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10 1 1 198 7063 PDF
10 1 1 198 7063 PDF
P g e n
P g e n
V r e f P Q
V a c V d c P Q
r e f r e f
r e f r e f r e f r e f
V Q
P - I
g r i d
P - I Q
V a c g e n V d c g r i d
P - I P - I
i r e f
i d i q
r e f r e f
i d i d i q
i d i q
i r e f r e f r e f r e f
P - I
D C
P - I i q
i d i d
i q P - I P - I i q
m m d m q
m d m q m d m q
D C / A C
D C / A C D C / A C
g e n e r a t o r - s i d e g r i d - s i d e
b o o s t e r
r e c t i f i e r i n v e r t e r
UVACac Vdc
For completing the synchronous machine model the flux linkage equa-
tions are required. C v a l v e
0,6
B. PWM Converter
|VAC |/VDC
0,5
Grid-side converters are usually realized by self commutated pulse- 0,4
width modulated circuits (see Figure 7). The circuit is built from six
0,3
valves with turn-off capability and six antiparallel diodes. Valves with
0,2
turn-off capability are typically realized with bipolar transistors or IG-
BTs (insulated gate bi-polar transistors) because they allow for higher 0,1
were sometimes used, but due to their high level of harmonics and the Pulse-Width Modulation Index m
lack of reactive power control capabilities there are not used in modern
designs. Fig. 9. PWM Converter fundamental frequency characteristic
Depending on the application, the circuit according to Figure 7 is
actually modeled using switches according to Figure 8 for representing
the valves. The converter model is completed by the power conservation equa-
4
; ;
tion:
< < % > =! < != < E 5 For the AC-side, the following approximate equations can be used:
(10) 7!=<,7 <
This equation assumes a loss-less converter. Because the switching
8 5
% (14)
frequency of PWM converters is usually very high (typically several
;
hundreds Hz), switching losses are the predominant type of losses.
Since the average switching losses are basically proportional to 6 , 1
switching losses can be considered by a resistance between the two D. DC-booster
DC-poles in a fundamental frequency model. The average values of voltage and current pulse streams generated
by the dc-booster (see Figure 3) are as follows: ; ;
; 1 @;
1 1 (15)
V dc V ac
B @ B @
Rl
The control variable is the pulse-width modulation index . The cir-
cuit shown in Figure 3 can realize values of . 5
Fig. 10. PWM-converter model including losses
IV. P OWER E LECTRONICS C ONTROLLERS
A. Grid-Side Converter
The grid-side converter (see Figures 3 and 4) operates in a stator-
the equivalent resistance . Load losses can be considered by copper
The model according to figure 10 represents switching losses by
voltage oriented reference frame. Hence, d-axis represents the active
losses of the coupling-reactance. and q-axis the reactive current component.
I d c
2 78
- -
@ 356 ;: 7 356 2 9
!$#% ( )+& <=, 8 !$#% &
( )1>?,
Fig. 11. Diode Rectifier
-
@ 7
The diode-rectifier-circuit is shown in Figure 11. As in case of
the PWM-converter, a fundamental frequency model is used for sta-
bility applications. The fundamental frequency model represents AC- Fig. 13. Grid-side current controller
fundamental frequency and the DC-average values of voltages and cur-
rents. At fundamental frequency, a diode rectifier can be represented
A very fast inner control loop regulates the d- and q-axis current
components of the grid-side PWM-converter. Current references are
Z c
I d c
defined by a slower outer control-loop regulating active- and reactive
power.
The objective of the MPT-characteristic defining the active power
V d 0
V d c eration point (optimum GF +H ) at any time. 0
reference is to drive the generator into the optimum speed-power op-
As mentioned before, there are possible options for the active power
regulation shown in figure 13. In many designs, the active-current
reference is given by a speed controller, instead of the power controller.
In this case, a speed reference is calculated from the actual electrical
Fig. 12. Equivalent circuit of the fundamental frequency diode rectifier model
power using the inverse of the MPT-characteristic.
according to the equivalent circuit of Figure 12. DC-voltage drops due B. Generator-Side Converter
;
to commutation, which are proportional to the dc-current, are repre-
< At the generator-side converter AC-voltage (optional: reactive
sented by the equivalent resistance
.
The source voltage and the equivalent resistance
are: < power) and DC-voltage of the intermediate DC-circuit is regulated.
; ; As before, the controller is equipped with fast current controllers.
+>
!=< (11)
The current reference values are here defined by voltage regulators as
indicated in figure 14.
