2012 IEEE 7th International Power Electronics and Motion Control Conference - ECCE Asia

June 2-5, 2012, Harbin, China

Multi Modular Converters with Automatic

Interleaving for Synchronous Generator
Based Wind Energy System
Bo Yuwen
Maira Zulqarnain, David Xu Goldwind Inc.
Electrical and Computer Engineering Beijing, China
Ryerson University
Toronto, Canada

Abstract Growing trend of multi mega watt turbine
installations is one of the reason behind the increasing popularity
of modular converter technology. This paper focuses on direct
driven synchronous generator (SG) based variable speed wind
turbine (VSWT) that are connected to power grid via modular
converter units . Compared to medium voltage, full rating power
converter, multi modular design exhibit better harmonic
performance and is also superior in terms of both system
reliability and efficiency. Research previously conducted on
modular converters focused on controller design that either had a
centralized structure or had master slave configuration [1].
Designing autonomous/ distributed controllers for modular
converter system is objective of this research. Besides equal
power sharing among operational units, the other main challenge
in design of distributed controller was to ensure, under all
conditions, an interleaved operation of the parallel modules. In
interleaving, parallel power stages share same switching
frequency but have carrier phases displaced uniformly
throughout the switching period. With interleaving, ripple in the
output current is significantly reduced which enables use of
smaller sized filter components [2]. An autonomous controller
will greatly improve systems reliability and redundancy. In
order to test the designed controller, simulation of a 4MW, direct
driven synchronous generator (SG) based variable speed wind
energy conversion system (WECS) was carried out in Simulink.
The system is connected to grid via two parallel operating
converter (rectifier/inverter) units and was examined under
various test conditions. Simulation results show good
performance of the designed controller.
Keywords- multi-phase synchronous generator; modular
converters; autonomous controller; automatic interleaving;
synchronous generator based WECS
decouples grid frequency from stator frequency and helps in
optimizing system performance [3]. One of converter topology
commonly used in Synchronous Generator (SG) based variable
speed wind turbines (VSWT) comprises of a generator side
pulse width modulated (PWM) rectifier, a DC-link and grid
side PWM inverter.
Use of full-size power converters in direct driven SG based
WECS is common however there are some major drawbacks
associated with them. Firstly, full size power converter has
reduced efficiency at low power levels and injects harmonics to
the grid. Other reason that makes choice of full size power
converter less favorable is the issue of system reliability, as
entire WECS goes out of service when there is either an
equipment failure or maintenance shutdown. The second option
for connecting direct driven WECS to the grid is through a set
of parallel connected power converters of smaller ratings.
Compared to full size converter counterpart, the modular
converter system offers higher system reliability, efficiency
and harmonic reduction [3].
A modular converter system connected to a six phase
synchronous machine is shown in Fig. 1. The use of SG with
electrically and magnetically independent three phase winding
sets, helps in addressing problem of circulating currents which
would exists if modular converter structure was connected to a
SG with single set of three phase winding. The two converter
modules have independent machine and grid side control units
and are also equipped with individual sub-controller for switch
interleaving.

I. INTRODUCTION
Wind, a clean and vastly available renewable energy
source, stands as the most promising alternative to
conventional schemes of electric power generation. Focus of
this research is on direct driven permanent magnet synchronous
generator (PMSG) based variable speed wind energy
conversion system (WECS). Low speed operation of PMSG,
made possible through multi pole design, successfully
eliminates need of a gear box which helps in bringing down
maintenance cost of the system. Power converters in WECS Figure 1. Multiphase PMSG connected to the grid using modular converters.

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978-1-4577-2088-8/11/$26.00 2012 IEEE

