Wind power technology and control

Anca Daniela Hansen

Associate professor
DTU Wind

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 Outline
 DTU Wind and Energy Systems - RES

 Wind turbines technology basics

 Wind turbine control basics

 Fixed speed wind turbines

 Variable speed wind turbines

 Main electrical components in wind turbines

 Electrical systems in wind turbine

 Wind power plants – control architecture and control capabilities

 Examples- research results – wind turbines normal and fault operation

o Active stall control wind turbine
o Doubly-fed induction wind turbine (DFIG)
o Permanent magnet synchronous generator (PMSG) full scale converter wind turbine

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 DTU Wind and Energy Systems

• Effective from 1st March 2022, DTU Centre of Electric Power and Energy (approx. 110 employees) is
merged into DTU Wind Energy Department (currently 290 employees).

• This strategic move will strengthen DTU Wind Energy’s competency and harvest synergies across multiple
disciplines including meteorology, physics, mathematics and electric engineering.

DTU Centre of Electric

Power & Energy

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Organization

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 Renewable Plants in Energy Systems – RES Section

Strategic focus areas

- Weather-driven energy system
FLOW o Planning of weather-driven energy systems
o VRE variability and uncertainty
Weather driven
energy system o Large-scale power balancing
Ren E
Plant o Active distribution network
o Forecasting

- Renewable Energy Plants

Environment & o Electrical system design
Society
o Grid requirements and services
o Energy management
o Electrical control
o Modelling, validation, and standardization

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 Renewable Plants in Energy Systems

Weather Driven
Energy System
Weather driven
generation Renewable Energy
Parks
Correlated wind, solar
time series Design
Operation and Control
Test and Validation

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 People in RES
Head of Section
Gregor Giebel

Matti Koivisto Kaushik Das Poul Sørensen Anca Hansen

Senior researcher Ass. professor Professor Ass. professor
Vivi Nymark Morsing
Secretary
Senior Executive Officer
Jens Carsten Hansen

Aeishwarya Baviskar Rujie Zhu Polyneikis Kanellas

Sumanth Yamujala Megha Gupta PostDoc since 2023 PostDoc since 2023 Development Engineer since 2022
PostDoc from Oct 2022 PostDoc since Sept 2022

Fatemeh Shahnazian Soheil Pouraltafi-Kheljan Aivaras Čelna

PhD until 2024/11 PhD until April 2025 Ind. PhD until Aug. 2025

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Wind turbine technology basics

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 Power conversion chain

Wind flow power Mechanical power Electrical power

Converter

Gearbox Generator

Aerodynamic part Electric part

Control
Grid
Wind turbine – overview
Connection to the grid

Synchronous electrical speed

ωe 0 = 2 ⋅ π ⋅ f 0
(2π⋅50 in Europe , 2π⋅60 in USA)

low speed shaft high speed shaft Optional

ωwtr ωe
ωe0
ωgen =
~ ~
Grid
Wind Power
Gearbox Generator Transformer
electronic
N gear
Aerodynamic
rotor interconects
2 electrical systems with
different and independent frequencies ωe ≠ ωe0

Modern turbines can operate at different frequency than the frequency on the grid !

♦
Power conversion chain efficiency
How much of the wind flow power is converted into electrical power?

Converter

Gearbox Generator

Aerodynamic power Electrical power

Mechanical Electrical
losses losses
Aerodynamic
”deficiency”
(not really lost but rather not utilised)
 Mechanical losses

Mechanical power 𝑃𝑃𝑚𝑚𝑚𝑚𝑚𝑚𝑚 : mechanical power

𝜔𝜔wtr : rotor speed
𝑃𝑃𝑚𝑚𝑚𝑚𝑚𝑚ℎ = 𝜔𝜔wtr � 𝑇𝑇
𝑇𝑇 : torque

Types of mechanical losses

 Rotational speed dependent (e.g. friction, windage)
 Torque dependent (e.g. gearbox teeth sliding)
 No-load

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Mechanical losses 𝑃𝑃𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙 ≈ 𝑃𝑃0 + 𝑃𝑃𝜔𝜔𝜔 � 𝜔𝜔 + 𝑃𝑃𝜔𝜔𝜔 � 𝜔𝜔 + 𝑃𝑃𝑇𝑇 � 𝑇𝑇

𝑃𝑃𝑚𝑚𝑚𝑚𝑚𝑚𝑚 − 𝑃𝑃𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙
𝜂𝜂𝑚𝑚𝑚𝑚𝑚𝑚𝑚 = ( converted mechanical power / mechanical power)
Mechanical efficiency 𝑃𝑃𝑚𝑚𝑚𝑚𝑚𝑚𝑚
 Electrical losses
Electrical power 𝑆𝑆𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒 : apparent electrical power

𝑆𝑆𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒 = 𝐼𝐼 � 𝑉𝑉 𝐼𝐼 : current
𝑉𝑉 : voltage

Types of electrical losses

 Current dependent (e.g. copper losses in transformer windings and cables)
 Voltage dependent (e.g. iron losses from magnetisation of transformers and generators)
 No-load (e.g. converter switching)

2 2
Electrical losses 𝑆𝑆𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙 ≈ 𝑆𝑆 + 𝑆𝑆𝐼𝐼𝐼 � 𝐼𝐼 + 𝑃𝑃𝑉𝑉2 � 𝑉𝑉

𝑆𝑆𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒 − 𝑆𝑆𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙
𝜂𝜂𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒 = ( converted electrical power / electrical power)
Electrical efficiency 𝑆𝑆𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒
 Aerodynamic power dependencies
 Actual wind speed U and blade rotational speed vtip
form the relative wind speed W α: angle of attack
 Relative wind speed W generates ρ: air density
ω wtr
U lift L and drag D (L >> D) 𝑐𝑐: chord length
A
1
𝐿𝐿 = ρ 𝑐𝑐 𝑙𝑙𝑠𝑠 𝑊𝑊 2 𝐶𝐶𝐿𝐿 𝑙𝑙𝑠𝑠 : section length
2
vtip 1 𝐶𝐶𝐿𝐿 : lift coefficient
𝐷𝐷 = ρ 𝑐𝑐 𝑙𝑙𝑠𝑠 𝑊𝑊 2 𝐶𝐶𝐷𝐷
2 𝐶𝐶𝐷𝐷 : drag coefficient
 Lift and drag coefficients, 𝑪𝑪𝑳𝑳 and 𝑪𝑪𝑫𝑫 are
Side view Front view measured in wind tunnels depending on α

Top view – blade tip

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 Wind flow power calculation

Air flow cylinder passing through the rotor

 Kinetic energy in wind flow 𝑈𝑈∆𝑡𝑡
1 ∆𝐸𝐸: kinetic energy flow
∆𝐸𝐸 = ∆𝑚𝑚 𝑈𝑈 2 ∆𝑚𝑚: mass flow
2
𝑈𝑈: wind speed

𝐴𝐴
 Wind mass
𝜌𝜌: air density
∆𝑚𝑚 = 𝜌𝜌 𝐴𝐴 𝑈𝑈 ∆𝑡𝑡 𝐴𝐴: swept (rotor disk) area
∆𝑡𝑡: flow time window

 Wind flow power

∆𝐸𝐸 1
𝑃𝑃𝑤𝑤 = = 𝜌𝜌 𝐴𝐴 𝑈𝑈 3 Wind flow power is proportional with air density, swept area and cube of the wind speed !
∆𝑡𝑡 2

