Virtual Synchronous Control For Grid-Connected DFIG-Based Wind Turbines
Virtual Synchronous Control For Grid-Connected DFIG-Based Wind Turbines
4, DECEMBER 2015
Abstract— This paper presents a virtual synchronous Rs , Rr Stator and rotor resistances.
control (VSynC) for doubly fed induction generator (DFIG)- Ls , Lr Stator and rotor self-inductances.
based wind turbines (WTs) to provide inertia contribution
in particular when integrated into weak ac grid with low
Lm Mutual inductance.
short-circuit ratio (SCR). Different from the traditional vector ωbase Angular frequency base value.
control (VC) based on the widely used phase-locked loop ω, ω1 , ω0 Inner potential, grid voltage, and rated
synchronizing technique, VSynC is capable of synchronizing angular frequencies in per unit.
DFIG with grid directly through the active power control. Ur , θr Magnitude and phase angle of rotor excitation
Damping control and current limitation are also designed to
improve the stability and dynamic response of DFIG-based WT.
voltage.
Eigenvalue analysis shows that the VSynC-based DFIG displays
pronounced superiority in stability to the typical VC based I. I NTRODUCTION
when connected to low-SCR ac grid. In such case, the power
transfer capability of VSynC-based DFIG is not limited, which
means the maximum theoretical power viz., 1 pu, can be
achieved even when SCR is decreased to 1. By contrast, the
W IND power will become an important power supply in
China in the near future. By the example of the Jiuquan
Wind Power Base in Gansu province, the installed wind
maximum transmittable power of VC-based DFIG is highly
restricted. Moreover, VSynC makes DFIG naturally provide the capacity passed 10 GW by the end of 2014, which is expected
desired inertial response, and as a result enhances the grid to reach 30 GW by 2020. However, most of the wind farms are
frequency stability. Comparative study between the VSynC and located ∼1000-km away from the strong grid (Gansu power
the typical inertia control based on VC is also performed, grid), which leads to the weak-grid integration of large-scale
and simulated results demonstrate the superior inertial response
of VSynC-based DFIG attached to weak ac grid. wind turbines (WTs). Such high penetration of wind power
integrated into weak grid has presented multiple challenges to
Index Terms— Doubly fed induction generator (DFIG), inertial
response, phase-locked loop (PLL), short-circuit ratio (SCR), the secure and a stable operation of power grid [1], [2]. One
stability, synchronization, virtual synchronous control (VSynC), of the prominent concerns regarding to the continuously rapid
weak grid, wind turbine (WT). growth in penetration of wind power is its potential threat to
N OMENCLATURE future grid frequency stability, due to the irresponsibility of
the installed WTs for disturbances on electromechanical time
ESG , Es Inner potential vectors of synchronous
scale, i.e., large load fluctuations or generating unit losses,
generator and doubly fed induction
occurring frequently in power grid [2].
generator (DFIG).
The effect of high penetration of renewable generation
δsg , δdfig Power angles of SG and DFIG.
on system security, especially the frequency stability, is
Tm , Te Mechanical and electromagnetic torques.
not unique in China. In 2009, EirGrid and SONI initi-
Ut , Us Vectors of terminal and infinite-bus voltages.
ated a suite of studies entitled the facilitation of renew-
Is , Ir Stator and rotor current vectors.
ables, which is designed to examine the technical chal-
Ψ s, Ψ r Stator and rotor flux linkage vectors.
lenges with integrating significant volumes of wind farms
Manuscript received November 30, 2014; revised February 3, 2015; into the power system of Ireland and Northern Ireland. A
accepted March 9, 2015. Date of publication April 8, 2015; date of current significant finding of the studies indicates that the integrity
version October 29, 2015. This work was supported in part by the National
Basic Research Program (973 Program) of China under Grant 2012CB215100, of the system following a frequency event is potentially
in part by the National Natural Science of China for Excellent Young compromised at instantaneously high penetrations of wind.
