Optimal Control of Variable Speed Wind

Driven DFIG and its Power Quality

Improvement Using DVR

Mohit Durgapal (140330)

Harshit Gupta (140319)
Aman Kumar (140307)
Gaurav Shah (152302)
Optimal Control of Variable Speed Wind Driven DFIG
And Power Quality Improvement Using DVR

Project Report submitted to

G. B. Pant Institute of Engineering & Technology, Pauri-Garhwal
for the award of the degree

of

Bachelor of Technology

in

Electrical Engineering

by

Mohit Durgapal , Harshit Gupta

Aman Kumar , Gaurav Shah

Under the guidance of

Mr.Sachin Kumar
(astt.. Professor GBPIET Pauri)

Department of Electrical Engineering

G. B. Pant Institute of Engineering & Technology
Pauri-Garhwal, India.
JUNE 2018
 DEPARTMENT OF ELECTRICAL ENGINEERING

GOVIND BALLABH INSTITUTE OF ENGINEERING &

TECHNOLOGY
PAURI GARHWAL (UTTARAKHAND) -246194

CERTIFICATE

This is to certify that the thesis entitled, “Optimal Control of Variable Speed
Wind Driven DFIG And its Power Quality Improvement Using DVR”
submitted by Mohit Chandra Durgapal, Harshit Gupta , Aman Kumar,
Gaurav Shah in partial fulfilment of the requirements for the award of
Degree of Bachelor of Technology in Electrical Engineering at the Govind
Ballabh Pant Institute of Engineering & Technology Pauri Garhwal
(Uttarakhand) is an authentic work carried out by him under my supervision
and guidance.
To the best of my knowledge, the matter embodied in the thesis has not been
submitted to any other University / Institute for the award of any Degree or
Diploma.

Date:- Mr. Sachin Kumar

Place:- (Assistant Professor)
Department of electrical Engineering
G.B.P.I.E.T Pauri (U.K)
 ACKNOWLEDGEMENT

We whole heartedly express our regards and gratitude to our esteemed

supervisor Mr. Sachin Kumar, Assistant Professor, Department of Electrical
Engineering G. B. Pant Institute of Engineering & Technology, Pauri-
Garhwal for his invaluable guidance. His encouraging discussions in a regular
interval of time which brought the project report to this present shape. His
attitude and professionalism towards discipline, accountability help us to
build ourselves as a professional with human values and broad thinking.

I sincerely thank to our Director M.P.S Chauhan, and all the authorities of the
institute for providing nice academic environment and other facility in the
GBPIET campus, I express my sincere thanks to Dr. V.M Mishra Head
of Department of Electrical Engineering Department, Dr. M.K Panda,
Dr. Bhola Jha, Dr. Y. Kumar, for their useful discussion, suggestions and
continuous encouragement and motivation. Also I would like to thanks all
Faculty Members of Electrical Engineering Department who are directly and
indirectly helped us.

We are very much thankful to our parents who taught us from the very
beginning of our life that how to live with self-respect, compassion and
satisfaction which supported us towards successful completion of our project
work.

Last but not the least; we acknowledge the help of our friends of Electrical
Engineering, Kaustub Dobhal, Vikrant Kambhoj, Kamal Singh, Manan
Pande, Priyanka Rawat, Pankaj Kumar, Shashank dabral for their physical,
emotional and intellectual support especially precious suggestions in need,
without them there is no moral support in project work.

Date:- Mohit Durgapal

Harshit Gupta
Place:- Aman Kumar
Gaurav Shah
 CONTENTS
Title Page
Cover Page
Certificate
Acknowledgement
Abstract ............................................................................................................................... i
List of figures ..................................................................................................................... ii
List of Tables ..................................................................................................................... iii
List of Symbols ....................................................................................................................v

CHAPTER 1: INTRODUCTION.....................................................................1
1.1 BACKGROUND ...............................................................................1-1
1.2 MOTIVATION BEHIND THE PROJECT.........................................1-1
1.3 OBJECTIVE OF THE PROJECT ......................................................1-2
1.4 LITERATURE REVIEW ...................................................................1-3
1.5 REPORT OUTLINE.......................................................................... 1-3

CHAPTER 2: WIND POWER PRINCIPLE.............................................................. 2

2.1 INTRODUCTION..............................................................................2-1
2.2 WIND ENERGY…………….............................................................2-2
2.3 WIND TURBINE……………………………… ...............................2-3
2.4 WIND ENERGY CONVERSION SYSTEM ....................................2-4
2.4 WIND TURBINE CONTROL SYSTEM …......................................2-5
2.4.1 PITCH ANGLE CONTROL METHOD .............................2-6
2.4.1 STALL MODE CONTROL ................................................2-7
2.4.3 POWER ELECTRONIC CONTROL .................................2-8
2.4.3 YAW CONTROL ...............................................................2-9
CHAPTER 3: DOUBLY FED INDUCTION GENERATOR ....................................3
3.1 INTRODUCTION .............................................................................3-1
3.2 WORKING PRINCIPLE....................................................................3-2
3.3 MODELLING OF DFIG.....................................................................3-3
3.4 DFIG CONTROL SCHEME..............................................................3-4
3.4 SALIENT FEATURES OF DFIG…………………………………..3-7

CHAPTER 4: PROPOSED DFIG CONTROL SCHEMES…………........................4

4.1 INTRODUCTION .............................................................................4-1
4.2 MPPT CONTROL OF DFIG.......................…...................................4-2
4.3 PARAMETER IDENTIFICATION OF PI CONTROLLER..............4-3
4.4 POWER QUALITY IMPROVEMENT USING DVR.......................4-6

