40

31 15
2011 5 25

0258-8013 (2011) 15-0040-07

Proceedings of the CSEE
TM 315

Vol.31 No.15 May 25, 2011

2011 Chin.Soc.for Elec.Eng.
47040

(() 210016)

Static and Dynamic Behaviour Simulation of Wind Turbine Based on PMSM

CHEN Jie, CHEN Jiawei, CHEN Ran, CHEN Zhihui, GONG Chunying, YAN Yangguang
(Aero-Power Science Technology Center (Nanjing University of Aeronautics & Astronautic),
Nanjing 210016, Jiangsu Province, China)
ABSTRACT: Wind turbine simulator (WTS) is an important

device for developing wind energy conversion systems

(WECS), and it makes the evaluation and improvement of wind

power generation technology in laboratory possible. A wind

turbine

magnet

synchronous machine (PMSM) as drive source had been

developed for both static and dynamic characteristics

simulation of real turbines. By analyzing the static feature of

simulator

which

took

the

permanent

wind turbine, we noted that the dynamic behavior of a wind

turbine

could

be

reproduced

with

real-time

torque

compensation which was proportional to the speed acceleration

of shaft. Then, the operational principle and design rules of the
compensation loop were discussed. The conclusion showed that
the low pass filter (LPF) added in the compensation loop had a
great effect on the overall performance of the WTS.
Furthermore, the relationship between the rotor inertia and
crossover frequency of a first-order LPF was deduced. Finally,
an experimental platform was established after computer
simulation, and the mechanical behaviors at different wind
speed, load condition and rotor inertia were tested. The
simulation and experimental results verify not only the
feasibility of the introduced strategy and correctness of the
foregoing analysis, but also demonstrate the excellent
performance of the established platform.
KEY WORDS: wind power generation; wind turbine
simulator;

dynamic

compensation;

permanent

magnetic

synchronous machine; filter

(973 )(2007CB
210303)
The National Basic Research Program (973 Program)(2007CB
210303).

[1-9]

[10-17]
2 [10]

[11]

[12]

 15

0.6

(maximum power point trackingMPPT)

MPPT
[15]

(permanent

41
Cpmax

Cp

0.4

0.2

opt

0.0

magnetic

synchronous machinePMSM)

1
1.1

1 000

v1

600

v2

400
200

Tr = CT ( , ) R v / 2
3 2

v5

0
20

Pr = Cp ( , ) R 2 v3 / 2

20

Popt

800

v3
v4

40
60
/(rads1)

(1)

Pm Tm
R v
Cp(,)
CT(,)
Cp(,)=CT(,)=R/v

0
Cp CT

1
Cp
Cp
opt Cp
Cpmax opt
Cp

Topt

15
v1

10
5
v5

v3
v4

v2

(a) Pr = f(v,)

Fig. 2

(2)

/(Nm)

20

(1)(2)
2
2
( 2a)
( 2b)[10]

/W

16

1 Cp
Fig. 1 Typical Cp curve

12

80

20

40
60
/(rads1)

80

(b) Tr = f(v,)

2
Characteristic curves of wind turbine

( )

()

3
2
1.2

Tr / n = ( J r / n 2 + J g )dg1 / dt + Tg

(3)

Tm = ( J m + J g )dg2 / dt + Tg

(4)

Tr ()Tg
Tm
Jr Jm

42
r

Tr

1: n

Jr

Jg

Jg

Tm
Jm

g2 Tg

PMSM

3
Fig. 3 Equivalent diagram of WECS and simulator

(5)

(5) PMSM
1
2

2
n Tc
T*TD
TL
v

Tr

1/n

1/n

1/S

(JrJm)
1/(Jm+Jg)

1/(TDS+1)

Fig. 5

4
Fig. 4 Structure diagram of WTS

4 (5) 2

d/dt

Tr

T
Tm

5
Experimental waveforms of the simulator
under instability situation

4
6

Tc
1
1
(t ) =
(Tr TL ) dt
Tc dt (6)
(Jm + Jg )
(Jm + Jg )
T r( ,v)
+

Tc

TL

(JrJm)s

1/[(Jm+Jg )s]

u
LPF

6
Fig. 6 Simplified diagram of WTS

Q(,V)
1
1
+ =
(Tr TL ) dt
(Tc +Tc )dt (7)
( J m +J g )
( J m +J g )

