Workshop

on
Control of Renewable Power System

Vector Control of Induction

Generators in Wind Energy
Conversion Systems
Kanungo Barada Mohanty
FIE(I), FIETE, SMIEEE
Associate Professor, EEDept., NIT
Rourkela
 Contents
• Fundamentals of Wind Energy Conversion
Systems (WECS)
• Performance characteristics of wind turbines
• Wind turbine control
• Vector control of grid connected doubly fed
induction generator (DFIG) system
• Vector control of line excited squirrel cage
induction generator (SCIG)
• Voltage control of self excited induction
generator (SEIG)
 Merits of Wind Generation Systems
• A wind electrical generation system is the most cost
competitive of all the environmentally clean and safe
renewable energy sources.

• It is also competitive with fossil fuel generated power and

much cheaper than nuclear power.

• There is an ambition, worldwide, to install a large amount of

wind power and to increase the production by wind
turbines.

• It is estimated that 10% of raw wind potential would meet,

all the electricity needs of the world.

• Quality of power delivered to the electrical system is poor,

because of lack or scarcity of control over active and reactive
power, and grid voltage. Research is focused on the
improvement of power quality.
 Aerodynamics of an aerofoil
The wind stream at the top of the aerofoil has to traverse a longer path than that at the
bottom leading to a difference in velocities which gives rise to a difference in pressure from
which a lift force results and comes another force called the
drag force which tries to push the aerofoil back
in the direction of wind.

v- wind velocity win

u - velocity of the aerofoil d
FL – lift
FD - drag

FL

v u FD
 Lift Force and Drag Force
α=low ,
• The Lift Force is
perpendicular to the Lift low and
direction of motion. We low drag
want to make this force
big.
α= medium
Lift high , drag
low
• The Drag Force is parallel
to the direction of motion. α= high
We want to make this High drag,
force small.
Lift low
• When the wind and the aerofoil move along different
planes then the lift and drag forces are determined by
the wind speed as seen by the aerofoil which is called
the relative wind.

• Relative wind is the vector sum of wind velocity and

negative of aerofoil velocity.

• The lift force will now be perpendicular to the relative

wind and the drag force parallel to it.

• The magnitude of the two forces will now be

proportional to the magnitude of the relative wind.
 Lift and drag forces due to relative wind

F
v
w
FL

FM

u -u
α Plane of rotation
i
I
I – inclination angle
i – incidence angle
v α - pitch angle
w – relative wind
FM – resultant force
FL – lift
FD - drag
 Orientation: Vertical & Horizontal
Turbines can be categorized into two overarching
classes based on the orientation of the rotor
Vertical Axis Horizontal Axis
 Vertical axis wind turbines

Vertical axis wind turbines come in two

different designs
(a) The Savonius rotor
(b) The Darrieus rotor
 The Savonius rotor
• The Savonius rotor is an
extremely simple device
which works entirely
because of the thrust
force of wind.
• Inexpensive.
• Low efficiency.
working

D – diameter of the turbine

e – width of overlap
 The Darrieus rotor
• Unlike the Savonius wind
turbine, the Darrieus is a
lift-type vertical axis wind
turbine. Rather than
collecting the wind in cups
dragging the turbine
around, a Darrieus uses lift
forces generated by the
wind hitting aerofoils to
create rotation.
 working
v
-u

w
v
-u FL

w FL
rotation

FL v v
-u

-u
w
FL
w v
Benefits of the Darrieus Wind Turbine

• A Darrieus wind turbine can spin at many times the speed

of the wind hitting it (i.e. the tip speed ratio (TSR) is greater
than 1).
• Hence a Darrieus wind turbine generates less torque than a
Savonius but it rotates much faster. This makes Darrieus
wind turbines much better suited to electricity generation
rather than water pumping and similar activities.
• The centrifugal forces generated by a Darrieus turbine are
very large and act on the turbine blades which therefore
have to be very strong - however the forces on the bearings
and generator are usually lower than are the case with a
Savonius.
 Self Starting Darrieus Wind Turbines

• Darrieus wind turbines are not self-

starting.
• Therefore a small powered motor is
required to start off the rotation, and
then when it has enough speed the wind
passing across the aerofoils starts to
generate torque and the rotor is driven
around by the wind.
• An alternative is shown in the
illustration above. Two small Savonius
rotors are mounted on the shaft of the
Darrieus turbine to start rotation.
 Tip-Speed Ratio
Tip-speed ratio is the ratio of the ΩR
speed of the rotating blade tip to
the speed of the free stream
wind. R
There is an optimum angle of attack
which creates the highest lift to
drag ratio.
Because angle of attack is dependant
on wind speed, there is an
optimum tip-speed ratio

