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Slip Power Recovery

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System Stability
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S lip power recovery configuration provides an attrac-
tive alternative for variable speed drives and gener-
ating systems, due to its improved efficiency and
low converter rating. The core component is the
doubly-excited machine. First, we present a stabil-
mon electric machine used in an SPRS, while the
newly proposed choice is the doubly-excited
brushless reluctance machine, which provides even
higher efficiency and lower maintenance cost 111.
Several types of power electronic converters have
I ity analysis of the doubly-excited machine with been seen in the SPRS, including more common
I open-loop voltage control and open-loop current cyclo-converters and load- or line-commutatcd in-
I control in the rotor circuit. Possibilities of open- verters, and more advanced pulse-width-modu-
I loop control are analyzed. Second, we present a lated (PWM) converters, which are becoming the
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unified model of a high-performance slip power choice for the future when high performance of the
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recovery system composed of a field-orientation- drive or generating system is required [Tj.
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I controlled doubly-excited machine, power convert- Doubly-excited machines used to be known as
I ers and a D(; bus in the rotor circuit. Stability of inherently unstable, and classical controllers had
I this composite system represented by the model is been designed intended to achieve closed-loop sta-
I studied. Of special interest is when the system bility over limited speed ranges [3,4]. However,
I functions as a variable-speed motor drive system or open-loop rotor current control had been shown to
I as a variable-speed constant-frequency generating be stable 151, also observed in the lab experiments.
I system. With current regulated in the rocor circuit, there is
I no rotor damping effect present. Then with rotor
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Introduction damping, open-loop voltage control of a doubly-ex-
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A slip power recovery system composed of a dou- cited wound-rotor machine might also be feasible.
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bly-excited machine and power electronic convert- The first goal of this article is then to study the
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I ers in its rotor circuit is very attractive for stability of these two types of open loop control.
1 variable-speed constant-frequency power genera- More advanced control of an SPRS has received
I tion. It has found increasing uses in wind power, attention recently [1,2,6]. However, many issues
I hydro power, aerospace, and naval power genera- regarding high-performance operation of slip
I tion. I t might also become an attractive alternative power recovery systems have not been addressed,
I for variable-speed drives, competing with more especially the complicated interaction of the inte-
I common high-performance systems with their ma- grated system components such as the machine, the
I chine stators excited by power converters. The ad- converter system, and the control mechanism.
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vantages of slip power recovery systems include Field orientation control of the SPRS provides
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improved efficiency and lower converter rating. an attractive ladder toward the destination of high
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Several variations of the slip powrer recovery performance and high flexibility, exemplified by the
I system (SPRS) have been proposed and studied. A variable-speed constant-frequency wind power
I wound-rotor induction machine is the most com- generating system proposed in {I]. The system
I consists of a doubly-excited brushless reluctance
I machine (DEBRM) and dual PWM converters with
I This article apjeared in its origitwljirw at the IEEE a I)C link. In studying control strategy and stabil-
I IAS Anniral Mrrtirig. Toronto, October 199.3, Tang, an ity, the DEBRM can be replaced by a more common
I l E E E illembv, is with U S . Electrid Motors at E'merm wound-rotor induction machine, since their dy-
I Motor Tecbnolog) Ceritev, St. Louis. MO. X u . an l E E E namic models are similar. The second goal of this
I Seniov Membw, i~ with the Ohio Stdtr University Depart- paper is then to provide a unified model for the
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nent of Electriccll Engineering at Columbw. analysis of such a composite system with an associ-

IF€€ lndudry Applicofianr Magclzine Moy/June I995

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x e d vector control xheme and to study the stability
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of the system, as a niotor drive or a b a generating
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system
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Open loop Rotor Control I
In arbitrary d-q reference frame, the machine dy- I
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It can be organized into the standard state equa- I
tions I
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px' =Ax +Ku (16) I
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T I
whcre the state x= {AicfJAidj AGv A& AO r) and
T. I
the control input U = {Aq5 Avds AV,, AVJ, ATIJ
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Stability property of the system can be studied
