Modeling and Control of Wind Turbine with

Doubly Fed Induction Generator

Feng Wu, Xiao-Ping Zhang, Member, IEEE, Keith Godfrey, and Ping Ju, Member, IEEE

Abstract--The growing integration of wind energy into power detailed modeling of converter and WT controllers are either
networks will have a significant impact on power system not included, or they are simplified. It has been recognized
stability. With the development of Wind Turbine (WT) that the DFIG controllers have significant effects on the
techniques, the Doubly Fed Induction Generator (DFIG) system stability. In order to address this issue, a dynamic
becomes the dominant WT type used in wind farms. In this model including the dynamics of converters and controllers is
situation, DFIG should be modeled properly in power system
stability analysis. A detailed model of the WT with DFIG and its presented in this paper. Based on the model, small signal
associated controllers is presented, based on which the small stability of WT with DFIG is carried out, and in particular the
signal stability model is derived. Small signal stability analysis effect of the controller parameters on the system stability is
shows that the DFIG control can significantly improve the discussed.
stability of WT system. Applying a set of optimized controller
parameters, the stability can be further enhanced. Dynamic II. MODEL OF WIND TURBINE WITH DFIG
simulations are performed to illustrate the control performance.
Index TermsWind power generation, Doubly fed induction
A. Model of DFIG
generator, Control systems, Eigenvalues, Dynamic response
Basically, DFIG is an induction type generator. The
I. INTRODUCTION equivalent circuit of DFIG as shown in Fig. 1 is similar to that
of an induction machine [4].
W ind power generation has been developed very quickly
during the past few years. At present, the capacity of the Rs  jX s Rr  jX r
installed wind power in the world is more than 40 GW. With
ids  jiqs idr  jiqr
the growing penetration of wind energy into power grids, the
impact of WT on power system stability is of increasing
concern, and the dynamics of wind turbines should be Rr
(1  s r )
carefully considered in power system stability analysis. sr

In the development of WT techniques, several types of WT vds  jvqs jX m

such as fixed speed WT, limited variable speed WT, WT with
DFIG, and full-scale variable speed WT have been
(vdr  jvqr )
considered. Recently, the WT with DFIG is becoming popular sr
[1] because it has the characteristics of high energy transfer
efficiency, low investment and flexible control. The stator of a
DFIG is normally connected to a power grid directly, and its
rotor winding is fed back from the terminal of the stator by Fig. 1. Equivalent circuit of DFIG.
controlled voltage source converters. The converters only
supply the exciting current of DFIG, hence the capacity is Z s Lm Z s Lm
fairly low; approximately 20%-25% of the DFIG rated Defining Edc  \ qr , Eqc \ dr , X s Z s Lss ,
Lrr Lrr
capacity. The active power and the reactive power or the
voltage may be controlled independently. Lm 2 Lrr
X sc Z s ( Lss  ) , T0c , the model of DFIG can be
A third order model suitable for transient stability analysis Lrr Rr
was presented in [2]. It was implemented in PSS/E, and
given as follows:
simulation of the dynamics of DFIG was also given. In [3], a
X sc di ds 1
detailed dynamic model of DFIG was proposed, and the small v ds  [ R s  ( X s  X sc )]i ds  (1  s r ) E dc
Z s dt Z s T0c
signal stability was analyzed. However in these papers, the (1)
L 1
 m v dr  E qc  X sc i qs
F. Wu is with the School of Engineering, University of Warwick, Lrr Z s T0c
Coventry, CV4 7AL, UK (e-mail: Feng.Wu@warwick.ac.uk).
X sc diqs 1
X.-P. Zhang is with the School of Engineering, University of Warwick, v qs  [ Rs  ( X s  X sc )]iqs  (1  s r ) E qc
Coventry, CV4 7AL, UK (e-mail: X-P.Zhang@warwick.ac.uk ). Z s dt Z s T0c
K. Godfrey is with the School of Engineering, University of Warwick, (2)
Coventry, CV4 7AL, UK (e-mail: K.Godfrey@warwick.ac.uk ). Lm 1
 v qr  E c  X sc ids
P. Ju is with the College of Electrical Engineering, HoHai University, Lrr Z s T0c d
Nanjing, 210098, China (e-mail: pju@hhu.edu.cn).

