Point Tracking under Speed-Mode Control for Wind Energy Generation System with Doubly Fed Introduction Generator

Maximal Power
*Huazhong University of Science and Technology / Electrical and Electronic College, Wuhan, China **Hubei University of Technology / School of Electrical and Electronic Engineering, Wuhan, China
Abstract The Doubly Fed Induction Generator (DFIG) with back-to-back four-quadrant converters between its rotor winding and the grid can realize the maximal wind energy capture in variable-speed wind energy generation system. Based on the stator flux-oriented excitation vector control strategy, this paper presents that the system dynamic characteristics under speed-mode control are superior to the dynamic characteristics under current-mode control in the process of Maximum Power Point Tracking (MPPT) and brings forward the explanation based on state space theory. And it designs the gains of two typical PI controllers in the current inner loop and the speed outer loop under speed-mode control based on Internal Model Control (IMC) theory and pole assignment method, respectively. At last, simulation results in MATLAB/ SIMULINK are put forward to verify the good static and dynamic performance of the designed closed-loop control system.

Y.

Zhao*,

Zou*,

Xu*,

Kang*

Keywords-Doubly Fed Induction Generator (DFIG); current-mode control; speed-mode control; PI controller; Internal Model Control (IMC); pole assignment

I.

INTRODUCTION

synchronous speed when the wind speed is above the cut-in speed and under the rating speed; the generated active and reactive power can be controlled independently; the four-quadrant ac-to-ac converter connected between the rotor winding and the grid handles only a fraction of the total power to achieve the full control of the system. So with the rapid increase in capacity of single generator and wind farm, the research and application of the DFIG progress at a rapid rate in wind power generating application. The frequency conversion circuit between the rotor winding and the grid often adopts the configuration of two back-to-back four-quadrant voltage source converters, which is

The Doubly Fed Induction Generator (DFIG) produces constant frequency power to the grid with variable rotor speed in variable-speed wind energy generation system. It can realize the maximal wind energy capture with the rotor speed varying from subsynchronous to super-

popular at present, because of its powerful function. The rotor-side converter adopts stator flux-oriented vector control strategy to realize the decouple control of the active and reactive power, and the grid-side converter adopts grid voltage-oriented vector control strategy to control the dc-link voltage and the grid power factor. This paper discusses only the active power control of the system. The excitation control strategy adopted in the rotor-side converter based on the stator flux-oriented vector control enables Maximum Power Point Tracking (MPPT) to improve energy conversion efficiency by controlling the q -axis rotor current iqr, namely the active component of rotor current. The basic theory of MPPT is that the wind turbine can obtain the maximum wind energy when it rotates in a certain speed at a certain wind speed. Therefore, the Popt - cr characteristics have been given out [1], where Popt is the maximum energy that the power system obtains from wind energy and Or is the rotor speed. The MPPT control strategy can be divided into two hierarchical controls [2], i.e., the setting of reference value and the tracing of reference value. Based on the MPPT principle, the reference value is generally the active power Ps [3]- [5], the electromagnetic torque Te [1],[6]-[7] or the rotor speed Or [1],[8]-[9]. The former two may be termed 'current-mode control', and the last may be termed 'speed-mode control'[ 1]. Based on a third-order model related to the electromagnetic and mechanical aspects of DFIG, Section II presents a decoupled active and reactive power control strategy. Comparing the current-mode control and the speed-mode control, Section III presents that the system dynamic characteristics under speed-mode control are superior to the dynamic characteristics under current-mode control and brings forward the state space explanation. Section IV designs the gains of two typical PI controllers in the current inner loop and the speed outer loop under speed-mode control based on Internal Model Control (IMC) theory and pole assignment
IPEMC 2006

1-4244-0449-5/06/$20.00 (C2006 IEEE

method, respectively. Simulation results in MATLAB/SIMULINK are brought forward to verify the good static and dynamic performance of the designed closed-loop control system in Section V.
MODEL AND CONTROL STRATEGY OF DFIG The DFIG equations depicted in a two axis d-q reference frame rotating at synchronous speed are derived from Park's equations. The stator side of DFIG uses generator convention and the rotor side of DFIG uses motor convention. The voltage equations can be written as
II.
r lIds]

