IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 32, NO.
3, SEPTEMBER 2017
Synchronization and Frequency Regulation of
DFIG-Based Wind Turbine Generators With
Synchronized Control
Linbin Huang, Student Member, IEEE, Huanhai Xin, Member, IEEE, Leiqi Zhang, Student Member, IEEE,
Zhen Wang, Member, IEEE, Kuayu Wu, and Haijiao Wang
Abstract—Synchronized control (SYNC) is widely adopted for
doubly fed induction generator (DFIG)-based wind turbine genera-
tors (WTGs) in microgrids and weak grids, which applies P-f droop
control to achieve grid synchronization instead of phase-locked
loop. The DFIG-based WTG with SYNC will reach a new equi-
librium of rotor speed under frequency deviation, resulting in the
WTG’s acceleration or deceleration. The acceleration/deceleration
process can utilize the kinetic energy stored in the rotating mass of
WTG to provide active power support for the power grid, but the
WTG may lose synchronous stability simultaneously. This stabil-
ity problem occurs when the equilibrium of rotor speed is lost and
the rotor speed exceeds the admissible range during the frequency
deviations, which will be particularly analyzed in this paper. It is
demonstrated that the synchronous stability can be improved by
increasing the P-f droop coefficient. However, increasing the P-f
droop coefficient will deteriorate the system’s small signal stabil-
ity. To address this contradiction, a modified synchronized control
strategy is proposed. Simulation results verify the effectiveness of
the analysis and the proposed control strategy.
Index Terms—Doubly fed induction generator (DFIG)-based
wind turbine generators, frequency deviation, synchronization
characteristics, synchronized control, synchronous stability.
I. INTRODUCTION
NCREASING penetration of wind generations in modern
I power grid requires wind turbine generators (WTGs) to par-
ticipate in grid frequency regulation and provide active power
support under frequency disturbances [1]–[3]. To fulfill this re-
quirement, frequency regulation strategies, such as inertial re-
sponse emulation and primary frequency control, are widely
Manuscript received August 16, 2016; revised January 10, 2017 and February
7, 2017; accepted February 17, 2017. Date of publication March 1, 2017; date of
current version August 18, 2017. This work was supported in part by the National
Key Research and Development Program under Grant 2016YFB0900104, in part
by the National Science Foundation of China under Grant 51577168 and Grant
51677165, and in part by the State Grid Zhejiang Electric Power Company
Technical Program under Grant 5211DS160020. Paper no. TEC-00702-2016.
L. Huang, H. Xin, L. Zhang, and Z. Wang are with the College of Electrical
Engineering, Zhejiang University, Hangzhou 310027, China (e-mail: huanglb@
zju.edu.cn; xinhh@zju.edu.cn; zhangleiqi@zju.edu.cn; z.wang@zju.edu.cn).
K. Wu is with the State Grid Zhejiang Electric Power Research Institute,
Hangzhou 310014, China (e-mail: fuzzywky@qq.com).
H. Wang is with the China Electric Power Research Institute, Beijing 100192,
China (e-mail: wanghaijiao@epri.sgcc.com.cn).
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TEC.2017.2675480
0885-8969 © 2017 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See http://www.ieee.org/publications standards/publications/rights/index.html for more information.
1251
adopted for doubly fed induction generator (DFIG) based WTG
[4], [5].
These frequency regulation strategies build a relationship be-
tween the grid frequency and the active power output so that
the DFIG-based WTG can provide active power support un-
der frequency disturbances. One way to implement frequency
regulation strategies in DFIG-based WTG is to introduce grid
frequency differential signal (i.e., df /dt) and the signal of fre-
quency deviation beyond the nominal value (i.e., Δf ) to the
torque or power reference in the control of rotor side converter
(RSC) [6]–[8]. This method is for DFIG-based WTG that uti-
lizes phase-locked loops (PLL) in the control of RSC for grid
synchronization. Another way is synchronized control (SYNC),
which applies P-f droop or virtual synchronous control strategy
in the control of RSC for grid synchronization so that PLL is
removed [9], [10]. The SYNC regulates the stator flux speed of
DFIG (i.e., frequency output) according to active power output.
Thus, the DFIG-based WTG with SYNC can provide active
power support under frequency disturbances. For instance, the
P-f droop strategy, as a typical type of SYNC, builds a linear
relationship between the frequency output and the active power
output to emulate the frequency characteristics of synchronous
generators (SGs) for frequency regulation [11]–[13].
When the WTG is connected to a strong grid, the PLL can
track the angle of grid voltage or stator flux with robust per-
formance. In this situation, PLL is suitable to be applied in the
WTG. However, when connected to a weak grid, which is char-
acterized by low short circuit ratio, the tracking accuracy and
responsiveness of the PLL is deteriorated, resulting in a poor
small signal stability performance of the WTG system [14].
What’s worse, improper parameters of PLL may lead to failure
of the low-voltage ride through [15]. Thus, the PLL is not a
good choice when the WTG is connected to the weak grid or
within a microgrid, especially when it supplies a major part of
the loads [16]. In these situations, SYNC is more suitable to be
applied in WTGs.
There have been many works involving the modeling, small
signal analysis and sensitivity analysis of DFIG-based WTG
with SYNC [14], [17], [18]. However, the large disturbance
stability is much less studied. In fact, the WTG with SYNC
can also lose stability under large disturbances. For instance,
the WTG can lose the equilibrium of rotor speed under
1252 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 32, NO. 3, SEPTEMBER 2017

