2008 International Conference on MultiMedia and Information Technology

Research on Control System of High Power DFIG Wind Power System

Li jianlin Xu honghua
Institute of Electrical Engineering Institute of Electrical Engineering
Chinese Academy of Science Chinese Academy of Science
Beijing, China Beijing, China
e-mail: [email protected] e-mail: [email protected]

Abstract—Compared with constant speed constant frequency electric energy. At present, from existing state all over the
wind turbine, variable speed constant frequency wind turbine world it can be seen that large-sized and middle-sized
has many advantages: higher efficiency of wind energy interconnected wind turbine is the main developing direction
converting to electric power, absorbing gust energy, smoothly
cutting into the network system, flexible connecting between
of wind power generation. For reducing the production cost
wind turbine and network system and low operating noise. and improving the efficiency of wind power, the single-
Currently the variable speed constant frequency technology ha machine capacity of wind turbine is increased in all countries
s become one of the main development directions of wind developing wind power. In other countries, wind turbines of
power generation. A disturbance accommodating Linear which the single-machine capacity is from 500KW to
Quadratic Regulator (LQR) method was applied in pitch 1.5MW are on the market.
control system to achieve good performance.Based on the
model of MW variable speed constant frequency wind turbine,
this paper analyses three speed control methods, simulates I. SYSTEM SCHEMATIC
corresponding characteristics of each method, and then gives
discussions. On the condition of discussing and analyzing on
simulation results and allowing for the characteristics of large Control system is the core of wind turbine and the control
power variable speed constant frequency wind turbine and its technology is the key of wind power. Having close relations
control system, this paper adopts power control closed-loop with other parts of wind turbine, the exact controlling and
strategy to realize variable speed operating. At last, this paper perfect functions of control system influence the reliability
designs a control system of MW variable speed constant
and efficiency of the wind turbine directly. The control
frequency wind turbine, and takes sufficient experiments and
long-time preliminary operation at a real Wind Farm, which
system is the brain of the wind turbine and ensures that the
validates the feasibility and practicability of varying speed whole system can be operating in optimal state. And it
control strategies on MW variable speed constant frequency mainly includes following parts: main circuit, control
wind turbine suggested in this paper. circuit, convertor ， sensors and their communicating
interface.
Keywords- wind power;DFIG;high power;LQR; variable Main circuit is the main electrical loop of wind turbine,
speed constant frequency; constant power control and its main function is to complete the connections of
Introduction generator and electric network, each actuating mechanism
and control loop. When the control center sends controlling
With unit-capacity increase of wind turbine, more and more
order, the main circuit will connect generator, each
wind turbines are researched. At present, doubly-fed wind actuating mechanism in wind-machine and supply power
turbine takes up most of the wind power field, however, supply to control circuit, including 690VAC, 220VAC and
direct-drive wind turbines are receiving increasing attention 24VDC.
due to their inherent advantages, for example, the direct- Control circuit is composed of PLC and its extended
drive wind turbine with 1.2—1.5MW capacity is produced, function models. Its main function is to control wind turbine
and already realizes the operation of grid-connection.With operating normally, safeguard components of the turbine,
the further development of world economy and the detect and deal with the operating errors, modify and save
accelerating of international industrialization, countries all operating parameters, and display operating record.
over the world need more and more energy and the speed of In the course of designing control electric circuit,
consuming energy is faster and faster day after day, so allowing for that wind turbine usually operates in bad
conventional energy sources will be used up soon. In order to natural environment and there is nobody watching it, we
release the energy crisis, governments and science research need control system must be more reliable and safe. PLC,
people began the development and research of renewable widely used in the industrial control field, has high
energy. As one kind of renewable energy sources wind reliability and anti-interference ability, so it adapts to
energy has autologous dominance, such as clean, unpolluted operating environment of wind turbine. With consideration
and never being used up. The main format of using wind of control needs and practical features of wind turbine, we
energy is wind turbine which converts wind energy into choose S7-300 PLC from Siemens as the central controller,
in order to meet following needs.