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 Aerodynamic power calculation
Aerodynamic power

1
𝑃𝑃𝑎𝑎 = 𝑃𝑃𝑤𝑤 𝐶𝐶𝑝𝑝 = 𝜌𝜌 𝐴𝐴 𝑈𝑈 3 𝐶𝐶𝑝𝑝 Cp: power coefficient / aerodynamic efficiency
2

Power coefficient Cp
 depends on:
o Wind speed 𝑈𝑈
o Rotor speed 𝜔𝜔 wtr C p = C p (U , ωwtr ,θ ) wtr

o Pitch angle θ

 calculated using aerodynamic blade element theory

 non-dimensional “efficiency” in extracting wind power
 Betz’ theoretical limit of 0.59
Power coefficient

C p = C p (U , ωwtr ,θ )

C p = C p (λ , θ )
Tip speed ratio
ωwtr ⋅ R function of 2 variables!
λ=
U

λ θ θ1 θ 2 θ θn
λ1
λ2

λ C p (λ ,θ )

λn
Wind turbine control strategies - basics

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 Safety reasons Achieve max power

Why do we have to control

the wind turbines?

Control mechanical loads Grid related reasons

(support the grid, curtailment, reduce the noise)

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What can we control ?
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𝑃𝑃𝑎𝑎 = 𝜌𝜌 𝐴𝐴 𝑈𝑈 3 𝐶𝐶𝑝𝑝
2

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 Power coefficient C p = C p (λ , θ )

λ θ θ1 θ 2 θ θn
λ1
λ2
ωwtr ⋅ R
C p (λ ,θ )
λ=
U λ

λn

If possible
power coefficient can be controlled, by adjusting Wind turbines can be classified
 θ blade angle (pitch) according to their
 ω wtr rotor speed speed and blade angle control ability
Wind turbine control concepts

Blade angle control

 Fixed blade angle wind turbines
θ
o Passive stall control wind turbines

 Variable blade angle wind turbines

o Pitch control wind turbines (positive blade angles)
o Active stall control wind turbines (negative blade angles)

Rotor speed control

 Fixed speed wind turbines (FSWTs)
ω wtr o Speed fixed to the grid frequency regardless of wind speed

 Variable speed wind turbines (VSWTs)

o Possible due to presence of converter
o Decoupled from the grid frequency
 Power curve – electrical power versus wind speed

Steady state curve

electrical power P versus wind speed U as result of wind turbine control and limitations!

Wind turbine operation Power curve based on 10 min averages

Pitch
1.2
 optimal power operation control

1.0
 power limitation operation Active Passive

Power (p.u.)
stall stall
0.8

0.6
Power curve depends on:
0.4

 type of the WT 0.2

 capability to control the power coefficient 0.0

0 5 10 15 20 25
(to control rotational speed and/or pitch angle)
Wind speed [m/s]
Power curve reflects how the aerodynamic efficiency can be controlled depending on the wind turbine concept !
Passive stall control  Rotational speed is fixed by the generator
Fixed blade angle wind turbine
 Directly connected to the grid – no converter
L  Fixed blade angle (no pitch system)
lift
 Simple, robust, cheap power control method
 Increase in wind speed – increase in angle of attack
α
angle of attack
W
 Stalling when wind speed exceeds a certain level
U
relative speed - Passive power limitation: depends on external conditions
- Power curve depends on grid frequency
vtip = ω⋅r
1.2

1.6 1.0
1.4
1.2 0.8
Lift coefficient

Power [pu]
50 Hz
0.8 0.6
48 Hz
0.6 51 Hz

0.4 0.4

0.2
0 0.2
-5 0 5 10 15 20
Angle of attack [deg] 0.0
0.0 5.0 10.0 15.0 20.0 25.0

Wind speed [m/s]

Pitch control  Blades are turned out/into the wind
Variable blade angle wind turbine (if the power output becomes too high/low)

 Fast blade angle (pitch) control necessary

 Pitch mechanism (hydraulic/ electric)
 Active control the angle of attack
 Power limitation by decreasing angle of attack
 Fixed / variable speed desirable
 Large power fluctuations in power limitation
2.00

1.80

1.6 1.60
1.4
1.40
1.2
1.20
Power curve Pitch = 0 deg
Lift coefficient

Power [pu]
1 Pitch = 5 deg
1.00 Pitch = 10 deg
0.8
Pitch = 15 deg
0.80 Pitch = 20 deg
0.6

0.4 0.60

0.2 0.40

0 0.20
-5 0 5 10 15 20
0.00
Angle of attack [deg]
0 5 10 15 20 25
Wind speed [m/s]
Active stall control (CombiStall)
Variable blade angle wind turbine  Stall / power limitation controlled by pitching the
blades to larger angle of attack
Negative pitch  Less steep power curves for fixed pitch means
slower pitch system necessary
 Moderate instantaneous response
gradients (fixed speed no problem)
 Compensation of air density variations

2.00

1.80

1.6 1.60
1.4
1.40
1.2
1.20
Power curve Pitch = 0 deg
Lift coefficient

Power [pu]
1 Pitch = -3 deg
1.00 Pitch = -6 deg
0.8 Pitch = -9 deg
0.80 Pitch = -12 deg
0.6
0.60
0.4
0.40
0.2
0 0.20

-5 0 5 10 15 20 0.00
Angle of attack [deg] 0 5 10 15 20 25
Wind speed [m/s]
 Fixed speed wind turbines
 Directly connected to the grid using the induction ωwtr N gear
generator. Generator ωe
~
Grid
 The rotational speed is dependent on and almost Wind ωgen
fixed to grid synchronous frequency Gearbox Transformer

 Generator torque characteristic

 generator torque depends on rotational speed Generator torque characteristic
 high slope / steep generator
→ Fixed speed ~ constant speed
→ not directly controlled but varies slightly depending on

Generator Torque [kNm]

the generator torque
 stable and self regulating mechanism ω
Increased wind speed means:
I
→ increased aerodynamic torque
→ increased rotor speed
ventilator
→ increased generator torque
Generator speed [pu]
 Variable speed wind turbines

Optional
ωwtr ωe
ωe0
ωgen =
~ ~
Grid
Wind Power
Gearbox Generator Transformer
electronic
N gear

Electrical control
Aerodynamical power control
(electrical torque)
(pitch angle)
Active control

 Connected to the grid through power electronics converters

Optimization zone (folowing max efficiency)
 Power electronic controls actively the generator torque Limitation zone (limitation by pitching)
 Active control – pitch angle and electrical torque
 Aerodynamic power control

Variable speed WT
λ θ θ1 θ 2 θk θn
λ1
λ2 Fixed speed WT

λn

Fixed speed wind turbines Variable speed wind turbines

Optimal efficiency - at only one wind speed Maximum efficiency - at several wind speeds
 Electrical control
Provided by power electronics inside wind turbines

Power electronics properties Advantages Disadvantages

 Energy optimal operation
 Reduced loads in the gear
Controllable frequency Extra costs
 Load control
(important for the turbine) Additional losses
 Gearless possibility
 Reduced accoustical noise

 Control active/reactive power

 Control frequency/voltage
Power plant characteristics  Local reactive power source
High harmonics
- provision of ancillary services -  Improved network (voltage) stability
(important for the grid)  Improved power quality
- reduced flicker level
- filtered out low harmonics
Wind turbine technology and control - basics

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Fixed speed wind turbine

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 Fixed speed wind turbine

𝑇𝑇𝑔𝑔𝑔𝑔𝑔𝑔 No converter

Gearbox Generator

θ
Pitch angle θ Generator torque
𝑇𝑇𝑔𝑔𝑔𝑔𝑔𝑔 is fixed
fixed Passive stall control wind turbines

controllable Pitch control wind turbines

Active stall control wind turbines
Fixed speed & fixed pitch wind turbine (FSWT)
Passive stall control wind turbines

ωe 2 ⋅π ⋅ f
fixed ωgen = =
N pp N pp

ωwtr N gear
ωe
ωgen
~
Grid
Wind
Gearbox Generator Transformer

Depends on:
ωgen 2 ⋅π ⋅ f  grid frequency
ωwtr = =
no active control! N gear N pp ⋅ N gear
 generator design
 gear ratio
Power production of a FSWT

Does the grid frequency affect

the power production of
a fixed speed/fixed pitch wind turbine (FSWT)?
FSWT – performance overview
No active control neither on pitch angle nor on rotor speed !

