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Proceedings of India International Conference on Power Electronics 2006

Novel Maximum Power Point Tracker for Stand-Alone
Self-Excited Induction Generator
G.V. Jayaramaiah B.G. Fernandes
Energy Systems Engineering, Department of Electrical Engineering,
Indian Institute of Technology Bombay, Indian Institute of Technology Bombay,
Powai, Mumbai, Maharashtra State, 400 076. Powai, Mumbai, Maharashtra State, 400 076, INDIA.
INDIA E-mail: bgf@ee.iitb.ac.in

Abstract - In this paper, a simple control strategy for maximum A speed governor is employed for regulation of voltage
power extraction from stand-alone wind energy conversion and frequency when the power demand of the load changes.
system using induction generator under variable speed and load The speed governor is quite expensive and is unable to
conditions is proposed. This is achieved by varying the inverter respond fast for changes in load due to large mechanical time
frequency and modulation index depending upon the changes in
constant. Hence, voltage and frequency regulation is poor
load at the IG terminal. The proposed method eliminates the
need of a speed encoder, and hence it's an attractive sensor-less [15]. To avoid the use of speed governor, the principle of
control method. The developed model is simulated in load governing is proposed [16] in order to keep the real and
MATLAB/SIMULINK. The simulation results are presented to reactive power seen by the IG constant. However, operating
validate the developed control strategy. The control algorithm is range of IG with this control scheme is limited. Various
implemented on TMS320F243 DSP. Experimental results power control schemes [17-21] developed so far are meant to
closely resemble the simulated results. control the power or torque acting on the wind turbine shafts.
The main objective of this paper is to develop a simple
Keywords- Self-excited induction generator, PWM-VSI, DSP. maximum power tracker for an IG driven by a wind turbine
under variable speed and load condition. The excitation for
I. INTRODUCTION the generator and load is supplied by a PWM voltage source
inverter connected at the stator terminals. The developed
Wind power generation is one of the most rapidly growing controller is used to keep the power produced constant at the
technologies for renewable power generation. Stand-alone IG IG terminal on application/removal of load. This can be
can operate in the self-excited mode only when excitation achieved by changing the inverter frequency and variation in
power is supplied from an external source. This reactive modulation index depending upon the variation in load. This
power can be supplied by a variety of methods, ranging from further demonstrates that the controller has an extremely fast
a simple bank of capacitors [1-5] to inverters with complex dynamic response, robust operation during abnormal
power conversion techniques [6-9]. The well-known operating conditions by avoiding over current condition. The
advantages of IG are their low cost, robustness, brush-less controller does not require mechanical speed encoder or ac
cage rotor construction, absence of separate D.C. source, voltage sensor and a capacitor bank thereby reducing the
inherent overload protection and ease of maintenance. In complexity of the hardware and enhances the overall system
spite of all these advantages, the main drawback of stand- reliability.
alone IG is poor voltage regulation under change in speed The complete system is simulated in MATLAB /
and load. SIMULINK. The simulation results are presented to validate
A review of the available literature reveals that many the developed control strategy. In order to validate the
researchers are engaged in analysis, control and application simulation results a prototype of the system is designed and
aspects of SEIG over the years. Many schemes were developed. The control algorithm is implemented on
suggested for regulating the stator terminal voltage and TMS320F243 DSP and the experimental results are
frequency. They include switched capacitors, controlled presented.
static VAR scheme, saturable reactor and a combination of
the above. These schemes require complex control circuitry II. MODELING OF IG AND WIND TURBINE
and hence reduce the overall reliability of the system.
Most of the excitation schemes [10-12] involve power A. Induction Generator
electronic converters along with the capacitor bank Complete dynamic equations of IG taking saturation into
connected at the IG terminal to supply the required reactive account in the synchronously rotating reference frame [22] is
power to excite the IG. The field oriented technique or vector represented in matrix form as follows:

d [Ads] = [VVds ] [ids] -OJ [01 -1][A
control methods [13,14] are used to maintain constant ds
voltage and frequency for a range of load and speed [13,14]. dt A - Rs i 0 A
]