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by analyzing the eigenvalues of the matrix A , which I
depend on system operating conditions as reflected I
by id,(,,i , ~z d. , ~ ZqV(j,
, as well as machine parameters. I
Analytic expressions of the eigenvalues would be I
useful in the study ofstability regions and in sensi- I
tivity analysis, yet they are difficult to derive. Nu- I
merical method is then applied in this article, for I
different steady-state operation points for which I
stability analysis is to be performed. Since the stator I
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flux of the doubly-excited machines are approxi-
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mately constant, constraint by the stator voltage,
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the steady-state solutions depend mainly on the I
torque or speed of operation [I]. Steady-state solu- I
tion method presented in E11 is used in this paper, I
by noting that the steady-state quantities can be I
conveniently solved in the dq reference frame ori- I
ented with the stator voltage or with the stator flux. I
For a 50hp doubly-excited machine 171,stability I
in the whole speed range is studied for a combina- I
tion of different types of torque: as a motoring I
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where h, U , i, W. Tr.TI,denote flux, voltage, current, I
angular speed, electromagnetic torque, and load I
torque, respectively; subscripts a' and q denote d- I
axis component and q-axis component in arbitrary I
dq reference frame, respectively; Y and L denote I
resistance and inductance, respectively; subscripts I
J, Y, and m denote stator, rotor, and mutual quan- I
tities, respectively; and K , and P denote rotor I
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friction coefficient and machine pole pair, respec-
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tively. Note that motor convention is used. I
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Open Loop Rotor Voltage Control I
From (1) through (lo), small signal linearized I
model can be written as I
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Fig. I . Real purtJ of eigeiiztulucs with open-loop voltage control
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(Jyiirc.hrono/i.i speed= 1800 rpm) (as motor).
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/ndustryApp/icahs Mogazine Mayhum 1995
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I (19)
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I (20)
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Thus
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Assume ideal current regulation with p l y = 0.
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I Fig. 2.Real p'irtJ of eigenvalues with npen-loop vdtage rantref Thenfrom( 1)through( lo), with(l9) through(22),
I (syvcbronous speed= I800 Vpm) (as genwator). small signal linearized model can be derived as
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torque or a generating torque; having a load torque
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or a prime-mover torque with square torque-speed
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relation or with constant torque-speed relation; at
I high or low (rated) torques. Computed real parts of
I system eigenvalues are shown in Figs. 1 and 2, as
I functions of speed.
I The system is stable when all the real parts of
I the eigenvalues of matrix A lie in the left half plane
I of the complex space. Then the following observa-
I tions regarding open-loop voltage control can be
I made:
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1. For motor or generator operations, stability 3 P
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property is about the same, though the motor ATL = 1/2--L,,(-lrosin(yo)Aiy,~
I 2 2
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operation possesses better stability.
2. For square function torque and for large - I ~ ) c o s ( d~~d- i~~ ~ o ~ ~ o CAy
OS(~u~
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I constant load torque or prime-mover torque, the +idrol,gsin(yo)Ay) -.?H~AwB&DA~ (26)
I system becomes unstable at higher speeds closing
I to twice the synchronous speed, and a small unsta- Again, it can be organized into the standard
I ble or marginal stable region exists at low speeds. stateequations(16), with thestatex={&,,A&AY
I 3. For smaller or rated constant torques, stable and the control input .u={Avq.$ AvdJ Am,
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operation is obtained over the entire speed range. AT^^.
4.The most stable operation points are around The stability analysis method outlined in the
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the synchronous speed. open-loop voltage control case is also applicable.
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I Computation shows that eigenvalues of the matrix
I Open Loop Rotor Current Control A are now affected much more by the initial oper-
I With power converter in the rotor circuit providing ating points of y than by the loading condition as
I regulated rotor currents, the usual rotor damping reflected by the torque or speed. Fig. 3(a) shows the
I effect is missing. However, under certain condi- real parts of the eigenvalues as functions of yo. It
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tions, stable operation is achievable. can be seen that approximately for yo in the range
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The regulated rotor current can be written as of 180' to 360', the system is marginally stable,
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I while for 'yo in the range of 0' to 180°, the system
I is unstable. W e have also observed this phenome-
I non in our labs.
