Received November 12, 2021, accepted January 9, 2022, date of publication January 13, 2022, date of current version

January 20, 2022.

Digital Object Identifier 10.1109/ACCESS.2022.3142734

Modeling of a Droop-Controlled Grid-Connected

DFIG Wind Turbine
IKER ORAA , (Graduate Student Member, IEEE), JAVIER SAMANES , (Member, IEEE),
JESUS LOPEZ , (Member, IEEE), AND EUGENIO GUBIA , (Member, IEEE)
Department of Electrical, Electronic and Communications Engineering, Public University of Navarre (UPNA), Campus de Arrosadia, 31006 Pamplona, Spain
Institute of Smart Cities (ISC), Public University of Navarre (UPNA), Campus de Arrosadia, 31006 Pamplona, Spain
Corresponding author: Iker Oraa ([email protected])
This work was supported by the Spanish State Research Agency (AEI) under Grant PID2019-110956RB-I00/AEI/10.13039.

ABSTRACT Traditionally, to characterize the response of droop-controlled systems RMS models have been
used. However, as it is demonstrated in this work, when droop control is applied to doubly-fed induction
generators, RMS models do not allow to predict the system stability and dynamic response. Thus, in this
article, a linearized small-signal model that overcomes the limitations of RMS models is presented. The
proposed model is validated by simulation in MATLAB/Simulink demonstrating that it allows to accurately
analyze the stability and dynamic response of the system under study. This model is an interesting tool that
can be used in future works to design and adjust grid-forming controllers for doubly-fed induction generators.

INDEX TERMS Doubly-fed induction generator (DFIG), droop control, small-signal modeling.

I. INTRODUCTION Power converters based on GFM control strategies behave

Currently the control of power grids falls mainly on syn- as voltage sources that inject power into the grid imposing
chronous generators (SG) of large conventional fossil-fuel both the voltage amplitude and frequency. The power con-
power plants. However, there are ambitious global targets verter maintains these parameters within predefined limits,
in the field of environmental and energy policies to reduce helping to ensure grid stability. Unlike GFL control, GFM
the use of fossil fuels by replacing them with renewable control systems do not require an existing power grid to
energies (RREE) such as wind power. Today, wind power is, operate. In this sense, it is possible to implement a control
together with photovoltaic, the main renewable energy and it in an isolated system so that it is the converter itself that
is called to play a fundamental role in this energy transition creates and imposes the voltage and frequency characteristics
process. to all loads connected to it such as in the case of grid black-
Doubly-fed induction generators (DFIG) dominate the outs. Among multiple GFM control strategies droop con-
variable speed onshore wind turbine market [1]. As SGs are trol [4], [5], virtual synchronous machine control (VSM) [6],
replaced by RREE, such as DFIG wind turbines, there is a [7], machine matching control [8], virtual oscillator control
risk that the stability of the grid will be compromised as (VOC) [9], [10] and dispatchable virtual oscillator control
the grid-following (GFL) control strategies implemented in (dVOC) [11], [12] stand out.
most power converters require the presence of a strong grid, Droop control is used in the parallel operation of power
where frequency and voltage are imposed by SGs. There- converters to ensure proper load sharing among the different
fore, it is necessary to implement controls that contribute generating units [13], [14]. Power converters based on this
to guarantee the stability of the electrical grid. This way, control strategy act as voltage sources, allowing to regulate
in recent years, the research community has focused on devel- the active and reactive power output. The control consists of
oping grid-forming (GFM) control strategies that allow to two droop control loops, an active power-frequency control
solve the challenges involved in the large-scale integration loop (P-f) and another reactive power-voltage control loop
of RREE, to ensure a stable and safe operation of the power (Q-V), which adjust the phase angle and amplitude of the
system [2], [3]. voltage imposed by the converter respectively. In the Q-V
control loop a PI controller is usually implemented to ensure
The associate editor coordinating the review of this manuscript and reactive power reference tracking, while in the P-f control
approving it for publication was Zhilei Yao . loop a proportional controller is sufficient to track active