ΩR
TSR =
Where,
V
Ω = rotational speed in radians /sec
R = Rotor Radius
V = Wind “Free Stream” Velocity
 Rotor Solidity
Solidity is the ratio of total rotor
planform area to total swept area

Low solidity (0.10) = high speed, low torque R

a

A
High solidity (>0.80) = low speed, high torque
Solidity = 3a/A
 Calculation of Wind Power

•Power
Power inWind
in the the wind
= ½ρAV3
– Effect of swept area, A
– Effect of wind speed, V
– Effect of air density, 
R

Swept Area: A = πR2

Area of the circle swept
by the rotor (m2).
Typical curves for different types of windmills
 Power coefficient
Power coefficient of a wind energy converter is given by

•The power coefficient differs from the efficiency of a

wind machine in the sense that the later includes the
losses in the mechanical transmission, electrical
generation ,etc where as the former is just the
efficiency of conversion of
wind energy into mechanical energy of the shaft.
• In high speed horizontal axis machines the power
coefficient is given by the Betz limit
Betz Limit All wind power cannot
be captured by rotor
or air would be
completely still behind
rotor and not allow
more wind to pass
through.
Theoretical limit of rotor
efficiency is 59%
Most modern wind
turbines are in the 35
– 45% range
 Power Coefficient (Cp) vrs. Tip
Speed Ratio Characteristics
• Typical Power Coefficient Varies (Cp) with Tip Speed Ratio
(TSR) (varies with wind speed)

0.4
Cp
0.3

0.2

0.1

0.0
0 2 4 6 8 10 12
Tip Speed Ratio
 Wind turbine specification
The index which is used to compare the
various wind turbine designs is the specific
rated capacity(SRC), which is the combination
of rotor diameter and peak power rating of
generator

The SRC varies from 0.2 for small rotors to 0.6

for large ones.
 Power vrs. Speed Characteristics
• Mechanical power transmitted to the shaft ‘Pm’
is given as
1
Pm  C p AV
3

2
• For a given wind speed , the power extracted
from the wind is maximized if ‘Cp’ is maximized.
• The maximum value of Cp occurs when the tip
speed ratio λ is equal to λopt .
• The maximum power for a wind turbine is given
as
1  R  3
5
Pmax  C p opt  3  
2   opt 
 Torque vrs. Speed Characteristics
Torque, Tm  Pm

The relation between aerodynamic torque and
rotational speed is

1  R5  2
Tmax  C p opt  3  
2   opt 
 Turbine Characteristics (Continued)
• The aerodynamic torque of a vertical turbine
is: Tm  0.5   R Vw C p / 
3 2

• Turbine power coefficient (CP) is the ratio of output power

from wind turbine to the available input free stream wind
power.
• Tip speed ratio ( ) is the ratio of turbine speed at the tip of
the blade to the free stream wind speed.
• The oscillatory torque of the turbine is more dominant at the
first, second and fourth harmonics of turbine angular velocity,
and is given by:
Tosc  Tm [A. cos()  B. cos(2)  C. cos(4)]
Power vs Speed characteristics
Torque vs Speed characteristics for Darrieus
rotor
Torque vs Speed characteristics for two blade propeller
type rotor
Torque vs Speed characteristics for Savonius rotor
Torque speed characteristic of a wind turbine with
different loads for different values of proportionality
constant K
 Merits of Variable Speed Wind Energy
Conversion System
• Power production is higher than fixed speed
turbines, as they can rotate at the optimal speed for
each wind speed.

• Improved dynamic behavior of the turbine, and

reduced noise at low wind speeds.