Scholars under Grant 51322704, in part by the Major Program of National The studies determine that the Transmission System Oper-
Natural Science Foundation of China under Grant 51190104, and in part by
the Program for New Century Excellent Talents in University through the ators can securely manage the system provided that the
Ministry of Education, China, under Grant NCET-12-0221. Recommended system nonsynchronous penetration level in real-time oper-
for publication by Associate Editor Riming Shao. ations remains <50%, due to the potentially falling of the
The authors are with the State Key Laboratory of Advanced Electromagnetic
Engineering and Technology, School of Electrical and Electronic Engineering, average level of system inertia with increasing wind pene-
Huazhong University of Science and Technology, Wuhan 430074, China tration [3]. The prediction for the 2030 GB generation mix
(e-mail: [email protected]; [email protected]; [email protected]). shows that renewable generation, particularly the wind, has the
Color versions of one or more of the figures in this paper are available
online at http://ieeexplore.ieee.org. most significant increase reaching 70.9 GW, driven by the U.K.
Digital Object Identifier 10.1109/JESTPE.2015.2418200 government targets for renewable generation and greenhouse
2168-6777 © 2015 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.
WANG et al.: VSynC FOR GRID-CONNECTED DFIG-BASED WTs 933
gas emissions. A decrease in system inertia caused by large- The other category of methods can be uniformly
scale integration of nonsynchronous generation would lead to summarized as the virtual synchronization. The concept of
increasing dynamic frequency response requirements to ensure virtual synchronous generator (VSG) to add virtual rotational
system security [4], [5]. In addition, the results of studies that inertia to the nonsynchronous generators, i.e., wind power,
were specially designed to investigate the frequency responses photovoltaic, and so on, is proposed and put into practice in the
of Western and Eastern Interconnections in the U.S. due European project VSYNC. The virtual inertia can be attained
to large-loss-generation events, under possible future system for any nonsynchronous generator by directly adding a
conditions with high levels of wind generation are reported short-term energy storage to it, combined with a suitable
in [6] and [7]. The results show the responsiveness of wind control mechanism for its power electronic interface to the
generation can improve the frequency response of grid. grid. In this way, the generator can operate like a VSG,
In short, the capability of dynamic frequency support exhibiting some of the desired properties of SGs for
of wind power is urgently required in the near future to short-time intervals and contributing to the stabilization of
ensure that the system frequency stability is not compromised. the grid frequency [23]–[26]. In addition, to overcome the
In addition, the contributed inertia from wind power can difficulties associated with the PLL synchronizing technique
further enhance the wind power permeability into grid. for VSCs connected to weak ac grid, there is considerable
As far as we know, there are two major categories of tendency toward developing new control techniques to mimic
methods in the literature to implement the dynamic frequency the dynamic behavior of SGs due to the favorable performance
support of wind power. One category can be considered as of SGs in weak grid, which eliminates the need of PLL.
some modifications based on the typical vector control (VC) In [17], a control method without utilizing PLL is proposed
with the widely used phase-locked loop (PLL) synchronizing for HVdc system to maintain the stability when connected
technique. For instance, in [8]–[13], some techniques, which to weak ac grid, and also realize the black start for the
are uniformly abbreviated as df / dt control here, are proposed restoration of power supply. Yuan et al. [18] propose a
to let WTs emulate inertia by providing an additional signal voltage-source control method making full-capacity
associated with the detected grid frequency differential signal WT generator synchronize with grid relying on its
to the torque or power reference to be tracked. However, PLL, inner frequency produced by power imbalance, instead
which has since long been believed to be the precondition of the conventional current source control based on PLL.
for any grid-connected voltage-source converter (VSC), might Zhang et al. [27] propose the so-called power synchronization
have negative impacts on system stability. From [14], it can control, which also makes a VSC terminal achieve an
be concluded that the increased PLL gains deteriorate the inherent synchronization with grid. Zhong and Weiss [28]
system stability. Hernefors et al. [15] suggests the bandwidth develop the idea of operating an inverter as an SG called static
(BW) of PLLbe not larger than necessary. Furthermore, PLL synchronous generator by establishing a model of SG to cover
technique makes the stable operation of the installed WTs all dynamics without any assumptions on the signals. The
rely on strong grid to some extent. When large-scale WTs studies listed above are all aimed at the grid-connected VSCs.
