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Type-2 Wind Turbine with Additional Sub-Synchronous Resonance Damping

Conference Paper · April 2013

DOI: 10.1109/GreenTech.2013.42

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 Type–2 Wind Turbine control applied to
Sub–Synchronous Resonance Damping
M. de Prada, F. Mancilla–David, E. Muljadi, M. Singh, O. Gomis–Bellmunt, A. Sumper, J. L. Domı́nguez–Garcı́a
Abstract—Variable speed wind turbines (VSWTs) employing
a wound rotor induction generator (WRIG) with adjustable
external resistors are well-known as Type–2 WTs. This WT
topology is available in USA since 2001. This paper aims to
show how this WT could be regulated from pitch angle and
external rotor resistor to act as a variable speed WT since it
looks like a typical fixed speed wind turbine. Moreover, this
paper wants to demonstrate that Type–2 WTs are capable to
damp subsynchronous resonance (SSR) oscillations in series
compensated transmission lines. The increment of wind farms
size has led to the definition of wind power plants (WPPs). They
can be understood as energy sources which can regulate the
power delivered to the grid. In order to analyze the capability of
Type–2 WPPs to damp power system oscillations, the IEEE first
benchmark model (IEEE-FBM) for SSR studies is modified with
an aggregated Type–2 WPP model connected to the system. An
extra external rotor resistance control loop is designed to damp
SSR oscillations. The two models are implemented and simulated
using PSCAD/EMTDC software.
Index Terms—Dynamic Rotor Resistance, IEEE first bench-
mark model, Sub–synchronous resonance, Type–2 wind turbine,
and Wound Rotor Induction Generator.
I. I NTRODUCTION
Renewable resources are increasing their importance in
electrical power generation because of worldwide concern on
climate change and CO2 emission. Wind energy is one of the
most important and promising sources of renewable energy all
over the world, mainly because it is costeffective and it does
not emit pollution [1]. In some countries such as Denmark,
Portugal or Spain, the penetration levels of wind energy in
2010 has reached 21%, 18% and 16%, respectively, providing
a substantial amount of their electricity demand [2].
Wind power penetration increment in the worldwide gener-
ation share has lead transmission system operators (TSOs) to
concern about power system stability. Recently, some contribu-
tion from Wind Power Plants (WPPs) making them to behave
as synchronous generators are required [3]. Some examples
of requirements are fault ride through [4], [5], frequency
regulation [6] and reactive power control [7], [8]. Moreover,
in a future, WPPs will have to help to damp power system
oscillations as it is stated in some draft of grid codes [9],
[10].
Sub-synchronous resonance (SSR) is a power system oscil-
lation caused by the interaction of electrical and mechanical
systems at frequencies below the synchronous frequency [11].
The first appearance of SSR phenomena is dated in 1970 and
1971 at Mohave power plant in United State of America, when
two successive shaft failures occurred [12]. From then onward,
many studies about SSR have been carried out. However, it
is still a real problem; for example, at Oklahoma (USA) a
wind farm oscillation (induction generator effect) of 14 Hz was
detected in 2009. SSR oscillations are typically classified into
two categories, namely Induction Generator Effect (IGE) and
Torsional Interaction (TI) [13]. IGE occurs since the induction
generator rotor rotates faster than the rotating magnetic field.
This implies that the rotor generator behaves as a negative
resistance. When this negative resistance exceeds the sum of
armature and network resistances at a resonant frequency, self-
excitation will be produced. Furthermore, TI occurs when the
induced subsynchronous torque in the generator is electrically
close to one of the natural modes of the generator shaft.
Nowadays, how to damp out SSR has been analyzed by
means of FACTS, HVDC-links and WPPs (where only Type–
3 and Type-4 are considered) [14]–[25], but no study has been
carried out using Type–2 wind turbines [26]. This topology of
wind turbine has been installed in USA since 2001, for that
reason it must be taken into account [27].
The aim of this paper is to demonstrate how a Type–2 wind
turbine is controlled and to show that Type–2 wind turbines are
capable to succeed to damp out SSR oscillations using wide-
area measurement systems (WAMS) [28], [29]. A Type–2 wind
