DYNAMIC MODELING, ANALYSIS AND SIMULATION OF GRID CONNECTED

DOUBLY FED INDUCTION GENERATOR BASED WIND POWER UNDER DIFFERENT

OPERATING CONDITIONS
JAGDEEP SINGH LATHER
1
, SUKHWINDER SINGH
2
& SANJAY MARWAHA
3

1
Associate Professor, Department of EE, National Institute of Technology Kurukshetra, Haryana, India
2
Assistant Professor, Department ECE, Ambala College of Engineering and AR, Ambala, Haryana, India
3
Professor, Department EIE, SLIET,Deemed-University, Sangrur, Punjab, India

ABSTRACT
This paper presents a state space mathematical dynamic model of doubly fed induction generator based on phase
voltages. A simulink model has been designed with the help of Matlab2010 in SimPowerSystem simulink tool to analyze
the effect of different operating conditions on the performance of DFIG. Analysis of unbalance in grid voltage and some
operating conditions such as sub synchronous, synchronous and super synchronous speed has been carried out. On the
basis of simulation results obtained, discussions were carried out to explain the suitability and effectiveness of the analysis
as compared to detailed line voltage model of the DFIG in Matlab demo. This paper also gives an overview on the
requirements of suitable robust control design aspects to control various abnormal conditions and to maintain system
stability and reliability.
KEYWORDS: DFIG, Wind Farm, Stability, Unbalanced Conditions
INTRODUCTION
With the advent of new technologies of variable speed wind turbine (DFIG and SG) with enhanced features to
control and maintain constant power under uncertain and unbalanced circumstances make them very popular in the market.
The market share of wind power increased over past few decades. DFIG had gain more popularity as compared to
Synchronous generator (SG) because DFIG requires only 25-30% of the total nominal power rating of the generator, to
operate control functions. So the control equipment rating is also small and which makes it more economical as compared
to SG which requires power electronic control equipment of same rating as that of generator nominal power
rating[1][5][6][7]. In recent years a lot of publications and research reports were submitted on wind technologies, which
were entirely focused on mathematical modeling of DFIG based wind turbines. It include aerodynamic modeling of wind
system, DFIG modeling, PWM modeling and modeling of Control system [4][7][8][9]. Matlab was used to simulate and
test the mathematical model of DFIG and its performance under different uncertain conditions [15]-[18].In the previous
studies many controllers were proposed to control of active power ,Reactive power compensation and other uncertain
conditions are based on fuzzy control, discrete control based on trapezoidal rules, direct torque control, Neural Networks,
Artificial Neural Networks, Evolutionary Strategy, Stator flux oriented control and PLL(Phase locked loop) control [6]-
[22].However mathematical models of DFIG given in [1][3][4] and [12] provided more resemblance to practical or actual
conditions but they were still based on different assumptions to simplify the expressions, So need to develop a more
accurate mathematical model to explore practical and more accurate behavior of model to predict and to design more
efficient control strategies. The main objectives covered in this paper are.
- To construct a state space mathematical model of the DFIG-Wind turbine system based on phase voltages.
International Journal of Electrical and
Electronics Engineering Research (IJEEER)
ISSN 2250-155X
Vol. 3, Issue 2, Jun 2013, 29-40
TJPRC Pvt. Ltd.
30 Jagdeep Singh Lather, Sukhwinder Singh &Sanjay Marwaha
- To construct a Simulink model of DFIG-Wind turbine system.
- Effect of different operating conditions such as grid voltage variation and DFIG speed variations has been carried
out.
In this paper a sixth ordered Mathematical model for DFIG was constructed by the use of first order differential
equations in continuous time frame with phase to ground voltages. Simulation results were obtained under different
operating conditions.
MODELING OF DOUBLY FED INDUCTION GENERATOR
Doubly Fed induction Generator DFIG)
A Wound rotor asynchronous generator is known as DFIG machine. According to Parks Transformation, the
relation between stator Phase to ground Voltages van, vbn ,vcn and d-q-0 frame are given by following matrix equation(1)
as[7][12].
0
cos sin 1
cos( 2 / 3) sin( 2 / 3) 1
cos( 4 / 3) sin( 4 / 3) 1
qs
ans
bns ds
cns s
v
v
v v
v v
u u
u t u t
u t u t
( (
(
( (
(
= ( (
(
( (
(

