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Article history: This paper presents a control scheme of a variable-speed wind turbine with a permanent-magnetic
Received 19 July 2008 synchronous generator (PMSG) and full-scale back-to-back voltage source converter. A comprehensive
Received in revised form 1 August 2009 dynamical model of the PMSG wind turbine and its control scheme is presented. The control scheme
Accepted 5 August 2009
comprises both the wind-turbine control itself and the power-converter control. In addition, since the
Available online 22 October 2009
PMSG wind turbine is able to support actively the grid due to its capability to control independently active
and reactive power production to the imposed set-values with taking into account its operating state and
Keywords:
limits, this paper presents the supervisory reactive power control scheme in order to regulate/contribute
Permanent-magnetic synchronous
generator
the voltage at a remote location. The ability of the control scheme is assessed and discussed by means of
Variable speed simulations, based on a candidate site of the offshore wind farm in Jeju, Korea.
Wind turbine © 2009 Elsevier B.V. All rights reserved.
Wind farm
0378-7796/$ – see front matter © 2009 Elsevier B.V. All rights reserved.
doi:10.1016/j.epsr.2009.08.003
H.-W. Kim et al. / Electric Power Systems Research 80 (2010) 46–52 47
Table 1
Operating conditions.
p (pu) q (pu)
IB 0.419 0.8039
WF 3.562 0.1687
Total 3.981 0.9725
Resistance Reactance
Bus: 4 (PCC); v (pu): 1.1435. Fig. 3. Lumped-parameter equivalent-circuit description in the dq-domain.
48 H.-W. Kim et al. / Electric Power Systems Research 80 (2010) 46–52
For example, in the TL model (see. Eq. (4)) vsd corresponds to vd3 at
bus 3 and ved corresponds to vd4 at bus 4.
LTL didl
= vd4 − vd3 − RTL idl + ωe LTL iql ,
ωb dt
LTL diql
= vq4 − vq3 − RTL iql − ωe LTL idl ,
ωb dt
Fig. 4. Block diagram of the VSC controller showing the input/output variables.
CTL dvd3 s CTL dvq3 s
= idc + ωe CTL vq1 , = iqc − ωe CTL vd3 ,
ωb dt ωb dt
CTL dvd4 e CTL dvq4 e
= idc + ωe CTL vq4 , = iqc − ωe CTL vd4 (4)
ωb dt ωb dt
Ltr didl
= vd2 − vd1 − Rtr idl + ωe Ltr iql ,
ωb dt
Ltr diql
= vq2 − vq1 − Rtr iql − ωe Ltr idl ,
ωb dt
Co dvd1 Co dvq1
= idl + ωe Co vq1 , = iql − ωe Co vd1 (5)
ωb dt ωb dt
where Co is the dummy capacitor to obtain voltage for modeling
Fig. 5. WT maximum energy-harvesting curve.
purpose.
2.4. Cable
2.7. Voltage source converter controller
Lca didl Fig. 4 presents the detailed block diagram of the VSC controller
= vd3 − vd2 − Rca idl + ωe Lca iql ,
ωb dt depicting the respective input and output variables. Here, Pgset is
the set-value for the active power for the WT terminal. The value
Lca diql
= vq3 − vq2 − Rca iql − ωe Lca idl , of Pgset is determined from the WT energy-harvesting character-
ωb dt
istic as shown in Fig. 5, which is represented here as a look-up
Cca dvd2 s Cca dvq2 s table Pgset (ωr ) determined in terms of generator rotational-speed ωr .
= idc + ωe Cca vq2 , = iqc − ωe Cca vd2 (6)
ωb dt ωb dt Since variable-speed WTs are traditionally operated in the power
factor control (PFC) mode to achieve the unity power factor at the
terminal of the WT, the reactive power set-points Qgset is set to zero.
2.5. RL load The VSC control module consists of the generator-side, the dc-
link, and the grid-side converter controller. These controllers utilize
The RL load in the dq-domain can be described as proportional-integral (PI) controllers. These PI controllers are tuned
using the Nyquist constraint technique to deal with model uncer-
Lload didL
= vd4 − Rload idL + ωe Lload iqL , tainties [21,22]. Each of the controllers is briefly described below.
