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AbstractThis paper presents a model for analysis and simulation of subsynchronous resonance (SSR) in series compensated
systems with Doubly Fed Induction Generator (DFIG) based
wind farms. The model is used to analyze the induction generator
effect (IGE) and torsional interaction in such systems. A test
system based on the IEEE first benchmark model is considered
for the analysis. The effect of three factors namely: i) series
compensation level, ii) wind speed, and iii) current loop gains on
the IGE and TI are studied. Small signal (eigenvalue) analysis is
conducted to assess the damping of network and torsional modes
followed by dynamic (time domain) simulations.
Index TermsDoubly Fed Induction Generator, SSR, Induction Generator Effect, Torsional Interaction
I. I NTRODUCTION
The phenomenon of SSR has been well studied in series
compensated systems with synchronous generators [1], [2].
SSR is divided into three groups: induction generator effect
(IGE), torsional interaction (TI), and torsional amplification
[2]. The first two denote phenomena related with steady state
and the third denotes a transient phenomenon. While IGE
involves interactions between the electrical network and the
generator solely, torional interactions include mechanical
dynamics introduced by turbines.
Given the proliferation of wind farms, a natural question
is whether SSR can manifest in series compensated wind
farms. A vast majority of wind farms in operation are based
on induction generators. SSR phenomena (excluding shaft
dynamics) in single-cage induction motors was discussed
in an early work [3] by Limebeer and Harley. In [3], it is
shown that instability is due to the effective resistance at
the machine terminals being negative under subsynchronous
frequency. In another words, SSR phenomenon in induction
machines is primarily due to IGE.
A recent paper [4] investigates SSR in series compensated
fixed speed wind generation systems that employ self excited
double cage induction generators. PSCAD simulations are
conducted to demonstrate IGE and TI. The paper concludes
that the greater the output power from wind farms, the
lesser the system damping. However, variable speed wind
generation systems employing DFIG offer greater operational
L. Fan, Z. Miao and C. Zhu are with Dept. of Electrical Engineering, University of South Florida, Tampa FL 33620. Emails: linglingfan@eng.usf.edu,
zmiao@eng.usf.edu, chanxia@mail.usf.edu. R. Kavasseri is with Dept. of
Electrical & Computer Engineering, North Dakota State University, Fargo,
ND 58105. Email: Rajesh.Kavasseri@ndsu.edu.
(1)
RL
XL
XC
DFIG
X Tg
Fig. 1.
(1 )
( )(1 )
(2 )
( )(2 )
TABLE II
T ORQUE COMPONENTS
Torque comp.
Interaction
Frequency
1
1 & 1
0
2
1 & 2
3
2 & 1
4
2 & 2
0
0
0
=
0
+
.
[ , , ,
, , 0 ]
[
,
, 0
,
,
, 0
] .
(2)
C. DC link model
The dynamics of the capacitor in the dc link between the rotor
and stator side converters are described by a first order model:
(3)
1
( + )
(4)
2
1
=
( + )
(5)
2
Constant voltage source model is assumed for the grid side
converter (GSC) of the DFIG to simplify the analysis in this
paper.
320
15%
300
25%
280
35%
260
A two-mass system
dynamics given by:
Im (rad/s)
2
2
1
2
1
2
200
75%
180
85%
v =9m/s
m
v =10m/s
95%
160
v =7m/s
m
140
3.5
2.5
1.5
0.5
0.5
Re
Fig. 3.
The network resonance mode at various compensation level
for different wind speed. The embedded figure shows the equivalent rotor
resistance versus the rotor rotating speed at 85% compensation level.
0
1
10m/s
2
8m/s
9m/s
7m/s
r,eq
= [ , , ]
/R
55%
220
65%
45%
240
6
7
8
9
10
1.5
2
fm/fn
2.5
Fig. 4. The equivalent rotor resistance versus the rotor rotating speed at 85%
compensation level.