frequency deviations, causing the rotor speed to keep decreasing

and finally result in tripping of the WTG. Since DFIGs normally
can keep stable operation at admissible non-synchronous speed
range (with limited slip), which is totally different from those
conventional SGs, the large disturbance stability problem of
DFIGs could be quite complicated with both the power angle
and the slip taken into account. On one hand, the equilibrium
of rotor speed (i.e., slip) changes under frequency deviations so
that the kinetic energy stored in the rotating mass of WTG can
be utilized to support the grid. On the other hand, synchronous
instability can occur to the WTG when the equilibrium of rotor
speed is lost or beyond the admissible range under frequency
deviations. This instability problem should be of concern be-
cause frequency deviation is a common disturbance which can
be caused by the fluctuating behavior of wind velocity or the
power flow transferring, and the WTG should ride through these
disturbances [19], [20].
In this paper, we mainly focus on the synchronous stability
problem of DFIG-based WTG with SYNC, and the core contri-
butions of this paper include:
1) The synchronous stability mechanism with DFIG-based
WTG involved is revealed and it shows that in case of se-
vere frequency deviation incurred DFIGs possibly cannot
recover rotor speed equilibrium.
2) The interaction between synchronous stability and small
signal stability of the WTG is studied, which shows that
the WTG’s synchronous stability can be improved by
Fig. 1. Single DFIG-based WTG infinite bus (SDIB) system.
properly tuning the control parameter, but the small signal
stability performance will be degenerated simultaneously. TABLE I
3) A modified synchronized control (MSYNC) scheme is MAIN VARIABLES OF DFIG-BASED WTG WITH SYNC
proposed to improve the synchronous stability and the
small signal stability simultaneously by introducing an Variables Representation
assistant damping component in the conventional SYNC.
f0 Nominal value of the ac system frequency
The rest of this paper is organized as follows: Section II
Vb a se Base value of voltage for per-unit calculation
reveals the synchronous stability mechanism of DFIG-based Pb a se Base value of power for per-unit calculation
WTG with SYNC. Section III analyzes the impacts of P-f droop V , U
 Voltage vectors of stator and external grid
coefficient on the synchronous stability and the small signal X Equivalent impedance between stator and external grid
ψ s a b c , Is a b c Three-phase stator flux and currents
stability of the WTG system. Section IV introduces the MSYNC. ψ s d q , Is d q Stator flux and currents in dq coordinate
Simulation results are given in Section V. Section VI concludes V r∗a b c , I r a b c Three-phase rotor voltages and currents
the paper. V r∗d q , I r d q Rotor voltages and currents in dq coordinate
PE , QE Total active and reactive power of the DFIG
Pre f , ω0 Active power and frequency setting value in P-f droop
Qref , V0 Reactive power and voltage setting value in Q-V droop
KP , KQ P-f and Q-V droop coefficients
II. SYNCHRONOUS STABILITY ANALYSIS OF DFIG-BASED
Is m Excitation current in dq coordinate
WTG WITH SYNCHRONIZED CONTROL ωs f , ωr WTG stator flux speed and machine rotor speed (p.u.)
Ta Mechanical time constant of the WTG
A. Basic Control Scheme of SYNC D Damping coefficient of the rotor swing equation
θ , θr , θs l i p Stator flux angle, rotor angle and slip angle (rad)
When connected to the weak grid or within a microgrid, L s ,L r ,L m , R s Stator, rotor and mutual inductance, stator resistance
DFIG-based WTG generally applies SYNC to provide voltage
and frequency support to the grid (hereinafter, the SYNC men-
tioned refers in particular to the P-f type SYNC). The SYNC
embeds P-f and Q-V droop scheme into the control of RSC. A The P-f and Q-V droop schemes in Fig. 1 can be expressed
single DFIG-based WTG infinite bus (SDIB) system, equipped as
with a typical SYNC-based RSC control scheme [17], is given ωsf − ω0 = KP (Pref − PE ) (1)
in Fig. 1. The main variables are explained in Table I and the
V − V0 = KQ (Qref − QE ) (2)
main parameters are set as follows: f0 = 60 Hz, Vbase = 575 V,
Pnom = 1.3 MW, X = 0.25 p.u., Ta = 10.654s, Lm = 1.78 p.u., where V is the stator voltage reference output of the Q-V droop
Ls = 1.8037 p.u. and Lr = 1.8169 p.u.. scheme, and the excitation current reference of the stator voltage
HUANG et al.: SYNCHRONIZATION AND FREQUENCY REGULATION OF DFIG-BASED WIND TURBINE GENERATORS 1253

control loop can be calculated by (3).

ref
Ism = (V − Rs Ir q ) / (Lm ωsf ) (3)
The active power setting value Pref comes from the de-
loading curve, which is below the maximum power point track-
ing (MPPT) curve for realizing additional reverse capability
[21]. Pref is a function of ωr , expressed as
Pref = fD L (ωr ) = KD L ωr3 (4)
where KD L is the de-loading coefficient.

