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Grid synchronization of doubly fed induction generator in wind power

systems

Article · May 2011

DOI: 10.1109/PowerEng.2011.6036502

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 Proceedings of the 2011 International Conference on Power Engineering, Energy and Electrical Drives Torremolinos (Málaga), Spain. May 2011

Grid Synchronization of Doubly Fed Induction

Generator in Wind Power Systems
Şevki Demirbaş*,Member IEEE, Sertaç Bayhan**
*Gazi University, Technical Educational Faculty, Department of Electrical Education, Ankara, Turkey
**Gazi University, Atatürk Vocational College, Industrial Electronic Department, Ankara, Turkey
[email protected], [email protected]

Abstract – This paper presents a synchronization algorithm for Therefore the PLL technique is used in this study for
grid connection of a doubly fed induction generator (DFIG) in synchronization.
wind generation system. The vector control scheme is used for This paper presents a synchronization algorithm for grid
the variable speed DFIG operation and to compensate phase
connection of a doubly fed induction generator (DFIG) in
difference between grid and DFIG stator voltages a PLL
algorithm is used. After the synchronization, the generator is
wind generation system.
connected to the grid. A laboratory test bench has been set up in II. MODELING OF DFIG
order to verify developed algorithm. The experimental set
consists of a DFIG, variable speed induction machine and a back- A DFIG is essentially a standard wound rotor induction
to-back converter. The control algorithms run on eZdsp F2812 machine whose stator windings directly connected to the grid
target equipped with a TI TMS320F2812 DSP. The experimental and rotor windings connected to the grid through a back-to-
result shows that soft and fast synchronization is achieved at the back converter as shown in Fig. 1. The back-to-back converter
minimum rotating speed. consists of two converters, rotor-side converter (RSC) and
line-side converter (LSC). Between the two converters a dc-
I. INTRODUCTION link capacitor is placed, as energy storage, in order to reduce
Last decade, DFIG has become one of the most used voltage variations (or ripple) in the dc-link. The RSC is used
systems in wind power production. The major advantage of to control the torque or the speed of the DFIG and also the
the doubly-fed induction generator is that the power electronic power factor at the stator terminals, while the LSC is used for
equipment only has to handle a fraction of the total system keeping the dc-link voltage constant [8]. In grid-connected
power. This means that the losses in the power electronic systems, the power-factor correction control of LSC is also
equipment are reduced in comparison to power electronic generally applied. The LSC can be used as reactive power
system which has to handle total power. Cost saving of using a compensator or active filter by adding an additional function,
smaller converter is an important reason too. However, control rather than previously defined function. For the operation
of the doubly-fed induction machine is more complicated than within a subsynchronous range of speed, the LSC can be
the control of a standard induction machine and has some replaced with a simple three-phase diode rectifier. The DFIG
important limitations, e.g., starting problem, synchronization concept has been described in many publications.
and oscillatory transients [1]. A large number of papers describe the modelling of DFIGs.
Many different control algorithms can be used for control of Only the most important aspects of the modelling will be
DFIG [2-4]. One of the most common control techniques is presented here. The DFIG is modelled using conventional d-q
vector control in d-q reference frame which obtains active and equations, as follows:
reactive power control of DFIG separately [5]. Therefore, the
vector control technique is used in this study for control of
rotor side converter. Before connecting the stator of the DFIG
to the grid terminals, the stator voltages have to be
synchronized with the grid voltage. There are only a few
papers which handled the DFIG control for the
synchronization process [6].
The phase-locked loop (PLL) technique has been used as a
common way of recovering and synthesizing the phase and
frequency information in electrical systems [7]. Also PLL is
available for synchronizing the grid voltages and the
controlled currents or voltages in grid interface operation of
power electronic systems. The used PLL structure allows for Fig. 1. DFIG system with a back-to-back converter
control of the output frequency as well as the stator voltage
phase. Thus, the voltage can be easy synchronized with the
grid voltage and softly connected to the power network.

978-1-4244-9843-7/11/$26.00 ©2011 IEEE

 v sd = R s i sd +
d
λ sd − ω d λ sq (1) ⎡v d ⎤ ⎡ Cosθ Sinθ ⎤ ⎡vα ⎤
dt ⎢v ⎥ = ⎢− Sinθ Cosθ ⎥⎦ ⎢⎣v β ⎥⎦
(13)
⎣ q⎦ ⎣
d
v sq = Rs i sq + λ sq + ω d λ sd (2)
dt In fact, this projection modifies a two phase orthogonal
d system (a,b) in the d,q rotating reference frame. With the
v rd = Rr ird + λ rd − ω dA λ rq (3)
dt angle θ, obtained from the PLL structure. The block diagram
d of PLL structure is given in Fig. 3. [9]
v rq = Rr i rq + λrq + ω dA λrd (4)
dt
ω dA = ω d − ω m (5)

Tem =
P
2
(
λ rq ird − λ rd i rq ) (6)

d
J eq ω m + Bω m = Tem − TL (7)
dt
λ sd = Ls i sd + Lm ird (8)
λ sq = Ls i sq + Lm i rq (9)
λrd = Lr ird + Lm isd (10)
λrq = Ls irq + Lm isq (11)

