Modelling and Simulation of an nduction Drive

with Application to a Small Wind Turbine Generator 227

X

ModeIing and SimuIation of an Induction Drive
with AppIication to a SmaII Wind Turbine
Generator

Levenle TAMAS
1
and ZoIlan SZLKLLY
2

1
7HFKQLFDO 8QLYHUVLW\ RI &OXM1DSRFD 5RPDQLD
2
3XUGXH 8QLYHUVLW\ &DOXPHW 86$

1. Introduction

In recenl years lhe rapid deveIopnenl of digilaI signaI processors (DSI) lased syslens and
lhe decreasing cosl of pover eIeclronics aIIoved lhe conpIex nodeIs and conlroI aIgorilhns
of AC nachines lo lecone popuIar for a Iarge range of appIicalions incIuding lhe ones for
renevalIe energies. Anong renevalIe energies lhe soIulion of uliIizing induclion
generalors for vind energy conversion syslens is nov in a groving lrend. CurrenlIy, a vide
spread conlroI concepl is lhal of a varialIe speed rolor vilh pilch reguIalion, and lhis
concepl is conlined vilh lolh direcl drive and geared drive lrains lhe Ialler doninaling lhe
vind narkel (Tanas & SzekeIy, 2OO8).
A vaIid choice for operalion al varialIe speed nay le lhe use of induclion nachine. An
induclion nolor can operale as a generalor in super synchronous speed raised ly an
overhauIing lype of Ioad, or ly Iovering lhe inverler frequency leIov lhe nachine speed,
vhen lhere is a converler-fed nachine drive. Conlinuous regeneralive operalion of a drive
is possilIe if lhe Ioad nachine is a source of pover, such as in a vind generalion syslen
(Tanas & SzekeIy, 2OO8).
In lhis paper lhe nodeI of lhe induclion nachine is vrillen in lerns of fIuxes as slale
varialIes. This nodeI is lhen used lo design an Lxlended KaInan IiIler (LKI) lased
eslinalor lhal can provide lhe correcl feedlack signaIs for lhe veclor conlroI (VC) of a vind
energy conversion syslen.
AIso lhree olher olservers are shovn vilh good sinuIalion resuIls, one lased on slalor
voIlages and slalor currenls (Us-Is), one lased on slalor voIlages and rolor speed (Us-) and
one lased on slalor currenls and rolor speed (Is - ). A neuraI nelvork lased speed
eslinalor as a forlh lype of eslinalor is deveIoped vhich can le used for sensorIess veclor
conlroI of lhe induclion drive or as a parl of a sensor fusion lased feedlack signaI eslinalor
conlined vilh one of lhe alove nenlioned eslinalors.
IinaIIy, a reaI-line sinuIalion selup is presenled using dSpace CLI11O4 enledded syslen
(Tanas & SzekeIy, 2OO8) logelher vilh lhe possilIe furlher research sleps in lhis projecl.

13
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Renewable Energy 228

2. Wind Turbine System ModeI

Iig. 1 shovs a lasic vind lurline syslen lhal converls lhe vind energy inlo nechanicaI
energy vhich al ils lurn is used ly an eIeclric nachine lo generale pover. The lasic
configuralion consisls of lhe vind lurline lIades, lhe drive lrain, lhe induclion generalor
and lhe AC-AC converler (nol shovn in Iig. 1 lo connecl lhe syslen lo lhe grid).

Iig. 1. asic vind lurline syslen nodeI

2.1 Wind turbine modeI
The nodeIs of vind lurlines lake inlo accounl severaI characlerislics such as lhe size, lIade
radius, noninaI pover, shafls sliffness, Iosses, gear lox ralio, elc. The nechanicaI pover
produced ly lhe vind lurline is:

3

2
R
p
c
air

2
1
M
P =
(1)
vhere is lhe air densily,
2
R t is lhe lurline svepl area, Y is lhe speed of lhe vind, and
cp() is lhe pover efficiency coefficienl of lhe vind lurline vhich depends on lhe lip-speed
ralio, . This is defined as:

R
M

=
(2)
vhere,
d
M

M
dt
= is lhe anguIar speed of lhe lurline lIades, and R is lhe Ienglh of lhe
lurline lIade.
There is an oplinaI vaIue of lhe lip speed ralio, opl, vhich aIIovs a naxinun caplure of
pover fron lhe vind. This vaIue is found fron lhe lypicaI characlerislic of lhe vind lurline
pover coefficienl cp = f() provided ly lhe nanufaclurers.
When lhe vind lurline is operaling vilh opl, lhe nonIinear pover expression fron (1) nay
le recaIcuIaled as:

3
M

opt
c
opt M
P =
(3)
and lhe corresponding nechanicaI lorque produced ly lhe lIades is:
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Modelling and Simulation of an nduction Drive
with Application to a Small Wind Turbine Generator 229


2
M

opt
c
opt M
T =
(4)
vhere, Copl is a conslanl vhich depends on lhe lurline characlerislics and air densily
(KeIenen & Inecs, 1991).

2.2 Drive train modeI
The drive lrain dynanics consisls of lhe dynanics of lhe vind lurline rolor, Iov-speed
shafl, gear lox, high-speed shafl, and lhe induclion generalor Iig. 2 shovs lhe lasic
diagran of lhe drive lrain lhal vas used for lhe derivalion of lhe nalhenalicaI nodeI
(KeIenen & Inecs, 1991).
Thus, for lhe vind lurline rolor lhe foIIoving lorques equalion can le vrillen:

(t)
M
T
G
T
2
dt
M

2
d
M
J = +
(5)
vhere, T K
G 1 K1
= is lhe reaclion lorque exerled ly lhe fIexilIe Iov-speed shafl on lhe
rolor of lhe vind lurline.
SiniIarIy, for lhe rolor of lhe induclion generalor lhe foIIoving lorques equalion is vaIid:

0
e
T
g
T
2
dt
r

2
d
g
J = +
(6)
vhere T K
g
2 K2
= is lhe reaclion lorque exerled ly lhe high-speed shafl on lhe
induclion generalor rolor, and
H
7 is lhe eIeclronagnelic lorque of lhe induclion nachine in
generalor operalion node.

Iig. 2. Drive lrain nodeI

The reference vaIues for lhe alove nechanicaI paranelers vhere reporled in (Scularu &
Aposloaia, 2OO4).

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Renewable Energy 230

2.3 Induction generator modeI
In lhis paper, lhe nodeI of lhe induclion generalor is derived using as slale paranelers lhe
slalor and rolor fIux d-q axis conponenls and lhe anguIar speed of lhe induclion generalor.
The nodeI is a fiflh order dynanic nodeI. Il is aIso assuned lhal lhe induclion drive is a
slandaIone generalor so lhal lhe excilalion capacilor and Ioad inpedance are added lo lhe
nodeI.
The nalhenalicaI nodeI of lhe induclion nachine having fIuxes as slale varialIes, and
vrillen in lerns of induclances, is represenled ly lhe sel of (7) - (11):

sd
u
sq

)
rd

r
L
m
L
sd
(
s
L
s
R
dt
sd
d
+ + = (7)

sq
u
sd

)
rq

r
L
m
L
sq
(
s
L
s
R
dt
sq
d
+ = (8)

rd
u
rq
)

( )
sd

r
L
m
L
sd
(
s
L
r
R

dt
rd
d
+ + (9)

rq
u
rd
)

( )
sq

s
L
m
L
rq
(
r
L
r
R
dt
rq
d
+ = (1O)

g
T
J
p
z
)
rq
i
sd

rd
i
sq
(
s
L
m
L
J
2
p
z
2
3
dt
d
= (11)
An induclion generalor nay le seIf-exciled ly providing lhe nagnelizing reaclive pover ly
a capacilor lank (Scularu & Aposloaia, 2OO4). In Iig. 3 a sland-aIone induclion generalor
under an R-L resislive-induclive Ioad is shovn.