P [pu]
C
Prated
Popt
D  power curve:
Power
 overshoot compared to the rated power
A
0
Urated  automatically stall at high wind speeds
U [m/s]

ω [pu]
Rotational A D
speed ωwtr  rotor speed constant !
0
U [m/s]

Pitch θ [deg]
D  pitch angle constant !
angle θopt A

0
U [m/s]
Cp
C popt
 optimal efficiency is achieved at
Cp
D only one wind speed Uopt !
A
0
Uopt U [m/s]
 Blade angle controller

Blade angle θ ref θ θ

Actuator
controller

 look-up table or PI controller

 wind speed or power error as input
θ

 hydraulic or electric
 reference pitch angle as input
 limitations both on:
 pitch angle
 rate of change of the pitch angle
 Power control modes
Power optimisation control mode
 whenever the wind speed is below rated and measured power 𝑃𝑃𝑚𝑚𝑒𝑒𝑒𝑒𝑒𝑒 below nominal power (1 p.u.)

𝑼𝑼𝒆𝒆𝒆𝒆𝒆𝒆 𝜽𝜽𝒓𝒓𝒓𝒓𝒓𝒓 𝑷𝑷𝒎𝒎𝒎𝒎𝒎𝒎𝒎𝒎

Look-up
Wind turbine
table

Power limitation control mode

 whenever the wind speed is above rated wind speed or measured power 𝑃𝑃𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚 above power reference
 controller provides the pitch angle reference for the turbine to produce the reference power
 this is implemened as a closed loop power controller

𝑷𝑷𝒓𝒓𝒓𝒓𝒓𝒓 𝑷𝑷𝒆𝒆𝒆𝒆𝒆𝒆 θ𝒓𝒓𝒓𝒓𝒓𝒓 𝑷𝑷𝒎𝒎𝒆𝒆𝒆𝒆𝒆𝒆

Closed loop
Controller Wind turbine
+ controller
−
 PI controller - in power limitation control mode
PI controller

Controller
PI controller Wind turbine
𝐾𝐾𝑃𝑃
𝑃𝑃𝑒𝑒𝑒𝑒𝑒𝑒 + θ𝑟𝑟𝑟𝑟𝑟𝑟

1 +
𝐾𝐾𝑖𝑖
The PI controls the output to follow a reference: 𝑠𝑠

𝑃𝑃𝑒𝑒𝑒𝑒𝑒𝑒 (t) ≜ 𝑒𝑒 𝑡𝑡 = 𝑃𝑃𝑟𝑟𝑟𝑟𝑟𝑟 (t) - 𝑃𝑃𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚 (t) 0 1

𝜃𝜃𝑟𝑟𝑟𝑟𝑟𝑟 = (𝐾𝐾𝑝𝑝 + 𝐾𝐾𝑖𝑖 ) 𝑃𝑃
𝑠𝑠 𝑒𝑒𝑒𝑒𝑒𝑒
The output of the controller
𝑢𝑢 𝑡𝑡 = 𝐾𝐾𝑝𝑝 𝑒𝑒 𝑡𝑡 + 𝐾𝐾𝑖𝑖 � 𝑒𝑒 𝑡𝑡 𝑑𝑑𝑑𝑑 𝐾𝐾𝑝𝑝 - proportional gain
𝜃𝜃𝑟𝑟𝑟𝑟𝑟𝑟 ≜ 𝑢𝑢(𝑡𝑡)
𝐾𝐾𝑖𝑖 - integral gain

Proportional action Integral action

 Reduces (does not eliminate) offset  Eliminates offset

 Speeds up response  Increases order of the system in the closed-loop

Laplace form
1
𝑢𝑢 = (𝐾𝐾𝑝𝑝 + 𝐾𝐾𝑖𝑖 ) 𝑒𝑒
𝑠𝑠
Variable speed wind turbine control
Variable speed variable pitch wind turbine

55
 Main advantages

Variable speed wind turbine  Control can reduce drive train loads
 Control can increase aero power
 Control can support power grid

𝑇𝑇𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎
𝑇𝑇𝑔𝑔𝑔𝑔𝑔𝑔 Converter

Gearbox Generator

Pitch angle Generator torque

θ is controllable 𝑇𝑇𝑔𝑔𝑔𝑔𝑔𝑔 is controllable

Aerodynamic control Electrical control

 Variable speed/ variable pitch wind turbine
(VSWT)

ωe ≠ ωe 0
variable
θ
Optional
ωwtr ωe ωe0
ωgen =
~ ~
Grid
Wind Power
Gearbox Generator Transformer
electronic

Aerodynamical part Electrical part

Active control
(pitch angle) (electrical torque)

 Optimization zone
(for wind speeds lower than rated wind speed – target is to follow max efficiency by changing ωwtr )

 Limitation zone
(for wind speeds higher than rated wind speed – target is to limit the power production by changing θ )

58
 ABC: Optimisation
VSWT performance CD : Limitation

P [pu]
P [pu]
C D C, D
Prated
B B

Power curve Control concept

A
0
A
Urated U [m/s] nnom ngen [pu]

ω [pu] Efficiency
ωnom B C D Cp
A B decreases in
C
AB: variable ω
power limitation
BCD: fixed ω A
D
0
U [m/s]

D
λ [rad/s] θ [deg]
A B
λopt
C
D A B C U [m/s]

U [m/s]
Optimal pitch angle Active pitch control
Rotor speed ω
kept constant in in power limitation !
adjusted to keep λopt
optimization !
VSWT / FSWT performance – comparison
VSWT P [pu] FSWT
C
Prated
D

A
0
Urated U [m/s]

A D
ωwtr

0
U [m/s]

θ [deg]

A D
θopt

U [m/s]
Cp C popt
C popt A

D
A
0
Uopt U [m/s]
 Electrical control
Power optimization control strategy

Maximum Power Point Tracking (MPPT)

θopt

λ θ θ1 θ 2 θ θn
Maximum power coefficient
λ1
𝐶𝐶𝑝𝑝 θ, 𝜆𝜆 = 𝐶𝐶𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 Aerodynamic power
λ2
1
λopt 𝑃𝑃𝑎𝑎 𝑚𝑚𝑚𝑚𝑚𝑚 = ρ 𝐴𝐴 𝑈𝑈 3 𝐶𝐶𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝
𝐶𝐶𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 2
λk

