Professional Documents
Culture Documents
Oscillatory Stability and Eigenvalue Sensitivity Analysis of A DFIG Wind Turbine System
Oscillatory Stability and Eigenvalue Sensitivity Analysis of A DFIG Wind Turbine System
1, MARCH 2011
Abstract—This paper focuses on modeling and oscillatory stabil- multivariable, nonlinear, and strongly coupled system. Bifurca-
ity analysis of a wind turbine with doubly fed induction generator tion phenomena in such a nonlinear system may occur under
(DFIG). A detailed mathematical model of DFIG wind turbine certain conditions, leading to oscillatory instability. Therefore,
with vector-control loops is developed, based on which the loci of
the system Jacobian’s eigenvalues have been analyzed, showing practical analysis of DFIG stability will have to involve the bi-
that, without appropriate controller tuning a Hopf bifurcation can furcation phenomena. In recent years, some researchers studied
occur in such a system due to various factors, such as wind speed. stability of industrial motor drives with a wealth of nonlinear dy-
Subsequently, eigenvalue sensitivity with respect to machine and namics according to the bifurcation and chaos theories [1]–[4].
control parameters is performed to assess their impacts on system However, earlier studies mainly deal with dc and simple ac mo-
stability. Moreover, the Hopf bifurcation boundaries of the key
parameters are also given. They can be used to guide the tuning tor drives. The stability analysis of DFIG from a bifurcation
of those DFIG parameters to ensure stable operation in practice. perspective is absent.
The computer simulations are conducted to validate the developed Eigenvalue analysis of the DFIG wind turbine system has
model and to verify the theoretical analysis. been discussed in [5]–[8], where the participation factor, fre-
Index Terms—Doubly fed induction generator (DFIG), eigen- quency, and damping ratio analysis are focused. The compre-
value sensitivity, Hopf bifurcation, stability. hensive analysis of eigenvalue locus and the eigenvalue sen-
sitivity, which can provide useful guidance in tuning system
parameters, have not been carried out earlier.
I. INTRODUCTION
The Yang et al. have investigated the Hopf bifurcation in a
OUBLY fed induction generator (DFIG) is a popular wind vector-controlled DFIG with one-mass drive train [9]. The main
D turbine system due to its high energy efficiency, reduced
mechanical stress on the wind turbine, and relatively low power
purpose of this paper is to study the oscillatory stability of a
DFIG system with respect to varying wind speed, and to ana-
rating of the connected power electronics converter. The DFIG is lyze the eigenvalue sensitivity as well. A more comprehensive
also complex involving aerodynamical, electrical, and mechan- system model, incorporating two-mass drive train, pitch con-
ical systems. With increasing penetration level of DFIG-type trol, etc., is developed. Based on this model, the eigenvalue
wind turbines into the grid, the stability issue of DFIG is of loci are analyzed, revealing that with inappropriate controller
great importance to be properly investigated. parameters, Hopf bifurcation is likely to happen in the system
A DFIG system, including induction generator, two-mass under certain conditions, such as variation of wind speed. Then,
drive train, power converters, and feedback controllers, is a eigenvalue sensitivity analysis is carried out to identify possible
sources of instability, as well as the key influential parameters
with respect to system oscillatory stability. Furthermore, in or-
Manuscript received November 30, 2009; revised June 21, 2010 and August
31, 2010; accepted October 29, 2010. Date of publication January 6, 2011; date der to obtain the overview of system oscillatory stability, Hopf
of current version February 18, 2011. Paper no. TEC-00508-2009. bifurcation boundaries with regard to some key parameters are
L. Yang and X. Ma are with School of Electrical Engineering, Xi’an analyzed, in order to facilitate optimal design of the DFIG wind
Jiaotong University, Xi’an 710049, China (e-mail: lihui.yang@mail.xjtu.edu.cn;
maxikui@mail.xjtu.edu.cn). turbine system. This paper focuses on the small-signal-stability
Z. Xu was with the Center for Electric Technology, Department of Elec- analysis of the DFIG wind turbine system itself. The impact of
trical Engineering, Technical University of Denmark, DK-2800 Lyngby, the DFIG on the power system stability will be considered in
Denmark. He is now with the Department of Electrical Engineering, The
Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong (e-mail: our future research.
eezhaoxu@polyu.edu.hk).
