D T C D F I G B W T V D: Irect Orque Ontrol of Oubly ED Nduction Enerator Ased IND Urbine Under Oltage IPS
D T C D F I G B W T V D: Irect Orque Ontrol of Oubly ED Nduction Enerator Ased IND Urbine Under Oltage IPS
ABSTRACT
This paper focuses the analysis on the control of doubly fed induction generator (DFIG) based high-power wind
turbines when they operate under presence of voltage dips. The main objective of the control strategy proposed
for doubly fed induction generator based wind turbines is to eliminate the necessity of the crowbar protection
when low-depth voltage dips occurs. A direct torque control fed induction generator control is divided into two
different control blocks. The first block that controls the machine’s torque and the rotor flux amplitude with
high dynamic capacity by Direct Torque Control. The second block that generates the rotor flux amplitude
reference in order to handle with the voltage dips. A direct torque control strategy that provides fast dynamic
response accompanies the overall control of the wind turbine. The proposed control does not totally eliminate
the necessity of the typical crowbar protection for turbines it eliminates the activation of this protection during
low depth voltage dips. Due to voltage dip in the wind turbine causes three main problems they are control
difficulties, disturbance in the stator flux, increase of voltage and currents in the rotor of the machine. The DC
bus voltage available in the back-to-back converter determines the voltage dips depth that can be kept under
control. The modeling of the complete system is done in MATLAB-SIMULINK. Simulation results show the
proposed control strategy that mitigates the necessity of the crowbar protection during low depth voltage dips.
KEYWORDS- DFIG, VSCF, CSCF, WECS
I. INTRODUCTION
With exhausting of traditional energy resources and increasing concern of environment, renewable
and clean energy is attracting more attention all over the world to overcome the increasing power
demand. Out of all the renewable energy sources, wind energy and solar energy are reliable energy
sources. Now a day, wind power is gaining a lot of importance because it is cost- effective,
environmentally clean and safe renewable power source compared to fossil fuel and nuclear power
generation. Asynchronous generators are more commonly used in systems upto 2MW, beyond which
direct-driven permanent magnet synchronous machines are A Wind Energy Conversion System
(WECS) can vary in size from a few hundred kilowatts to several megawatts. The size of the WECS
mostly determines the choice of the preferred. A grid connected WECS should generate power at
constant electrical frequency which is determined by the grid. Generally Squirrel cage rotor induction
generators are used in medium power level grid-connected systems. The induction generator runs at
near synchronous speed and draws the magnetizing current from the mains when it is connected to the
constant frequency network, which results in Constant Speed Constant Frequency (CSCF) operation
of generator. However the power capture due to fluctuating wind speed can be substantially improved
if there is flexibility in varying the shaft speed.
In such variable Speed Constant Frequency (VSCF) application rotor side control of grid-connected
wound rotor induction machine is an attractive solution. In double fed induction generator, the stator
is directly connected to the three phase grid and the rotor is supplied by two back-to-back PWM
converters as shown in Fig .1. Such an arrangement provides flexibility of operation at both sub-
synchronous and super synchronous speeds [9][10].
In Doubly Fed Induction Generator the rotor side converter is controlled by using different control
techniques like scalar control where the torque and flux have coupling effect, vector control where the
Another scalar control technique is Direct Torque Control in which torque and flux of generator are
directly controlled by converter voltage space vector selection through a look up table[11]. The
technique used in the paper is to operate the DFIG through proper selection of voltage vectors .The
operation of Doubly Fed Induction Generator during the voltage dips is explained by generating the
three phase fault at the grid [2]. The crowbar protection is to be eliminated in DFIG during the fault in
order to reduce losses and improve the efficiency of the machine. In order to eliminate that
protection, DTC is operated with rotor flux generation[3][4][5].The comparison of DFIG behavior
with and without the proposed rotor flux generation is observed through torque, stator and rotor
fluxes, rotor currents, stator currents, DC bus voltage and stator voltage[6] [7][8].
When the wind turbine is affected by a voltage dip it will address three main problems:
From the control strategy point of view the dip produces control difficulties since it is a
perturbation in the winding of the machine that is not being directly controlled (the stator).
The dip generates a disturbance in the stator flux, making necessary higher rotor voltage to
maintain control on the machine currents.
The power delivered through the rotor by the back to back converter will be increased due to
the increase of voltage and currents in the rotor of the machine finally an increase of the DC
bus voltage.
The main objective of the control strategy proposed in this paper is to eliminate the necessity of the
crowbar protection when low- depth voltage dips occurs. Hence, by using direct torque control(DTC)
with a proper rotor flux generation strategy during the fault it will be possible to maintain the
machine connected to the grid generating power from the wind, reducing over currents and
eliminating the torque oscillations that normally produce such voltage dips.