B. Synchronization Characteristics of DFIG-Based WTG

With SYNC
The indirect stator flux orientation (ISFO) control scheme is
Fig. 2. P E − ω r plane of DFIG-based WTG with SYNC.
jointly applied with SYNC in the DFIG, so that the stator flux is
controlled to be oriented at d-axis and V is oriented at q-axis in
   as the power
the steady state [22]. Define δ = q − axis, U
angle of the DFIG, and the differential equation of δ  is
dδ  /dt = (ωsf − ωg ) × 2πf0 (5)
where ωg is the angular frequency (per-unit value) of the grid.
The output electromagnetic power of the DFIG is
 ||U
|V |
PE = sin δ  = P0 sin δ  (6)
X
and the rotor’s swing equation is given as [23]
 
1 PM PE
dωr /dt = − − Dωr (7)
Ta ωr ωr
where the rotor’s single particle model is considered, andPM is
the following mechanical power from wind turbine [24] Fig. 3. Transient responses of DFIG-based WTG with SYNC under frequency
deviations.
PM = fM (ωr ) (8)
Equation (7) can be further written as well as the grid frequency. The equilibrium of the system is the
2   intersection point of the black line and the red line, as shown in
dωr2 /dt = PM − PE − Dωr2 (9) Fig. 2, which meets fω r (δ  , ωr ) = fδ  (δ  , ωr ) = 0.
Ta
Substituting (4), (6) and (8) into (5) and (9) yields the syn-
C. Synchronous Stability Analysis Under Frequency Deviation
chronization characteristics of DFIG-based WTG with SYNC,
which are It can be deduced from (10) and (11) that when there is a
frequency deviation of the external grid (i.e., ωg changes), the
dδ  /dt = fδ  (δ  , ωr ) = KP (fD L (ωr ) − P0 sin δ  ) + ω0 −ωg solutions of fδ  (δ  , ωr ) = 0 in PE − ωr plane (red line in Fig. 2)
(10) will have an up-down translation, and a new equilibrium will be
achieved, as shown in Fig. 3.
2  
dωr2 /dt = fω r (δ  , ωr ) = fM (ωr ) − P0 sin δ  − Dωr2 Under frequency rise (i.e., ωg increases), it can be seen from
Ta Fig. 3 that the WTG will experience an acceleration process
(11)
and absorb active power to provide frequency support for power
It can be seen from (10) and (11) that the dynamic behavior grid. The rotor speed of the new equilibrium may exceed the
of power angle and rotor speed are coupled, and the synchro- admissible range under severe frequency rise, but the pitch angle
nization characteristics determines the rotor speed and power controller will work to lower the rotor speed in this scenario
angle’s equilibrium of the WTG system in the active power ro- and prevent from overspeed. Thus, the DFIG-based WTG with
tor speed plane (abbreviated as “PE − ωr plane” in the rest of SYNC operates stably under frequency rise.
this paper), as shown in Fig. 2 (with wind speed vw = 10 m/s Under frequency dip (i.e., ωg decreases), the WTG will de-
and pitch angle β = 0). celerate and release kinetic energy stored in the rotating mass
The black line in Fig. 2 is the solutions of fω r (δ  , ωr ) = 0, to provide frequency support to the grid. However, the WTG
which is further related to the wind speed vw . The red line is the may lose synchronous stability if the rotor speed exceeds the
solutions of fδ  (δ  , ωr ) = 0, related to the de-loading curve as admissible range or the equilibrium is lost. For instance, when
1254
Fig. 4. Time-domain responses of the WTG under frequency dips.
the frequency drops to f0 − Δf3 in Fig. 3, the red line and the
black line have no intersection point. That is, the WTG doesn’t
have a stable equilibrium. In this scenario, the rotor speed and
active power output of the DFIG will keep decreasing accord-
ing to (10) and (11), which will finally result in tripping of the
WTG. This situation should be avoided since the WTG loses
synchronous stability and cannot remain synchronism with the
grid. In fact, the WTGs ought to ride through the disturbances
and offer voltage and frequency support to the grid with large-
scale penetration of WTGs in future power grids.
To better illustrate the transient responses of the WTG under
frequency deviations, simulation studies are carried out on the
SDIB system in Fig. 1. Assuming that there are grid frequency
dips at t = 2 s, the time-domain simulation results are given
in Fig. 4. The droop coefficient in the three cases is set as
KP = 1/90. It can be seen that the rotor speed will move to a
new equilibrium under frequency dip, which is consistent with
the above analysis. What’s more, the WTG loses synchronous
stability with Δf = 0.2 Hz, as the rotor speed and active power
output keep decreasing and cannot move to an equilibrium point
in this case, which will result in tripping of the DFIG when the
rotor speed reaches the lower bound ωr m in (ωr m in = 0.75 p.u.
in this paper).
D. Stability Boundary of DFIG-Based WTG With SYNC
It can be deduced from the aforementioned analysis that for
a given wind speed, there exists a critical offset of the red line
and a critical operating point that ensures the existing of the
equilibrium point, as shown in Fig. 5. Based on this, the stability
boundary is given in the PE − ωr plane, which is composed of
the critical operating points under different wind speeds, as
shown in Fig. 5. The stability boundary divides the plane into
two regions. The left one is the unstable region and the right one
is the stable region. The rotor speed equilibrium point exists in
the stable region, and it should be noted that the equilibrium
value cannot exceed the admissible range of rotor speed as well.
The WTG cannot achieve a stable equilibrium in the unsta-
ble region. In fact, the rotor speed will keep decreasing in the
IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 32, NO. 3, SEPTEMBER 2017
Fig. 5. Stability boundary of the WTG in P E − ω r plane.
unstable region, deduced from Fig. 3, finally resulting in trip-
ping of the WTG. Therefore, it’s necessary that the rotor speed
is restricted within the stable region i.e., remaining greater than
the corresponding critical rotor speed ωr c under frequency dip.
Otherwise, the WTG will enter the unstable region and lose syn-
chronous stability. This requirement can be fulfilled by properly
tuning the P-f droop coefficient, which will be particularly ana-
lyzed in next section.
III. IMPACTS OF P-F DROOP COEFFICIENT ON DFIG-BASED
WTG WITH SYNCHRONIZED CONTROL
This section studies the impacts of P-f droop coefficient KP
on the synchronous stability and the small signal stability of
DFIG-based WTG with SYNC and poses the challenge of co-
ordinating these two requirements.
A. Impact of P-f Droop Coefficient on Synchronous Stability
It can be seen from Section II that the rotor speed achieves
a new equilibrium under frequency deviation. An approximate
expression of the new steady-state value is given in (12), which
is derived from (4) and (10).