J. Østergaard is with Center for Electric Technology, Department of Electri-
cal Engineering, Technical University of Denmark, DK-2800 Lyngby, Denmark
II. MODELING OF DFIG WIND TURBINE SYSTEM
(e-mail: joe@elektro.dtu.dk). FOR OSCILLATORY STABILITY ANALYSIS
Z. Y. Dong is with the Department of Electrical Engineering, The Hong
Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong (e-mail: As shown in Fig. 1 [10], the DFIG system utilizes a wound ro-
eezydong@polyu.edu.hk). tor induction generator in which the stator windings are directly
K. P. Wong is with the Department of Electrical Engineering, The connected to the three-phase grid and the rotor windings are
Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong, and
also with the School of Electrical, Electronic, and Computer Engineering, fed through three-phase back-to-back bidirectional pulsewidth
The University of Western Australia, W.A. 6009, Perth, Australia (e-mail: modulation (PWM) converters. The back-to-back PWM con-
eekpwong@polyu.edu.hk). verters consist of two three-phase six-switch converters, i.e., the
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org. rotor- and the grid-side converter, between which a dc-link ca-
Digital Object Identifier 10.1109/TEC.2010.2091130 pacitor is placed. For the wind turbine control level, two stage
0885-8969/$26.00 © 2011 IEEE
YANG et al.: OSCILLATORY STABILITY AND EIGENVALUE SENSITIVITY ANALYSIS 329
where is = ids + jiq s and ir = idr + jiq r are the stator and
rotor current vectors, respectively; us = uds + juq s and ur =
udr + juq r are the stator and rotor voltage vectors, respectively;
D = ω b /(Lm 2 − Ls Lr ). This paper adopts the motor convention
meaning that stator and rotor currents are positive when flowing
into the generator. The quantities in the system model are in per
unit except the time t.
B. Drive Train
When studying the stability of DFIG wind turbine, the two-
mass model of the drive train is important, as the wind turbine
shaft is relatively softer than the typical steam turbine shaft in
Fig. 1. Schematic diagram of DFIG wind turbine system.
conventional power plants [15]. The equations, which represent
the two-mass model of the drive train, are expressed as follows:
control strategies, based on the electric power versus wind speed dωr 1
curve, are used for DFIG wind turbines: power optimization = (Tsh − Te − Bωr ) (2)
dt 2Hg
strategy below rated wind speed and power limitation strategy
above rated wind speed [10]. For the DFIG control level, vector dθt
= ωb (ωt − ωr ) (3)
control is used for both the rotor- and the grid-side converters dt
to achieve decoupled control of active and reactive power. dωt 1
= (Tm − Tsh ) (4)
It is recognized that the wind power generations involving dt 2Ht
DFIG often experience different oscillations resulted from the where ω b , ω r , and ω t are the base, generator, and wind turbine
DFIG and its auxiliary systems [9], [11]. In order to study the speeds, respectively. Hg and Ht [SI unit(s)] are the generator
oscillatory behavior of the system, small-signal-stability analy- and turbine inertias, respectively. θt is the shaft twist angle.
sis, especially the Hopf bifurcation, is needed. The modeling of The electromagnetic torque Te , the shaft torque Tsh , and the
DFIG has been studied in [5]–[13]; however, there is currently a mechanical torque Tm , which are the power input of the wind
lack of a systematic comprehensive modeling approach suitable turbine, are as follows:
for small-signal stability. In the following section, we develop a
comprehensive model for the DFIG wind turbine system. This Te = Lm (ids iq r − iq s idr ) (5)
model particularly enables small-signal-stability analysis of the Tsh = Ksh θt + Dsh ωb (ωt − ωr ) (6)
overall system.
