Beruflich Dokumente
Kultur Dokumente
R. Pena
J.C.Clare
G. M.As her
Indexing terms: Doubly fed induction motor, P W M converters, Vector control, Wind energy
A = estimated value
L, R = inductance and resistance of supply side induc-
tors - = predicted value
v,, vb, v, = 3-phase supply voltages * = demanded (reference) value
vd, vq, v,, vp = 2-axis supply voltages
1 Introduction
val, v b l , v b l = 3-phase stator converter terminal volt-
ages The doubly fed induction machine using an AC-AC
vdl, vql = 2-axis stator converter terminal voltages converter iin the rotor circuit (Scherbius drive) has long
i, ib, i,= 3-phase stator converter input currents been a standard drive option for high-power applica-
tions involving a limited speed range. The power con-
id, i, = 2-axis stator converter input currents
verter need only be rated to handle the rotor power.
0IEE, 1996 Vector-control techniques for the independent control
ZEE Proceedings online no. 19960288 of torque and rotor excitation current are well known
Paper received 27th July 1995 [l], whilst Jones and Jones [2], for example, have shown
The authors are with the DeDartment of Electrical & Electronic Enpineer- that a vector-control strategy can be used for decou-
ing, The University of NotGnghm, University Park, Nottinghm- NG7 pled control of active and reactive power drawn from
2RD, UK the supply. Wind-energy generation is regarded as a
IEE Puoc.-Electr. Power Appl., Vol. 143, N o 3, May 1996 231
natural application for the Scherbius DFIG system, which both converters are vector controlled, are as
since the speed range (from cut-in to rated wind veloc- follows:
ity) may be considered restricted. Most Scherbius operation below, above and through synchronous
DFIG systems reported employ either a current-fed speed with the speed range restricted only by the rotor-
(naturally commutated) DC-Link converter [3-5] or voltage ratings of the DFIG
cycloconverter [6-91 in the rotor circuit. Smith et al. [3]
operation at synchronous speed, with D C currents
describe the rated speed settings, gearbox ratios, and
injected into the rotor with the inverter working in
machine and converter ratings for variable-speed wind chopping mode
generation using the DFIG. Cardici and Ermis [4],and
Uctug et al. [5], have presented strategies aimed at low distortion stator, rotor and supply currents
maximising the total electrical power output from the independent control of the generator torque and rotor
DFIG. The use of a current-fed DC-link converter has excitation
a number of disadvantages: the DC-link choke is Control of the displacement factor between the volt-
expensive, and an extra commutation circuit is required age and the current in the supply converter, and hence
for operation at synchronous speed (which lies within control over the system power factor.
the operational speed range), and this has resulted in
Surprisingly, given the obvious advantages, Scherbius
poor performance at low slip speeds [4]. In addition,
schemes using this arrangement have received little
such a converter draws rectangular current waveforms
attention in the literature. Such a scheme was reported
from the supply. The problem at synchronous speed
by Bogalecka [lo] and Tang and Xu [l I], using simula-
may be overcome by use of a cycloconverter, and vec-
tion studies, but the authors have not verified the per-
tor-controlled Scherbius schemes with 6-pulse cyclo-
formance of the system experimentally. In this paper, a
converters have been described by Leonhard [ 11 and
full engineering study of an experimental back-to-back
Walczyna [6]. Yamamoto and Motoyoshi [7] have pre-
PWM vector Scherbius scheme is presented, with
sented a detailed analysis of the current harmonics experimental results verifying the performance flexibil-
drawn from the supply, which is still a problem in this ity of the system. Since the research was initiated as
type of drive. Machmoum et al. [8] have presented an part of a research program into new generator schemes
implementation with a simpler 3-pulse cycloconverter, for wind energy, the paper describes an implementation
whilst Holmes and Elsonbaty [9] describe a similar con- directed at wind generation, with the restriction that
verter to excite a divided-winding doubly-fed machine, the system is connected to a grid. A stand-alone imple-
which improves the speed range to 50% slip at the mentation is beyond the scope of the paper, and will be
expense of increased machine complexity. Both of these described in a future publication.