 Switch interleaving using either distributed or centralized
control approach has been extensively studied with reference to
DC-DC multi-modular converters and has proven its
effectiveness in increasing the output ripple frequency for a
given switching frequency [2]. Accomplishing the task of
evenly distributing switch turn on times throughout switching
period is more challenging in case of distributed control
approach. Various distributed interleaving techniques have
been suggested with reference to DC-DC multi-modular
converter system [4],[5],[6]. Varying nature of signal in case of
DC/AC or AC/DC converters makes direct application of these
techniques difficult and hence the sub-controller for
interleaving of rectifier/inverter units was designed using a
different approach.
In this research, models were developed for multi phase
PMSG, grid and machine side controller with automatic Figure 2. Block diagram of controller for machine side converter.
interleaving algorithm using Simulink. Testing of the control
scheme implemented in rotor reference frame. By setting
strategy under various scenarios showed that the parallel
reference for direct axis current component of stator current as
modules shared power equally and even in case of channel
zero [9], enables electromagnetic torque (Te) to be controlled
failure the developed interleaving control algorithm continued
solely through quadrature component of stator current.
to perform well without disruption.
Measured quantities include rotor position (determined by
using an encoder mounted on the rotor) and stator currents. The
II. MODEL DEVELOPMENT optimal Torque reference is determined through the MPPT
controller which in turn decides the set point for quadrature
A. Model of multi phase PMSG component of stator current. Independent control of d and q
Dynamic model of a PMSG is greatly simplified when rotor axis currents is made possible by inclusion of compensation
reference frame is chosen for its implementation [7]. In case of terms at outputs of the PI current regulators. Carrier phase
permanent magnet synchronous generator (PMSG), the shifted (CPS) PWM scheme is used for creating gating signals
permanent magnets can be modeled as fixed magnitude field for the power converter.
current source If. Equation (1) and (2) represent direct (d) and
quadrature (q) voltage equations relevant to each of the three C. Controller for grid side converter
phase winding set of the machine (for n number of three phase Grid side controller is designed using synchronous
winding sets, x= 1, 2..n). Magnetizing inductance and PMSGs reference frame and is responsible for regulating flow of active
rotor flux are represented by Lm and rf respectively and and reactive power to the grid. As seen in Fig. 3, the grid side
variables Lsdx and Lsqx are stator d and q axis self inductances. controller also has nested loop structure with inner loop
v sdx = R s i sdx + w e L sqx i sqx L sdx Si sdx (1) controlling current flowing towards the grid and the outer loop
is responsible for regulating DC-link voltage and reactive
v sqx = R s i sqx w e L sdx i sdx + w e rf L sqx Si sqx (2) power flow [8],[11]. Grid management service decides
reference for reactive power denoted by Qgridref in Fig. 3. In case
rf = L m I f (3) no reactive power compensation is required then Qgridref is set
equal to zero, making possible flow of maximum active power
Electromagnetic torque (Te) and rotor mechanical speed
(wm) of a six phase PMSG are given by (4) and (5). Parameter
Tm, J , F and Np stand for mechanical input torque , moment of
inertia, friction factor and number of pole pairs respectively.
(( ) ( )
Te= 1.5 N p L sq1 L sd1 i sq1i sd1 + L sq2 L sd2 i sq2 i sd2 + rf (i sq1 + i sq2 ) ) (4)

11
w m= (Te Tm w m F) (5)
Js

The five equations listed above are used in developing

model of a six phase PMSG in Simulink.

B. Controller for machine side converter

Synchronous machine is controlled by generator side
converter and has a nested-loop structure. One of the popular
control strategy conventionally used for PMSG is maximum
torque control [9], [10]. Presented in Fig. 2 is structure of this Figure 3. Block diagram of controller for grid side converter.