λn Wind speed from rotor speed

𝜔𝜔𝜔𝜔
𝑈𝑈 =
𝜆𝜆𝑜𝑜𝑜𝑜𝑜𝑜
Optimal tip speed ratio
𝜔𝜔𝑤𝑤𝑤𝑤𝑤𝑤 𝑅𝑅 Aerodynamic power vs. rotor speed
𝜆𝜆𝑜𝑜𝑜𝑜𝑜𝑜 = 3
𝑈𝑈 1 𝑅𝑅
𝑃𝑃𝑎𝑎 = ρ 𝐴𝐴 𝐶𝐶𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 𝜔𝜔3
Maximum efficiency 𝑪𝑪𝒑𝒑𝒑𝒑𝒑𝒑𝒑𝒑 2 𝜆𝜆𝑜𝑜𝑜𝑜𝑜𝑜
can be achieved at a wide range of wind speeds
by keeping 𝜆𝜆𝑜𝑜𝑜𝑜𝑜𝑜
 Electrical control
Power optimisation zone

Aerodynamic power vs. rotor speed

3
1 𝑅𝑅 3
𝑃𝑃𝑎𝑎 = ρ 𝐴𝐴 𝐶𝐶𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 𝜔𝜔𝑤𝑤𝑤𝑤𝑤𝑤 𝑷𝑷𝒆𝒆𝒆𝒆𝒆𝒆𝒆𝒆
2 𝜆𝜆𝑜𝑜𝑜𝑜𝑜𝑜
𝑷𝑷𝒆𝒆𝒆𝒆𝒆𝒆𝒆𝒆 α 𝝎𝝎𝟑𝟑𝒈𝒈𝒈𝒈𝒈𝒈
constant

𝜔𝜔𝑔𝑔𝑔𝑔𝑔𝑔
𝜔𝜔𝑤𝑤𝑤𝑤𝑤𝑤 =
𝑁𝑁𝑔𝑔𝑔𝑔𝑎𝑎𝑎𝑎

3
𝑃𝑃𝑎𝑎 α 𝜔𝜔𝑔𝑔𝑔𝑔𝑔𝑔

Electrical power vs. rotor speed 𝝎𝝎𝒈𝒈𝒈𝒈𝒈𝒈

3
𝑃𝑃𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒 = 𝑃𝑃𝑎𝑎 − 𝑃𝑃𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙 𝑃𝑃𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒 α 𝜔𝜔𝑔𝑔𝑔𝑔𝑔𝑔
 Electrical control design

Different control strategies 𝑷𝑷𝒆𝒆𝒆𝒆𝒆𝒆𝒆𝒆

 generator torque 𝑇𝑇𝑔𝑔𝑔𝑔𝑔𝑔
 generator power 𝑃𝑃𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒

Generator torque vs. power

𝑃𝑃𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒
𝑇𝑇𝑔𝑔𝑔𝑔𝑔𝑔 =
𝜔𝜔𝑔𝑔𝑔𝑔𝑔𝑔

𝝎𝝎𝒈𝒈𝒈𝒈𝒈𝒈
Rotor speed limits incorporated in design
𝜔𝜔𝑚𝑚𝑚𝑚𝑚𝑚 𝜔𝜔𝑚𝑚𝑚𝑚𝑚𝑚
Electrical (power) control concept

Maximum Power Point Tracking - MPPT table

Power - speed curve

𝑃𝑃𝑟𝑟𝑟𝑟𝑟𝑟 𝐼𝐼𝑃𝑃𝑟𝑟𝑟𝑟𝑟𝑟
MPPT Wind
PI
table + turbine
−
𝑃𝑃𝑚𝑚𝑒𝑒𝑒𝑒𝑒𝑒
𝜔𝜔𝑚𝑚𝑒𝑒𝑒𝑒𝑒𝑒

𝝎𝝎𝒈𝒈𝒈𝒈𝒈𝒈
Pitch control
P [pu]
C D
Prated

A
U [m/s]

Cp A B
Pitch Control C

Tasks: U [m/s]
D
 In power optimization zone (low wind speeds) θ [deg]
θ [deg]
to keep the pitch angle at its optimal value θ opt

A B C
 In power limitation zone (high wind speeds)
power power U [m/s]
to limit the wind turbine power to the rated value optimisation limitation
Pitch control

θ ω ref
θ ref θ
ω Pitch controller Actuator
TASKS
In power optimization zone  typically PI contr
(low wind speeds)  speed error as in
keep the pitch angle at its optimal value

θmax , θ max

θ In power limitation zone

(high wind speeds) + θ ref 1 θ
PI controller
limit the wind turbine power to the rated value - 1 + sTservo

θmin , θ min

Pitch controller Actuator

Wind turbine control

70
Main electrical components in wind turbines

71
Electrical system of a wind turbine

Main part of the electrical system

Generator

Gear-box
Electrical interface Grid

Softstarter
Transformer Power converter
Early 1990s
Modern fashion
old fashion wind turbines ~
~ Transformer
wind turbines

Capacitor bank

72
 Generator concepts used in wind turbines
Synchronous generator
Permanent Magnet Synchronous Generator (PMSG) Wound Rotor Synchronous Generator (WRSG)

𝜔𝜔𝑒𝑒
Generator rotational speed: 𝜔𝜔𝑔𝑔𝑔𝑔𝑔𝑔 = 𝜔𝜔𝑒𝑒 synch. electrical frequency; 𝑁𝑁𝑝𝑝𝑝𝑝 nr. of polepairs
𝑁𝑁𝑝𝑝𝑝𝑝

Advantages Disadvantages
 no need for reactive magnetizing current o more expensive
 multipole - can be direct driven (gearless) o mechanically more complicated to build

Asynchronous (induction) generator

Squirrel Cage Asynchronous Generator (SCAG) Wound Rotor Asynchronous Generator (WRAG)

𝜔𝜔𝑒𝑒
Generator rotational speed: 𝜔𝜔𝑔𝑔𝑔𝑔𝑔𝑔 = 1 − 𝑠𝑠 𝜔𝜔𝑒𝑒 synch. electrical frequency; 𝑁𝑁𝑝𝑝𝑝𝑝 nr. of polepairs; s slip
𝑁𝑁𝑝𝑝𝑝𝑝

Advantages Disadvantages
 robustness
 mechanical simplicity
o consumes reactive power to magnetise
the stator
 produced in large scale => low price

 Generator
electrical
rotor
terminal stator
windings

By its rotation, the rotor and its magnetic field pass the stator windings, inducing voltages at the stator’s terminals and thus currents in the stator windings.
 Number of pole pairs

 Increasing number of pole pairs 𝑵𝑵𝒑𝒑𝒑𝒑

- reduces the rotational speed of the magnetic field

𝜔𝜔𝑒𝑒 2 𝜋𝜋 𝑓𝑓0
𝜔𝜔𝑚𝑚 = = [rad/s]
𝑁𝑁𝑝𝑝𝑝𝑝 𝑁𝑁𝑝𝑝𝑝𝑝

still maintaining the frequency 𝑓𝑓0 of the electrical power 1 pole pairs 2 pole pairs
(𝑁𝑁𝑝𝑝𝑝𝑝 =1) (𝑁𝑁𝑝𝑝𝑝𝑝 =2)

 Multipole generators with number of pole pairs 𝑁𝑁𝑝𝑝𝑝𝑝 much higher than 2 are used in gearless wind turbines