turbine is developed and connected to an infinite bus to analyze
how the pitch angle control and the external rotor resistance
regulation behave. Moreover, the IEEE first benchmark model
(IEEE-FBM) is adopted as test case and modified connecting
an aggregate Type–2 WPP to the power system for SSR
oscillation study [30]. Some simulations are carried out to
verify the effectiveness of the suggested control schemes: to
regulate the wind turbine and to damp SSR similarly to the
other type of wind turbines.
This paper is organized as follows. In Section II, the Type–2
wind turbine is presented. In Section III, the proposed damping
control algorithm is discussed. The simulation results of the
both Type–2 wind turbine controls for wind variability and
the contribution to damp out SSR are included in Section IV.
Finally, some discussion and conclusions are summarized in
Section V closing the paper.
II. T YPE –2 W IND T URBINE
Fig. 1 presents a schematic of a Type–2 wind turbine
equipped with a wound rotor induction generator (WRIG) with
dynamic rotor resistance (DRR) and pitch control. It consists
of connecting an external rotor resistance, Rext , to the rotor where Rtot is the sum of the stationary value of the rotor
circuit of an IG, while the stator is connected directly to the winding resistance, Rrot and the external rotor resistance,
WTG step-up transformer in a similar way to Type–1 WTs Rext . Thus, adjusting the duty ratio from 1 to 0, the external
(Fixed-speed wind turbines employing a SCIG). This type of rotor resistance varies from 0 to its given upper limit Rmax ,
WTs are referred to as partly-variable-speed [31] since the respectively. This limit is introduced due to the reduced
ability to control the rotor resistance allows an increase of the efficiency that the resistive losses dissipated in the external
speed range enabling to extract more power at higher-than- resistor can bring about. Consequently, a moderate slip range
rated wind speeds in comparison to fixed-speed turbines. The from 2% to usually 10% above the synchronous speed can
DRR control is mainly applied to improve power quality and be regulated allowing a partly-variable-speed operation of the
reduce flicker emission from the WTs to the power grid. In wind turbine.
addition, it can contribute to enhance power system stability The advantages of Type–2 wind turbines in comparison to
damping power system oscillations, as will be discussed in Type–3 (variable speed wind turbines driven by a DFIG) and
Sections III and IV. Type–4 (variable-speed wind turbine equipped with full power
converter) WTs are their simplicity, robustness, reliability and
low cost, since those types of WTs (Type 3 and 4) require
a larger number of power electronic devices, leading to more
losses and complexity. In addition, it is possible to obtain a
much faster output power response to wind speed variations
XT by means of adjusting an external rotor resistance in Type–2
To grid
Wound-
Drive Stator turbines as compared to fixed speed wind turbines operating
WRIG
Rotor
Train IM with pitch control alone. However, Type–2 turbines have some
XC
Rotor drawbacks such as the inability to control the reactive power
since the IG absorbs it from the grid analogously to the case of
fixed-speed WTs and a reactive power compensation system
is also required, and a narrow speed range regulation as it has
Rext d
been mentioned above.
θpitch
In order to analyze the influence of the external rotor
Irotor resistance added to the rotor circuit on the WT response,
Controls
the equivalent circuit of the machine is considered. The per–
phase equivalent circuit for a WRIG with the variable rotor
Fig. 1. Type–2 Wind Turbine. resistance, Rext , referred to the stator, operating in steady–
TO APPEAR IN IEEE PES 2009 CONFERENCE PROCEEDINGS state and considering a balanced three–phase supply, is shown2
Despite not being the most widely used to date by wind in Fig. 2.
power 0.5 industry, Type–2 WTs share a considerable part of
the world wind market [32] and are the earliest commercial
0.45
variable-speed wind turbines. For instance, the manufacturer R1 X1 X2 R2
Vestas0.4 Wind Systems produces the OptiSlip trademark WTs s
Xm Rext
in United States since 2001 [27] that corresponds to the DRR s
0.35
control concept. As it can be seen from Fig. 1, the value of
−1
0.3
the external rotor resistance, Rext , is controlled withinβa=given
range
0.25by means of power electronics, consisted of a three-
Cp

