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Reactive Current Assignment and Control For DFIG Based Wind Turbines During Grid Voltage Sag and Swell Conditions
Reactive Current Assignment and Control For DFIG Based Wind Turbines During Grid Voltage Sag and Swell Conditions
http://dx.doi.org/10.6113/JPE.2015.15.1.235
JPE 15-1-22 ISSN(Print): 1598-2092 / ISSN(Online): 2093-4718
Abstract
This paper proposes a reactive current assignment and control strategy for a doubly-fed induction generator (DFIG) based
wind-turbine generation system under generic grid voltage sag or swell conditions. The system’s active and reactive power
constrains during grid faults are investigated with both the grid- and rotor-side convertors (GSC and RSC) maximum ampere limits
considered. To meet the latest grid codes, especially the low- and high-voltage ride-through (LVRT and HVRT) requirements, an
adaptive reactive current control scheme is investigated. In addition, a torque-oscillation suppression technique is designed to reduce
the mechanism stress on turbine systems caused by intensive voltage variations. Simulation and experiment studies demonstrate the
feasibility and effectiveness of the proposed control scheme to enhance the fault ride-through (FRT) capability of DFIG-based wind
turbines during violent changes in grid voltage.
Key words: Convertor, Doubly Fed Induction Generator (DFIG), High Voltage Ride-Through (HVRT), Low Voltage
Ride-Through (LVRT), Reactive current support
© 2015 KIPE
236 Journal of Power Electronics, Vol. 15, No. 1, January 2015
q
0.46
igq Ig 0.45
igd U g (s) d
j
Vg max jws Lg I g 0.44
Vg
0.43
Rg I g 0.4
1
0.2 0.9
Fig. 2. The spatial relationship of GSC steady voltage vectors. 0.8
0 0.7
synchronously rotating coordinate can be expressed as: Fig. 3. The curves of GSC reactive current vs. the total active
power and grid voltage.
ìïU gd = Rg I gd - ws Lg I gq + Vgd
í (3)
ïîU gq = Rg I gq + ws Lg I gd + Vgq voltage sags and swells.
where Ugd and Ugq are the d- and q-axis grid voltages. Igd and 1) Voltage Sag: For convenient analysis, a 3MW DFIG
Igq are the d- and q-axis grid currents. Lg and Rg are the input system is taken as an example with the parameters shown in
inductance and resistance of the GSC, respectively. TABLE I of the Appendix. The rated line voltage of the
Meanwhile, the dc-bus voltage should obey the following DFIG is 690V, while the normal dc-bus voltage is set to
power balance relationship, i.e.: 1050V. When a voltage sag fault occurs, Ug will be brought
dV down. Thus, Eq. (7) is easy to satisfy if the currents flowing
CVdc dc = Pg - Pr . (4)
dt through the GSC are not beyond the maximum ampere limit.
According to Eq. (3), the steady-state voltage space vector In this case, the maximum reactive current output from the
diagram of the GSC can be depicted as in Fig. 2, with j grid-side can be calculated as:
being the power factor angle. From Fig. 2, it can be æ ö
2
2 2 2 sPt
concluded that the terminal of the output voltage vector Vg I gq = (I g max ) - (I )
gd = (I g max ) -ç
ç U g (1 - s ) ÷÷
(8)
should always fall on the hypotenuse of the impedance è ø
triangle with its magnitude restricted by the rated operational where Igmax is the maximum ampere limit of the GSC and
voltage across the dc-bus capacitor. This is actually based on equal to 0.45p.u. in the example.
the voltage space vector modulation theory, which states that According to Eq. (8), it is obvious that the reactive power
without over-modulation the modulation ratio m needs to supporting capability of the GSC is determined by both the
meet the following equation: overall active power of the system and the slip ratio for a
given maximum ampere limit. Fig. 3 shows the curves of the
m = Vgd2 + Vgq2 / (Vdc / 2 ) £ 2 / 3. (5)
reactive current vs. the total active power and grid voltage for
If grid voltage orientation (SVO) is adopted, Ugd=Ug and a given maximum generator speed, i.e., s= –0.3p.u. From this,
Ugq=0, where Ug is the magnitude of the grid phase voltage it can be observed that the maximum reactive current is
vector and is equal to Us according to Fig. 1. Meanwhile, if around 0.45p.u. when the total active power is set to zero.