are located in weak grid, power fluctuations may lead to an However, there are no available reports about DFIG-based
increase in magnitude and frequency variations in the grid WTs controlled with the concept of virtual synchronization to
voltage, which may adversely affect the performance of PLL mimic the behavior of SG, and thus to provide the dynamic
and the control system thereof [16]–[18]. According to [19], frequency support capability. This paper will present a virtual
the developed model behavior demonstrates that as short- synchronous control (VSynC) method for DFIG-based WTs
circuit ratio (SCR) of the attached ac system is reduced, the with reference to the well-known synchronization mechanism
resonances and nonlinearity due to the PLL and the ac filter featured in SGs. The proposed VSynC makes DFIG-based
behavior become more prominent, and potentially make the WTs realize an inherent synchronization with grid, and more
VSC more difficult to control. As a result, the maximum importantly, provide the desired inertial response naturally,
transmittable active power reduces with the decreasing SCR, which is the other contribution of this paper.
down to 0.4 pu under the condition of SCR = 1. Meanwhile, The remainder of this paper is organized as follows.
the so-called frequency positive feedback in the converter In Section II, the principle and the implementation of VSynC
system using the PLL technique under weak grid or islanding for DFIG-based WT are illustrated. Section III presents
conditions is reported in [20]–[22]. Nevertheless, to the best of the controller design and stability analysis with comparative
our knowledge, few, if any available, reports exist on reflecting studies between the proposed VSynC and the typical VC.
the problems about the stability of DFIG-based WT with In Section IV, the superior stability and dynamic frequency
the typical PLL-based VC and its limited power transfer support capability of VSynC-based DFIG when connected to
capability when connected to very weak ac system, which, as weak ac system are verified by simulation studies. Finally, the
a matter of fact, would be largely influenced by the dynamic conclusions are drawn in Section V.
behavior of PLL. Furthermore, there are also no open reports
about the corresponding response performance of VC-based II. V IRTUAL S YNCHRONOUS C ONTROL FOR DFIG
DFIG with the typical inertia control aforementioned,
i.e., df / dt control, when accessing a very weak ac system. A. Principle
These above-mentioned problems will constitute one of the To provide a better understanding of the proposed VSynC
main contributions in this paper. for DFIG-based WTs, this section first briefly summarizes the
934 IEEE JOURNAL OF EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS, VOL. 3, NO. 4, DECEMBER 2015
Fig. 10. Closed-loop bode diagrams of the active power control loop of
DFIG under different ac-system SCR values.
Fig. 12. Changes of network dominant eigenvalues for VSynC-based
DFIG with different ac-system SCR and damping coefficients.
B. Stability Analysis
This section is to validate the results obtained from the
bode diagrams aforementioned through eigenvalues analysis
and also the comparative studies between the proposed VSynC
and the typical VC are performed for DFIG connected to
low-SCR ac system.
First, two cases of VSynC-based DFIG operating at rated
power level with different damping coefficient values are
studied. Relative to the base case (Case 1), where the damping
coefficient D is taken as 60, Case 2 increases the damping
coefficient to 100 with all the other parameters unchanged.