ωr new ≈ 3
ωr3(0) − (ω0 − ωg ) / (KP KD L ) (12)
It can be seen from (12) that the new equilibrium of rotor
speed is related to the frequency deviation degree and the value
of KP . Moreover, increasing KP can reduce the rotor speed
fluctuation under frequency dip and therefore the synchronous
stability is improved. Take the SDIB system in Fig. 1 as an ex-
ample, assuming that there is a grid frequency dip event (Δf =
0.2 Hz) at t = 2 s, the transient responses of the WTG with differ-
ent values of KP are given in Fig. 6. It can be seen that the rotor
speed fluctuation is greatly reduced when KP increases. More-
over, the WTG will lose synchronous stability with KP = 1/90,
while the WTG can maintain stability by increasing KP from
1/90 to 1/60.
To ensure the synchronous stability, we derive the necessary
condition for KP in the following. Under frequency dip, ωr new
HUANG et al.: SYNCHRONIZATION AND FREQUENCY REGULATION OF DFIG-BASED WIND TURBINE GENERATORS 1255

Equation (16) can be further written as

Io = GU (s)Y(s)Vref − Y(s)U
   
Y11 (s) Y12 (s) ref
Y11 (s) Y12 (s)
= GU (s) V − U
Y21 (s) Y22 (s) Y21 (s) Y22 (s)
(17)
where Y(s) = Z−1 (s) is the corresponding admittance transfer
function.
The grid voltage U can be expressed as (18) considering that
δ  = q − axis, U  .
   
Ud E0 sin δ 
U= = (18)
Uq E0 cos δ 
The active and reactive power of DFIG-based WTG can be
Fig. 6. Time-domain responses of WTGs with different values of K P .
calculated by

PE = Ud Iod + Uq Ioq
(19)
QE = Uq Iod − Ud Ioq
Substituting (17) and (18) into (19) yields
   
PE Y22 (s) cos δ  + Y12 (s) sin δ 
= E0 GU (s)V
QE −Y22 (s) sin δ  + Y12 (s) cos δ 
 2  2 

Y 11 (s)sin δ + Y 22 (s)cos δ
Fig. 7. Controlled voltage source model of DFIG with ISFO control. − E02
−Y21 (s)sin2 δ  + Y12 (s)cos2 δ 
 
should remain greater than the critical rotor speed, which is 2
[Y12 (s) + Y21 (s)] sin δ  cos δ 
− E0 (20)
ωr new > ωr c (13) [Y11 (s) − Y22 (s)] sin δ  cos δ 
Besides, to prevent the rotor speed from exceeding the ad- By linearizing (20), the following small signal model of a
missible range, ωr new should satisfy DFIG with ISFO control can be obtained
    
ωr new > ωr m in (14) ΔPE S11 (s) S12 (s) Δδ 
= (21)
Combining (12), (13) and (14) yields (15), which is the condi- ΔQE S21 (s) S22 (s) ΔV
tion that KP should satisfy to ensure the synchronous stability. where Δ represents the perturbed value, δ0 is the initial power
ω0 − ωg angle, S11 (s), S12 (s), S21 (s)and S22 (s) are
KP ≥ 3 (15)
KD L ωr (0) − KD L max3 (ωr c , ωr m in )
S11 (s) = E0 GU (s) [−Y22 (s) sin δ  0 + Y12 (s) cos δ  0 ]
B. Impact of P-f Droop Coefficient on Small Signal Stability − 2E02 [Y11 (s) − Y22 (s)] sin δ  0 cos δ  0


The impact of P-f droop coefficient KP on the small signal − E02 [Y12 (s) + Y21 (s)] cos2 δ  0 − sin2 δ  0
stability of the SDIB system in Fig. 1 is studied in the following
through bode diagrams and eigenvalue locus. S12 (s) = E0 GU (s) [Y22 (s) cos δ  0 + Y12 (s) sin δ  0 ]
The DFIG with the ISFO control scheme can be modeled as S21 (s) = E0 GU (s) [−Y22 (s) cos δ  0 − Y12 (s) sin δ  0 ]
a controlled voltage source in series with equivalent impedance,
as shown in Fig. 7. The circuit equation can be expressed as − 2E02 [−Y21 (s) − Y12 (s)] sin δ  0 cos δ  0