CHAPTER 5: SIMULINK & LABVIEW MODELLING OF DFIG........................5

5.1 INTRODUCTION .............................................................................5-1
5.2 MATLAB/SIMULINK MODEL DESCRIPTION.............................5-2
5.3 LABVIEW MODEL DESCRIPTION................................................5-3
5.4 MPPT CONTROL STRATEGY.........................................................5-4
5.5 POWER QUALITY IMPROVEMENT USING DVR.......................5-5

CHAPTER 6: SIMULATION RESULTS AND CONCLUSION…………………..6

6.1 LABVIEW RESULTS....................................................................... 6-1
6.2 MATLAB/SIMULINK RESULTS.....................................................6-4
6.3 DFIG WITH DVR RESULTS…………………………………...….6-5
6.4 CONCLUSION………………………………………………...……6-6
6.3 FUTURE WORK................................................................................6-7
REFERENCE ..................................................................................................................A-1
APPENDIX A .................................................................................................................A-2
 ABSTRACT

In recent years, wind energy has become one of the most important and promising sources
of renewable energy, which enables additional transmission capacity and better means of
maintaining system reliability. The evolution of Power Electronics & control technology
related to wind systems industry lead to the development of a generation of variable speed
wind turbines that present many advantages compared to the fixed speed wind turbines.
These wind energy conversion systems are connected to the grid through Voltage Source
Converters (VSC) (based on power electronic devices) to make variable speed operation
possible. The studied system here is a variable speed wind generation system based on
Doubly Fed Induction Generator (DFIG). During the few decades, induction generators
have found wide application in the area of wind energy. A comprehensive review of the
existing literature available on modelling and control of induction generator has been
described in this report. There is increased worldwide wind power generation, a large
percentage of which is grid connected. The doubly fed induction generator (DFIG) wind
energy conversion system (WECS) has many merits and, as a result, large numbers have
been installed. The DFIG WECS operation, under both steady state and fault conditions, is
of great interest because of its impacts on grid performance. This report presents a
condensed look at the various applied solutions to the challenges of the DFIG WECS
including maximum power point tracking, common mode voltages, sub-synchronous
resonance, losses, modulation, power quality, and faults both internal and from the grid.
The controllers for optimal control of DFIG based WECS are discussed in detail in this
project and a method for power quality improvement using DVR is also Presented, this
Project also aims to look at approaches used to meet the increasingly strict grid codes
requirements for the DFIG WECS to not only ride through faults but also provide voltage
support.

This Project focuses on a simple control scheme to track the optimal control of DFIG based
variable speed WECS under different wind speed profiles during normal and various
abnormal situations using PSO & GWO algorithms. The wind speed, wind turbine, DFIG,
Power Electronic converter interface, and control schemes are implemented in
MATLAB/SIMULINK & LABVIEW environment.

i
 LIST OF FIGURES
Fig. No. Page No.
Fig 1.1 DFIG based WECS model which is to be modelled 1-2
Fig 2.1 Vertical axis (a) Savonius Rotor, (b) Darrieus Rotor, and (c)
2-3
Giromill Rotor
Fig 2.2 Schematic diagram of horizontal axis & vertical axis WT 2-3
Fig 2.3 different types of WECS topology 2-4
Fig 2.4 fixed speed WECS 2-5
Fig 2.5 limited variable speed WECS 2-5
Fig 2.6 Variable speed WECS using DFIG 2-5
Fig 2.7 Variable Speed WECS using Synchronous Generator 2-6
Fig.3.1 Basic DFIG scheme 3-1
Fig.3.2 Power flow in DFIG 3-3
Fig.3.3 IGBT based Power electronic interface used in dfig control 3-4
Fig.3.4 Rotor Side converter control scheme 3-5
Fig.3.5 Grid Side converter control scheme 3-5
Fig.4.1 Cp vs. TSR plot for different β 4-2
Fig.4.2 Output power vs. wind speed 4-2
Fig.4.3 MPPT control of DFIG 4-3
Fig.4.4 Pitch angle control of DFIG 4-3
Fig.4.5 PSO Flowchart 4-4
Fig.4.6 GWO Flowchart 4-6
Fig.4.7 DVR for Power Quality Improvement 4-7
Fig.5.1 Simulink model of DFIG 5-1
Fig.5.2 Random speed wind simulation in Matlab/Simulink 5-2
Fig.5.3 Step speed wind simulation in Matlab/Simulink 5-2
Fig.5.4 Constant speed wind simulation in Matlab/Simulink 5-2
Fig.5.5 Turbine model in Simulink 5-3
Fig.5.6 DFIG Machine model in Simulink 5-3
Fig.5.7 Converter and controller model in Simulink 5-4

ii
Fig.5.8 Control Strategy 5-5
Fig.5.9 controller model in Simulink 5-6
Fig.5.10 Grid model in Simulink 5-6
Fig.5.11 System Monitor 5-6
Fig.5.12 Labview front Panel & block diagram 5-7
Fig.5.13 wind model in Labview 5-8
Fig.5.14 wind turbine model in Labview 5-8
Fig.5.15 Asynchronous machine in Labview 5-8
Fig.5.16 Controller in Labview 5-9
Fig.5.17 Grid model in Labview 5-9
Fig.5.18 MPPT control strategy of DFIG 5-9
Fig.6.1 wind speed & TSR output 6-1
Fig.6.2 Generator speed & Ira Output 6-2
Fig.6.3 Isa & Vsa Output 6-2
Fig.6.4 Ps & Pr Output 6-2
Fig.6.5 Output of DFIG when wind speed is changing randomly 6-3
Fig.6.6 Isa & Vsa output during random wind speed changes 6-4
Fig.6.7 Ps & Pr Output during random wind speed 6-4
Fig.6.8 Cp vs TSR 6-5
Fig.6.9 Pm vs turbine rotational speed 6-5
Fig.6.10 Comparison of performance using GWO & PSO for tuning PI 6-7
Fig.6.11 plot showing variation of rotor speed & Vdc during step 6-7
change in wind speed
Fig.6.12 plot showing variation of parameters during random change in 6-8
wind speed
Fig.6.13 Output of DVR 6-9

iii
 LIST OF TABLES

Table. No. Page No.