142440178X/06/$20.002006IEEE 1404 PSCE2006

dE dc Lm 1 stator active power.
s r Z s E qc  Z s v qr  [ E dc  ( X s  X sc )iqs ] (3)
dt Lrr T0c C. Model of fed back Converters
dE qc L 1 The configuration of the fed back converters is shown in
 s r Z s E dc  Z s m v dr  [ E qc  ( X s  X sc )ids ] (4)
dt Lrr T0c Fig. 2, the active power flow through the converters is
where \ dr and \ qr are the direct (d) and quadrature (q) axis balanced. With the definition the positive direction of the
currents, the power balance equation can be obtained
rotor flux linkages, respectively; Lss is the stator self- Pr P g  PDC (12)
inductance; Lrr is the rotor self-inductance; Lm is the mutual
inductance; Rr is the rotor resistance; Z s is the synchronous where Pr is the active power at the AC terminal of the rotor
side converter. Pg is the active power at the AC terminal of the
angle speed; sr is the rotor slip; Xs is the stator reactance; X sc grid side converter. PDC is the active power of the DC link.
is the stator transient reactance; E dc and E qc are the d and q These are given by
axis voltages behind the transient reactance, respectively; T0c Pr v dr idr  v qr iqr (13)
is the rotor circuit time constant; ids and iqs are the d and q Pg v dg idg  v qg iqg (14)
axis stator currents, respectively; v ds and v qs are the d and q dv DC
PDC v DC i DC Cv DC (15)
axis stator terminal voltages, respectively; v dr and v qr are the dt
where idr and iqr are the d and q axis rotor currents,
d and q axis rotor voltages, respectively.
respectively; idg and iqg are the d and q axis currents of the
B. Model of Drive Train
grid side converter, respectively; v dg and v qg are the d and q
The drive train comprises turbine, gearbox, shafts and other
mechanical components of WT, which is usually represented axis voltages of the grid side converter, respectively; vDC is the
by a two-mass model [3]. The generator rotor shaft is capacitor DC voltage; iDC is the current of the capacitor; C is
connected to the turbine shaft flexibly via gearbox and the capacitance of the capacitor.
coupling, the two-mass model is given by Substituting (13)-(15) into (12), the model of the converters
dZt and DC link can be derived as follows:
2H t Tm  Tsh (5) dv
dt C DC v dg idg  v qg iqg  (v dr idr  v qr iqr ) (16)
dT tw dt
Z t  Z r Z t  (1  s r )Z s (6)
dt
ds
2 H g r Tem  Tsh (7)  
dt  Ir i DC Ig
Vr v DC Vg
dT
Tsh K shT tw  Dsh tw (8)
dt - - -
where Ht and Hg are the inertia constant of the turbine and the
generator, respectively; Zt is the wind turbine angle speed; Fig. 2. Fed back converters between rotor and grid.
Z r is the generator rotor angle speed; T tw is the shaft twist
angle; Ksh is the shaft stiffness coefficient; Dsh is the damping III. MODEL OF CONTROLLERS
coefficient; Tsh is the shaft torque; Tm is the wind torque, A decoupling control for the active power and reactive
which is the power input of the WT; Tem is the electromagnetic power of DFIG was developed in [5]. Aligning the direction
torque. Tm and Tem are given by of the d axis of the d-q reference frame with the stator voltage,
0.5USR 2C pVw3 vqs becomes zero, vds is equal to the magnitude of the terminal
Tm (9) voltage, then the grid side active power and reactive power
Zt
can be controlled independently by idg and iqg, respectively.
Tem Ps / Z s (10) The stator active power and voltage can also be controlled
where independently using decoupling control technique.
RC f
1 RC f 0.255
O A. Rotor Side Converter Controller Model
Cp (  0.022E  2)e (11)
2 O The rotor side converter controller aims to control the DFIG
where U is the air density; R is the wind turbine blade radius; active power output for tracking the input power of the wind
Vw is the wind speed; Cf is the blade design constant turbine, and maintain the terminal voltage to the reference
coefficient; E is the blade pitch angle; O is the blade tip value. The active power and voltage are controlled
speed ratio, ( O Z t R / V w ); Cp is the power coefficient (the independently via vqr and vdr, respectively. The control block
diagrams are shown in Fig. 3. With introducing the
maximum Cp may be achieved by controlling the WT speed in
intermediate variables x1, x2, x3 and x4, the following equations
order to track the maximum power from wind); and Ps is the