( (
(1)
Where u is the angular displacement between stator phasor
ans
v and q-axis running at synchronous speed.
So p.u. (per unit) values of stator phase voltages are given by equations (2)-(4)
{ } . .
2
3 3 1 1
cos * *[ cos sin ] *[ cos sin ]
2 2 2 2
3
qs p u ans bns cns
ph base
v v v v
v
u u u u u = + + +

(2)
{ } . .
2
3 3 1 1
sin * *[ sin cos ] *[ sin cos ]
2 2 2 2
3
ds p u ans bns cns
ph base
v v v v
v
u u u u u = + + +
(3)
{ }
0 . .
2
1 1 1
* * *
2 2 2
3
s p u ans bns cns
ph base
v v v v
v
= + +
(4)

Similarly, Rotor phase abc to qd0 transform referred to stator gives following equations.
' . .
3 1
cos * *[ cos sin ]
2
2 2
*
3
3 1
*[ cos sin ]
2 2
anr bnr
qr p u
ph base
cnr
u
v v
v
v
v
| | |
| |

+

=
`

+ +
)
(5)
' . .
3 1
cos * *[ cos sin ]
2
2 2
*
3
3 1
*[ cos sin ]
2 2
anr bnr
qr p u
ph base
cnr
u
v v
v
v
v
| | |
| |

+

=
`

+ +
)
(6)
{ }
0 ' . .
2
1 1 1
* * * *
2 2 2
3
r p u anr bnr cnr
ph base
u
v v v v
v
= + +
(7)
r
where | u u = is the angular displacement between rotor phase Var and q-axis and
r
u relative angular
displacement between stator and rotor phase voltages.
Where u=Ns/Nr turn ratio.
Dynamic Modeling, Analysis and Simulation of Grid Connected Doubly Fed Induction 31
Generator Based Wind Power Under Different Operating Conditions
In arbitrary reference frame d-q-0 the stator voltage equations for DFIG can be written as:
qs
s ds S qs
qs
d
R i
dt
v
|
e |
=
+ +
(8)
ds
s qs S ds
ds
d
R i
dt
v
|
e |
=
+
(9)
0
0
s
S s
qs
d
R i
dt
v
|
=
+

'
' ' '
'
( )
qr
s r dr r qr
qr
d
R i
dt
v
|
e e |
=
+ +
(10)
'
' '
'
( )
dr
s r qs r dr
dr
d
R i
dt
v
|
e e |
=
+
(11)
0 '
' 0 '
'
r
r r
qr
d
R i
dt
v
|
=
+
(12)
0
'
'
0 '
( )
( )
0 0 0 0 0 ( )
0 0 0 0 0
( )
0 0 0 0 0 0
0
0 0 0 0 ( ) 0
( )
' 0 0 0 ( ) 0 0
0 0 0 0 0 0
( )
'
( )
0 '
qs qs
s
d s ds
s
s r qr
s r
dr
r
t
qs
t
t
ds
t
s
t
qr
t
dr
t
r
v
v
v
v
v
v
|
e
| e
e e
e e
|
|
|
|
|
|
-
-
-
-
-
-
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
= +
(
(
(
(
(
(
(
(
(
(
(
(

(

(
(
(

0 0
' ' '
'
' '
'
0 ' 0 '
( )
0 0 0 0 0
( ) ( ) 0 0 0 0 0
( ) ( ) 0 0 0 0 0
0 0 0 0 0 ( ) ( )
0 0 0 0 0
( ) ( )
0 0 0 0 0
( ) ( )
qs
s
s ds s
s s s
r qr qr
r
dr dr
r
r r
i t
R
t i t R
t i t R
R t i t
R
t i t
R
t i t
|
|
|
|
( (
(
( (
(
( (
(
( (
(
( (
(
( (
(
( (
(
( (
(
( ( (


