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Wind Turbines with Doubly-Fed Induction Generator Systems with Improved

Performance due to Grid Requirements

Conference Paper · July 2007

DOI: 10.1109/PES.2007.386102 · Source: IEEE Xplore

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 1

Wind Turbines with Doubly-Fed Induction

Generator Systems with Improved Performance
due to Grid Requirements
D. Ehlert and H. Wrede, Member, IEEE

Abstract—Within more than 20 years of intensive research I. INTRODUCTION

and development the wind industry has recently superseded the 3
The use of doubly-fed induction generators (DFIG) in
MW size of machines successfully that have been in operation in
the early 80th already. Interestingly the industry has realized that multi-megawatt wind turbine generators (WTG) has a long
the basic electrical concept of these early day machines was very history of more than 20 years already. As a result of the oil-
reasonable. Based now on a very solid background of operational price crisis of the 70th significant efforts were spent in
experience with wind turbine generators (WTG) of various sizes Germany and the USA to develop multi-MW WTG for the
and the development of high performing power electronics these integration into electrical transmission and distribution
latest WTG offer now the required and improved performances
systems.
that will be necessary for a safe integration into the power
systems. While WTG have manly been connected to distribution One of the most prominent WTG was the 3 MW
networks in the past, nowadays project and WTG sizes are GROWIAN (see Fig. 1), developed by a consortium of three
calling for a direct connection to the transmission system level via German utilities, which was installed in 1983 at Marne,
a project specific sub-station. Due to this development an Germany [1, 2].
integrated approach is required to organize an optimized sharing Fig. 1: 3 MW DFIG WTG GROWIAN (1983)
of control responsibilities between sub-station control and WTG
control. The use of doubly-fed induction generator (DFIG)
systems offers a variety of options to implement sophisticated The Wind Energy Project Office of the NASA Lewis
solutions.
Different control strategies of the DFIG system are optimized
for active and reactive power control (torque and speed control
respectively) of WTG especially in steady state conditions. The
dynamic control of the magnitude as well as the phase angel of
the back-EMF voltage of the DFIG yields to a superior system
performance to conventional power generators with grid parallel
synchronous machines. Additional hard- and software solutions
improve the fault ride through (FRT) capability of DFIG systems
in case of transient voltage deviations as a consequence of grid
faults. But also asymmetric voltage conditions can be
counteracted by an independent control of positive and negative
system of the wind turbine grid currents.
An adequate control solution for a DFIG has not only to
consider the transmission network needs, but also to secure the
safe operation of the mechanical system of the WTG. Peak loads,
especially at the moment of voltage recovery after transient
network faults, have to be carefully analysed and respected in the
design phase of a WTG.

Index Terms—Wind Power, Wind Turbine Generator,

Doubly-Fed Induction Generator, Converter, Control System, Research Centre started to develop a 3.5 MVA WTG with a
Fault Ride Trough, Modelling, DFIG concept in the early 80th. The so called MOD-5B (see
Fig. 2) was installed at Kahuku Village, Oahu, and started
D. Ehlert is with REpower Systems AG, 22335 Hamburg, Germany operation in July 1987 [3].
(e-mail: d.ehlert@repower.de).
H. Wrede is with SEG GmbH & Co. KG, 47906 Kempen, Germany
(e-mail: wrede@ieee.org).

1-4244-1298-6/07/$25.00 ©2007 IEEE.