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based on Fig. 3 can be obtained: dx6
dx1 idg _ ref  idg  K Pdg 'v DC  K Idg x5  idg (28)
Pref  Ps (17) dt
dt dx7
iqr _ ref K p1 ( Pref  Ps )  K i1 x1 (18) iqg _ ref  iqg (29)
dt
dx 2 dx6
iqr _ ref  iqr 'vdg K pg  K ig x6 (30)
dt (19) dt
K p1 ( Pref  Ps )  K i1 x1  iqr K Pg ( K pdg 'v DC  K Idg x5  idg )  K Ig x6
dx3 dx 7
v s _ ref  v s (20) 'v qg K pg  K ig x 7
dt dt (31)
idr _ ref K p 3 (v s _ ref  v s )  K i 3 x3 (21) K Pg (i qg _ ref  i qg )  K Ig x 7

dx4 where Kpdg and Kidg are the proportional and integrating gains
idr _ ref  idr of the DC bus voltage regulator, respectively; Kpg and Kig are
dt (22)
the proportional and integrating gains of the grid-side
K p 3 (vs _ ref  vs )  K i 3 x3  idr
converter current regulator, respectively; vDC_ref is the voltage
vqr K p 2 ( K p1'P  K i1 x1  iqr )  K i 2 x2 (23) control reference of the DC link; iqg_ref is the control reference
v dr K p 2 ( K p 3 'v  K i 3 x3  idr )  K i 2 x 4 (24) for the q axis component of the grid side converter current.
where Kp1 and Ki1 are the proportional and integrating gains of v DC _ ref
the power regulator, respectively; Kp2 and Ki2 are the  K idg idg _ ref K ig
K pdg  K pg  'vdg
proportional and integrating gains of the rotor-side converter - s  - s
idg
current regulator, respectively; Kp3 and Ki3 are the proportional v DC
iqg _ ref
and integrating gains of the grid voltage regulator, K ig 'vqg
- K pg 
 s
respectively; vs_ref is the specified terminal voltage reference;
iqg
Pref is the active power control reference and is given by.
Zt Fig. 4. Grid side converter control block diagram.
Pref PB (25)
ZtB C. Pitch Controller
where ZtB is the base of the WT rotating speed; PB is the Pitch of the blade is controlled to maintain the rotating
maximum output active power at ZtB . speed of the WT to the optimal speed. The control block
diagram is illustrated in Fig. 5, while the control equation is
given by (32).
ids (Zs  Zr ) Lm
Ki4 E
iqr _ ref *
vqr 'Z t K p4 
Pref  K K  s
K p1  i1 K p2  i2 vqr
 s  - s  
Ps Fig. 5. Pitch control block diagram.
iqr (Zs  Zr ) Lrr

dE Tm  Tsh
idr (Zs  Zr ) Lrr K p4  K i 4 'Z t (32)
dt 2H t
*
vs _ ref  - vdr
 Ki3 K i2 - vdr where Kp4 and Ki4 are the proportional and integrating gains of
- K p3  K p2 
s idr _ ref s  - the WT speed regulator, respectively. 'Z t is the deviation of
vs
iqs (Zs  Zr ) Lm the WT rotating speed.
Fig. 3. Rotor side converter control block diagram.
IV. DYNAMIC MODEL OF WT WITH DFIG
Equations (1)-(7) and (16) are the model of the WT with
B. Grid Side Converter Controller
DFIG, among which (1) and (2) describe the dynamics of the
The grid side converter controller, as shown in Fig. 4, aims stator current, and may be neglected in electromechanical
to maintain the DC link voltage, and control the terminal transient stability analysis by making the left hand side
reactive power. The voltage of the DC link is controlled by idg differentials equal to zero. Equations (17), (19), (20), (22)-
while the reactive power is controlled by iqg. With introducing (24), (26), (28)-(31) and (32) are the model of the controllers.
the intermediate variables x5, x6 and x7, the following The dynamic model of the WT with DFIG may be written in
equations based on Fig. 4 can be obtained: the compact form.
dx5 x f (x, z, u) (33)
v DC _ ref  v DC (26)
dt z g (x, u) (34)
idg _ ref  K Pdg 'v DC  K Idg x5 (27)
where x, z, u are the vectors of the DFIG state variables,