2
0.5ρπR Cp (λ, β)Vw3
Tm = (7)
ωt
A. Generator
where Cp is the power coefficient as follows:
According to the voltage- and flux-linkage equations of the
116
induction generator [13], [14], the differential equations of the Cp = 0.22 − 0.4β − 5 e−12.5/ λi (8)
stator and rotor circuits of the induction generator with stator and λi
rotor current as state variables can be given in a d–q reference 1
frame rotating at synchronous speed (we define this reference λi = (9)
1/(λ + 0.08β) − 0.035/(β 3 + 1)
frame as the generator reference frame in this paper) as follows:
where λ = ω t R/Vw is the blade tip speed ratio. Cp (λ, β) has a
⎧ dids
⎪ maximum Cpm ax for a particular tip speed ratio λopt and pitch
⎪
⎪ = D[Rs Lr ids + (ωs − ωr )L2m iq s − ωs Ls Lr iq s
⎪
⎪ dt angle β opt . The aim for variable wind turbine at wind speeds
⎪
⎪
⎪
⎪ −Rr Lm idr − ωr Lr Lm iq r − Lr uds + Lm udr ] lower than rated value is to adjust the rotor speed at varying wind
⎪
⎪
⎪
⎪ speeds; therefore, λ and Cp are always maintained at the opti-
⎪
⎪
⎪ diq s = D[−(ωs − ωr )L2 ids + ωs Ls Lr ids + Rs Lr iq s
⎪ mal and maximum value, respectively. The speed control of the
⎪
⎪ m
⎪
⎪
dt DFIG is achieved by driving the generator speed along the opti-
⎪
⎪
⎨ +ωr Lr Lm idr − Rr Lm iq r − Lr uq s + Lm uq r ] mum power-speed characteristic curve [10], which corresponds
to the maximum energy capture from the wind. In this curve,
⎪
⎪ didr
⎪
⎪ = D[−Rs Lm ids + ωr Ls Lm iq s + Rr Ls idr when generator speed is less than the low limit or higher than
⎪
⎪ dt
⎪
⎪ the rated value, the reference speed is set to the minimal value
⎪
⎪
⎪
⎪ +ωs L2m iq r − (ωs − ωr )Ls Lr iq r + Lm uds − Ls udr ] or rated value, respectively. When generator speed is between
⎪
⎪
⎪
⎪ the lower limit and the rated value, the rotor speed reference can
⎪
⎪ diq r
⎪
⎪ = D[−ωr Ls Lm ids − Rs Lm iq s − ωs L2m idr be obtained by substituting λ = ω t R/Vw into (7) as follows:
⎪
⎪ dt
⎪
⎩
+(ωs − ωr )Ls Lr idr + Rr Ls iq r + Lm uq s − Ls uq r ] Tm
ωref = (10)
(1) Kopt
330 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 26, NO. 1, MARCH 2011
converter control operates in the grid-voltage-oriented reference where ε = arctan(uq s /uds ) is the angle between the grid-
frame, which is a synchronously rotating reference frame, with voltage vector and the d-axis of the generator reference frame;
its d-axis oriented along the grid-voltage vector position [17]. V can be the variable of voltage u or current i.
Similarly, the typical PI controllers are used for regulation in
both dc-link voltage (outer) control loop and grid-side inductor F. DC-link Capacitor
current (inner) control loop. In Fig. 4, superscript ε denotes the
The equation, which describes the energy balance of the dc-
variable is in the grid-voltage-oriented reference frame.