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 2

Both machines were using turbine with a rotor diameter of 126 m that can be installed
thyristor based cyclo-converters, with hub heights of up to 120 m and therefore representing
representing state of the art of power the biggest WTG ever been built worldwide.
electronics technology at that time
[4]. Although both machines haven’t
been commercially successful, the
experiences won with their operation
were building up the required
technical know-how for future
developments.
Nowadays the use of IGBT
Fig. 2: MOD-5B (1987)
technology and the solid know-how
in multi-MW WTG design as a result of an unique and
constant growth in number and size of the international WTG Fig. 4. Doubly-fed induction generator wind turbine generator system
market make it possible to develop commercially successful 5
MW WTG. The integration of large scale (multi-hundred- The functional principle of the variable speed generator is
MW) wind farms equipped with WTG of the 5 MW class based upon the DFIG in combination with a 4-quadrant ac-to-
need an improved performance to secure network stability. ac frequency converter equipped with IGBT technology. The
The REpower 5M is following exactly that idea and is up system assures efficient power production thanks to variable
to now being tested in various locations to proof its rotor speed, which adjusts itself automatically in accordance
performance. With no doubts the machine installed near the with prevailing wind speeds. Speed variability is made
BEATRICE-ALPHA oil platform in the Scottish North-Sea at possible by the directionally dependent transfer of slip power
a water depth of 44 m (Fig. 3) is facing the most challenging via the frequency converter.
conditions. o In the sub-synchronous operating mode (partial load
range) the stator of the DFIG feeds all generated
electrical power to the grid, and additionally makes slip
power available which is fed from the frequency
converter to the rotor via the generator’s slip rings.
o However, in the super-synchronous operating mode
(nominal load range) total power consists of the
components fed by the stator of the DFIG plus slip
power, which is fed from the rotor to the grid via the
frequency converter. At full load active power, which is
fed to the grid via the converter, amounts to roughly 25%
of total power.
Advantages of the system include, amongst others, low
losses, which assures a high overall efficiency, and an
outstanding availability due to the compact design with a
minimal number of components.
The stator windings of the DFIG system as shown in Fig. 4
are gently switched directly to the low-voltage side of the grid.
Technical data of the 5M machine are:

• Nominal power Pel = 5300 kW

• Speed range n = 670 to 1170 RPM

A specific maximum power for the average value is

Fig. 3: REpower 5M (2006)
In this paper the REpower 5M is presented as an example of a
DFIG system based WTG with improved performances
available today.
II. WIND TURBINE SYSTEM
The REpower 5M is a variable speed WTG using pitch
control and a DFIG system (Fig. 4). It is a three-bladed
associated with each rotational speed by a characteristic curve
of the blades which must not be exceeded due to design
reasons.
III. CONVERTER SYSTEM AND DFIG CONTROL
The adjustable speed generator system (Fig. 4) offers
improved system efficiency because inverter rating is
typically 25…30% of the total system power, while the speed

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 3

range of the DFIG is +/- 30% around the synchronous speed.

Cost of the inverter and filters are reduced compared to a full-
sized converter system. dΨS
v S = RS ⋅ i S + + j ⋅ ωS ⋅ Ψ S
The converter enables decoupled control of active and dt
reactive power of the generator [5-12], moreover reactive d Ψ′R
v R = RR′ ⋅ i ′ R + + j ⋅ (ω S − ω ) ⋅ Ψ ′ R
power control can be implemented at lower cost because the dt (1)
DFIG system (4-quadrant converter and induction machine) Ψ S = LS ⋅ i S + Lm ⋅ i R
basically operates similar to a synchronous generator. The Ψ R = LR ⋅ i R + Lm ⋅ i S
converter has to provide only excitation energy. 3
{
T = − ⋅ p ⋅ Im Ψ S ⋅ i S
2
*
}
In Fig. 6 a vector controller
block diagram for the DFIG is
shown. Regard that the
synchronous reference frame is
linked to the stator voltage space
vector vS and not to the stator or
rotor flux vector as is common in
field oriented controllers.
Fig. 6. Vector controller block diagram for
the DFIG

All measured quantities, i.e.

stator and rotor current iS and iR
are transformed into the
synchronous reference frame. A
decoupling circuit calculates from
the demanded active and reactive
power reference signals the rotor
voltage command vRd and vRq. A
reverse vector rotation computes
magnitude and phase of the rotor
voltage command in a stationary
reference frame. The measured
Fig. 5. Single line diagram of the 5M converter system rotor current signals are used for rotor current regulation to