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to the grid. Transformation angle (g) is detected using Phase
Locked Loop (PLL) [3] and is used in conversion of three
phase electrical quantities into their equivalent direct and
quadrature terms.
D. Controller for automatic interleaving of grid and machine
side converter modules
Interleaving of switching signals has several advantages for
multi modular converter system and this technique has
extensively being used in DC-DC converters. By spreading
switch turn-on times evenly throughout the switching period,
ripple in current can be reduced considerably and this allows
use of smaller output filter components. Though interleaving
has been implemented in DC-DC converters using both
centralized and distributed control structure, however later of
the two methods has proven to be far more challenging than the
other [2].
Focusing on distributed interleaving techniques in DC-DC
modular converter system, it was found that there were several
different approaches used for its implementation. Separate
control bus is used for interleaving of switching signals in [4].
Every distributed converter modules is connected to this bus
and has its base clock driven 180 out of phase with respect to
systems aggregate clock [2], [4]. Filtered collective output of
the parallel modules is used for detecting switching instances in
[6]. Third technique is applicable on equal load sharing
modules. It makes use of a bus that sets a voltage signal Vmod
[2] that in turn sets phase delay equal to 360/n (n=number of
modules) between the operating units [2], [5].
Varying nature of the AC signal makes it difficult to apply
methods for distributed interleaving of DC-DC converters onto
multi modular AC/DC or DC/AC converters. A different
approach is therefore required in order to achieve task of active
interleaving of rectifier or inverter modules.
In active distributed control scheme for interleaving, each
module can acquire information about total number of units in
operation, without a centralized communication system. Based
on the information about total number of operational units,
each converter module decides the value of desired interleaving
angle and subsequently displaces its carrier phase relative to
other working modules. A change in the on-off status of any of
the parallel connected module should automatically trigger the
interleaving control system so as to readjust switch turn-on
times accordingly.
Enabling each module to gain information about total
number of operational units is possible if harmonic analysis is
made for total grid side phase current. Using Fast Fourier
Transform, information about magnitude and phase of different
harmonic components, is acquired for the signal of interest.
Using magnitude of a frequency component, its energy level
can be estimated, as energy content of a harmonic is
proportional to the square of its magnitude.
Frequency modulation index (mf), that is the ratio of
converters switching frequency (fs) and frequency of stiff grid
(f1), is selected to be an odd integer. Energy contents of
harmonic components of grid side phase current that are of
interest, lie in the band of frequencies around mf and 2mf and
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are denoted by symbols Emf and E2mf respectively. For sake of
comparison sum of Emf and E2mf is expressed as ratio of energy
of fundamental harmonic component of grid side phase current
(E1) and this ratio is represented by variable EH.
E mf + E 2mf
EH = (6)
E1
By carrying out simulation for a 4MW, WECS shown in
Fig. 1 values of energy ratio (EH) are found by setting different
carrier phase angles for the converters in operation. With
rectifier and inverter in both of the channels in on state
throughout simulation time frame, values of recorded EH are
listed in Table. 1. By comparing the values of column 1 of this
table, it is evident that EH is minimum for the case when the
phase displacement between carriers of 1st and 2nd channel
converter units is 180 degree. This observation is important, as
it leads us to the conclusion that by monitoring energy ratio EH
of grid side phase current, information about total number of
modules can be deduced as this ratio is minimum when
interleaving angle is equal to 360/n ( n= number of modules in
operation).
When designing two parallel converter system having n-1
redundancy, we either have the condition when system has
both units in running condition or when converter in only one
of the channel is operating. Therefore for such a system, the
choice for interleaving angle is either 0 or 180. Energy ratio
EH is recorded for each of the two options and the angle for
which measured EH is found to be the lowest is selected and
maintained, unless there is change in on/off status of any one of
the parallel operating modules.
It is important to note that EH is not constant but alters due
to the varying nature of the grid current. Hence a gap of at least
T1sec (T1=1/f1, where f1 is frequency of stiff grid) is required
between the time when interleaving angle is varied and the
instant when its effect on ratio EH is recorded. This time gap is
important as it allows harmonic analysis to be conducted only
once the system has been stabilized.
Algorithm for determining interleaving angle for a system
with maximum number of parallel connected converter
modules equal to two, is shown in Fig. 4. This algorithm can be
extended to any number of parallel operating units. The only
difference will be in the choice of relevant interleaving angles
for which ratio EH will be recorded. For instance, in case of a
system with maximum capacity for five parallel connected
modules, the options available for interleaving angle will be
TABLE.1 ENERGY RATIO FOR VARIOUS INTERLEAVING ANGLES
Carrier phase (Degrees)
Energy ratio ( EH )
(per unit) For converter #1 For converter #2
0.00551 0 0
0.00383 0 60
0.00241 0 90
0.00136 0 120
0.00068 0 180