02 OLriqr
Udr
0.

U2I(QLs)
1

ldr

LoU

Rr +OLrS

L
'qr

(02 (oLr idr

+ L2jm SLS)
I

Uqr

LPU
Tm-

Figure 1. Block diagram of the DFIG model

Uqs
Udr
Uqr

F-Rs 0

O-Rs 00 iqs +p Vfqs O Rr O idr /dr 0 0 0 Rr -iqr -Yqr

--Ls
=

0 0 ids

FVds ]
+

COiVf

-C021/Jqr

IV1 s (1)

qs

6021fdr

The stator and rotor flux linkages in (1) are

LVqr

Vds Vqs Vdr

0 Ls 0 - Lo O - Lo
O
-

Lo 0 Lr 0

Lo
0

iIqs

ids

Lr J

Liqrj

idr

The motion equation is given by

J d + Boir dt
Te
=

The excitation control strategy based on the assumption (a) and (b) is often termed stator fluxoriented vector control strategy. Then the stator voltage vector is oriented to the q -axis of the reference frame. Thus realizes the stator voltage vector orientation, and the order of the DFIG model decreases from fifth to third which is beneficial to simplify the excitation control system of DFIG. The rotor voltage equations in (6) and (3) make up of a new third-order model. As mentioned in section I, the reference value could be active power Ps, electromagnetic torque Te or the rotor speed Or in order to realize the MPPT. The relationship between the reference values and the other variables is
Te
Ps
=

np

(Tm -Te )

(3)
(4)

The electromagnetic torque in (3) is

nfpLo(iqsidr - idsiqr)
=

npLo(iqsidr -idsiqr ) = LnQU5

Ls5

lqr

(7)

Equations (1) to (4) are set of differential equations making up of a fifth-order model which describes the dynamic behavior of DFIG. The voltages, currents and flux linkages are expressed by the d -axis and q -axis components in synchronous rotating reference frame. It is assumed that (a). Neglecting the influence of the stator flux linkage's transient state and orienting the d-axis of the synchronous frame to the direction of the stator flux vector. This implies that the differential of the stator flux linkage is zero and its vector with constant magnitude rotates in synchronous velocity. (b). Omitting Rs because the voltage drop on it is small. From the assumption (a)
p s =O

(8) Us Loiqr Ls Eq. (3), (7), (8) and the rotor voltage equations in (6) compose the full DFIG model as shown in Fig. 1.
Uds ids + Uqs iqs
=

Us iqs

III. CURRENT-MODE CONTROL AND SPEED-MODE CONTROL

and

Vds =

Vqs

The following voltage equations can (1) to (5) with the assumption (a) and (b).
U ds =
0

O be derived from
=

Vs

Uqs =Us

Udr =

(Rr + Lrp)idr Uqr = (Rr + Lrp)iqr

a

(02 OLr iqr

(6)

(JLr

idr +Loims /Ls)

Where
1

represents the leakage coefficient, L2l/(Ls Lr); ims is the stator flux magnetizing
=

current, ims

Vs /Lo = Us /(col Lo).

Under current-mode control, active power P5 and electromagnetic torque Te both have the proportional relationship with the q -axis rotor current iqr as (7) and (8) show. So, the reference value iqr for the current inner loop can derived from Ps or Te directly according to the certain proportion. Thus the active power and electromagnetic torque adopt the open-loop control as shown in Fig.2., where K1 = Ls /(Lo Us), K2 = Lscol/(LonpUs) . The cascaded control scheme under speed-mode control is depicted in Fig.3., where K3 = Lo np US /(Ls Co1) .The controller in the speed outer loop is a PI controller. The reference value of the active power, electromagnetic torque and rotor speed in Fig.2. and Fig.3. are determined by the MPPT theory. The controllers in the current inner loop under current-mode control or speed-mode control are both typical PI controllers. The cross-relation between the d -axis and q -axis rotor current components in (6) is feed-forward compensated in both Fig.2. and Fig.3. The active power, electromagnetic torque and rotor speed have the definite relationship at a certain wind