(13)
1
0 0
' ' '
'
' '
'
0 ' 0 '
( ) ( )
0 0 0 0
( ) ( ) 0 0 0 0
( ) ( ) 0 0 0 0 0
0 0 0 0 ( ) ( )
0 0 0 0
( ) ( )
0 0 0 0 0
( ) ( )
qs qs
ls M M
ds ds ls M M
s s ls
M lr M qr qr
M lr M
dr dr
lr
r r
i t t
L L L
i t t L L L
i t t L
L L L i t t
L L L
i t t
L
i t t
|
|
|
|
|
|

( (
+ (
(
(
+
(
(
(
(
( =
(
+
(
(
(
(
+
(
(
( (


(
(
(
(
(
(
(
(
(14)

( )
md
t | =d-axis component of mutual flux.
( )
mq
t | =q-axis component of mutual flux.

m
| =Resultant Mutual Flux
Lad=Laq=Equivalent inductance seen from stator
msat
L =Assumed value of inductance corresponds to mutual flux
msat
| at saturation.
Where
32 Jagdeep Singh Lather, Sukhwinder Singh &Sanjay Marwaha
( )
, '
t
qdo
s r
|
= first order differential of flux linkages stator and rotor(referred to stator).
, ' s r
qdo
v
=voltage
vector in qd0 frame of stator and rotor (referred to stator).
| |
W = angular speed of stator and rotor flux linkages.
[L]= Self inductance and mutual inductances matrix.[R] and [is,r]= Resistance and current matrices. Therefore,
( )
( )
0 ( )
'( )
'( )
0 '( )
( )
0 0 0 0 0 ( )
0 0 0 0 0
( )
0 0 0 0 0 0
0
0 0 0 0 ( ) 0
( )
'
0 0 0 ( ) 0 0
0 0 0 0 0 0
( )
'
( )
0 '
qs t
s
ds t
s
s t
s r
qr t
s r
dr t
r t
t
qs
t
ds
t
s
t
qr
t
dr
t
r
v
v
v
v
v
v
e
e
e e
e e
|
|
|
|
|
|
-
-
-
-
-
-
(
(
(
( (
( (
( (
( (
( (
= +
( (

( (
( (
( (
( (

(
(
(

1
' '
' '
' '
( )
0 0 0 0 0 0 0 0 0
( 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
qs
ls M M s
ds ls M M s
ls s
M lr M r
M lr M r
lr r
t
L L L R
t L L L R
L R
L L L R
L L L R
L R
|
|

+ ( ( (

( ( (
+

( ( (

( ( (

( ( ` (
+
( ( (
( ( (
+
( ( (
( (

)
0
'
'
0 '
)
( )
( )
( )
( )
s
qr
dr
r
t
t
t
t
|
|
|
|
(
(
(
(
(
(
(
(
(

(15)
Or can be written as
| | { }
, ' , '
1
, ' , '
6 6
6 1 6 1
6 1
( ) [ ][ ] * ( )
, '
s r s r
qdo s r s r qdo
t v W R L t
qdo
s r
|
|
-

(
( ( (
= +

(

(16)
Electro-Mechanical Model of DFIG
From equation (16) flux linkages and phase currents were obtained using simulation model then
electromechanical torque of DFIG can be obtained by using following expression as given below[7][12].
3
( )
2 2
e ds qs qs ds
p
T i i | | =
(17)
The other torque which is given by the turbine to accelerate the rotor of DFIG known as mechanical torque and is
denoted by Tm for generator operation Te acts opposite to Tm. So the net torque available to accelerate the rotor shaft of
the generator depends upon the moment of inertia of the generator H, Tm, Te, angular speed Wr and damping toque as
expressed by the following expression [7].
( / ) 1
( / ) . . (18)
2
r
e m r
d w wb
T T Fw wb p u
dt H
=