Figure 4. Algorithm for determining interleaving angle.
180, 120, 90, 72 and 0 only, depending on number of units
in operation at a time.
Knowledge of optimal interleaving angle, depending on the
number of operational units, is not enough to complete the task
of automatic interleaving. The last step in the process requires
each converter to adjust its exact phase displacement relevant
to other units. Like in case of five parallel connected
converters, if all five units are operational then optimal
interleaving angle is 360/5 ( i.e 72 ). The carrier phase of the
five converters should be evenly spread over the entire
switching period with carrier phase offset for converter number
1, 2, 3, 4 and 5 set equal to 0, 72, 144, 216 and 288
respectively.
The simplest solution of this problem would be allocation
of a token number to each of the connected module. Carrier
phase for every unit is decided based on the product of its
token number with optimal interleaving angle. In order to avoid
erroneous results it is important to update these token numbers
whenever there is a change in on/off status of any of the
parallel operating units.
Simulation results for a modular converter system with five
channels operating in parallel are shown in Fig.5 up to Fig. 12.
Fig. 5, shows number of converters operational during entire
course of simulation. The converters in channel 1, 2 and 4 stay
on throughout the simulation period however; converters in
channel 3 and 5 are initially on but are turned off at 0.12 sec
and 0.23 sec respectively. Both converter 3 and 5 get back in
operational condition at 0.34 sec.
As discussed earlier, decision about the optimum
interleaving angle for the converters in operation is made on
the basis of energy ratio EH found as a result of harmonic
analysis of grid side phase current and is shown in Fig. 6.
During entire simulation period, controller for determination of
suitable interleaving angle is activated four times in all. The
system is triggered once at the start of simulation and later on,
whenever a change was experienced in the on-off status of any
of the modules in the parallel connected converter system. For
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a system with maximum capacity of five parallel connected
modules, the options for interleaving angle are limited to 180,
120, 90, 72 and 0. Hence whenever the controller is
triggered the energy ratio will be computed by setting each of
the possible interleaving angles for a time period equal to
0.0167 sec (i.e 1/ f1 sec). Information of token number for the
converters is utilized for setting appropriate carrier phase for
each of the operational units.
In the start when all converters are working the token
number assigned to them are 0,1,2,3 and 4 respectively. As
explained earlier that token numbers allotted to converters need
an update whenever there is change in operational status of any
of the channel modules. Algorithm for token update dictates
that difference between token number of one operational unit
relative to next converter will be one only if this next converter
is in on-state.
For understanding the token update process consider case
of the carrier phases for converters in channel 2 (shown in Fig.
8) and channel 4 (shown in Fig. 10). For the time interval
extending from start up to 0.12 sec when all converters are
operational, the difference between token number of channel 2
and channel 4 converter units is two. But for time period
between 0.12 sec and 0.34 sec when converter in channel 3 is
off, this difference between token numbers of channel 2 and
channel 4 converter modules is reduced down to one. The
original difference of two units between token numbers of
channel two and channel 4 converter modules is regained as
soon as converter in channel 3 is turned back on again at 0.34
sec.
Every time the interleaving controller is triggered the time
it takes in determining optimum interleaving angle is
approximately 0.084 sec (i.e 5/f1 sec) for a five channel
modular converter system. To determine accuracy of results
generated by the designed controller consider the carrier phase
for all the five parallel operating units at time 0.085 sec, the
carrier phase for the converter in channel 1,2,3,4 and 5 is found
to be 0 radians, 1.2566 radians, 2.513 radians, 3.769 radians
and 5.026 radians. Hence the interleaving angle is accurately
determined and is 1.2566 radians i.e 72 as converters in all the
five channels are in on state at that time. The same results are
obtained after 0.424 sec which is 0.084 sec after all the five
converters get back in operational state at 0.34 sec.
Consider the part of simulation that extends from 0.12 sec
up to 0.23 sec when converter is channel 3 is the only converter
which has been turned off. Decision about optimum
interleaving angle for the remaining converter modules is made
0.084 sec past the time slot of 0.12 sec. Looking at Fig. 7 down
to Fig. 11 the carrier phase shift between each converter which
is in on state is 1.57 radians i.e 90 and is the desired
interleaving angle for a system that has four operational
converters. Similarly when the converter in channel 5 is turned
off at 0.23 sec the controller successfully determines the
interleaving angle as 2.094 radians i.e 120 at time equal to
0.314 sec as now two out of the five converters are in off state.
In Fig. 12 is shown Total Harmonic Distortion (THD) for
total grid side phase current and comparing it with plots shown
in Fig. 7 up to Fig. 11 it is observed that THD is minimum
whenever the carrier phase shift is 360/n (n=number of
modules in on-state). Plot for energy ratio EH ( i.e Fig. 6 ) bears
a close resemblance to plot for THD ( i.e Fig. 12 ) as both these
quantities attain lowest possible value when carrier phase shift
between the operating units is set equal to its optimum value.

III. RESULTS
Using Simulink , a 4MW, six phase, PMSG based WECS
with two converter modules operating in parallel was designed.
Parameters for the system are given in appendix section. In
order to test the developed control strategy, the system was
Figure 8. Interleaving angle for converter module of channel-2.
simulated for various test conditions. The results included here
pertains to one of the test case in which, converters (both
rectifier and inverter module) of channel 1 are always on.
As seen in Fig. 13, the converter in channel 2 is turned off (at
time t=0.5 sec) and back on again (at time t=0.65 sec).
Electromagnetic Torque reference given to each machine side
controller is shown in Fig. 14 and is followed closely by
channel 1, as seen in Fig. 15. Measured electromagnetic torque
for channel 2 is shown in Fig. 16 and it follows the given
torque reference except for a time gap of 0.15 sec when
channel 2 is shutdown.
Figure 9. Interleaving angle for converter module of channel-3.