`#bc d
!#" `#a P QSRUTVNWX ef g h ] ] e
Y Z[\ ^ _
P
) %$
& '
( !"
Fig. 16. Generic model of the pitch-control system
)
A. Wind Fluctuations
Fig. 14. Generator-side PWM converter controller
Wind fluctuations can either be modeled by deterministic models,
=.?E +E7 ??
stall effects is described in [6].
CE FG IKJ j
CD 0 1 2 3 45 39 H 9 24 LNM The electrical torque is defined by (4) and (8).
0 678 7,: ;=< 7>@?8@A,B
C. Protection
C M In case of heavy disturbances, direct drive synchronous machines
quickly disconnect from the system by blocking the PWM converter.
Usually, the following protection criteria a supervised:
Fig. 15. Generic wind turbine model r Under- and overvoltage
r Overcurrent
In case of rotor frequencies below + D !#O , active power is regulated
r Overspeed
according to the maximum power tracking (MPT) characteristic that With regard to under-voltage tripping, the tendency is more and more
defines the maximum power depending on the shaft speed as power to enable wind generators to stay on the network as long as possible,
reference of the power controller. When the maximum shaft speed even for deep voltage dips (”voltage ride-through”). With the grid-side
is exceeded, the active power setpoint remains constant and the pitch converter, reactive current support can be provided during voltage dips
angle control system (see Fig. 16) starts acting driving the shaft speed for lifting the voltage at the generator terminals in case of faults near
back to the maximum permitted value. to the connection point.
6
DIgSILENT
2.00
A NALYSIS
-0.020 s
For investigating transient stability phenomena, large system mod- 0.967 p.u.
-0.030 s
els have to be studied considering the interaction of all generators in 1.00
0.965 p.u.
P Q g r i d
g e n -2.00
P - I -0.04 -0.02 -0.00 [s] 0.02
PWM Grid-Side Converter: Current, phase A in p.u., switched model
PWM Grid-Side Converter: Current, phase A in p.u., fundamental frequency EMT model
PWM Grid-Side Converter: Current, phase A in p.u., stability model
i d r e f
i q r e f 1.25
i d
P - I i q 50.000 Hz
0.966 p.u.
1.00
m d m q
I d c
0.75
V
D C / A C
d c
1100.000 Hz
0.50 0.028 p.u.
900.000 Hz
g r i d - s i d e 0.036 p.u.
c o n v e r t e r
0.25
0.00
0.00 2000.00 4000.00 6000.00 [Hz] 8000.00
A simplified model can be derived under the assumption that the DC- PWM Grid-Side Converter: Current, phase A in p.u., frequency domain
DIgSILENT
currents are rated to the nominal peak-value, currents of the steady 1.20
0.20
6.00
DIgSILENT
5.00
Breaker
4.00
Point of Interconnection
3.00
2.00
1.00
AC Filter 0.00
-0.00 0.25 0.50 0.75 [s] 1.00
PWM Grid-Side Converter PWM Grid-Side Converter: Active Power in MW
PWM Grid-Side Converter: Active Power in MW, EMT-model
2.50
DC/DC Converter
1.50
1.00
DC Bus 1
0.50
DC Inductance
0.00
-0.00 0.25 0.50 0.75 [s] 1.00
DC Bus 2 PWM Grid-Side Converter: Reactive Power in MVAr
PWM Grid-Side Converter: Reactive Power in MVAr, EMT-model
DC Capacitor
Generator Side Rectifier Fig. 20. Voltage sag simulation of the ”Diode-Rectifier, PWM-Inverter”-
concept
DIgSILENT
DIgSILENT
1.275 1.20
1.00
1.250 0.80
0.60
1.225 0.40
0.20
1.200 0.00
-0.00 0.25 0.50 0.75 [s] 1.00
Point of Interconnection: Voltage, Magnitude in p.u.
