3414 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 31, NO.

5, SEPTEMBER 2016

Analytical Modeling of Inertial and Droop Responses

From a Wind Farm for Short-Term Frequency
Regulation in Power Systems
Hua Ye, Wei Pei, Member, IEEE, and Zhiping Qi, Member, IEEE

AbstractAvailable inertia and variable droop responses from Wind power uctuations ( in ).
a wind farm to support the short-term frequency control in Additional power output of a wind farm
power systems are analytically evaluated. The novelty lies in
the approach to formulating the inertia constant and primary ( in ).
power reserve for a variable speed wind turbine (VSWT) that VSWT generator rotor angular speed at a
operates at derated conditions. The formulations are extended to deloading rate of .
evaluate the capability of providing inertia and primary frequency VSWT generator rotor speed ( in ).
support from a wind farm using an aggregated wind speed. As
a consequence, the capability as a function of VSWT operating Network nominal frequency ( in ).
characteristics and conditions is quantied to rationally adjust the Network measured frequency ( in ).
frequency controller gains, thereby ensuring stable performance
of the wind farms during frequency transients. A modied system Base frequency (Hz).
frequency response (SFR) model considering available inertial and Effective inertia constant of a VSWT (s).
droop responses from wind farms is developed to well simulate the
SFR following wind power uctuations. The effectiveness of the Aggregated virtual inertia of a wind farm
analytical method is veried through comparisons of the results (s).
with those obtained from the empirical method. Constant gain of the inertia control (s).
Index TermsAnalytical modeling, droop control, inertial con- Combined moment of the generator-turbine
stant, power system frequency regulation, wind farm, wind power inertia .
uctuations. Deloading rate of VSWT operation (%).
Aggregated virtual droop inverse of a wind
NOMENCLATURE farm (MW/Hz).
Constant gain of the droop control
Acronyms (MW/Hz).
FFT Fast Fourier transform. Mechanical power of a wind turbine (MW).
MPPT Maximum power point tracking. Nominal power in a power system (MW).
PSD Power spectrum density. Rated power of individual wind turbines
ROCOF Rate of change of frequency. (MW).
Equivalent wind speed (m/s).
SFR System frequency response.
TSO Transmission system operator. The main symbols that appear in this paper are dened above.
Other symbols are dened in the text as they appear.
VSWT Variable speed wind turbine.
Variables and Parameters
I. INTRODUCTION
Conventional synchronous generator
angular speed variation ( in ).
Additional power output of a VSWT (
in ).
W ITH increasing penetration of wind power in power sys-
tems, more conventional synchronous generators that
automatically support system frequency regulation may be dis-
placed by the variable speed wind turbine (VSWT)-based wind
farms. Since the VSWT utilizes power electronic converters as
Manuscript received November 22, 2014; revised June 12, 2015 and August the interface with the network, its rotor speed is decoupled from
24, 2015; accepted September 29, 2015. Date of publication November 10, the network frequency. In addition, traditional VSWTs always
2015; date of current version August 17, 2016. This work was supported in
operate over the maximum power point tracking (MPPT) curve
part by the National Key Basic Research Development Program of China
(973 Program) under Grant 2012CB215200. Paper no. TPWRS-01601-2014. so that no power reserve is available. Therefore, the VSWTs-
The authors are with the Institute of Electrical Engineering, Chinese based wind farms inherently provide small or even no contribu-
Academy of Sciences, Beijing 100190, China (e-mail: yehua@mail.iee.ac.cn).
tions to the frequency regulation in power systems [1].
Color versions of one or more of the gures in this paper are available online
at http://ieeexplore.ieee.org. In the context of high penetration of wind power, frequency
Digital Object Identier 10.1109/TPWRS.2015.2490342 instability in power systems is a prominent concern, and thus