ωb dt
Generator-side converter controller: Fig. 6 shows a block diagram
Lload diqL of the generator-side converter controller module, which includes
= vq4 − Rload iqL − ωe Lload idL ,
ωb dt four internal PI controllers, PI1 through PI4. The controller is imple-
mented as two branches, one for the active power (PI1 and PI2) and
Co dvd4 Co dvq4
= idL + ωe Co vq4 , = iqL − ωe Co vd4 (7) one for the reactive power (PI3 and PI4) with the corresponding
ωb dt ωb dt de-coupling terms between the d and q axes, respectively.
Lfilt didg
= vd1 − Rfilt idg + ωe Lfilt iqg ,
ωb dt
Lfilt diqg
= vq1 − Rfilt iqg − ωe Lfilt idg (8)
ωb dt
where subscript filt stands for filter. Fig. 6. Block diagram of the generator-side converter controller.
H.-W. Kim et al. / Electric Power Systems Research 80 (2010) 46–52 49
The transfer function from the stator voltage to the stator cur-
rent is approximated as
T T
Ids (s) Iqs (s) 1 1
(s) (s) = (9)
Vds Vqs Rs + s(Lds /ωb ) Rs + s(Lqs /ωb )
Fig. 9. Schematic diagram of the supervisory reactive power control.
Similarly, the transfer function from the stator current to reac-
tive and active power is approximated as
T controller PI7. The set-point for the output active power by Psset =
Ps (s) Qg (s)
Lqs
T set .
L vdc idc,s
= Rs + s ds Rs + s (10)
Ids (s) Iqs (s) ωb ωb
3. The supervisory reactive power control
Then, (9) is used to tune PI2 and PI4, and (10) is used to tune PI1
and PI3.
The purpose of the supervisory reactive power control pre-
Grid-side converter controller: Fig. 7 shows a block diagram of
sented in this section is to regulate the voltage at the specified
the grid-side converter controller module, which also includes two
remote PCC (see Fig. 1) by adjusting the reactive power produced by
internal PI controllers PI5 and PI6, with corresponding de-coupling
the grid-side converter, taking into account its operating state and
terms between the d and q axes.
limits. As shown in Fig. 9, the control objective is to utilize Qj from
The voltage equation for the grid-side converter RL-filter can be
the grid-side VSC to control the voltage at the PCC to the predefined
expressed as
value by the reactive power set-point control signal Qjset .
L di
filt dg When controlling WT, it is important that the operating limit of
= vd1 − Rfilt idg + ωe Lfilt iqg ,
ωb dt WT is not exceeded. The reactive power required from an individual
L di grid-side converter of the VSC can be computed as
filt qg
= vq1 − Rfilt iqg − ωe Lfilt idg (11)
ωb dt Qjmax
Qjset = min Qjmax , max Qpcc
(15)
from which the transfer function from the filter voltage to current Q1max + · · · + Q5
is where j = 1, . . . , 5, Qjmax is the maximum reactive power (limit)
T T that the jth grid-side converter can provide, and Qpcc is the total
Idg (s) Iqg (s) 1 1
= (12) reactive power required to support the voltage at the PCC.
Vd1 (s) Vq1 (s) Rfilt +s(Lfilt /ωb ) Rfilt +s(Lfilt /ωb )
Fig. 10 shows the active and reactive power operating lim-
The inputs to the grid-side controller are the set-values for the its, wherein it is assumed that the grid-side converter should not
currents, which flows to the grid through the VSC. The set-values of exceed its apparent power limit Sjmax depicted by the half-circle.
the input currents are calculated by the active and reactive power Suppose that at a given time each grid-side converter is delivering
commands Psset and Qgset as follows: the active power denoted herein by Pj . Then, in addition to the active
−1 power, the converter can supply or absorb a maximum of Qjmax of
set
iqg vq1 vd1 Psset the reactive power. Therefore, the reactive power available from the
= (13)
set
idg −vd1 vq1 Qgset grid-side converter lies within the limits [−Qjmax ; + Qjmax ], which
are operating-condition dependent.
where Psset and Qgset are the set-point of the active and reactive
power commands. The value for Psset is provided by the dc-link con-
troller, which determines the flow of active power and regulates the
dc-link voltage by driving it to a constant reference value.