Figure 5. Number of converters in operation.

Figure 10. Interleaving angle for converter module of channel-4.

Figure 11. Interleaving angle for converter module of channel-5.

Figure 6. Energy ratio for a five channel modular converter system.

Figure 12. Percentage Total Harmonic distortion (THD) for five

channel modular converter system.
Figure 7. Interleaving angle for converter module of channel-1.

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 Stator side current for channel 1 and 2 is shown is Fig. 17 about total number of units in operation. Based on this
and Fig. 18 respectively. As seen, the frequency of the stator information each converter module decides the value of desired
side current is approximately 11.3 Hz which is in accordance interleaving angle and subsequently displaces its carrier phase
with the system parameters listed in appendix section. relative to other modules.
The adjustment of interleaving angle for channel 2 The interleaving control system is triggered once in the
converter during entire course of simulation, is shown in Fig. start and later on, whenever a change in on/off status of any of
19. Interleaving angle for converter 1 stays zero throughout and
is not shown here. Looking at Fig. 19, it is noticed that
interleaving control circuitry is triggered once at beginning of
the simulation and later whenever a change occurred in
operational status of channel 2 converter modules.
Based on the lowest energy ratio, optimal interleaving
angle is selected. As seen in Fig. 19, the time frame in which
both converters are operating, interleaving angle selected by
the control algorithm is pi radians for channel 2 converter.
Time gap between 0.5 sec up to 0.65 sec when only converters
(rectifier/inverters) of channel 1 are operational, the carrier
phase for these converters is maintained as 0 radians. Figure 14. Reference Electromagnetic torque for each channel.

In Fig. 20 and Fig 21, DC-link voltage is shown for channel

1 and 2 respectively. Reference DC-link voltage for both
channels as given in appendix is set at 1220 V. As seen in Fig.
20, DC-link voltage remains stable during entire course of
simulation for the first channel. For the second channel, DC-
link voltage shoots up momentarily at 0.5 sec. But soon after, it
gradually starts falling down in order to return to its reference
level. When modules in channel 2 are turned back on again,
DC-link voltage for this channel is quickly restored back to its
reference value of 1220 V.

IV. CONCLUSION
Although the concept of using single full size power Figure 15. Measured Electromagnetic torque for channel 1.
converter in drive systems is a common practice, but with the
growing trend of multi-MW-turbine installations, the idea of
modular converter units is gaining popularity. This paper
explores control strategy for autonomous operation of
controllers for modular converter system. Main challenge for
this research work was mainly to satisfy criterion of equal load
sharing and to achieve active interleaving of parallel connected
converter modules, without using a centralized control
structure.
Algorithm developed is for interleaving of AC/DC or
DC/AC converters and it uses harmonic analysis of grid side
phase current. This enables each module to acquire knowledge
Figure 16. Measured Electromagnetic torque for channel 2.

Figure13. On/off status of converter in channel 2.

Figure 17. Stator phase current for channel 1.

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the parallel connected modules takes place. This helps in re- APPENDIX
adjustment of switch turn on times based on the new
interleaving angle. The algorithm has distributed control TABLE.II PARAMETERS OF MULTI-PHASE , SALIENT POLE PMSG
structure and in absence of a central communication system, BASED WECS
the controllers for each converter unit are capable of adjusting
the optimal interleaving angle. Simulations results for a WECS Rated Shaft power 4 MW
with two parallel converter modules show satisfactory Rated phase voltage 398.37 V (rms)
performance of the designed control strategy.
Rated Stator current 3346.9 A

Rated Torque (Te) 1.69 M N.m

Rated stator frequency 11.29 Hz

Rated rotor flux linkage (rf) 6.76 Wb (peak)

Stator Resistance (Rs) 7.3m
a
d-axis Syn. Inductance (Lsdx) 0.3 mH
a
q-axis Syn. Inductance (Lsqx) 0.5 mH
DC link voltage 1220 V

Number of pole pairs (Np) 30

Line side Filter inductance 0.126 mH
Figure 18. Stator phase current for channel 2. a. Value holds for each of the two sets of three phase winding, hence x can be 1 or 2.

Figure 19. Interleaving angle for converter modules in channel 2.
Figure 20. Measured DC-link voltage for channel 1.
Figure 21. Measured DC-link voltage for channel 2.
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