GU (s)Vref = U + Z(s)Io (16) − E02 [Y11 (s) − Y22 (s)] cos2 δ  0 − sin2 δ  0
where Vref = [ 0 V ]T is the voltage reference determined by S22 (s) = E0 GU (s) [−Y22 (s) sin δ  0 + Y12 (s) cos δ  0 ] (22)
the Q-V droop controller, U = [ Ud Uq ]T is the grid voltage, The small signal model of P-f and Q-V droop controller is
Io = [ Iod Ioq ]T is the current output of DFIG, GU (s) is the        

voltage transfer function, Z(s) is the transfer function of equiv- Δδ  KP (s) 0 ΔPref ΔPE
alent impedance. These variables are formulated in the rotating = − (23)
ΔV 0 KQ ΔQref ΔQE
dq frame whose angular frequency is determined by the P-f
droop control. The derivations of GU (s) and Z(s) are given in where KP (s) = 1/(Js2 + s/KP ) and J is the inertia emulation
Appendix A. coefficient.
1256
Fig. 8. Closed-loop transfer block diagram of power control loop.
Fig. 9. Closed-loop bode diagram of T P (s) with different values of K P .
The dynamic of the DFIG with ISFO control and droop con-
trol can be represented by the closed-loop system composed of
(21) and (23), as shown in Fig. 8.
The active power control loop is related to the frequency reg-
ulation control and the inertia emulation of the WTG. Thus, it
is chosen as the studied object here. The corresponding closed-
loop transfer function of active power can be derived by com-
bining (21) and (23), given as
ΔPE
=
ΔPref
KP (s)KQ E0 [S11 (s)S22 (s) − S12 (s)S21 (s)] + KP (s)S11
[KP (s)S11 (s) + 1] [KQ S22 (s)+1] −KP (s)KQ S11 (s)S22 (s)
= TP (s)
The bode diagram of the active power closed-loop transfer
function TP (s) with different values of KP is given in Fig. 9.
It can be seen from Fig. 9 that with the increase of KP , a big
resonance peak appears, which means the system is weakly
damped. That is, increasing KP deteriorates the small signal
stability of the system.
The closed-loop transfer function block diagram of the whole
WTG system is given in Fig. 10, where TP (s) represents the
active power dynamic of DFIG with ISFO and P-f droop con-
trol, given in (24). Then, small signal analysis of the WTG
system in Fig. 10 is carried out, and the loci of system dominant
eigenvalues as function of KP are given in Fig. 11.
There are six dominant eigenvalues in Fig. 11, and it is shown
that the change of KP has little impact on No. 1, 2, 3 and 4
IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 32, NO. 3, SEPTEMBER 2017
Fig. 10. Closed-loop transfer block diagram of the WTG system.
Fig. 11. Loci of system dominant eigenvalues as function of K P .
poles. No. 1, 2, 3 and 4 poles have high damping ratios and the
participation factors analysis shows that: No. 3 and 4 poles are
most related to the inner current loop in the control of RSC;
No. 2 pole is most related to the stator voltage control loop in
the control of RSC; No. 1 pole is most related to the dynamic
of the WTG’s rotating mass (rotor and turbine), so it belongs
to a long-term time-scale dynamic and appears closer to the
imaginary axis.
No. 5 and 6 poles are sensitive to the change of KP . When KP
changes from 1/30 to 1/90, No. 5 and 6 poles shift towards left
and the damping ratio increases, which improves the dynamic
performance of the system. To obtain the optimal performance
of the WTG system, the damping ratio of No. 5 and 6 poles
(24) is chosen to be ξ = 0.707 (which is the optimal damping ratio
in second order system), and the corresponding value of KP is
about 1/90, according to Fig. 11.
Time-domain active power responses of the WTG with dif-
ferent values of KP under a small phase disturbance are given in
Fig. 12, which is consistent with the small signal analysis results
in Figs. 9 and 11 that increasing KP will deteriorate the system’s
small signal stability. For instance, oscillatory behavior occurs
with KP = 1/20 and it is well damped with KP = 1/90.
C. Challenge of Coordinating Synchronous Stability and
Small Signal Stability
The aforementioned analysis in the last two sub-sections in-
dicates that increasing KP , on one hand, improves the syn-
chronous stability and prevent the WTG from being tripped.
HUANG et al.: SYNCHRONIZATION AND FREQUENCY REGULATION OF DFIG-BASED WIND TURBINE GENERATORS
Fig. 12. Active power responses of the WTG with different values of K P .
Fig. 13. MSYNC scheme.
However, on the other hand, increasing KP deteriorates the
small signal stability performance of the WTG system.
For instance, the WTG system has optimal small signal stabil-
ity performance with KP = 1/90, as shown in Fig. 11. However,
it can be seen from Fig. 6 that the WTG lose synchronous sta-
bility with KP = 1/90 under a frequency dip of Δf = 0.2 Hz.
This synchronous stability problem can be avoided by increas-
ing KP from 1/90 to 1/60 or 1/30 according to Fig. 6, but the
small signal performance of the WTG will be deteriorated.
That is to say, the synchronous stability and the small sig-
nal stability propose contradictory requirements on tuning KP .
On the existing control structure of SYNC, it is very difficult
to coordinate these two contradictory requirements i.e., ensur-
ing the WTG’s synchronous stability and small signal stability
performance simultaneously.
IV. MODIFIED SYNCHRONIZED CONTROL
A. Basic scheme of MSYNC
The existing control structure of SYNC poses a challenge of
coordinating the WTG’s synchronous stability and small signal
stability (dynamic performance), as analyzed in the last section.
To address this issue, the MSYNC is proposed in this section,
which modifies the SYNC by adding an assistant damping com-
ponent to enhance the small signal stability, as shown in Fig. 13.
The dynamic equation of MSYNC can be expressed as
dωsf ωsf − ω0
J = Pref − PE − − Dassist (ωsf − ωg ) (25)
dt KP
1257
where J is the inertia emulation coefficient, KP is the droop
coefficient, Dassist is the assistant damping coefficient and ωg is
the angular frequency of the grid. With Dassist = 0, the MSYNC
is equivalent to the conventional SYNC.
The inertia emulation component Jdωsf /dt in (25) is used
to emulate the inertia response of SG so that the WTG could
provide inertia to the grid, which is essential for the frequency
stability of power system.
It should be noted that the proposed MSYNC scheme is in-
spired by the SG’s swing equation, which is
dωS G
JS G = PT S G − PE S G − DS G (ωS G − ωg ) (26)
dt
where ωS G is the SG’s rotor speed, JS G is the inertia coefficient
of SG, PT S G is the mechanical power of the prime mover, PE S G
is the electromagnetic power output of the SG and DS G is the
damping coefficient.
Comparing (25) with (26), it can be seen that the droop com-
ponent (ωsf − ω0 )/KP in (25) is equivalent to the damping
component DS G (ωS G − ωg )in (26). Therefore, increasing KP
is equivalent to decrease DS G , which deteriorates the dynamic
performance of the system, consistent with the small signal
analysis results in Section III.
This problem can be addressed by increasing the assistant
damping coefficient Dassist because Dassist (ωsf − ωg )is also
equivalent to the damping component in (26) and it can compen-
sate the effect of (ωsf − ω0 )/KP to improve the system’s small
signal stability. Moreover, the value of Dassist will not influence
the DFIG’s new equilibrium of rotor speed under frequency de-
viations because there is Dassist (ωsf − ωg ) = 0 in steady state.
Consequently, by introducing the assistant damping component
in Fig. 13, KP can be tuned to satisfy the synchronous stabil-
ity while the small signal stability can be improved by further
tuning Dassist .
B. Small Signal Stability Analysis
With the increase of KP , the synchronous stability of the
