Beruflich Dokumente
Kultur Dokumente
Kamran Iqbal, Senior Member, IEEE, Kumud S. Altmayer, and Anindo Roy, Senior Member, IEEE
I. INTRODUCTION
The increased penetration of wind energy into the power
systems over the last two decades has led to concerns about
its inuence on the dynamic behavior of the power systems.
The transients in power systems must be simulated and
analyzed for getting insight into what impacts these new
power generators have on the power systems [1]. Methods
and tools for simulation (fast or real-time) of wind turbines in
large power systems are therefore needed. Real-time
simulation is also required for field and in-plant testing in
order to evaluate performance of control and protection
systems. In response to these concerns power system
operators have developed grid codes for connecting
equipment to the electrical grid [2, 3]. These regulations are
extended to wind farms connected to the transmission grid,
including both onshore and offshore farms. The attention in
these requirements is drawn to both the wind turbine fault
ride-through capability and the wind turbine grid support
capability, i.e. their capability to assist the power system by
supplying ancillary services. The ancillary services represent
a number of services required by the power system operators,
such as voltage and frequency control, in order to secure safe
and reliable grid operation.
The effect of wind farm integration into the power grid
depends on both the design and implementation of power
system to which the wind farms are connected and the ability
of the wind farms to full the power grid requirements. This
ability depends of course on the technology used for
manufacturing wind turbine/wind farms. This fact has
challenged wind turbine manufactures and spurred research
activity concerning the ability of wind turbines to comply
with high-power system requirements. There is presently
much research activity world-wide involving model
K. Iqbal is with University of Arkansas at Little Rock, 2801 S.
University Ave, Little Rock, Arkansas 72204 (phone: 501-371-7617; fax:
501-569-8698; e-mail: kxiqbal@ualr.edu).
K.S. Altmayer is with University of Arkansas at Little Rock, 2801 S.
University
Ave,
Little
Rock,
Arkansas
72204
(e-mail:
ksaltmayer@ualr.edu).
Anindo Roy is with University of Maryland, College Park, Maryland (email: ARoy@som.umaryland.edu).
where
are stator and rotor flux linkages,
are
stator and rotor voltages,
are the synchronous
frequency and the rotor electrical frequency,
are stator
and rotor resistances, and
are the stator, rotor, and
magnetizing inductances. The transformer ratios are assumed
to be 1:1. The above equations include the stator and rotor
voltages as inputs.
Let
be a transformation variable for the rotor
. Further,
circuit, and define:
let
then, a equivalent model is obtained as described by the following
equations [6]:
where
Fig.1: The DFIG with wind turbine (from [4])
B. DFIG Model
The model of the DFIG is based on the governing
electrical equations for the stator and rotor windings that can
be found in any power systems text book. The governing
equations are described in the synchronous (d-q) coordinates
with the d-axis aligned with the stator field (air gap flux) and
q-axis aligned with the stator voltage (Figure 2, [10]).
Orienting machine equations to stator field has two
advantages [7]: 1) the alternating current, voltage, and flux
become stationary and can be treated as dc variables; and, 2)
it is possible to decouple the control of active and reactive
power.
Then,
C. Power Calculations
The mechanical power extracted by the turbine from the
wind is given as:
, where
is the mechanical
power,
is the available wind power (a
function of wind speed and blade diameter) and
is the
turbine efficiency. Assuming gear ratio 1:1, The mechanical
power and the stator electric power output are defined by:
where
are the mechanical and electromechanical
torques and
are the turbine and the synchronous
speeds. The turbine speed is related to the rotor frequency by
where denotes the electrical poles on the rotor.
The ideal stationary power distribution through the
generator depends on the slip of the generator defined as:
. In the steady state
, where
the stator power is given as:
and the rotor
power is:
. Generally, is only a
fraction of (
).
The expressions for the active and reactive powers are given
below:
{
where
are the combined rotor-turbine inertia and
damping, is the number of machine poles, and
are
the electrodynamic (motor) and load (wind turbine) torques,
respectively. The former is given as:
{
[15]: Let
with a root at the origin
of multiplicity . Let
. Let
be the zeros of
that are real, distinct and nonnegative and define
[
]
[
. Then,
where [ ]
polynomial.
]]
]]
even
odd
The ranges of
satisfying this condition are called
allowable and denoted as ( ). Next, for some
( ), let
where
are the real nonnegative
distinct roots of (
) of odd multiplicity, and define
[
]
and
[ ( )]
], then the
[
Let
stability condition reduces to [19]:
even
odd
)]
where
The closed-loop characteristic polynomial of the unitygain feedback system is formed as:
(
Let
define a set of PID gains; then, the
design problem can be stated as follows: given the process
model, find PID controller parameters such that
is
Hurwitz stable, i.e., has its roots in the open lhp. To proceed
further, let
and define:
], i.e.,
]
[
]
[
is
Then [
Hurwitz if and only if
and
have the same
number of rhp roots [18]. Further,
entertains a
separation of controller parameters, where the even part of
contains
, the odd part contains
. This
separation can be exploited for PID controller design as
follows, where
denote the degrees of
and
,
respectively.
(
) where
and (
)
. Then, a necessary condition for stability
is that (
) has at least the number of real, nonnegative
distinct roots of odd multiplicity given as:
Let
[ ]
[ ]
[ ]
[ ][ ]
]
]
]
(
stable for all
stable for all
is
)
is
Hurwitz
Hurwitz
][
][
])
] ([
][
. Following [13], an
where
approximation to the terms involving the stator currents is
assumed:
]
][
][
The even and odd parts of this polynomial are given as:
(a)
(
and plot the rootlocus for both positive and negative values of
. By examining the rootlocus properties,
has a single
nonnegative distinct root at
for the following range of
} and it has two
:
{
nonnegative distinct roots for the range of
. Since
given as:
(even), and
(
)
, hence, for a given fixed
, a necessary
condition for the existence of
and
is that
has at
least one real distinct nonnegative root.
(b)
Fig. 2: The step response of 4th order model to rated
power (
):
.
V. CONCLUSION
Traditional PI controllers for DFIG result in lightly
damped modes that produce oscillations during power
transients. We presented a scheme for PID control of DFIG
based on Hermite-Biehler framework from systems theory.
The design was shown to provide good dynamic stability.
APPENDIX
The state equations of the induction machine are given as:
[
]
[10]
[11]
[12]
[13]
[14]
[15]
[16]
[17]
The parameters for the DFIG model are taken from the
DFIG simulation model in Matlab SimPowerSystems toolbox
[Mat], and are given in p.u. quantities:
rs=.00706;
rr=.005;
ls=.171;
lr=.156;
lm=2.9;
ws=1;
[5]
[6]
[7]
[8]
[9]
[19]
[20]
ACKNOWLEDGMENT
[1]
[18]
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Katsikis
(Ed.),
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Mathworks,
2014,
available
at
http://www.mathworks.com/help/releases/R2014a/pdf_doc/physmod/s
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