I where I , is the current magnitude and y is rotor With the dynamics involving y eliminated, i.e.,
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current vector angle with respect to the synchro- py=O, the linearized system equations can be writ-
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nous frame: ten as
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I where asdenotes angular frequency of rotor cur-
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rent with respect to the rotor.
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In synchronous d-q reference frame,

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~ IZ il I
~~t~~ .+ *- Line - I
Side Lc Side - I
Converter T Converter
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Fzg. 4. Slzppower recovery system. I
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S t m FieM orientation Control
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A schematic slip power recovery system is shown in I
Fig 3 Real paris o/ r:grnvalues u t b open- loop current control Fig. 4.Dual converters provide high performance I
(synchronousrpeed= 1800 pn). and high flexibility [ 2 ] . The rotor side converter I
realizes a stator field orientation control of the I
machine, which is based on the stator flux d-q I
model. The reference frame rotates synchronously I
with respect to the stator flu,and its d-axis over- I
laps the instantaneous axis of the stator flux. In such I
a reference frame, it had been shown that the stator I
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The eigenvalues ofthe system (27) through (29), active power (or torque) and reactive power can be
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as shown in Fig. 3(b), are having negative real parts, controlled separately by the two rotor current com-
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though close to 0, for all 'yo from Oo to 360". The ponents i,, and idr, respectively. 1
conditionpy=O is equivalent to the following: I
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Modeling I
Stator field orientation is itself a dynamic process, I
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as it involves continuously adapting the reference
Therefore, for yo from 0" to 360", open-loop frame of the machine model following instantane-
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current control is stable when the slip frequency of I
ous changes in the stator flux reference angle. I
the rotor current is adjusted instantaneously to Therefore, it can be incorporated into the machine I
measure up the difference between the rotor speed dynamics to obtain a unified model, which will I
and the synchronous speed. In other words, rotor become useful and instructive when efforts are I
position and speed feedback is necessary. made to study the stability of the system under I
Steady-state torque of the doubly-excited ma- stator field orientation control. In addition, supple- I
mental control will be identified and studied more I
chine can be derhed as
easily. In the following, such a model is developed I
for the SPRS under stator field orientation control. I
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In the stator field orientation, the d-axis of the
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reference frame rotates synchronously with and
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overlapping the instantaneous axis of the stator I
where the stator resistance has been neglected. flux: I
Therefore, with rotor current regulated, the dou- I
bly-excited machine has a torque expression similar I
to that of a synchronous machine, whose stability I
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depends on the rotor angle, instead of load torque
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as in the case of a singly-excited induction machine. i.e., I
In conclusion, for the doubly-excited machine, I
with the angle of the rotor current vector properly I
tracked, stable operation can be achieved over the I
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entire range of initial rotor current angle and entire
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speed range. However, due to the lack of rotor I
damping, the system is still close to marginal stable I
state. These conclusions apply to both motor and I
generator operations, and are almost independent I
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of the torque conditions. An additional compensa- With such a transformation, other variables be-
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tor needs to be designed. come

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ii
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(;) = T( ;:) (35)
dVd-3.
C-----l
dt n ,' ---1
3.
X ,'
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Linearization and Eigenvalue Analysis
I With the rotor circuit connected to an ideally con-
I trolled power converter, rotor current dynamics can
I (36) be ignored; thus the overall system is modeled by.
I (39),(40),(41), and (46). The small signal linear-
I ized version follows:
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I By applying inverse transformation, noting that
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I c o s 0 -sin0
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I sin0 cos0 (38)
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I and by diminishing algebraic terms (6) through
I (to), the unified machine model becomes (with
I prime signs left out)
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--
2H
' ATL-%Awr
2H (49)
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Equations ( 4 7 ) through (50) can be arranged
I into the standard state equations (16), in which
I x=[A& A0 Am AVdlT, u=[A& A& Aiq[ Aid1
I ATL]~.
I It can be seen from (47) through (50) that the
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eigenvalues are functions of d-axis stator flux L o ,
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q-axis rotor current &, and the stator flux initial
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I angle 80.At steady-state the flux L,.ois almost a
I constant, constrained by the stator voltage, while
I the q-axis rotor current &Iis proportional to oper-
I ph,, = vqr - rriq, - (a- C O ~Lm
)---~~,~ ating torque ?io. Therefore, eigenvalues would be
I L, functions of both 00 and Teo.