~1XiiV jqr
0)
Pi

-Rr+cyLrs

P1 1 iqrlZ t
1

LonpUTTe

Figure 2. Block diagram of the controller in current-control mode

i

iqr

Rr +cyLrS

T -

0)r

Js+ B

Figure 3. Block diagram of the controller in speed-control mode

speed based on the MPPT theory, which implies that with anyone of them reaching its reference value the system can obtain the maximal wind energy in static state. However, the current-mode control and the speedmode control have great differences in dynamic characteristics. The responsive rate of the system is low under current-mode control and at worst the system can not realize MPPT. On the contrary, the responsive rate of the system is fast under speed-mode control and can realize MPPT. This can be explained as below. The stator of DFIG can acquire the expected active power and electromagnetic torque rapidly because of the good response performance of the current loop under current-mode control. But this doesn't mean that the system reaches static state at the moment the rotor current reaches its desired value. The error between the mechanical power input and the active power the stator fed to the grid is divided into two parts: one part for rotor speedup and the other part for the rotor-side converter fed to the grid. The part for acceleration decreases and the other part increases with the rotor rotating velocity varying until the system comes to equilibrium. This transient process is determined by the DFIG motion characteristics and out of control. So, with little influence on the steady-state precision, the current-mode control doesn't improve the system dynamic performance whether the reference value is the active power or electromagnetic torque, whether the control scheme is the open-loop control in Fig.2. or the closed-loop control. The speed-mode control adds a speed outer loop to the current inner loop to form a cascaded closed loop control system, which including the motion part of the DFIG model as shown in Fig.3. That means the rotor speed varying process, the balance of active power and the balance of torque on the rotor shaft are in control. When analyzed with state-space theory, the q-axis rotor voltage Uqr is regarded as input variables; the q -axis rotor current iqr and the rotor speed Or are regarded as state variables; the active power, electromagnetic torque or rotor speed is regarded as output variable; the mechanical torque Tm is regarded as a disturbance. The control scheme of the current-mode control comprises only one state variable, the q -axis current iqr, which is fed back to form a current closed

loop, hence some electromagnetic quantities such as iqr , Ps and Te can be controlled. But the scheme doesn't contain the other state viable or and the motion characteristics of DFIG, which reflect on the uncontrollable of the motion response. The control scheme of the speed-mode control comprises both state variables, the q -axis current iqr and the rotor speed C6r, which are fed back to form a current inner closed loop and a speed outer closed loop. Thus the closed-loop control system holds the full system state information and can control all the variables, not only the electromagnetic ones but also the mechanic ones. Therefore, the dynamic characteristics under the speed-mode control are superior to the ones under current-mode control.
IV. CONTROLLERS

In order to achieve the excellent static and dynamic performance, this paper adopts the excitation control strategy under speed-mode control with two typical PI controllers used in the current inner loop and the speed outer loop, respectively. The gains of the two PI controllers are designed based on IMC theory and pole assignment method, respectively. A. PI Controller in Current Inner Loop The controller in current closed loop can be easily designed to get good dynamic performance of tracking introduction and restraining disturbance by using the IMC method [9],[10]. For the first-order system, the controller becomes a simple PI controller. The PI controller transfer function is (9) C(s) = Kpc + Kic I s With the model of the object being 1/(Rr + ULrS) the gains of the controller can obtained from below Kpc =ULr TI (10) Kic = Rr IT Thus the current inner loop equivalents an inertial link with filter parameter z . So, it is easy to design the gains of the PI controller by adjusting zi to achieve nice dynamic performance and robust control of the inner-loop control system. B. PI Controller in Speed Outer Loop The controller in speed outer loop is a PI controller too. The reference value for the current inner loop which offered by the outer loop controller represents below [3]

iqr = KPS (br -wr )+ Kis J(- )rt

(1 1)