These techniques are relatively complex in nature and use qs qs qs qs

speed encoders and ac voltage or current sensors for
controlling the terminal quantities. Hence the cost of the
control circuit increases and reduces the reliability of the
system.
110

the expression for torque can be written as Equations for electromagnetic torque and mechanical 1 C p{A. Wind Turbine characteristics value of v from equation 1.0. The power coefficient Cp r\lmt . (5) 1'" = 3P ~qrAdr .) 2 speed of the SEIG are expressed as follows: T 1 = -pAr--v 2 A. .0...146 A2 . substituting B... when A = Aopt. 2 Power coefficient vs A for the wind turbine chosen for the study 0 0 10 JO .haft . . Control scheme for Maximum power Transfer d P (r..4 3_ 11m's . T_~ (4) cp . :40 A Fig..lOOO 03 1_ ! C!lI 10 m'5 oo! ~ !.1'" ) -OJ=----- dt r 2J A control technique is developed to extract maximum power from the wind turbine driven IG with PWM-VSI connected at the stator terminal. 3 and 1.043 ...0006 AS (2) The amount of power..1 1 - m 0.r I varies with A. 4. Cp I .Aqridr ) 4 C. so 60 ID 41'8d/lofCt ~[Adr] = [V ]_ Rr[~dr] -(m -mr)[O dr -1][Adr ] r Fig. where p is the air density kg/m 3 and A is the rotor disk area 2 m • It can be observed from Fig...... we get the shaft power as Wind turbine is characterized by a non-dimensional curve follows: of power co-efficient as a function of tip-speed ratio A. r is the radius of the rotor measured at the blade tip and v is wind velocity in mls.... [22] and its plot is shown in Fig../ Cp = 0. The torque developed by the wind turbine can be expressed as III ..108 A + 0. which the wind transfers... and the wind --_ .6.. to the rotor depends on the density of air.1 I. mpen.. 2. speed... For the wind turbine chosen for the study. 2 that Cp is maximum when (7) A is equal to 5.. It can be defined as follows: (6) A=rm (1) v p where.5 0.3 Variation of output power of the turbine Vs Wind speed dt Aqr Vqr lqr 1 0 Aqr Combining the equations 4.0602 A3 + 0. The output power of the wind turbine Pt may be "·el \'~CO calculated as Fig.. ....Proceedings of India International Conference on Power Electronics 2006 0• .. Variation of Maximum Power Vs Wind speed 1 Optimum output power of the wind turbine can be ~ =-Cp {A)pAv 3 (3) 2 achieved at Cp = Cp (Opl).. rotor area... "'..0. t ~ I_ 0.. In equation 3.1' as a function of A is expressed by the following equation 2 \ .0104 A4 ...