Section I briefs about the introduction to wind energy conversion system , section II explains
mathematical modeling of DFIG, section III explains about Direct Torque Control technique, section
IV explains about simulation of DTC of DFIG in WECS, section V shows the simulation results and
finally Section VI gives the conclusions and future scope of this work.
II. MATHEMATICAL MODELING OF DFIG
The wind generation system studied in this paper consists of two components: the Doubly-Fed
Induction Generator (DFIG) and the variable speed wind turbine. A detailed description of these two
components is given below. The DFIG may be regarded as a slip-ring induction machine, whose
stator winding is directly connected to the grid, and whose rotor winding is connected to the grid
through a bidirectional frequency converter using back-to-back PWM voltage-source converters [9].
The electrical part of the DFIG is represented by a fourth-order state space model, which is
constructed using the synchronously rotating reference frame (dq-frame), where the d-axis is oriented
along the stator-flux vector position. The relation between the three phase quantities and the dq
components is defined by Park’s transformation. The voltage equations of the DFIG are
ௗట
ܸௗ௦ = ܴ௦ ݅ௗ௦ − ߱௦ ߰௦ + ௗ௧ೞ (1)
ௗటೞ
ܸ௦ = ܴ௦ ݅௦ − ߱௦ ߰ௗ௦ + (2)
ௗ௧
ௗటೝ
ܸௗ = ܴ ݅ௗ − (߱௦ − ߱ )߰ + (3)
ௗ௧
Figure 4 The SIMULINK diagram of direct torque control of DFIG without rotor flux reference.
This block is required as it converts wind energy which is an input to the machine.
The inputs to the block are generator speed, pitch angle, wind speed, Lambda(tip-speed ratio).These
values are substituted in the mathematical modeling equations of turbine which are implemented as
blocks and the output ‘ܶ ’ is obtained. Based on the output obtained ܶ௧ , ܶ and ܶ are also obtained.
Turbine acts as a prime mover to the induction generator. Wind turbine pitch angle is 45 degrees
(constant) and wind velocity is varied between 0 to 20 m/sec randomly. The torque developed by
wind turbine is applied as load on induction generator. The aerodynamic torque(Tm) and mechanical
power (Po) generated by a wind turbine is given by Equation (22) and Equation (23) respectively.
ρπୖయ౨
T୫ = C୲ (λ) 0.5 η ൨ V୵
ଶ
(22)
ౝ౨
ଵ
ܲ = ܥ ߩܣ ܸ௪ଷ (23)
ଶ
3
Where Pm is the power in watts, ρ is the air density in g/m ,CP a dimensionless factor called power
Coefficient, Ar the turbine rotor area in m2 (Ar = πRr2, where Rr is the rotor blade radius), η gear is and
Vw the wind speed in m/s. The power coefficient is related to the tip speed ratio (λ) and rotor blade
pitch angle ࢼ according to Equation (26)
షభఴ.ర
ଵହଵ
Cp = 0.73 ቀ − 0.58ߚ − 0.002ߚଶ.ଵସ − 13.2ቁ ݁ ഊ (24)
ఒ
Whereૃܑ = . (25)
ି
ૃష. β శ
࣓࢘ ࡾ࢘
And ࣅ = ࢂ࢝
(26)
ܥ௧ = (27)
ఒ
In equation (6.5), ωr is the angular speed of the turbine shaft. The theoretical limit for CP is 0.59
according to Betz's Law but its practical range of variation is 0.2-0.4.
4.1.2 DTC block
Figure 8. Simulink diagram of direct torque control of DFIG with rotor flux reference.
0.8
0.6
0.4
e
Tm
0.2
-0.2
-0.4
0.7 0.75 0.8 0.85 0.9 0.95 1
t(s ec )
-0.15
-0.16
-0.17
-0.18
-0.19
Tem
-0.2
-0.21
-0.22
-0.23
-0.24
-0.25
0.7 0.75 0.8 0.85 0.9 0.95 1
t(sec)
The results show the variation in stator and rotor fluxes during the fault at the instant between 0.8 to
0.9 using with and without rotor flux reference.
1.2
1.1
0.9
0.8
u
r[p]
0.7
s
FF
0.6
0.5
0.4
0.3
0.2
0.7 0.75 0.8 0.85 0.9 0.95 1
t(sec)
Figure 11. Stator and Rotor fluxes without rotor flux reference.
1. 2
1. 1
0. 9
0. 8
u
r[p]
0. 7
s
FF
0. 6
0. 5
0. 4
0. 3
0. 2
0.7 0. 75 0.8 0.85 0.9 0.95 1
t (sec)
Figure 12. Stator and Rotor fluxes with rotor flux reference.