This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see https://creativecommons.org/licenses/by/4.0/
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power references. Regarding grid synchronization method, eliminated, what allows to resemble the droop control to the
droop control structures do not require the use of an additional control of a SG [24]. With no inner loops the control structure
unit, such as a phase locked loop (PLL), for synchronization is simpler, and the dynamic response and small-signal stabil-
purposes during normal operation [5], [7], [15], [16]. This ity improve [26]. However, with the absence of inner current
allows power converters to form an AC grid and to operate and voltage control loops the machine dynamics become
whatever the grid-topology, unlike GFL power converters that more relevant, which requires the correct modeling of the
operate only in a grid-connected mode and need grid infor- DFIG and its interaction with the droop control. In this article,
mation to be synchronized. However, although a dedicated in order to fully model the machine and its interaction with
synchronization unit is not necessary for normal operation, the control, first, a RMS model, as those generally used
in some droop control structures a back-up PLL is employed in grid-connected power converters, is employed. However,
for pre-synchronization purposes, as well as for operation when analyzing the stability and dynamic response of the
during grid faults [13]. system, it is verified that the RMS model do not allow to pre-
Droop control has been widely studied and has been mainly dict the system stability and dynamics. Thus, a small-signal
applied to grid-connected power converters [5], [17]–[27]. model, that takes into account all the nonlinearities that the
When analyzing the response of these systems, RMS mod- system presents due to the interaction between the machine
els are commonly used. In these models, it is assumed that and the implemented control, is proposed. This model is
the inductive component of the network impedance is much validated by simulation in MATLAB/Simulink, proving that
larger than the resistive component, which typically happens it allows to analyze the stability and to reproduce the dynamic
in high and medium voltage lines. Thus, the resistive com- response of the system under study accurately, unlike the
ponent of the grid impedance is neglected, and it is assumed models developed in previous works.
that the angle between the voltage applied by the converter
and the grid voltage, called load angle, is small [21], [23], II. SYSTEM DESCRIPTION
[26], [27]. In addition to RMS models, some authors [19], The system under study shown in Fig. 1 consists of a
[20], [24], [25] employ small-signal state-space models to grid-connected DFIG wind turbine. The rotor-side con-
characterize the power converters line dynamics and analyze verter (RSC) is directly connected to the rotor and controls
the eigenvalues of the system. However, the use of RMS the torque and rotational speed of the generator. The grid-side
models is more widespread due to their greater simplicity, converter (GSC) controls its output current, igsc , to regulate
in comparison with small-signal models, and good perfor- the DC bus voltage, vDC , and it is connected to the stator
mance when characterizing the behavior of grid-connected terminals through the output inductance LGSC . The grid is
power converters. modeled as an ideal voltage source, vg , with a series induc-
Droop control has also been applied to DFIG wind tur- tance, Lg . Even though the system shown in Fig. 1 repre-
bines, but the studies carried out are not very numerous at sents a single grid-connected DFIG wind turbine, it could
the moment [28]–[37]. In almost all case studies, in addition also represent an aggregate set of N number of DFIG wind
to droop control loops, inner current and/or voltage loops turbines with the same parameters that operate under the same
are implemented. Thus, some authors [29], [31]–[33], [35] conditions. In this case, it would be necessary to multiply the
assume that the DFIG acts as a controllable voltage source grid inductance by the number of wind turbines connected
and they use the usual RMS models to characterize the power in parallel to the point of common coupling (PCC), N, as it is
exchange with the grid, without taking into account the inter- explained in [39]. The voltage vs represents the stator voltage,
nal dynamics of the machine. Other authors do model the and the currents is , ir , and ig the stator, rotor, and grid currents
internal dynamics of the machine, even if they implement respectively.
inner current and/or voltage loops [37], [38]. In [37] a droop The DFIG is controlled in the synchronous reference frame
control with inner voltage and current loops is implemented or d − q axes. In the GSC a conventional current control
and a transfer matrix based impedance model is developed is applied, while in the RSC a droop control without PLL
to analyze stability and to study the influence of the control is implemented. The droop control structure is detailed in
structure and short circuit ratio. Likewise, in [38] a GFM Fig. 1. On the one hand, the reactive power-voltage control
control with an inner voltage loop is implemented and a trans- loop adjusts the voltage amplitude imposed by the RSC on
fer matrix based impedance modeling process is presented in the rotor. The PI regulator of the Q-V control loop provides
detail. In both papers the internal dynamics of the DFIG are an increase in the rotor voltage amplitude, 1Vr , depending on
modeled, but the nonlinearities that the system presents, due the difference between the reactive power reference, Qs,ref ,
to the interaction of the machine with the control, are not fully and the reactive power measured at the stator, Qs,meas . This
considered. The P-f control loop adjust the angular frequency, increment is added to the voltage reference, Vr,ref , and the
ω, so the model depends on a variable ω, but in [37], [38] ω reference voltage, aligned with the d axis, Vrd,ref , is obtained.
is assumed to be constant. On the other hand, the active power-frequency control loop
Although the work done so far for DFIG wind turbines has regulates the frequency and phase of the rotor voltage so that
focused on the implementation of droop control with inner the use of a PLL for synchronizing the RSC with the grid is
current and/or voltage loops, these inner control loops can be not required. The P-f control loop provides an increase in the