Iig. 3. SingIe-phase R-L Ioad circuil
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Modelling and Simulation of an nduction Drive
with Application to a Small Wind Turbine Generator 231

The slalor voIlages usd and usq are conpuled as slale varialIes in lhe generalors Ioad
inpedance nodeI as foIIovs:

Ld
i
C
1
sd
i
C
1
dt
sd
du
+ =
(12)

Lq
i
C
1
sq
i
C
1
dt
sq
du
+ =
(13)

Lq
i

)
Ld
i
L
R
sd
(u
L
L
1
dt
Ld
di
+ =
(14)

Ld
i

)
Lq
i
L
R
sq
(u
L
L
1
dt
Lq
di
=
(15)
The eIeclronagnelic lorque expression can le vrillen in lerns of lhe slale varialIes:
( )
rq

sd

rd

sq

r
L
s
L
m
L
p
z
2
3
e
T = (16)
Iig. 4 shovs lhe conpIele SinuIink nodeI of lhe vind conversion syslen descriled ly (1)-
(16).


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Renewable Energy 232


Iig. 4. SinuIink lIock diagran of lhe dynanic syslen vilh LKI eslinalor
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Modelling and Simulation of an nduction Drive
with Application to a Small Wind Turbine Generator 233

2.4 State space modeI of the induction generator
The slale space equalions (7)-(11) of lhe induclion nachine can le revrillen in nalrix forn
as in (17):
u B x A
dt
dx
+ =


x C y =
(17)
In (17) lhe slale varialIes inpul and oulpul veclors are as foIIovs:

| |
T

rq

rd

sq

sd
x =
(18)

| |
T
0 0 0
sq
u
sd
u u =
(19)

| |
T
0
rq
i
rd
i
sq
i
sd
i y =
(2O)
vhere, urd and urq are considered zero lecause of lhe squirreI cage lype of lhe induclion
generalor.
The syslen nalrix A, lhe inpul nalrix and lhe oulpul nalrix C are:

(
(
(
(
(
(
(
(
(
(
(

=
0 0 0 0 0
0
r
L
r
R

r
L
s
L
m
L
r
R
0
0

r
L
r
R
0
r
L
s
L
m
L
r
R
0
r
L
s
L
m
L
s
R
0
s
L
s
R

0 0
r
L
s
L
m
L
s
R

s
L
s
R
A
(21)

(
(
(
(
(

=
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0 1 0
0 0 0 0 1
B
(22)

(
(
(
(
(
(
(
(
(
(
(

=
0 0 0 0 0
0
r
L
1
0
r
L
s
L
m
L
0
0 0
r
L
1
0
r
L
s
L
m
L
0
r
L
s
L
m
L
0
s
L
1
0
0 0
r
L
s
L
m
L
0
s
L
1
C
(23)
The nunericaI dala for lhe induclion generalor paranelers found in (21) and (23) can le
found in lhe Appendix.
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Renewable Energy 234

A successfuI luiId-up process, is predicled as in Iig. 5 and in Iig. 6 shovs for a sIip
frequency of -O.5, an excilalion capacilance vaIue of 7OOI, and a resislive induclive Ioad
vilh R=7k and L=1OH. The sinuIalion vas carried oul for a speed of 4OO, see Iig. 7.


Iig. 5. Slalor voIlages during a slarl up of lhe Ioaded induclion generalor

Iig. 6. Slalor currenls during a slarl up of lhe Ioaded induclion generalor

Iig. 7. Rolor speed of lhe induclion generalor during slarl up
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Modelling and Simulation of an nduction Drive
with Application to a Small Wind Turbine Generator 235

3. State observers

3.1 Extended KaIman fiIter estimator (EKF)
The fiIlering prolIen invoIved in lhis paper is lo find lhe lesl eslinale of lhe slale veclor xk
of lhe induclion nachine vhich evoIves according lo lhe discrele- line nonIinear slale
lransilion equalion (KaInan, 196O):

1 k
w )
1 k
u ,
1 k
I(x
k
x

+

=
(24)
vhere, ( , ) I < < is lhe nachine dynanics,
1 N
[

is lhe slale olservalion of lhe nachine al

sanpIing line 1 N ,
1 N
X

is lhe knovn inpul al line slep 1 N and

1 N
Z

is lhe syslen
noise, vhich is vhile noise vilh a Caussian dislrilulion vilh nean zero and covariance 4.
AIso ve adnil lhal ve possess a sel of noisy neasurenenls, noled as ] :

k
v )
k
h(x
k
z + =
(25)
vhere, ( ) K < is a funclion of lhe slale paranelers and
N
Y is lhe neasurenenl noise, vilh a
Caussian dislrilulion vilh nean zero and covariance 5 .
Iirsl lhe eslinaled slales are caIcuIaled (prediclion slep) lhen using lhe neasurenenls lhese
slales are updaled in funclion of lhe KaInan gain (K).
The eslinalion (prediclion) equalions are:

1 k
w` )
1 k
u` ,
1 k
x` I(
k
x`

(26)

1 k
Q
T
k
B
1 k
U
k
B
T
k
A
1 k
P
k
A
k
P

(27)
vhere, ` x
k 1
+

lhe previous slale eslinale, vilh covariance nalrix P

k 1
, ` u
k 1
is lhe conlroI
inpul vilh covariance nalrix U
k 1
, ( , ) I is lhe syslen dynanics funclion and ` w
k 1
is
lhe syslen noise vilh covariance
1 N
4

.
The updale equalions foIIoving a neasurenenl:

))
k
x` h(
k
(z
k
K
k
x`
k
x`

=
+
(28)

=
+
k
)P
k
H
k
K (I
K
P
(29)

1
)
k
R
T
k
H
k
P
k
(H
T
k
H
k
P
k
K

+

=
(3O)
vhere,
N
. is lhe KaInan gain,
N
] is lhe neasurenenl al line slep N , ( ) K < is a funclion of
lhe slale veclor, + is lhe olservalion nalrix,
N
5 is lhe covariance of lhe neasurenenl
noise
N
Y .
Al lhe firsl slep of lhe aIgorilhn lhe vaIues of [ and 3 are iniliaIized vilh lhe prior
knovIedge aloul lhe syslen. Il is nol a lriviaI lask lo lune lhe vaIues of lhe covariance 5
and 4. These vaIues infIuence lhe perfornance of lhe fiIler aIlhough lhere is no direcl
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Renewable Energy 236

nelhod of choosing lhen in reaI line appIicalions and il is oflen lhe case lhal lhey are
seIecled in a lriaI and error nelhod.
The Lxlended KaInan IiIler eslinalor is inpIenenled using MalIal funclion. The inpuls for
lhe funclion are lhe slalor voIlages, and lhe slalor currenls are lhe noise neasurenenls.
Iig. 8 shovs lhe eslinaled slale varialIes, lhe slalor and rolor d-q axis fIuxes. Iig. 9 shovs
lhe rolor fIux nagnilude and lhe rolor fIux veclor angIe can le seen fron Iig. 1O.


Iig. 8. Lslinaled slalor and rolor d-q fixed axis fIuxes using LKI


Iig. 9. Lslinaled rolor fIux nagnilude in d-q rolaling frane using LKI
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Modelling and Simulation of an nduction Drive
with Application to a Small Wind Turbine Generator 237

The eslinaled eIeclronagnelic lorque and lhe rolor speed of lhe induclion drive can le
olserved in Iig. 11 and Iig. 12.

Iig. 1O. Lslinaled rolor fIux angIe in d-q rolaling frane using LKI


Iig. 11. Lslinaled eIeclronagnelic lorque using LKI

Iig. 12. Lslinaled rolor speed using LKI
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Renewable Energy 238

3.2 U
s
-I
s
estimator
In order lo inlegrale lhis eslinalor nodeI in lhe conlroI syslen of an induclion nachine, lhe
slalor voIlages and currenls are considered here as inpuls, and lhe eslinaled oulpuls are lhe
nagnilude and lhe angIe of lhe rolor fIux and lhe eIeclronagnelic lorque.
This eslinalor is derived ly direcl synlhesis fron lhe nachine slale equalions vhich are
vrillen in lerns of lhe d-q axis conponenls of lhe slalor and rolor fIux as slale varialIes.
This choice is juslified ly lhe facl lhal lhe syslen nalrix is sinpIer lhan lhe d-q axis currenl
slale space nodeI
The nachine equalions are derived fron ils generaI nodeI vhere lhe speed of lhe rolalionaI
d-q syslen of axes = O, since a fixed reference frane is considered here.
The equalions can le vrillen in slale space forn. The oulpuls viII le lhe slalor and rolor
currenls.