978-0-7695-3556-2/08 $25.00 © 2008 IEEE 669

DOI 10.1109/MMIT.2008.45
1) Input and output signals are isolated with control signals,
effectively prevent interference signals;2) The controller
itself can effectively prevent radiation disturbance;3)
Guarantee the quality of power supply, prevent disturbing
from power circuit;4) Have self diagnosing function, in case
of faults happening controller can alarm at once;5) When
power supply is cut off or the system stop running, the
relevant information and state data will never lost.

II. CONTROL SYTTEM ANALYSIS

Fig.2 Power characteristic of wind turbine
A. Maximum Capture of Wind Energy
Through analyzing figure 2, the course of wind turbine
According to Betz proven, the power wind turbine
capturing optimal wind energy. Supposed that at first wind
capturing from wind energy is:
turbine is operating stably at point A on curve Popt at wind
2 3 speed ν3, and output power of wind turbine balances with
P = 0.5 ρπ R C (λ , β )ν
T p input power of generator, which is Pa，when the generator
(1)
In above equation, ρ is air density; ν is wind speed; R is was running stably at revolution speed ω1. If wind speed
radius of blade; Cp(λ, β) is power coefficient of wind rises to ν2，wind turbine will operate at point B jumping
generator which is a function of λ and β; λ= ωTR/ν, and ωT from A, its output power changes to Pb from Pa suddenly.
is revolution angular velocity of generator . Due to the function of system inertia and lag of adjusting,
For a certain wind turbine, when β is fixed, there is generator still operates at point A, when the input power is
always a optimal λopt corresponding to a optimal power larger than output, which will make revolution speed
coefficient, at this time conversion efficiency of wind increase. In the course of revolution speed rising, speeds of
turbine is the highest, as shown in Fig.1. In other words, wind turbine and generator rise along BC curve and AC
according to a certain wind speed ν, in order to get the curve, respectively. When achieve at point C where wind
highest efficiency of wind turbine it must operate at a turbine power curve and optimal power curve intersect,
special revolution speed ωT. output power of wind turbine will balance its input power
again. The revolution speed of generator is stably at ω2,
which is the optimal revolution speed corresponding to wind
speed ν2. In the same way, we can analyse the inverse
adjusting course from wind speed ν1 to ν2.
B. Varying speed control
Connecting to network, when the wind speed is lower
than rated value, the wind turbine will operating at a certain
stage, which is named varying speed control stage of wind
turbine. On theory, during this stage wind turbine can
realize optimal wind energy capturing through the control of
C ~λ tracing optimal power coefficient. However, because of
Fig. 1 Wind generator p cure
influences from physical features of mechanical structure,
Fig.2 shows power features of wind turbine at different output of wind turbine is limited by two basic factors:
wind speed (ν1>ν2>ν3). Curve Popt is a line which revolution speed limitation and power limitation. Therefore,
connects each biggest power corresponding to each wind the wind turbine operating at this stage has two running
speed, which can be called the optimal power curve. zones: Cpmax constant and speed constant zones. In
Operating on this power curve, the wind turbine can Cpmax constant zone which is also named constant tip-
produce the biggest power Pmax at a certain wind speed. It speed ratio zone ， wind turbine operates in optimal state.
can be seen that at a fixed wind speed, operating at different With wind speed increasing, revolution speed increases.
revolution speed wind turbine will produce different electric When revolution speed achieves to the largest speed wind
power. Thus, if we want to trace Popt curve, in order to keep turbine permitted, in the condition that power is lower than
wind turbine operating at optimal λopt we must adjust rated power wind turbine, it will be controlled at a constant
revolution speed when wind speed changes. value. In revolution speed constant zone, with wind speed
increasing, Cp decreases, but power is still becoming larger,
after achieving at the limitation of power, wind turbine will
turn into power constant zone. At varying speed stage, pitch