0885-8950 2015 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
YE et al.: ANALYTICAL MODELING OF INERTIAL AND DROOP RESPONSES
the transmission system operators (TSOs) expect that the wind
farms would participate in the frequency regulation [2]. The
participation will affect the short-term system frequency re-
sponse (SFR), and the latter is mainly characterized by the rate
of change of frequency (ROCOF) and the frequency deviation.
A closed-form solution of the ROCOF and frequency deviation
is essential in the exact assessment on the load shedding, the
maximum wind power penetration, etc. [3], [4]. To achieve
the close-form solution, impacts of the short-term frequency
regulation through additional controllers in a VSWT or wind
farm on the SFR are required to be analytically estimated.
In technical literature [5][10], a general approach of the
VSWTs participating in the frequency control is to adding
a frequency control loop into their active power controllers.
The gains of supplementary control loops are suggested to be
appropriately adjusted reecting the available virtual inertial
and droop responses [6]. An estimation on the gain of inertial
control using a trial and error method was given in [7], which
is difcult to test online for a large-scale power system. The
inertia control gain was calculated in [8] to protect the wind
turbine from stalling, and a coordinated control involving the
rotor speed control was then applied to decrease the system
frequency deviation. The gains of supplementary control loop
were determined in [6] to be proportional to the rotor opera-
tional speed. Therefore, a quantication of the VSWT rotor
speed control-based droop responses in [8] is desirable. In [9],
the frequency deviations are analytically determined as a func-
tion of supplementary controller gains rather than the available
inertia and power reserve of a VSWT. By adjusting the droop
parameter dynamically in response to the wind speed, primary
frequency support by employing available power reserve under
the VSWT deloaded conditions was modeled in [10]. However,
the available power margin in a VSWT needs to be estimated
analytically with respected to the wind speed. To ensure both
the turbine stability and dynamic frequency stability, the key
step in the estimation is to calculate the amount of available
inertia and power reserve in a wind farm to support the SFR.
Numerous researchers focused on the estimation of inertial
and droop responses at the VSWT level, whereas little efforts
have been devoted to the power system level [11]. The research
in [12] points out the aggregated inertia response from a wind
farm is not deterministic due to the widely varied wind speeds.
A large number of stochastic variables introduced make it dif-
cult to formulate the available inertia and power reserve in a
wind farm. A time series curve of tting the empirical data out-
lining the stored kinetic energy from the Irish wind farms is
used to assess its possible contributions to the frequency con-
trol [13]. A probabilistic approach to estimating the aggregated
inertial response from a wind farm was proposed in [14] where
the droop response and its interaction with the inertial control
are not taken into account. The combined inertia and droop con-
trol was presented in [15] to improve the SFR behavior, but a
long-term dynamic simulation would be performed in a further
step.
The development of analytical model aimed at formulating
available inertia and power reserve of the VSWTs supports ef-
fective evaluation on the frequency controller responses for a
wind farm that participates in the short-term frequency regula-
3415
Fig. 1. Participation of VSWTs in short-term frequency control.
tion. The main contributions in this paper are threefold. Firstly,
an analytical model of the VSWT rotational speed control-based
deloading operation is proposed, which makes it convenient to
formulate the inertia constant and primary power reserve from
individual VSWTs. Secondly, the frequency controller gains are
calculated to reect the available inertial and droop responses
from a wind farm. The resultant gains are expressed as functions
of the VSWT operating conditions, thereby ensuring the wind
turbine stability. Thirdly, an average SFR model that takes the
wind farms into account is developed, and then the short-term
frequency control is performed by simulating the SFR following
wind power uctuations.
The rest of the paper is organized as follows. Section II pro-
vides the reader with the required background knowledge. In
Section III, inertial constant and primary power reserve from
a VSWT at derated conditions are formulated. Aggregated vir-
tual inertia and droop control capacities from a wind farm par-
ticipating in the frequency control are analytically estimated
in Section IV. The proposed analytical solution is veried in
Section V. Conclusions are drawn in Section VI.
II. STATE OF THE ART
A. Short-Term Frequency Control From a VSWT
A general approach to enabling the wind farm participating in
the short-term frequency control is adding an appropriate sup-
plementary loop in the VSWT control system [5]. This can be
explained in Fig. 1 that an additional power component
is added to the power output command to form a new ac-
tive power reference . Herein, consists of two parts:
inertia response and primary power reserve ,
being proportional to the ROCOF and frequency deviation, re-
spectively. A general form of is given by
(1)
where is the additional power denoted by the per-unit value
on the basis of rated power of a VSWT, while is the mea-
sured frequency deviation in per-unit. Hereinafter, the upper
score indicates the per-unit value based on the corresponding
nominal quantities.
B. Representation of System Frequency Response
The low-order average SFR model is widely used to estimate
the frequency behavior of an isolated power system [16]. As
shown in Fig. 2, the sum of power outputs for frequency control
from synchronous generator and wind farm is used to balance
a power disturbance . An additional power supplied by an
3416 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 31, NO. 5, SEPTEMBER 2016