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FIGURE 1. Droop control for a DFIG wind turbine.

voltage frequency imposed by the RSC, 1ω, proportional to so when modeling the system its analysis will be neglected as
the defined P-f droop coefficient, mp , and to the difference in [38].
between the active power reference, Ps,ref , and the mea-
sured active power, Ps,meas . This increment is added to the III. LIMITATIONS OF RMS MODELS FOR
frequency reference, ωref , and the frequency ω is obtained. DROOP-CONTROLLED DFIG
Integrating ω, the angle θ, which is used for the application of WIND TURBINES
Park transformation of the stator variables, is obtained. Thus, A. SIMPLIFIED RMS MODEL
the filtered measurements of the stator voltages and currents In this section, following the dominant methodology in the
in the d − q axes, vsdf , vsqf , isdf and isqf , are obtained, and literature, an RMS model is developed to analyze the power
from this measurements the stator active and reactive powers exchange between two voltage sources; the droop-controlled
are calculated. The angle θr required for the application of RSC and the grid. In the implemented droop control, since
Park transformation of the rotor variables and, in this case, there are no inner current or voltage control loops, the control
for obtaining the three-phase rotor voltage reference in real directly adjusts the voltage at the RSC output terminals, so the
magnitude, vr,ref , depends on the position of the rotor, θm , influence of the DFIG and the grid impedance must be con-
which, in turn, depends on the rotational speed of the machine sidered when modeling the exchanged power [26]. Fig. 2 (a)
m . Both loops include a low-pass analog filter, LPAFp and shows the equivalent circuit from which the RMS model is
LPAFq , where ωcp and ωcq are the cut-off frequencies of the developed. The circuit includes the DFIG steady-state equiv-
active and reactive power filters respectively. alent circuit, referred to the stator, and the grid-connection
In the system modeling presented below, the subscripts s, r impedance, where Rs and Rr are the stator and rotor resis-
and g refer to the stator, rotor, and grid variables respectively, tors, Xl and X0 are the equivalent leakage reactance and the
and the subscripts d and q to the d and q axes. When modeling magnetization reactance of the machine. I0 is the no-load
the system, a small-signal analysis is performed so that the current, s is the slip and Xg the grid reactance. The mag-
state variables are defined as x = X0 + 1X , where x is the netic losses of the machine and the resistive component
state variable, X0 is the steady-state value, and 1X is a small- of the grid impedance are assumed to be negligible. The
signal perturbation. It should be noted that the GSC, due to its voltages and currents are represented in phasor form by the
faster dynamics, has little influence on small-signal stability, superscript ‘−’.

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the expressions of the active (Pg ) and reactive (Qg ) powers

injected to the grid are obtained
!
aZeq2
Vr Vr
Pg = aReq cosδ − + aXeq sinδ, (11)
s 3 s
!
2
aZeq
Vr Vr
Qg = −aReq sinδ + aXeq cosδ − . (12)
s s 3
The above expressions are not linear as the load angle δ and
the voltage applied in the rotor by the RSC, Vr , are adjusted
by the control loops, and thus are variable. In this case, unlike
the usual RMS models [21], [23], [26], [27], the angle δ
FIGURE 2. Simplified RMS model of a DFIG wind turbine connected to the
cannot be assumed to be small since the inductance of the
grid: (a) equivalent circuit and (b) phasor diagram. grid-connection impedance is added to the inductance of the
machine that can be greater than 0.3 pu. Therefore, a small-
The grid current, Īg , can be written as signal model should be used to linearize these expressions
around an operating point. Defining the angle δ and the
V̄s voltage Vr as
Īg = Īr − Ī0 = Īr − . (1)
jX0
δ = δ0 + 1δ,
Then, the stator voltage, V̄s , can be expressed as Vr = Vr0 + 1Vr ,
 
V̄s and developing (11) and (12), the linearized power expres-
V̄s = V̄g + jXg Īg = V̄g + jXg Īr − . (2)
jX0 sions are obtained
Therefore, aReq
1Pg = (−Vr0 sinδ0 1δ + cosδ0 1Vr )
X0 X0 Xg s
V̄s = V̄g + j Īr . (3) aXeq
X0 + Xg X0 + Xg + (Vr0 cosδ0 1δ + sinδ0 1Vr ), (13)
s
The voltage applied in the rotor by the RSC can be −aReq
1Qg = (Vr0 cosδ0 1δ + sinδ0 1Vr )
expressed as s
aXeq
+ (−Vr0 sinδ0 1δ + cosδ0 1Vr ). (14)
 
