2015 IEEE International Conference on Technological Advancements in Power & Energy

Frequency Control of Wind Penetrated

Hydro-dominated Power System

RENUKA TK Dr.REJI P
Department of Electrical & Electronics Engineering Department of Electrical & Electronics Engineering
MES College of Engineering Government Engineering College
Kuttippuram, Malappuram District, Kerala,India Thrissur, Kerala, India
renuka mhn@yahoo.co.in
_ Rejip2006@gmail.com

Abstract-The increasing penetration of variable speed wind
turbines in the power system result in the reduction of total
system inertia. This requires new methods to control the grid
frequency. This paper deals with the primary frequency control
of hydro power dominated power system integrated with wind
power. The modeling of hydro power units and variable speed
wind turbine are done in Matlab/Simulink. The behaviour of grid
frequency for various wind speeds and wind penetration levels is
analysed when there is a power imbalance. A fuzzy logic based
pitch controller is proposed for high wind speed range. Inertia
emulation frequency control is added to the wind turbine to
improve frequency stability when there is a mismatch between
load and generation.
hidden inertia of wind turbine has been emulated. A fuzzy
logic based pitch angle control method is proposed to control
rotor speed of wind turbine during high wind speed. Fuzzy
logic based pitch controller can adapt to varying wind
conditions quickly with zero steady state error.
This paper is organized as follows. Modeling of hydro and
wind power systems is explained in section II. A fuzzy logic
based controller is proposed in section III. Inertia emulation
control for frequency support is described in section IV.
Simulation results are given in section V and conclusion is
given in section VI.

Keywords- Variable speed wind turbine, Fuz7Ji logic based

II. MODELING OF HYDRO AND WIND POWER SYSTEMS

A. Model of hydro system

Pitch controller, Frequency control.

I. INTRODUCTION
The Transfer function block diagram of a hydro turbine
and governor with rotor/load is shown in "Fig. 1," [9]. This
Wind power is one of the most important sources of single mass representation of the test power system for the load
renewable energy for electricity generation and now all the frequency control study is related to a system with 'n'
countries along with India is getting more and more interested machines with equal ratings. Change in the gate position of
about wind power. Standalone operation of wind power hydro turbine makes an initial turbine power change which is
generation is not reliable as the intermittent nature of resource opposite to that sought due to the water inertia.
increases the frequency deviations which further add to the
deviation caused by load variation [4]. This necessitates the
grid connection of renewable resources like wind and solar !1G
power generation. The kinetic energy of wind turbines is stored
in the rotating mass of their blades, but in the modern Variable
Speed Wind Turbines (VSWTs) this energy will not contribute
to the inertia of the grid as the rotational speed is decoupled
from the grid frequency by power electronic converter [1]. This
leads to a reduction of the total system inertia of wind
integrated power system and hence the frequency change will
be more during a load/generation mismatch.
Although the steady-state active power delivered to the grid Fig. I. Block diagram of a hydro turbine and governor with rotor/load
by a VSWT depends on the mechanical energy transferred
from the wind, they can be modified to increase their output
power almost instantaneously. This paper focuses on the For stable operation, hydro turbines require a large
primary frequency control of wind power penetrated hydro temporary droop with long reset time [7]. Here !1PL, !1G and
dominated system. The effect of wind power penetration !'!.PM are the change in the load demand, gate position and
during low, medium and high wind speed operating conditions mechanical power, respectively. !1wr is the rotor speed
are considered. In order to support frequency response the deviation; H is the inertia constant of the system and D is the

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2015 IEEE International Conference on Technological Advancements in Power & Energy

load-damping constant. Tw, TG and TR are the water starting
time, governor time constant and reset time, respectively. R is
the permanent droop and RT is the temporary droop.
B. Aerodynamic model of wind turbine
A variable speed wind turbine is considered which is a
published model of a multi megawatt commercial VSWT (3.6
“Fig. 2,” shows the wind turbine model adopted in matlab/
simulink. Table I. shows the mechanical power and rotor
speed obtained after simulation of wind turbine for different
low and medium wind speeds.
TABLE I. MECHANICAL POWER AND ROTOR SPEED OF WIND TURBINE FOR LOW
AND MEDIUM WIND SPEEDS