Table 6.1 Output of DFIG modelled in LABVIEW 6-3
Table 6.2 Identified parameters of controllers 6-6
Table 6.3 Performance Comparison 6-8

iv
 LIST OF SYMBOLS AND ABBREVATIONS

Po Power contained in wind

Pm Power output of the wind turbine
ρ Air density in Kg/m3= 1.225 Kg/m
A Effective swept area created by the rotor revolution
Vo Wind speed in m/sec
Cp Power co-efficient
Ps Stator circuit active power
Qs Stator circuit reactive power
Pr Rotor circuit active power
Qr Rotor Circuit reactive power
f STATOR Frequency of stator
f ROTOR Frequency of rotor.
Pm Mechanical Power input to DFIG
Pag Power available to rotor i.e. air gap power
s Slip of rotor
ϕds d-axis stator flux component
ϕqs q-axis stator flux component
ϕdr d-axis rotor flux component
ϕqr q-axis rotor flux component
Lss Stator inductance
Lrr Rotor inductance
Lm Magnetisation inductance
Rs Stator effective resistance
Rr Rotor Effective resistance
Vds d-axis stator voltage component
Vqs q-axis stator voltage component
Vdr d-axis rotor voltage component
Vqr q-axis rotor voltage component
v
Vdg d-axis grid voltage component
Vqg q-axis grid voltage component
Idg d-axis component of grid current
Iqg q-axis component of grid current
Lg Grid filter Inductance
Rg Grid filter resistance
Pg GSC input active power from grid side
Qg GSC input reactive power form grid side
Vdc DC link voltage
C DC link capacitor
Vinj Injected voltage by DVR during sag
VSI Voltage source inverter
J Moment of inertia of Flywheel
DFIG Doubly fed induction generator
PSO Particle swarm optimization
GWO Grey wolf optimization
WECS Wind energy conversion system
WT Wind turbine
MPPT Maximum power point tracking
DVR Dynamic voltage restorer
UPQC unified power quality conditioner
RSC Rotor side converter
GSC Grid side converter
ANN artificial neural network
GA generic algorithm

vi
 CHAPTER 1

INTRODUCTION

1.1 Background:-

In this age of industrialization the need of energy is growing at a very rapid rate, and the
depletion of fossil fuel based non-renewable energy sources may led to a situation of
energy crises in future but development of Renewable energy resources may solve all
energy problems in future, power from wind is one of the promising technology which
have a potential to generate a large amount of power reliably because due to advancement
in technology a large number of power electronic device based converters are available in
the market which help in generation of electricity even at variable wind speed.

One of the variable speed wind driven doubly-fed induction generator is studied in this
project, which is modelled to provide MPPT characteristics, optimal control of controllers,
DVR scheme to inject a good quality power into the grid such as to follow a strict grid code
requirements.

1.2 Motivation behind this project:-

When a DFIG is connected to the grid and supplying power, many issues come into picture
which may affect the working of this generator. The measure issues are sudden wind gust,
grid abnormalities such as voltage sags, swells, frequency variation etc.

The effect of wind gust could be probably seen as the stator frequency and voltage
fluctuation. But DFIG is quite able to solve this problem by adjusting frequency of rotor
injected source. Along with the DFIG converter the turbine control schemes like pitch
control scheme, Yaw control etc. are used to compensate these fluctuation up to some
extent.

1-1
But what about grid abnormalities? Grid abnormalities can lead to serious problems like
torque pulsation, reactive power pulsation, abnormal current and mechanical stress on
generator, gear box and sometime also on wind turbine. So the major Problem is how to
control DFIG based wind generation during grid abnormalities. This problem encourages
me to choose this issue as my Project objective.

1.3 Objective of the project:-

The main objectives of this project are listed as follows:

 Study and simulation of basic DFIG variable speed WECS scheme as in fig 1.
 MPPT control of DFIG.
 Study and simulation of Grid converter control.
 Study and simulation of rotor converter control scheme using conventional PI
controllers and PSO-PI, GWO-PI.
 Study and simulation of power quality improvement using DVR.
 Comparison of results obtained above.

Fig 1.1 DFIG based WECS model which is to be modelled

1-2
1.4 Literature Review:-

 From [1] studied the overview of DFIG. Particularly this paper shows, how with
the change of rotor voltage the DFIG operation can change from super synchronous
to sub synchronous mode.
 From [2] we have studied the basics of DFIG. This paper first discusses about the
various topologies of adjusted speed generators. Then it discussed about the DFIG
in detail
 From [3] & [4] gives the basic modelling concept of DFIG. Then a brief discussion
on simple vector control scheme is discussed.
 From [5]: This paper works on a DFIG of 2MW rating. We have use this paper as
the reference for our DFIG parameters
 From [7] & [11] this paper gives an introduction to DFIG control scheme. We have
followed this paper as a reference for analysing grid converter control scheme.
 From [8] & [10] we have studied the concept of Dynamic Voltage Regulation
control.
 From [9] we got the fundamental concept of various energy storage devices
available commercially. This paper also shows a comparison of various energy
storage devices.
 From [12] and [13], mechanical aspect of wind turbines and various wind farm
topology has been studied.

