1

AC or DC Power Modulation for DFIG Wind Generation with HVDC Delivery to Improve Interarea Oscillation Damping
Lingling Fan, Senior Member, IEEE, Zhixin Miao, Senior Member, IEEE, Dale Osborn, Life Member, IEEE

AbstractThis paper investigates AC or DC power modulation in wind power with HVDC delivery in damping inter-area oscillations. Two approaches of oscillation damping are examined: 1) wind generation real power modulation through its power electronic converters, and 2) HVDC rectier power modulation. A two-area test system is built in TSAT. The two approaches are described in details. Controller design, eigenvalue analysis and time-domain simulations are carried out to demonstrate the two approaches and their effects. Index TermsWind Generation, HVDC, Inter-area oscillation, AC Power Modulation, DC Power Modulation

I. I NTRODUCTION Line commuting converter (LCC) based HVDC has been proposed to deliver large scale wind power in the industry [1]. The authors have addressed the primary frequency response in such systems in [2]. In this paper, the objective is to investigate methods to enhance inter-area oscillation stability in such kind of AC/DC systems. Such system can be found in real-world applications, e.g., the North Dakota to Minnesota HVDC system shown in Fig. 1. The 465-mile HVDC line with a total capacity of 500 MW, currently transports coalgenerated energy from the Milton R. Young generating station in Center, North Dakota to a Minnesota Power substation in Hermantown, Minnesota. Wind power developed in North Dakota, Minnesota Power will gradually use this line to transfer wind power [3]. One method is the AC power modulation. This is a traditional method where the power order of the HVDC link is modulated to reect the inter-area oscillation mode. By proper controller design, the damping of the inter-area oscillations can be improved. Both active/reactive power modulation can be done through HVDC converters [4], [5]. Active power modulation can effectively increase the damping of oscillations. The principle of the control is to modulate the rectier dc current or power and the inverter dc voltage. The power modulation technique has been applied to real systems, such as the Sidney HVDC link at Montana [6], [7], Square-Butte HVDC link in North Dakota [8] and WSCC Intermountain Power Project (IPP) HVDC [9]. The other method is DC power modulation. The authors previous research [10] has addressed how to improve stability through doubly-fed induction generator (DFIG)-based wind
L. Fan and Z. Miao are with the Department of Electrical Engineering, University of South Florida, Tampa, FL 33620. D. Osborn is with Midwest ISO, St. Paul, MN 55108. Emails: l@ieee.org, zhixin.miao@ieee.org, dosborn@midwestiso.org.

Fig. 1.

A North Dakota to Minnesota HVDC system.

farms that are directly interconnected to the AC system. The idea is to modulate the active power generated by a DFIG through its rotor side converter (RSC) control blocks. Inter-area oscillations involve one group of generators swinging against another. Inside one group, those generators have a similar low frequency dynamic behavior and are said to be a coherent generator group [11]. To study inter-area oscillations, large coherent groups can be aggregated into one single generator for each group [12]. Since coherent groups are geographically dispersed, signals with the best observability of inter-area oscillations come from wide area measurements. Research on inter-area oscillation damping has found that rotor angle difference or frequency difference between two coherence areas is a reasonable control signal and can be obtained through estimation via local measurement [13]. This signal was used in the damping controller of the Thyristor Controlled Series Capacitor (TCSC) at the Slatt 500 kV substation [14]. With the recent advance of wide area measurement technology, these signals can be obtained through global positioning system (GPS) based phasor measurement units (PMUs) [15], [16]. In this paper, PMU measurements are assumed to be available for oscillation damping controllers. The objective of this paper is to examine the two approaches: AC or DC power modulation in oscillation damping. The tasks of the paper include design of the appropriate controller that will effectively damp the inter-area mode based