MW) [8]. Wind speed Mechanical power Rotor speed in

(V m/s) (P) in pu. pu.
The WT mechanical power is given by “(1),”.
6 0.1522 0.7105
1
P= ρ AV 3 C p ( λ , β ) (1) 7 0.2409 0.8132
2
8 0.360 0.9342
Where ρ is air density (Kg/ m3), V is the wind speed (m/s),
9 0.5133 1.062
Cp is the power coefficient and A is the rotor swept area.
According to the tip-speed ratio versus power coefficient (Cp) 10 0.7039 1.178
curve, a higher power coefficient (Cp) corresponds to a lower 11 0.931 1.251
pitch angle value (β=10) [8]. So at the low and medium wind
speed range, the value of pitch angle is equal to 1.To achieve
maximum mechanical power, when the wind speed is low, the
power coefficient must be optimal. The reference speed (ωref ) III. FUZZY LOGIC BASED PITCH CONTROLLER
is determined ( for low wind speed when power is below
0.75p.u) by the measured electrical power (Pef ) based on the To control rotor speed during the high wind speed
maximum power tracking as “(2),” [9]. conditions, the pitch angle of the blade is to be changed.
Generally proportional or integral controllers are used for pitch
Pef = 0 . 67 Pef2 + 1 . 42 Pef + 0 . 51 (2) control to keep electrical power at 1 pu. A fuzzy logic pitch
controller as shown in “Fig. 3,” is used. The inputs of the fuzzy
At power levels above 0.75pu, the speed is maintained controller are wind speed V and the error ωerr and the output is
around 1.2pu. When the power hits the limit, the speed is pitch angle β. Triangular membership functions are used for
controlled by the pitch controller by changing the pitch angle both inputs and output. “Figs. 4-6,” shows the membership
(β). The rotor speed is computed from the inertia equation of functions used. Rules used are of the form:
the equivalent one-mass model of the turbine generator.
If input1 (error) is VL (Very Low) and input2 (wind speed)
The power coefficient (Cp) is calculated on the basis of is M (Medium), then output (pitch angle) is L (low).
pitch angle and tip speed ratio according to “(3),” [9].
4 4
C p (λ , β ) = ∑∑ α i , j β i λ j (3) Fuzzy logic
controller
β
i =0 j = 0
P =1
Where λ = ω 0 Rω r / v (4)
1

Vw
1 1 Fig. 3. Block diagram of the Pitch Controller
t

Tconvs+1 Vwt

M
1 P
VL
1
L M H VH

M P
atl
Tf s+1 T ωerr
Wind
ab - 0.8
speed
Degree of membership

V m/s E -
P + 0.6
m P
be × 0.5 1 ∑ ×
β ∑ s
I
dd ÷ 0.4
+ Hwt
ed
fu 0.2

nct
io ωr 0

1 2 3 4 5 6 7 8 9
input1 -4
x 10
Fig. 2. Block diagram of the Wind Turbine (Simulink) model
Fig. 4. Membership function of input 1 (ωerr)

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2015 IEEE International Conference on Technological Advancements in Power & Energy

IV. FREQUENCY SUPPORT BY WIND TURBINE

M AV H VH EH
1 The most frequently applied variable speed drive concept is
the Doubly-Fed Induction Generator (DFIG) drive. The kinetic
0.8
energy of wind turbines is stored in the rotating mass of their
Degree of membership

blades, but in the DFIG based turbines this energy will not
0.6
contribute to the inertia of the grid as the rotational speed is
0.4
decoupled from the grid frequency by a power electronic
converter. This leads to a reduction of the total system inertia
0.2 of wind integrated power system and hence the frequency
change will be more during a load/generation mismatch [1].
0 Consequently, the resulting hydro-wind systems can be
12 14 16 18 20 22 24
modeled by changing Heq and Rpeq of the original systems.
input2
For example lO % wind penetration means that the existing
Fig. 5 . Membership function of input 2 (V mlS)
generator units are reduced by 10 %, i.e. a lO% reduction in
inertia and increase in permanent droop.