The results show the variation in rotor currents during the fault at the instant between 0.8 to 0.9
using with and without rotor flux reference.
1
Ir
-1
-2
-3
0.7 0.75 0.8 0.85 0.9 0.95 1
t(sec )
0.8
0.6
0.4
0.2
Ir 0
-0.2
-0.4
-0.6
-0.8
-1
0.7 0.75 0.8 0.85 0.9 0.95 1
t(sec)
The results show the variation in stator currents during the fault at the instant between 0.8 to 0.9
using with and without rotor flux reference.
3
0
Is
-1
-2
-3
0.7 0.75 0.8 0.85 0.9 0.95 1
t(sec)
0.8
0.6
0.4
0.2
0
Is
-0.2
-0.4
-0.6
-0.8
-1
0.7 0.75 0.8 0.85 0.9 0.95 1
t(sec)
The results show the variation in DC bus voltage during the fault at the instant between 0.8 to 0.9
using with and without rotor flux reference.
1265
1260
1255
1250
Vbus
1245
1240
1235
1230
0.7 0.75 0.8 0.85 0.9 0.95 1
t(sec)
1260
1255
Vbus 1250
1245
1240
1235
1230
0.7 0.75 0.8 0.85 0.9 0.95 1
t(sec)
0.8
0.6
0.4
0.2
Vs[pu]
-0.2
-0.4
-0.6
-0.8
-1
0.7 0.75 0.8 0.85 0.9 0.95 1
t(sec)
VI. CONCLUSION
The direct torque control of doubly fed induction machine is used to generate the required rotor pulses
using the rotor flux reference generation strategy. The proposed control strategy is used during the
low depth voltage dips for higher voltage dips it is necessary to use crowbar protection. The DC bus
voltage available in the back-to-back converter determines the voltage dips depth that can be kept
under control.
The direct torque control combines the benefits of vector control and direct self-control into a sensor-
less variable-frequency drive that does not require a PWM modulator. In steady state there is a ripple
in the torque. This ripple depends on the switching frequency of the inverter which is determined by
the torque and flux band. At the time of starting DTC draws high current. The switching frequency of
the inverter varies over a wide range because of using hysteresis controllers. The magnitude of the
stator flux can be maintained constant and several bright spots show the points where stator flux halts.
In the transient state, the highest torque response can be obtained by selecting the fastest accelerating
voltage vector to produce the maximum slip frequency. In steady state, by selecting the acceleration
vector and the zero voltage vectors alternatively, the torque can be maintained constant. Since the flux
ripples are relatively small and minor loops are not observed in the locus, harmonic losses and
acoustic noise of the machine may be effectively decreased. The transient response of the drive is fast
with independent control of flux and the torque.
Thus the DTC offers excellent dynamic performance and gives good torque response than the field-
oriented control. It may be predicted that the DTC will be the most preferred control algorithm for
A.C. drives in future because of its simplicity in control logic.
REFERENCES
[1] Joris Soens, Vu Van Thong, Johan Driesen, Ronnie Belmans, “Modeling wind turbine generators for power
system simulations,” European Wind Energy Conference EWEC, Madrid, 16 – 19 June 2003
[2] Branislav Dosijanoski, “Simulation of Doubly-Fed Induction generator in a Wind Turbine,” XI
International PhD Workshop OWD 2009, 17–20 October 2009
A. Jaya laxmi was born in Mahaboob Nagar District, Andhra Pradesh, on 07-11-1969. She
completed her B.Tech. (EEE) from Osmania University College of Engineering, Hyderabad in
1991, M. Tech.(Power Systems) from REC Warangal, Andhra Pradesh in 1996 and completed
Ph.D.(Power Quality) from Jawaharlal Nehru Technological University College of
Engineering, Hyderabad in 2007. She has five years of Industrial experience and 12 years of
teaching experience. She has worked as Visiting Faculty at Osmania University College of
Engineering, Hyderabad and is presently working as Associate Professor, JNTU College of Engineering,
Hyderabad. She has 6 International and 2 Indian Journals to her credit. She has 40 International and National
papers published in various conferences held at India and also abroad. She is presently guiding 15 research
scholars at various universities. Her research interests are Artificial Intelligence Applications to Power Systems,
FACTS & Power Quality. Her paper on Power Quality was awarded “Best Technical Paper Award” for
Electrical Engineering in Institution of Electrical Engineers in the year 2006. Dr. A. Jaya Laxmi is a Member of
IEEE, Member of Institution of Electrical Engineers Calcutta (M.I.E), Member of Indian Society of Technical
Education (M.I.S.T.E) and Member of System Society of India (S.S.I)