978-1-4577-1002-5/11/$26.00 2011 IEEE

on AC or DC power modulation. Eigenvalue analysis and timedomain simulations will be applied in this paper for tests. The rest of the paper is organized as follows. Section II addresses the study system. Section III presents the control blocks of the DFIG converters, the HVDC converters and the respective power modulation blocks. Section IV presents the controller design of the power modulation blocks. Section V presents the simulation results and Section VI concludes the paper. II. S TUDY S YSTEM A two-area ve-machine power system is illustrated in Fig. 2. This system is derived from the two-area four-machine system developed in [17] for inter-area oscillation investigation. A fth generator is assumed to be a wind farm consisting of DFIGs. The power consumption of the two loads are 21789 MW (5856 MVar) and 11289 MW (2200 MVar) respectively. The generator at Bus 6 exports 14871 MW while the generator at Bus 16 exports 7436 MW. Generators at Bus 9 and 19 export 18225 MW and 11289 MW respectively. The ac transmission system is at 500 kV while the voltage level of the dc transmission system is 345 kV. The voltage level at the generator side is 34.5 kV. The power through the HVDC-link is 500 MW while the power through the two AC lines are 4683 MW and 1479 MW respectively. A wind farm is connected at Bus 20. The exporting power level of the wind farm is 445 MW and 240 MVar. The synchronous generators are steam turbine driven, round rotor synchronous generators equipped with a governor and excitation control. All four generators are equipped with IEEE DC type excitation systems. Area 1 consists of generators at Bus 6 and 16. Area 2 consists of generators at Bus 9 and 19 and the wind farm. The total power through the interconnected ac/dc lines from Area 2 to Area 1 is 6918 MW.
G6 8 6 11 9 G9

controller is expected to damp the inter-area oscillation. In the following section, models of the HVDC system and the DFIG system will be presented. III. M ODEL OF T HE S TUDY S YSTEM To represent the two-area system (Fig. 2), the synchronous generators were represented as 4th model while the dc-link is represented by algebraic equations. A. Synchronous Generator The 4th order synchronous generator model is described by the follow equations [18]: d 1 dt = 2H (Tm Te ) dE q 1 dt = Td0 (Ef d E ) dE d = 1 (E (xq x )Iq ) q d dt T
q0

(1)

where Te = Ed Id + Eq Iq (xq xd )Id Iq , and E = Eq + (xd xd )Id . B. HVDC link Model The mathematics model of the dc-link is described as follows [19]: Relationship between ac and dc: the voltage, real and reactive power, and the voltage of the dc-link are given as the following equations where V dr0 and Vdi0 are the ideal no-load voltages. 3 Vdr = Vdr0 cos Id ( Xc ) or 3 Vdi = Vdi0 cos Id ( Xc ) (2)

(3)

10 7

where Vdr and vdi are the rectier and inverter dc voltages, and are the rectier ring angle and the inverter extinction angle, Id is the dc current. = cos1 (Vd /Vd0 ) (4) (5) (6)

16 G16 Load 7

1 Load 10

P = Vdr Id = Pac
19 G19

Q = P tan

20

The direct current: owing from the rectier to the inverter. Id = Vdr cos Vdi cos Rcr + RL Rci (7)

DFIG

wind farm

wind farm modeling ir Wind Turbine vr

The equation of dc line: for a two-terminal dc link with a resistance RL . Vdr = Vdi + RL Id (8) The current regulator for HVDC rectiers is shown in Fig. 3. A PI controller is used to track the dc current order I ord . The ring angle at the rectier is the controller output and will be adjusted according to the dc current error.

Fig. 2.

Two-area system with parallel HVDC link in per unit sketch.

Both the DFIG power modulation controller and the HVDC power modulation controller are in our consideration. The

Kp

max v_conr

max alpha + + Ko alpha

Id

+ -

Ki S

v_conr

I ord
Fig. 3.

min v_conr

min alpha

Current regulator of HVDC link converter.

C. DFIG-based Wind Generation Model The dynamics of the converters are very fast compared with the dynamics of electromechanical oscillations. Therefore, the dynamics of the converters are neglected. A DFIG can be represented by a controllable current source. The GE DFIG model implements the current source model, and Fig. 4 shows the DFIG as a current source connected to the network [20]. The converter controls include a phase-locked loop to synchronize the generator rotor currents with the stator. The converter phase-locked loop (PLL) has the effect of establishing a reference frame for the WTG voltages and currents. At steadystate, the X axis is aligned with the terminal voltage vector t . V
Vt

of the vector v . Therefore, P is determined by i x , while Q is determined by i y . DFIG control usually consists of two parts: the mechanical control on the wind turbine blade pitch angle and the electrical control on the power converter. To fulll the grid integration requirement of providing a power factor within 5% range, two control loops, the voltage/reactive power control loop and the active power control loop, are usually presented. Fig. 5 shows the vector control scheme. It is found that the active power is controlled through I X and the reactive power is controlled through I Y . The pitch angle is controlled by the rotating speed of the DFIG shown in Fig. 6. If the speed is too high, the pitch angle will be increased to reduce the power taken from the wind. Hence a positive feedback is used for pitch controller. The reference speed value is computed from the measured active power of the DFIG for an optimal rotating speed for maximum wind power extraction.
Q gen KQi / s KVi / s Vmax Vterm Vterm +XI Qmax Eq'' cmd

+ Q cmd

Vmin

Vterm +XI Qmin

P ord

. .