L M H VH EH
Although the steady-state active power delivered to the grid
1
by VSWTs depends on the mechanical energy transferred from
the wind, they can be modified to increase their output power
0.8
almost instantaneously. Recently the grid codes are revised to
Degree of membership

0.6
ensure that wind turbines contribute to control of frequency.
The electric power has to be transiently controlled by using the
0.4 kinetic energy stored in the mechanical system. If the wind
power could participate in frequency support similar to
0.2 conventional plants, the negative impact of the wind power
penetration on frequency stability can be reduced.
0
The kinetic energy in rotating masses in the blades of a
10 15 20 25 30
output1 wind turbine is possible to be used for primary frequency
support. The kinetic energy in the rotating mass for any speed
Fig. 6. Membership function of output (p)
can be defined as

TABLE II. PITCH ANGLE FOR VARIOUS HIGH WIND SPEEDS

(5)
Wind speed Pitch angle
(V m/s) (P) in degrees
Where co is the rotational speed, J is the moment of inertia
12 3.77 of the rotating mass and E is kinetic energy. Moment of inertia
13 6.69 (1) can be defined as:
14 8.75
15 10.30
16 11.66 (6)
17 12.88
18 14.05
19 15.73 Where H is the inertia constant and COo is the rated value of
20 17.46 angular velocity. When there is an unbalance between the
torques acting on the rotor, the net torque causing acceleration
(or deceleration) with inertia of the generator is
Table II. shows the wind speed and corresponding pitch
Tm -Te JdOJ
angle obtained after simulating the fuzzy logic controller.
(7)
dt
=

When the electrical power of the wind turbine is less than 1 pu

(it means that the wind turbine is operating during low or Substituting for J from "(6),"
medium wind speed range) the output of switch (pitch angle) is
1 degree and the pitch controller is out. When the electrical
power of the wind turbine reaches 1 pu, (the wind turbine (8)
works during high wind speed range), the pitch controller starts
working. The pitch angle cannot change immediately because
Rearranging "(8)," yields
of mechanical limitations. The rate of change of the pitch angle
depends on the size of the wind turbine. It is 3-lO degrees per
second [8] for the turbine considered here and hence that limit (9)
is also considered while designing the fuzzy controller.

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2015 IEEE International Conference on Technological Advancements in Power & Energy

In per unit form “(9),” can be written as ∆PL

- ∆ωr
+
dω
Ta = 2 H ω (10)
P
∑
1
dt Plevel ∑

+ 2Heqs +D
Where Ta is accelerating torque in pu and ω is rotor speed Pf
in pu. +

Substituting for P = ω T, “(10),” changes to

Power
dω From Hydro system
Pa = 2 Hω (11)
dt
Fig. 8. Block diagram for analyzing the penetration of wind power
The values for the power and the rotor speed are in pu.
Thus the rotor speed can be replaced by frequency. The active
power control signal (inertial power) Pf of the inertial control is V. SIMULATION RESULTS
now given by:
“Figs. 9-17,” show the responses of grid frequency for a 0.1
df pu load step increase for different levels of wind penetration
Pf = −2 Hf (12)
(with and without frequency support) at different wind speeds.
dt
Where f is the grid frequency and the minus in the equation Table III. shows the peak overshoot and steady state values of
is because of reducing frequency. the frequency responses (with and without frequency support).

“Fig. 7,” shows block diagram used for inertia emulation. 50

When the difference of grid frequency and reference frequency 49.8

(1 pu) becomes more than 4 × 10−4 pu (20 mHz), the switch 49.6
starts to conduct and Pf produced from inertia emulation, will
be added to the electrical power of the wind turbine. 49.4

49.2 With10% wind power(V=8m/s) & frequency support

Frequency ( Hz)

Without wind power

49 With 10% wind power (V=8m/s) & without frequency support

48.8

f(pu)
48.6

1 du 48.4

×
Tf s +1 dt
-2Hwt 48.2

48
0 5 10 15 20 25
Time (sec)

- Pf Fig. 9. Network frequency behavior after a 0.1 pu load step increase for
+ 10% wind power penetration and in wind speed of 8m/s
∑
> = 0.02
50

0
49.8

Fig. 7. Block diagram for inertia emulation 49.6

49.4
With 10%wind power(V=11m/s) & frequency support
Without wind power
For analyzing the effect of inertia emulation the block
49.2
Frequency ( Hz)

With 10%wind power(V=11m/s) & without frequency support

diagram shown in “Fig. 8,” is used. In the block diagram Plevel 49

is the wind power penetration level and Δωr is the rotor speed 48.8

deviation of the hydro system. P is the electrical power output 48.6

from the wind turbine and Pf is the power output using inertia
48.4
emulation.
48.2

48
0 5 10 15 20 25
Time (sec)

Fig. 10. Network frequency behavior after a 0.1 pu load step increase for
10% wind power penetration and in wind speed of 11m/s