1.5 Report Outline:-

Chapter 2: - Deals with the basics of Wind energy conversion system and related controls.
Chapter 3:- Deals with DFIG operating principle and its modelling.
Chapter 4:- Deals with purposed system for optimal control of DFIG.
Chapter 5:- Deals with SIMULINK and LABVIEW model of DFIG & its description.
Chapter 6:- Deals with the results obtained, conclusion and future scopes of the project.

1-3
 CHAPTER 2

WIND ENERGY CONVERSION SYSTEM

2.1 Introduction: -

As wind posses’ energy by virtue of its motion this kinetic energy of wind can be converted
into mechanical energy by using a wind Turbine, which produces a rotary motion of turbine
shaft, rotating turbine shaft can be directly or indirectly (using gear train mechanism)
coupled to an electric generator where available mechanical input is converted into
electrical energy (using Faraday’s principle of electromagnetic induction). System
converting wind energy into other forms of energy (mechanical or electrical) is termed
as a Wind Energy conversion system (WECS). A layman's concept states that wind
energy conversion system means it is the combination of turbines, generators, the
mediator power electronic converters and the brain called controller.

2.2 Wind Energy: -

It’s an indirect form of Solar Energy about 1-2% of total solar radiation that reaches the
earth is converted into the energy of wind. Wind is simply air in motion, wind results from
differential heating of Earth and the atmosphere by Sun; the uneven heating of earth from
the equator to the poles and over the oceans and continents, the air circulates from cold to
warm areas producing wind, wind speeds generally increase with heights. During daytime
the air over the land gets heated up more than the air over the oceans and lakes the hot air
over the land expand and rises and the heavier, cooler air from the oceans or other large
water bodies blow in to take its place creating winds. During night time the air cools more
rapidly over land than over water bodies this process is reversed and wind from off-shores
to land is created. There are also circulating planetary winds caused by greater heating of
the earth’s surface near the tropics than near the poles the hot air from tropics rises and
move towards poles and the wind in turn blows from poles to equator to replace hot air
rising from the tropics. The rotation of earth also effects the wind due to this the cold

2-1
surface winds are twisted to the west and ward wind blowing in upper atmosphere towards
the poles to be turned toward east, this effect causes counter clockwise circulation of air
around low pressure areas in northern hemisphere and clock wise circulation around low
pressure areas in southern hemisphere. The seasonal variation in the heat radiated to earth
causes seasonal change in the strength and direction of wind at any given location on the
earth surface.

Energy in the wind: -

P=1/2 (ρ.A.v3)

ρ=air density

A=area through which wind blows

v=wind velocity

2% of solar insolation is dissipates in form of wind energy, the wind possess energy by
virtue of its motion.

2.3 Wind turbines: -

Wind turbines produce electricity by using the power of the wind to drive an electrical
generator. Wind passes over the blades, generating lift and exerting a turning force. The
rotating blades turn a shaft inside the nacelle, which goes into a gearbox. The gearbox
increases the rotational speed to that which is appropriate for the generator.

Pair=0.5 ρ.A.V3

Pwind turbine  Cp  Pair  Cp 0.5 ρ.A.V3

A maximum value of Cp is defined by the Betz limit, which states that a turbine can never
extract more than 59.3% of the power from an air stream. In reality, wind turbine rotors
have maximum Cp values in the range 25-45%.

Cp=f (β , λ)

2-2
 β=pitch factor= (turbine blade speed / wind speed)

λ=tip ratio speed= (r.ɷ.A / V), (λ=1 mean blades tips and wind are moving at same speed)

To determine value of Cp for a λ (based on wind speed at that time) require curve for power
coefficient and λ (Cp-λ) For a pitch mechanism that alters the effective rotor dynamic
efficiency can be considered easily by having an expression for Cp as a function of λ.

2.3.1 Types of wind Turbine: - on the basis of axis of rotation:-

1. Horizontal axis wind turbine (large power applications).

2. Vertical axis wind turbine (small Power applications).

Fig.2.1. Vertical axis (a) Savonius Rotor, (b) Darrieus Rotor, and (c) Giromill Rotor

Fig.2.2. Schematic diagram of horizontal axis & vertical axis Wind turbine

2-3
2.4 Wind Energy Conversion System : -

There are a large number of choices of topologies available to the designer of a wind
turbine and, over the years, most of these have been explored. However, commercial
designs for electricity generation have now converged to horizontal axis, three-bladed,
upwind turbines. The largest machines tend to operate at variable speed whereas smaller,
simpler turbines are of fixed speed. For a fixed-speed system the turbulence of the wind
will result in power variations, and thus affect the power quality of the grid where as in a
variable-speed wind turbine the generator is controlled by power electronic equipment,
which makes it possible to control the rotor speed. In this way the power fluctuations
caused by wind variations can be more or less absorbed by changing the rotor speed and
thus power variations originating from the wind conversion and the drive train can be
reduced. Hence, the power quality impact caused by the wind turbine can be improved
compared to a fixed speed turbine.