Where
vsd, vsq, are stator winding voltages in d-q reference frame, V
vrd, vrq are rotor winding voltages in d-q reference frame, V
isd, isq, are stator winding currents in d-q reference frame, A
ird, irq are rotor winding currents in d-q reference frame, A
λsd, λsq, are stator flux linkages in d-q reference frame,Wb-turn
λrd, λrq are rotor flux linkages in d-q reference frame, Wb-turn
ωd,ωm are reference and actual speed, rad/s
TL,Tem are load, electromagnetic torque, Nm
Jeq moment of inertia, kgm/s2
B friction constant
Rs, Rr are stator and rotor winding resistance, Ω
Ls, Lr , and Lm are stator, rotor self inductance and mutual
inductance between stator and rotor windings, Henry

III. ROTOR SIDE CONVERTER CONTROL

The block diagram of the control algorithm can be
described as shown in Fig. 2. In this algorithm, the three phase
grid and stator voltages are measured. These measurements
with the help of Clarke transformation that modifies the three
phase system into the (α, β) two dimension orthogonal system
is presented below.

⎡ 1 1 ⎤ ⎡v ⎤
⎡vα ⎤ 2 ⎢1 − 2 −
2 ⎥ ⎢v ⎥
a

⎢v ⎥ = ⎢ ⎥
⎣ β ⎦ 3 ⎢0 3 3 ⎥⎢ b ⎥ (12)
− ⎢v ⎥
⎣⎢ 2 2 ⎦⎥ ⎣ c ⎦
Fig. 2. Rotor side converter control diagram
The obtained two-dimensional voltage vectors, with the
help of Park transformation can be represented as follows.
 ⎡vα ⎤ ⎡Cosθ slip − Sinθ slip ⎤ ⎡vd ⎤
⎢v ⎥ = ⎢ Sinθ Cosθ slip ⎥⎦ ⎢⎣ vq ⎥⎦
(15)
⎣ β⎦ ⎣ slip

The outputs of this projection are vαref, vβref which are the
components of the rotor vector voltage in the a,b stationary
orthogonal reference frame. These are the inputs of the Space
Vector PWM. The outputs of this block are the signals that
drive the inverter.
IV. EXPERIMENTS
A. Implementation

The hardware architecture of the proposed system is shown

in Fig. 4. Hardware of the system composed of two induction
machine (IM) whose parameters given at appendix, two IGBT
Fig. 3. Block diagram of the PLL structure converter, measurement board, TMS320F2812 DSP. The two
induction machines have been mechanically coupled to each
The grid voltages (vgd, vgq) are compared to the stator other. While one of the IMs is used as DFIG, other acts as
voltages (vsd, vsq). The resulting error is processed by the PI prime mover. The IM used as prime mover has been
controllers that act over the rotor circuit idref and iqref current controlled by Siemens Micromaster440 motor driver. Its speed
control loops. has been adjusted to several speeds at sub and super
The rotor phase currents (ia, ib, ic) are acquired using similar synchronous speeds.
procedures. With the angle θslip, obtained from PLL structure AC signal produced by DFIG has been kept constant using
and position sensor. three-phase insulated-gate bipolar transistor (IGBT)
converters with a common capacitive dc link. These
θ slip = θ − θ r (14) converters have been designed and fabricated in the laboratory
condition at 10 kVA rating. The line side converter has been
connected to stator terminals of the DFIG via a step-down
Where θr, rotor angular position and obtained from position transformer. Since the dc link voltage is set to 100 V during
sensor. The rotor currents (ird, irq) are compared to the the experimental investigations, the transformer is required to
reference rotor circuits currents (idref, iqref). The resulting error match voltage between the dc link and stator terminals.
is processed by the PI controllers. The outputs of the PI
controllers are vqref, vdref; they are applied to the inverse Park
transformation and can be represented as follows.

Fig. 4. The hardware architecture of the proposed system

 The measurement board for signal level scaling and shifting
part is used to scale and shift the signal level to the permitted Grid voltage DFIG stator voltage
level of ADC. The measurement board uses hall-effect
sensors: seven voltage sensors (LEM LV 25P) and six current
sensors (LEM LA 100P). They can be used to measure the
DFIG stator phase to neutral voltages (Vsan, Vsbn, Vscn), DFIG
rotor phase to neutral voltages (Vran, Vrbn, Vrcn), DC voltage
(Vdc), phase and rotor currents (Ia, Ib, Ic, Ira, Irb, Irc). These
sensors convert the measured voltage and current values in
small amplitude voltage signals. Furthermore, they isolate
these signals from DFIG potentials, allowing a safe operation DFIG rotor current
of the developed system.
The measurement board is connected to TI TMS320F2812
DSP. The control algorithms run on eZdsp F2812 target
equipped with a TI TMS320F2812 DSP, for fast fixed-point
calculation at 150 MHz (6.67 ns cycle time). It has 12 pulse
width modulation (PWM) outputs and 12-bit analog to digital
converter. The fast conversion period, which is about 80 ns, is
very suitable for real time sampling. The speed and the
Grid voltage DFIG stator voltage
features of this DSP make it an excellent choice for the digital
control implementation of the DFIG.