 Electrical power Pgen of a generator depends on its rotational speed ωgen and generator torque Tgen

𝑃𝑃𝑔𝑔𝑔𝑔𝑔𝑔 = 𝑇𝑇𝑔𝑔𝑔𝑔𝑔𝑔 𝜔𝜔𝑔𝑔𝑔𝑔𝑔𝑔 [W]

Slower rotational speed implies higher torque to get the same electrical power!
 Synchronous and asynchronous

 For synchronous generators the rotor magnetic field is

fixed to the rotor itself, causing generator speed to be
synchronised with the magnetic field speed:
𝜔𝜔𝑒𝑒
𝜔𝜔𝑔𝑔𝑔𝑔𝑔𝑔 = 𝜔𝜔𝑚𝑚 =
𝑁𝑁𝑝𝑝𝑝𝑝

 For asynchronous generators generator speed deviates

from the speed of the magnetic field:
𝜔𝜔𝑒𝑒
𝜔𝜔𝑔𝑔𝑔𝑔𝑔𝑔 = 1 − 𝑠𝑠 𝜔𝜔𝑚𝑚 = 1 − 𝑠𝑠
𝑁𝑁𝑝𝑝𝑝𝑝

▫ motor mode → sub-synchronous (𝝎𝝎𝒈𝒈𝒈𝒈𝒈𝒈 < 𝝎𝝎𝒎𝒎 , 𝒔𝒔 > 𝟎𝟎)

▫ generator mode → over-synchronous (𝝎𝝎𝒈𝒈𝒈𝒈𝒈𝒈 > 𝝎𝝎𝒎𝒎 , 𝒔𝒔 < 𝟎𝟎)
 Synchronous generator types
 Permanent Magnet Synchronous Generator (PMSG)
 Rotor magnetic field is provided by permanent magnet(s)
mounted on the rotor
 Advantages: self-excitation & high efficiency
 Disadvantages: expensive, difficult manufacturing magnetic
materials, sensitive to temperature

 Wound Rotor Synchronous Generator (WRSG)

 Rotor magnetic field is provided by magnetising DC current
 Workhorse of the electrical power industry
 Advantages: control the rotor field by changing the DC current
 Disadvantages: losses, slip rings

79
 Asynchronous generator types
 Squirrel cage asynchronous generator
 Widely used
 Squirrel cage: rotor with solid metals instead of windings
 Magnetic field in the rotor generated by self induction
from the stator field (also called induction generator)
 No slip rings

 Wound rotor asynchronous generator

 Rotor magnetic field provided by rotor AC windings through slip rings
 It can operate in different modes → used in different types of wind turbines
 Short circuited rotor windings
Induction generator
 Controlled rotor current windings
Doubly fed asynchronous/induction generators (DFIG)

80
 Asynchronous generator types

q
Squirrel Cage Induction Generator (SCIG) Wound Rotor Induction Generator (WRIG)

generator
Generator Torque [kNm]

ventilator

Generator speed [pu]

 Used in fixed speed wind turbines  Rotor elec. charact. can be controlled from outside
 Torque characteristic:  Control rotor resistance:
 is very steep, stable at small slips  torque speed characteristic is not so steep.
 is self regulating mechanism  it is stable at larger slips.
81
 Power converters
 Devices - convert electrical power, voltage or frequency
from one form to another, e.g. AC to DC or DC to AC.

 Main objectives Power direction

 provide torque control
 support the grid AC DC AC

 Back-to-back converters are usually used

 Rectifier converts AC to DC
 Inverter converts DC to AC Rectifier Inverter

 Voltage source converters (VSC) used in wind turbines

 can shift between rectifier and inverter modes
 can support grid
 Capacitor banks
Capacitor banks are used in older wind turbines to generate reactive power Q
 electricity that establishes & sustain the electric & magnetic fields of alternating-current equipments.
 must be supplied to most types of magnetic equipment, such as motor, generators, transformers.

Active power
 Wind turbine induction generator produces active power
only if it consumes reactive power

 Reactive power consumption increases grid currents and

Grid
losses and lowers the voltage Reactive power

 Important to be able to control the reactive power in the

power system

 Old turbines: the reactive power can be fully or partly

compensated locally by capacitor banks Capacitor
bank
 Modern turbines: the reactive power is controlled by
power converters
Electrical systems in wind turbines

88
 Type 1 wind turbine
Electrical components
 Squirrel cage induction generator (directly connected to the grid)
 Capacitor bank
 Soft-starter

Features
 Fixed or variable blade angle
 Generator speed almost constant
(small range around rated speed - typical slip < 1%)
 Speed kept passively by the torque characteristic
 Advantages: simplicity, robustness, low cost
 Disadvantages: high mechanical stress, lim. power quality control
 Widely used in the early 1990s
Passive generator torque control
 Type 2 wind turbine
Electrical components
 Wound rotor induction generator (directly connected to the grid)
 Variable rotor resistance (i.e. controlled optically through laser light)
 Capacitor bank

Features
 Variable blade angle
 By varying rotor resistance change torque characteristic (less steep)
 Dynamic speed range depends on the size of the resistance
(typically 0%- 10% above synchronous speed)
 Advantages compared to Type 1:
- generator torque can be actively controlled.
- variable speed operation (typically up to 10%)
- modestly lower drive-train mechanical stress.

 Disadvantages compared to Type 1:

- increased losses
- heat loss in the resistance – need to cool the resistance Limited active generator torque control
 Type 3 wind turbine (doubly-fed induction generator)
Electrical components
 Wound rotor induction generator (WRIG)
 Stator directly connected to the grid
 Rotor connected through a partial-scale bi-directional power converter
(approx. 30% of nominal generator power)

Features
 Variable blade angle
 Partial active generator torque control (rotor connected converter)
 Dynamic speed range depends on the size of the partial-scale converter
(typically ±30 % around synchronous speed)
 Advantages compared to Type 2
- much larger variable speed operation range can be achieved
- no power losses; better power quality
- control independently active/reactive power – fast and continuously, smooth grid connection → easily support the electric grid.

 Disadvantages
- use of slip rings
- power converter is sensitive to grid faults ( complicated protection systems)
 Type 3 operation
 Large but restricted variable speed range  The power from the rotor (slip power)
 The smaller the operational speed range, the less
power has to be handled by the bi-directional power 𝑃𝑃𝑟𝑟𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜 ≈ −𝑠𝑠𝑃𝑃𝑠𝑠𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡
converter connected to the rotor
where slip is defined based on the relation between
 Neglecting losses, wind turbine power 𝑃𝑃𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔 to the grid generator speed 𝜔𝜔𝑔𝑔𝑔𝑔𝑔𝑔 and magnetic field:
is sum of power contributions from the stator 𝑃𝑃𝑠𝑠𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡
and rotor 𝑃𝑃𝑟𝑟𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜 𝜔𝜔𝑔𝑔𝑔𝑔𝑔𝑔 = 1 − 𝑠𝑠 𝜔𝜔𝑚𝑚

𝑃𝑃𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔 ≈ 𝑃𝑃𝑠𝑠𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡 +𝑃𝑃𝑟𝑟𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜  The size of the converter relates both to the total
generator power and to the selected speed range and
hence the slip power
𝑷𝑷𝒔𝒔𝒕𝒕𝒕𝒕𝒕𝒕𝒕𝒕𝒕𝒕 𝑷𝑷𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈
Turbine