V̄r Rr
= V̄s + + Rs + jXl Īr . (4) s
s s
Equations (13) and (14) can be expressed in matrix form
Substituting (3) into (4), the following equation is obtained as
1Pg 1δ
      
V̄r X0 Rr X0 Xg = [PQ] , (15)
= V̄g + + Rs + j Xl + Īr . 1Qg 1Vr
s X0 + Xg s X0 + Xg
(5) where

Defining the variables [PQ]

 
a Vr0 (−Req sinδ0 + Xeq cosδ0 ) Req cosδ0 +Xeq sinδ0
Rr = .
Req = + Rs , (6) s −Vr0 (Req cosδ0 + Xeq sinδ0 ) −Req sinδ0 +Xeq cosδ0
s
X0 Xg (16)
Xeq = Xl + , (7)
X0 + Xg The matrix [PQ] relates the load angle, 1δ, and the RMS
2
Zeq = R2eq 2
+ Xeq , (8) value of the voltage imposed by the RSC, 1Vr , which
are adjusted by the P-f and Q-V droop control loops, with
and the active and reactive powers injected into the grid, 1Pg
X0 and 1Qg .
X0 +Xg Vg
a=3 2
, (9) Fig. 3 depicts the RMS model in block diagram form.
Zeq The block Dconv (s) included in the control diagram models the
the voltage applied by the RSC can be compactly written as delay of one sampling period due to the calculation time of the
DSP and the effect of the zero-order hold, which represents
V̄r X0 the PWM converter. To model the effect of such delays, the
= V̄g + (Req + jXeq )Īr . (10)
s X0 + Xg first-order Padé approximation [39] is used
The expression (10) can be represented in a phasor diagram 1 − 0.5sTs
Dconv (s) = . (17)
as the one shown in Fig. 2 (b). From this phasor diagram (1 + 0.5sTs )2

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B. MODEL VALIDATION
In order to test the validity of the RMS model, a model of
the system under study has been built in MATLAB/Simulink.
The system parameters are specified in Appendix A, where all
parameters of the DFIG are referred to the stator. The model
has been built with blocks from the Simscape / Electrical /
Specialized Power Systems library. For the DFIG the Asyn-
chronous Machine block is used. This block implements
a three-phase asynchronous machine whose electrical part
is represented by a fourth-order state-space model, and the
mechanical part by a second-order system [40], [41]. The
Simulink model is taken as reference for the validation
of the developed RMS model. To determine the stability
of the Simulink model, its response across the operating FIGURE 4. Simulink and RMS model stability comparison.
speed range of the machine has been simulated, in this case
from 1050 to 1950 rpm, since the operation is limited to a slip
of ±30%. A step from 1.8 MW to 2 MW has been introduced
in the reference active power, keeping the reference reactive
power at zero, and the response has been analyzed. The
stability results obtained in the simulations are graphically
represented in the first column of Fig. 4.

FIGURE 5. Evolution of the closed-loop poles of the RMS model as a

function of rotational speed.

FIGURE 3. RMS model block diagram.

be seen that the RMS model does not allow to model the
Similarly, the stability of the RMS model represented in real dynamics of the system. In Fig. 6 the step-response
Fig. 3 has been analyzed in MATLAB. Once the model of both models at 1050 rpm is represented, comparing the
has been implemented, it has been linearized for an active evolution of active and reactive power, and as can be seen the
power equal to 2 MW and a null reactive power, and the RMS model does not reproduce the behavior of the Simulink
closed-loop poles of the system in the operating speed range model. Therefore, the RMS model cannot be considered a
of the machine have been obtained. In Fig. 5 the evolution of valid model to analyze the stability and dynamics of the
the closed-loop poles as a function of the machine’s rotational system under study.
speed, m , is plotted. The poles corresponding to rotational
speeds below the synchronous speed, s , are represented IV. PROPOSED MODEL
in blue and the poles corresponding to speeds above the In this section the small-signal model that overcomes the
synchronous speed are shown in red. This way, the stability limitations of the RMS model is presented. First, the DFIG
range of the RMS model is determined (see second column state-space model is developed to model the dynamics of the
of Fig. 4). stator voltages and currents. Second, from these voltages and
As can be seen in Fig. 4, the stability range of the currents the stator active and reactive powers are calculated.
models does not match. The Simulink model is stable
from 1050 to 1198 rpm and from 1686 to 1917 rpm, while A. DFIG ANG GRID MODEL
the RMS model is stable from 1050 to 1219 rpm and Fig. 7 represents the DFIG equivalent circuit in the d − q
from 1806 to 1950 rpm. axes, where vsd , vsq , vrd and vrq are the stator and rotor
In addition to the fact that the stability range of the models voltages, isd , isq , ird and irq are the stator and rotor currents,
does not match, if their step-response is compared it can ψsd , ψsq , ψrd and ψrq are the stator and rotor fluxes, Lls and

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FIGURE 7. DFIG equivalent circuit in the d − q axes.