WTG can be improved, but the small signal stability perfor-
mance will be deteriorated, as shown in Figs. 9 and 11. With the
application of MSYNC, the small signal stability can be further
improved by tuning Dassist .
The closed-loop bode diagram of active power control with
different values of Dassist is plotted in Fig. 14. It can be seen
that with Dassist = 0 (i.e., with conventional SYNC), a resonant
peak appears in both scenarios of KP = 1/20 and KP = 1/30.
Increasing Dassist from 0 to 20, the resonant peak drops ob-
viously in both scenarios. That is, the small signal stability is
improved with the increase of Dassist . However, if further in-
crease Dassist from 20 to 30, the resonant peak doesn’t drop
much and the bandwidth is reduced.
The loci of system dominant eigenvalues are given in Fig. 15
with Dassist increasing from 0 to 45. It can be observed that the
system’s small signal stability performance is greatly improved
with the increase of Dassist . To be specific, No. 5 and 6 poles
are sensitive to the change of Dassist , and with Dassist = 0(i.e.,
with conventional SYNC), the system is weakly damped in two
scenarios of KP = 1/20 and KP = 1/30. With the increase of
1258
Fig. 14. Closed-loop bode diagram of active power control with different
values of D a ssist (a) with K P = 1/30 (b) with K P = 1/20.
Dassist , No. 5 and 6 poles shift towards left and the system’s
small signal stability performance is improved. That is to say,
the assistant damping component can significantly improve the
system performance with proper value of Dassist , so KP can be
chosen to ensure the synchronous stability of the WTG without
deteriorating the small signal stability performance.
The active power responses of the WTG with different values
of Dassist under a small phase disturbance are given in Fig. 16,
which is consistent with the results in Fig. 15 that the small
signal stability of the system is improved with the increase of
Dassist . Oscillatory behavior occurs with Dasist = 0, and it is
well damped with Dassist = 20.
C. Parameter Tuning
There are three parameters in the proposed MSYNC that
needs to be tuned, i.e., J, KP and Dassist . Parameter J influences
the inertia emulation of the WTG, whose tuning process has
IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 32, NO. 3, SEPTEMBER 2017
Fig. 15. Loci of system dominant eigenvalues as function of D a ssist .
Fig. 16. Active power responses of the WTG with different values of D a ssist .
Fig. 17. Damping ratio of No.5 and 6 poles with different K P and D a ssist .
been fully discussed in many research works such as [18] and
will be omitted here due to the limited space. Without loss of
generality, it’s assumed that J = 1 in this paper.
Since the variations of KP and Dassist mainly influence No.5
and No.6 poles and have little impact on other dominant poles
according to Figs. 11 and 15, we give the damping ratio of No. 5
and 6 poles (σ5,6 ) as function of KP and Dassist in Fig. 17.
It can be seen that σ5,6 first increases and then decreases with
the increase of Dassist . σ5,6 decreases with the increase of KP .
Also, KP should satisfy the ineqality constarint in (15) to ensure
the synchronous stability of the WTG. For instance, KP should
be chosen to be greater than 1/17 when subjected to a frequency
dip of Δf = 0.4 Hz according to (15). To maximize σ5,6 and
meet the ineqality constarint in (15), the optimal values of KP
and Dassist is KP = 1/17 and Dassist = 20.
HUANG et al.: SYNCHRONIZATION AND FREQUENCY REGULATION OF DFIG-BASED WIND TURBINE GENERATORS
Fig. 18. 29-bus test system with integration of three DFIG-based wind farms.
V. SIMULATION STUDIES ON 29-BUS TEST SYSTEM
To further verify the validity of the aforementioned analysis
and the effectiveness of the proposed MSYNC, simulations are
carried out on the 29-bus Hydro-Quebec transmission system
with integration of three DFIG-based wind farms, as shown in
Fig. 18. The wind farm 1 is rated at 39 MW (30 × 1.3 MW);
the wind farm 2 is rated at 39 MW (30 × 1.3 MW); the wind
farm 3 is rated at 52 MW (40 × 1.3 MW). The wind farms apply
the MSYNC and it is assumed that a single WTG represents the
aggregate behavior of a wind farm. The other part of the system
has seven SGs and is available in MATLAB/Simulink as a demo
model, whose detailed parameters can be found in [25].
A. Transient Responses With Conventional SYNC
At t = 5 s, there is a load increase event occurring at bus B1,
causing grid frequency fluctuation. Assuming the wind velocity
is fixed at 10 m/s, the transient responses of the grid frequency,
the WTGs’ rotor speed and active power output with different
values of KP are given in Fig. 19. It can be seen that the load
disturbance causes fluctuation of the grid frequency. Therefore,
the rotor speed fluctuates during the transient process and the
WTGs provides active power support to the grid, as shown in
Fig. 19. It should be noted that since the three wind farms apply
the same control strategies, they have almost the same rotor
speed and active power responses to the frequency fluctuation.
It can be seen from Fig. 19(b) that synchronous instability
occurs with KP = 1/90, which causes the rotor speed to drop
below 0.75 p.u. and results in tripping of the wind farms. With
the increase of KP from 1/90 to 1/17, the rotor speed fluctu-
ation is reduced so that the synchronous stability is improved,
consistent with the analysis in Section III. However, increasing
KP can deteriorate the small signal stability performance of the
system. For instance, the active power output becomes oscillat-
ing with KP = 1/17, as depicted in Fig. 19(c), which should
be avoided since the system is unstable in this scenario.
1259
Fig. 19. Transient responses of grid frequency, WTGs’ rotor speed and active
power output under a load disturbance with wind velocity 10 m/s.
This problem will become more prominent when the DFIGs
operate at sub-synchronous mode. Assuming that there is a same
load disturbance at bus B1 and the wind velocity is fixed at
8 m/s, the transient responses of the grid frequency, the WTGs’
rotor speed and active power output with different values of
KP are given in Fig. 20. It can be seen that the WTGs are more
prone to losing synchronous stability and being tripped since the
original rotor speed is about 0.9 p.u., which is closer to the lower
bound than at super-synchronous mode. In this case, KP must
be chosen to be 1/17 to improve the synchronous stability and
prevent from tripping the wind farms, as shown in Fig. 20(b).
However, the system is unstable with KP = 1/17, as the active
power output becomes oscillating, depicted in Fig. 20(c). That
is, with the conventional SYNC, the synchronous stability and
small signal stability of the WTG system cannot be fulfilled
simultaneously, as discussed in Section III.
To sum up, increasing KP can reduce the rotor speed fluctua-
tion and improve the synchronous stability, but the small signal
stability can be deteriorated simultaneously. It can be also seen
from Figs. 19 and 20 that the WTG provides active power sup-
port to the grid under frequency deviations. In fact, decreasing
KP can make the WTG output more active power during the
transient process and therefore, reduce the frequency fluctua-
tion, as shown in Fig. 19 that the frequency fluctuation with
KP = 1/60 is smaller than that with KP = 1/30. But at the
same time, the WTG may lose synchronous stability because
the WTG intrinsically release the kinetic energy to provide the
active power support, which causes a decelerating process.
1260 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 32, NO. 3, SEPTEMBER 2017