A. System Overview
Fig. 5 shows the single line diagram of the 5M converter
system. Each of the four back-to-back voltage source
converters consist of two converters based on water-cooled
1700V-IGBT modules, a low-inductive DC-bus, a dv/dt-filter
on the machine side and a grid choke on the line side. They
are paralleled with their DC-links as well as on the machine
and line side in the way, that in case of a converter failure two
converters can be switched out of the system. With this
redundancy the wind turbine can be maintained in operation
with half of the system power in such failure mode, which
improves the system reliability and gives a significant benefit
especially for offshore wind turbines. minimize the effects of parameter detuning and inverter gain
errors. Note that system performance depends on speed due to
the coupling between d and q variables.
B. Control of the DFIG The dynamic control of active and reactive power by a
To guarantee stable operation and to enable independent frequency converter with sampling and switching frequencies
control of active and reactive power of the DFIG, a model above 2kHz is equivalent to a high dynamic control of the
based feed-forward controller is implemented using the magnitude as well as the phase angel of the back-EMF voltage
dynamic model equations of the DFIG. of the DFIG and yields to a superior system performance to

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 4

conventional power generators with grid parallel synchronous component in the transmission system are shown. The
machines. appearance of positive and negative sequence components in
grid voltages (uN1, uN2) and line currents (iN1, iN2) of the wind
IV. OPTIONAL SOLUTIONS FOR IMPROVED turbine leads to an oscillation of the instantaneous system
SYSTEM PERFORMANCE power with twice the grid frequency of 50 Hz and result
therefore in an oscillation of the electrical torque of the DFIG.
A negative sequence component in the grid voltage due to Implementing an active compensation of the negative
asymmetric faults or system conditions yields typically to a sequence current component in a negative sequence current
negative sequence current component of any electrical device controller yields to symmetrical line currents of the WTG
especially passive components but also electric machines as even under asymmetrical voltage conditions and also leads to
synchronous generators. As can be seen in Fig. 8 a) the a reduction of the electrical torque oscillation of the DFIG.
voltages on the high voltage side of a simulated 20 x 2MW The line current space vector curve of one WTG of the
wind farm contain a 25% negative sequence component due simulated wind farm including an active negative sequence
to a 2-phase fault in the transmission system. By calculating current compensation is shown in Fig 9. c), note that the
of instantaneous active and reactive power based on the negative sequence current component iN2 is fully
instantaneous power theory [14] and getting the actual system compensated. This leads in case of the 10% negative
power by filtering of this signals (Qist), the reactive power sequence voltage component in the transmission system to a
support of one WTG with state of the art power controllers strong reduction of the electrical torque oscillation of the
like mentioned above is shown in Fig. 8 b) and c) respectively. DFIG system which can be seen in d).
It can be seen that the reactive power support in the positive 1.5 1.5
a) iNab c) iNab
sequence system Q1 lags behind the demanded reference 1 1
iN1 iN1
value Qsoll. Fig. 8 d) shows the reactive power if a decoupled iN2 iN2
0.5 0.5
control of the positive and negative current components of the
DFIG system is used [15] an the reactive power in the positive 0 0
b

b
sequence system Q1 is controlled due to the reference value
-0.5 -0.5
Qsoll.
2 -1 -1
1
a) uN1 c) Qsoll
uN2 Q1 -1.5 -1.5
1.5 -1.5 -1 -0.5 0 0.5 1 1.5 -1.5 -1 -0.5 0 0.5 1 1.5
0.5 uN3 Q2 2 2
1 b) d)
0
0.5
1.5 1.5

-0.5
0
1 1
p

-1
-0.5
20 0.02 0.04 0.06 0.08 0.1 20 0.02 0.04 0.06 0.08 0.1
b) Qsoll d) Q 0.5 0.5
soll
1.5 Qist 1.5 Q
1
Q2
0 0
1 1 0 0.02 0.04 0.06 0.08 0.1 0 0.02 0.04 0.06 0.08 0.1
t/s t/s
0.5 0.5 Fig. 9. Simulation results (pu.) in case of a 10% negative sequence voltage
component in the transmission system, line current space vector curve a) and
0 0 electrical torque of the DFIG b) with conventional power control and with active
compensation of the negative sequence current component c) resp. d)
-0.5 -0.5
0 0.02 0.04 0.06 0.08 0.1 0 0.02 0.04 0.06 0.08 0.1
t/s t/s
The capability of dynamic decoupled power respectively
Fig. 8. Simulation results (pu.) in case of a 2phase fault in the transmission current control in the positive and negative sequence systems
system, voltages on the high voltage side of the wind farm a), reactive power
response of a conventional power controller calculated due to instantaneous yields additionally to a superior system performance to
power theory b) and in positive and negative sequence systems c) as well as with conventional power generators with grid parallel synchronous
decoupled control d) machines and can further be used to improve system
operation.
Furthermore mechanical stress on the wind turbine can be
reduced with an improved decoupled control in the positive V. WTG MODELLING AND DESIGN
and negative system. In Fig. 9 the line current space vector To be able to design a modern 5 MW WTG that can be
curve iNab a) of a WTG with a conventional power controller commercially successful, a depth knowledge of the transient
in the simulated wind farm and the electrical torque of the electro-mechanical behaviour of such machines is essential.
DFIG b) as a result of a 10% negative sequence voltage This basic prerequisite might have been one of the major