| |
| |
| |
7
UT UG VT VG
7
VT VG
7
UT UG VT VG
L L L L \
X X X
[
=
=
=
0 0

(31)
The eslinalor nalhenalicaI nodeI is lased on lhe inverse nodeI of lhe syslen:

(

=
(

=
dt
di
L i R u
L
L
dt
d
dt
di
L i R u
L
L
dt
d
sq
s sq s sq
m
r
sq
sd
s sd s sd
m
r sd
(32)
The SinuIink nodeI of lhe eslinalor can le olserved in Iig. 13.

Iig. 13. Us-Is eslinalor SinuIink nodeI
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Modelling and Simulation of an nduction Drive
with Application to a Small Wind Turbine Generator 239

The eIeclronagnelic lorque is caIcuIaled Iike:

( )
UT VG UG VT
U V
P
S H
/ /
/
] 7
o
=
2
3
(33)

The rolor fIux nagnilude and angIe can le vrillen as:

2 2
| o

U U U
+ = (34)

o
|

U
U
U
DUFWJ = (35)
The nagnilude and lhe angIe of lhe rolor fIux eslinales using Us-Is olserver are shovn in
Iig. 14 and Iig. 15 and lhe eIeclronagnelic lorque eslinalion is seen in Iig. 16.
Wilh lhe eslinalor Us-Is good oulpul eslinales vere ollained vhen lhe nachine vas
suppIied vilh voIlages in lhe range of raled vaIue. Al Iov speed range lhe acquisilion of lhe
voIlages is difficuIl so lhe speed eslinalion is nol accurale.


Iig. 14. Lslinaled rolor fIux nagnilude in d-q rolaling frane using Us-Is eslinalor
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Renewable Energy 240


Iig. 15. Lslinaled rolor fIux angIe in d-q rolaling frane using Us-Is eslinalor

Iig. 16. Lslinaled eIeclronagnelic lorque using Us-Is eslinalor
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Modelling and Simulation of an nduction Drive
with Application to a Small Wind Turbine Generator 241

3.3 Us- estimator
A rolor fIux eslinalor vhich can operale in lhe range of Iov rolalionaI speeds can le
designed if one considers as neasured inpuls lhe slalor voIlages and lhe rolor anguIar
veIocily (Aposloaia & Scularu, 2OO6). This eslinalor is derived ly direcl synlhesis fron lhe
nachine slale equalions vhich are vrillen in lerns of lhe d-q axis conponenls of lhe slalor
and rolor fIux as slale varialIes. The sane assunplions vere nade as in lhe previous
seclion for lhe eslinalor Us-Is.
We viII denole lhe paranelers used in lhe olserver, as veII as lhe eslinaled varialIes, vilh
lhe sane synloIs Iike in lhe nachine nodeI lul having lhe superscripl e in addilion.
Thus, lhe syslen of equalions of lhe fIux olserver is derived as foIIovs:

(
(

+ + + =
VG
H
V
H
UG
H
U
H
P H
VT
H
V
H
VG
H
V
H
VG
X 7
/
/
7
7
GW
G
e

1
(36)

(
(

+ + =
VT
H
V
H
UT
H
U
H
P H
VT
H
VG
H
V
H
V
H
VT
X 7
/
/
7
7 GW
G
e

1
(37)
( )
(
(

+ =
H
UT
H
U
H
UG
H
VG
H
V
H
P
H
U
H
UG
7
/
/
7
GW
G
e e

1
(38)
( )
(
(

=
H
UT
H
UG
H
U
H
VT
H
V
H
P
H
U
H
UT
7
/
/
7
GW
G
e e

1
(39)
The dynanics of lhe fIux eslinalor descriled ly (36)-(39) is infIuenced ly lhe line
conslanls:

,
H
V
H
V H H
V
5
/
7 o =
and
.
H
U
H
U H H
U
5
/
7 o =
(4O)
The eIeclronagnelic lorque is reconslrucled in lerns of lhe eslinaled slale varialIes
siniIarIy lo equalion (33). The rolor fIux nagnilude and rolor fIux angIe are caIcuIaled Iike
in (34) and (35).
The SinuIink lIock diagran shoving lhe Us- eslinalor can le seen in Iig. 17.
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Renewable Energy 242


Iig. 17. Us- eslinalor SinuIink nodeI

In Iig. 18, Iig. 19, and Iig. 2O, sinuIalion resuIls are shovn for lhe Us- eslinalor, during a
slarl up of lhe squirreI cage induclion nolor. A raled speed connand under fuII lorque
Ioad vas used in lhe sinuIalions.
The nagnilude and lhe angIe of lhe rolor fIux eslinales are shovn in Iig. 18 and Iig. 19,
and lhe eIeclronagnelic lorque eslinalion is seen in Iig. 2O.

Iig. 18. Lslinaled rolor fIux nagnilude in d-q rolaling frane using Us - eslinalor
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Modelling and Simulation of an nduction Drive
with Application to a Small Wind Turbine Generator 243


Iig. 19. Lslinaled rolor fIux angIe in d-q rolaling frane using Us-- eslinalor


Iig. 2O. Lslinaled eIeclronagnelic lorque using Us-- eslinalor
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Renewable Energy 244

3.4 NeuraI network based speed estimator
The inpuls lo lhe neuraI nelvorks are lhe slalor voIlages and slalor currenls al line slep
N and 1 N ( , , , )
VG VT VG VT
X X L L .The largel is lhe rolor speed in revoIulions per ninule al
line slep N .
The nelvork is a feedforvard nelvork vilh lackpropagalion aIgorilhn. The lraining
nelhod is Levenlerg-Marquardl (CaudiII & ulIer, 1999).
The neuraI nelvork has 2 Iayers vilh 3O neurons on lhe hidden Iayer, and vilh 'lansig
aclivalion funclion, and one neuron on lhe oulpul Iayer, vilh 'pureIin aclivalion funclion.
The derivalive of lhe speed is eslinaled lecause lhe feedforvard, lackpropagalion nelhod
is nol appropriale of eslinaling inlegraI conponenls. The eslinalion of an inlegraI
conponenl require sone knovIedge of lhe previous slales and il vouId nean lhal lhe
oulpul of lhe nelvork vouId need lo le feed lack as anolher inpul lo lhe nelvork. Afler lhe
derivalive conponenl of lhe speed is eslinaled lhe sinpIe inlegraI nelhod is used lo exlracl
lhe speed vaIue, using 'cunsun fron MATLA.
The derivalive conponenl of lhe speed can le seen in Iig. 21, vhiIe lhe eslinaled rolor
speed afler lhe inlegralion can le found in Iig. 22.
As il can le seen fron lhe leIov figures very good sinuIalion resuIls can le ollained using
neuraI nelvork for speed eslinalion, vhich can le used in conlinalion vilh any olher
eslinalor in a sensorIess veclor conlroI schene or in sensor fusion conlroI schene(Sinon,
2OO6).

Iig. 21. The derivalive conponenl of lhe rolor speed using neuraI nelvork

Iig. 22. The eslinaled rolor speed using neuraI nelvork
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Modelling and Simulation of an nduction Drive
with Application to a Small Wind Turbine Generator 245