Fig. 3. MPPT and deloaded optimal power curves of VSWT.

Fig. 2. SFR model with participation of wind farm in frequency control.

where is the air density, is the blade length, is the turbine
rotor angular speed, is the blade pitch angle, and is
equivalent synchronous generator with reheat steam turbine is the power coefcient.
expressed as [4] By assuming limited excursions about a steady-state oper-
ating point along the power extraction curve, the power coef-
(2) cient may be approximated through a second order polynomial
in (8) [18], [19]. The approximation of the power coefcient for
with a given blade pitch angle is expressed in Appendix A.

(3) (8)

where is the time constant of reheat steam turbine, is the
high pressure power fraction, and is the permanent droop.
At a special time, it is assumed that the wind power penetration
level in an isolated power system is , and the system nominal
power is .
Considering a wind farm participating in the frequency con-
trol where all VSWTs have same types and operating conditions,
in the frequency domain (1) may be modied [17]
where and are linear functions of as shown in
Appendix A, and both parameters need to be updated if the pitch
angle controller is employed. In this paper, rather than pitch
angle controller, rotational speed controller-based deloading
operation mode is adopted as detailed below.
Noting that the rotor angular speed at the generator side is
referred to that at the turbine side as follows:
(9)

where is the number of poles of the generator and is the

(4)
transmission ratio of the gearbox.
Therefore, the frequency dynamic response following the dis- By inserting (7), (8) and (9) into (6), the mechanical power is
turbance is expresses as follows: approximated as

(5) (10)

with For a given wind speed, (10) is considered as a univariate

quadratic function in a single variable . The vertex of the
parabola in the vertex form of is obtained as a
function of the wind speed.
where is the inertia constant of equivalent synchronous gen-
erator, and is the load damping coefcient. (11)

III. AVAILABLE INERTIA AND POWER RESERVE OF VSWT with

AT PARTIAL-LOAD OPERATION

A. Analytical Modeling for VSWT Deloading Operation

The mechanical power extracted by a VSWT is calculated as From (11), by dening , a maximum power value
can be obtained as a function of the rotor angular speed.
(6)
(12)
with the tip speed ratio
where is calculated depending on the turbine inherent pa-
(7) rameters, and the MPPT curve is given as shown in Fig. 3.
YE et al.: ANALYTICAL MODELING OF INERTIAL AND DROOP RESPONSES 3417

In order to provide available power reserve for the frequency

control, the wind turbines are supposed to operate over a de-
loaded maximum power extraction curve. In this work, a pre-de-
ned deload of is adopted, and the relationship be-
tween the maximum and deloaded active power is given by

(13)

where . To resolve the rotor angular

speed at the deloading operation mode, substitution of for
in (10) gives

(14)

with

From (13) and (14), a deloaded optimal power curve can be

expressed in (15), which is also depicted in Fig. 3.
Fig. 4. Available power reserve from a VSWT. (a) VSWT generation increase.
(15) (b) VSWT generation decrease.