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control output variables and input variables, respectively, and 'v ds 0 X TL 'ids 'idg
they are given by  X  (39)
'v qs 0 'iqs 'iqg
x >Z t , E , T tw , s r , ids , iqs , E dc , E qc , x1 , x 2 , x3 , x 4 , v DC , x5 , x6 , x7 @T , TL
'vds 'vdg 0  X Tg 'idg
z >vdr , vqr , vdg , vqg @T , u >vds , vqs , idg , iqg @T 'vqs  'vqg X 0 'iqg
(40)
Tg
V. SMALL SIGNAL MODEL OF WT WITH DFIG Combining (39) and (40):
'u K1'x  K 2 'z (41)
A. Interfacing with Power Grid
B. Model of Small Signal Stability
Taking single machine and infinite bus (SMIB) system as
an example as shown in Fig. 6, the voltage equation can be Linearizing (33), (34), and substituting (34) and (41) into
obtained: (33), small signal model of the WT with DFIG can be
U s M  U0 jX TL ( I s  I g ) (35) obtained as follows:
'x A'x (42)
where U is the voltage of the infinite bus. U s M is the where A is the system state matrix, whose dimension is 16 by
terminal voltage of the DFIG generator stator winding. X TL is 16.
the combined reactance of the transformer and transmission The dynamics of the stator current may be neglected in the
line and given by X TL X T  X L . small signal analysis by setting the differentials of the stator
currents equal to zero in (42). Then the reduced small signal
model is given by
Vs M V0
Is I 'x c B'x c (43)
G where B is the reduced system state matrix, whose dimension
X Tg is 14 by 14. xc is the reduced state vector, given by
Vg X T XL
B2B VSC xc >Z , E, T
t tw @T
, sr , Edc , Eqc , x1 , x2 , x3 , x4 , vDC , x5 , x6 , x7 .
Ig
VI. SMALL SIGNAL STABILITY ANALYSIS
Fig. 6. SMIB system.
A. WT without controller
The network voltage equation (35) and the WT model are The reduced small signal model (43) is used for the small
presented in x-y and d-q references of frame, respectively. The signal stability analysis. The eigenvalues and participation
relationship between these two references of frame is factors of the system state matrix are calculated using the
illustrated in Fig. 7, while the corresponding transfer function parameters presented in Appendix A. The results are shown in
is given by (36). Table I, and it can be seen that the WT system is stable since
y all the eigenvalues have negative real parts. In particular there
q
are two modes of oscillation with frequencies of 10.6 Hz and
d 4.65 Hz, respectively. The mode with the higher oscillation
M frequency is associated with the DFIG rotor speed state
x variables, and the mode with the lower oscillation frequency is
Fig. 7. d-q frame respect to x-y frame. associated with the DFIG stator state variables and the DC
link state variable.
fd cos M sin M f x
 sin M cos M f (36) TABLE I
fq y ANALYSIS OF EIGENVALUES AND PARTICIPATION FACTORS OF WT
where f d and f q are the d and q axis components,
O V Z f(Hz) ASV1 ASV2 ASV3
respectively; f x and f y are the x and y axis components,
O1,2 -1.19 66.7 10.6 sr T tw --
respectively.
Substituting (36) to (35), we have O3,4 -6.34 29.2 4.65 Edc vDC Eqc

v ds cos M 0  X TL ids idg O5 -2.0 0 0 Zt -- --

V   (37)

v qs  sin M X TL 0 iqs iqg O6 -72.8 0 0 vDC Edc --

*ASV: ASSOCIATED STATE VARIABLE
The voltage equation of the grid side converter is
 X Tg idg B. WT with Controllers
v ds vdg 0
v qs  vqg X 0 iqg
(38) Small signal stability analysis for the WT with controllers
Tg
was carried out using the controller parameters listed in
where XTg is the reactance of the grid side transformer. Appendix B [6]. The results are shown in Table II. It can be
Linearizing (37) and (38), we have: found that the system is stable. In comparison to the results in