Where b is a parameter introduced to the typical PI controller. The simplified block diagram of the control system is shown in Fig.4, where K4 = Lo /(LS wo ri= J/B.

nP US

B),

I.
*

(r

Kis

K4

Oil

Figure 4. Block diagram of the system under speed-mode control

From Fig.4., the system closed-loop transfer function is derived as below

s +Kis 1) G(s)=- rfs13 + (r + K4 (bK,s rI)s2 + (KpsK4 + I)s + KisK4

In the simulation, filter parameter z in the current loop is 2ms, parameter n is 5 and b is 50 in speed controller. The damping ratio and the natural frequency that the closed-loop control system expected is 1.2 and 60Hz. Controllers parameters are designed as Kp= 6.9, Kic = 408, Kps = 0.512, Kis = 11.88.
TABLE I. CHARACTERISTICS OF DFIG

Machine Characteristic rating active power (kW) mutual inductance (H)

stator inductance (H)

Value
4

The closed-loop characteristic equation is

0.28 0.287 0.287 0.5 0.816

3

D(s) = rris3 + (r +r1 )S2+ (KpsK4 + I)s + KisK4 (13)

Since the closed-loop control system is a third-order system, the gains of the PI controller are designed based on the pole assignment method to ensure good dynamic characteristics by assigning the closed-loop poles correctly [11]. The dynamic characteristic of a high order system are mainly determined by closed-loop dominant poles. The dominant poles of the system is
S1,2
=

rotor inductance (H)

stator resistance (Q)

rotor resistance (Q)

number of pole pair

Inertia(kgm2g )

0.05

-<rWr Jr

VI-2

(14)

And the non-dominant pole of the closed-loop control system is

S3 =-nlrOr

(15)

Where n is a parameter which decides the third pole's location in complex plane. The bigger value it has, the more approximate the response characteristics of the third-order system decided by S1,2,3 are to the response characteristics of the two-order system decided by the dominant poles S1,2. Usually, n = 5-10. The characteristic equation of the third-order system decided by Si 2,3 is Dr (S) = (S2 + 2/rwrs + wr2 Xs + nSrwr ) (16) = s + (n + 2)4rWrS2 + wr7 (2nr2 + 1)S +nfrWr The gains of the controller are obtained by the comparison of (13) and (16) + 1)-l n/K4 Kps = [7rr(2n r (17) Kis = n rrf1Or / K4 (Or, r and zi have the relationship Where n, zr, below Simulation results indicate that there exists overshoot even if Sr is larger than 1 because of the influence of the zero point which the PI controller introduced into the closed-loop control system. The parameter b in (12) allows placing independently the unique zero.
V. SIMULATION RESULTS

Fig.5. shows the simulation results under currentmode control. The mechanical torque fed into the rotor shaft is constant power torque, Pm = 4 kW. The active power as the reference value for the control system changes from 5kW to 3.33kW at i.1s. The stator-side active power Ps in Fig.5 (a) and the q -axis rotor current iqr in Fig.5(b) have fast response within 5ms because of the good dynamic performance of the current inner loop. While at the same time, the rotor-side active powerPrin Fig.5 (a) and the rotor mechanical rotating speed Wr in Fig.5 (c) reach their static value at 1.5s. The transient process lasts at least 0.4s and it will last longer with bigger rotor inertia. Fig.5 (d) shows the rotor current in rotor-side reference frame.
6000 5000 _ 20 , , 1

(a)

(b)

(n + 2)4rWOr (rZ + 'Zl )/(frri)

=

(18)

The characteristics of the rounded induction machine that have been used in the simulations are shown in Table

(c)

(d)