B. Calculation of Inertia Constant C. Calculation of Primary Power Reserve

Apart from the excursions, the turbine rotor is basically To support the VSWT for participating in the frequency
swinging around the deloaded optimal angular speed in regulation, the VSWTs should operate at partial load, ensuring
(14). However, the latter is not xed, and is a function of the sufcient generation margin at any instant. Fig. 3 shows a
wind speed [14]. The inertia constant is dened as the ratio of deloading mode on the right side of the MPPT
kinetic energy stored in the rotor system at to the deloaded curve, which can be used to adjust the VSWT active power
optimal power. output through the rotor speed control. Then, the active power
provided by each VSWT increases or decreases to complement
(16) the system frequency changes.
As shown in Fig. 4(a), when the rotor speed decreases during
Substituting (13) and (14) in (16) gives the period of , the extracted wind power increases.
Using the frequency control loop, the increased power is in-
(17) jected to the grid for balancing the power loss. The capability of
supporting the frequency control can be evaluated by the avail-
where is inversely proportional to the wind speed. able power reserve. In the case of in Fig. 4(a),
The generator and turbine rotor is accelerated or decelerated it is .
by the unbalance in the applied torque , and the latter has a As depicted in Fig. 4(b), the minimum curve is set to consider
relationship with an additional power . Therefore, the allowable maximum limit of the turbine rotor speed imposed
by the VSWT rotor circuit. By using a pre-dened deloading of
(18) , the minimum curve in Fig. 4 can be expressed
by
Expressing the moment of inertia in terms of , insertion of
(16) into (18) yields (21)

(19) The rotor angular speed at the deloading mode of

is calculated as
By assuming the same conditions for VSWTs in a wind farm,
the inertia power contribution available from the th VSWT can (22)
be determined from (19) by
with
(20)

where denote the rotor speed variation in per unit.

3418 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 31, NO. 5, SEPTEMBER 2016

When the rotor speed increases, the extracted wind power where represents the amplitude decay effect and time
decreases. This case is used to reduce the generation when delay during the wind travel from the turbines to . An ag-
the system is subjected to the loss of the load, for example. gregated model in [22] is used to represent the equivalent wind
The power reserve available from a VSWT can be assessed as speed for wind turbines as follows:
in the case of .
By assuming same operation conditions for VSWTs in a (29)
wind farm, the effective power reserve available from the th
VSWT is given using the linear relationship for both cases de-
picted in Figs. 4(a) and 4(b) as follows: (30)
if
(23) It is convenient to transform and into the
if .
time domain to get aggregated mean wind speed and
Substituting (11), (13), (14), (21) and (22) in (23) gives wind power uctuations , respectively. Using the lin-
earized version of (10), wind power uctuations may be calcu-
(24) lated as follows:

with
(31)
if
(25) with
if .

In (24), the available generation margin depends on the wind

speed and actual rotor speed variation. In (25), the rotor speed
The high-frequency power uctuations can be attenuated
has the range of . By adjusting smaller or larger
through the moment of inertia and the rotor disc averaging
than , the turbine is able to increase or decrease active power
effect as well as the lter [24]. The smoothing effect is rep-
output during the system frequency changes, respectively.
resented through a low-order transfer function, and thus the
per-unit power uctuations are expressed in the frequency
IV. SYSTEM FREQUENCY RESPONSE OF WIND FARMS
domain as
PARTICIPATING IN SHORT-TERM FREQUENCY CONTROL

A. Modeling of Wind Power Fluctuations (32)

The wind speed represents the main exogenous signal applied
to a wind farm, and wind power uctuations are main distur-
bances in a power system, resulting in grid frequency devia-
tions. For a given site, the wind speed applied to the th wind
turbine may be represented using the concept of power spectrum
density (PSD) that is identied in Van der Hoven's large band
model [20].
(26)
where refers to the frequency domain, describes the
low-frequency variations, and is the turbulence com-
ponent. The dynamic properties of the latter are described by
Karman's spectra with adjustable parameters that depend on the
low-frequency wind speed. In accordance with singular pertur-
bation theory [21], aggregated wind speed models having as
input and , however, can be dealt with separately
as the variations have different time scales.
In a wind farm, the low-frequency variations of turbines
and can be correlated by a coherence factor as given
in (27) [22], [23]. This is the same case for the high-frequency
variations as given in (28).
where is the time constant that is determined by fast Fourier
transform (FFT) analysis on the smoothing effect [24].
B. Aggregated Virtual Inertial Response
Additional kinetic energy contributed by each wind turbine
in (20) is collected to support inertial control of a wind farm at
the system-level. For simplication, it is assumed that all wind
turbines have the same inertia constants and same rotor speeds.
Therefore,
(33)
Inserting in (33) and then expressing it
on the basis of give
(34)
The collection of additional inertial power contributed by all
turbines in (34) is equivalent to the response of inertia control
in (4). Integrating both sides of
over an interval leads to