670
angle β is constant. u (t ) = Gx(t ) −1 T
， G = −R B P
3. Pitch control strategy based Where P is Riccati function：
After connected to the grid, wind turbine can work in − PA − AT P + PBR −1 B T P − Q = 0
(17)
two modes: one mode is when wind speed is slower that Positive definite symmetric solution. The LQR control
rated wind speed, another is when faster. When wind speed diagram is shown as Fig. 3. In engineering application, state
is slow, wind turbine output power is smaller than rated variable cannot be measured usually. So it needs to design a
power. So the pitch angle is set to 0° and wind turbine runs state observer to estimate state variable value. Fig. 2(b) is
in optimal tip speed by controlling generator speed, in order the diagram used in actual application.
to absorb as much wind energy as possible. While wind
speed is faster than rated speed, the output power will
excess rated power. Because the electrical and mechanical
limitation of wind turbine, the rotator speed and output
power cannot excess rated value. Nowadays variance speed
pitch-control wind turbine always has its electromagnetic
torque given value constant, maintaining output power by x̂

regulating generator speed. The most common method is

adopting PI control to regulate generator speed. This method
is simple and easily applied in engineering. However, PI Fig.3 LQR control theory diagram
control may have overshoot problems, which makes pitch
actuator complicated and easily fatigued.
LQR is linear quadrics regular, whose control object is III. CONTROL SYSTEM SAFEGUARD FUNCTION
linear system given by state space form in modern control
theory. And its object function is object states and quadrics A. Brake function
function which controls input. LQR optimal control is Brake system is an important link of safeguard system in
designing state feedback controller G. In order to minimize wind turbine. Hardware is composed of pitch brake，yaw
the quadrics object function J , and also G is decided only brake and brake on main shaft, driven by hydraulic pressure
by weight matrix Q and R, the selection of Q and R is very system. The design of brake function is according to
important. LQR theory is a relatively mature theory in principle of protecting when power off. In other words,
modern control theory. It provided an efficient analysis brake system will be in station of brake protection when
method for multi-variable feedback system. Object function
power off. When wind turbine needs stopping because of
J included state variable and input variable, which requires
errors, controller identifies error and sends corresponding
state variable and input variable to be small. In the pitch-
orders to drive brake system, respectively, to pause, stop, or
control system, input value is the error of pitch angle.
Because of large inertia of blade, rapid pitch-control would emergency stop wind turbine.
damage pitch regulated mechanism and aggravate the B. Safety chain
friction of pitch-control shaft. So, having some limitation to Safety chain of the system is a kind of hardware
input energy will be reasonable. Additionally, choosing safeguard device which is independent of center control
torque variation as state variable can suppress torque ripple system. Supposed the program of control system is running
as much as possible in LQR optimal control. Then the life of out of its way, safety chain can still work normally. Safety
wind turbine can be extanded. chain is adopted the design mode of inverse logic, linking
Set linear length-determined system’s state function as : all switches as a loop, each switch corresponding to
⎧ x = Ax + Bu + Γu D transnormal faults which may do fatal harm to wind turbine.
⎨ When safety chain acts, machines will stop urgently, all
⎩ y = Cx (15) actuating mechanism will be cut off from power supply,
Object function： realizing to protect system maximatily.
[
1 tf
]
J = ∫t x T (t )Qx(t ) + u T (t ) Ru (t ) dt
2 0
C. Lightning protection function
Because most wind turbines are stalled at places with a
(16)
where Q is positive semidefinite matrix， R is positive draught in valleys or mountaintops of islands, they are likely
to be struck by thunder and lighting, especially stalled in
definite matrix ， Q and R are weighted matrix for state
thunderstorm districts. Control system is inclined to be
variable and input variable respectively. x(t) is n-dimension
damaged by over-voltage caused by thunder and lighting[6],
state variable ， u(t) is m-dimension input variable.
so in the design for MW wind turbine, we devise lightning
According to control theory, in order to minimize object
protection system in special. when using lightning arrester
function, optimal control is:
to absorb lightning current, it is easy to neglect differences

