A Novel Control Scheme for a

Doubly-Fed Induction Wind

Generator
Under Unbalanced Grid
Voltage Conditions
Ted Brekken, Ph.D.
Assistant Professor in Energy Systems
Oregon State University
Outline

• Wind Energy Overview

• Research Objectives
• DFIG Overview
• DFIG Control
• Unbalance and Induction Machines
• DFIG Unbalance Compensation
• Hardware Results
Global Wind Energy

• Almost 12 GW added between 2004 and

2005.
Source: Global Wind Energy Outlook 2006, Global Wind Energy Council
New Installations - 2005

• Most of new installations continue to be in

US and Europe.
Source: Global Wind Energy Outlook 2006, Global Wind Energy Council
Wind Energy Overview
• Germany
US
Spain
Denmark
India
US Installed Projects

• Because of slow Midwest growth, the US still has

huge potential.
Source: American Wind Energy Association, www.awea.org/projects
Wind Energy Overview
• Wind generators and farms are getting larger.
• 5 MW wind generators are now available with 7 MW in the works.

(graphic from Vestas.com)

Wind Generator Topologies

• Direct connected.
• Simplest.
• Requires switch to prevent motoring.
• Draws reactive power with no reactive control.
Wind Generator Topologies

• Doubly-fed.
• The doubly-fed topology is the most common for high power.
• Rotor control allows for speed control of around 25% of synchronous.
• Rotor converter rating is only around 25% of total generator rating.
• Reactive power control.
Wind Generator Topologies

• Full-rated converter connected.

• Lower cost generator than DFIG. Lower maintenance.
• Converter must be full-rated.
• Full-rated converter allows for complete speed and reactive power control.
• Could also be used with a synchronous generator.
Wind Generator Topologies

• Direct-drive.
• Eliminate the gearbox by using a very-high pole synchronous generator.
• Resulting generator design is relatively wide and flat.
• No gearbox issues.
• Full-rated converter is required.
• Full speed and reactive power control.
Wind Energy Issues

• Wind is intermittent
– Limits wind’s percentage of the energy mix
• Wind energy is often located in rural areas
– Rural grids are often weak and unstable, and prone
to voltage sags, faults, and unbalances
• Unbalanced grid voltages cause many problems
for induction generators
– Torque pulsations
– Reactive power pulsations
– Unbalanced currents
Outline

• Wind Energy Overview

• Research Objectives
• DFIG Overview
• DFIG Control
• Unbalance and Induction Machines
• DFIG Unbalance Compensation
• Hardware Results
Research Objectives

• Research was carried out from 2002 to 2005 at the U of

M and at NTNU in Trondheim, Norway on a Fulbright
scholarship
• Doubly-fed induction generators are the machines of
choice for large wind turbines
• The objective is to develop a control methodology for a
DFIG that can achieve:
– Variable speed and reactive power control
– Compensation of problems caused by an unbalanced grid
• Reduce torque pulsations
• Reduce reactive power pulsations
• Balance stator currents
Outline

• Wind Energy Overview

• Research Objectives
• DFIG Overview
• DFIG Control
• Unbalance and Induction Machines
• DFIG Unbalance Compensation
• Hardware Results
DFIG Overview - Topology

stator grid

DFIG

rotor
DC link
AC DC

DC AC

• Rotor control allows for speed and reactive power

control. (Cage IG are fixed.)
DFIG Overview – Variable Speed
Control

• Higher Cp means
more energy
captured
• Maintain tip-speed
ratio at nominal
value

(graphic from Mathworks)

DFIG Overview – Reactive Power
Control

Rr ' Re Vr I r 
*
2 2 R ' P
Ps  I r '   Ir ' r  r
s s s s

Im  Vr I r 
2 2
Vs Vs Qr
Qs    
Xm s Xm s

0.2  s  0.2
Outline

• Wind Energy Overview

• Research Objectives
• DFIG Overview
• DFIG Control
• Unbalance and Induction Machines
• DFIG Unbalance Compensation
• Simulation Results
• Hardware Results
DFIG Control
• Control is done by transforming three-phase to
two-phase
DFIG Control – Machine Flux
Oriented

• q-axis controls reactive power (flux)

• d-axis controls torque
DFIG Control – Grid Flux Oriented

• Align d-axis with

voltage, instead of
flux
• Easier, more stable
• d-axis -> torque
• q-axis -> reactive
power (Qs)
DFIG Control

• d-axis controls torque, hence speed

DFIG Control

• q-axis controls reactive power (Qs)

DFIG Control – Stability

• DFIGs naturally
have complex
poles near the
RHP, near the
grid frequency

(ird/vrd transfer function)

Outline

• Wind Energy Overview

• Research Objectives
• DFIG Overview
• DFIG Control
• Unbalance and Induction Machines
• DFIG Unbalance Compensation
• Hardware Results
3 Phase Voltage Unbalance

• Causes torque puslations, reactive power

pulsations, unbalanced currents, possible
over heating
• Unbalance can be seen as the addition of
a negative sequence
• Unbalance factor (VUF, IUF) is the
magnitude of the negative sequence over
the magnitude of the positive sequence
Unbalance – Second Harmonic
balanced unbalanced

1+0.2 sin(2 x-30 /180)