4. ReaI-time simuIation

Ior lhe reaI-line inpIenenlalion of lhe vind lurline syslen a dSIACL CLI11O4 enledded
syslen vas used (SzekeIy, 2OO8).
Ior lhe reaI-line eslinalion of lhe rolor fIux nagnilude and angIe, and of lhe
eIeclronagnelic lorque, lvo slalor currenl neasurenenls and a speed neasurenenl are
required. Using lhe anaIog lo digilaI (ADC 1 and 2) channeIs of lhe dSpace loard, lhe lvo
currenl neasurenenl can le lransferred lo lhe conpuler logelher vilh lhe speed neasured
ly lhe increnenlaI encoder nounled on lhe induclion generalor shafl vhich is coupIed vilh
lhe vind lurline. The infornalion fron and lo lhe conpuler is lransferred lhrough lhe
dSpace loard using lhe DigilaI I/O conneclor.
The ReaI-Tine SinuIink nodeI of lhe eslinalor and neasurenenl channeIs can le seen in
Iig 23. In lhe feedlack Ioop of lhe syslen lvo slalor currenls are neasured logelher vilh
lhe rolor speed. The currenls are neasured vilh LLM LA-NI 1752 currenls lransducers and
lhe user has access lo lhese neasurenenls lhrough NC conneclors. These signaIs are fed lo
lhe dSpace loard, and fron lhe loard lo lhe conpuler. The DS11O4ADC_C5 and
DS11O4ADC_C6 lIocks are used for lhe currenl neasurenenls. The scaIing faclor for lhese
neasurenenl lIocks is 1:2O. Ior snoolher neasurenenl and leller vave visuaIizalion a firsl
order fiIler is aIso used.
The speed is neasured using digilaI encoder and vilh lhe heIp of lhe lIocks
DS11O4LNC_IOS_C1 and DS11O4LNC_SLTUI can le used as an inpul for lhe olserver. In
order lo receive lhe radian angIe lhe DS11O4LNC_IOS_C1 lIock needs lo le nuIlipIied ly
2
HQFRGHU
t
. In lhis experinenl lhe encoder Iines=1OOO. To ollain lhe desired speed lhe deIla
posilion scaIed has lo le divided ly lhe sanpIing line
V
G
GW 7
u u
e
A
= = .
Using lhe nenlioned neasurenenls lhe rolor fIux conponenls can le eslinaled logelher
vilh lhe rolor fIux angIe. AIso lhe eIeclronagnelic lorque can le conpuled knoving lhe
rolor fIux conponenls and having lhe lvo slalor currenl neasurenenls. The TAaIfalela2dq
lIock lransforns lhe rolor fIux conponenls fron fixed reference frane lo d-q rolaling
reference frane using lhe eslinaled rolor fIux angIe. This lransfornalion is necessary for lhe
fieId orienled veclor conlroI of lhe induclion nolor drive. Having lhe rolor fIux conponenls
in rolaling reference frane lhe rolor fIux nagnilude is caIcuIaled using equalion (33).
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Renewable Energy 246


Iig 23. ReaI-line SinuIink nodeI of lhe neasurenenl channeIs and lhe eslinalor

The reaI-line eslinaled vaIues can le foIIoved on lhe dSpace ConlroI Desk as seen in Iig
24.


Iig 24. ReaI-line sinuIalion resuIls using dSpace ConlroI Desk
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Modelling and Simulation of an nduction Drive
with Application to a Small Wind Turbine Generator 247

5. ConcIusions

In lhis paper sinuIalion of a vind energy conversion syslen lased on lhe induclion
generalor vas carried oul using MalIal-SinuIink progranning environnenl.
Cood sinuIalion resuIls vere ollained lased on reaI dala of lhe vind lurline and lhe
induclion generalor lo vaIidale lhen.
AIso, a slalor and rolor fIux eslinalor nodeI lased on LKI vas deveIoped lo sinuIale lhe
correcl achievenenl of lhe fieId orienlalion. The deveIoped LKI eslinalor can le
successfuIIy used in sensorIess veclor conlroI syslens.
The Us-Is eslinalor has a lig advanlage lhal il can le used in varialIe speed appIicalions
and a lig advanlage is lhe facl lhal lhe eslinalor equalions are nol conlaining lhe rolor
resislance as paraneler, vhich eIininales lhe prolIens caused ly lhe lenperalure.
The eslinalor lased on Us- has lhe advanlage lhal is sinpIe lo inpIenenl lul neanvhiIe
is nol laking inlo accounl any reaI syslen noise. AIso uses open nalhenalicaI inlegralion
for lhe paraneler eslinalion vhich is hard lo inpIenenl in reaI appIicalions.
The lIock diagrans vere used lo sinuIale lhe syslen in reaI line using an exisling dSIACL
DS 11O4 conlroI loard. This loard is lased on a fIoaling poinl DSI vilh high speed ADC
converlers vhich nakes suilalIe for lhe cross conpiIalion of lhe SinuIink nodeIs inlo lhe
dedicaled pIalforn.
Iurlher sleps of lhis research vouId invoIve lhe vaIidalion of lhe presenled nodeIs and
eslinalors for a reaI Iife snaII vind lurline. AII lhe necessary soflvare and hardvare design
is avaiIalIe lhrough lhe use of lhe nodern HIL dSpace cards.