Point of Interconnection: Voltage, Magnitude in p.u., EMT-model
1.175 6.00
5.00
1.150 4.00
0.00 1.25 2.50 3.75 [s] 5.00
Pitch Controller: Generator Speed
Pitch Controller: Generator Speed, EMT-model 3.00
8.00
2.00
1.00
6.00
0.00
-0.00 0.25 0.50 0.75 [s] 1.00
PWM Grid-Side: Active Power in MW
PWM Grid-Side: Active Power in MW, EMT-model
4.00
1.00
0.70
2.00
0.40
0.10
-0.00
-0.20
-2.00
0.00 1.25 2.50 3.75 [s] 5.00 -0.50
-0.00 0.25 0.50 0.75 [s] 1.00
Generator: Active Power in MW
Generator: Active Power in MW, EMT-model PWM Grid-Side: Reactive Power in MVAr
PWM Grid-Side: Reactive Power in MVAr, EMT-model
connection are mainly driven by the PWM control characteristics. The [5] J. G. Slootweg, S. W. H. de Haan, H. Polinder, W. L. Kling, “Aggregated
simplified calculation of the generator speed is perfectly adequate. Modelling of Wind Parks with Variable Speed Wind Turbines in Power
System Dynamics Simulations” Proceedings of the 14th Power Systems
Computation Conference, Sevilla, 2002
VIII. C ONCLUSIONS [6] P. Soerensen, A.D. Hansen, L. Janosi, J. Bech and B. Bak-
Jensen “Simulation of interaction between wind farm and
The modeling of converter driven synchronous machines commonly power system”, Technical-Report, Risoe-R-128(EN), 2001,
applied to wind generation applications was treated in this paper. The http://www.risoe.dk/rispubl/VEA/veapdf/ris-r-1281.pdf
required representation of the different components particularly for [7] M. Pöller “Doubly-Fed Induction Machine Models for Stability Assess-
ment of Wind Farms” Proceedings of the 2003 IEEE PowerTech Confer-
power system stability assessment was carefully described. Detailed ence, Bologna, 2003
representation of these wind generator concepts was implemented and [8] M. Pöller, S. Achilles “Aggregated Wind Park Models for Analyzing
simulation results were presented. A simplified model is also proposed Power System Dynamics” accepted for: 4th International Workshop on
for large-scale power system analysis. The simulation results of this Large-Scale Integration of Wind Power and Transmission Networks for
model are compared to those obtained with the detailed models for Offshore Wind Farms, Billund, Denmark 2003
severe system disturbances. The proposed simplified model provides [9] P. M. Anderson, B. L. Van Agrawal and J. E. Ness, “Subsynchronous
adequate accuracy for transient and dynamic stability analysis and is Resonance in Power Systems,” IEEE Press, New York, 1989
[10] P. Kundur “Power System Stability and Control”, McGraw-Hill, Inc.,
efficient with regard to calculation time.
1994
[11] DIgSILENT GmbH “DIgSILENT PowerFactory V13 - User Manual,”
DIgSILENT GmbH, 2003
R EFERENCES
[1] C. Ender, “Wind Energy Use in Germany - Status 31.12.2002,” DEWI
Magazin Nr. 22, February 2003
[2] Verband der Elektriztätswirtschaft (VDEW), “Stromerzeugung in
Deutschland 2002“,17.02.2003, http://www.strom.de
[3] S. Heier “Grid Integration of Wind Energy Conversion Systems” John
Wiley and Sons, 1999
[4] J. L. Rodriguez-Amenedo, “Automatic Generation Control of a Wind
Farm With Variable Speed Wind Turbines,” IEEE Transactions on En-
ergy Conversion, Vol 17, No. 2, June 2002
9
DIgSILENT
1.275
1.250
1.225
1.200
1.175
1.150
DIgSILENT
0.00 1.25 2.50 3.75 [s] 5.00 1.20
Speed measurement: speed
Speed measurement: speed, EMT-model 1.00
0.80
6.00
0.60
0.40
5.00
0.20
0.00
-0.00 0.50 1.00 1.50 [s] 2.00
4.00 Point of Interconnection: Voltage, Magnitude in p.u.
6.00
3.00 5.00
4.00
3.00
2.00
2.00
1.00
1.00 0.00
-0.00 0.50 1.00 1.50 [s] 2.00
PWM Grid Side: Active Power in MW (Simplified Model)
PWM Grid-Side Converter: Active Power in MW (Detailed Model)
0.00
0.00 1.25 2.50 3.75 [s] 5.00 3.50
Permanent Magnet Generator: Active Power in MW
Permanent Magnet Generator: Active Power in MW, EMT-model 3.00
2.50
2.00
Fig. 23. Voltage sag simulation of the wind generator concept with two PWM 1.50
converters
1.00
0.50
-0.00 0.50 1.00 1.50 [s] 2.00
PWM Grid Side: Reactive Power in MVar (Simplified Model)
PWM Grid-Side Converter: Reactive Power in MVar (Detailed Model)
B IOGRAPHIES
1.275
Sebastian Achilles received the Electrical Engineer degree from
the University of La Plata, Argentina and the MS degree in Electric 1.250