DC-link dynamic model and its controller: The capacitor in the
dc-link is an energy storage device. Neglecting losses, the time
derivative of the energy in this capacitor depends on the difference
of the power delivered to the grid filter, Pg , and the power provided
by the stator circuit of the PMSG, Ps , which can be expressed as
2
1 Cdc dvdc
= Pg − Ps (14)
2 ωb dt
The dc-link controller regulates the capacitor voltage by driving
it to the reference value vref
dc
, and outputs the set-point for the active
power Psset needed in (13). Fig. 8 shows the dc-link model with its Fig. 10. VSC active and reactive power operating limits.
50 H.-W. Kim et al. / Electric Power Systems Research 80 (2010) 46–52
Fig. 13. Voltage observed at the PCC due to the wind-speed variation.
Thus, the maximum available reactive power from the each grid-
side converter can be expressed as
Qjmax = (Sjmax )2 − Pj2 (16)
4. Case studies
Fig. 12. Wind speed (m/s). Fig. 15. Voltage observed at the PCC due to the 20% impedance decrease.
H.-W. Kim et al. / Electric Power Systems Research 80 (2010) 46–52 51
at the PCC from Mode 1 operation. Fig. 16 shows the measured data
of the active power and the reactive power from the WF to the PCC.
The reactive power contribution from the WTs is the difference
Fig. 16. Active and reactive power from WF to PCC for the load variation. between Mode 2 and Mode 1.
Fig. 18. Active and reactive power from WF to PCC for the voltage sag. Fig. 20. Active and reactive power from WF to PCC due to the fault.
52 H.-W. Kim et al. / Electric Power Systems Research 80 (2010) 46–52
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Hong-Woo Kim received his B.S. degree in mechanical engineering from Daejeon
PMSG (pu) Engineering University, Daejeon, Korea, in 1990, his M.Sc. degree in energy system
engineering from Sunggyun University, Daejeon, Korea, in 1998, and his Ph.D. candi-
Rs = 0.042, Lds = 1.05, Lqs = 0.75, m = 1.16 date in electrical engineering at Chungbuk National University, Korea since 2005. He
is a senior engineer in the wind energy research center at Korea Institute of Energy
Controller gains (pu) Research (KIER), Daejeon, Korea since 1990.
Sung-Soo Kim received his M.S. degree in electrical engineering from the University
• Generator-side converter: of Arkansas-Fayetteville in 1989 and his Ph.D. from the University of Central Florida
Controllers PI1 and PI3: kp = 0.2953, ki = 12.4832. in 1997. He is presently a professor of electrical engineering at Chungbuk National
University. Prof. Kim’s interests include signal processing, communication theory,
Controllers PI2 and PI4: kp = 21.5, ki = 11.5. and artificial intelligence.
• Grid-side converter: controllers PI5 and PI6: kp = 0.7147,
Hee-Sang Ko received his B.Sc. degree in electrical engineering from Jeju National
ki = 7.1515.
University, Jeju, Korea, in 1996, his M.Sc. degree in electrical engineering from Penn-
• DC-link module: vref = 1.16, Cdc = 0.1, kp = 0.9544, ki = 7.8175. sylvania State University, University Park, USA, in 2000, and his Ph.D. in electrical and
dc
• Reactive power controllers: kp = 0.001, ki = 120. computer engineering from the University of British Columbia, Vancouver, Canada,
in 2006. He is a researcher in the wind energy research center at Korea Institute of
Energy Research (KIER), Daejeon, Korea. His research interests include wind power
References generation, power systems voltage and transient stability, data processing for power
systems security analysis, electricity market analysis, control design, and system
[1] T. Ackermann, Wind Power in Power Systems, John Wiley & Sons, Ltd, UK, 2005. identification.