6. References

L. Tanas & Z. SzekeIy (2OO8): Ieedlack SignaIs Lslinalion of an Induclion Drive vilh
AppIicalion lo a SnaII Wind Turline Ceneralor, Aulonalion Conpulers and
AppIied Malhenalics, VoIune 17, Nunler 4, 2OO8, p.642-651
SzekeIy, Z. (2OO8) Lxlended Speed ConlroI of an Induclion Molor Drive uliIizing Rolor
IIux Orienlalion Technique in ReaI-Tine, Maslers Thesis, Iurdue Universily
CaIunel, Hannond, Indiana, USA.
Scularu, Ch. & Aposloaia, C. (2OO4) MATLA-SinuIink ModeI of a Sland- AIone Induclion
Ceneralor, in Iroc. OITIM 2OO4, TransiIvania Universily of rasov, Ronania,
May 2O-21, 2OO4, voI. II, pp.155-162
Aposloaia, C. & Scularu, Ch. (2OO6) A Dynanic ModeI of a Wind Turline Syslen, in
Iroceedings OITIM 2OO6, TransiIvania Universily of rasov, Ronania, May 18-
19, 2OO6, voI. II, pp.261-266
A. KeIenen, M. Inecs (1991): Veclor ConlroI of AC Drives, VoIune 1, Veclor ConlroI of
Induclion Machine Drives, OMIKK-IulIisher, udapesl, Hungary
KaInan, R.L. (196O): A nev approach lo Iinear fiIlering and prediclion prolIens
Transaclions of lhe ASML-}ournaI of asic LngineeringVoI. 82
Sinon, D. (2OO6): OplinaI Slale Lslinalionv. I.WiIIey Inlerscience.
CaudiII, M. & C. ulIer (1992) Underslanding NeuraI Nelvorks: Conpuler LxpIoralions,
VoIs. 1 and 2, Canlridge, MA: The MIT Iress.
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Renewable Energy 248
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Renewable Energy
Edited by T J Hammons
ISBN 978-953-7619-52-7
Hard cover, 580 pages
Publisher InTech
Published online 01, December, 2009
Published in print edition December, 2009
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Renewable Energy is energy generated from natural resources - such as sunlight, wind, rain, tides and
geothermal heat - which are naturally replenished. In 2008, about 18% of global final energy consumption came
from renewables, with 13% coming from traditional biomass, such as wood burning. Hydroelectricity was the
next largest renewable source, providing 3% (15% of global electricity generation), followed by solar hot
water/heating, which contributed with 1.3%. Modern technologies, such as geothermal energy, wind power,
solar power, and ocean energy together provided some 0.8% of final energy consumption. The book provides
a forum for dissemination and exchange of up - to - date scientific information on theoretical, generic and
applied areas of knowledge. The topics deal with new devices and circuits for energy systems, photovoltaic
and solar thermal, wind energy systems, tidal and wave energy, fuel cell systems, bio energy and geo-energy,
sustainable energy resources and systems, energy storage systems, energy market management and
economics, off-grid isolated energy systems, energy in transportation systems, energy resources for portable
electronics, intelligent energy power transmission, distribution and inter - connectors, energy efficient utilization,
environmental issues, energy harvesting, nanotechnology in energy, policy issues on renewable energy,
building design, power electronics in energy conversion, new materials for energy resources, and RF and
magnetic field energy devices.
How to reference
In order to correctly reference this scholarly work, feel free to copy and paste the following:
Levente Tamas and Zoltan Szekely (2009). Modeling and Simulation of an Induction Drive with Application to a
Small Wind Turbine Generator, Renewable Energy, T J Hammons (Ed.), ISBN: 978-953-7619-52-7, InTech,
Available from: http://www.intechopen.com/books/renewable-energy/modeling-and-simulation-of-an-induction-
drive-with-application-to-a-small-wind-turbine-generator