ψgsq = ψgq + ψsq = Lgs isq + Lm irq , (24)

ψrd = Lr ird + Lm isd , (25)
ψrq = Lr irq + Lm isq , (26)

where Lgs = Lg + Ls , Ls = Lfs + Lm , and Lr = Lfr + Lm .

Substituting (22)-(26) into (18)-(21), a system of four
first-order differential equations is obtained
disd dird
vgd = Rgs isd +Lgs +Lm − ω(Lgs isq + Lm irq ), (27)
dt dt
disq dirq
vgq = Rgs isq + Lgs + Lm + ω(Lgs isd + Lm ird ), (28)
dt dt
dird disd
vrd = Rr ird + Lr + Lm
dt dt
−(ω − ωm )(Lr irq + Lm isq ), (29)
dirq disq
vrq = Rr irq + Lr + Lm
dt dt
FIGURE 6. Step-response of Simulink and RMS model at m =1050 rpm: +(ω − ωm )(Lr ird + Lm isd ). (30)
(a) active power and (b) reactive power.
Therefore, four state variables are required to describe the
Llr are the stator and rotor leakage inductances, Lm is the dynamic behavior of the DFIG. In this case, the stator and
mutual inductance and ω and ωm are the angular speed of rotor currents in the d − q axes, isd , isq , ird and irq , are taken
the d − q reference and the electrical rotational speed of the as state variables. By developing equations (27)-(30) the state
machine, respectively. All DFIG variables and parameters are equations of the system are obtained
referred to the stator. The circuit includes the grid-connection
impedance, where Rg represents the resistive component, Lg disd 1
= 2 [Lr Rgs isd + (Lm2 ωr − Lr Lgs ω)isq
the inductive component, and ψgd and ψgq the grid flux. dt Lσ
The following differential equations define the DFIG −Lm Rr ird − Lm Lr ωm irq − Lr vgd + Lm vrd ], (31)
model represented in Fig. 7 disq 1
= 2 [−(Lm2 ωr − Lr Lgs ω)isd + Lr Rgs isq
dψgsd dt Lσ
vgd = Rgs isd + − ωψgsq , (18) +Lm Lr ωm ird − Lm Rr irq − Lr vgq + Lm vrq ], (32)
dt
dψgsq dird 1
vgq = Rgs isq + + ωψgsd , (19) = 2 [−Lm Rgs isd + Lm Lgs ωm isq + Lgs Rr ird
dt dt Lσ
dψrd
vrd = Rr ird + − (ω − ωm )ψrq , (20) +(Lm2 ω − Lr Lgs ωr )irq + Lm vgd − Lgs vrd ], (33)
dt dirq 1
dψrq = 2 [−Lm Lgs ωm isd − Lm Rgs isq
vrq = Rr irq + + (ω − ωm )ψrd , (21) dt Lσ
dt
where −(Lm2 ω − Lr Lgs ωr )ird + Lgs Rr irq
+Lm vgq − Lgs vrq ], (34)
Rgs = Rg + Rs , (22)
ψgsd = ψgd + ψsd = Lgs isd + Lm ird , (23) where Lσ2 = Lm2 − Lgs Lr and ωr = ω − ωm .