671
between lightning arresters at different phases. For inroad V. CONCLUSION
waves of lightning and thunder add to each phase at the Nowadays, wind power generating system is one of the
same time, if differences from them are large, there will most useful generating system, which harness natural
form peak wave between phases which will harm control energy. Therefore, many application examples are reported
system through power supply transformer. Therefore, when in the world Most of these are large-scale generating
designing, we take use of three lightning arresters with the system whose output are over 100kW even 5MW. With the
same absorb capability in grade one lightning protection and capability of the generating system becoming larger and
do so when deal with in grade two and three. Lightning larger, permanent magnet type synchronous generator gets
protections for control system are designed at following more widely used in wind power generating
positions, system.Compared with other type of wind turbine, variable
1) Input side of three phase 690AC V in main circuit, speed constant frequency wind turbine has a strongpoint,
lightning protection grade one;2) Output side of two phase exporting stable power when wind speed is higher than rated
220V from 690ACV/220ACV to the actuating mechanism wind speed value. Further more, at this time wind turbine
of control system, lightning protection grade two;3) not only exports stable power avoiding of vibrating, but also
Communication circuit;4) Power input side of control keeps the flexibility of driving system, as considered to
system, lightning protection grade three. protect wind turbine efficiently. Therefore, what it needs for
IV. SIMULATION VALIDATION control system is more complicated than fixed pitch wind
turbine. So as to enhance pitch control performance of large
A 3-minute simulation is performed using the proposed wind turbine, this paper constructed wind turbine’s
method and conventional method. In the simulation, the dynamics model, giving a LQR pitch-control algorithm
rated power of wind turbine is 1615 kW, rated torque is 916
based on disturbance correction according to LQR control
kNm, gear box ratio is 104, and the speed range is 9.6～ theory. In the light of its features above, we developed the
17.3±12%. Fig.4 shows the wind speed in simulation, wind control system of MW variable speed constant frequency
speed range from 14m/s to 21 m/s.
wind turbine. Besides, we believe perfect protect function of
22 control system is the primary guarantee for running in safe
20
situation, and it is also one of important factors during
judging a control system. Therefore, during the course of
Wind speed (m/s)

18
developing this system, we take into general consideration
16
on the aspect of safety in order to ensure wind turbine run
14
reliably and steadily.
12

10
REFERENCES
0 20 40 60 80 100 120 140 160 180
Time (s)

Fig. 4 Wind speed for 3-minute simulation [1] Liu Qihui ， He Yikang， Bian Songjiang． Study on the no-load
PI method
cutting in control of the variable-speed constant-frequency（VSCF）
25
Fuzzy PD wind-power generator[J]．Proceedings of the CSEE，2004，24(3)
20
：6-11．
Pitch angle (Deg)

[2] He yikang, zhengkang, panzaiping, Liuqihui.Investigation on an ac

15
excited variable-speed constant-frequency wind-power generation
10
system[J]. Autiomation of electric power system.2004,28(13):55-59.
[3] Wu xiaojie,chaijianyun,wang xiangheng. Overview of ac excitation
5
for variable speed constant frequency double fed wind power
0
generator systems[J]. Autiomation of electric power
0 20 40 60 80 100
Time (s)
120 140 160 180 system.2004,27(20):92-96.
Fig. 5 Pitch angle in simulation [4] Yuan Guofeng，Chai Jianyun，Li Yongdong. Study on excitation
converter of variable speed constant frequency wind generation
Fig. 5 shows the pitch angle of the two control method. We system[J]. Proceedings of the CSEE，2005,25(8):90-25.
can see that the proposed method pitch action is less than [5] Liu Qihui ， He Yikang ， Zhang Jianhua.Operation control an
that of PI method. To represent the pitch fatigue we can modeling-simulation of ac-excited variable-speed constant-
define PVR (Pitch Varying Rate) = (total varied pitch angle) frequency(AEVSCF) wind power generator[J]. Proceedings of the
/ time. In the 3-min simulation, the PVR of propose method CSEE, 2006,26(5):43-50. Wu Xin and E Chunliang. “The measures
for grid-fault of large-scale wind turbine generator controller”,
is 0.985, and the PVR of conventional method without dead RENEWABLE ENERGY, No.1, pp.52-53, 2005.
zone is 1.87. We can see that the proposed method has less [6] Wang Zhihua, Li Yaxi, Zhao Dongli,etc. “Research on control
pitch action, namely the pitch fatigue is smaller then PI strategy of maximum power point tracking of VSCF wind
method. generation”, RENEWABLE ENERGY, No.2, pp. 16-19, 2005.
[7] Ye Hangye. “The control technology of wind turbine”, China
Machine Press, 2002.

672