P (pu)
25%
0.68
0.66
iqr
0
0.2
0.4
0.6
0.8
i*qr +
P (pu)
50%
Kp+Ki /s
vqr
0.68
0.66
0
0.2
0.4
0.6
0.8
i*dr +
Kp+Ki /s
P (pu)
75%
idr
0.68
0.66
0
0.2
0.4
0.6
0.8
Fig. 7.
85%
P (pu)
vdr
0.68
0.66
0
0.2
0.4
0.6
0.8
Time (sec)
0.5
e
P (pu)
7m/s
0.2
0.4
0.6
P (pu)
0.5
0.8
0.8
8m/s
0.45
0.4
0.2
0.4
0.6
P (pu)
0.75
e
0.7
0.65
9m/s
0
0.2
0.4
0.6
0.8
P (pu)
1.1
10m/s
1
0.9
0.2
0.4
0.6
0.8
0
0.1
0.5
Network Mode
2.3 180.6
9.8 185.6
16.5 208.0
Hz
28.74
29.54
33.10
Damping
1.27%
5.21%
7.86%
Time (sec)
P (pu)
10m/s, KP=0
1
0.8
0.2
0.4
0.6
0.8
100
P (pu)
10m/s, K =0.1
P
0
100
0.2
0.4
0.6
0.8
P (pu)
0.35
7m/s, KP=0
0.3
0.25
0.2
0.4
0.6
0.8
P (pu)
50
7m/s, K =0.1
P
0
50
0.2
0.4
0.6
0.8
Time (sec)
Fig. 8.
75%
V. R ESULTS OF TI E FFECT
The oscillatory mode of the torsional dynamics depends
greatly on shaft stiffness . Wind turbine shafts have small
stiffness constants [14] compared to the drive trains for steam,
hydro and diesel generators. In the GE report [10], a 3.6 MW
DFIG has a = 3.6 pu while in [4], this constant is set
to 0.15 pu for a 100 MW drive train. The dependence of
the torsional mode on shaft stiffness is tabulated in Table IV
below.
TABLE IV
T ORSIONAL MODES FOR VARIOUS STIFFNESS CONSTANT. W IND SPEED AT
9 M / S AND COMPENSATION LEVEL AT 75%.
Pe (pu)
1.2
0.6
0.2
0.4
0.6
0.8
Pe (pu)
0.8
1
50%
0.7
0.6
0.2
0.4
0.6
0.8
0.8
Pe (pu)
()
5.05
5.36
5.77
6.20
8.94
18.35
25.85
30.84
35.87
40.12
1
75%
0.7
0.6
0.2
0.4
0.6
0.8
20
e
Eigenvalue
2.69 31.74
2.24 33.70
1.81 36.26
1.48 38.93
0.74 56.19
0.52 115.28
0.35 162.45
0.16 193.79
0.49 225.42
0.05 252.1
P (pu)
0.15
1
2
3
10
50
100
150
200
250
25%
0.7
1
90%
0
20
0.5
1
Time (sec)
1.5
Fig. 9.
Electrical torque with various series-compensated in multi-mass
DFIG-based wind turbine system. TI effects are demonstrated in the 90%
case. Wind speed at 9m/s.
TABLE V
COMPARISON OF THE TORSIONAL MODE AND NETWORK MODE AT VARIOUS SERIES - COMPENSATED LEVEL WITH MULTI - MASS REPRESENTATION OF THE
DFIG- BASED WIND TURBINE ROTOR
% Comp.
25
50
75
90
165
Torsional Mode
()
0.5 160.4
25.53
0.5 160.6
25.56
0.4 162.2
25.81
5.2 158.9
25.29
0.31%
0.31%
0.25%
3.27%
85%
75%
162
Imag
161
160
25%
159
90%
158
157
156
95%
155
1
1.07%
1.17%
1.29%
4.79%
and iii) current loop gains, that impact both these phenomena
are studied. The analysis is supported by eigenvalue computations and verified by dynamic simulations. Contrary to fixed
speed systems, we find that the damping of network mode
(influencing the IGE) improves with increasing wind speeds.