schemes have the disadvantage of requiring a trans-
former to form the neutral; in addition, naturally 2 Experimental system
commutated DC-link and cycloconverter schemes may,
in many cases, require a transformer for voltage A schematic diagram of the overall system is shown in
matching. Fig. 1. The DFIG used was a 7.5kW, 415V, 50Hz 6-
The disadvantages of the naturally commutated DC- pole machine, whose parameters are given in the
link and cycloconverter schemes can be overcome by Appendix. Two voltage-fed PWM converters are
the use of two PWM voltage-fed current-regulated inserted in the rotor circuit, with the supply-side PWM
inverters connected back-to-back in the rotor circuit. converter connected to the statorisupply via three sin-
The characteristics of such a Scherbius scheme, in gle-phase chokes. The voltage-transfer characteristics
DC drive
r---i
3-phose
varioc
supply
user interface
UQ
where
where v, and vB are the a, p (stationary 2-axis) stator- U& = -U; + (weL2, + IJd)
voltage components. (8)
= -U; - (W,LZd)
lor [os
In eqn. 8, v*dl and vi1 are the reference values for the
supply-side converter, and the terms in brackets consti-
tute voltage-compensation terms.
3. I Control-loop designs
The design of the current controllers follows directly
from eqn. 7, which can be written in the z-domain as
i=Q
Fig.2 Supply-side converter arrangement
where T, is the sample time (0.5ms). The converter may
be modelled by a pure delay of two sample periods
yielding the control schematic of Fig. 4, for which
supply
Fig. 3 Vector-control structure for supply-side converter
PI plant
V 0- A 0
Fig.5 DC-link voltage control loop
4 Induction-machine control
I "-7
dt
The zdT and zql errors are processed by the PI controller
to give V d , and vqr,respectively. To ensure good track-
ing of these currents, compensation terms are added $0
v d r and vq, to obtain the reference voltages v >,and v '
4
P according to
Te=-3-L i i
2 ms qT
4. I Control-loop designs
L S The plant for the current-control design is similar to
The stator flux angle is calculated from the case of the supply-side converter current controller
(see Fig. 4) with the following variable substitutions:
id,iq idr,
U&, -+ vir>dqr
R + R,
8, = tan-' AP,
~
L + oLr
,A,
Kc + Kl
where 8, is the stator-flux vector position. The integral
in eqn. 12 is solved using a digital passband filter, with a, -+ a1
cutoff frequencies of 0.5Hz and 1Hz to eliminate D C With T , = 0.5ms and with the motor parameters of the
offsets. From eqn. 11, the torque is proportional to zqr Appendix, a nominal closed-loop natural frequency of
software
mode select
1 ' :I: I I
'ms
encoder
236 IEE Proc -Electr. Power Appl., Vol. 143, No 3, May 1996
<
130Hz with = 0.8 is obtained, with the controller 20 600 -
( z 0.985)/(z - 1).
- DC link voltage
A speed controller is needed when the machine oper-
ates in the speed-control mode. The design of the speed
controller is carried out in the continuous domain, in a 525 -
500
similar way to that of the voltage controller for the 0 50 100
, I I I
150 200 250 300 350 400 450 500
I I I I
' i b b
observer, which effectively estimates the shaft accelera-
tion from a limited-resolution speed encoder [14]. rotor-phase current
'"i 1
A --48
A 5 -12 I 8 I I I I I
rotor-phase current
F
0 20 40 60 80 100 120 140 160
tlme,ms
Fig. 16 Experimental response to step change in d-axis rotor-current
demand showing the stator voltage und current
- 2 0 1 ' 1 1 ' ' 1 ' 1 1 '
0 50 100 150 200 250 300 350 400 450 500
Although the magnetising current in a DFIG is nor-
tirne,rns
Fig. 12 Experimental res onse to ,step change in q-axis rotor-current mally determined by the stator voltage, the freedom
dc>mandshowing the rotor-p&se current exists to control the magnetising current from id,.. Figs.
14-16 show the response to a step change in i*, of 7 A
4.2 Experimental results (which corresponds to rated magnetising current
Results are given showing the step-current response for referred to the rotor) at t = 50 ms for subsynchronous
the DFIG for sub- and supersynchronous operation. operation (IW,= 600 rpm) with i,, maintained at 2 A.