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 5

problems, wherefore the machines designed in the early 80th
could not meet expectations. The powerful performance of
nowadays computers and the increasing amount of algorithms
and computing tools in the wind industry over the last two
decades allow a detailed testing of WTG design prior to the
prototype installation.
The most important step forward for the design of the
REpower 5M was a detailed validation with such algorithms
and tools. Especially the advanced requirements with respect
to power system integration to cope with high transient grid
faults such as deep voltage dips create a potential risk of
mechanical overloading that needs to be carefully analysed.
In addition to the traditional fatigue and extreme loading
scenarios defined as per IEC 61400-1, transient network
events can lead to significant peak loads that need a more
detailed consideration [16]. The high transient character of
these events have to be respected by the right degree of
detailed modelling. While network stability analysis software
often reduces the degree of detail to a 3rd order model to limit
the simulation efforts with respect to the huge size of the
networks and the relevant elements, the mechanical design
impact needs to be analysed with a higher order. The
Fig. 10. Comparison of accuracy between 3rd (blue) and 5th (red) order
simulation models
In [17] an enhanced reduced order model (ROM/E) is
proposed for power system stability studies which fills the
simulation gap between a 5th resp. full order (FOM) and a 3rd
resp. reduced order model (ROM) with minimised additional
calculation effort compared to a 3rd order simulation. With the
proposed approach the alternating components of the rotor
currents are considered as can be seen in Fig. 11, so that the
converter DC-link can be modeled realistically.
Consequently, it is possible to consider the correct
response of converter control and crowbar switching to
voltage sags caused by grid faults. When simulating power
system dynamic behavior with increased integration of WTG,
it is essential to consider the true control sequence and
crowbar switching of DFIG-based wind turbines which can
with this model be implemented in reduced order power
system simulations.
Fig. 11. Rotor currents following a three-phase voltage sag from rated voltage
down to 15 %

mechanical time
constants seem to be in
contradiction to this
necessity, but a
mechanical peak load
has to be seen as a result
of a high transient
electrical impact. A
typical example is the
crowbar activation that is
electrically needed to
protect the DC-link
circuit from over-
voltages. Fig. 10.
illustrates the different
degree of detail for the
flux calculations in stator and rotor and the resulting torque
For a secure WTG design a sophisticated 5th order model
based on 3rd and 5th order simulation models. It can easily
of the whole electro-mechanical system is required. SEG and
been seen that the lower order model is neglecting some
REpower put a lot of efforts in developing such sophisticated
relevant peaks.
models. Building up the model is only half the way of course.
2 It will not be able to build up the required amount of
R o to rflu s s [V s ]

confidence to the simulation results without a careful

0 validation. Starting with a half-load laboratory test of a 1.5
MW system at a SEG test stand, REpower carried out full
-2
scale field tests on a 2 MW WTG analysing various fault
2 scenarios. The field test confirmed the capability of the
S ta to rflu s s [V s ]

REpower WTG equipped with SEG inverters to stay

0 connected during voltage dips resulting from symmetrical and
asymmetrical system faults at rated and partial power.
-2
By using the electrical and mechanical measurement
results of both tests, REpower and SEG were able to improve
0
the accuracy of the electrical as well as the mechanical model
M [k N m ]