Torsional interactions are found to result only for unusually
high values of the staff shiftness unlikely to be encountered
with wind turbines. Even with this consideration, in contrast,
the damping of the torsional mode is found to be insensitive to
wind speed variations. This suggests that the IGE primarily has
a bearing for SSR studies in variable speed wind generation
systems employing DFIGs.
80%
164
163
Network Mode
()
2.9 270
42.97
2.6 221.3
35.22
2.3 178.8
28.46
7.6 158.4
25.21
Real
A PPENDIX
Torsional mode in the -plane.
Fig. 10.
The voltage equations of an induction machine in a synchronous reference frame can be written in terms of the
currents as shown in (6) [11].
The air gap flux linkages and can be expressed as:
280
25%
260
= ( +
)
= ( +
)
240
220
Imag
200
= .
75%
180
80%
85%
160
95%
90%
140
8
Fig. 11.
(8)
(9)
5
Real
0
0
0
network resonance frequency due to series compensation is
. When the wind speed varies, the slip of the DFIG varies.
This slip has no direct link to and . Hence the wind
speed has slight impact on SSR damping as shown in Table
VI. Thus, the compensation level has a more significant impact
on TI than the wind speed.
VI. C ONCLUSIONS
This paper presents a model for analysis and simulation
of subsynchronous resonance (SSR) in series compensated
systems with Doubly Fed Induction Generator (DFIG) based
wind farms. The model is used to analyze the induction
generator induction generator effect and torsional dynamics on
test system based on the IEEE first benchmark model. Three
factors namely: i) series compensation level, ii) wind speed,
0
0
0
0
0
0
(10)
0
0
0
(11)
()
()
()
()
()
0.09231
3.95279
0.09955
0.00488
0.00549
3.5 s
pu
pu
pu
pu
pu
R EFERENCES
[1] P. Kundur, Power System Stability and Control. McGraw-Hill Companies, 1994.
[2] K. P. Padiyar, Power System Dynamics Stability and Control.
BS
Publications, 2002.
TABLE VI
T ORSIONAL MODE AND NETWORK MODE AT VARIOUS WIND SPEEDS
% Comp.
7 m/s
8 m/s
9 m/s
10 m/s
7 m/s
8 m/s
9 m/s
10 m/s
75%
90%
Torsional Mode
()
0.4 164.7
26.2
0.3 162.8
25.91
0.4 162.2
25.81
0.5 162.0
25.78
9.2 158.8
25.27
6.2 159.0
25.31
5.2 158.9
25.29
4.7 159.0
25.31
Wind Speed
+
0
0
0
Network Mode
()
1.5 177.1
28.19
2.1 178.3
28.38
2.3 178.8
28.46
2.5 179.0
28.49
8.1 159.6
25.40
8.1 158.5
25.22
7.6 158.4
25.21
7.4 158.3
25.19
0
0
0
0
0
0
0
TABLE VIII
PARAMETERS OF THE SHAFT SYSTEM
1
2
1
2
12
12
0.24%
0.18%
0.25%
0.31%
5.78%
3.9%
3.27%
2.95%
0.9 s
4.29 s
0 pu
0 pu
1.5 pu
99.67 pu
0
0
0
0
0
0
0
0
0
+
0
0
0
0
0
0
0
0
0
0
0.85%
1.18%
1.29%
1.40%
5.1%
5.1%
4.79%
4.67%
(6)
(7)
Lingling Fan (S99-M02) received the BS, MS degrees in electrical engineering from Southeast University, Nanjing, China, in 1994 and 1997. She received
Ph.D. degree in electrical engineering from West Virginia University in 2001.
She is currently an assistant professor in Dept. of Electrical Engineering,
University of South Florida (USF). Before joining USF, Dr. Fan was with
North Dakota State University and Midwest ISO. Her research interests
include modeling and control of energy systems, power system planning and
operation.