the small voltage drop across Rg is ignored, Eq. (3) can be
2) Voltage Swell: It is worth pointing out that although the
further simplified as:
reactive current injection is helpful for the voltage recovery
ìïVgd = U g + ws Lg I gq of a faulty power system, it is not the premise to satisfy the
í . (6)
ïîVgq = -ws Lg I gd operation principle of the boost circuit for the GSC during
voltage sags. In other words, the GSC reactive current can be
Substituting (6) into (5), it can be derived that:
set to zero under this circumstance if the reactive current
2 2
Vdc ³ 3 (U g + ws Lg I gq ) + ( -ws Lg I gd ) . (7) required by the grid codes can be adequately provided
through the stator-side of a DFIG system. However, this
Equation (7) gives the operation constrains of the GSC assignment is no longer valid for the voltage swell case. For
with the dc-bus voltage, grid voltage, inductor and load example, if the GSC continues to operate in the UPF mode,
currents being the main parameters. It can be found that the the dc-bus voltage has to be increased to more than 1296V
minimum value of the dc-bus voltage should be no less than when the PCC voltage swells to 1.3p.u., which goes far
the grid line voltage, i.e., Vdc ³ 3U g when the GSC is beyond the rated operational voltage of dc-bus capacitor, i.e.,
operated in unity power factor (UPF) mode, i.e., Igq=0. 1050V. Thankfully, the GSC reactive current usually
Actually, this is caused by the natural attribute of the GSC possesses an inductive property, which is useful for reducing
boost circuit. Based on the above discussion, the GSC the required dc-bus voltage.
reactive current limit can then be analyzed and acquired for According to Eq. (7), the required minimum reactive
238 Journal of Power Electronics, Vol. 15, No. 1, January 2015
0.4 1.4
X: 0.26
Y: 0
0.2 Z: 1.396
1.2
0
1
-0.2
-0.4 0.8
0.3 0.4
0.2 1.3 0.5
1.2 0.2 0.4
0.1 1.1 0.3
0 1 0 0.2
Fig. 4. The curves of the GSC reactive current vs. its active one Fig. 5. The curves of stator reactive current vs. the total active
and grid voltage. power and grid voltage.
ws Ls
(U s + ws Lm I rq ) references of the two convertors will also be designed
î
properly so as to maintain system stability. For the sake of
From Eq.(14), the magnitude of the rotor current can then convenience, the reactive power support requirement
be calculated as: enforced by the German Grid Code is selected here as the
Reactive Current Assignment and Control for … 239
standard to be discussed. 0
U s ³ 1.1 0.9 < U s < 1.1 U s £ 0.9 I ra ( or b , c ) ³ I r max Vdc ³ Vdc max
U s ³ 1.1 U s £ 0.9
1.5 2
1
1
0
0.5
-1
0 -2
2 0.5
1
0 0
-1
-2 -0.5
2 0.6
1 0.3
0 0
-1 -0.3
-2 -0.6
1 1
0 0
1 1.2
0
1.0
-1
-2 0.8
0 0.2 0.4 0.6 0.8 1.0 1.2 1.4 1.6 0 0.2 0.4 0.6 0.8 1.0 1.2 1.4 1.6
Fig. 8. Simulated results of the DFIG system with different operation modes under voltage sag and swell transients.
implement the proposed scheme seems to be predominant, frequencies for both the RSC and GSC are 3kHz with the
and a schematic diagram of it is shown in Fig. 7. It is clear sampling frequencies set as 10kHz. Considering that the
that the control scheme is designed with three operation mechanical time constant is much larger than the
modes: 1) mode I: maximum power point tracing (MPPT) electromagnetic one, the rotor speed is conditionally assumed
mode [29], where the active and reactive current references of to be fixed at 1.2p.u. in the simulation. In addition, a
the GSC and RSC are assigned so that the system operates programmable ac source module was employed to emulate an
approximately in UPF; 2) mode II: LVRT operation; and 3) irregular grid. Fig. 8 shows the simulated results for both the
mode III: HVRT operation, where the fundamental active and voltage sag and swell cases, with the three different control
reactive current references of the two convertors are given modes adopted and compared.