link capacitor can be expressed as follows:
Under the grid-voltage-oriented reference frame, the equa-
tions of the grid-side converter are given by [17] the following: Cdc Udc dUdc
= pa − p r
⎧ L diεdL
ωb dt
⎪
⎪ u ε
= U = R iε
+ − ωs Liεq L + uεda
⎨ ds s L dL
ωb dt 3
= (uda idL + uq a iq L − udr idr − uq r iq r ) (19)
(16) 2
⎪
⎪
ε
⎩ uε = 0 = RL iε + L diq L + ωs Liε + uε where Udc is the dc-link voltage, and pa and pr are the powers
qs qL dL qa
ωb dt supplied to the grid-side converter and the rotor circuit, respec-
where iL = idL + jiq L is the grid-side-inductor-current vector, tively.
and ua = uda + juq a is the grid-side converter voltage vector. From (1)–(19), we can obtain a set of state equations to present
Similar to the derivation of the rotor-side controller, based on the DFIG wind turbine system. They can be written in a compact
the same simplification, which omits the fast dynamics in the form as follows:
inner current-control loop, and according to the control scheme
ẋ = f (x, u) (20)
of the grid-side converter shown in Fig. 4, the equations with
respect to the control of the grid-side converter are described as where x and u are the vectors with respect to the state and the
follows: input variables, which are defined as x = [ids iq s idr iq r ω r Udc
⎧ xω xu θt ω t β xu s xβ ]T , u = [uds uq s Iq L ref Udcref Vw β ref ]T .
⎪ K
⎪ ẋv = P v (Udcref − Udc )
⎪
⎪
⎪ TI v
⎪
⎨ III. SMALL-SIGNAL-STABILITY ANALYSIS
iεq L = Iq L ref (17)
⎪
⎪ √ A DFIG wind turbine system, modeled by (1)–(19) or sim-
⎪
⎪
⎪
⎪ 2 ply (20), can be linearized to form the linear model around an
⎩ iεdL = iεdL ref = √ [KP v (Udcref − Udc ) + xu ]
3m equilibrium point for small-signal-stability analysis.
where KP v and TI v are the proportional gain and the integral A. System Jacobian
time constant of the dc-link voltage controller, respectively.
The relationship between the generator reference frame and The Jacobian matrix is of great importance to stability anal-
the grid-voltage-oriented reference frame can be given by [18] ysis of dynamical systems. In order to analyze the Jacobian
the following: matrix, the equilibrium point X0 of the system needs to be cal-
ε
culated by solving equation f (x, u) = 0. With X0 , the Jacobian
Vda cos ε − sin ε Vda matrix of the system evaluated at the equilibrium point is given
= (18)
Vq a sin ε cos ε Vqεa in (21), shown at the bottom of this page, where {Ji,j } (i =
⎡ ⎤
J11 J12 J13 J14 J15 0 J17 0 J19 J110 J111 J112 0
⎢ J21 J22 J23 J24 J25 0 J27 0 J29 J 210 J211 J212 0 ⎥
⎢ ⎥
⎢ ⎥
⎢ J31 J32 J33 J34 J35 0 J37 0 J39 J310 J311 J312 0 ⎥
⎢ ⎥
⎢ ⎥
⎢ J41 J42 J43 J44 J45 0 J47 0 J49 J410 J411 J412 0 ⎥
⎢ ⎥
⎢ J J52 J53 J54 J55 0 0 0 J59 J510 0 0 0 ⎥
⎢ 51 ⎥
⎢ ⎥
⎢ J61 J62 J63 J64 J65 J66 J67 J68 J69 J610 J611 J612 0 ⎥
∂f ⎢ ⎥
⎢ ⎥
J(X0 ) = A = =⎢ 0 0 0 0 J75 0 0 0 0 J710 J711 0 0 ⎥
∂x x=X 0 ⎢ ⎥
⎢ 0 0 0 0 0 J86 0 0 0 0 0 0 0 ⎥
⎢ ⎥
⎢ ⎥
⎢ 0 0 0 0 J95 0 0 0 0 J910 0 0 0 ⎥
⎢ ⎥
⎢ ⎥
⎢ 0 0 0 0 J105 0 0 0 J109 J1010 J1011 0 0 ⎥
⎢ ⎥
⎢J J1102 0 0 0 J116 0 J118 0 0 J1111 0 J1113 ⎥
⎢ 1101 ⎥
⎢ ⎥
⎣ 0 0 0 0 0 0 0 0 0 0 0 0 0 ⎦
J131 J132 0 0 0 J136 0 J138 0 0 0 0 0
