and Reactive Power Ripples Root Mean Square Minimization
PDPC Experimental Results.
Experimental transient & steady-state performance at constant speed and 1kHz switching frequency
Rotor
m
T em
Stator
PDPC Experimental Results.
Experimental transient & steady-state performance at constant speed and 1kHz switching frequency
Ps ir is
Rotor

m
T em
Stator
Performance comparison
Outline
1. Introduction.
Block Diagram.
Experimental Rig.
Control loops.
Flux Estimator.
Reference Frames.
Classis DTC.
Classic DPC.


Predictive-DTC and Predictive-DPC for Multilevel
NPC Converters.
Predictive DPC for Multilevel NPC VSC
3 level NPC Converter
7 Tasks (Blocks):
Blocks 1-4: Basic Direct Power Control Principles.
Blocks 5-8: Predictive Direct Power Control Principles.
Block 7: Capacitor Voltage Balancing
NPC Converters.
3 Level NPC Voltage Source Converter
NPC Converters.
Space Vector Diagram.
Case study: Three level NPC VSC Implementation simplicity: Sector and region calculation
NPC Converters.
NPC Converters.
NPC Converters.
NPC Converters.
Vector selection Procedure.
First vector selection
Second and third vector selection
NPC Converters.
Power variation Waveforms.
Steady-state stator active and reactive power variations waveforms:
Stator active (Ps) and reactive (Qs) power reduction criteria:
Duty cycles:
With:
NPC Converters.
Derivative Expressions.
Slopes calculation
Constants and vectors
NPC Converters.
Table selection procedure
Angle of equivalent voltage vector Region calculation
NPC Converters.
First vector selection

Second and third vector selection
NPC Converters.

NPC Converters.

Medium vectors Equivalence of currents
NPC Converters.

Real vector definition
NPC Converters.
Steady-state waveforms at nominal power (15kW) at 2 different speeds and 0.5kHz switching frequency
CH1: Vinv composed
CH2: Vinv simple
CH3: is Ch4: ir
1250 rev/min 750 rev/min
NPC Converters.
Experimental tracking behaviour performance at constant speed and 0.5kHz switching frequency
Ps vs QS Ps and QS wm
Rotor
is - spectrum
m
T em
Stator
Outline
1. Introduction.
Block Diagram.
Experimental Rig.
Control loops.
Flux Estimator.
Reference Frames.
Classis DTC.
Classic DPC.


Start-up of the Wind Turbine
Overall Control Structure (Idea taken from ABB).
The Wind Turbine covers the following states:

- Encoder Calibration. - The current control is maintained.
- Grid Synchronization. - The current references are modified.
- Normal Operation Conditions.
Encoder calibration. Initial (Zero) Position of the Encoder.
DQ reference frame:
- rotates at m speed.
- must be aligned with the three phase
windings of the rotor.
The encoder in general:
- It is mechanically coupled to the rotors
axis.
- Its zero position (index signal) is not
aligned with the zero position of the
machine.
Encoder Calibration. Initial (Zero) Position of the Encoder.
This phase shift

must be corrected !!
DQ reference frame:
- rotates at m speed.
- must be aligned with the three phase
windings of the rotor.
The encoder in general:
- It is mechanically coupled to the rotors
axis.
- Its zero position (index signal) is not
aligned with the zero position of the
machine.
Encoder Calibration. Initial (Zero) Position Correction.
The Wind Turbine is driven as follows:

- The grid side converter operates at normal conditions.
- The pitch control establishes a constant speed (m).
- The rotor side converter controls the rotor currents (ir). Normally iqr=0.
- The stator breaker is opened, so there is not current in the stator side (is=0).
- Due to the rotor currents, there is a stator voltage induced (vs).
The current is only flowing through the rotor:
Stator Flux estimation from the induced stator voltage and using m:
They must have

Rotor Flux estimation from the rotor currents: equal phase !!!
Angle correction until the fluxes present the same phase:
When both fluxes are aligned,

the cross product is zero.
Initial (Zero) Position Correction. Block Diagram.
Grid Synchronization. Wind Turbine Operation.
The Wind Turbine is driven as follows:

- The grid side converter operates at normal conditions. To close the stator breaker:
- The pitch control establishes a constant speed (m). - vs must be synchronized with vl.
- The encoder calibration has already finished. - The transient is minimized.
- The rotor side converter controls the rotor currents (ir).
- The stator breaker is opened, so there is not current in the stator side (is=0).
- Due to the rotor currents, there is a stator voltage induced (vs).
Grid Synchronization. Control Loops.
By the rotor side of the machine:

