Electrical Power and Energy Systems 24 (2002) 1±7

www.elsevier.com/locate/ijepes

Simulation studies on power control of doubly fed

rotary frequency converter
R. Furukawa a,*, R. Yokoyama a, K. Koyanagi b
a
Department of Electrical Engineering, Tokyo Metropolitan University, 1558-1-141 Shinyoshida-cho, Kouhoku-ku, Yokohama 223-0056, Japan
b
Applied Technology System Development Department, Toden Software, Inc., Japan
Received 17 October 2000; revised 12 January 2001; accepted 30 January 2001

Abstract
The doubly fed (or adjustable speed) pumped storage generating systems which have been newly developed with recent progress of power
electronic technology as its setting can contribute not only to power system frequency control at nights, but also to improvement of power
system stability. In this paper, a new rotary frequency converter is proposed that consists of a couple of rotary machines and at least one of
them is the doubly fed machine. Compared with a conventional rotary frequency converter that consists of a couple of synchronous machines,
the new doubly fed rotary frequency converter can control transfer power actively. Mathematical models of the proposed new converter and
basic considerations for their fundamental control strategy based on the models are described, and the results of dynamic simulations for
investigating the characteristics of control and operation of the converter in power system are presented. q 2001 Elsevier Science Ltd. All
rights reserved.
Keywords: Doubly fed machine; Induction machine; Rotary frequency converter; Dynamic simulation; Control; Power system operation; Power system
stability

1. Introduction In addition to them, several advantages and disadvantages

of the converters are discussed in comparison with conven-
There have been some signi®cant developments made in tional static DC converters with thyristor valves.
doubly fed (or adjustable speed) pumped storage generating
systems for utilities during this decade. Several large gener-
ating plants with capacity of more than 300 MW have been 2. Modelling of the proposed rotary converters for
installed and planned especially in Japan [1±3]. analysis
The authors propose here new rotary frequency converters,
which consist of a couple of rotary machines. At least one of the The combinations of rotary frequency converters with
machines in the proposed converter is the doubly fed machine so doubly fed machine as a component will be considered as
as to achieve active and fast control of power transfer. follows:
Today, static DC converters with thyristor valves are
1. Doubly fed machine/Synchronous machine;
commonly applied for frequency converters and intersystem
2. Doubly fed machine/Doubly fed machine;
links of large capacity. The authors have proposed rotary
3. Doubly fed machine/Induction machine.
frequency converters which consist of a couple of rotary
machines and have the feature that at least one of them
Moreover, in the cases where very large capacity of
should be doubly fed machine. The mathematical models
power transfer is required, it is suggested that the multiple
of the new converter and basic studies for their fundamental
set of the converters should be operated in parallel.
control method are described, and the results of dynamic
The physical image can be shown in Fig. 1.
simulations for investigating the characteristics of control
and operation of the converters in power system are
2.1. Combination of a doubly fed machine and a
presented.
synchronous machine

* Corresponding author. Tel./fax: 181-45-544-1298. Fig. 2 shows an analytical model in which doubly fed
E-mail address: hu@yhb.att.ne.jp (R. Furukawa). machine is connected with power system A and synchronous
0142-0615/02/$ - see front matter q 2001 Elsevier Science Ltd. All rights reserved.
PII: S 0142-061 5(01)00012-6
2 R. Furukawa et al. / Electrical Power and Energy Systems 24 (2002) 1±7

current has the slip frequency and the excitation is supplied

by AC power source [4]. In this paper, the excitation power
for the doubly fed machine is assumed to be supplied from
external power source and can be neglected in modelling for
simplicity.
The voltages and the magnetic ¯uxes of doubly fed
machine are described on d, q coordinate system that rotates
at the angular velocity v0 , which is the same as that of stator
voltage. When the stator resistance is neglected, the
terminal voltage E_ S is expressed by vectors of the stator
current I_S , internal magnetic ¯ux C_ 0R , and transient reactance
X 0 as follows:

E_ S ˆ 2jX 0 I_S 1 jC 0R 1†
The dynamic characteristic of the internal magnetic ¯ux
C_ 0R is expressed in vector by using the excitation voltage
E_ R and the stator current I_S
Fig. 1. Physical image of the rotary frequency converter.  
dC_ 0R Xm
ˆ v0 E_ 2 jsv0 C_ 0R
dt Xr 1 Xm R
machine with power system B. Since the machine rotors are
n o
connected directly, the changes of the mechanical speed and C_ 0R 1 X 2 X 0 †I_S
angle are common for both machines. In the doubly fed 2 : 2†
machine the voltage, electric power, and rotating speed To
can be controlled. The control of power transfer between Moreover, the current of the rotor circuit I_R is expressed
power systems can be achieved by adjusting of electric as follows:
power in doubly fed machine according to power demand    
signal from converter power control device. Xm 1 _0
I_R ˆ I_S 1 C R: 3†
On the other hand, the control in the synchronous Xr 1 Xm Xm
machine is voltage control (AVR) only, which is as same
as that in conventional synchronous generators. Electric torque is described by the following expression