(21)
332 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 26, NO. 1, MARCH 2011
B. Hopf Bifurcation
This paper concentrates on the analysis of local bifurcations,
particularly Hopf bifurcation that can occur in a DFIG system. TABLE II
EIGENVALUES OF DFIG WIND TURBINE SYSTEM (V w = 12 M/S, K P ω = 1)
Hopf bifurcation corresponds to emergence of a periodic so-
lution from an equilibrium point of (20); in this way, the HFB
is responsible for system oscillatory behavior. According to the
Hopf bifurcation theorem [19], a HFB can be supercritical or
subcritical. A supercritical HFB has the initially stable periodic
solution branch and will result in a smooth transition to oscil-
lations. On the other hand, a subcritical HFB is associated with The first-order sensitivity of an eigenvalue λi with regard to
an unstable periodic solution branch and will lead to a hard a system-operating parameter α can be given by the following:
transition to large amplitude oscillations.
The DFIG wind turbine system works in power-optimization ∂λi uT (∂A/∂α) vi
= i . (23)
operation mode at most of the time. Under this operation mode, ∂α uTi vi
the rotor speed of DFIG usually changes along with the vari- The magnitude and the sign of the real part of the eigenvalue
sensitivity Sαλ,σ are defined as the size and direction of move-
ation of wind speed [10]. We will consequently focus on the
effect of the variation of wind speed as well as rotor speed on
ment of eigenvalue λi in the horizontal direction in the s-plane
the dynamical behavior of DFIG under the power optimization
due to the small perturbation of a general parameter α, respec-
operation mode in the following section.
tively, whereas the imaginary part of the eigenvalue sensitivity
Sαλ,ω are associated with the movement of eigenvalue λi in the
C. Eigenvalue Sensitivity
vertical direction.
Eigenvalue sensitivity, defined as the rate and direction of
eigenvalue movement in the s-plane due to the variation in IV. THEORETICAL SYSTEM EIGENVALUE ANALYSIS
system parameters is an efficient tool for designing the control
Using the Jacobian matrix derived in Section III, eigenvalue
system and parameterizing the system, especially for the higher
analysis of the DFIG wind turbine system is given in this section.
order systems. Two types of eigenvalue sensitivities are studied:
eigenvalue sensitivity with respect to the entry of system state
A. Eigenvalue Loci
matrix and system parameter.
The participation factor is a special group of eigenvalue sen- The system parameters, set as the standard value from MAT-
sitivity with respect to the system states [20] as follows: LAB vR2007b Demo, are detailed in Table I. Using the Jacobian
matrix (21), eigenvalues of the DFIG system can be calculated.
∂λi
Pk i = = uk i vk i (i, k = 1, 2, ..., n) (22) All the eigenvalues at rated wind speed (Vw = 12 m/s, ω r =
∂ak k 1.1 p.u., KP ω = 1) are listed in Table II. The eigenvalue loci of
where ak k is the kth row and kth column of A, ui , vi ∈ Rn corresponding oscillatory modes are plotted in Figs. 5 and 6.