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The stator and rotor currents, and the stator voltage are
taken as output of the model. The stator voltage can be
deduced from the circuits of Fig. 7
disd
vsd = vgd − Rg isd − Lg + ωLg isq , (35)
dt
disq
vsq = vgq − Rg isq − Lg − ωLg isd . (36)
dt
The model inputs are the rotor and grid voltages in the d −q
axes, vrd , vrq , vgd and vgq . The grid voltage module, Vg , can
be considered constant, but its projections in the d − q axes
are not, as they depend on the load angle δ which is defined
as the angle between the voltage imposed by the RSC and the
grid voltage. The grid frequency is assumed to be constant
FIGURE 8. Rotor and grid voltages in the d − q axes.
so the phase angle of the grid voltage, θg , varies linearly.
However, since the rotor voltage is aligned with the d axis,
the phase angle of the rotor voltage varies according to the d1ird 1
angle of the d − q reference, θ, which is adjusted by the = 2 [−Lm Rgs 1isd + Lm Lgs ωm 1isq
dt Lσ
P-f control loop. Therefore, the load angle is variable. From
Fig. 8 it is extracted that vgd = Vg cosδ and vgq = Vg sinδ +Lgs Rr 1ird + (Lm2 ω0 − Lr Lgs ωr0 )1irq
where δ = θ − θg . Likewise, the angular speed of the −Lgs 1vrd + Lσ2 Irq0 1ω − Lm Vg sinδ0 1δ], (43)
d − q reference, ω, is an internal variable of the P-f control d1irq 1
loop so it is not constant and, as a consequence, ωr is not = 2 [−Lm Lgs ωm 1isd − Lm Rgs 1isq
dt Lσ
either.
−(Lm2 ω0 − Lr Lgs ωr0 )1ird + Lgs Rr 1irq
Therefore, the state and output equations are not linear.
On the one hand, it is required to linearize the projections of −Lgs 1vrq − Lσ2 Ird0 1ω + Lm Vg cosδ0 1δ]. (44)
the grid voltage in the d − q axes, vgd and vgq , and, on the
other hand, the crossed terms ωixy and ωr ixy . For this pur- Likewise, linearizing (35) and (36) the following equations
pose, a small-signal model is used. The currents are defined are obtained
as the sum of the steady-state value and a small-signal d1isd
perturbation, 1vsd = −Lg
dt
−Rg 1isd + Lg 1ωisq − Vg sinδ0 1δ, (45)
ixy = Ixy0 + 1ixy ,
d1isq
1vsq = −Lg
where x = s, r and y = d, q, and similarly the angular speed dt
of the d − q reference, ω, and the load angle, δ, −Rg 1isq − Lg 1ωisd + Vg cosδ0 1δ. (46)

ω = ω0 + 1ω, Substituting (41) and (42) into (45) and (46), the linearized
δ = δ0 + 1δ. equations of the stator voltage are obtained
Lg Lr
This way, nonlinear terms are linearized 1vsd = −( Rgs + Rg )1isd
Lσ2
1vgd = −Vg sinδ0 1δ, (37) Lg
+[− 2 (Lm2 ωr0 − Lr Lgs ω0 ) + Lg ω0 ]1isq
1vgq = Vg cosδ0 1δ, (38) Lσ
1ωixy = ω0 1ixy + Ixy0 1ω, (39) Lg Lm Rr Lg Lm Lr ωm
+ 2
1ird + 1irq
1ωr ixy = ωr0 1ixy + Ixy0 1ω, (40) Lσ Lσ2
Lg Lm Lg Lr
and the linearized state equations are obtained − 2 1vrd − [( 2 + 1)Vg sinδ0 ]1δ, (47)
Lσ Lσ
d1isd 1 Lg 2
= 2 [Lr Rgs 1isd + (Lm2 ωr0 − Lr Lgs ω0 )1isq 1vsq = [ 2 (Lm ωr0 − Lr Lgs ω0 ) − Lg ω0 ]1isd
dt Lσ Lσ
−Lm Rr 1ird − Lm Lr ωm 1irq + Lm 1vrd Lg Lr Lg Lm Lr ωm
−( 2 Rgs + Rg )1isq − 1ird
+Lσ2 Isq0 1ω + Lr Vg sinδ0 1δ], (41) Lσ Lσ2
d1isq 1 Lg Lm Rr Lg Lm
= 2 [−(Lm ωr0 − Lr Lgs ω0 )1isd + Lr Rgs 1isq
2
+ 1irq − 2 1vrq
dt Lσ Lσ2 Lσ
+Lm Lr ωm 1ird − Lm Rr 1irq + Lm 1vrq Lg Lr
+[( 2 + 1)Vg cosδ0 ]1δ. (48)
−Lσ2 Isd0 1ω − Lr Vg cosδ0 1δ], (42) Lσ

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Equations (41)-(44), (47) and (48) define the linearized Qs,meas = −(vsqf isdf − vsdf isqf ). (53)
state-space model of the DFIG
  In the model developed in IV-A a motor convention is
d1isd assumed, so to determine the generated powers in (52) and
 dt  (53) a negative sign is introduced.
1isd 1vrd
   
 d1i 
sq  The power equations are not linear, so a small-signal model
 dt  = A  1isq  + B  1vrq  ,

     
 d1ird  1ird   1ω  (49) is used to linearize these expressions. Defining stator voltages
and currents as
1irq 1δ
 
 dt 
 d1irq 
vsyf = Vsyf 0 + 1vsyf ,
 dt  isyf = Isyf 0 + 1isyf ,
1isd
 1isq  1isd 1vrd
   
where y = d, q, the linearized power expressions are obtained
 1ird   1isq   1vrq 
 