- The amplitude of the stator voltage induced, must be
equal to the grid voltage.
- The phase of the stator voltage induced, must be
equal to the grid voltage.
Grid Synchronization. Amplitude Control Loop.
d components of current and voltages

modify the amplitude of the induced
stator voltage
Grid Synchronization. Phase Control Loop.
q components of current and voltages

modify the phase angle of the induced
stator voltage
Switch to Normal Operation.
Once the stator voltage is synchronized:

- The stator breaker is switched.
- The current references are switched.
- The incoming PI regulators must be
initialized to the actual current
references.
In that case: The transient is minimized !!

Tutorial DFIM Part 1

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Applications of the

Doubly Fed Induction Machine (DFIM)

Authors: Gonzalo Abad1

1Universityof Mondragon, Spain

3Warsaw University of Technology, Poland.

1. Variable Speed Wind Energy Generator Systems.

2. Doubly Fed Induction Machine based Wind Energy Generator System.

3. Industrial solutions. DFIM Wind Turbine Manufacturers.

4. Applications with Prime Movers Different from Wind - Review.

07-09-2009 Applications of the Doubly Fed Induction Machine, 2

1. Variable Speed Wind Energy Generator Systems.

2. Doubly Fed Induction Machine based Wind Energy Generator System.

3. Industrial solutions. DFIM Wind Turbine Manufacturers.

4. Applications with Prime Movers Different from Wind - Review.

07-09-2009 Applications of the Doubly Fed Induction Machine, 3

Basic Modeling of the Wind Turbine.

07-09-2009 Applications of the Doubly Fed Induction Machine, 4

Basic Modeling of the Wind Turbine.

Power coefficient Cp Torque coefficient Ct

07-09-2009 Applications of the Doubly Fed Induction Machine, 5

Wind Turbine Control System. Vv

07-09-2009 Applications of the Doubly Fed Induction Machine, 6

Different Configurations According to the Electrical Generator.

Wind Doubly Fed

07-09-2009 Applications of the Doubly Fed Induction Machine, 7

Different Configurations According to the Electrical Generator.

PM-Synchronous Machine Multi-Pole

stator grid Transformer

Characteristics (MPMG and WRSG):

07-09-2009 Applications of the Doubly Fed Induction Machine, 8

Different Configurations According to the Electrical Generator.

stator grid Transformer

07-09-2009 Applications of the Doubly Fed Induction Machine, 9

Different Configurations According to the Electrical Generator.

Wind PM-Synchronous Machine

stator grid Transformer

07-09-2009 Applications of the Doubly Fed Induction Machine, 10

1. Variable Speed Wind Energy Generator Systems.

2. Doubly Fed Induction Machine based Wind Energy Generator System.

3. Industrial solutions. DFIM Wind Turbine Manufacturers.

4. Applications with Prime Movers Different from Wind - Review.

07-09-2009 Applications of the Doubly Fed Induction Machine, 11

WIND TURBINE CONTROL:

07-09-2009 Applications of the Doubly Fed Induction Machine, 12

Basic Numbers of an 1,75 MW Wind Turbine.

Velocidad Potencia salida Factor de Tensin lnea

07-09-2009 Applications of the Doubly Fed Induction Machine, 13

Basic Numbers of an 1,75 MW Wind Turbine.

Motor 1.5 MW PU Motor 1.4 MW PU

Rs 0.0015 0.0052 0.0018 0.0065

07-09-2009 Applications of the Doubly Fed Induction Machine, 14

1. Variable Speed Wind Energy Generator Systems.

2. Doubly Fed Induction Machine based Wind Energy Generator System.

3. Industrial solutions. DFIM Wind Turbine Manufacturers.

4. Applications with Prime Movers Different from Wind - Review.

07-09-2009 Applications of the Doubly Fed Induction Machine, 19

07-09-2009 Applications of the Doubly Fed Induction Machine, 20

Vestas (NEG MICON):

07-09-2009 Applications of the Doubly Fed Induction Machine, 21

07-09-2009 Applications of the Doubly Fed Induction Machine, 22

07-09-2009 Applications of the Doubly Fed Induction Machine, 23

1. Variable Speed Wind Energy Generator Systems.

2. Doubly Fed Induction Machine based Wind Energy Generator System.

3. Industrial solutions. DFIM Wind Turbine Manufacturers.