(27)
(35)
(28)
YE et al.: ANALYTICAL MODELING OF INERTIAL AND DROOP RESPONSES 3419

where the low limits of the integrals, and , denote the

nominal system angular frequency and wind turbine rotor speed
at its deloaded mode, respectively. Inserting (13)
and (17) into (35) and then eliminating the integrals, a new gain
of the inertia control is calculated as

(36)

In order to well control the system frequency, is kept at

an appropriate value to avoid wind turbine instability. The grid
frequency deviation can be set at the maximum value
that is ruled by the TSOs. Thus, is expressed in another
form as Fig. 5. Improved SFR model with participation of wind farms in frequency
control.
(37)

with In order to model the frequency response of a wind farm,

is derived from (43) as follows:
(38)
(44)
This equation implies the gain of inertial control is used to emu-
late a specic inertia constant, which is referred to as aggregated
where is the equivalent moment of inertia of a wind farm.
virtual inertia of a wind farm.

C. Available Variable Droop Response D. Short-Term SFR Model

The additional power provided with each wind turbine in (24) When an isolated power system is subjected to a disturbance
is collected as , which is used for primary (in this work, ), the sum of power outputs
frequency control. It is assumed that each wind turbine has the for frequency control from the synchronous generator and wind
same power-frequency characteristics, and the same power ca- farm is used to balance the disturbance. A rst-order model for
pacity . On the basis of , can be expressed by speed governor of the synchronous generator with reheat steam
type is considered, and (3) becomes
(39)
(45)
The response of primary frequency control in
(4) is equivalent to the collected power in (39), that is where and .
, and thus From (37), (41) and (45), an improved average SFR model
that considers wind farm participating in the frequency control
(40) is illustrated in Fig. 5. The free frequency dynamic response
following the disturbance is expresses as follows:
Similarly to (38), in (40) is replaced by , and thus
can be expressed in terms of the wind speed and the (46)
turbine rotor speed variation as follows:

(41) with

with

(42) From (46), it is convenient to calculate the maximum ROCOF.