denote the normalized right and left eigenvectors corresponding Fig. 5(a)–(d) shows the eigenvalue loci of λ1,2 , λ3,4 , λ5,6 , and
to λi , respectively. λ7,8 as wind speed increases when KP ω = 60. The arrows in
YANG et al.: OSCILLATORY STABILITY AND EIGENVALUE SENSITIVITY ANALYSIS 333
TABLE III
EIGENVALUES FOR VARIATION VALUE OF V w AND ω r (K P ω = 70)
TABLE V
FIRST-ORDER EIGENVALUES SENSITIVITIES GIVEN DIFFERENT ROTOR SPEED: (A) ω r = 0.9 SUBSYNCHRONOUS SPEED;
(B) ω r = 1 SYNCHRONOUS SPEED; (C) ω r = 1.1 SUBSYNCHRONOUS SPEED
Fig. 9(a)–(d) shows the Hopf bifurcation boundaries in the results show that the oscillatory behavior with the nature of
parameter space of KP ω versus ω r under different values of Hopf bifurcation can happen due to reason like varying wind
Rs , Rr , Lls , and Llr , respectively, which clearly illustrates the speed. The observed oscillation is primarily due to the vary-
effect of those sensitive parameters on the Hopf bifurcation ing electromagnetic torque, since the mechanical one is fixed.
boundaries. Area below the curves corresponds to stable opera- Such oscillation of the electromagnetic torque is related to the
tion and above that to unstable operation. On top of these curves, variations of the magnitude and direction of the stator and rotor
the system loses stability via Hopf bifurcation. flux-linkage vectors [22], [23], which is not focused herein, but
As shown in Fig. 9, the simulation results agree well with the will be investigated in our future scope.
analytical results. Also, we can generally observe that around Besides the wind speed and control parameters, Hopf bifurca-
synchronous speed, the critical value of KP ω is the largest, and tion is also sensitive to other system parameters, and the impact
does not change so significantly in different system parameter of different parameters on the Hopf bifurcation margin at dif-
conditions. When ω r is away from synchronous speed (e.g., in ferent rotor speeds is different. For the studied system, Hopf
0.7–0.9 or around 1.1), the critical value of KP ω decreases as bifurcation boundaries for the eigenvalues λ5,6 show that such
the value of ω r increases, and Hopf bifurcation boundaries have bifurcation can happen particularly when Rs , Lls , and Llr in-
considerable changes in different system parameter conditions. crease, while Rr decreases at subsynchronous speed. At super-
The point marked with “∗” is the stable operating point before synchronous speed, the increase of Lls and Llr , while decrease
the bifurcation occurs. At subsynchronous speed, the Hopf bi- of Rs and Rr may lead to such Hopf bifurcation. Hence, simply
furcation margin becomes smaller as Rs increases. While at increasing Rs cannot enhance the Hopf bifurcation margin at
supersynchronous speed, the Hopf bifurcation margin becomes different rotor speeds, and it is recommended to choose large
larger as Rs increases. For all studied region of rotor speed, the value of Rr , while small value of Lls and Llr to enlarge such
Hopf bifurcation margin becomes larger, as Rr increases, while Hopf bifurcation margin. These are the important characteristics
Lls and Llr decrease. for a DFIG wind turbine system, and very useful for the oper-
ators of such system to be careful in situations, where critical
D. Discussion parameters may be changed. Hopf bifurcation boundaries for
other eigenvalues have also been studied. Though different bi-
The simulation results have confirmed the theoretical analy-
furcation boundaries will be exhibited for different eigenvalues,
sis based on derived model and Jacobian matrix. The simulation
336 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 26, NO. 1, MARCH 2011
VI. CONCLUSION
DFIG has been one of the popular types for high-power ap-
plications of wind power generation. However, the detailed
nonlinear dynamics of this system, so far, has not been thor-
oughly investigated. In this paper, a detailed DFIG wind turbine
model including two-mass drive train, pitch control, induction
generator, back-to-back PWM converters, and vector-control
loops was developed. The Jacobian matrix was also derived for
small-signal-stability analysis purpose. Bifurcation and eigen-
value sensitivity analysis based on both theoretical analysis and
computer simulations showed that DFIG wind turbine can loose
stability via a Hopf bifurcation. Further analysis showed that the
impact of different DFIG parameters on different critical eigen-
value pairs at different rotor speeds was different. The most
sensitive parameters to the Hopf bifurcation of a DFIG wind
turbine system can be identified through eigenvalue sensitivity
analysis. Moreover, the Hopf bifurcation boundaries with re-
spect to those critical parameters have also been analyzed that
can facilitate parameterizing the DFIG wind turbine system to
ensure stable operation. The analyses in this paper provide in-
sights into DFIG oscillatory stability that can be important for
Fig. 8. Simulation results when oscillatory instability occurs. (a) Rotor speed both manufacturer and system operators in designing or practi-
ω r . (b) DC-link voltage U d c . (c) Active power P . (d) Reactive power Q. cally operating such wind turbines concerning their impact on
(e) Phase A of stator current is a . (f) Phase A of rotor current ir a . power system small-signal stability.