Fig. 20. Transient responses of grid frequency, WTGs’ rotor speed and active Fig. 21. Transient responses of grid frequency, WTGs’ rotor speed and active
power output under a load disturbance with wind velocity 8 m/s. power output under a load disturbance with MSYNC.

B. Transient Responses With MSYNC

The MSYNC is applied in the WTGs to coordinate the syn-
chronous stability and the small signal stability. Parameter KP
is chosen as 1/17 so as to ensure the synchronous stability and
parameter Dassist is chosen as 20 to improve the small signal sta-
bility according to the optimization results. Assuming that there
is a same load disturbance at bus B1, the transient responses of
the grid frequency, the WTGs’ rotor speed and the active power
output with different wind velocity are given in Fig. 21. It can
be seen that the system is stable under the disturbance with the
MSYNC. It should be noted that the system is unstable with the
conventional SYNC when the KP is chosen as 1/17, as depicted
in Fig. 19(c) and 20(c).

C. Dynamic Responses With Different Values of Dassist

To further show how Dassist influences the dynamic responses
of the system, simulation results on the 29-bus test system are
given in Fig. 22. At t = 1 s, there is a three-phase short circuit
occurring at the terminal of the wind farm 1 and it is cleared after
0.05 s, causing a small disturbance on the active power output
of the WTG. With KP = 1/20 and Dassist = 0, the WTG is
weakly damped, as shown in Fig. 22(a). What’s worse, the WTG
system is unstable with KP = 1/17 and Dassist = 0. These
oscillatory behaviors can be well damped when Dassist increases
to 20, which is the optimal value to improve the small signal
stability. These results verify the effectiveness of the MSYNC
on improving the small signal stability of the WTG system.
Fig. 22. Dynamic responses of active power output with different values of
D a ssist (a) with K P = 1/20 (b) with K P = 1/17.
VI. CONCLUSION
In this paper, the synchronous stability of DFIG-based WTG
with SYNC under frequency deviations is studied using the de-
rived synchronization characteristics in PE − ωr plane, which
explains why the rotor speed will achieve a new equilibrium
under frequency deviations and shows that the WTG can lose
synchronous stability. Increasing the P-f droop coefficient can
improve the synchronous stability, but deteriorate the small
HUANG et al.: SYNCHRONIZATION AND FREQUENCY REGULATION OF DFIG-BASED WIND TURBINE GENERATORS 1261