IEE Proc.-Electr.Power Appl., Vol. 143, No. 3, May 1996 237
Fig. 15 shows the rotor-phase current and Fig. 16 applying pitch control or driving the machine to the
shows the stator voltage and current on the same time stall point [16-181. For wind velocities below rated, the
axis. As is evident from the phase displacement, the machine follows eqn. 16. There are two methods of
magnetising current is initially supplied from the stator achieving this which are termed ‘current-mode control’
until t = 50 ms, where the phase shift changes to 180”, or ‘speed-mode control’.
showing that the machine is generating with all the
magnetising current supplied from the rotor. In prac- 5. I Current-mode control
tice, it is generally desirable to supply the magnetising This mode may be considered to be standard tracking
current entirely from the stator (by setting ii,.= 0) to mode [17]. Given a shaft-speed measurement, an elec-
minimise the losses in the rotor converter cascade. trical torque can be imposed on the DFIG according to
One of the advantages of this PWM Scherbius eqn. 16 after compensating for the transmission friction
scheme is the smooth operation through synchronous losses:
speed; this is shown in Fig. 17. -2Te*
Tev= KOptwZ- Bw, i;r = (17)
6- 1200 3~Lrnirns
and i;,. is impressed on the DFIG. Considering Fig. 18,
L-
1100
if the DFIG is operating at ‘a’ and the wind increases
2- from 7ms-I to 8 mss’ (point ‘b’), the extra power and
hence torque causes the DFIG to accelerate, the accel-
a 0-?IO00
E erating torque being the difference between the turbine
-2 - mechanical torque and the torque given by the opti-
900 mum curve. Eventually the machine will reach the
-L -
. . . point ‘c‘ where the accelerating torque is zero. A simi-
-6L 8001 I I I I I lar situation occurs when the wind velocity decreases.
0 I 2 3 i 5
t i me,s
Fig.17 Experimental resultsfor operation through synchronous speed 5.2 Speed-mode control
This is a rather novel method [14, 191 and has not hith-
erto received much attention on account of its require-
ment for a mechanical torque observer. The authors’
research team have shown [14] that, whilst there are
engineering problems associated with the observer
design, the method is feasible in practice, and that sig-
nificantly improved tracking may be obtained over the
current-control method above. Given a T, signal, then
the DFIG can be driven to the optimum power curve
by
speed demand
Pmaz
if Pm 2 P,, then w,*=
Tm
wherein if P, 2 P,,, energy capture is reduced through
the DFIG being driven to the stall point (a sample stall
point for a particular wind velocity is marked ‘d’ in
Fig. 18). Stall regulation has the advantage over the
alternative (and more usual) overspeed protection
scheme of blade pitch control, in that simple fixed pitch
blades may be used. However, stall regulation requires
not only an effective torque estimator but also a suffi-
21
0
8
6000
0
5
y
IO
j
15
/
20 25
I
30 35 40
,
45
~
lol 1400m
of machine rating [21].
9- 1400
speed q-axis rotor current
8-
7- I3001 /------
6-
5-
E q-axis rotor current
44- $
3- 1000
2- 900
3 - d-axis rotor current
-I 700
8oo 0 5 10 15 20 25 30 35 40 45
0 5 10 15 20 25 30 35 40 45 time,s
time,s Fig.22 Experimental results for step decrease in wind velocity with
Fig. 19 Experimentul results for step increase in wind velocity with cur- speed-mode control
rent-mode control
1500
9 1400
8
7[ 1300hpeed
1300
1200
600k
500 I , I I I I I
4 5 6 7 8 9 1 0
wind speed, mls
Fig.23 Experimental steady-state optimum speed trucking
% optimum speed; 0 machine speed
5.4 Experimental results
The transient performance of the system working in
either control mode is evaluated for step wind velocity Steady-state system characteristics have been studied,
transients between 5 ms-1 and 9ms-’, corresponding to with the machine working on the optimal power curve
optimal shaft speeds of 750rpm and 1350rpm, respec- under either control mode. Fig. 23 shows the optimal
tively. The rotor excitation current i*dr = 0. Figs. 19 and speed tracking for various wind velocities; the tracking
20 show the performance of the current-mode control, accuracy depends on the accuracy in quantifying the
whilst Figs. 21 and 22 show the corresponding per- power losses in the drive train. An accuracy of 4% is
formance of the speed-mode control. The dynamic achieved using a look-up table for the torque compen-
speed performance of the speed-mode control is clearly sation due to drive friction and machine iron losses.