I Pcmd Vterm

Fig. 5.

Vector control scheme.

Eq'' cmd

Eq'' 1 1+0.02s 1 Xdfig

IY

P elec -0.67P
Isorc
2 ele c +1.42P elec

+0.51

1/(1+ 5s )

ref-

K pp + K ip /s

IPcmd

1 1+0.02s

IP

IX

Fig. 6.

Pitch control.

d Vt T-1 Vx VY

max

Kpll -d

0
s

X dfig

max

IV. P OWER M ODULATION FOR I NTER -A REA O SCILLATION DAMPING In this section, two approaches of power modulation in HVDC rectier or DFIG converters are presented. In the rst approach, the HVDC power order is modulated for inter-area oscillation damping. The control scheme is shown in Fig. 7. The input signal is the phase angle difference between the voltages at Bus 8 and Bus 11. These two buses are the terminal buses of the HVDC link. The modulation limit is set to be 150 MW. The controller has been tuned and the transfer function is presented in Fig. 7. From the modulated power order and the measured dc voltage V dr , the current order I ord is obtained. The current regulator in Fig. 3 will be enforced to track the current order. In the second approach, the DFIG converters real power order is modulated for inter-area oscillation damping. The control scheme is shown in Fig. 8. The limit of the power

Fig. 4.

Generator/Converter Model.

Besides the voltage and current equations, the swing equation that describes the rotor movement is: Te = 2 H r + Tm b (9)

Depending on the stiffness of the shaft, the swing equation can be in multi-mass form. By aligning the direct axis of the reference frame with the terminal voltage, v y = 0, and vx is equal to the magnitude

Pord +
150 MW +

Iord

TABLE II I NTER - AREA O SCILLATION M ODE AT F OUR S CENARIOS Scenario Case 1 Case 2 Case 3 Case 4 Freq (Hz) 0.7169 0.7173 0.7211 0.7217 Damping (%) 2.73 4.15 5.82 7.25

Pmod Vdr

3s 4s 3s+1 .02s+1

-150 MW

Fig. 7.

The damping controller using bus angle difference as input signal.

modulation is set to 0.25 pu. This is because the converter size is limited to 25% of the rated machine power. 6,10
P mod +

K 0.01s 1+0.01s

Ix

P*

Vt

Fig. 8.

The damping controller using bus angle difference as input signal.

The dynamics are trigger by a three-phase fault at Bus 10 (outlet of the wind farm) which lasted for four cycles. The event occurs at t = 0.5 s and ends at t = 0.567 s. In the simulation results follow, the four scenarios are compared with different color. The list of the color is as follows: 1) Scenario 1 Blue 2) Scenario 2 Green 3) Scenario 3 Red 4) Scenario 4 Cyan. The real power sending from Bus 6 and Bus 9 are shown in Fig. 9 while the real power sending from Bus 16 and Bus 19 are shown in Fig. 10. The system frequency measured at Bus 6 is shown in Fig. 11. From Figs. 9-11, it is found that the system suffers oscillations. With DFIG or HVDC modulation, the damping of the oscillation has been improved. With both modulation, the damping of the oscillation is best improved.
10000

Small signal analysis and time-domain simulations are performed for four scenarios to examine the effect of power modulation through HVDC link converters and/or DFIG converters. TSAT [21] and SSAT [22] are used for this purpose. The four scenarios are: 1) Scenario 1: Base case system 2) Scenario 2: With HVDC modulation 3) Scenario 3: With DFIG modulation 4) Scenario 4: With both HVDC modulation and DFIG modulation The system modes at base case are presented in Table I and the inter-area oscillation modes at four scenarios are presented in Table II. It is found that the inter-area oscillation has a frequency of approximate 0.7 Hz. Without any supplementary damping control at the DFIG converters or HVDC converters, the damping of the oscillation mode is 2.73%. With either one of the damping controllers, the damping is improved. With both damping controllers, the damping is improved signicantly.
TABLE I S YSTEM O SCILLATORY M ODES AT B ASE C ASE Mode Inter-area Oscillation Local Oscillation 1 Local Oscillation 2 Wind electromechanical Wind control loop HVDC Eigenvalues 0.123 j 4.5042 0.1376 j 9.9627 0.1376 j 10.1243 1.0902 j 11.9785 0.7246 j 1.3380 10.0748 j 15.1409 Freq (Hz) 0.7169 1.586 1.611 1.906 0.213 2.41 D (%) 2.73 1.38 1.36 9.06 47.62 55

(MW) P
bus6

V. S IMULATION R ESULTS

9000 8000 7000 6000 0 2 4 6 8 10 12 14 16

10000

Pbus9 (MW)

5000 0 5000

8 time (s)

10

12

14

16

Fig. 9.