Fig. 12 shows the changes of system dominant eigenvalues
in black and red, which are depicted as Case 1 and Case 2,
Fig. 11. Closed-loop bode diagrams of the alternating-voltage control loop respectively. It can be clearly seen that the system dominant
of DFIG under different ac-system SCR values. eigenvalue pair in Case 1 gradually moves to left as the
ac-system SCR decreases from 4 to 1, which means stronger
weak damp. With the increase of damping coefficient, the peak damping and a more stable system. Fig. 12 also displays that
drops and the corresponding phase margin (at −3 dB roll-off the dominant eigenvalue pairs in red shift left compared with
point) increases gradually, which means the stability is the black ones in Case 1, which indicates that the stability
improved. In addition, the increase of coefficient D of DFIG system can be improved obviously when increasing
makes the BW of the active power control loop reduced the damping coefficient suitably. When SCR decreases to 1,
from 1.14 (D = 60) to 0.785 Hz (D = 150). Fig. 9 gives the the dominant eigenvalue pair in Case 2 finally moves
corresponding DFIG active power responses with different on the negative real axis, which means no oscillations in this
damping coefficients under the perturbation of a small phase dominant mode occurs the following perturbations in grid.
step at the infinite source, which is consistent with the results In theory, under some assumptions, the SCR value imposes
obtained from the bode diagram in Fig. 8. a theoretical limitation on the maximum power that DFIG can
In addition, the influences of ac-system SCR on stability inject into the ac system due to the following relationship [34]:
of active power control and alternating-voltage control loops
Pe ≈ SCR · sin δ ≤ SCR (26)
are also evaluated through bode diagrams. By taking the
condition of D = 80 as an example, Fig. 10 indicates that where Pe represents the output power in pu, and δ is defined
DFIG with VSynC clearly presents enhanced stability as the as the load angle between Ut and Us . In other words, for
ac system weakens and accordingly the BW of the active DFIG connected to a very low SCR system, e.g., SCR = 1, the
power control is reduced to 0.786 Hz under the SCR = 1.2. maximum transmittable power is Pe = 1 pu. Therefore, it is
Furthermore, the influence of lower ac-system SCR on well worth noting that the VSynC-based DFIG can achieve the
alternating-voltage control largely reflects the higher maximum theoretical output power even under the condition
sensitivity of ac-voltage magnitude and phase angle to wind of SCR = 1, and also shows excellent performance and good
power fluctuations. As a consequence, the BW of alternating- stability.
voltage control loop shows the increasing tendency, which By comparison, the stability and active power transfer
is from 1.02 Hz (SCR = 4) to ∼1.86 Hz (SCR = 1.2), capability of the VC-based DFIG connected to low-SCR
as shown in Fig. 11. ac system is studied using the same infinite-bus ac system, as
WANG et al.: VSynC FOR GRID-CONNECTED DFIG-BASED WTs 939
Fig. 15. Comparative results between VSynC and typical VC under the
perturbation of a small phase step at the infinite source.
Fig. 13. Influence of ac-system SCR on the system dominant eigenvalues
for VC-based DFIG when operating at rated power level.
Fig. 17. Comparative responses to the abrupt load variation between the
consists of two conventional power plants (SG1 and SG2 ), proposed VSynC with different damping coefficients and the typical VC
three aggregated loads (Lump A, Lump B, and Lump C), without inertial control.
and a DFIG-based wind farm rated at 600 MW
(400 MW × 1.5 MW). Assume that a single DFIG-based
WT represents the aggregate behavior of the whole wind
farm. The conventional power plants SG 1 and SG2 are
rated at 1200 and 900 MW, respectively. The three loads,
Lump A, Lump B, and Lump C, are 450, 250, and 300 MW,
respectively. The turbine control strategy of DFIG is
referring to GE 1.5-MW DFIG WT in [11]. Associated
parameters of DFIG, SGs, and transmission lines are given in
Appendixes A and B. The test system is designed specially
as a quite low SCR system, which is approximately as low
as 1.35 from the WTs’ access point of view. In addition, the
instantaneous penetration of wind power is reaching 33%
initially. The following is divided into two parts. The first is to
verify the frequency support capability of DFIG-based WTs
with VSynC, in particular in the weak grid. In addition, by
taking the typical df / dt control strategy [11] as an example,
Fig. 18. System frequency responses between the proposed VSynC with
comparisons of the inertial responses between the proposed different damping coefficients and the typical VC without inertial control.