respectively as in part A of section III, with their auxiliary As can be seen in Fig. 8, under Mode I, where the grid
current references set as in part B of the same section. voltage is 1p.u. (Fig. 8(a)), the total active and reactive
Furthermore, the reactive and active current references are powers of the system are 1.15p.u. and 0.08p.u. (capacitive),
momentarily changed to proper values with their respectively (Fig. 8(b)). This means that the system was
corresponding modes according to the grid voltage Us. operated approximately at unity power factor. However,
Additionally, a group of protective devices, consisting of a when a voltage dip fault is detected, the system’s control
traditional crowbar and a dc-bus chopper, are also equipped mode switches immediately to Mode II. According to the grid
to suppress the inrush rotor currents if necessary (judged by code, the DFIG system needs to output 1.3p.u. of capacitive
Irabc and Vdc). reactive current into the power network. This can be entirely
provided by the DFIG stator-side, as shown as Isq in Fig. 8(e).
Consequently, the DFIG active current Isd should set to be
IV. SIMULATION STUDIES
zero due to the limited current capacity of the RSC, while the
To validate the feasibility and effectiveness of the GSC is operated nearly in the UPF state, as displayed in Fig.
proposed control strategies, simulation studies were 8(f). Meanwhile, the crowbar and chopper (indicated in Figs.
conducted with Matlab/Simulink. The simulated DFIG is 8(g) and 8(h), with “1” denoting “activated”) are activated
rated at 3MW. Its parameters are listed in TABLE I and the respectively for tens of milliseconds according to the detected
system schematic diagram is shown in Fig. 1. The switching rotor currents and dc-bus voltage (as shown in Figs. 8(c) and
242 Journal of Power Electronics, Vol. 15, No. 1, January 2015
TABLE I
RSC, with the former in priority. Unlike the voltage dip case, 0.5
the final active power in the voltage swell case almost equals 0
its normal value, as shown in Fig. 8(b). Although the GSC
-0.5
currents become much bigger than its normal value in this
1
case, they are still lower than its maximum, as seen in Fig.
8(d).
Table I summarizes the reactive currents required by the
0
grid code and output from the GSC and stator of the DFIG. It
0
can be seen that the total output reactive current is a little
smaller than that required since the stator voltage has been -1
(a ) U sab (V)
(a ) U sab (V)
(b) I sab (A)
(h) Te (n × m) ( g ) Pg , Qg (kW, kVar) ( f ) I cab (A) (e) Ps , Qs (kW, kVar) (d ) I gab (A)
Qs
Qs
Ps Ps
Pg Pg
Qg Qg
(i ) Vdc (V)
(i ) Vdc (V)
Fig. 11. Experiment results of the DFIG prototype during voltage sag and swell scenarios.
normal operation, i.e., Mode I, are set at Ps* = 2kW and When the fault is cleared, the system operation mode is then
Qs* = 0.5k var (inductive), respectively. In addition, the DFIG switched from Mode II back to Mode I with the active power
speed is fixed at 800r/min during the whole test process with gradually controlled up to its normal value. Since the dc-link
the corresponding synchronous speed being 1000r/min. As capacitor used in the tested set-up is a little larger than it
can be seen from Fig.11 (A), when a grid fault occurs the needs to be, the oscillations in the dc-bus voltage are not so
operation mode of the system is switched immediately from obvious (waveform (b)) as predicted by the simulation. Fig.
Mode I to Mode II, i.e., once the over-current of the RSC 11 (B) shows the high voltage ride-through process of the
(waveform (i)) is detected, the RSC is deactivated promptly DFIG system. Compared to Fig. 11 (A), the required reactive
and the crowbar is activated simultaneously (waveform (j)). current is injected simultaneously from both the stator-side
If the over current is discharged to an acceptable extent by and the GSC of the system, while the output active power is
the crowbar device (about 30ms later), the RSC is reactivated kept the same as its normal value. Nevertheless, the
with the reactive power supporting (the active power is set to feasibility and effectiveness of the proposed control scheme
zero) as required, as shown in waveforms (c) and (d). have been well validated by the experiment results.