Te ˆ C_ dr iqs 2 C 0qr ids : 4†

2.1.1. Model of the doubly fed machine
The structure of the doubly fed machine is almost as same Here, T 0o : Open-circuit time constant (s), s: Slip (p.u.),
as that of the induction machine, except that the rotor
X ; X S 1 Xm ;

X 0 ; XS 1 Xm 2 Xm2 = Xr 1 Xm †;

where XS , Xr , Xm , stator, rotor, and excitation reactance,

respectively.

2.1.2. Model of electrical system in synchronous machine

The synchronous machine model applied in the rotary
frequency converter is the same model used in the familiar
transient stability analysis, and it can be formulated based
on two-reaction theory by R.H. Park. The modelling of the
synchronous machine will not be described in detail here
because it is well known in papers [5,6].

2.1.3. Model of mechanical system

Fig. 3 shows the model of mechanical system. The inertia of
shaft between rotary machines can be neglected for simpli-
Fig. 2. Model of doubly fed rotary frequency converter (Doubly fed city. If both rotors are connected directly, and the torsional
machine/Synchronous machine). oscillatory phenomenon is disregarded, the mathematical
 R. Furukawa et al. / Electrical Power and Energy Systems 24 (2002) 1±7
Fig. 3. Model of mechanical system.
expressions can be written as follows:
Dv1 ˆ Dv2 ;
d1 ˆ d2 1 dinitial ; (5)
Tm1 ˆ 2Tm2 :
Considering the above conditions (5), the equation for
mechanical system can be expressed as follows:
M1 1 M2 † d2 d D 1 D2 † dd
1 1 ˆ 2Pe1 2 Pe2
v0 dt2 v0 dt
Here, M1 , M2 : Inertia constants of rotor 1, 2 (s), D1 , D2 :
Damping constants of rotor 1, 2 (p.u.), Pe1 , Pe2 : Electrical
torque of rotor 1, 2 (p.u.), Tm1 , Tm2 : Mechanical torque of
rotor 1,2 (p.u.), Dv1 , Dv2 : Speed deviations in rotor1, 2
(p.u.), d1 , d2 : Mechanical phase angles of rotor 1, 2 (rad.),
dinitial : Initial phase difference between mechanical angles of
rotor 1, 2 (rad.).
2.2. Combination of two doubly fed machines
Fig. 4 shows the model for combination of doubly fed
machine/doubly fed machine. Since both machines are the
Fig. 4. Model of doubly fed rotary frequency converter (Doubly fed
machine/Doubly fed machine).
3
doubly fed machines, the symmetrical control characteristic
of the transfer power can be expected for both sides of
electric power systems.
The same models of doubly fed machine and mechanical
system as described before can be also applied to this type of
rotary converter.
Since one or both machines can control the electrical
power simultaneously, various control strategies can be
made. A typical control method for the proposed rotary
frequency converter for combination of two doubly fed
machines is shown in Table 1.
2.3. Combination of a doubly fed machine and induction
machine
The induction machine model applied in the rotary
frequency converter is the same model used in the familiar
transient stability analysis, and it can be formulated in
similar way as doubly fed machine with the condition that
there is no excitation voltage in the rotor circuits. The
modelling of the induction machine will not be described
6†
in detail here because it is well known and described in
papers and books.[7,8]
Fig. 5 shows an analytical model in which doubly fed
machine is connected with power system A and induction
machine with power system B. Since the machine rotors are
connected directly, the change of the mechanical speed
is common for both machines. In the doubly fed machine
the voltage, electric power, and rotating speed can be
controlled.
The control of power transfer between power systems can
be achieved by adjusting of electric power in doubly fed
machine according to power demand signal from converter
power control device.
On the other hand, there is no control in induction
Fig. 5. Model of doubly fed rotary frequency converter (Doubly fed
machine and induction machine).
4 R. Furukawa et al. / Electrical Power and Energy Systems 24 (2002) 1±7

Table 1
Power control for doubly fed rotary frequency converter (Note: the voltage control is commonly achieved)

Doubly fed machine A Doubly fed machine B

Transfer power control Electrical power control Speed control

Discharge and absorption of kinetic energy Electrical power control by cooperation in both machines
(within allowable slip range)

the linear model of the proposed converter was made, and

MATLAB (SIMULINK) performed the dynamic simulations.
The power system model adopted is shown in Fig. 7.
Constants adopted are summarised in Table 2. Block
diagram of controller for q-axis rotor current of doubly
fed machine is shown in Fig. 8.
Step signal of 0.1 p.u. was injected into power control
reference in doubly fed machine in indicial response to
measure responses. The applied control system parameter
is shown in Table 3.
Fig. 6. Proposed control method of Power/Speed controller in Fig. 5.