1
( / ). . (19)
2
r
e m r
w
T T Fw wb dt p u
wb H
=
}

Where H is inertia constant, F damping coefficient and wb is base angular speed.
WIND TURBINE MODEL
Aerodynamic Model
The mechanical power produced by the turbine on interaction with wind depends upon swept area S of the air disk
formed by the rotation of the turbines blades S, power coefficient of performance Cp(depends upon collective blade pitch
angle | and tip to speed ratio ), air density and wind speed V. The expression for power extracted from wind is given
by [6][8][12] following equation.
3
1
P ( , )
2
r P
C SV | =
(26)
Dynamic Modeling, Analysis and Simulation of Grid Connected Doubly Fed Induction 33
Generator Based Wind Power Under Different Operating Conditions
Similarly torque produced is given by the equation as follows.
2
1
( , )
2
r Q
T C R SV | =
(20)
Hence the equation for thrust exerted on the tower Ft is given as follows.
2
1
( , )
2
T T
F C SV | =
(21)
Where Ct thrust coefficient, Cq is the torque coefficient ,R is the radius of the rotor. Cq=Cp/ and =Rwr/V.
Where Wrt is the rotor speed of turbine. Figure.1 illustrate the variation of performance coefficients of Cp and Ct.
0
5
10
15
-5
0
5
10
15
20
25
0
0.5
lambda
beta
C
p

(a)

(b)
Figure 1: (a), (b) Variations of Cp and Ct
SIMULATION MODEL OF WIND FARM
To explore DFIG-wind turbine performance characteristics under different operating conditions a simulation
model DFIG-Wind turbine in Sim Power System tool was constructed using MATLAB
R
2010.The model which was given
in [12] is based on line voltages with D-Q frame. In [12] it is difficult to obtain zero sequence currents. In this model we
have taken phase voltages to study performance of the DFIG.
SIMULATION STUDIES UNDER VARIOUS OPERATING CONDITIONS
To study and explore the observations from simulation results we have taken various operating conditions such as
generators rotor running with under synchronous speed, Synchronous speed and super synchronous speed ,effect of
capacitor voltage Vdc of the 3-phase converter on the grid side rotor voltages and currents .Also the effect of grid voltage
dip incorporated in the system to study stability issues.
Under Synchronous Speed Operation
In this mode of operation rotor of DFIG is running at less than synchronous speed the permissible limits for
variable speed Wind turbine based on DFIG is +30% and -30% of synchronous speed. Below synchronous speed converter
fed current signals to rotor circuit to produce flux in the rotor in direction to strength the stator flux. Reactive power from
stator of the DFIG maintained to negligible magnitude (Q
0
=0) [6]-[12].
34 Jagdeep Singh Lather, Sukhwinder Singh &Sanjay Marwaha

Figure 2: The Variation of wr, Pitch, Tm and Tem when Generator Shaft Speed is Reduced Suddenly
From the figure 2 it is observed that when speed of generator reduced suddenly then electromechanical torque
developed by generator tends to speed up the shaft in reverse direction as motor mode. Tm becomes positive.

Figure 3: Active and Reactive Power Flow
To increase speed of the rotor flux to synchronous speed converter increase the frequency of currents fed to the
rotor and maintain Vr/Fr ratio same, this is the desire condition. To obtain simulation results in this condition i.e. below
permissible speed, the wind turbine and generators initial speeds are assumed to be 0.3 p.u of base speed of synchronous
speed of the generator. The initial value of slip is assumed to be 0.6. At t=0.25 sec rotor speed increases in motoring mode
hence active and reactive power becomes negative as in motoring mode.
Dynamic Modeling, Analysis and Simulation of Grid Connected Doubly Fed Induction 35
Generator Based Wind Power Under Different Operating Conditions

Figure 4: Stator, Rotor Currents and Converter dc Voltage
At Synchronous Speed
To obtain the performance characteristics of the DFIG at synchronous speed we have taken wind turbine and
generators initial speeds are to be 1 p.u. of base synchronous speed of generator. The initial value of slip is set to be 0.


Figure 5: (A) Grid Voltage Stator & Rotor Current, Active, Reactive Power and Vdc
36 Jagdeep Singh Lather, Sukhwinder Singh &Sanjay Marwaha

Figure 5: (B) Rotor Current, Rotor Speed, Pitch Angle, Tm and Tem Variations under Synchronous Speed
The above figure shows that all the parameters vary in more stable conditions at this speed.
Above Synchronous Speed (Super Synchronous)
In this mode of operation wind turbine and generators initial speeds are set to be 1.2 p.u. of base synchronous
speed of generator. The initial value of slip is assumed to be 0.2.