signal stability of the WTG system. In some scenarios, the WTG where P IE (s) = KP E + KI E /s is the PI controller of the sta-
can even lose small signal stability if the P-f droop coefficient tor voltage control loop.
is tuned to ensure the synchronous stability under frequency Substituting (28) and (33) into (32) yields
deviation. These contradictory requirements on tuning the P-f ⎧
⎪
⎪ ψsq = [1 − GI (s)] × isq Ls
droop coefficient are solved by the proposed MSYNC, which in- ⎨
troduces an assistant damping component to improve the small   (34)
⎪
⎪ GE (s) V − Rs isq Ls isd
signal stability. With the application of MSYNC, the P-f droop ⎩ ψsd = × +
coefficient can firstly be tuned to ensure the synchronous sta- 1 + GE (s) ωsf 1 + GE (s)
bility of the WTG under frequency deviation. Then, the small where GE (s) = GI (s)P IE (s).
signal stability can be improved by tuning the assistant damping The circuit equation of the impedance between stator and the
coefficient. That is, the requirements of the synchronous stabil- grid is
ity and the small signal stability of the WTG can be fulfilled       
simultaneously with the proposed MSYNC. vsd Ud sL −X Iod
= + (35)
vsq Uq X sL Ioq
APPENDIX A
where Io = [ Iod Ioq ]T = −ωr [ isd isq ]T is the DFIG current
The voltage and flux-linkage equations of DFIG formulated output injected into the grid and U = [ Ud Uq ]T is the grid
under the rotating dq axis are voltage vector.
⎧
⎪ sψsd = vsd − Rs isd + ωsf ψsq Combining (27), (34) and (35), the DFIG with ISFO control
⎪
⎪
⎨ sψ = v − R i − ω ψ can be expressed as
sq sq s sq sf sd
(27)
⎪
⎪ sψr d = vr d − Rs ir d + (ωsf − ωr ) ψr q GU (s)Vref = U + Z(s)Io (36)
⎪
⎩
sψr q = vr q − Rs ir q − (ωsf − ωr ) ψr d where
⎧
⎪ ψsd = Ls isd + Lm ir d = Lm ism GE (s)
⎪
⎪ GU = (37)
⎨ψ = L i + L i 1 + GE (s)
sq s sq m rq
⎪
(28) ⎡ [GI (s) − 1] × ωsf Ls ⎤
⎪ ψr d = Lm isd + Lr ir d R s
⎪
⎩ + sL −X
ψr q = Lm isq + Lr ir q ⎢ ωr ωr ⎥
Z(s) = ⎢
⎣
⎥
⎦
It can be obtained by combining (27) and (28) that ωsf Ls Rs
+X + sL
ωr [1 + GE (s)] ωr [1 + GE (s)]
vr d = Lr σsir d + Rr ir d + ΔCr d (38)
(29)
vr q = Lr σsir q + Rr ir q + ΔCr q
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Linbin Huang (S’16) was born in Guangdong, China, in 1992. He received the
Bachelor’s degree in 2015 from the College of Electrical Engineering, Zhejiang
University, Hangzhou, China, where he is currently working toward the Ph.D.
degree.
His research interests include distributed generation and control.
Huanhai Xin (M’14) received the Ph.D. degree from the College of Electrical
Engineering, Zhejiang University, Hangzhou, China, in June 2007. From June
2009 to July 2010, he was a Postdoctor in the Department of Electrical En-
gineering and Computer Science, University of Central Florida, Orlando, FL,
USA. He is currently a Professor in the Department of Electrical Engineering,
Zhejiang University. His research interests include distributed control in active
distribution grid and microgird, ac/dc power system transient stability analysis
and control, and grid-integration of large-scale renewable energy to weak grid.
Leiqi Zhang (S’14) was born in Zhejiang, China, in 1989. He received the
Bachelor’s degree in 2012 from the College of Electrical Engineering, Zhejiang
University, Hangzhou, China, where he is currently working toward the Ph.D.
degree.
His research interests include distributed generation and control.
Zhen Wang (M’11) received the B.Eng., M.Eng., and Ph.D. degrees from Xi’an
Jiaotong University, Xi’an, China, Zhejiang University, Hangzhou, China, and
Hong Kong Polytechnic University, Hong Kong, in 1998, 2001, and 2009, re-
spectively.
He is currently a full-time Professor in the Department of Electrical Engi-
neering, Zhejiang University. His research interests include power system sta-
bility and control, renewable energy integration, and VSC-HVDC transmission.
He received the 2014 Endeavour Research Fellowship sponsored by Australia
Government and visiting scholar of the University of Western Australia from
February 2014 to August 2014.
Kuayu Wu received the Bachelor’s and Master’s degrees from the College
of Electrical Engineering, Zhejiang University, Hangzhou, China, in 2002 and
2005, respectively.
He is currently an Engineer at the State Grid Zhejiang Electric Power Re-
search Institute, China. His research interests include grid-integration of large-
scale renewables and the source-grid coordinated control technologies for re-
newables.
Haijiao Wang received the B.Sc. and Ph.D. degrees from the Department of
Electrical Engineering, Zhejiang University, Hangzhou, China, in 2009 and
2014, respectively.
He is currently an Engineer at the Electric Power Research Institute, China.
His research interests include stability analysis and control for power systems
with large-scale renewable generations.