Fig 2.3 different types of WECS topology

2-4
2.4.1 WECS Topologies:-

1. Fixed speed WECS:-

Fig.2.4 fixed speed WECS

2. Limited variable speed wind turbine:-

Fig.2.5 limited variable speed WECS

3. DFIG Variable speed with partial scale frequency converter:-

Fig.2.6 Variable speed WECS using DFIG

2-5
 4. Variable speed with full scale frequency converter:-

Fig.2.7 Variable Speed WECS using Synchronous Generator

2.5. Wind Turbine Control System: -

Due to changing environmental effect, wind speed always varies. Also wind direction is
not same in all time. To extract optimum power from wind generation system with
changing wind condition various control schemes are used. This control scheme may
include the control of turbine and control of electrical generator scheme.
Various control schemes are used for wind turbines. These schemes are: -

1. Pitch Angle Control

2. Stall Control

3. Power Electronic Control

4. Yaw Control

2.5.1 PITCH ANGLE CONTROL

In pitch angle control scheme, the pitch angle of the blades of the wind turbine changes
with the variation of wind speed to achieve of maximum efficiency. This is done by
adjusting the rotor position of the pitch angle actuator which is connected with the rotor
blade.

2-6
2.5.2 STALL MODE CONTROL

In this control scheme, at high wind speeds, turbine blade is rotated by a few degrees in
opposite direction to that in a pitch control scheme. This is done to achieve constant rated
power at a high wind speed ranging from speed above its rated speed up to the furling
speed.

2.5.3 POWER ELECTRONIC CONTROL

In this control scheme the electrical load of the system is dynamically controlled without
doing any adjustment in mechanical power. This instantaneous change in power lead to
change in speed and by this we can achieve the desired speed without the implementation
of any mechanical control scheme.

2.5.4 YAW CONTROL

In this control scheme, with the change in direction of wind flow the turbine is oriented to
get maximum power. In small turbines, tail-vane is used to achieve this yaw control scheme
while in large turbines special yaw motors are used. This yaw motor is connected to the
nacelle and it used to move the whole turbine hub and nacelle in the direction of wind flow.

2-7
 CHAPTER 3
DFIG BASED WIND ENERGY CONVERSION SYSTEM

3.1. Working Principle of DFIG:-

Vertical axis (a) Savonius Rotor, (b) Darrieus Rotor, and (c) Giromill Rotor

Fig.3.1 Basic DFIG scheme

When a wound rotor induction machine (WRIM) works as a generator and fed power
from both stator and rotor side, it is termed as Doubly Fed Induction Generator (DFIG).
DFIG scheme is used as a variable speed fixed frequency topology. In this scheme, stator
is directly connected to the grid while the rotor circuit is connected to grid through an
AC/DC/AC back to back frequency converter. The rating of this converter is typically 25-
30% of the total power rating of the generator. This is the main advantage of DFIG over
other variable speed topologies as it provides same features at lesser cost and provides good
efficiency. The following figure shows a typical DFIG configuration. Pr and Qr are the
rotor active and reactive power and Ps and Qs are the stator active and reactive power

3-1
respectively. In the above figure we can see that the power flow in stator side is
unidirectional i.e. from stator to grid. But the power flow in rotor circuit is bidirectional
i.e. either from grid to rotor or rotor to grid. Usually the deviation in power due to wind
fluctuation is managed through this rotor circuit. So the power rating of this circuit along
with the converters is less compared to the main machine rating (Usually 20-30% of the
machine rating).

Whenever a fixed speed squirrel cage induction generator is subjected to variable wind
speed, its rotor speed changes with the change in wind speed. As it cannot be compensated
by any means (there is no provision for power to flow from rotor side), so this change in
rotor speed reflects as a change in frequency of output (i.e. Stator frequency). It can be
expressed by the following formula:

It can be seen that, with variation of rotor speed stator frequency varies, which is
undesirable. The solution to the problem is the use of variable speed fixed frequency
generators. DFIG is a popular form of variable speed generator whose stator frequency is
given by the following formula:

From the above equation it can be seen that, even if the rotor speed varies, by the
adjustment of rotor frequency properly we can get a constant stator frequency. This is the
principle of DFIG.
When the generator is in super synchronous mode i.e. when it is running above
synchronous speed, then to maintain the rotor frequency at constant value, we have to add
a negative frequency component (- frotor). Here negative components means, power is
delivered by the rotor to grid. Similarly when the generator is running at a speed less than
the synchronous speed we have to add a positive rotor frequency (+ f rotor), so as to maintain
the stator frequency at a constant value. During synchronous speed the rotor frequency will

3-2
be zero that is a pure dc is fed to rotor. Hence we can say that in synchronous speed, DFIG
will act as a synchronous generator.
In other words we can say that, when turbine speed goes beyond the synchronous speed,
energy content of rotor increases, which tries to speed up the rotor. But by help of a proper
control scheme in DFIG this extra power in rotor is extracted and fed to grid, hence the
rotor speed as well as the output frequency remains constant. This operational mode is
called super synchronous mode in which power flow in rotor circuit is from rotor side to
grid side. Similarly during sub synchronous mode, when rotor tries to slow down, power
is fed to it and it exerts motoring action to maintain its speed at synchronous speed and
hence in this mode the power flow is from grid side to rotor side. The power flow direction
of DFIG in both super synchronous and sub synchronous mode is as shown in the figure
below.

Fig.3.2 Power flow in DFIG

3-3
3.2 Power electronic interface:-

Power electronic device based back to back PWM converters are used in DFIG to maintain
a fixed frequency power supply to the grid from DFIG by injecting variable frequency
current to the machine rotor.

Fig.3.3. IGBT based Power electronic interface used in dfig control

3.3 Back-to-Back PWM converter control schemes:-

Inputs are taken using transducers for controlling the converters Is, Ir, Vs, Vr, Ωr, Vw,
Tem, rotor angle etc… are taken as inputs and Is, Ir, Vs, Vr are transformed to D, Q &
α,β frame using Park’s and Clark’s and their inverse transformation for vector control of
DFIG as shown in fig..