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Table I where WT controllers are not considered, the damping VII. DYNAMIC SIMULATIONS
of the system increases and there are two additional modes of Simulations, which were performed in MATLAB/
oscillation: one is mainly associated with E qc with a SIMULINK, aimed to verify the improvement in stability by
frequency of 18 Hz; the other one is associated with Zt of the the DFIG controllers with the optimized parameters. The
system consists of a wind farm, a motor load, and an infinite
wind turbine with a frequency of 0.11 Hz. The frequency of
voltage source, the details can be found in MATLAB v7.1
the mode associated with E dc increases noticeably, while the
Demo. The step changes of -0.1 pu and 0.1 pu are applied
frequency of the mode associated with slip s r of the DFIG simultaneously to the voltage reference and active power
rotor decreases slightly. reference, respectively. The dynamics of the terminal voltage,
active power and DC-Link voltage are shown in Figs. 8-10. It
TABLE II can be seen that using the optimized controller parameters, the
ANALYSIS OF EIGENVALUES AND PARTICIPATION FACTORS OF WT
CONSIDERING CONTROLLERS
dynamics of the WT have been significantly improved. The
oscillation after the disturbance was damped out very quickly.
O V Z f (Hz) ASV1 ASV2 In particular the peak DC link voltage was reduced noticeably,
which is very beneficial to the operation of the fed back
O1,2 -70.2 113.4 18 Eqc x3 converters.
O3, 4 -2.24 60 9.55 sr T tw
O 5, 6 -70.4 52.4 8.34 E dc x1 1.05
Optimized
O 7 ,8 -0.32 0.68 0.11 Zt E Original

O9 -17041 0 0 vDC --
1

O10 -173.6 0 0 x5 x6
Terminal Voltage(pu)

O11 -81.89 0 0 x1 x7
0.95
O12 -14.5 0 0 x5 x6
O13 -24.1 0 0 x2 x4
O14 -24.97 0 0 x4 x2 0.9

C. Optimization of Controllers Parameters

It has been recognized that controller parameters have 0.85
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
significant effect on the stability of power systems, and a good Time(S)

set of parameters will improve system stability. In this paper,

Particle Swarm Optimization (PSO) algorithm is utilized to Fig. 8. The terminal voltage.
optimize the parameters of the DFIG controllers. The
optimized parameters are presented in Appendix C. The
results of the small signal analysis using the optimized 8.5
controllers' parameters are shown in Table III. Optimized
Original
TABLE III 8

ANALYSIS OF EIGENVALUES AND PARTICIPATION FACTOR WITH OPTIMIZED

CONTROLLERS' PARAMETERS
7.5
Active Power(pu.)

O O1,2 O3,4 O5,6 O7 O8 O9

7
V -101 -2.46 -77.7 -68251 -193 -89.6
Z 67.8 63.4 59.9 0 0 0
6.5
O O10 O11 O12 O13 O14
V -17.9 -17.6 -4.18 -0.15 -0.03
6
Z 0 0 0 0 0

5.5
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
From Table III, it can be seen that the number of the Time(s)
oscillation modes decreases from four to three, while the
damping increases, and the rest of the modes are damping Fig. 9 The active power output.
modes.

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 C. Optimized Controller Parameters
1230
Optimized kp1=0.6, ki1=80.4, kp2=0.27, ki2=5.1,
1225 Original
kp3=1.48, ki3=219,
1220 kpdg=0.012, kidg=0.054,
kp4=10, ki4=100, kpg=0.73, kig=131
1215
DC-Link Voltage(V)