The expression for torque under this condition is: (12) Fig.iLds -me LL iLqs dt The capacitor voltage equation is governed by: Vqs = RLiLqs + LL !!. for an optimal power transfer the frequency of the stator should be proportional to wind speed Vw : (11) Hence. 3 depicts the relationship between output power and controlled. the reactive the generated phase voltage so that the stator current can be power is supplied by PWM VSI. The set point of Vde must be higher than the peak value of When IG is used in a stand-alone application. SYSTEM DESCRIPTION Where Vde is the voltage across the capacitor and Ide is the current flowing through it. link current Ide can be expressed in rotor speed for various wind velocities for the simulated wind terms of inverter switching function as turbine.. it is possible to set the reference power which will make Cp = Cp(opt).VSI c.' . Cp(opt) as shown in Fig.b = Vdc 2 2 IA n=I n sin(nmt-120') (9) Veo = Vdc SF. Total d... Mathematical model ofthe Load The complete mathematical modeling of PWM-VSI and A R-L load connected to the stator terminals of IG can be load is explained in the following sections. The three switching functions take the value of 1 if the upper the rotor angular speed is approximately equal to the switch in the given inverter leg is on and vice-versa. side ofthe inverter Vd> =RLiLds +LL !!. 5. and the variation of maximum power with wind speed is shown in Fig. Overall System block diagram (13) Line-to-Line voltages generated by the inverter can be derived as: Hence. Model ofthe d.c. by operating the IG at suitable stator frequency. the suffix e identifies compensator phase currents. For high power induction machine.Proceedings of India International Conference on Power Electronics 2006 Fig.. represented in the synchronously rotating reference frame as: A. V ao . During maximum power transfer Ide = Sa iea + Sb ieb + Se iee the wind turbine operates at maximum power coefficient where. torque is proportional to the square of stator Vab = Vao . Veo ~a = Veo -Vao III MATHEMATICAL MODELING OF 3-~ PWM . 2. PWM Inverter Using the switching function SFJa.. A 12 V battery on the DC side of inverter is provided for initial excitation. Thus. The developed schematic of the system is shown in Fig 5. c.. c.c = Vdc 2 2 IAn n=I sin(nmt-240') (10) where Kwind is constant. ( rIa = -LJ n sin nOlt ) 2 2 n=I The stator frequency can be expressed in terms of wind velocity as: Vbo = Vdc SF. b. During 112 . synchronous angular speed B.Vbo frequency or the power drawn is proportional to cube of the frequency Vbe =Vbo . 4.C IV.iLqs +me LL iLds d V _ Ide dt dt de .. Vbo and V co can Therefore stator frequency is related to turbine speed in the be obtained as: following manner: V de ~A OJ s = OJt 1JGB (8) Vao =-Vde S'I.

Under this condition !start = Kf vw(CI) where Kf is constant and vw(CI) is the cut-in wind speed.lill:III'I.s .li'lll. 8 Simulated results ofSEIG during step increase in load Hence the power balance is maintained and the terminal (1) IG line voltage (2) Capacitor voltage (V) (3) Load current (A) voltage of the IG is held constant.:::". SIMULATION RESULTS .I ': iLl'.:' r~ . 5. " ': ~ I " any change in load the speed of the wind turbine also :.! ! "~ . '.liillll' track the maximum power according to the change in load by -1~---------------_-----I ~ ~ U adjusting the inverter frequency and modulation index.I I ! ~ I ! I . This reduces the slip speed and hence the developed torque. which generates the required stator frequency. -50 strategy extensive simulation studies using MATLAB / -100 SIMULINK are carried out. The error between the reference dc link voltage and the actual voltage determines the dc link current.9 is the at any time. For • . Hence Maximum power can be extracted simulated results are shown in Fig. The the control circuit.. :i. v. 113 . This can be controlled by index decreases so that it protects the inverter and IG.. 6 is the simulated and Fig 7 is the :·:F~~:~J2 experimental one. The developed closed loop controller is able to -t. If the measured power is higher than (1) IG line voltage (2) Capacitor voltage (V) (3) Load current (A) the reference power then the frequency of the stator of the IG is increased. 7 Experimental results of SEIG during no-load driven by wind turbine with high speed under this condition (1) IG line voltage [200 V/div] (2) Capacitor voltage[100V/div] the AC load power is not high enough to absorb excess power then it is necessary to activate the dump load that is If any over load occurs at the IG terminal.::::. For each value of the ·•·.5 ~ -1.5 simulation study are given in Appendix. Vy and Vb as shown in Fig..Sl stator frequency the corresponding reference power is generated using the relationship between power and stator Fig. When the IG is suddenly loaded the 1~ ~ -t u capacitor voltage tend to fall.. When the generator is Fig. the modulation provided on dc link capacitor side.. :' I /. These waveform are multiplied by modulation index (rna) to get Vr . 6 Simulated results ofSEIG during no-load frequency given above. Parameters used for the 3. Depending upon the error between the actual and reference power. This feature of the control scheme also provides overload protection to the inverter. controller generates the required stator frequency. Fig. experimental one during increase in load.\:' 3 changes. This is due to mis-match of power produced by the IG and power drawn by the load.: -~ 0 1 In order to predict the performance of the proposed . The sinusoidal waveforms generated by the harmonic oscillator are compared with 1 kHz triangular carrier signal to generate the switching pulses to 1GBT inverter. is fed to a harmonic oscillator to generate the sine and cosine waveforms.>\:/:~:::~:(:\::!::. The amplitude of the stator voltage is controlled by the modulation index..Proceedings of India International Conference on Power Electronics 2006 startup.":. 8 and Fig.5 I .jil. . The output of the PI regulator.. ·•·. which in tum is used to determine the actual power. 4S.. The simulated results showing the variation of terminal voltage of the generator and the voltage across dc link capacitor during start up are shown in Fig. The modulation index is generated by sensing the inverter currents and comparing with the reference current. the controller sets the stator frequency lower than the rotor frequency so that the power produced by the IG is used to charge the capacitor connected across the dc link to a set reference value.:.