3.1. Case 1: The combination of doubly fed machine and

machine. If power system B, where induction machine is
connected, an additional reactive power source like SVC
will be required for stable operation.
In the doubly fed machine the voltage, electrical power
and rotating speed can be controlled by AC excitation
control. Thus power transfer control of the new rotary
frequency converter between interconnected power systems
can be achieved by power control of doubly fed machine.
As the induction machine, the power output/input depends
on slip of the induction machine, and thus the transfer power
control and speed control must be incorporated for proper
operation of the proposed rotary converter.
The authors propose the simple control method for trans-
fer power control in the converter by the doubly fed
machine as shown in Fig. 6.
synchronous machine
Step signal of 0.1 p.u. was injected into power control
reference in doubly fed machine in order to measure
responses. Fig. 9 shows the results of simulations for
power and speed changes.
Here, following observations are made from the results:
1. With both controls of power and speed, powers of both
machines can reach within 1 s at power reference value
with damping of speed variation, and this will indicate
the effectiveness of proposed control method assigned to
doubly fed machine.
2. For this type of combination of machines, power control
by doubly fed machine can in¯uence in the power system

Table 2
Constants adopted (SM: Synchronous machine; IM: induction machine;
3. Analytical studies for the rotor speed and transfer DFM: doubly fed machine)
power response
SM Xd ˆ Xq ˆ 1.52 X 0 d ˆ 0.205 (p.u.),
T 0 do ˆ 5.1 (s)
Compared with a conventional rotary converter, which is DFM XS ˆ 0.12 Xr ˆ 0.133 Xm ˆ 4.89
a combination of two synchronous machines, the proposed (p.u.), T 0 o ˆ 11.6 (s)
rotary frequency converter, which contains a doubly fed IM XS ˆ 0.12 Xr ˆ 0.133 Xm ˆ 4.89
(p.u.), T 0 o ˆ 1.16 (s)
machine, can be able to control transfer power actively.
Total inertia of M ˆ 8 (s)
To understand the control characteristic of power transfer, mechanical system
System reactance Xe ˆ 0.4 (p.u.) for both systems