Real power from Bus 6 and Bus 9.

The HVDC dynamic responses are shown in Figs. 12-14 The ring ring angles at the rectier side and the inverter side are presented in Fig. 12. The ac voltage magnitudes at rectier and inverter are shown in Fig. 13. The power through the dc link at the rectier side and the inverter side are shown in Fig. 14. It is found from Fig. 14 that during Case 1 (base case) and Case 3 (no HVDC modulation), that the power through the HVDC link is relatively constant. This is because of the constant power control for the HVDC link. Hence the HVDC link is expected to have a constant through power. Power from the wind generation are shown in Fig. 15 for the four scenarios. During Case 1 (base case) and Case 2 (no DFIG modulation), it is found that the wind power output is

1 8000 0.98

Vac,r (pu)

0.96 0.94 0.92 0.9 0 5 10 15

(MW) P
bus16

7000 6000 5000 4000 0 2 4 6 8 10 12 14 16

1 0.98

Vac,i (pu)

15000

0.96 0.94 0.92 0.9 0 5 time (s) 10 15

(MW) P
bus19

10000 5000 0 5000 0 2 4 6 8 time (s) 10 12 14 16

Fig. 13.

AC voltage magnitudes at rectier and inverter.

Fig. 10.

Real power from Bus 16 and Bus 19.

0

(MW) P
60.2 60.15 60.1 60.05 60 59.95
dc1

200 400 600 800 0 5 10 15

f (Hz)

800

(MW) P
0 2 4 6 8 10 12 14 16
dc2

600 400 200 0 0 5 time (s) 10 15

Fig. 11.

System frequency measured at Bus 6. Fig. 14. side. The power through the dc link at the rectier side and the inverter

20 15 10 5

10

15

155 150 145 140

relatively constant. This is because of the power control for DFIG. Hence DFIGs are expected to have a constant output power. The above simulation results have demonstrated the ability of both ac power and dc power modulation on inter-area oscillation damping. The ac power modulation is realized through DFIG converter power modulation while the dc power modulation is realized through the HVDC link converter modulation. VI. C ONCLUSION This paper investigates AC or DC power modulation in wind power with HVDC delivery in damping inter-area oscillations. Two approaches of oscillation damping are examined here: 1) wind generation real power modulation through its power electronic converters, and 2) HVDC rectier power modulation. A two-area test system is built in TSAT. The two approaches are tested respectively to demonstrate their effects on oscillation damping.

alpha2 ( )

alpha1 ( )

5 time (s)

10

15

Fig. 12.

The rectier and inverter ring angles of the HVDC-link.

0.9 0.8 0.7 1.2 0 5 10 15

1 0.8 0.6 2 0.5 4 6 8 10 12 14

Qe (MW)

0 0.5 1 0 5 time (s) 10 15

[16] D. Karlsson, M. Hemmingsson, and S. Lindahl, Wide area system monitoring and control - terminology, phenomena, and solution implementation strategies, IEEE Power Energy Mag., vol. 2, no. 5, pp. 6876, Sept.-Oct. 2004. [17] G. Rogers, Power System Oscillation. Boston: Kluwer Academic Publishers, 2000. [18] P. Anderson and A. Fouad, Power System Control and Stability (Second Edition). Wiley-IEEE Press, 2003. [19] P. Kundur, Power System Stability and Control. McGraw-Hill Professional, 1994. [20] Modeling of ge wind turbine-generators for grid studies, General Electric International, Inc, Schenectady, New York, Tech. Rep., 2005. [21] Transient security assessment tool users manual, PowerTech Labs, Tech. Rep., 2009. [22] Small signal analysis tool users manual, PowerTech Labs, Tech. Rep., 2009.

Fig. 15. Mechanical power Pm , real and reactive power Pe Qe of wind generation.