Figure 6: (A) Grid Voltage Stator Current, Rotor Current, Active and Reactive Power, Converter Voltage
Dynamic Modeling, Analysis and Simulation of Grid Connected Doubly Fed Induction 37
Generator Based Wind Power Under Different Operating Conditions

Figure 6: (B) Rotor Speed, Pitch Angle, Tm and Tem Variations with above Synchronous Speed Mode
At t=0.25 sec variation in pitch angle is observed because the Tem(Electromechanical torque) and Tm(mechanical
torque) tends to increase to positive direction to reduce generator speed as it goes above synchronous speed. Variations
occurred in magnitude and frequency of rotor current to control generator speed to desired limit.
Voltage Dip in Power Supply
The simulation study for voltage dip a voltage dip is applied at t=0.03 to 0.3 p.u. of rated grid side voltage. It is
assumed that generator is running above synchronous speed with similar conditions as were used in part c).

Figure 7: Grid Voltage Stator Current, Active and Reactive Power, Converter Voltage with a Voltage Dip in the
Grid Voltage
From the above figure7. Variations were observed in stator current, active and reactive power and also in
converter voltage.
38 Jagdeep Singh Lather, Sukhwinder Singh &Sanjay Marwaha


Figure 8: Rotor Current, Generators Rotor Speed, Pitch Angle, Tm and Tem Variations with Above Synchronous
Speed Mode
From the above figure 8 variations are observed in generator speed, pitch angle, Tm and Tem are observed which
indicates that as generator speed goes down pitch angle increases to increase generator speed to desired speed.
CONCLUSIONS AND FUTURE SCOPE
The conclusions were drawn in different cases a),b),c) and d) pertaining to different operating conditions.
- In case a): The pitch angle gets saturated at max level 27 deg unable to control and maintain generating mode.
Tem becomes very large as under this condition generator draws large current from stator and rotor side
connected to grid as shown in figure 4. Hence generator has to cut down from supply.
- In case b): The frequency of rotor fed currents and their magnitudes were observed to be very small. Pitch angle
is almost zero. There are small variations in the generators speed. Both active and reactive powers are positive as
shown in fig.5 (a,b) i.e. DFIG is working in generating mode.
- In case c): Due to generators rotor running at above synchronous speed , it deliver more active and reactive
power to grid. The pitch angle variations are small as shown in fig 6(a,b).
- In case d): Due to dip in grid voltage active and reactive power generated by goes down. Hence converter voltage
experiences a small dip but due to rotor currents it regain its predefined rated voltage level of 1150V. Both stator
and rotor currents were goes down as grid side voltage as shown in fig 7 and 8.
In all the above cases dc voltage level of the converter need to be stabilized. Also the torque variations are needed
to be smooth out as these variation are difficult to be judge in continuous model. In the future new advanced control
strategies are required to stabilize the performance of DFIG based wind turbine.
Dynamic Modeling, Analysis and Simulation of Grid Connected Doubly Fed Induction 39
Generator Based Wind Power Under Different Operating Conditions
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40 Jagdeep Singh Lather, Sukhwinder Singh &Sanjay Marwaha
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APPENDICES
Appendix-A
Generator Data: Power Rating= 1.5 MW. Nom. Power= 1.5/.9 MVA , L-L volt=575V. and freq.=60
Stator [ Rs,Lls ] (p.u.): [ 0.023 0.18];
Rotor [ Rr',Llr' ] (p.u.): [ 0.016 0.16], Lm(p.u.)=2.9,
Inertia constant, friction factor, and pairs of poles=[0.685,0.01(p.u),3]
Converter Data:DC_Nom voltage=1150V, C=10000e-6
Turbine Data and Drive Train : Pmec=1.5 MW, Inertia Constant=4.32, Shaft mutual Damping=1.5.