Grid  The cost of the power converter increases when the

available dynamic speed range around synchronous
speed increases.
𝑷𝑷𝒓𝒓𝒐𝒐𝒐𝒐𝒐𝒐𝒐𝒐
 Type 3 operation modes
DFIG works as generator both in over-synchronous and sub-synchronous - power converter able to operate
power flow in both directions (back-to-back/ bi-directional converter)
 Over-synchronous
- Generator rotates faster than the
synchonous magnetic field 𝜔𝜔𝑔𝑔𝑔𝑔𝑔𝑔 > 𝜔𝜔𝑚𝑚 Pstator > 0 Pstator > 0 Pgrid ≈ Pstator + Protor
- Negative slip 𝑠𝑠 < 0
Grid
- Positive rotor power 𝑃𝑃𝑟𝑟𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜 > 0

 Sub-synchronous
- Generator rotates slower than the
synchronous magnetic field 𝜔𝜔𝑔𝑔𝑔𝑔𝑔𝑔 < 𝜔𝜔𝑚𝑚 Protor < 0 Protor > 0
- Positive slip 𝑠𝑠 > 0
- Negative rotor power 𝑃𝑃𝑟𝑟𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜 < 0 Rotor circuit

The power is fed in or out of the rotor depending on the operation condition !
The stator feeds power into the grid no matter operation condition!
 Type 4 wind turbine

Electrical components
 WRIG / SCIG / PMSG fully decoupled from the grid
 Full-scale (stator connected) converter

Features
 Variable blade angle
 Active generator torque control (full scale converter control)
 Fully controllable generator speed (0% - 100% synchronous speed)
 Advantages compared to Type 3
- Larger variable speed range
- Fully controllable electrical frequency
- Control independently active/reactive power
- Possible direct drive option - with low speed multipole generator, no gearbox needed

 Disadvantages
- Large converter - higher cost and a higher power loss in the power electronics
Summary wind turbine types
TYPE 1 TYPE 3
Fixed speed Doubly-fed IG

TYPE 2 TYPE 4
Optislip Full converter
Wind turbine electrical systems

96
 Wind turbine types control capabilities
Wind turbine types Type 1 Type 2 Type 3 Type 4

Generator type

Speed range

Power converter (yes/no)

Converter capacity

Reactive power control

(yes/no)

Aerodynamic power
control (yes/no)

Generator power control

(yes/no)

MPPT control (yes/no)

97
Wind Power Plants
Control architecture and basic ancillary services

99
 Wind power plant definition

Wind turbine controller – energy at the lowest possible cost

WT  produce maximum possible power
 reduce the structural loads

Main
 A wind farm is a collection of wind turbines connected to the public
Grid grid through the same point of connection (PoC)
POC
WF  The wind turbines in a wind farm are controlled in a coordinated
manner, generally using a centralized controller, i.e. wind farm
controller

 A wind power plant is a wind farm with wind power plant

characteristics supporting the grid in the similar way conventional
generation units do.
WPP
 WPP controller
 interacts with the WT controllers to provide grid support,
 secures quality, stability and reliability of the power system

100
Wind power plants grid support

WPP Controller

Supported by the WPP controller through:

Communication

 control
Measurements

 communication
Point of
Connection

Wind Power Plant (WPP)

Technical capabilities of WPPs

to provide power system support are commonly required in
grid codes.
Wind farms with power plant characteristics

Traditionally: produce energy at the lowest possible cost

 to produce maximum possible power
 to reduce the structural loads on the mechanical components and thus theirs costs

Additionally now: active controllable components supporting the grid

 to provide grid support to secure power system quality, stability and reliability
 to reduce the required grid connection costs

Grid support
Wind farm Wind turbine
controller controllers
Wind power plant configuration

MV BUS
Main Grid

Main
POC transformer
POM

Measurements Communication

TSO/DSO
Grid
Dispatch
monitoring
SCADA

Support Services
services allocation
Power forecast
WPP Controller
 Wind power plant control architecture

Set-Points
from grid operator WPP Set-points to WTs
Grid status
Control Level
Co t o e
WTs
Measurements (individual)
Feedback signals
Control Level

Interaction

Control functionalities
Voltage control Reactive power control Temporary frequency response
Frequency control Power factor control
Synchronising power
Active power control Balance control
Power system damping
Delta control Power ramp rate control
 Basic control functionalities - examples

Active power control functions Reactive power control functions

 Balance control  Reactive power control
 Delta control  Automatic voltage control
 Power gradient limiter
 Automatic frequency control

Balance control Delta control Frequency control Voltage control

Power Reactive Power
Power Power
droop droop

∆+

time time frequency voltage

Wind power plant control architecture
Wind power plant
Ancillary services
PCC
Basic Pmeas PCC
Qmeas

Balance control
Wind turbine
WPP
Delta control
Psetpo int PrefWPP_ basic PrefWPP PrefWT,i
WPP Controller
Σ
WPP v v
Dispatch v
Power ramp rate control Qsetpo WPP
Qref WPP
Qref WT
Qref WTs
Σ
int _ basic ,i

Reactive power control

Power factor control Wind

measurements
Frequency control

Voltage control
TSO
PrefWT,i
Estimated
activation
P WTs v
available
Enhanced available
power

Inertial response ∆Pi ∆Pk

Services’
Power System Damping ∆Qi v
allocation ∆Qk

Synchronizing power

References
operation mode Measurements
Wind power plant controller with control services
 WPP active power control
Ability of a WPP to regulate downwards and upwards the WPP production to a power reference

Balance control Delta control

140 140

120 120

100 100

80 80
Power

Power
60 60

40 40

20
Available power
20
Actual power
0
0
0 100 200 300 400 500 600
0 100 200 300 400 500 600
Time
Time
Power gradient limiter
WPP active and reactive power control grid support

DIgSILENT
4.600

WPP
3.880
production in POC: different control functionalities are activated Available
in the same
powertime

9 m/s wind speed / Delta control 0.5 MW / Balance control 2 MW / Power ramp rate 1.2MW/min
3.160
4.600

2.440

2MW 2MW
Actual powerAvailable power
3.880
1.720 Balance Balance
Max.
production Delta control ∆ = 0.5 MW down Max. production Delta control ∆ = 0.5 MW down Max. production
1.000
0.00 240.0 480.0 720.0 960.0 [s] 1200.
3.160
2.00
Reactive power [MVar]

1.50
2.440
1.00
2MW 2MW
Actual power
0.50
Balance Ramp rate limiter Balance
1.720

0.00 Max.
production Delta control ∆ = 0.5 MW down Max. production Delta control ∆ = 0.5 MW down Max. production
1.000
-0.50
Qdemand = 0 Mvar Qdemand= 1 Mvar
0.00 240.0 480.0 720.0 960.0 [s] 1200
-1.00
0.00 240.0 480.0 720.0 960.0 [s] 1200.
[sec]

