A Novel Control Scheme for a Doubly-Fed Induction Wind Generator Under Unbalanced Grid Voltage Conditions Ted Brekken, Ph.D. Assistant Professor in Energy Systems Oregon State University Outline • • • • • • • Wind Energy Overview Research Objectives DFIG Overview DFIG Control Unbalance and Induction Machines DFIG Unbalance Compensation Hardware Results Global Wind Energy • Almost 12 GW added between 2004 and 2005. Source: Global Wind Energy Outlook 2006, Global Wind Energy Council New Installations - 2005 • Most of new installations continue to be in US and Europe. Source: Global Wind Energy Outlook 2006, Global Wind Energy Council Wind Energy Overview • Germany US Spain Denmark India US Installed Projects • Because of slow Midwest growth, the US still has huge potential. Source: American Wind Energy Association, www.awea.org/projects Wind Energy Overview • Wind generators and farms are getting larger. • 5 MW wind generators are now available with 7 MW in the works. (graphic from Vestas.com) Wind Generator Topologies • • • • Direct connected. Simplest. Requires switch to prevent motoring. Draws reactive power with no reactive control. Wind Generator Topologies • Doubly-fed. • The doubly-fed topology is the most common for high power. • Rotor control allows for speed control of around 25% of • • synchronous. Rotor converter rating is only around 25% of total generator rating. Reactive power control. Wind Generator Topologies • • • • • Full-rated converter connected. Lower cost generator than DFIG. Lower maintenance. Converter must be full-rated. Full-rated converter allows for complete speed and reactive power control. Could also be used with a synchronous generator. Wind Generator Topologies • • • • • • Direct-drive. Eliminate the gearbox by using a very-high pole synchronous generator. Resulting generator design is relatively wide and flat. No gearbox issues. Full-rated converter is required. Full speed and reactive power control. Wind Energy Issues • Wind is intermittent – Limits wind’s percentage of the energy mix • Wind energy is often located in rural areas – Rural grids are often weak and unstable, and prone to voltage sags, faults, and unbalances • Unbalanced grid voltages cause many problems for induction generators – Torque pulsations – Reactive power pulsations – Unbalanced currents Outline • Wind Energy Overview • Research Objectives • DFIG Overview • DFIG Control • Unbalance and Induction Machines • DFIG Unbalance Compensation • Hardware Results Research Objectives • Research was carried out from 2002 to 2005 at the U of • • M and at NTNU in Trondheim, Norway on a Fulbright scholarship Doubly-fed induction generators are the machines of choice for large wind turbines The objective is to develop a control methodology for a DFIG that can achieve: – Variable speed and reactive power control – Compensation of problems caused by an unbalanced grid • Reduce torque pulsations • Reduce reactive power pulsations • Balance stator currents Outline • Wind Energy Overview • Research Objectives • DFIG Overview • DFIG Control • Unbalance and Induction Machines • DFIG Unbalance Compensation • Hardware Results DFIG Overview - Topology stator grid DFIG rotor DC link AC DC DC AC • Rotor control allows for speed and reactive power control. (Cage IG are fixed.) DFIG Overview – Variable Speed Control • Higher Cp means more energy captured • Maintain tip-speed ratio at nominal value (graphic from Mathworks) DFIG Overview – Reactive Power Control * Rr ' Re Vr I r P 2 R ' Ps I r ' Ir ' r r s s s s 2 Qs Vs 2 Xm Im Vr I r 0.2 s 0.2 s Vs 2 Xm Qr s Outline • • • • • • • • Wind Energy Overview Research Objectives DFIG Overview DFIG Control Unbalance and Induction Machines DFIG Unbalance Compensation Simulation Results Hardware Results DFIG Control • Control is done by transforming three-phase to two-phase DFIG Control – Machine Flux Oriented • q-axis controls reactive power (flux) • d-axis controls torque DFIG Control – Grid Flux Oriented • Align d-axis with voltage, instead of flux • Easier, more stable • d-axis -> torque • q-axis -> reactive power (Qs) DFIG Control • d-axis controls torque, hence speed DFIG Control • q-axis controls reactive power (Qs) DFIG Control – Stability • DFIGs naturally have complex poles near the RHP, near the grid frequency (ird/vrd transfer function) Outline • Wind Energy Overview • Research Objectives • DFIG Overview • DFIG Control • Unbalance and Induction Machines • DFIG Unbalance Compensation • Hardware Results 3 Phase Voltage Unbalance • Causes torque puslations, reactive power pulsations, unbalanced currents, possible over heating • Unbalance can be seen as the addition of a negative sequence • Unbalance factor (VUF, IUF) is the magnitude of the negative sequence over the magnitude of the positive sequence Unbalance – Second Harmonic balanced unbalanced • Therefore, 1+0.2 sin(2 x-30 /180) 1.2 1.1 1 0.9 0.8 0 1 2 3 4 x 5 6 compensate for the second harmonic in the dq system Outline • Wind Energy Overview • Research Objectives • DFIG Overview • DFIG Control • Unbalance and Induction Machines • DFIG Unbalance Compensation • Hardware Results Unbalance Compensation • Intentionally injecting a disturbance with an auxiliary controller to drive the disturbance to zero d-axis Inner Loop • Compensation controller looks like a bandpass and leadlag filter s z 1 s 0 Q filt Cd ,comp Cd ,comp ,bp Cd ,comp ,ll k 2 s s Q 2 s 1 0 0 filt p Compensation Controller Design (Cd,comp) (d-axis loop gain) Outline • Wind Energy Overview • Research Objectives • DFIG Overview • DFIG Control • Unbalance and Induction Machines • DFIG Unbalance Compensation • Hardware Results Hardware Pictures Hardware Results (15 kW) • Transient activation of compensation • VUF = 0.04 Generator Stator Reactive Power reactive power (per unit) Generator Torque torque (per unit) -0.5 -1 -1.5 0.2 0.4 0.6 0.8 time (seconds) Generator Torque 100 Hz Magnitude 1 0.4 0.3 0.2 0.1 0 0 0.2 0.4 0.6 time (seconds) 0.8 1 0.1 0 -0.1 -0.2 0 1.2 reactive power (per unit) torque (per unit) 0 0.2 1.2 0.2 0.4 0.6 0.8 1 time (seconds) Generator Stator Reactive Power 100 Hz Magnitude 1.2 0.2 0.1 0 0 0.2 0.4 0.6 time (seconds) 0.8 1 1.2 Hardware Results (15 kW) Stator Voltage and Current Unbalance Factor 0.3 stator rotor 0 0.25 -0.5 -1 0 active power (per unit) VUF IUF 0.2 0.4 0.6 0.8 time (seconds) Generator Total Active Power 1 1.2 total 0 unbalance factor active power (per unit) Generator Stator and Rotor Active Power 0.2 0.15 0.1 -0.5 -1 0.05 0 0.2 0.4 0.6 time (seconds) 0.8 1 1.2 0 0.2 0.4 0.6 time (seconds) 0.8 1 1.2 Rotor d-Axis Voltage Stator Current 1 voltage (per unit) current (per unit) 0.2 isa isb isc 0 -1 0 0.2 0.4 0.6 0.8 time (seconds) Stator Current 50 Hz Magnitude 1 0.1 0 -0.1 -0.2 1.2 0 0.2 0.4 0.6 time (seconds) Rotor q-Axis Voltage 0.8 1 1.2 0 0.2 0.4 0.6 time (seconds) 0.8 1 1.2 1 voltage (per unit) current (per unit) 0.2 isa isb isc 0.8 0.6 0 0.2 0.4 0.6 time (seconds) 0.8 1 1.2 0.1 0 -0.1 -0.2 Hardware Results (15 kW) • Steady Stator Reactive Power 100 Hz Component no comp (hardware) w/comp (hardware) no comp (simulation) w/comp (simulation) torque (per unit) 0.3 0.25 y=9.3e+000*x+0.01 no comp (hardware) w/comp (hardware) no comp (simulation) w/comp (simulation) 0.25 reactive power (per unit) 0.35 y=6.8e+000*x-0.00 0.2 0.15 0.2 y=6.2e+000*x-0.00 y=6.6e+000*x-0.01 0.15 0.1 0.1 0.05 0.05 y=3.2e-001*x+0.02 y=2.9e-001*x+0.00 y=5.9e-001*x-0.00 0 0 0.01 0.02 0.03 0.04 stator voltage unbalance factor (VUF) 0.05 0.06 0 0 0.01 y=3.5e-001*x-0.00 0.02 0.03 0.04 0.05 0.06 stator voltage unbalance factor (VUF) Stator Current Unbalance Factor (IUF) Reduction, Simulation: Torque -> 11.5 Qs -> 17.7 IUF -> 7.4 no comp (hardware) w/comp (hardware) no comp (simulation) w/comp (simulation) 0.25 0.2 unbalance factor state Torque 100 Hz Component 0.4 y=7.1e+000*x-0.01 y=6.1e+000*x-0.00 0.15 0.1 Reduction, Hardware: Torque -> 29.1 Qs -> 22.8 IUF -> 5.5 y=1.3e+000*x+0.02 0.05 y=8.2e-001*x-0.00 0 0 0.01 0.02 0.03 0.04 stator voltage unbalance factor (VUF) 0.05 0.06 Thank You! 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