• Reduced mechanical stresses, and improved power

quality

• Reduced torque and power pulsations

• Requires two power electronic converters

 Wind Turbine Control
Wind turbines can have four different types of
control mechanisms, such as

• Pitch angle control

• Stall control
• Yaw control
• Power electronic control
 Power Electronic Control
• In a system incorporating power electronic
interface between the generator and the load the
electrical power delivered from the generator to
the load can be dynamically controlled. The
instantaneous difference between mechanical
power and electrical power changes the rotor
speed following the equation
d Pm  Pe
J 
dt 
Where J is the polar moment of inertia of rotor and
ω is the angular speed of the rotor.
Vector Control of Doubly Fed
Induction Generator (DFIG)
System
 Dynamic model of DFIG

• Stator Voltage Equations:

Vqs  p qs  ds  rs iqs

Vds  p ds  qs  rs ids
• Rotor Voltage Equations:
Vqr  p qr (  r )dr  rr iqr
Vdr  p dr (  r )qr  rr idr
Contd.,
• Power Equations

Ps 
3
Vdsids  Vqsiqs 
2
Qs 
3
Vqs ids  Vdsiqs 
2
• Torque Equation

Te  
3P
dsiqs  qsids 
22
 Flux Linkage Equations
Stator Flux Equations

qs  Lls  Lm iqs  Lmiqr

ds  Lls  Lm ids  Lmidr
Rotor Flux Equations

qr  Llr  Lm iqr  Lmiqs

dr  Lls  Lm idr  Lmids
DFIG with Grid Side and Rotor Side
Converter Vector Control
 Features of Generator Control with
Two PWM Converters
• Line side power factor is unity with no harmonic current
injection.
• Rectifier can generate programmable excitation for the
machine.
• Continuous power generation from zero to highest
turbine speed is possible.
• Power can flow in either direction permitting the
generator to run as a motor for start-up.
• Autonomous operation is possible either with the help of
start up capacitor or dc link battery.
Voltage Oriented Vector Control of Grid
Side Converter
Stator Field Orientation control
with MPPT Strategy for Rotor
Side Converter

Tref 1 iqr
iqr,ref Vqr Rr
+ + L
- - 1 r p
Rr
ωg Tg
iqr

44
Reactive Power Control of DFIG
from Rotor Side Converter

1 idr
Q ref
ref
i
dr
vdr Rr
P-I P-I
+ _ controller
+ _ controller 1
Lr
p
Rr

Q idr

4
5
Current Control of Grid Connected VSI
Constraints of Current Controllers
• The function of current controller is to force the load
current according to the reference current trajectory.
• The load currents are compared with reference
currents, and error signals operate current controller in
order to generate the PWM pulses.
• Modulation process generates higher order harmonics.
• DC link voltage should be large enough to drive the VSI.
• Phase and amplitude error should be minimized.
Requirements of Current Controllers

• Extremely good dynamics.

• Instantaneous control of load current
with good accuracy
• Over current rejection
• Compensation during load parameter
changes.
• Maintaining dc link voltage constant.
Vector Control of Line Excited
Cage Induction Generator
System
Line Excited Cage Induction
Generator System
Bidirectional
rectifier PWM inverter
pm
p
Gear
IG box

Speed
ia ,ib ,ic sensor

ωr

controller
Voltage Control of Self Excited
Induction Generator (SEIG)
 Dynamic Model
• State space form of dynamic equation

 ids   Rs Lr  L2m  Rr Lm  Lm Lr Lr 0 0 0   ids    Lr 0 

i   2   iqs   0 L 
 qs    Lm Rs L r  Lm Lr  Rr Lm 0 Lr 0 0     r

 idr    Rs Lm  Lm Ls Rr Ls  Ls Lr  Lm 0 0 0   idr   Lm 0 
    i   
 Lm Ls  RS Lm  Ls Lr Rr Ls m   ds 
i 0  Lm 0   qr   0 L v
 qr 
 
K
0
  
p
 vLd  1 CK 0 0 0 0 0 1 CK 0   v   0 0  vqs 
    
Ld
  
 Lq 
v  0 1 CK 0 0 0 0 0 1 CK   Lq 
v  0 0 
i   0 0 0 0 1 LK 0  R LK 0   i Ld   0 0 
 Ld
      
 iLq   0 0 0 0 0 1 LK 0  R LK   iLq   0 0 
 Dynamic Model
• Per phase Active and reactive power
variations
1
P  (vds ids  vqs iqs )
2
1
Q  (vqs ids  vds iqs )
2
• Developed Electromagnetic Torque
Te  (3P / 4) Lm (iqsidr  ids iqr )

54
 Simulation Results
The terminal voltage build up

300

200
Line Voltage (V)

100

-100

-200

-300

1 1.5 2 2.5 3
Time (s)

55
A Voltage control scheme for Self-
Excited Induction Generator

A
B
C


56
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