Fig. 2. Per-phase equivalent circuit for a wound-rotor induction machine

phase diode bridge and a DC chopper based on an IGBT with
Fig. the
2. variable rotor induction
Wound-rotor Rext . electrical model.
resistance machine
0.2
switch. The duty cycle of the IGBT switch controls the average
value
0.15of the external rotor resistance using a classic PWM where50 R1 and X1 are the stator resistance and reactance,
technique.
0.1
It is defined as, respectively, Xm is the magnetizing reactance, and R and X2
Rext =02Ω
40
are the rotor resistance and reactance, respectively, referred
Rext =0.01 Ω to
0.05 Ton β = −8 the stator
30 side and s represents the slip. Rext =0.02 Ω
d= , (1) Simplifying the equivalent circuit model of Fig. 2 by
0 T 20
0 5 10 15
Tip Speed Ratio λ
replacing the stator part (together with the magnetizing branch)
where T is the switching time period of IGBT switch and Ton
Torque [kNm]

by its10 Thévenin equivalent, the air gap power and the electro-
refers to the time that the switch is conducting. Assuming that
Fig. 1. Cp versus λ for β = −8, −7, ..., −1. magnetic
0 torque with a variable rotor resistance are given by
the diodes in the rotor bridge rectifier are ideal and the chopper [13]-10
as, A B
has no losses, the total value of the dynamic rotor resistance, C
Rthe is given
tot tip speedby
ratio. Several empirical equations for estimating -20 p R  2
tot Vth
Cp are available in the literature [6]. However, if data is P-30= 3 , (3)
2 s Rtot 2
available for a specific
Rtot = blade
Rrot +geometry,
Rext (1 −itd),
is more desirable(2)to (Rth + ) + (Xth + X2 )2
-40 s
construct a lookup table that will provide Cp at any common
pairing of β and λ. -50
600 800 1000 1200 1400 1600 1800
A family of Cp curves is shown in Figure 1. Typical blade Speed [RPM]
designs have the property that, for a given β, there will be
a single λ that maximizes Cp . However, a Cp below the Fig. 3. Induction machine torque-speed curves for different values of Rext .
 during high wind speeds conditions where large active power
p R
tot
 2
Vth should be dissipated.
Te = 3 , (4)
2 Rtot 2 sωs
) + (Xth + X2 )2
(Rth + III. SSR DAMPING C ONTROL
s
where p is the number of poles of WRIG, ωs is the syn- Fig. 4 presents the control scheme implemented for a Type–
chronous speed, Vth is the Thévenin voltage at the terminals, 2 WT adding an additional control applied to SSR Damping.
Rtot = Rrot + Rext and Rth and Xth are the Thévenin Within the different possible methods to be evaluated, a
equivalent resistance and reactance, respectively. It can be cascade control loop based on constant current and power
noted that both air gap power and torque are a function of control is employed. Thus, an outer control loop compares
the total rotor resistance, Rtot and the slip. the measured output power to the desired signal and the error
Fig. 3 illustrate the variation in the torque–speed curve of a is fed to a PI controller, which calculates the reference rotor
Type–2 machine acting as a generator for different values of current for the inner control loop. This loop compares this
Rext . As it can be seen from both the equation 4 and the Fig. signal to the rotor current measured and computes the duty
3 a desired value of torque can be achieved at many different ¯ consigned to the PWM technique.
cycle (d)
speeds, by adjusting the external rotor resistance. The objective of the proposed control strategy is to damp
2.5
the electromechanical SSR oscillations using a Type–2 based
WPP. This is achieved by monitoring the power output of the
series compensated transmission line (bus C of Fig. 5) and
2
controlling accordingly the average external rotor resistance
via the duty cycle of the IGBT switch. Fig. 4 shows the block
diagram of the proposed control system.
Torque (pu)