P (MW)

P (MW)

ACKNOWLEDGEMENT This work is supported by NSF EECS grant #1005277. R EFERENCES

[1] Joint coordinated system plan, Midwest ISO/PJM/SPP/TVA/MAPP, Tech. Rep., 2008. [Online]. Available: http://www.jcspstudy.org/ [2] Z. Miao, L. Fan, D. Osborn, and S. Yuvarajan, Wind farms with HVDC delivery in inertial response and primary frequency control, IEEE Trans. Energy Convers., vol. 25, no. 4, pp. 11711178, Dec. 2010. [3] Transmission projects supporting renewable resources, Edison Electric Institute, Tech. Rep., 2009. [Online]. Available: http://www.eei.org/ourissues/ElectricityTransmission/Documents/ TransprojRenew EM.pdf [4] C. Grund, R. Pohl, and J. Reeve, Control design of an active and reactive power HVDC modulation system with kalman ltering, vol. 101, no. 10, pp. 41004111, Oct. 1982. [5] T. Smed and G. Andersson, Utilizing hvdc to damp power oscillations, IEEE Trans. Power Del., vol. 8, no. 2, pp. 620627, Apr. 1993. [6] R. Johnson, N. Klemm, H. D. Laneuville, S. Koetschau, and G. Wild, Power modulation of sidney hvdc scheme. i. ras control concept, realization and eld tests, IEEE Trans. Power Del., vol. 4, no. 4, pp. 21452152, Oct. 1999. [7] , Power modulation of sidney hvdc scheme. ii. computer simulation, IEEE Trans. Power Del., vol. 4, no. 4, pp. 21532161, Oct. 1999. [8] C. Grund, G. Sweezy, J. Hauer, S. Balser, and S. Nilsson, Dynamic system monitoring (dsm) for hvdc modulation control, IEEE Trans. Power Del., vol. 8, no. 3, pp. 853860, Jul. 1993. [9] D. D. R. L. D.E. Martin, W.K. Wong and D. Melvold, Increasing WSCC power system performance with modulation controls on the Intermountain Power Project HVDC system, IEEE Trans. Power Del., vol. 7, no. 3, pp. 16341642, Jul. 1992. [10] Z. Miao, L. Fan, D. Osborn, and S. Yuvarajan, Control of DFIG-based wind generation to improve interarea oscillation damping, IEEE Trans. Energy Convers., vol. 24, no. 2, pp. 415422, Jun. 2009. [11] G. Rogers, Power system structure and oscillations, IEEE Computer Applications in Power, vol. 12, no. 12, pp. 1421, Apr. 1999. [12] G. Troullinios and J. Dorsey, Coherency and model reduction: State space point of view, IEEE Trans. Power Syst., vol. 4, no. 3, pp. 988 995, Aug. 1989. [13] E. Larsen, J. J. Sanchez-Gasca, and J. Chow, Concepts for design of FACTS controllers to damp power swings, IEEE Trans. Power Syst., vol. 10, no. 2, pp. 948956, May 1995. [14] P. Dolan, J. Smith, and W. Mittelstadt, A study of TCSC optimal damping control parameters for different operating conditions, IEEE Trans. Power Syst., vol. 10, no. 4, pp. 19721978, Nov. 1995. [15] A. G. Phadke, Synchronized phasor measurement in power systems, IEEE comput. Appl. Power, vol. 6, no. 2, p. 1015, Apr. 1993.

Lingling Fan is an assistant professor in University of South Florida (Tampa, FL) since Aug. 2009. She received the BS, MS degrees in electrical engineering from Southeast University, Nanjing, China, in 1994 and 1997, respectively. She received Ph.D. degree in electrical engineering from West Virginia University in 2001. She was a senior engineer in transmission asset management department in Midwest ISO, St. Paul, Minnesota (2001-2007) and an assistant professor in North Dakota State University (2007-2009). Her research interests include modeling and control of energy systems, large-scale power systems planning and operation.

Zhixin Miao (S00, M03, SM09) received his BSEE from Huazhong University of Science & Technology, Wuhan, China, in 1992. He received his MSEE from the graduate school of Nanjing Automation Research Institute in 1997 and Ph.D. in Electrical Engineering from West Virginia University in 2002. He is currently with University of South Florida. Prior to joining USF in 2009, he was with the transmission asset management department in Midwest ISO, St. Paul, Minnesota from 2002 to 2009. His research interests include power system stability, microgrid and renewable energy.

Dale Osborn (M70) received the Bachelors and Masters degrees from University of Nebraska, Lincoln. He was the Manager of Planning Department of the Nebraska Public Power District (NPPD). He was Reactive Power Management Manager in Asea Brown Boveri (ABB) at NC, WI, and Sweden from 1990 to 2000. Currently, he is the Principle Advisor of the Transmission Management Department, Midwest ISO, St. Paul, MN. His research interests include power system planning, reliability, economics, and reactive power device manufacturing.