 1irq  = C 1ird  + D  1ω  , (50) 1Ps,meas = −Isdf 0 1vsdf − Isqf 0 1vsqf − Vsdf 0 1isdf
     
1vsd  1irq 1δ −Vsqf 0 1isqf ,
 
(54)
1vsq 1Qs,meas = Isqf 0 1vsdf − Isdf 0 1vsqf − Vsqf 0 1isdf
where A, B, C, and D matrixes are defined in Appendix B. +Vsdf 0 1isqf . (55)
Equations (54) and (55) can be expressed in matrix form
B. RSC CONTROL
as
The current and voltage measurements are filtered by a
1vsdf
 
low-pass analog filter, LPAF = 1/(τ s + 1). The block
1Ps,meas 1vsqf 
 
 1isdf  ,
Dconv , as previously mentioned in III-A, models the delay = [PQ]  (56)
1Qs,meas

due to digitization, and for this purpose, the first-order Padé
approximation, (17), is used. 1isqf
The control of the system is performed in the d − q axes where
whose rotational speed ω is an internal variable of the control
 
−Isdf 0 −Isqf 0 −Vsdf 0 −Vsqf 0
itself. Therefore, the control is performed in a variable speed [PQ] = . (57)
Isqf 0 −Isdf 0 −Vsqf 0 Vsdf 0
rotating reference frame and all control elements must be
referenced to that reference frame. To rotate the transfer Finally, in Fig. 9 the complete proposed model is repre-
functions between the different references, the transformation sented in block diagram form.
presented in [42] is used. In equilibrium, the rotational speed
of the d − q axes coincides with the grid frequency, ω = ω0 . V. VALIDATION OF THE PROPOSED
For simplicity, to perform the transformations from LPAF MODEL BY SIMULATION
and Dconv to d − q, variations of ω are neglected and the To validate the linearized small-signal model proposed
d − q axes are considered to rotate at ω0 as the small- in IV, its stability and dynamic response is compared to
signal perturbation, 1ω, has slight influence in these modes. the stability range and step-response of the model built in
For example, considering the LPAF defined in a stationary MATLAB/Simulink. The stability range of the Simulink
reference frame, its equivalent model in the d − q axes is a model has been previously determined in III-B by analyzing
2 × 2 MIMO model its step-response, and the results obtained are plotted in the
  first column of Fig. 10.
1 LPAF1 (s) LPAF2 (s) The stability range of the proposed model is determined
[LPAF]ω = , (51)
2 −LPAF2 (s) LPAF1 (s) in MATLAB by analyzing the position of the closed-loop
where LPAF1 (s) = LPAF(s + jω) + LPAF(s − jω) and poles. First, the model has been linearized for an active
LPAF2 (s) = jLPAF(s + jω) − jLPAF(s − jω). In the stator, power equal to the nominal power, 2 MW, and a null reactive
since the LPAF is defined in a stationary reference frame with power. Then, in the operating speed range of the machine
the stator, αβs , the rotation is performed with ω0 , [LPAF]ω0 . (from 1050 to 1950 rpm) the closed-loop poles of the sys-
In contrast, for the RSC, [Dconv ] is defined in a stationary tem have been obtained. In Fig. 11 the evolution of the
reference frame with the rotor windings, αβm , which rotates closed-loop poles as a function of the machine’s rotational
at ωm , so the transformation is performed with ωr , [Dconv ]ωr . speed is represented. The poles corresponding to operating
points below synchronism are represented in blue and the
C. POWER CALCULATION poles corresponding to operating points above synchronism
To determine the stator active and reactive powers the filtered in red. Thus, the stability range of the proposed model has
measurements of the stator voltages and currents are used. been determined (see second column of Fig. 10).
The generated powers can be computed as As can be seen in Fig. 10, the stability range of the
models coincides. Below synchronism both models are sta-
Ps,meas = −(vsdf isdf + vsqf isqf ), (52) ble from 1050 to 1198 rpm, and above synchronism the

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 I. Oraa et al.: Modeling of Droop-Controlled Grid-Connected DFIG Wind Turbine

FIGURE 9. Proposed model block diagram.