superior with the DFIG torque (i.e. iqr) behaviour, Fig. 24 shows the power output from the rotor, stator
being similar to that of a conventional speed-controlled and supply-side (denoted ‘front-end’) converter. Above
servo drive; on acceleration, the torque is reduced to a synchronous speed, power is generated both from the
minimum of zero, since the DFIG has not been stator and the rotor. No power is generated when the
allowed to motor (a superior response could of course wind velocity is below 5ms-’ (even when the machine is
be obtained if a negative limit is set for i;,) whilst i, driven to the optimum power curve) because the
IEE Proc -Electr Power Appl , Vol 143, N o 3, M a y 1996 239
mechanical and electrical losses are higher than the A wind velocity of 7ms-' corresponds to an optimal
power available from the wind. Fig. 25 shows the rotor shaft speed of 1050rpm. The torque current momentar-
current as a function of shaft speed. The rotor current ily decreases in order to accelerate the machine to the
follows a quadratic law as predicted for optimal track- new optimum speed according to eqn. 18, but when
ing. P,,,,, is reached, the current increases to decelerate the
4500 DFIG into the stall zone. Following this, the current
settles at a value which regulates the power to the nom-
inal maximum. Fig. 27 shows the reverse situation for
3500 the DFIG being driven out of the stall zone under a
30001 x / P wind velocity transient of 9ms-' to 7ms-'.
1400~
I ooot
speed, rprn
Fig.24 Expesimentul ~qatempower flows versus speed
0 Pstator; 0 Protor; V Pfront - end; .M- P - output a 6 q-axis rotor current
3-
lor 0 J I
0 5 IO 15 20 25
tirne,s
Fig. 27 E.Yperimentu1 results for driving out of stall zone jollowing a
step decrease in wind velocity
Q
6 Conclusions
..-.
L
Experimental results showing the performance of the The authors would like to thank Mr R. Moulding of
system when driving into and out of the stall zone are Brush Industrial Controls Division for his useful con-
presented. The maximum power has been set to a nom- tribution at the start of this work and for providing
inal P,,, = 4kW, in order that the DFIG can produce some of the equipment. Mr R. Pena would like to
sufficient decelerating torque. Fig. 26 shows the thank the University of Magallanes, Chile and the
response to a step increase in wind velocity from 7ms-' Chilean Government for financial support during the
(for which P , < P,,,,) to 9ms-' (for which P , > P,,,). course of this work.
240 IEE Proc.-Electr. Power Appl., Vol. 143, No. 3, May 1996
8 References Inertia = 7.5Kgm2
Gear box = 5.065
1 LEONHARD, W.: ‘Control of electrical drives’ (Springer-Verlag,
1985) Friction coefficient = O.ObNmsrad-’
2 JONES, S.R., and JONES, K.: ‘Control strategy for sinusoidal
supply side convertors’, TEE Colloquium on Developipments in real Wound rotor induction machine:
time controlfbr induction motor drives, Digest 19931024, February
1993 Power = 7.SkW
3 SMITH, G.A., NIGIM, K., and SMITH, A.: ‘Wind-energy
rccovcry by a static Scherbius induction generator’, I E E Puoc. C, Stator voltage = 415V
1981, 128, (6), pp. 317-324 Rotor voltage = 440V
4 CARDICI, I., and ERMIS, M.: ‘Double-output induction gener-
ator operating at subsynchronous and supcrsynchronous speed: Rated stator current = 19A
steady state performance optimisation and wind-energy recovery’, Rated rotor current = 11A
I&E proc. B, 1992, 139, (S), pp. 429442
5 UCTUG, M.Y., ESKANDARZADEH, I., and INCE, H.: ‘Mod- R, = 1.06R
elling and output power optimisation of a wind turbine driven