YANG et al.: OSCILLATORY STABILITY AND EIGENVALUE SENSITIVITY ANALYSIS 337
APPENDIX ∂udr ∂uq r
J312 = −DLs J41 = D −ωr 0 Ls Lm − Ls
JACOBIAN MATRIX ∂xu s ∂ids
J42 = D −Rs Lm − Ls
∂uq r
J44 = D Rr Ls − Ls
∂uq r
∂udr ∂udr ∂iq s ∂iq r
J11 = D Rs Lr + Lm J112 = DLm
∂ids ∂xu s
∂uq r
∂udr J43 = D −ωs L2m + (ωs − ωr 0 )Ls Lr − Ls )
J12 = D (ωs − ωr 0 )L2m − ωs Ls Lr + Lm ) ∂idr
∂iq s
REFERENCES
[1] J. Nagy, L. Matakas, and E. Masada, “Application of the theory of chaos in Lihui Yang received the Ph.D. degree in electrical
PWM technique of induction motors,” in Proc. Int. Conf. Power Electron., engineering from Xi’an Jiaotong University, Xi’an,
1995, pp. 58–63. Shaanxi, China, in 2010.
[2] J. H. Chen, K. T. Chau, and C. C. Chan, “Analysis of chaos in current- During 2008–2009, she was a Visiting Ph.D. Stu-
mode-controlled dc drive systems,” IEEE Trans. Ind. Electron., vol. 47, dent at the Center for Electric Technology, Technical
no. 1, pp. 67–76, Feb. 2000. University of Denmark. She is currently an Assistant
[3] Z. Li, J. B. Park, Y. H. Joo, B. Zhang, and G. R. Chen, “Bifurcation and Professor at Xi’an Jiaotong University. Her research
chaos in a permanent-magnet synchronous motor,” IEEE Trans. Circuits interests include stability and control of wind power
Syst. I, Fundam. Theory Appl., vol. 49, no. 3, pp. 383–387, Mar. 2002. generation.
[4] Y. Gao and K. T. Chau, “Hopf bifurcation and chaos in synchronous
reluctance motor drives,” IEEE Trans. Energy Convers., vol. 19, no. 2,
pp. 296–302, Jun. 2004.
[5] F. Mei and B. C. Pal, “Modal analysis of grid-connected doubly fed induc-
tion generators,” IEEE Trans. Energy Convers, vol. 22, no. 3, pp. 728–736,
Sep. 2007.
[6] F. Wu, X. P. Zhang, K. Godfrey, and P. Ju, “Small signal stability analysis
and optimal control of a wind turbine with doubly fed induction generator,”
IET Gen. Trans. Distr., vol. 1, no. 5, pp. 751–760, 2007.
