Direct Torque Control and Direct Power Control of Wind Turbine System With PMSG
Direct Torque Control and Direct Power Control of Wind Turbine System With PMSG
Direct Torque Control and Direct Power Control of Wind Turbine System With PMSG
doi:10.15199/48.2016.10.56
Streszczenie. W artykule przedstawiono bezprzekładniowy system turbiny wiatrowej o zmiennej prędkości z generatorem PMSG. System
przekształtnikowy jest złożony z przekształtnika maszynowego i przekształtnika sieciowego. Do sterowania generatorem PMSG i przekształtnikiem
maszynowym zastosowano algorytm MPPT, DTC-SVM oraz sterowanie kątem pochylenia łopat turbiny. Do sterowania przekształtnikiem
sieciowym zastosowano metodę DPC-SVM. Przeprowadzono badania symulacyjne właściwości zastosowanych metod sterowania. (Bezpośrednie
sterowanie momentem i mocą w systemie elektrowni wiatrowej z generatorem PMSG).
Keywords: wind turbine, PMSG, DTC with MPPT, DPC, simulation studies
Słowa kluczowe: turbina wiatrowa, PMSG, DTC z MPPT, DPC, badania symulacyjne
Pt _ rated control
control WECS control gg
m s Te vdc pg qg
Fig.1. The scheme of variable speed wind turbine system with direct-driven PMSG generator and back-to-back converter system
Te n p sd isq sqisd
0.5 3
(11)
Power Coefficient , Cp
C p max 0,48 0o
0.4 2
5o
0.3 10 o
The Direct Torque Control of PMSG with Machine Side
0.2 15o Converter
The principle of DTC is based on directly selection of
0.1
appropriate stator voltage vectors according to the
opt 8,1
0 differences between reference and actual values of
0 5 10 15 20
Tip Speed Ratio λ magnitude of stator flux vector and electromagnetic torque.
Fig.2. Power coefficient curves of Cp for diffrent tip speed ratio λ The conventional DTC can be implemented by using the
and pitch blade angle β hysteresis flux and torque controllers, which are operated
with switching table. This conventional DTC system with
Permanent Magnet Synchronous Generator Model hysteresis controllers generates the variable switching
The considered mathematical model of PMSG is based frequency caused the electromagnetic torque ripples [3, 8].
on the following assumptions [1, 5]: Moreover the high sampling frequency is needed for digital
Sinusoidal distribution of stator winding, implementation of hysteresis comparators.
Electrical and magnetical symmetry, The alternative for control with switching table is the
Damping windings are not considered, implementation of improved DTC with Space Vector
The magnetic circuits are linear, Modulation (DTC-SVM). The DTC-SVM ensures the lower
Saturation effect, eddy-currents and hysteresis losses harmonics stator current and allows to reduce the
are neglected. electromagnetic torque ripples. The other advantage of
The model of the PMSG was developed in the using SVM modulation is the possibility of maintaining the
synchronous rotating dq reference frame, where the d-axis constant switching frequency [2, 4].
is aligned with direction of the permanent magnet flux Figure 3 shows the block scheme of DTC-SVM system
vector. The mathematical equations of the PMSG in this for control of PMSG with MSC. The control scheme consists
reference frame can be described as follows [6, 11, 12]: of three control loops.
disd The outer control loop with PI controller regulates the
(6) vsd Rsisd Ld e sq generator speed to follow the optimum speed ωopt of wind
dt turbine rotation at which the maximum of turbine power is
di obtained. In order to achieve the operation at conversion of
(7) vsq Rsisq Lq sq e sd maximum mechanical power from wind turbine the special
dt algorithm of Maximum Power Point Tracking (MPPT) has
The components of stator flux vector in this reference been applied in the control system. Additionally at wind
frame can be given by: speeds greater than rated wind speeds the respectively
(8) sd Ld isd PM limitations of the wind turbine mechanical power is required.
This task has been realized by adopting the pitch angle
(9) sq Lq isq control of the blades of wind turbine. The applied algorithms
of MPPT and pitch control have been described below.
where: vsd , vsq - dq components of the stator voltage vector; In the control scheme presented in Figure 3 these
isd, isq - dq components of the stator current vector; algorithms have been combined in the common control
Rs - stator phase resistance; ψsd, ψsq - dq components of the block.