By dealing with the speed regulator as an opened loop, the
where represents the capability of a wind farm partic- method in [3] is used to calculate the maximum frequency
ipating in the primary frequency regulation in power systems. deviation.
Hereafter, is referred to as the inverse of aggregated
virtual droop from a wind farm. V. VERIFICATION
It is noted that needs to be obtained to calculate In order to verify the effectiveness of the proposed analyt-
in (31), in (37) and (or ) in (41). The ical method, available inertia and droop responses from a wind
additional power is evaluated from the swing equation of system farm participating in the system frequency control are estimated
single-machine equivalence as follows: using three alternative approaches. All wind turbines in the wind
farm that is subjected to wind power uctuations are operating at
(43) partial load with a deloading margin of 10%. In addition, a wind
power penetration level of 50% in the isolated power system is
3420
Fig. 6. Aggregated wind speed prole, black: total wind speed, grey: low-fre-
quency component.
Fig. 7. Wind power uctuations.
chosen. Parameters of turbine-governing systems of the conven-
tional synchronous generators can be found in [25].
A. Wind Power Fluctuations
The aggregated wind speed for a wind farm is shown in
Fig. 6, which is computed using the procedure presented in
Section IV-A. It covers a time horizon of 8 hours. Based on the
averaging process performed every 10-minute time window, the
evolution of the low-frequency or mean wind speed component
is highlighted in Fig. 6. As mentioned earlier, the turbulence
component depends on the mean wind speed, and thus in Fig. 6,
the turbulence increases in amplitude gradually with arising of
the mean wind speed increases, and vice versa.
The wind speed described above is used to compute the wind
power output using the power curve of wind turbine. Based on
the small-signal model in (31) and the smoothing part in (32),
the wind power uctuations are produced, whose prole is given
in Fig. 7. As seen from Figs. 6 and 7, the power uctuation am-
plitude increases as the mean wind speed increases in value, and
vice versa. The intense power uctuations with the amplitude
exceeding 0.05 pu would cause severe system imbalances and
result in large grid frequency excursions.
B. Available Inertia and Primary Power Reserve
In order to reduce system frequency excursions following the
wind power uctuations, the aggregated inertia and wind power
reserve from a wind farm is utilized to improve the SFR be-
havior. This is achieved using the auxiliary frequency controller,
the gains of which should reect available inertial and power re-
serve responses from a wind farm.
IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 31, NO. 5, SEPTEMBER 2016
Fig. 8. Aggregated virtual inertia (dashed line: constant gain; black: the ana-
lytical method; grey: the empirical method).
Fig. 9. Droop control of primary power reserve (dashed line: constant gains;
black: the analytical method; grey: the empirical method).
For the purpose of comparison, three alternative approaches
to estimating the available inertial and power reserve responses
are given as follows:
1) Constant controller gains presented in Section II;
2) Varying controller gains that are determined by using the
available kinetic energy curve of tting the empirical data
[13];
3) Varying controller gains that are determined by the pro-
posed analytical method in this paper.
Figs. 8 and 9 show the gains of the inertial and primary droop
controllers, respectively, using the three approaches. The ap-
proach of setting constant controller gains is inappropriate since
it does not take into account the variable inertia and power re-
serve, probably resulting in the VSWT instability. For example,
during the time interval for low wind speed, exceeded utiliza-
tion of the inertia and power reserve will lead to the wind turbine
stalling. In the second approach, the aggregated virtual inertia
and primary power reserve is a function of square of the mean
wind speed. The high wind speed implicates more available in-
ertia and droop power reserve can be used for the short-term
frequency regulation, and vice versa. Basically, this is the same
case for the proposed analytical method, and thus the quantita-
tive analysis of available inertia and primary power reserve in
this paper is veried to be efcient.
Except for the wind speed, the proposed approach also ac-
counts for the limitations of the inertial and droop responses
when the wind farms are operating at the partial load. The avail-
able inertia and variable droop inverse, which are varying as
shown in Figs. 8 and 9, respectively, also depend on the varia-
tions of the generator angular speed. For a special case of low
YE et al.: ANALYTICAL MODELING OF INERTIAL AND DROOP RESPONSES
Fig. 10. Frequency deviations under condition of wind power uctuations.
(a) Conventional approach using constant controller gains. (b) Varying con-
troller gains using empirical data. (c) The proposed analytical method.
wind speed, available power reserve is limited since the rotor
speed reaches the minimum value. In the case of very high wind
speed, no variations exist for the maximum value of droop re-
verse in Fig. 9, and this means the generator speed reaches the
maximum speed with a xed power reserve.
C. SFR Results
Using the original and improved SFR models as presented
in Figs. 2 and 5, respectively, dynamic simulations performed
over a time horizon of 8 hours were carried out. The frequency
deviations in the system when subjected to the wind power uc-
tuations in Fig. 7 are shown in Figs. 10(a), 10(b) and 10(c), re-
spectively, using the aforementioned three approaches.
Fig. 10(a) gives the frequency deviations using the constant