VSynC and the VC with typical df / dt control are performed.
at least 5 s. In addition, the influence of damping coefficient
A. Frequency Support Capability of DFIG-Based on the response behavior can be observed clearly.
WTs With VSynC in Weak Grid The damping coefficient, D, in the three different cases
The initial wind velocity is fixed at 10 m/s (within is taken as 60, 80, and 100, respectively. The results
Maximum Power Point Tracking area). There occurs a show that the maximum value of overproduction power
predefined disturbance by increasing Lump C from 300 to gradually increases from ∼12% to 15% of the rated power
500 MW at 2 s. Fig. 17 compares the responses to the abrupt as the damping coefficient gets higher. Furthermore, the
load variation between the proposed VSynC and the typical overproduction period grows in which WTs provide the extra
VC without inertial control. It can be seen that the positive power output until reaching the normal production power
contribution of VSynC is noticeable. The DFIG-based WTs before disturbance.
with typical VC can be viewed as a constant-power source for Fig. 18 displays the system frequency responses for
the disturbances on electromechanical time scale, and have DFIG-based WTs with VSynC and typical VC. It is evident
no contribution to supporting the grid frequency. In addition, that the rate of change of the system frequency decreases
it is also worth noting that there exist serious oscillations, significantly as the control BW reduces due to the increased
depicted in the inset of Fig. 17, which occur in the output damping coefficient, and meanwhile the minimum frequency
power from VC-based DFIG, and are actually related with the point is improved. In above, as we can see from Figs. 17 and
dynamic behavior of PLL. On the contrary, the top waveforms 18, VSynC presents good stability in low SCR ac system, and
in Fig. 17 clearly show that DFIG-based WTs with VSynC moreover, excellent frequency supporting capability.
can positively provide an appreciable increase in output In addition, though the increase of coefficient D can
power to temporarily support the power shortage in grid for improve the system stability and enhance the inertial response
WANG et al.: VSynC FOR GRID-CONNECTED DFIG-BASED WTs 941
TABLE I
DFIG PARAMETERS
TABLE II
Fig. 19. Dynamic responses of GSC ac currents and dc-link voltage when N ETWORK C ONFIGURATION PARAMETERS
VSynC is adopted for RSC when different damping coefficients.
TABLE IV
VC PARAMETERS
TABLE VIII
N ETWORK C ONFIGURATION PARAMETERS
TABLE V
T URBINE C ONTROL PARAMETERS OF DFIG
TABLE VI
the dynamic behavior of PLL when operating in weak
VC-BASED df / dt C ONTROL PARAMETERS
ac system.
A PPENDIX A
See Tables I–IV.
A PPENDIX B
WTs in the weak grid applications. It is worth pointing See Tables V–VIII.
out the result is obtained from a single-machine infinite-bus
ac system under the specified control parameters given in this
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Generat. Syst. (PEDG), Jun. 2010, pp. 382–388. Harbin, China, in 2011. He is currently pursuing the
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ation,” IEEE Trans. Energy Convers., vol. 23, no. 3, pp. 923–931, trical Engineering, Zhejiang University, Hangzhou,
Sep. 2008. China, in 2004 and 2009, respectively.
[22] P. Du, Z. Ye, E. E. Aponte, J. K. Nelson, and L. Fan, He was a Visiting Scholar with the Department
“Positive-feedback-based active anti-islanding schemes for of Electronic and Electrical Engineering, Univer-
inverter-based distributed generators: Basic principle, design guideline sity of Strathclyde, Glasgow, U.K., funded by the
and performance analysis,” IEEE Trans. Power Electron., vol. 25, Chinese Scholarship Council, from 2007 to 2008.
no. 12, pp. 2941–2948, Dec. 2010. From 2010 to 2011, he was a Post-Doctoral Research
[23] J. Driesen and K. Visscher, “Virtual synchronous generators,” in Proc. Associate with the Sheffield Siemens Wind Power
IEEE Convers. Del. Elect. Energy 21st Century Power Energy Soc. Research Center, and the Department of Elec-
General Meeting, Jul. 2008, pp. 1–3. tronic and Electrical Engineering, University of Sheffield, Sheffield, U.K.