stator flux vector; Ld, Lq - direct and quadrature stator The two inner control loops with PI controllers regulate
inductances; ψPM - flux established by the permanent the magnitude of stator flux vector and the electromagnetic
magnets; np - number of pole pairs of PMSG; ωe, ωm - torque of the PMSG. In the PI controller of the stator flux
electrical and mechanical angular speed of the PMSG rotor, vector the reference and the real estimated value of the
defined as: magnitude of stator flux vector are compared. The output of
(10) e n p m this controller determines the reference component vsx* of
the stator voltage vector in the reference frame xy oriented
The electromagnetic torque of PMSG generator can be with stator flux vector. In the PI controller of the
expressed as follows: electromagnetic torque the reference and the real estimated
1 C p (opt , )
Measured
wind speed
PMSG Cd vdc (15) K opt R 5
vw 2 3opt
isa i sb isc
m S a Sb Sc According to power characteristic PMPPT of wind turbine
e SVM and equation (14) the reference speed of generator can be
vw encoder
Torque and
Stator Flux *
m ,m_ rated v s* v s
Estimator
s developed as [5, 7]:
MPPT and
s Te αβ
ref opt
pitch angle
Pt _rated
control
Pt
Estimator
of Pt * s
xy
v *
v sy* (16) 3 PMPPT / K opt
m
PI sx
vw [m/s]
vec-or are obtained from the Phase Locked Loop (PLL)
10
block. The applied PLL system is a feedback system with
PI-regulator tracking the phase angle of grid voltage vector vw
[15]. 5
1 2 3 4 5 6 7 8 9 10
The control algorithms of DPC-SVM are based on the t [s]
active and reactive power estimator as [14, 15]: Fig.8. Waveforms of rated vwr and real wind speed vw
(19) pg
3
v g ig v g ig Figure 9 shows the waveforms of optimal ωopt and
measured angular speed ωm of PMSG obtained from
2
simulation of control system. It can be seen, that the
(20)
3
q g v g i g v g i g generator speed ωm is accurately adjusted to the waveforms
2 of optimal speed ωopt, which is obtained from MPPT
where: vgα, vgβ - components of the grid voltage vector, algorithms.
30
igα, igβ, - components of the grid current vector in the
stationary αβ frame.
ωm , ωopt [rad/s]
25
ωm
vdc 20
15
ωopt
vdc Cd
*
*
i gd pg v *
Sa
10
1 2 3 4 5 6 7 8 9 10
gc
PI PI αβ t [s]
*
v dc pg Sb Grid Side
v *gc SVM Converter Fig.9. Waveforms of the reference speed ωopt and the actual speed
Sc
q *g PI dq ωm of PMSG
qg g The obtained waveforms of tip speed ratio, blade pitch
PLL angle and power coefficient at various wind speeds have
vg vgabc Lg , Rg been presented in Figures 10-11. From this Figures the
vg
αβ proper operation of the blade pitch angle controller can be
Active and
Reactive Power
i g
abc stated and confirmed.
calculation i gabc 15
Eq. (19, 20) i g αβ
abc
abc
vgc vgb v ga 10
λopt= 8,1
TSR λ, β
Grid
5
β
Fig.7. Control diagram of Direct Power Control of GSC with Space
Vector Modulation 0
1 2 3 4 5 6 7 8 9 10
t [s]
The control strategy of DPC-SVM for grid side converter Fig.10. Waveforms of tip speed ratio and blade pitch angle β
uses three control loops with PI controllers. The outer 0.8
reactive grid power are compared with the reference values. 0.2
In the typical control systems the reactive grid power
1 2 3 4 5 6 7 8 9 10
reference is set to zero in order to perform the operation at t [s]
unity power factor. The active grid power reference Fig.11. Waveform of power coefficient of wind turbine Cp
is calculated on the base of multiplication of the measured
DC voltage of the converter and the reference value of igd* Figure 12 presents the responses of electromagnetic
obtained from the outer control loop. The output signals torque Te of PMSG and mechanical torque Tt of wind turbine
from PI controllers determine the reference voltages vgcα* during the considered variation of wind speed. The
and vgcβ* for SVM of GSC. considered control system allows fast responses of the
electromagnetic torque Te of PMSG during temporary time
Simulation Results variations of the wind speed.
1500
The simulation model of wind energy conversion
1000 Tt
system with the considered control systems has been
Te ,Tt [Nm]
500
implemented in MATLAB/Simulink. The aim of simulation 0
was the investigation of properties of control systems. -500
For this reason the digital simulation studies were made for -1000 Te
the system with small power. The used wind turbine 1 2 3 4 5 6 7 8 9 10
parameters are as follows: rated power Pt=20kW; rotor t [s]
radius R=4,4m; air density ρ=1,225 kg/m3 and 3-phase Fig.12. Waveforms of electromagnetic torque Te of PMSG and
PMSG parameters: rated power Pg=20kW; stator resistance mechanical torque Tt of wind turbine
Rs=0,1764 Ω; stator dq-axis inductance Ld, Lq=4,48mH; rated The Figure 13a presents the waveform of the magnitude
speed nn=211rpm; rated stator phase current Isn=35,1 A. ψs of stator flux vector and Figure 13b presents the
The obtained simulation results of considered wind trajectory of stator flux vector. The Figure 14 presents the
energy conversion system are presented in Figures 8-16. waveform of the voltage vdc in DC link. The instantaneous
iga [A]
50
0 0 Synchronous Motor Drive, Ph.D Thesis, Warsaw University of
-50
iga Technology, (2005).
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-500 Wind Turbine System With PMSG Generator, Zeszyty
6.1 6.12 6.14 6.16 6.18 6.2 6.22 6.24 6.26 6.28 6.3
t [s]
Problemowe, nr 107, (2015), 75-90.
[13] G a j e w s k i P ., P i e ń k o w s k i K ., Analysis of a wind Energy
s