1.5

0 Additional Control
~ Psctl
+ - P Band-pass
K2 K1
1 Filter

Speed range K3
~
d
+ Type-2 Pout
0.5 PI PI -
P*out + - I*rot + - d + d WT
Rext = 0(Ω) Irot
Rext = 0.01(Ω)
Rext = 0.02(Ω)
0
1 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9 2
Speed (pu)
Fig. 4. System control schematic with the additional SSR damping control.
Fig. 3. Torque-slip characteristics of WRIG with different external rotor
resistance, Rext , values. It consists in adding an oscillatory component (d) ˜ to the
¯
duty cycle (d) previously calculated in order to damp the
The dynamics of the Type–2 wind turbine are different oscillations of the system with a Type–2 based WPP. The
during partial and full load operation. In partial load region, power output signal of the series compensated transmission
which corresponds to wind speeds lower than the rated speed, line (Psctl ) is remotely measured using a WAMS and a second–
the aim is to maximize the energy capture from the wind. order band–pass filter is applied to extract the native natural
Otherwise, at hight wind speeds or full load operation mode, frequency of the SSR for the particular transmission segment.
the control goal is to limit the generated power below its rated The resulting signal is multiplied by a gain K2 and compared
value to avoid overloading. To achieve these objectives, the to zero. Finally, the oscillatory duty ratio is generated after
external rotor resistance is short circuited (duty ratio=1) during being multiplied by K3 . The gains K1 , K2 and K3 are tuned
partial load mode, while it is adjusted to keep the output of the based on the test system and are included in the Appendix A.
wind turbine constant during the full load region. In order to
do so, the duty cycle is controlled in such a way that the ratio IV. S IMULATION R ESULTS
of total rotor resistance and slip is kept constant as follows,
The control of the Type–2 wind turbine, and how it is able
Rrot Rrot + Rext to contribute to SSR damping is presented in the following
= , (5)
srated s subsections. In Fig. 5 it is shown the IEEE-FBM for SSR
resulting in a constant equivalent circuit regardless of the wind adapted for this analysis including an aggregated Type–2 based
speed variations. As previously stated, the Rext value is limited WPP [30]. The system is implemented using PSCAD/EMTC
to avoid an excessive overheating of the component. For that software. The parameters of the wind turbine and the power
reason, a pitch control must be included to act when the system are detailed in [30] and [33]; for sake of simplicity,
external rotor resistance cannot be controlled, for example, they are described in the Appendix A.
 Turbines Vw at turbine (m/s)
17.00

EX GEN LPb LPa IP HP

Synchronous D C B A
Generator XT1 RL LL XC LL1
2
11.00
VC
P to grid (MW)
F E Infinite 3.50
XT3 XT2 RCE LCE Bus 3.00
2.50
2.00
1.50
Aggregated Type-2
Wind Farm 1.00
0.50
0.00
Fig. 5. A modified version of the single-line IEEE-FBM for SSR including -0.50
an aggregated Type–2 based WPP [30]. Q to grid (MVAR)
0.50
0.00
-0.50
-1.00
A. Pitch and external rotor resistance control of Type–2 WT -1.50
-2.00
In this subsection the effectiveness of the pitch and external -2.50
rotor resistance control is evaluated through two wind steps. At -3.00
Irms
the first plot of Fig. 6 it is described the wind profile used for 3.50
3.00
this simulation case. As it can be shown, when the wind speed 2.50
increases from 12 to 16 m/s the wind turbine accelerates (plot 2.00
5 of Fig. 6). As the electromagnetic torque remains almost 1.50
1.00
constant (plot 6 of Fig. 6) the active power generated by the 0.50
wind turbine should be increased. However, as can be seen in 0.00
Turbine spd (pu) Gen spd in (pu)
the second plot Fig. 6 it keeps constant at its rated value due 1.120
1.100
to the pitch and external rotor resistance control action. 1.080
The response of the control variables (pitch angle and exter- 1.060
nal rotor resistance) is shown in Fig. 7. As it can be expected, 1.040
1.020
both variables increase their values trying to maintain the 1.000
active power generated by the wind turbine constant. It can be 0.980
Aero Torque (pu) EM Torque (pu)
seen that the dynamic response of the external rotor resistance 0.00
-0.25
is faster than the pitch control action because of the use of -0.50
-0.75
power electronics. When the wind speed decreases from 16 -1.00
-1.25
to 12 m/s the action of the pitch angle and the external rotor -1.50
resistance is no longer required; therefore, their values come -1.75
-2.00
back to the initial stage. -2.25
0.0 2.5 5.0 7.5 10.0 12.5 15.0 17.5 20.0
B. SSR damping contribution
Fig. 6. Wind turbine response when the wind speed is increased in one step
The capability to damp out SSR oscillations by means of from 12 to 16 m/s and decreased from 16 to 12 m/s.
Type–2 based WPPs is analyzed in this subsection. Fig. 8
depicts the time evolution of various variables where the SSR
oscillation can be observed, including the active power of syn- lead to an oscillation response of the external rotor resistance
chronous generator (Psyn ) and both active and reactive power with a frequency of 20 Hz to counteract SSR oscillation.
delivered by Type–2 based WPP (Pwf and Qwf , respectively). Moreover, it can be seen that when the control action is
As it is suggested by Fig. 8, Type–2 WPPs are able to suppress implemented the saturation limit is not achieved. Regarding
SRR oscillations produced in a power system. Thus, promising Fig. 10, the pitch angle also increases as the power system
results from Type–2 WPPs to enhance power system stability fluctuates when any damping control action is considered,
can be expected. meanwhile it remains constant with the presence of damping
In Figs. 9 and 10 the response of the rotor external resistance control. Further, it is interesting to remark that the pitch angle
and pitch angle, respectively, is illustrated. For both cases, the control increases its action when Rext matches its limit value.
Type–2 WPPs with and without any damping control acting
is considered. As it can be noted from Fig. 9, in the absence V. C ONCLUSION
of control action, the rotor external resistance value increases In this paper a description of Type–2 wind turbines have
as the system starts to become unstable and saturates. This been detailed. A control scheme to regulate the power deliv-
limitation is designed to avoid excessive heat dissipation on the ered by the Type–2 wind turbine based on the rotor current is
external rotor resistance. Conversely, damping control actions presented. An additional control loop to damp SSR oscillations
 −3
Pitch angle (deg) x 10
12.0
4
10.0
8.0 3