Meanwhile, the GSC is operated in the UPF state since the Further tests were carried out under different voltage sag
required reactive current can be entirely provided by the and swell cases. The measured waveforms behaved similar to
stator of the DFIG, as displayed in waveforms (f) and (g). those shown in Fig. 11. However, they are not provided here
244 Journal of Power Electronics, Vol. 15, No. 1, January 2015
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No. 2, pp. 242-254, Apr. 2012. Engineering from China University of
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Pota, “Control strategies for augmenting LVRT capability his Ph.D. degree in Electrical Engineering
of DFIGs in interconnected power systems,” IEEE Trans. from Zhejiang University, Hangzhou, China,
Ind. Electron., Vol. 60, No. 6, pp. 2510-2522, Feb. 2013. in 2014. He has been an postdoctorate
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DFIG-based offshore wind farm fed to a multi-machine Engineering, Bejing, China, since 2014. His current research
system using a STATCOM,” IEEE Trans. Power Syst., Vol.
interests include wind power generation systems and electric
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[16] M. Mohammadi, M. Gitizadeh, and A. Roosta, “Dynamic
stability improvement of a power system incorporating
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of a SVC,” in Proc. IEEE PEDCO, pp. 416-421, 2012. received his B.S. degree from Shenyang
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Vol. 26, No. 3, pp. 871-882, Sep. 2011. Force Engineering in Electrical Engineering,
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the grid-connected operations of wind-turbine driven degree from Tsinghua University in Power
Doubly Fed Induction Generators,” in Proc. CSEE, Vol. 32, System and Automation, Beijing , China, in 1998. In 1988, he
No. 27, pp. 1-15, 2012. (in Chinese) joined the Department of Control Engineering, Academy of
[19] H. Xu, W. Zhang, and Y. he, “Improved vector control of Armored Force Engineering, where he has been a Professor,
DFIG based wind turbine during grid dips and swells,” in since 2000. His current research interests include vehicle electric
Proc. IEEE ICEMS, pp. 511-515, 2010. drive technology and weapon system motion control.
[20] M. Mohseni and S. M. Islam, “Transient control of
DFIG-based wind power plants in compliance with the Dan Sun was born in China, in 1971. She
Australian Grid Code,” IEEE Trans. Power Electron., Vol. received her B.S. degree from Shenyang
27, No.6, pp. 2813-2824, Jun. 2012. Jianzhu University, Shenyang, China, in
[21] M. Mohseni, M. A. S. Masoum, and S. M. Islam, “Low and
1997, her M.S. degree from Hehai
high voltage ride-through of DFIG wind turbines using
hybrid current controlled converters,” Electrical Power University, Nanjing, China, in 2000, and her
System Research, Vol. 81, No.7, pp. 1456-1465, Jul. 2011. Ph.D. degree from Zhejiang University,
[22] C. Wessels and F. W. Fuchs, “High voltage ride through Hangzhou, China, in 2004, all in Electrical
with FACTS for DFIG based wind turbines,” in Proc. Engineering. In 2004, she joined the College
Power Electron. App., pp.1-10, 2009. of Electrical Engineering, Zhejiang University, where she has
[23] M. N. Eskander and S. I. Amer, “Mitigation of voltage dips been an Associate Professor, since 2007. From 2002 to 2004, she
and swells in grid-connected wind energy conversion was a Visiting Researcher in the University of Technology,
systems,” in Proc. ICCAS-SICE, pp. 885-890, 2009. Sydney, Australia. From 2009 to 2011, she was a Visiting
[24] M. Mohseni, S. M. Islam, and M. A. S. Masoum, “Impacts Professor in the University of Wisconsin, Madison, WI, USA.
of symmetrical and asymmetrical voltage sags on Her current research interests include advanced electric machine
DFIG-based wind turbines considering phase-angle jump, drives and control for wind power generation systems.