I .2 However, by observing (33), it can be seen that
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for small disturbances, which enable the use of the
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small displacement method, 80 is small, since field
orientation modeled is a continuous process, mak-
I sin 0, vqs = AV,
where vds = -AVm cos0 . ing q-axis stator flux small; thus the transient rota-
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I For the converters, a simplified model that tion angle of the reference frame is small. As a
I ignores harmonics can be applied, which yields result, vds = 0, vYs = AV,.
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I . 3. From (50),where both Aiql and Aiqr are control
12 =--1 variable displacements, it is obvious that the eigen-
I n q' (44)
I value associated with Vd is zero, which is undesir-
I able. Thus the inputs iq/ and iqyshould compensate
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I , =-lq[
3. for this marginal stable state. As shown in [ 2 ] ,
I X (45) stability of the DC bus can be maintained by con-
I trolling the line side converter such that the slip
I active power flows through the converters almost
From (44) and (45), the DC bus dynamics can
I instantaneously, minus the power converter losses.
be written as
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can be justified by approximating (47) through I
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(49), by letting vs=O, sin(Oo)=O, and cvJ(00) I , to
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get the system matrix I
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g 200
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0 . . . . . I . . . I I .. ..*
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1 2uo (51) I
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while the state vector x=[AL, A0 A&]. It can then I
be shown that the eigenvalues are I
Fzg. 5 . Real parts of eigenvalues o f ~ ~ ~ - o r i e v i t e c l s y s t ~ i I
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Other methods to stabilize the DC bus include
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designing a DC bus feedback compensator.
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With the DC bus stabilized, eigenvalues of the I
The first eigenvalue associates with AOr, while
reduced order A matrix obtained from (47) to (49) I
are computed for different types of torque, over the the last two associate with Ah& and A@,which are
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entire speed range, as shown in Fig. 5 . Note that the unstable states. This is true when the transients
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there is no complex eigenvalue. in 8 are not properly damped, i.e., the reference I
From the computed eigenvalues, it can be ob- frame does not follow the stator flux quickly I
served that the eigenvalues do not depend on speed enough. Also note that even though the stator flux I
(or torque). The existence of positive eigenvalues in is almost constant in steady state, it is not at I
transients, including small disturbances. I
all situations indicates that the model (47)through
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(50) represents a system that is unstable during the
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entire speed range, for all types of torque. 3. With the reference frame tracking the stator I
flux instantaneously, the flux angle variation be- I
comes 0, and thus from (47) the stator flux is I
Discussion
stabilized, and controllable through idr. And with I
As indicated by the eigenvalue analysis, the field
the stator flux magnitude stabilized, typically kept I
orientation control can be unstable. This is exam- I
at a constant value, the system becomes stable. In
ined in this section. I
1. The validity of modeling field orientation (49),with Ahds=O, the eigenvalue associated with
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process to get a unified machine model needs to be Amr is obviously negative, and speed displacement I
further examined. At a first glance, this modeling is affected by load torque displacement and dis- I
is just constantly switching the reference frame, or placement of q-axis rotor current, in addition to I
system "observation platform"; thus no "control" is displacement of speed itself. I
really involved at all. Yet, in fact, the essence of 4. In reality, instantaneous reference frame I
usual field orientation concept is modeled, such that tracking is not possible in computation. However, I
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in steady state, flux and torque are decoupled and, usually the computation is fast enough that even
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furthermore, affected only by one current compo- during transients, the reference frame almost syn-
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nent, i.e., idr and iqr, respectively. This will become chronizes with the stator flux, resulting in a stabi-
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clear if one examines (39) and (41). Note that lized system. O n the other hand, if the computation I
during transients, the stator flux is also slightly is so slow that the reference frame fails to synchro- I
affected by iqr through vds, indicated by (39) and nize with the stator flux, the system becomes un- I
(40). stable. I
The role of 0 is important in the following 5 . Another means of stabilizing the system is to I
analysis. It is defined as the transient rotating angle compensate the variations of the flux angle with the I
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of the stator flux, and it is a function of time. By d-axis rotor current, as suggested by (47).With the
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modeling dynamics of 8,flux angle instantaneous variations of the stator flux properly damped, the
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and continuous dynamics have been modeled, in- variations of the flux angle are affected by Aiqr, as I
stead of assuming idealized "jump" from the old indicated by (48). I
reference frame to the new one. The above analysis is on stator field orientation I
2. The source of instability can be identified. In control of a doubly-excited machine, yet it can be I
Fig. 5 , two eigenvalues are actually located almost extended to the schemes of field orientation control I
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at +me,the stator voltage frequency, while the other of ordinary singly-excited machines, where one rec-
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eigenvalue locates at almost 0. This observation ognizes that a flux regulator is always needed and
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I computations involving field orientation should be computation for several typical types of torque and
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fast enough. variables has been useful in revealing qualitative
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The field-oriented system analyzed in this sec- stability properties, an analytic derivation and more
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I tion differs from the marginally stable open-loop rigorous stability studies, along with thorough ex-
I current control with mechanical feedback analyzed perimentations, is necessary for both verification
I in the previous section, where the rotor current and system design and evaluation.