3-4
Fig.3.4 Rotor Side converter control scheme

Fig.3.5. Grid Side converter control scheme

3-5
 CHAPTER 4
PROPOSED DFIG CONTROL SCHEMES

4.1 Introduction: -

For optimal operation of grid connected DFIG based WECS following control schemes
are used in this project:-

1. MPPT control to extract maximum power corresponding to a particular wind

speed.
2. Identification of DFIG controller Parameters (Kp, Ki) using advance heuristic
algorithms to improve the performance of controllers.
3. Power quality improvement by filtering out harmonics and mitigation of sag using
a DVR.

4.2 MPPT control:-

P=0.5*Cp* (ρ.A.v3) ……… (1)

ρ=air density

A=area through which wind blows

v=wind velocity

Equation 1 represents output power of a wind turbine, where Cp is a function of tip speed
ratio (ƛ) & pitch angle (β). Wind velocity depends on nature and can’t be predicted, A
depends on rotor radius which is almost fixed, ρ=air density is almost constant.

Cp is variable i.e. F (ƛ, β) and is given by equation: -

where

( Cl = 0.5176, C2 = 116, C3 = 004, C4 =5, C5 = 21, C6=0.0068 )

4-1
Whose plot is obtained as follows on Matlab: -

Fig.4.1 Cp vs. TSR plot for different β

4.2.1. MPPT control of DFIG is done in following manner to obtain these

characteristics

Fig.4.2 Output power vs. wind speed

4-2
Case 1:- MPPT control mode: - when wind speed lies between rated speed and cut in speed
Cp is maximized to obtain maximum power by the following control scheme where
reference power output is compared with actual output power and the error between them
is minimized using controllers and TSR of DFIG is controlled by varing rotor speed using
RSC to obtain optimum TSR (ƛ): -

Fig.4.3 MPPT control of DFIG

Case 2: -Pitch control mode: - when wind speed lies between rated and cut out speed
pitch of wind turbine is regulated in order to limit the power below rated power of
generator by following control mechanism: -

Fig.4.4 Pitch angle control of DFIG

Case 3: - Parking Mode :-When speed is below cut in speed or above cut out speed the
wind turbine is stopped using mechanical or electrical brakes.

4-3
4.3 Parameter Identification of PI controllers used in Rotor and Grid
Side Converters: -

Parameters of PI controller (Kp, Ki) can be identified using metaheuristic algorithms by

using following fitness function: -

This objective function with integral time weighted squared error (ITWSE) combines the
time weighting with the exaggerated punishment for larger error.

ITWSE = ∫ [c1*(t*Vdce)2 + c2*(t*I_gsce)2 + c3*(t*I_rsce)2 + c4*(t*Qe)2]

Where, Vdce is the DC link voltage error, I_gsce is the GSC current regulation error, I_rsce
is the RSC current regulation error, Qe is the RSC reactive power error, c1 to c4 are positive
constants (weighting factors), their values are chosen according to prioritizing their
importance.Two algorithm PSO & GWO are Used here to identify the PI controller
parameters whose identification problem working principle & flowchart are given below:-

Fig.4.5 PSO Flowchart

4-4
PSO Algorithm: -Most of the conventional computing algorithms are not effective in
solving real-world problems because of having an inflexible structure mainly due to
incomplete or noisy data and some multi-dimensional problems. Natural computing
methods are best suited for solving such problems. In general Natural computing methods
can be divided into three categories:

1) Epigenesis

2) Phylogeny

3) Ontogeny.

PSO belongs to the Ontogeny category in which the adaptation of a special organism to its
environment is considered.

Particle Swarm Optimization (PSO) is a biologically inspired computational search

and optimization method developed by Eberhart and Kennedy in 1995 based on the
social behaviours of birds flocking and fish schooling.

Particle (X): It is a candidate solution represented by an m-dimensional vector, where m is

the number of optimized parameters. At time t, the ith particle Xi(t) can be described as X
i (t)=[X i1 (t),X i2 (t),.,X in (t)], where Xs are the optimized parameters and X ik (t) is
the position of the ith particle with respect to the kth dimension; i.e. the value of the kth
optimized parameter in the ith candidate solution. Population, Pop (t): It is a set of n particle
at time t, i.e. Pop (t) =[X 1 (t), X 2 (t),., Xn (t)].

Swarm: It is an apparently disorganized population of moving particles that tend to

cluster together towards a common optimum while each particle seems to be moving in a
random direction.

Personal best (Pbest): The personal best position associated with ith particle is the best
position that the particle has visited yielding the highest fitness value for that particle.

Global best (Gbest): The best position associated with ith particle that any particle in the
swarm has visited yielding the highest fitness value for that particle. This represents the
best fitness of all the particles of a swarm at any point of time.

4-5
GWO Algorithm: -This section reviews the main steps of grey wolf optimizer (GWO) to
tune the PI controller. GWO is a new population based algorithm. GWO algorithm inspired
by grey wolves. The method mimicked the social hierarchy and hunting behaviour of grey
wolves. For simulating the leadership hierarchy in GWO algorithm, four groups are
defined: alpha, beta, delta, and omega. The three main steps of hunting, searching for prey,
encircling prey, and attacking prey, are simulated. This algorithm requires a number of
parameters to be set, which is:

 initialize alpha, beta, and delta,

 Number of search agents,
 Maximum number of iterations,
 Number of sites selected for neighbourhood search (out of n visited sites) and the
stopping criterion.

The main steps of grey wolf hunting are as follows:

 Tracking, chasing, and approaching the prey.
 Pursuing, encircling, and harassing the prey until it stops moving.
 Attack towards the prey.