. ... . The controller also protects the inverter and IG during overload conditions without the speed sensors.. .. Fig...... IG LINE VOLTAGE .. (1) IG line voltage (2) Capacitor voltage (V) (3) Load current (A) A laboratory prototype is designed and developed. The proposed controller response I . . Experimental results closely resemble the simulated results.. The simulated results indicate the viability of the control strategy that the maximum power is .. The control algorithm is implemented on TMS320F243 DSP. ... 114 .. The developed closed loop controller is able to act fast enough to lS.. The control algorithm is developed on TMS320F243 DSP. The variation in speed.... 10... _:..--j .....~.J. torque and the modulation index for sudden application/removal of load are shown in Fig...5 i A simple maximum power point tracker for stand-alone wind energy conversion using Induction generator is proposed. .. ·II. LOAD CURRENT ···:······. . Under such circumstance the control circuit should either decrease the modulation index of the inverter or ~:[ . Experimental results of SEIG during step decrease in load current (A) [lA/div] (1) IG line voltage[200V/div] (2) Capacitor voltage [200V/div] (3) Load current (A) [lA/div] Similar behaviour of IG is observed when there is a step decrease in load as shown in Fig 10 & 11 respectively simulation & Experimental results.... CONCLUSION -!li' -1~O50S 6 . .5 is quite fast..... ..."'.. L .. The Fig. -... increase the inverter frequency so that the excitation current ~ . 6 "! prevent the dc link voltage overshoot.....- of the IG decreases...Proceedings of India International Conference on Power Electronics 2006 10k 10k II o : «1'I~ln» « ~in » . \/... which may damage the inverter..... being extracted from variable speed of the wind turbine..··:·········:·········:·········:···LOAD CURRENT TIME Fig. 11.. 12 Simulated results of SEIG (a) OJr (b) Te (N-m) (c) Modulation index 50 ~~ • 1 VI.. --.I 5. MC.. the IG is higher than the power drawn by the load.~--... ---.. The power produced by ~ 3"' ::1 u . 10 In order to validate the proposed control strategy a laboratory prototype is designed and developed. . Simulated results ofSEIG during step decrease in load complete system is simulated using MATLAB / SIMULINK.. ". Hence an attractive speed sensor-less control method is adopted for the stand- alone induction generator.. 1525 . and its performance is reliable and robust.~ : ~ ~ IG LiNE VOLTAGE... 9 Experimental results ofSEIG during step increase in load (1) IG line voltage [200 V/div] (2) Capacitor voltage [200V/div] (3) Load Fig..s.. The developed control algorithm is able to track the maximum power according to the change in load and speed of the wind turbine.5 6.. The variation of the modulation index is • "! shown in Fig. 12(c). -I .---... ..

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