-2 0 to an extraordinary level. The following Fig. 12 a) shows the

-4 0

-0.1 0 0 .1 0 .2 0.3 0.4 0 .5

t [s ]
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simulation result of a 3-phase fault resulting in a voltage dip
down to 22% nominal voltage. Fig. 12 b) below shows the
comparable measurement result of the same fault scenario.
Fig. 12. Simulated a) and measured b) active (green, blue = ref. value) and
reactive power (turq., red = ref. value) flow during a 22% 3-phase fault
With comparisons like the above it could be shown that the
developed model is precisely simulating the high transient
effects inside the electrical system of the WTG in terms of the
principle behaviour as well as the quantitative results. Only
saturation effects within the transformers led to deviations.
Having a validated 5th order model of the WTG and inverter
system in place, it is possible now to analyse the electrical
behaviour of the WTG with respect to the impact of the power
system stability as well as the consequences for the
mechanical system of the WTG. A comparison of simulated
and measured values could also be carried out on the
mechanical loading scenarios. One of the essential effects that
could happen during a fault is the activation of the crowbar.
Such a comparison is illustrated in Fig. 13. The comparison is
15
10
Simulated Torque [kNm]
5
-5
-10
150 0.2 0.4 0.6
10
Measured Torque [kNm]
-5
-10
0 0.2 0.4 0.6
Time [s]
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6
another proof of the preciseness of the developed models.
Fig. 13. Simulated (top) and measured (below) generator torque during forced
decoupling from the grid using a crowbar activation
With the described modelling of DFIG-based WTG a
project specific analysis of the fault scenarios and the
required turbine behaviour in terms of its active and reactive
power supply during the fault and after fault clearance as
required to meet relevant grid codes can be carried out.
VI. CONCLUSION
The use of DFIG systems in WTG has tremendously
matured over the last 20 years. At least with the appearance of
the 5 MW class that is planned to be installed in huge multi-
hundred-megawatt off-shore wind farms simulation, analysis
and solutions for improved performance in steady-state
operation and during transient fault conditions of the
transmission network they are connected to are required.
As a prominent example of this next generation of WTG
the REpower 5M is exactly designed to that purpose. The
dynamic control of active and reactive power by a frequency
converter is equivalent to a high dynamic control of the
magnitude as well as the phase angel of the back-EMF voltage
of the DFIG and yields to a superior system performance to
conventional power generators with grid parallel synchronous
machines. The decoupled control of the WTG currents in the
positive and negative sequence systems gives further
improvement of the superior system performance.
As a result of such an improved electrical performance the
mechanical system of the WTG is facing loads that were not
considered in the classical turbine design. To secure the WTG
capability to face the highest possible loads during the worst
case scenario out of various grid codes and project specific
circumstances a reliable model of the whole electro-
mechanical system is required. By having a validated 5th order
model of the WTG and inverter system in place, it is possible
to analyse the electrical behaviour of the WTG with respect
on the impact of the power system stability as well as the
consequences for the mechanical system of the WTG. This
allows a project specific analysis of the fault scenarios and the
required turbine behaviour in terms of its active and reactive
power supply during the fault and after fault clearance as per
the relevant grid codes.
0.8 1
0.8 1
 7