Table 3
Constants adopted for q-axis controller of doubly fed machine

Speed control Kw ˆ 2200, Yw1 ˆ 0.02,

Tw2 ˆ 9999.9, Tw3 ˆ 0.1
Power control Kp ˆ 5, Tp1 ˆ 0.02, Tp2 ˆ 0.3,
Tp3 ˆ 0.1
Common Kc ˆ 1, Tc ˆ 0.001 (in p.u. or s)
Fig. 7. Power system model.
 R. Furukawa et al. / Electrical Power and Energy Systems 24 (2002) 1±7
Fig. 8. Block diagram of controller for q-axis rotor current of doubly fed
machine.
where the synchronous machine is in operation as the
same disturbance that mechanical torque to synchronous
machine would be changed quickly.
3.2. Case 2: The combination of two doubly fed machines
There are various methods in the converter control, it is
assumed that electrical power control is achieved in doubly
fed machine 1 and speed control is achieved in doubly fed
machine 2. Step signal of 0.1 p.u. was injected into power
control reference in doubly fed machine 1 in order to
measure responses. Fig. 10 shows the results of simulations
for power and speed changes.
Here, following observations are made from the results:
1. With separately assigned controls of power and speed,
power of doubly fed machine 1 can well follow change of
power reference and power of doubly fed machine 2 can
also reach within 1 s at power reference value.
2. The overall response is better than that in case for combi-
nation of doubly fed machine and synchronous machine
(Case 1). The results will indicate the effectiveness of the
proposed control method assign to both of doubly fed
machines.
Fig. 9. Results of dynamic simulations for Case 1 (Doubly fed machine/
Synchronous machine).
5
Fig. 10. Results of dynamic simulations for Case 2 (Doubly fed machine/
Doubly fed machine).
3.3. Case 3: The combination of doubly fed machine and
induction machine
Step signal of 0.1 p.u. was injected into power control
reference in doubly fed machine in order to measure
responses. Fig. 11 shows the results of simulations for
power and speed changes.
Here, following observations are made from the
results:
1. With the proposed coordinated controls of power and
speed of the doubly fed machine, powers of both
machines can reach within 1 s at power reference value
with suf®cient damping of speed variation, and this will
indicate the effectiveness of proposed control method
assigned to doubly fed machine.
2. At early time just after the change of power reference,
transient overshoot in power of the doubly fed machine is
seen because of fast power control in doubly fed machine
and time delay in power/slip deviation of induction
machine. For this type of rotary frequency converter,
power transfer control by doubly fed machine should
Fig. 11. Results of dynamic simulations for power and speed changes
(Doubly fed machine/Induction machine).
6 R. Furukawa et al. / Electrical Power and Energy Systems 24 (2002) 1±7
Fig. 12. Power/Slip characteristics of the induction machine.
be properly designed considering the electrical and
mechanical dynamics of the MG set.
The controller performs both of power control and
speed control simultaneously. In these studies, power/slip
characteristics of the induction machine are given as Fig. 12.
These characteristics were considered in the speed control in
the doubly fed machine.
4. Comparison with DC static converter
G/M set of the rotary converter will be installed at vertical
arrangement in tightly closed vessel under ground at sub-
station as shown in Fig. 1. Thus, the noise in operation
outside can be reduced suf®ciently. Rotary frequency
converter up to rated capacity of 300 MW may be possible
because of the manufacturing experiences in 300±400 MW
doubly fed pumped storage generating plants in Japan.
The merits and demerits of the proposed rotary con-
verters, which consist of a doubly fed machine, and a rotary
machine, which will be a doubly fed, a synchronous or an
induction machine, were investigated in comparison with
DC static converters with thyristor valves.
4.1. Ef®ciency in operation
Total ef®ciency of the proposed converter will be
approximately 97% considering the losses of both G/M set
and cycloconverters which has typically 10% capacity of
G/M, and is lower than that of DC static converters
(99%). However, if additional equipment such as trans-
formers, ®lters, etc. as well as the G/M set is taken into
consideration this deference of ef®ciencies in total will be
reduced a little.
4.2. Installation space required
The proposed rotary converters are pro®table in installa-
tion space required compared to DC static converters. DC
static converter system requires additional large space for
®lters shunt capacitors and reactors. According to our rough
estimate, maximum total space required for the proposed
rotary converter will be less than 70% of conventional DC
static converters.
4.3. Maintenance
Daily maintenance of the proposed rotary converter is
same as that of DC static converter in manner and frequency
because it is similar to hydro generating system. However, a
large scale inspection for rotors is required every 5±10 years
as in the same manner as usual rotary machines.
4.4. Cost
The proposed rotary converters are pro®table in construc-
tion cost because their capacity of cycloconverters is small
and ®lters are not necessary for them. However, as for
running cost which is estimated by costs for maintenance
and repair parts, and by losses in operation the proposed
rotary converters are a little disadvantageous.
4.5. Others
The proposed rotary converter has a capability to utilise
its inertia energy by active power control for improvement
of power system stability and operation. The converter has
also the same disadvantage to increase short circuit capacity
as conventional rotary machines.
5. Conclusions
As an application of the doubly fed machine technology
of a large capacity, a new rotary frequency converter, which
is composed of a doubly fed machine, was proposed. It will
be one of new solution concepts of equipment for power
system interconnection. The proposed rotary frequency
converters have merits of rotary machines with inertia
together with merits of active and fast control capability
similar to conventional static DC converters.
The example of basic control method was proposed and
the control characteristic was investigated based on the
detailed mathematical models.
The results are summarised as follows:
1. As for the prospective structures of the new rotary
converters, three types were presented. Those are a
combination of a doubly fed machine and a synchronous
machine, and a combination of two doubly fed machines,
and a combination doubly fed machine and an induction
machine, the analytical models of the rotary frequency
converters for those structures were developed.
2. Based on the developed analytical models, fundamental
control methods were proposed, and the response char-
acteristics were analysed to evaluate the operating
capability in power system. From the results, it was
found that the response characteristics are dependent on
 R. Furukawa et al. / Electrical Power and Energy Systems 24 (2002) 1±7
and restricted by the dynamic characteristics of synchro-
nous machine for the converter type of a doubly fed
machine and a synchronous machine. It was also found
that the response characteristics could be improved consid-
erably for the converter type of two doubly fed machines.
3. As for the converter type of two doubly fed machines, it can
be expected to use the rotating energy of inertia within the
allowable range of speed deviations for contribution to
power system stability in the same way as SMES.
4. Compared with DC static type converters with thyristor
valves, which have been commonly, used today, the new
doubly fed rotary frequency converters that the authors
have proposed several merits. They have merits of low
construction cost, small installation space, etc. as well as
the merits of rotary machines such as overload capability,
use of inertia energy, etc.
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