Centralised power control of wind farm with doubly fed induction generators
A.D. Hansen, P Sørensen, F Iov, F Blaabjerg - Renewable Energy 31 (7), 935-951
 WPP voltage control
1 Without WPP voltage control 2 With WPP voltage control

fault event
Voltage POC
PCC
power
Reactive PCC

Co‐ordinated voltage control of DFIG wind turbines in uninterrupted operation during grid faults
AD Hansen, G Michalke, P Sørensen, T Lund, F Iov - International Journal for Progress and Applications in Wind …
Wind power plant frequency and voltage control
• Frequency control Δ𝑃𝑃(𝑓𝑓)
– Frequency control can be
𝐾𝐾𝑃𝑃𝑃𝑃
implemented as a delta Δ𝑃𝑃(𝑓𝑓) to the 𝑃𝑃𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊 𝑃𝑃𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊
active power reference Σ Σ
+ 𝐾𝐾𝐼𝐼𝑃𝑃
-
𝑠𝑠
𝑃𝑃𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊
• Voltage control
– Voltage control can be implemented
instead of reactive power control
𝐾𝐾𝑃𝑃𝑃𝑃
𝑉𝑉𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊 𝑄𝑄𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊
Σ Σ
• Real controllers more complex: + 𝐾𝐾𝐼𝐼𝑉𝑉
-
– E.g. voltage drop control which 𝑠𝑠
modifies measured voltage to
calculated value in different point 𝑉𝑉𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊

111
WPP frequency control grid support

Signals to Rotor Side

Converter

Cascade
PI PI Power controller
Pgrid cascade

Pr ef Pgridref

ω gen Pnormalref

+
+
Maximum Power
Tracking Po int

Aux Pauxref
input
signal
Frequency controller

Combined Control
Inertia Control
Pauxref

(Frequency Error) P1auxref

(Rate of Change Inertia controller Droop controller
of System Frequency)

+
Pauxref

+
Droop Control
P2auxref
Pauxref
(Rate of Change Inertia controller
(Frequency Error) of System Frequency)
Droop controller Combined Controller
 WPP frequency control grid support
50.5
(b)
System Frequency (Hz)

(c)
50
(a)

49.5 Maximum
Minimum Rate of Load
Frequency Control
Frequency change Shedding
49 Scheme
(Hz) of frequency (MW)
(d) (Hz/sec)
48.5 No auxiliary 15.1
(a) 48.29 -2.8
Control (18%)
(e) Droop control
48 (b) 48.58 -2.8 0
0 2 4 6 8 10 12 on WF level
Time (sec) Droop control
(c) 48.69 -1.9 0
on WT level
(a) No auxiliary control (d)
Combined
48.68 -1.8 0
Control

(b) Droop control on WF level (e)

Inertia
control
48.52 -1.8 0

(c) Droop control on WT level

(d) Combined control
(e) Inertia control
Wind power plants

114
Some tasters

Examples - research results

Wind turbine modelling and controls
Normal operation
Grid fault operation

118
 Type 1 active stall wind turbine – normal operation

Power optimisation (wind speed 8m/s) Power limitation (wind speed 18m/s)

DIgSILENT

DIgSILENT
10.00 27.00
9.00 24.00
8.00 21.00
7.00 18.00
6.00 15.00
5.00 12.00
4.00 9.00
260.0 338.0 416.0 494.0 572.0 [s] 650.0 260.0 338.0 416.0 494.0 572.0 [s] 650.0
Measurement File: Wind speed [m/s] Measurement File: Wind speed [m/s]
Moving Average: Average wind speed [m/s] Moving Average: Average wind speed [m/s]

1.25 2.250

1.00 2.125

0.75 2.000

0.50 1.875

0.25 1.750

0.00 1.625
260.0 338.0 416.0 494.0 572.0 [s] 650.0 260.0 338.0 416.0 494.0 572.0 [s] 650.0
Cub_2\PQ Measurement: Power [MW] Blase angle control model: Power [MW]

1.50 -6.40

1.25
-6.80
1.00
-7.20
0.75
-7.60
0.50

0.25 -8.00

0.00 -8.40
260.00 360.00 460.00 560.00 [s] 660.00 260.00 360.00 460.00 560.00 [s] 660.00
Servo system model: Pitch angle [deg] Servo system model: Pitch angle [deg]
 Type 1 active stall wind turbine – grid fault operation
No fault-ride-through control With fault-ride-through control

DIgSILENT
DIgSILENT
1.030 1.098
0.85 0.91
0.68 0.72
0.50 0.53
0.33 0.34
0.15 0.15
-0.000 1.200 2.400 3.600 4.800 [s] 6.000 -0.000 1.200 2.400 3.600 4.800 [s] 6.000
WT Generator: Terminal Voltage in p.u. WT Generator: Terminal Voltage in p.u.

1.100 1.077
1.078 1.058
1.056 1.038
1.034 1.019
1.012 1.00
0.99 0.98
-0.000 1.200 2.400 3.600 4.800 [s] 6.000 -0.000 1.200 2.400 3.600 4.800 [s] 6.000
WT Generator: Speed in p.u. WT Generator: Speed in p.u.

3.380 3.039
2.610 2.391
1.840 1.743
1.070 1.096
0.30 0.45
-0.470 -0.200
-0.000 1.200 2.400 3.600 4.800 [s] 6.000 -0.000 1.200 2.400 3.600 4.800 [s] 6.000
WT Generator: Active Power in MW WT Generator: Active Power in MW

1.800 2.051

0.85 1.059

-0.095 0.07

-1.043 -0.926

-1.990 -1.918

-2.938 -2.910
-0.000 1.200 2.400 3.600 4.800 [s] 6.000 -0.000 1.200 2.400 3.600 4.800 [s] 6.000
WT Generator: Reactive Power in MVAr WT Generator: Reactive Power in MVAr
Type 3 Doubly-Fed Induction Generator (DFIG) wind turbine
Measurement
grid point M

N
AC DC
DC AC
T
PWM U dcmeas PWM

I acmeas
Irotor
θ Rotor side Grid side
meas
Pgrid
meas
converter control converter control Qgrid

DFIG control
ref
Qgrid U dcref
ω gen P ref
grid

meas
Pgrid
Speed control loop Power control loop
ref , rated
Pgrid
Wind turbine control
Type 3 operation
Below synchronous Above synchronous Below synchronous
(variable reference speed) (fixed reference speed) (variable reference speed)

DIgSILENT
1.2673

1.1064

0.945

0.784

0.624

0.463
-0.1000 71.919 143.94 215.96 287.98 .. 360.00
G: Pstator[MW]
Gen_PQ_controller: Pgrid [MW]

0.200

0.150

0.100

0.050

0.000

-0.0500
-0.1000 71.919 143.94 215.96 287.98 .. 360.00
G: Protor [MW]

9.2525

8.7577

8.2629

7.7682

7.2734

6.7787
-0.1000 71.919 143.94 215.96 287.98 .. 360.00
Tower shadow model: Wind [m/s]
Type 3 operation
Below synchronous Above synchronous Below synchronous
(variable reference speed) (fixed reference speed) (variable reference speed)

DIgSILENT
1.1813

1.1352

1.0890

1.0429

0.997

0.951
0.000 72.000 144.00 216.00 288.00 .. 360.00
G: Speed

750804.

624643.

498482.

372322.

246161.

120000.
0.000 72.000 144.00 216.00 288.00 .. 360.00
Transmission model: Aerodynamic rotor [Nm]

0.555

0.493

0.431

0.370

0.308

0.246
0.000 72.000 144.00 216.00 288.00 .. 360.00
G: Electrical Torque in p.u.