VII. REFERENCES VIII. BIOGRAPHIES

[1] Warneke, O.;”Use of a double-fed induction machine in the large
GROWIAN wind energy converter.”; Siemens Energietech (Germany,
Federal Republic of) Vol. 5:6. Coden: SIEED; pp. 364-367. 1983 Dirk Ehlert was born in Berlin, Germany, on March 4
[2] Braun, D., Kloeppel, V., Marsch, G., Meggle, R., Mehlhose, R. Schoebe, in 1963. He received his Dipl.-Ing. degree in electrical
B. Wennekers, R.; Wind energy converter GROWIAN II; Original Title: engineering from the Technical University Berlin,
Windenergieanlage GROWIAN II; Corporate Source: Bundesministerium Germany, in 1991. In 1993 he has installed his first
für Forschung und Technologie, Bonn (Germany, F.R.); Publication Date: WTG in a project that he has developed by himself.
April 1984, p. 148. Since 1994 he is working in the wind industry and was
[3] NASA; “MOD-5B Wind Turbine System Final Report, Volume II, with several WTG manufactures during this time. He
Detailed Report.” NASA CR-180897, March 1988. was involved in various international wind farm projects
[4] Carlin, P.W. ; Laxson , A.S. ; Muljadi, E.B. “The History and State of the and was therefore in close touch with network operators
Art of Variable-Speed Wind Turbine Technology”; National Renewable all over the globe to discuss the grid code compliance
Energy Laboratory; February 2001 issues.
[5] T. Burton, D. Sharpe, N. Jenkins, E. Bossanvi, Wind Energy Handbook, Since 2002 he is with REpower Systems AG, Hamburg/Germany, presently
John Wiley & Sons, Ltd, 2001 head of the Department Sales Support and therefore responsible for grid
[6] Müller, S.; Deicke, M.; De Doncker, R. W.:Adjustable speed generators connection related customer support and the product portfolio development
for wind turbines based on doubly-fed induction machines and 4-quadrant process with respect to grid codes.
IGBT converters linked to the rotor. Records of the IEEE IAS
Conferernce, Rome, CD, 2000 Holger Wrede (M´2003) was born in Freiburg,
[7] Datta R., Ranganathan V. T.: Decoupled control of active and reactive Germany, on November 11 in 1971. He received his
power for a grid-connected doublyfed wound rotor induction machine Dipl.-Ing. degree in electrical engineering from the
without position sensors, In Conference Record of the 1999 IEEE Industry Technical University Braunschweig, Germany, in 1998.
Applications Conference. Thirty-Fourth IAS Annual Meeting (Cat. From 1998 to 2004 he joined the Institute for Electrical
No.99CH36370), pp. 2623-2628 Power Engineering and Power Electronics of the Ruhr-
[8] Geniusz A., Krzeminski Z.: Control system based on the modified University Bochum, Germany, where he worked on
multiscalar model for the Double Fed Machine, Records of the PCIM FACTS devices and power quality in transmission and
Conference, Nürnberg, 2005 distribution systems as well as on power theory and
[9] Krzeminski Z.: Sensorless Multiscalar Control of Double Fed Machine for compensation strategies for STATCOMs and received
Wind Power Generators, Osaka 2002 his doctor´s degree in electrical engineering and power
[10] Leonhard W.: Control of Electrical Drives. Springer-Verlag, 2nd Edition, electronics in 2004.
1996 Since 2004 he is with SEG GmbH & Co. KG, Kempen/Germany, presently
[11] Peresada, S., Tilli A., Tonielli A.: Power control of a doubly fed induction manager of the group Innovation / Converter Technology and responsible for
machine via output feedback, Control Engineering Practice, 12, pp. 41-57, power electronics and converter designs, system simulations and control
2004 strategies as well as patents.
[12] Petersson A.: Analysis, Modelling and Control of Doubly-Fed Induction
Generators for Wind Turbines, Thesis for the degree of licentiate of
engineering, Department of Electric Power Engineering, Chalmers
University of Technology Goteborg, Sweden 2003
[13] A. Geniusz, S. Engelhardt: . Riding through Grid Faults with Modified
Multiscalar Control of Doubly Fed Asynchronous Generators for Wind
Power Systems Records of the PCIM Conference, Nürnberg, 2006
[14] H. Akagi, Y. Kanazawa, A. Nabae: Generalized Theory of the
Instantaneous Reactive Power in Three-Phase Circuits. International
Conference on Power Electronics, Tokyo, 1983, p 1375-1386
[15] S. Engelhardt, H. Wrede, J. Kretschmann: Power Control of Wind Power
Stations with Doubly Fed Asynchronous Machine under Asymmetrical
Grid Conditions (in german). Records of the VDI/VDA-Conference,
27./28. Sept. 2006, Böblingen, Germany, 2006
[16] IEC 61400-1, ed. 2: Wind Turbine Generator Systems - Part 1: Safety
Requirements, 1999
[17] Kretschmann, H.Wrede, S. Mueller-Engelhardt, I. Erlich „Enhanced
Reduced Order Model of Wind Turbines with DFIG for Power System
Stability Studies”, PECon Kuala Lumpur, 28-29 November 2006

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