Rext(Ω)
6.0
4.0 2

2.0
1
0.0 Without damping control
Rext (Ohms) With damping control
0
0.0040 12 13 14 15 16 17 18
0.0035 Time (s)
0.0030 −3
0.0025 x 10
2.16
0.0020
0.0015 2.15
0.0010
2.14
0.0005

Rext(Ω)
0.0000 2.13
0.0 2.5 5.0 7.5 10.0 12.5 15.0 17.5 20.0
 2.12

2.11
Fig. 7. Response of the variables of control (Pitch angle and Rext ) to two 2.1
wind speed steps. 2.09
0.1 (sec/div)
4000
Fig. 9. Response of rotor external resistance, Rext , with and without damping
Psyn (MW)

2000
control action.
0

−2000
8
Without damping control

Pitch Angle (Deg)

12 13 14 15 16 17 18 With damping control
6
200
Pwf (MW)

150 4
100
50 2
0
−50
12 13 14 15 16 17 18 0
12 13 14 15 16 17 18
0 Time (s)
Qwf (MVAr)

−50

−100
Fig. 10. Pitch control response with and without damping control action.
−150
Without damping control
With damping control
−200
12 13 14 15 16 17 18
Time (s) ACKNOWLEDGMENT

Fig. 8. Active power of synchronous machine (Psyn ) and both active and This work was supported by EIT and KIC InnoEnergy
reactive power of Type–2 based WPP (Pwf and Qwf ) without any damping under the projects KIC-OFFWINDTECH and Smart Power
control and implementing the proposed damping control. (31 2011 IP27 Smart Power), by the Ministerio de Cien-
cia e Innovación under the project ENE2009–08555, by the
European Regional Development Funds (ERDF, “FEDER
is proposed, in order to verify if this wind turbine topology is Programa Competitivitat de Catalunya 2007-2013”) and also
capable to contribute to power system stability. supported by the U.S. Department of Energy under Contract
Some simulations carried out with PSCAD/EMTDC soft- No. DE–AC36–08–GO28308 with the National Renewable
ware demonstrate the effectiveness of the controllers. On one Energy Laboratory.
hand, the pitch angle and the external rotor resistance controls
are verified. Those controllers work during those periods A PPENDIX
where the wind turbine is under full-load condition.
A. System Parameters
SSR damping controller for Type–2 wind turbines shows
promising behavior on damp out SSR oscillations. The pro- The rotor values in Table III have been referred to the stator
posed control scheme request the external rotor resistance to side using the stator–rotor turns ratio. The aggregated Type–2
oscillate inversely to the power system oscillation. As con- WPP model comprises 40 wind turbines.
clusion, modern WPPs are capable to damp SSR oscillations,
featuring similar performance as FACTS devices. R EFERENCES
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