FIGURE 10. Simulink and proposed model stability comparison.

FIGURE 11. Evolution of the closed-loop poles of the proposed model as FIGURE 12. Step-response of Simulink and proposed model at m =
a function of rotational speed. 1050 rpm: (a) active power and (b) reactive power.

stability range is almost equal; the Simulink model is ence active power, keeping the reference reactive power at
stable from 1686 to 1917 rpm and the proposed model zero, and the evolution of both active and reactive powers
from 1687 to 1913 rpm. has been analyzed. Fig. 12 and Fig. 13 show the simulation
Once it has been verified that the stability range of the mod- results at 1050 rpm and 1800 rpm, and as can be seen, the
els coincides, their dynamic response is compared. A step proposed model exhibit an identical dynamic response to that
from 1.8 MW to 2 MW has been introduced in the refer- of the Simulink model. These simulation results validate the

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I. Oraa et al.: Modeling of Droop-Controlled Grid-Connected DFIG Wind Turbine

over the whole range of rotational speeds of the machine and

for different reference active and reactive powers.

APPENDIX A
SYSTEM PARAMETERS

TABLE 1. System parameters (referred to the stator).

APPENDIX B
FIGURE 13. Step-response of Simulink and proposed model at m = DFIG AND GRID MODEL
 
1800 rpm: (a) active power and (b) reactive power. 1 A11 A12
A= 2 (58)
Lσ A21 A22
proposed model, so it could be used to adjust stable con- where
trollers for all possible operating points of droop-controlled
Lm2 ωr0 − Lr Lgs ω0
 
DFIG wind turbines. Lr Rgs
A11 = (59)
−(Lm2 ωr0 − Lr Lgs ω0 ) Lr Rgs
−Lm Lr ωm
 
VI. CONCLUSION −Lm Rr
A12 = (60)
This paper presents a linearized small-signal model that accu- Lm Lr ωm −Lm Rr
Lm Lgs ωm
 
rately represents the stability and dynamic response of a −Lm Rgs
A21 = (61)
droop-controlled DFIG wind turbine. Traditionally, to char- −Lm Lgs ωm −Lm Rgs
acterize the response of droop-controlled systems RMS mod- 
Lgs Rr Lm2 ω0 − Lr Lgs ωr0

els have been used. However, those models are not suitable A22 = (62)
−(Lm2 ω0 − Lr Lgs ωr0 ) Lgs Rr
for DFIG wind turbines, as it is verified in this paper. The
Lσ2 Isq0
 
proposed model, unlike the models developed in previous Lm 0 Lr Vg sinδ0
works, models the internal dynamics of the machine taking 1   0 Lm −Lσ2 Isd0 −Lr Vg cosδ0 
B= 
into account all the nonlinearities that the system presents due 2
Lσ −Lgs
 0 Lσ2 Irq0 −Lm Vg sinδ0 
to its interaction with the control. To validate the proposed 0 −Lgs −Lσ2 Ird0 Lm Vg cosδ0
model its stability and step-response is compared with that of (63)
 
the model built in MATLAB/Simulink. The simulation results 1 0 0 0
show that the proposed model allows to analyze the stability  0
 1 0 0  
and reproduce the dynamic response of the system under C =  0
 0 1 0   (64)
study with high accuracy. The following work will focus on  0 0 0 1 
adjusting the control to stabilize the response of the system C21 C22 C23 C24

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EUGENIO GUBIA (Member, IEEE) received the

M.Sc. and Ph.D. degrees in industrial engineering
from the Public University of Navarre, Spain,
in 1995 and 2003, respectively.
He joined the Electrical and Electronic
IKER ORAA (Graduate Student Member, IEEE) Department, Public University of Navarre,
was born in Pamplona, Spain, in 1996. He received in 1996, where he is currently an Associate Profes-
the B.Sc. and M.Sc. degrees in industrial sor and a member of the Institute of Smart Cities
engineering from the Public University of (ISC). In 2002, he joined the Electrical Engineer-
Navarre (UPNA), Pamplona, in 2018 and 2020, ing, Power Electronics, and Renewable Energy
respectively. Research Group (INGEPER). From June to December 2005, he worked as
In 2020, he joined the Electrical Engineer- a Guest Researcher at the Center for Power Electronics Systems (CPES)
ing, Power Electronics and Renewable Energy in the field of electromagnetic compatibility. His research interests include
Research Group (INGEPER), UPNA. His research power electronics, renewable energy systems, high-frequency phenomena,
interests include renewable energies and control of and electromagnetic compatibility.
power electronics.

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