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2015 IEEE International Conference on Technological Advancements in Power & Energy

50
50

49.8
X: 23.18
Y: 49.7
49.6 49.5

49.4 With 30% wind power(V=20m/s) & frequency support

without wind power
49

Frequency ( Hz)
With 30% wind power(V=20m/s) & without frequency support
49.2 With 20% wind power(V=11m/s) & frequency support
Frequency(Hz)

With out wind

49
With 20% wind power (V=11m/s) & without
frequency support 48.5

48.8

48.6 48

48.4

47.5
48.2 0 5 10 15 20 25
Time (sec)

48
0 5 10 15 20 25
Time (sec)
Fig. 14. Network frequency behavior after a 0.1 pu load step increase for
Fig. 11. Network frequency behavior after a 0.1 pu load step increase for 30% wind power penetration and in wind speed of 20m/s
20% wind power penetration and in wind speed of 11m/s

50

50

49.8
49.5
X: 23.23
49.6 Y: 49.75

49.4
49

Frequency ( Hz)
With 40% wind power (V=11m/s) & frequency support
49.2 with 20 % wind power (V=20m/s) & frequency support Without wind power
Frequency ( Hz)

without wind power With 40% wind power (V=11m/s) & without frequency support
with 20 % wind power (V=20m/s) & without frequency support
49
48.5

48.8

48.6
48

48.4

48.2
47.5
0 5 10 15 20 25
48 Time (sec)
0 5 10 15 20 25
Time(sec)

Fig.12. Network frequency behavior after a 0.1 pu load step increase for
20% wind power penetration and in wind speed of 20 m/s Fig. 15. Network frequency behavior after a 0.1 pu load step increase for
40% wind power penetration and in wind speed of 11m/s

50 50

49.5 49.5

49 49
Frequency ( Hz)

With 30 % wind power(V=11m/s) & frequency support

Frequency (Hz)

With 40% wind power (V=8m/s) & frequency support

Without wind power Without wind power
With 30 % wind power(V=11m/s) & without frequency support With 40% wind power (V=8m/s) & without frequency support

48.5 48.5

48 48

47.5 47.5
0 5 10 15 20 25 0 5 10 15 20 25
Time (sec) Time (sec)

Fig.13. Network frequency behavior after a 0.1 pu load step increase for Fig. 16. Network frequency behavior after a 0.1 pu load step increase for
30% wind power penetration and in wind speed of 11m/s 40% wind power penetration and in wind speed of 8m/s

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2015 IEEE International Conference on Technological Advancements in Power & Energy

speed. The frequency support from wind turbines is required

for higher levels of wind power penetration.
50

49.5
VI. CONCLUSION

49 In this paper the primary frequency control of a wind power

Frequency ( Hz)

with 40% wind power (V=20m/s) & frequency support

without wind power
with 40% wind power (V=20m/s) & without frequency support
penetrated hydro dominated power system during load
/generation mismatch has been analyzed. The wind turbine
operating at low, medium and high wind speeds is considered.
48.5

Hydro system and pitch regulated wind turbine are modeled in

48 Matlab/ Simulink. For low wind speeds maximum power point
tracking is adopted. A Fuzzy logic based pitch controller is
proposed for high wind speeds as it adapts to various wind
47.5
0 5 10 15 20 25 conditions quickly. In order to support frequency response, the
hidden inertia of wind turbine has been emulated. As the
Time (sec)

penetration of wind energy increases there is considerable

Fig. 17. Network frequency behavior after a 0.1 pu load step increase for improvement in lower frequency peak excursion values with
40% wind power penetration and in wind speed of 20m/s frequency support from wind turbines.
APPENDIX
TABLE III. PEAK OVERSHOOT AND STEADY STATE VALUES OF THE FREQUENCY Hydro Model Parameters
RESPONSES (WITH AND WITHOUT FREQUENCY SUPPORT).
R = 0.05 , TG = 0.2s , H = 3.0s ,D = 1.0s , TW = 1.0s , RT =
0.38 , TR = 5.0s
Steady state value (Hz) Peak values(Hz)
Wind Wind Wind Model Parameters
Penet speed With Without With Without
ration m/s Frequency Frequency Frequency Frequenc HWT= 5.19s, Tf= 5s, Tconv=0.02s
Support Support Support y Support
8 49.72 49.72 48.2 48.18
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