1.2

1.1
• Therefore,
1 compensate for the
second harmonic in
0.9

0.8

the dq system
0 1 2 3 4 5 6
x
Outline

• Wind Energy Overview

• Research Objectives
• DFIG Overview
• DFIG Control
• Unbalance and Induction Machines
• DFIG Unbalance Compensation
• Hardware Results
Unbalance Compensation

• Intentionally injecting a disturbance with an auxiliary

controller to drive the disturbance to zero
d-axis Inner Loop

• Compensation controller looks like a bandpass and lead-

lag filter

 s0 Q filt  s  z  1 
Cd ,comp  Cd ,comp ,bpCd ,comp ,ll  k  2
 s  s  Q   2  s   1 
 0 filt 0  p 
 Compensation Controller Design

Bode Diagram
Bode Diagram From: In(1) To: ird
40 40

20
20

Magnitude (dB)
Magnitude (dB)

-20 0

-40
-20
-60

-80 -40
180 90
w ith comp
45 w ithout comp
90
Phase (deg)

Phase (deg)
0

-45
0
-90

-90 -135
0 1 2 3 4 0 1 2 3 4
10 10 10 10 10 10 10 10 10 10
Frequency (Hz) Frequency (Hz)

(Cd,comp) (d-axis loop gain)

Outline

• Wind Energy Overview

• Research Objectives
• DFIG Overview
• DFIG Control
• Unbalance and Induction Machines
• DFIG Unbalance Compensation
• Hardware Results
Hardware Pictures
 Hardware Results (15 kW)
• Transient activation of compensation
• VUF = 0.04
Generator Torque Generator Stator Reactive Power

reactive power (per unit)

-0.5
0.2
torque (per unit)

0.1

-1 0
-0.1
-0.2
-1.5
0 0.2 0.4 0.6 0.8 1 1.2 0 0.2 0.4 0.6 0.8 1 1.2
time (seconds) time (seconds)
Generator Torque 100 Hz Magnitude Generator Stator Reactive Power 100 Hz Magnitude

reactive power (per unit)

0.4
torque (per unit)

0.2
0.3

0.2 0.1
0.1

0 0
0 0.2 0.4 0.6 0.8 1 1.2 0 0.2 0.4 0.6 0.8 1 1.2
time (seconds) time (seconds)
Hardware Results (15 kW)
Generator Stator and Rotor Active Power Stator Voltage and Current Unbalance Factor
0.3
active power (per unit)

stator VUF
0
rotor IUF

-0.5 0.25

-1
0.2

unbalance factor
0 0.2 0.4 0.6 0.8 1 1.2
time (seconds)
Generator Total Active Power 0.15
active power (per unit)

total
0

0.1
-0.5

-1 0.05

0 0.2 0.4 0.6 0.8 1 1.2 0 0.2 0.4 0.6 0.8 1 1.2
time (seconds) time (seconds)

Stator Current Rotor d-Axis Voltage

0.2
isa
1

voltage (per unit)

current (per unit)

isb 0.1
isc
0 0

-0.1
-1
-0.2
0 0.2 0.4 0.6 0.8 1 1.2 0 0.2 0.4 0.6 0.8 1 1.2
time (seconds) time (seconds)
Stator Current 50 Hz Magnitude Rotor q-Axis Voltage
0.2
isa
voltage (per unit)
current (per unit)

isb 0.1
1
isc
0
0.8
-0.1

0.6 -0.2
0 0.2 0.4 0.6 0.8 1 1.2 0 0.2 0.4 0.6 0.8 1 1.2
time (seconds) time (seconds)
Hardware Results (15 kW)
• Steady
Torque 100 Hz Component Stator Reactive Power 100 Hz Component
0.4
no comp (hardware) no comp (hardware)
0.35 w/comp (hardware) w/comp (hardware)
no comp (simulation) 0.25 no comp (simulation)

state
w/comp (simulation) w/comp (simulation) y=6.2e+000*x-0.00
0.3

reactive power (per unit)

0.2 y=6.6e+000*x-0.01
0.25

torque (per unit)

y=6.8e+000*x-0.00
y=9.3e+000*x+0.01
0.2 0.15

0.15
0.1

0.1

0.05
0.05 y=3.2e-001*x+0.02
y=2.9e-001*x+0.00
y=5.9e-001*x-0.00
0 y=3.5e-001*x-0.00
0
0 0.01 0.02 0.03 0.04 0.05 0.06 0 0.01 0.02 0.03 0.04 0.05 0.06
stator voltage unbalance factor (VUF) stator voltage unbalance factor (VUF)

Stator Current Unbalance Factor (IUF)

no comp (hardware) Reduction, Simulation:

Torque -> 11.5
w/comp (hardware)
0.25 no comp (simulation)

Qs -> 17.7
w/comp (simulation)

0.2 y=7.1e+000*x-0.01 y=6.1e+000*x-0.00

IUF -> 7.4
unbalance factor

0.15

0.1
Reduction, Hardware:
y=1.3e+000*x+0.02
Torque -> 29.1
0.05
Qs -> 22.8
IUF -> 5.5
y=8.2e-001*x-0.00

0
0 0.01 0.02 0.03 0.04 0.05 0.06
stator voltage unbalance factor (VUF)
Thank You!

Questions?