Fig.4.6 GSO Flowchart

4-6
4.4 Power Quality Improvement using DVR: -

DVR is a Power electronic device based device which is used to mitigate sags and
providing voltage support to the system in case of a sag, it consists of an energy storage
system, a VSI which is connected in series with the system through injection transformers.

It continuously monitors the system voltage and in case of any sag or harmonics it inject
voltage proportional to the error and mitigate that abnormality.

It also contains a controller which gives PWM pulses to VSI for injecting the required
voltage. Controller is used for control and monitoring purpose here.

The basic scheme of a DVR is shown in fig. below

Fig.4.7 DVR for Power Quality Improvement

DVR used with DFIG in this project is implemented in a way shown above its can mitigate
sag during grid abnormalities and have ability to mitigate harmonics present in grid due to
nonlinear loads present in the system.

4-7
 CHAPTER 5
SUMULINK & LABVIEW MODELLING OF DFIG

5.1 Introduction: -

The variable speed wind energy conversion system using DFIG is modelled and
simulated in MATLAB/SIMULINK & LABVIEW Environment. The system is studied
during

1. Constant wind speed.

2. Step change in wind speed.
3. Random change in wind speed.
4. Presence of abnormalities in grid (i.e. during sag).

Matlab/Simulink & Labview model of DFIG and their control schemes are shown in fig...
Below:-

5.2 MATLAB/SIMULINK model description:-

PED based
CONVERTERS
(RSC & GSC)

Fig.5.1. Simulink model of DFIG

5-1
5.2.1 Wind Model: - Wind is simulated in Simulink using following schemes:-

Fig.5.2. Random speed wind simulation in Matlab/Simulink

Fig.5.3. Random speed wind simulation in Matlab/Simulink

Fig.5.4. Constant speed wind simulation in Matlab/Simulink

5-2
 5.2.2 Wind Turbine Model: - Wind turbine modelling is shown in diagram below:-

Fig.5.5 Turbine model in Simulink

5.2.3 Electric machine (i.e. DFIG / Wound Rotor Induction Generator):-

Fig.5.5 DFIG Machine model in Simulink

5-3
5.2.4 Converters & Controller:-

Fig.5.6 Converter and controller model in Simulink

5-4
Control Strategy of RSC:-

Control Strategy of GSC:-

Pitch angle control strategy:-

Fig.5.7 Control Strategy

5-5
 Fig.5.8 controller model in Simulink
5.2.5 Power Grid Model (Programmable Power Source):- Grid model can be
programmed to study system under grid abnormalities.

Fig.5.9 Grid model in Simulink

5.2.6 Monitor for Data Presentation / Simulation Results:-

Fig.5.10 System Monitor

5-6
5.2 Labview Model Description:-

Fig.5.11 Labview front Panel & block diagram

5-7
5.3.1 Wind Model:-

Fig.5.12 wind model in Labview

5.3.2 Wind Turbine Model:-

Fig.5.13 wind turbine model in Labview

5.3.3 Wound Rotor Induction Machine Model:-

Fig.5.14 Asynchronous machine in Labview

5-8
5.3.4 Controller Model:-

Fig.5.15 Controller in Labview

5.3.5 Grid Model Simulation:-

Fig.5.16 Grid model in Labview

5.4. MPPT Control Strategy:-

Fig.5.17 MPPT control strategy of DFIG

5-9
5.5. Power Quality Improvement Using DVR Proposed Strategy:-

Fig.5.18 DVR model for Power quality improvement

5-10
 CHAPTER 6
RESULT, CONCLUSION & FUTURE SCOPE

6.1. Labview Results: -

Case 1: -During constant wind speed operation:-

Wind Speed (V) = 11.8 m/s , Cp = 0.4208 , Pitch angle (β) =0 , Frequency =50 Hz

Ps = 0.82 p.u, Pr = 0.13 p.u

Fig.6.1 wind speed & TSR output

6-1
Fig.6.2 Generator speed & Ira Output

Fig.6.3 Isa & Vsa Output

Fig.6.4 Ps & Pr Output

6-2
Case 2: -During Random wind speed operation:-

Wind Velocity Cp β (degree) Ps (p.u) Pr (p.u)

(m/sec)
3.8 0 0 0 0
6 0.4109 0 0.225 -0.09
12 0.4208 0 0.82 0.13
18 0.125 16.68 0.9 0.2

Table 6.1 Output of DFIG modelled in LABVIEW

Fig.6.5 Output of DFIG when wind speed is changing randomly

6-3
Fig.6.6 Isa & Vsa output during random wind speed changes

Fig.6.7 Ps & Pr Output during random wind speed

6-4
6.2. MATLAB / SIMULINK Results: -

1. MPPT using GA: - By using Genetic algorithm the equation is maximized and the
results obtained are:-

where

( Cl = 0.5176, C2 = 116, C3 = 004, C4 =5, C5 = 21, C6=0.0068 )

Cpmax = 0.48 ƛopt = 8.2, for β = 0

Fig.6.8 Cp vs TSR

And following MPPT curve is obtained: -

Fig.6.9 Pm vs turbine rotational speed

6-5
2. Optimal Tuning of PI controller Using PSO & GWO Optimization Algorithm:-

PI controller Algo used DC-link RSC PI GSC PI Q controller

gains gains gains gains

initial 7.96 0.6 0.83 7

Kp PSO 2.53 6.98 2.54 8.96

GWO 3.72 2.33 3.99 5.43

initial 400 8 5 0.05

Ki PSO 455.82 2.95 4.86 2.68

GWO 108.96 4.339 9.84 5.94

Table 6.2 Identified parameters of controllers

6-6
 Fig.6.10 Comparison of performance using GWO & PSO for tuning PI

Fig.6.11 plot showing variation of rotor speed & Vdc during step change in wind speed