I components are controlled, resulting in a controlled
I stator flux. Acknowledgment
I In conclusion, for the field-orientation control- The work in this paper is supported by a Research
I led system, either the field orientation process Initiation Grant ESC9111256 from the National
I should be fast enough in computation, or a supple- Science Foundation.
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mental controller must be designed to compensate
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for the lack of sufficient system damping for flux References
I f l ] L. Xu and Y Tang, "A Novel Wind-Power Generating
I
fluctuation. As shown in our previous work [2], a
System Using Field Orientation Controlled Doubly-Excited
I torque regulator is used to produce q-axis rotor Brushless Reluctance Machine," IEEE InduJtry Applicution
I current command, and a reactive power regulator Socrety Annual hleettng, Houston, Texas, October 1992, pp.
I is used to produce d-axis rotor current command. 408-413.
I Other nonlinear control techniques can also be f2] Y . Tang and 1.. Xu, "A Flexible Active and Reat-tivePower
Control Strategy for a Variable Speed Consrant Frequency
I employed to stabilize the system modeled in (39)
Generating System." IEEE Puuw Electmnics Specialist Con&-
I through (46). For example, by applying input-out- e m , Seattle, Wash., June 1993, pp. 568-573.
I put feedback linearization or state feedback lineari- f31 C. Cook and 13. Smith, "Stability and Stabilization of Dou-
I zation, nonlinear terms in (39) through (43)can be bly-Fed Singly-Frame Induction Machines," Pmc. IEE, vol.
I 126,no. 11, 1979, pp. 1168-1174.
canceled out.
I 141 M. Rifai and T. Ortmeyer, "Dynamic Analysis oca Doubly-
I Fed Generator in Power System Applications," Electric Ma-
I Conclusions chinis and Power Syjtemr, 2 l: 14 l - 150, 1993.
I Stability of the doubly-excited machine under (51 K. Oguchi, K. Sugawara, and Y. Kakizume, "A Stabilized
Doubly Fed Motor with a Separately Controlled Current
I open-loop voltage or current control and under
Source Converter," IEEE Truns. Indujtrrul Elrctronm and
I field orientation control has been studied in this Control Insrrunrentutzon, vol. 2X, no. 4, November 1981, pp.
I article. It is concluded that, with some conditions, 336-34 1.
I rotor open-loop voltage and current control are {6] M. Yamamoto and 0. Motoyoshi, "Active and Reactive
I Power Control for Doubly-Fed Wound Rotor Induction
stable or marginally stable for both motor and
I Generator," I E E E Trans. Puuw Electrmcs, vol 6 , no. 4,
generator operations. The field orientation process October 1991, pp. 624-629.
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is stable if the computation is fast enough or if there f7] P.C. Krause, "Analysis ofElectric Machinery,"McGraw Hill,
I is additional compensation. Although numerical 1986.
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I€€€Industry l cot ions Magazine Moy/Junel I995