TL

31

t(2 s/)

T*

Tc

LPF

/(12(Nm))/
T(12(Nm)/)

Jg n
g1
g2
3 (3)(4)

g1=g1=
Tm = Tr / n ( J r / n 2 J m )d / dt

T
Tr 1
V
Q(,V) Tr 2
n=13
(ms )(s
)

g1 Tg

Tc

( s ) / Tc ( s ) = 1/[( J m + J g ) s]

(8)

( 6 u
)
( s ) / u ( s ) = ( J r J m ) /( J m + J g )
(9)

7
DSP

 15

1
(0.32(rads )/)

t(100 ms/)

Fig. 7

7
Speed waveforms before and after filter

Gf ( s ) = 1/(Ts s + 1)
(10)

G ( s ) = K /(Ts s + 1)

(11)

K=(JrJm)/(Jr+Jg)
(11)

fc(11)
fs=fc /K fs =1/2Ts(11)

f c = K / 2Ts
(12)
(12)
K Ts

K
8
A()

8
Fig. 8

K2/(T2s+1)

fs2

fs1

K2>K1
T2>T1

fc2

K1/(T1s+1)

K2/(T1s+1)

fc1

Ts T1
8
fc1 fc2
fc1
T2 8

3
3.1

Frequency characteristic of different inertia and

filter time constant

8 K K1 K2

43

PMSM
PMSM

PMSM
PMSM
[16]
dq d

ud = Rs i d + Ld did / dt s Lq iq
(13)

uq = Rs iq + Lq diq / dt + s ( Ld id + 0 )

(14)

uduq idiq dq
Ld Lq d q
Rs s s=Npgg
0

Te = 1.5 N p [( Ld Lq )id iq + iq 0 ]
(15)
Np
q d

Te = 1.5 N p 0 iq
(16)
q

(16) q
iq Te
(16)
q
Te
iq

44

9
(PC )(DSP2812)

3.2

TITMS3 T *
20F2812
DSP

PMSM

PMSG

9
System structure of experimental platform

Fig. 9

10
ud uq 2

id

id =0
T

1/(1.5Np0)

PI

ud

+ ud

PI +
uq
uq

ud =Lqiq
uq =Lqiq+0

Tm
PMSM

ia
abc

iq

dq

ib

SVM

10 PMSM
Fig. 10 Principle diagram of PMSM servo driver

2
1 PMSM

11 11~14 m/s 4

31

3%
1
Parameters of wind turbine and PMSM

Tab. 1

PMSG PMSM

/m

1.90

/(r/min)

1 000

/(kgm2)

0.394

/(kgm2)

0.028

/kW

7.5

/kW

1.5

/V

110

/(m/s)

15

0/Wb

0.435

1 500
1 200
/W

900
600
300
0

Fig. 11

200

400
/(r/min)

600

800

11
Curves of theoretical and experimental power

12 Matlab
10 m/s
14 m/s 12(a)

PMSM

300 ms 2 s

12(b)

13 10 m/s 14 m/s
13(a)

3
R1
13(b)

/(ms1)

18
12

(24(Nm)/)

6
900

14
Experimental results when load changes

300
900
600

30

8
t/s
(a)

10

12

10

12

15
0
20

0
20
30

15
4

8
t/s
(b)

)/)
(10(mss
/(400
/(10
)
(400(r/min)/
(r/min)/)
(mss1
))/

12
Fig. 12 Simulation results

R1

t(2 s/)
t(12
s/)

/(12(Nm)/)
(12(Nm)/)

(a)

10
15

10

16 Labview

(400(r/min)/)
(10(Nm)/)
(12(Nm)/)

/(r/min)

2
3

Fig. 14

600

/(Nm)

300
900

45

t(2 s/)

600

300

(12(Nm)/)

15

Fig. 15

2
3

t(10 s/)

15
Transient response of large moment of inertia

t(2 s/)
t(12
s/)
(b)

Fig. 13

13
Experimental waveforms when wind steps up

14 14 m/s

2 s

16
Fig. 16 Human interface of WTS

46

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