controller gains. During the time interval for high wind speeds,
the frequency deviations may cross the allowable limit of 200
mHz. This is not the case for those in Figs. 10(b) and 10(c) in
which the frequency deviations are well limited within 200
mHz. Ratios of periods with different frequency ranges over 8
hours are given in Table I. The frequency deviations obtained
from approaches 2) and 3) do not exceed 200 mHz, and the
3421
TABLE I
RATIOS OF PERIODS WITH DIFFERENT FREQUENCY RANGES OVER 8 HOURS
Fig. 11. Comparison of power outputs between the proposed and empirical
estimation methods (left: at time point about 2.93h; right: at time point about
6.44h; dashed line: limitations, bold line: the analytical method, light line: the
empirical method).
ratios over [0.05, 0.2] Hz are reduced compared with those in ap-
proach 1). In addition, the method of using empirical data gives
similar results to the method of using the proposed analytical
model.
Fig. 11 shows additional power from the wind farm for the
short-term frequency control at two different time points. The
dashed lines show the limitations of maximum and minimum
available additional power in the wind farm. The proposed ana-
lytical method gives an improvement to the frequency response
compared with the estimation method using the empirical data.
For the latter, the additional power does approach to or exceed
the limitations. This is, however, not the case for the proposed
method which accounts for the realistic operating conditions of
the VSWTs in practice, for example, the rotational speed limi-
tations. Therefore, the inertia and power reserve is utilized in a
rational manner before hitting the operational limits.
VI. CONCLUSIONS
The analytical approach to evaluating the contribution of in-
ertial and droop responses from a wind farm to the short-term
frequency regulation at the power system-level was presented.
With the VSWT mechanical power approximated by a second-
order polynomial, the stored kinetic energy and wind power re-
serve are quantied for a VSWT that operates at partial load
over a wide range of operating points. The compact forms of
formulating the virtual inertia and available power reserve were
derived. The inertia constant is a function of rotor speed varia-
tion and wind speed, and this is the same case for the wind power
reserve. By reecting the available inertia and power reserve of
a wind farm, the gains of supplementary frequency controllers
were determined analytically. As a consequence, the participa-
tion of a wind farm in the short-term frequency regulation meets
the SFR requirement, but does not go against the VSWT oper-
ation limitations.
The analytical solution was veried for the SFR performance
following wind power uctuations. A comparison with the con-
stant frequency controller gains and the outcome of the empir-
ical data test conrmed the effectiveness of the proposed analyt-
3422
ical method. By taking the VSWT operating characteristics and
conditions into account, the available inertia and wind power
reserve margin are utilized in a rational manner, and thus the
wind turbine stability is guaranteed. Moreover, the exibility of
estimating the inertial and droop responses from a VSWT and
wind farm is enhanced, thereby allowing an optimum design of
controller gains.
A further aspect for future work is the requirement to ef-
ciently account for the spatial and temporal diversity of wind
speeds in the frequency regulation studies. A xed deloading
rate of the VSWT was chosen, and it would be adjusted de-
pending on different wind speeds. With the analytical model,
it is convenient to evaluate the impact of wind speed variability
and prediction errors on the performance of wind farms partic-
ipating in the frequency control. It was assumed in this paper
all wind turbines have the same operating characteristics. Due
to spatial distribution of the VSWTs, the generation margin for
every VSWT may differ, and thus the analytical model-based
coordinated frequency control of individual VSWTs is in the
ongoing exploration.
APPENDIX
A mathematical model has been developed to calculate as
follows:
(47)
with
(48)
It can be found from numerical simulations of , it has similar
feature with a second-order polynomial of when is larger
than about 2 degrees. Thus, in (47) may be approximated as
(49)
where , , , Prentice Hall, 2002.
, and . By dening the coefcients
(50)
(51)
(49) is rewritten as that in (8).
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Hua Ye received the B.S. and M.S. degrees in
electrical engineering from the China Agricultural
University, Beijing, China, in 2006 and 2008, re-
spectively. He received his Ph.D. degree in electrical
engineering from the Technische Universitt Berlin,
Germany, in 2013.
He is currently an Assistant Professor at the In-
stitute of Electrical Engineering, Chinese Academy
of Sciences, Beijing, China. His research interests
include power system modeling, computational
methods, power system transient simulation, and
integration of wind power.
YE et al.: ANALYTICAL MODELING OF INERTIAL AND DROOP RESPONSES
Wei Pei was born in Fuzhou, China, in 1982. He
received the B.Sc. degree (2002) and M.S. degree
(2005) from Tianjin University, and Ph.D. degree
(2008) from the Institute of Electrical Engineering,
Chinese Academy of Sciences.
He is currently an Associate Professor at the Insti-
tute of Electrical Engineering of Chinese Academy of
Sciences. His research area includes distribute gener-
ation and microgrid.
3423
Zhiping Qi received the M.Sc. degree from the Insti-
tute of Electrical Engineering of Chinese Academy of
Sciences, Beijing, China, in 1988.
Currently, she is professorial research fellow of
the Institute of Electrical Engineering of Chinese
Academy of Sciences. Her research interests include
microgrid, distributed energy storage, and smart
grid.