double output induction generator’, I E E Proc. B, 1994, 141, (2) Rr = 0.80R
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double-fed induction machine’, BICEM Proc., 1987, pp. 495-498
7 MITSUTOSHI, Y., and MOTOYOSHI, 0.:‘Active and reactive L, = 0.0664H (referred to the rotor)
power control for doubly-fed wound rotor induction generator’, L, = 0.0810H (referred to the rotor)
IEE Trans. Power Electron., 1991, 6, (4),pp. 624-629
8 MACHMOUM, M., LE DOEUFF,R., SARGOS,F.M., and Le,, = 0.032,OH (referred to the rotor)
CHERKAOUI, M.: ‘Steady state analysis of a doubly fed asyn-
chronous machine supplied by a current controlled cycloconverter Pole pairs =: 3
in the rotor’, IEE Proc. B, 1992, 139, (2),pp. 114122 Rated speed = 970rpm
9 HOLMES, P.G., and ELSONBATY, N.A.: ‘Cycloconverter
excited divided winding doubly fed machine as a wind power con- Stator-rotor turns ratio n = 1.7
ver Proc. B, 1984, 131, (2), pp. 61-69
10 BO KA, E.: ‘Power control of a double fed induction gen- Stator connection = delta
erator without speed or position sensor’, EPE, 1993, 8, (377), Rotor connection = star
Chap. SO, Pt 8, pp. 224-288
I I TANG, Y., and XU, L.: ‘Stator field oriented control of doubly
excited induction machine in wind power generating system’, 35th 9.2 Reference frame transformations
Mid-West Symp. on Circuits and systems, Washington, DC, 1992, Stationary abc reference frame to stationary ap refer-
pp. 1446-1449
12 ASHER. G.M.. and SUMNER. M.: ‘Parallelism and the trans- ence frame:
puter for the real-time high performance control of AC induction Voltages:
molors’, IEE Pioc D , 1990, 137, (4),pp 179-188
1’3 BOWES. S R , and MOUNT. M J Microprocessor control of
PWM inverters’, IEE Pro(,. B, 1981, 128, (6);pp. 293-305
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tance generators’. PhD thesis, 1996, University of Nottingham,
1TK
I S WiiMSHUKST, S.M.B.: ‘Control strategy for wind turbines’,
Wind Eng., 1988, 12, (4), pp. 236-250 Currents:
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‘Classical control of active pitch regulation of constant speed hor- . 3.
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variable speed wind energy recovery’, Proceeding of 8th BWEA
Conf., Cambridge, 1986, pp. 219-228
.
2p
6 .Zc).
= -(Zb -
18 THIRINGER. T.. and JAN LINDERS. J.: ‘Control bv variable 2
speed of a fixed-pitch wind turbine operating in a Gide speed
range’, IEE Trans. Energy Convers., 1993, 8, (3), pp. 520-526 Stationary cxp reference frame to rotating dq reference
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energy conversion systems’, I E E Proc. C, 1981, 128, (5), pp. 253-
26 1 Voltages (and currents):
20 BROWN, R.G., and HUANG, P.: ‘Introduction to random sig-
nals and applied Kalman fillering’ (John Wiley and Sons, 1992), vd = v, cos 0 - vp sin 8
2nd edn.
21 PENA, R.: ‘Power rating of double fed induction generator using vq =vpcosO+v,sinB
stall regulation’, liiternal report, Dept. Elec. Eng., University of
Nottingham, 1995 where 0 is the angular position of the dq reference
frame.
9 Appendices Variable scaling: The dq variables are scaled to have
the same amplitude as the phase quantities as follows:
9. I (a) Experimental system ratings
Wind turbine (emulated by DC machine drive):
Power = 7.5kW
Radius = 3.24m where:
Rated rotational speed = 296rpm kv = (3/2) 42 for delta connection
Rated wind speed = 10ms-’ k, = (312) 46 for star connection
Cut-in speed = 4ms-’ ki= (3/2) 46 for delta connection
Maximum speed = 12ms~-’ ki= (3/2) 4%for star connection.