B. Experimental Study

Developed algorithm has been verified experimentally. The

line voltage and the DFIGs stator voltage have been
monitored during synchronization period. Minimum speed of
the DFIG for synchronization starting has been selected as DFIG rotor current
nr=1050 rpm. This value is the minimum speed required to
produce DFIGs voltage as stated in standards. According to
grid code standards, a voltage quality is necessary for parallel
connection. DFIG’s produce this voltage, at the speeds ±30%
of synchronous speed. Fig. 5 shows the grid voltages, stator
voltages and the generator rotor current during the
synchronization. As seen from the Fig. 5, the line voltage and Grid voltage DFIG stator voltage
generator voltage come to synchronization slowly, about at
the end of the ten periods.
After the synchronization, grid voltage, stator voltage for a
phase and rotor current at 1050 rpm, 1200 rpm and 1350 rpm
rotor speeds is given Fig. 6. As depicted from the figure that
line and stator voltages continued the synchronization even
rotor speed change.
DFIG stator voltage frequency can be represented as DFIG rotor current

fs = fr + fm (16)

Where fs stator voltage frequency, fr rotor voltage

frequency and fm rotating frequency. In order to hold stator Fig. 5. Experimental results of a DFIG stator and grid voltages, rotor current
voltages frequencies constant at 50 Hz, the rotor current during the synchronization
frequency which is also slip frequency is adjusted
automatically depending on changes at rotor speed.
 V. CONCLUSION
Grid voltage DFIG stator voltage
This paper presents a synchronization algorithm for grid
connection of a doubly fed induction generator (DFIG) in
wind generation system. The vector control scheme is used
for the variable speed DFIG operation and to compensate
phase difference between grid and DFIG stator voltages a
PLL algorithm is used.
The proposed synchronization algorithm showed to be fast
DFIG rotor current and smooth. Also, synchronization can be achieved in
15 Hz subsynchronous and supersynchronous rotor speed.

VI. ACKNOWLEDGMENT

This work has been supported by the Scientific Research

Projects Unit of the Gazi University (Project No: 28/2010-07)
for which the authors express their sincere gratitude.
(a) nr=1050 rpm, fr=15 Hz
REFERENCES
Grid voltage DFIG stator voltage
[1] Gallardo S., Carrasco J.M., Galvan E., Franquelo L.G., “DSP-based
doubly fed induction generator test bench using a back-to-back PWM
converter”, The 30th Annual Conference of the IEEE Industrial
Electronics Society, November 2-6, 2004, Busan, Korea.
[2] Arbi J., Ghorbal M., Belkhodja I., Charaabi L., “Direct Virtual Torque
Control for Doubly Fed Induction Generator Grid Connection”, IEEE
Transaction on Industrial Electronics, 56(10), 4163-4173, 2009.
[3] Hughes F.M., Lara O.A., Jenkins N. Strbac G., “Control of DFIG-
Based Wind Generation for Power Network Support”, IEEE
DFIG rotor current
Transactions on Power Systems, 20(4), 1958-1966, 2005.
10 Hz [4] Joshi N., Mohan N., “A Novel Scheme to Connect Wind Turbines to
the Power Grid”, IEEE Transactions on Energy Conversion, 24(2),
504-510, 2009.
[5] Ling P., Yongdong L., Jianyum C., Guofeng, “Vector Control of a
Doubly Fed Induction Generator for Stand Alone Ship Shaft Generator
Systems”, Proceeding of International Conference on Electrical
Machines and Systems, 8-11 Oct 2007, Korea.
(b) nr=1200 rpm, fr=10 Hz [6] Abo-Khalil A., Lee D., Lee S., “Grid Connection of Doubly-Fed
Induction Generators in Wind Energy Conversion System”,
[7] Iwanski G., Koczara W., “PLL Grid Synchronization of The
Grid voltage DFIG stator voltage
Standalone DFIG Based Wind Turbine or Rotory UPS”, The
International Conference on Computer as a Tool, 9-12 September
2007. Warsaw.
[8] Petersson A., “Analysis, Modeling and Control of Doubly-Fed
Induction Generators for wind Turbines”, Phd Thesis, Chalmers
University of Technology, Göteborg, Sweden, 2005.
[9] Chung S., “A Phase Tracking System for Three Phase Utility Interface
Inverters”, IEEE Transactions on Power Electronics, 15(3), 431-437,
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DFIG rotor current

APPENDIX
5 Hz
Doubly Fed Induction Generator Induction Motor
Siemens Electric Siemens Electric
50 Hz, 4 kW, 1410 rpm 50 Hz, 4 kW, 1375 rpm
Cosφ=0.8 Cosφ=0.83
(c) nr=1350 rpm, fr=5 Hz Stator ∆/Y 220/380 17.1/9.9 A Stator ∆/Y 220/380 14.3/ 8.2 A
Fig. 6. Experimental results of a DFIG stator and grid voltages, rotor current Rotor 128 V-22 A
at different wind speeds

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