1210
1205
1200
1195
1190
1185
0 0.05 0.1 0.15 0.2
Time(s)
Fig. 10. The DC-Link voltage.
VIII. CONCLUSIONS
In the paper, a dynamic model of the WT with DFIG
including its controllers has been presented, based on which
the model for small signal stability analysis has been
established. The small signal stability analysis of the WT
system with and without controllers has also been carried out.
It has been found that when the WT system without the
controllers is stable, then the stability of the WT system can
be improved using the controllers. Using a set of optimized
parameters for the controllers of DFIG, the stability of WT
system can be further improved. The numerical examples have
demonstrated the importance of the DFIG control, and in
order to achieve a better control performance, the controllers
should be designed or tuned properly.
X. REFERENCES
[1] P. B. Eriksen, T. Ackermann, H. Abildgaard, P. Smith, W. Winter and
J.M. Rodriguez Garcia, "System operation with high wind penetration,"
IEEE Power & Energy Magazine, Vol.3, pp. 65-74, Nov. 2005.
[2] Y. Lei, A. Mullane, G. Lightbody, and R. Yacamini, "Modeling of the
wind turbine with a doubly fed induction generator for grid integration
studies," IEEE Trans. on Energy Conversion, vol.21, no. 1, pp. 257-264,
Mar. 2006.
[3] F. Mei, B. C. Pal, "Modelling and small-signal analysis of a grid
0.25 0.3 0.35 0.4 0.45 0.5 connected doubly-fed induction generator," Proceedings of IEEE PES
General Meeting 2005, San Francisco, USA, 2005.
[4] P. Kundur, Power system stability and control. New York: McGraw-
Hill, 1994, pp. 279-306.
[5] M. Yamamoto, O. Motoyoshi, "Active and reactive power control for
doubly-fed wound rotor induction generator," IEEE Trans. on Power
Electronics, Vol.6, pp. 624-629, Aug. 1991.
[6] MATLAB SimPowerSystems Users Guide, Version 4, The Math Works
Inc., Natick, U.S.A., 2006.
XI. BIOGRAPHIES
Feng Wu received the B.Eng and M.Sc degrees from HoHai University,
China, in 1998 and 2002, respectively. He is presently working for PhD
degree at University of Warwick, UK. His research interest is Wind Turbine
modeling and control.
Xiao-Ping Zhang (M95) received the BEng., MSc. and PhD degrees in
electrical engineering from Southeast University, Nanjing, China in 1988,
1990, 1993, respectively. He worked at NARI, Ministry of Electric Power,
China on EMS/DMS advanced application software research and development
between 1993 - 1998. He was an Alexander-von-Humboldt Research Fellow
with the University of Dortmund, Germany from 1999 to 2000. Currently he is
Senior Lecturer at the University of Warwick, England, UK. He coauthored
the monograph "Flexible AC Transmission Systems: Modelling and Control"
published in 2006. He is a member of the IEEE and CIGRE.

IX. APPENDIX Keith R. Godfrey is Professor and Head of the Systems Modeling and
Simulation Research Group in the School of Engineering at the University of
Warwick. He received the Doctor of Science degree from the University of
A. Parameters of Wind Turbine System Warwick in 1990 for publications with the collective title Applications of
Wind turbine: Modeling, Identification and Parameter Estimation in Engineering and
Biomedicine. He is author, or co-author, of more than 170 papers and is a
Ht=3 s, Hg=0.5 s, Ksh=10, Dsh=3.14 member of the IFAC Technical Committees on Biomedical Engineering and
DFIG: Control, and on Modeling, Identification and Signal Processing. He was
Rs=0.00706, Ls=0.171, Lm=2.9, Rr=0.005, Lr=0.156, awarded the Honeywell International Medal (2000/2001) of the Institute of
Measurement and Control for distinguished contributions to control
Lss=Ls+Lm, Lrr=Lr+Lm engineering.
Converter:
C=0.001, VDC0=1200 v, XTg=0.55 Ping Ju (M95) received the BEng. and MSc. degrees in Electrical
Engineering from Southeast University, China in 1982, 1985, respectively. In
B. Original Controller Parameters 1988 he received the Ph.D. degree in Electrical Engineering from Zhejiang
University, Hangzhou, China. He is now Professor of Electrical Engineering
kp1=1, ki1=100, kp2=0.3, ki2=8, in the College of Electrical Engineering at HoHai University, Nanjing, China.
kp3=1.25, ki3=300, Dr. Ju was an Alexander-von-Humboldt Fellow at the University of
kpdg=0.002, kidg=0.05, Dortmund, Germany.
kp5=10, ki5=100, kpg=1, kig=100

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