6-7
 Fig.6.12 plot showing variation of parameters during random change in wind speed

Response Algorithm used Power Reactive power DC link voltage

Value of PSO 165463.2

fitness function
GWO 1157.714

Rising PSO 0.000871 0.000196 9.42E-05

time(sec)
GWO 0.00158 3.83E-07 8.25E-05

Overshoot PSO 118.7671 3129.662 18.5198

percentage
GWO 127.6676 34946.28 20.6168

PSO 7.9653 0.20093 8.9986

Settling time
(sec) 8.1555 0.25349 8.9981
GWO
Table 6.3 Performance Comparison

6-8
6.3. Power quality improvement using DVR: -

Fig.6.13 Output of DVR

6-9
6.4. Conclusion: -

From obtained result in Labview it can be concluded that the WECS using DFIG is able to
track MPPT curve and controller designed is acting in such a way to provide maximum
output power possible without any lag when speed is changing randomly.

Control of active and reactive powers is achieved by RSC through direct and quadrature
axes currents. DC-link voltage is controlled via GSC through direct and quadrature axes
currents, respectively. Optimal PI controllers design of a DFIG. GWO technique is
presented. The GWO-PI controller results are compared to that obtained by the Particle
Swarm Optimization (PSO). Both PSO and GWO are used to identify the control
parameters of both the RSC and GSC to improve the transient operation of the DFIG wind
energy system under a variable speed conditions. GWO has been proven more efficient in
seeking optimal Kp, Ki values for PI controllers.

From Results above it can be concluded that whenever there is a sag or harmonics present
in the grid the DVR is acting in such a way to mitigate the sag and providing a voltage
support to the grid thereby increasing Power Quality.

6.5. Future Scope: -

Like PSO, GWO optimization techniques other intelligent controllers based on fuzzy
inference system or artificial neural networks and evolutionary algorithms can be applied
to GSC and RSC to improve its performance.

Sensorless wind speed prediction model using ANN can be used to reduce dependency on
wind speed measurement transducers.

Like the DVR, unified power quality condenser (UPQC) can also be applied to the sag
compensation. Currently in this project we have used battery as the energy storage device.
This research work can also extend to other form of energy storage application like SMES,
Super capacitor Energy Storage devices etc...

6-10
 REFERENCES

[1] T. Ackermann, “Wind power in power systems,” book, John Willey and Sons, 2005.
[2] Anju M, and R. Rajasekaran, “Power system stability enhancement and improvement of LVRT
capability of a DFIG based wind power system by using SMES and SFCL,” International Journal
of Electrical and Computer Engineering (IJECE)vol. 3, no. 5, pp. 618~628, Oct. 2013.
[3] L. Qu and W. Qiao “Constant power control of DFIG wind turbines with supercapacitor energy
storage,” IEEE Transactions on Industry Applications, vol. 47, no. 1,January/Feb.2011.
[4] H. Ashfaq, and S. K. Tripathi, “Performance enhancement of power grid connected wind energy
conversion system,” European International Journal of Science and Technology, vol. 4, no. 2 Feb.
2015.
[5] A. D. Hansen, L. H. Hansen, "Market Penetration of wind turbine concepts over 10 years,"
Wind Energy, vol. 10, issue 1, pp. 81-97, Feb. 2007.
[6] R. Sitharthan and M. Geethanjali, “ANFIS based wind speed sensor-less MPPT controller for
variable speed wind energy conversion systems,”Australian Journal of Basic and Applied Sciences,
vol.8, pp. 14- 23, Dec. 2014
[7] Ali H. Kasem Alaboudy, Ahmed M. Azmy, and Walid S.E. Abdellatif “Controller Performance
of Variable Speed Wind Driven Doubly-Fed Induction Generator ” International Journal of
Electrical and Computer Engineering (IJECE), Oct. 2013.
[8] Tumay . M.,Teke. A., Bayindur K.C., Cuma M.U., “SIMULATION AND MODELLING OF
DYANAMIC VOLTAGE RESTORER”
[9] Chad Abbey “A DOUBLY-FED INDUCTION GENERATOR AND ENERGY STORAGE
SYSTEM FOR WIND POWER APPLICATION”A Thesis of Master in Engineering. Mc Gill
University, Canada
[10] Nielsen, J.G.,” Design and Control of Dynamic Voltage Restorer”, Aalborg University,
Denmark
[11] Zhang W., Ruan Yi.,” Research on Strategy of Grid Side PWM Converter Based on Doubly
Fed Induction Generator”, Transtech Publication Switchzerland [12] Ackermann ,T., ’’Wind
power in power system’’, John Wiley & Sons Ltd.
[13] Bhadra ,S.N. ,Kastha, D. , Banerjee, S.,’’ Wind electrical system’’, Oxford University Press.
[14] Bose, B.K., “Modern Power Electronics AND AC Drives”, PHI Learning Private Ltd.
[15] Quang N.P., Dittrich, J.A.,”Vector Control of Three-Phase AC Machines”, Springer
 APPENDIX A

A.1 DFIG PARAMETERS

A.2 WIND TURBINE PARAMETERS

A.3 CALCULATION OF DC LINK VOLTAGE

RMS value of grid line voltage Vg= 690 V

Grid phase voltage RMS value is = 690/√3 = 398.37
Peak value of grid phase voltage Vgm= √2 * 398.37 = 563.392
For SVPWM technique, Vdc = √ 3 * Vgm
Hence DC link voltage Vdc = √ 3 * Vgm= 975.8
So reference value of Vdc i.e. Vdc* must be greater than calculated Vdc so 1000 V
can be selected as a reference value.

A-1