1.0000

0.600

0.200

-0.2000

-0.6000

-1.0000
0.000 72.000 144.00 216.00 288.00 .. 360.00
Limited_power_controller model: Pitch
Type 3 wind turbine control scheme –power converter control

Pref

ωmax ωmeas
~~
+ −

Speed
θ pitch
control
I dRSC I qGSC
RSC
I q IPrefgrid PI P I dGSC
+ Power Converter
control control
RSC
I qref
gen
P
RSC GSC GSC
I dref I dref I qref
−
ref
P grid
U dc Q GSC
grid
Q

Prefgrid Qrefgrid DC
U ref
GSC
Qref

124
 Type 3 wind turbine normal operation control

Power optimisation (wind speed 8m/s) Power limitation (wind speed 12m/s)

DIgSILEN
14.00

DIgSILENT
9.00
13.00
8.00 12.00
11.00
7.00
10.00
6.00 9.00
0.00 60.00 120.0 180.0 240.0 [s] 300.0 0.00 60.00 120.0 180.0 240.0 [s] 300.0
Rotor wind Model: wsfic Rotor wind Model: wsfic

1.000 8.000

0.60 6.200
0.20 4.400
-0.200 2.600
-0.600 0.80
-1.000 -1.000
0.00 60.00 120.0 180.0 240.0 [s] 300.0 0.00 60.00 120.0 180.0 240.0 [s] 300.0
Pitch angle control: Pitch angle [deg]_Ti=0.5 Pitch angle control: Pitch angle [deg]_Ti=0.5

1481.
1640.
1430.
1620.
1378.
1600.
1327.
1580.
1275.
1560.
1224.
0.00 60.00 120.0 180.0 240.0 [s] 300.0 1540.
Maximu power tracking model: Speed [rpm]_Ti=0.5 0.00 60.00 120.0 180.0 240.0 [s] 300.0
Maximu power tracking model: Speed [rpm]_Ti=0.5
1.000
2.100
0.90
1.960
0.80
1.820
0.70
1.680
0.60
1.540
0.50
0.00 60.00 120.0 180.0 240.0 [s] 300.0 1.400
PQ Control: Grid power [MW]_Ti=0.5 0.00 60.00 120.0 180.0 240.0 [s] 300.0
PQ Control: Grid power [MW]_Ti=0.5

125
Type 3 wind turbine – grid fault operation

DFIG system – control and protection

k
DFIG

c
Drive train
RSC GSC
Aerodynamics with gearbox ~ =
= ~

~
~
~
Pitch Power converter
control Crowbar control
Pref Qref

Fault Control mode

detection Normal operation
Wind turbine Fault operation
 Type 3 wind turbine – crowbas effects

On voltage dip
Increased crowbar
 RSC overcurrents
 improves the torque characteristic
 Crowbar activates / RSC disconnects
 reduces reactive power demand
 DFIG behaves as SCIG
 improves dynamic stability of the generator
 GSC can still be used as a STATCOM

3 0
. . . .
Electromagnetic torque [p.u.]

crowbar crowbar crowbar

R
1 < R
2 < R3

Reactive power [Mvar]

2
-5

1
-10
Damping controller
0
-15
-1

-20
-2
R1crowbar < R2crowbar < R3crowbar
-3 -25
-1 -0.5 0 0.5 1 1.5 2 2.5 3 -1 -0.5 0 0.5 1 1.5 2 2.5 3
Speed [p.u.] Speed [p.u.]
Type 4 wind turbine – PMSG full converter wind turbine

Variable Fixed
DC link
frequency frequency

Multipole
Gearless Grid
PMSG
drive train
Ta Tm
k AC DC

c DC AC

Frequency Converter

md mq
θ

ω gen ω gen Frequency

Pitch angle converter
control control

ref ref
U DC Pgrid MPP
Damping Controller 1 Controller 2
Controller (cascade) (cascade) tracking

ωe U DC US Pgrid Qgrid ωe

AC voltage oriented reference frame

d axis - active current / q axis - reactive current
Type 4 wind turbine normal operation control

DIgSILENT
13.00

Wind speed [m/s]

12.00
11.00
10.00
9.000
8.000
0.000 52.00 104.0 156.0 208.0 [s] 260.0

20.00

Pitch angle [deg]

16.00
12.00
8.00
4.00
0.00
-4.00
0.000 52.00 104.0 156.0 208.0 [s] 260.0

1.050
1.025
Speed [pu]

1.000
0.975
0.950
0.925
0.000 52.00 104.0 156.0 208.0 [s] 260.0

2.50
2.00
Pgrid [Mvar]

1.50
1.00
0.50
0.00
-0.50
0.000 52.00 104.0 156.0 208.0 [s] 260.0

2.00
1.00
Qgrid [Mvar]

0.00
-1.00
-2.00
0.000 52.00 104.0 156.0 208.0 [s] 260.0
[sec]
Type 4 wind turbine – grid fault operation

Gearless Multipole Frequency Converter

PMSG Grid
drive train
AC DC
k

c DC AC
Generator-side Chopper Grid-side
converter converter

md mq

Pitch angle Frequency converter control

control
Type 4 wind turbine – grid fault operation
Operation at high wind speeds

DIgSILENT

DIgSILENT
1.20 7.500
Grid voltage [pu]

]
1.00
6.800

g [
0.80
6.100
0.60
5.400
0.40

0.20 4.700

0.00 4.000
-1.00 0.00 1.00 2.00 3.00 [s] 4.00 0.00 1.25 2.50 3.75 [s] 5.00

3.00 1.040
Grid power [MW]/[Mvar]

1.024
2.00

Pgrid 1.008
1.00
Qgrid 0.992

0.00
0.976

-1.00 0.960
-1.00 0.00 1.00 2.00 3.00 [s] 4.00 0.00 1.25 2.50 3.75 [s] 5.00

2.300 1.80E+6
Generator power [MW]

1.900 1.50E+6

1.500 1.20E+6

1.100 9.00E+5

Pgen without chopper

0.700 6.00E+5

---- Pgen with chopper

0.300 3.00E+5
-1.00 0.00 1.00
[sec] 2.00 3.00 [s] 4.00 0.00 1.25 [sec] 2.50 3.75 [s] 5.00
References:
Hansen, A. (2012) Generators and power electronics for wind turbines. In book: Wind Power in Power Systems,
Second Edition. Edited by Thomas Ackermann. Chichester: John Wiley & Sons, Ltd. 2012.

Michalke G., Hansen A.D., Hartkopf T., Modelling and control of variable speed wind turbines for power system
studies, Wind Energy, volume 13 Issue 4, May 2010.

Hansen A.D., Michalke G., Multi-pole PMSG wind turbines’ grid support capability in uninterrupted operation
during grid faults, IET Renewable Power Generation, Vol.3,Issue 3, September 2009,p333-348.

Hansen A.D., Michalke G., Modelling and control of variable speed multi-pole PMSG wind turbine, Wind Energy ,
2008, Vol.11(5), pp 537-554.

Hansen A.D., Electrical system of wind turbines. Chapter in “Guidelines for design of wind turbines” DNV&RISØ,
3nd Edition (2007), 15 pp.

Hansen A.D., Michalke G., Fault ride-through capability of DFIG wind turbines, Renewable Energy, vol 32 (2007), pp 1594-1610

Hansen A.D., Michalke G., Sørensen P., Lund T., Iov F. Co-ordinated voltage control of DFIG wind turbines in uninterrupted operation
during grid faults, Wind Energy, Vol. 10, No. 1, 2007, pp.51-68.

Sørensen, P.; Hansen, A.D.; Lund, T.; Bindner, H., Reduced models of doubly-fed induction generators system of wind turbine
simulations. Wind Energy 2006, Vol.9, Issue 4, pp 299-311.

132