[24] T. V. Van et al., “Virtual synchronous generator: An element of future Since 2011, he has been a Professor with the State Key Laboratory of
grids,” in Proc. IEEE PES Innov. Smart Grid Technol. Conf. Eur., Advanced Electromagnetic Engineering and Technology, and the School of
Oct. 2010, pp. 1–7. Electrical and Electronic Engineering, Huazhong University of Science and
[25] K. Visscher and S. W. H. de Haan, “Virtual synchronous machines Technology, Wuhan, China. He has authored or co-authored over
(VSG’s) for frequency stabilisation in future grids with a significant 70 peer-reviewed technical papers and one monograph entitled Control and
share of decentralized generation,” in Proc. CIRED Seminar SmartGrids Operation of Grid-Connected Doubly-Fed Induction Generators, and holds
Distrib. (IET-CIRED), Jun. 2008, pp. 1–4. more than 20 issued/pending patents. His current research interests include
[26] M. P. N. van Wesenbeeck, S. W. H. de Haan, P. Varela, and grid-integration of large-scale renewables, modular multilevel converter for
K. Visscher, “Grid tied converter with virtual kinetic storage,” in Proc. HVdc applications, and transient analysis and control of semiconducting
IEEE Bucharest PowerTech Conf., Jun./Jul. 2009, pp. 1–7. power systems.
[27] L. Zhang, L. Harnefors, and H.-P. Nee, “Power-synchronization control Dr. Hu was a recipient of the TOP TEN Excellent Young Staff Award from
of grid-connected voltage-source converters,” IEEE Trans. Power Syst., the Huazhong University of Science and Technology in 2014. He is supported
vol. 25, no. 2, pp. 809–820, May 2010. by the National Natural Science of China for Excellent Young Scholars and the
[28] Q.-C. Zhong and G. Weiss, “Static synchronous generators for distrib- Program for New Century Excellent Talents in University from the Chinese
uted generation and renewable energy,” in Proc. IEEE/PES Power Syst. Ministry of Education. He serves as a Domestic Member of the Editorial
Conf. Expo., Mar. 2009, pp. 1–6. Board of Frontiers of Information Technology and Electronic Engineering.
944 IEEE JOURNAL OF EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS, VOL. 3, NO. 4, DECEMBER 2015
Xiaoming Yuan (S’97–M’99–SM’01) received the ac transmission systems and power quality. From 2001 to 2008, he was with
B.Eng. degree from Shandong University, Jinan, the GE Global Research Center, Shanghai, China, as the Manager of the
China, in 1986, the M.Eng. degree from Zhejiang Low Power Electronics Laboratory. From 2008 to 2010, he was with the
University, Hangzhou, China, in 1993, and the GE Global Research Center, Niskayuna, NY, USA, as an Electrical Chief
Ph.D. degree from the Federal University of Engineer. His current research interests include stability and control of power
Santa Catarina, Florianópolis, Brazil, in 1998, all in system with multimachines and multiconverters, control and grid-integration
electrical engineering. of renewable energy generations, and control of high voltage dc transmission
He was with Qilu Petrochemical Corporation, systems.
Zibo, China, from 1986 to 1990, where he was Dr. Yuan was a recipient of the first prize paper award from the Industrial
involved in the commissioning and testing of relay- Power Converter Committee of the IEEE Industry Applications Society
ing and automation devices in power systems, in 1999. He is a Distinguished Expert of the National Thousand Talents
adjustable speed drives, and high-power Uninterruptible Power Supply/System Program of China, and the Chief Scientist of the National Basic Research
systems. From 1998 to 2001, he was a Project Engineer with the Swiss Federal Program of China (973 Program).
Institute of Technology Zurich, Switzerland, where he was involved in flexible