Fig. 5. Simulation results under current-mode control

REFERENCE
[1] R. Pena, J. C. Clare, and G. M. Asher, "Doubly fed induction generator using back-to-back PWM converters and its application to variable-speed wind-energy generation," Proc. Int. Elec. Eng., Electr. Power Appl., vol. 143, no. 3, pp.231-241, May 1996. [2] L. Jing, F. Yong, S. Jiahua, and W. Weisheng, "Research on subsection and layer control strategy of doubly-fed variable speed wind turbine," Proc. Power System Technology, Vol. 29, No.9, pp.15-21, May 2005. A. Tapia, G. Tapia, J. X. Ostolaza, and J. R. Sanenz, "Modeling and control of a wind turbine driven doubly fed induction generator," IEEE Trans. Energy Convers., vol. 18, no. 2, pp.194-204, June 2003. C. Abbey, and G. Joos, "Optimal reactive power allocation in a wind powered doubly-fed induction generator," in Proc. IEEE Power Engineering Society General Meeting, Vol.2, pp. 1491 1495, June 2004. Park, J.W.; Lee, K.W.; Lee, H.J.; "Control of active power in a doubly-fed induction generator taking into account the rotor side apparent power," in Proc. IEEE 35th Power Electronics Specialists Conference, Vol. 3, pp. 2060 - 2064, June 2004. B. Rabelo, and W. Hofmann, "Optimal active and reactive power control with the doubly-fed induction generator in the MW-Class wind-turbines," in Proc. IEEE Power Electronics and Drive Systems, vol.1, pp. 53 - 58, Oct. 2001. A. Mullane, and M. O'Malley. "The inertial response of induction-machine-based wind turbines," IEEE Trans. Power Syst., vol. 20, no. 3, pp.1496-1503, Aug. 2005. R. Datta, and V. T. Ranganathan, "A method of tracking the peak power points for a variable speed wind energy conversion system," IEEE Trans. Energy Convers., vol. 18, no. 1, pp. 163168, Mar. 2003. J. Morren, S. W. H. de Haan. "Ridethrough of wind turbines with doubly-fed induction generator during a voltage dip," IEEE Trans. Energy Convers., vol. 20, no. 2, pp.435-441, June 2005. X. D. Zou , Research on VSCF AC Excitation Doubly Fed Wind Energy Generation System and Its Control Technology, Doctor Dissertation. Wuhan: Huazhong University of Science and Technology, 2005. L. Peng, Research on Control Technique for PWM Inverters Based on State-Space, Doctor Dissertation. Wuhan: Huazhong University of Science and Technology, 2004.

(a)

(b)

[3]

[4]

(c)

(d)

[5]

Fig.6 Simulation results under speed-mode control

Fig.6. shows the simulation results under speed-mode control. The PI controller is designed based on pole assignment method in Section IV. The mechanical torque fed into the rotor shaft is a constant power torque, Pm = 4 kW. The rotor speed as the reference value for the control system changes from 800rpm to 1 OOOrpm at 1 .3s. The stator-side active power Ps and the rotor-side active power Pr in Fig.6(a), the q -axis rotor current iqr in Fig.6(b) and the rotor mechanical rotating speed in Fig.6(c) reach their static value at 1.4s. Fig.6 (d) shows the rotor current in rotor-side reference frame. The transient process lasts only 0.is. There is a dip in the stator-side active power curve and the q -axis rotor current curve as shown in Fig.6(a) and (b). This implies that, at the beginning of the transient process, the error between the mechanical power input and the active power the stator fed to the grid is larger than the error under current-mode control, and the part of the error for rotor speedup is larger than that under current-mode control too. The rotor accelerates rapidly with the appropriate change of theiqr. So, the transient process with all the electrical and mechanical variables varying does not last long.
VI. CONCLUSIONS This contribution presents that the speed-mode control is superior to the current-mode control because of the controllable of all the state variables under the speed-mode control. To get good static and dynamic performance, two typical PI controllers are designed based on the IMC and pole assignment method under

[6]

[7]

[8]

[9]

[10]

[11]

speed-mode control, respectively. The simulation results show the good performance of the control system.