[7] C. Wang and L. Shi, “Small signal stability analysis considering grid-
connected wind farms of DFIG type,” in Proc. IEEE Power and Energy Zhao Xu (S’00–M’06) received the Ph.D. degree
Soc. Gen. Meeting, Jul. 2008, pp. 20–24. in electrical engineering from The University of
[8] G. Tsourakis, B. M. Nomikos, and C. D. Vournas, “Effect of wind parks Queensland, Australia, in 2006.
with doubly fed asynchronous generators on small-signal stability,” Electr. From 2006–2009, he was an Assistant at the Cen-
Power Syst. Res., vol. 79, pp. 190–200, 2009. ter for Electric Technology, Technical University of
[9] L. Yang, X. Ma, and D. Dai, “Hopf bifurcation in doubly fed induc- Denmark, where he became an Associate Professor.
tion generator under vector control,” Chaos, Sol. Fract., vol. 41, no. 5, Since 2010, he has been with Hong Kong Polytechnic
pp. 2741–2749, 2009. University, Kowloon, Hong Kong. His research in-
[10] A. D. Hansen, P. Sørensen, F. Iov, and F. Blaabjerg, “Control of variable terests include demand side, grid integration of wind
speed wind turbines with doubly-fed induction generators,” Wind Eng., power, electricity market planning and management,
vol. 28, no. 4, pp. 411–434, 2004. and AI applications.
YANG et al.: OSCILLATORY STABILITY AND EIGENVALUE SENSITIVITY ANALYSIS 339
Jacob Østergaard (M’95–SM’09) received the Kit Po Wong (M’87–SM’90–F’02) received the
M.Sc. degree in electrical engineering from the Tech- M.Sc., Ph.D., and D.Eng. degrees from the Institute
nical University of Denmark, Lyngby, Denmark, in of Science and Technology, University of Manch-
1995. ester, Manchester, U.K., in 1972, 1974, and 2001,
He is currently a Professor and the respectively.
Head of the Center for Electric Technology, From 1974 to 2004, he was at The University
Department of Electrical Engineering, Technical Uni- of Western Australia, Perth, Australia, where he is
versity of Denmark. His research interests include currently an Adjunct Professor. He was the Head of
integration of renewable energy, control architecture the Department of Electrical Engineering, The Hong
for future power system, and demand side. Kong Polytechnic University, Kowloon, Hong Kong,
Prof. Østergaard is engaged with several profes- where he has been the Chair Professor, since 2002.
sional organizations, including the EU SmartGrids Advisory Council. His research interests include computation intelligence applications to power
system analysis, planning and operations, as well as power market analysis.
Prof. Wong received three Sir John Madsen Medals (1981, 1982, and 1988)
from the Institution of Engineers, Australia (IEAust), the 1999 Outstanding
Engineer Award from IEEE Power Chapter Western Australia, and the 2000
IEEE Third Millennium Award. He was a Co-Technical Chairman of the IEEE
International Conference on Machine Learning and Cybernetics (ICMLC) 2004
and the General Chairman of IEEE/CSEE PowerCon2000. He was an Editor-in-
Chief of IEE Proceedings in Generation, Transmission and Distribution and the
Editor (Electrical) of the Transactions of Hong Kong Institution of Engineers.
He is a Fellow of the Institution of Engineering and Technology (IET), the Hong
Zhao Yang Dong (M’99–SM’06) received the Ph.D. Kong Institution of Engineers (HKIE), and the IEAust.
degree from The University of Sydney, Sydney,
Australia, in 1999.
He was engaged in various academic positions at
The University of Queensland, Australia and National Xikui Ma received the B.E. and M.Sc. degrees in
University of Singapore. He is currently engaged electrical engineering from Xi’an Jiaotong Univer-
at Hong Kong Polytechnic University, Kowloon, sity, Xi’an, China, in 1982 and 1985, respectively.
Hong Kong. He is also engaged in various indus- In 1985, he joined the Xi’an Jiaotong Univer-
trial positions with Powerlink Queensland, Virginia, sity as a Lecturer, where he has been a Professor,
and Transend Networks, Tasmania, Australia (both since 1992. His current research interests include
are transmission network service providers in corre- electromagnetic field theory and its application, nu-
sponding states). His research interests include power system planning, power merical methods, modeling of magnetic components,
system security assessment, power system stability and control, power system chaotic dynamics and its applications in power elec-
load modeling, electricity market, and computational intelligence and its appli- tronics, and applications of digital control in power
cation in power engineering. electronics.