New Approach for modelling Doubly-Fed Induction Generator (DFIG) for grid-connection studies S.

K Salman and Babak Badrzadeh School of Engineering, The Robert Gordon University, Schoolhill, Aberdeen, AB10 1FR, Scotland, U.K. Tel :+(0) 1224 262448 Fax :+(0) 1224 262444 Email: s.k.salman@rgu.ac.uk Summary: With increased penetration of wind power into electrical grids, DFIG wind turbines are largely deployed due to their variable speed feature and hence influencing system dynamics. This paper presents simulation results of a Grid-connected DFIG. A switch-by-switch representation of the PWM converters with a carrier-based Sinusoidal PWM modulation for both rotor- and stator-side converters has been proposed. Stator-Flux Oriented vector control approach is deployed for both stator- and rotor-side converters to provide independent control of active and reactive power and keep the DC-link voltage constant. In order to set synchronous vector controllers, decoupled design based on Internal Model Control approach is applied, where dynamics of the PWM converters is taken into account. Keywords: Grid integration, Variable-speed wind turbine, Doubly-Fed induction generator, Modeling and simulation, fault analysis, Vector control, back-to-back PWM converter, Internal Model Controller. Nomenclature:
p is the derivative symbol Vqs , Vds are the three-Phase supply voltages in d-q reference frame, respectively

iqs , ids are the three-Phase stator currents in d-q reference frame, respectively

qs , ds are the three-Phase stator flux linkages in d-q reference frame, respectively
Vqr ,Vdr are the three-Phase rotor voltages in d-q reference frame, respectively iqr , idr are the three-Phase rotor voltages in d-q reference frame, respectively

qr , dr are the three-Phase rotor voltages in d-q reference frame, respectively

rs , rr are the stator and rotor resistances of machine per phase, respectively

Lls , Llr are the leakage inductances of stator and rotor windings, respectively e , r are the supply and rotor angular frequency (electrical speed), respectively s , r are the stator and rotor flux angle, respectively Te , Tm are the electromagnetic and mechanical torques, respectively Ps , Qs are the stator-side active and reactive powers, respectively Pr , Qr are the rotor-side active and reactive powers, respectively RON , ROFF are the IGBT ON and OFF resistances, respectively D, J are the moment of inertia and damping coefficient, respectively P is the Number of poles M 1, M 2 is the stator and rotor modulation depths, respectively Vtri is the triangular Voltage Signal R, L are the resistance and inductance of input filter, respectively V1, I1 are the input filter line voltage and current, respectively E is the DC-link voltage s is the Laplacian Operator C is the DC-Link capacitance PDC is the DC-link active power

 is the leakage factor

k p , ki are the proportional and integral gain, respectively

is the bandwidth of the closed-loop system cs is the Bandwidth of supply-side current controller E is the bandwidth of DC-link voltage controller cr is the bandwidth of rotor-side current controller is the bandwidth of speed controller
Subscripts and superscripts:
comp stands for compensation term e identifies synchronously rotating reference frame

1. Introduction:
With increased penetration of wind power into electrical grids, DFIG wind turbines are largely deployed due to their variable speed feature and hence influencing system dynamics. This has created an interest in developing suitable models for DFIG to be integrated into power system studies. The continuous trend of having high penetration of wind power, in recent years, has made it necessary to introduce new practices. For example, grid codes are being revised to ensure that wind turbines would contribute to the control of voltage and frequency and also to stay connected to the host network following a disturbance. In response to the new grid code requirements, several DFIG models have been suggested recently [1-6], including the full-model which is a 5th order model. These models use quadrature and direct components of rotor voltage in an appropriate reference frame to provide fast regulation of voltage. The 3rd order model of DFIG which uses a rotor current [4], not a rotor voltage as control parameter can also be applied to provide very fast regulation of instantaneous currents with the penalty of losing accuracy. Apart from that, the 3rd order model can be achieved by neglecting the rate of change of stator flux linkage (transient stability model), given rotor voltage as control parameter [5-7]. Additionally, in order to model back-to back PWM converters, in the most simplest scenario, it is assumed that the converters are ideal and the DC-link voltage between the converters is constant [5-11]. Consequently, depending on the converter control, a controllable voltage (current) source can be implemented to represent the operation of the rotor-side of the converter in the model. However, in reality DC-link voltage does not keep constant but starts increasing during fault condition. Therefore, based on the above assumption it would not be possible to determine whether or not the DFIG will actually trip following a fault. In a more detailed approach, actual converter representation with PWM-averaged model has been proposed [2], where the switch network is replaced by average circuit model, on which all the switching elements are separated from the remainder of network and incorporated into a switch network, containing all the switching elements. However, the proposed model neglects high frequency effects of the PWM firing scheme and therefore it is not possible to accurately determine DC-link voltage in the event of fault. A switch-by-switch representation of the back-to-back PWM converters with their associated modulators for both rotor- and stator-side converters has been proposed [4]. Tolerance-band (hysteresis) control has been deployed. However, hysteresis controller has two main disadvantages: firstly, the switching frequency does not remain constant but varies along the AC current waveform and secondly due to the roughness and randomness of the operation, protection of the converter is difficult [13]. The latter will be of more significance when assessing performance of the system under fault condition. In order to resolve the identified problems, this paper proposes a switch-by-switch model of voltage-fed, current controlled PWM converters, where triangular carrier-based Sinusoidal PWM (SPWM) [13] is applied to maintain the switching frequency constant. In order to achieve constant switching frequency, calculation of the required rotor voltage that must be supplied to the generator is adopted. Various methods such as hysteresis controller, stationary PI controller and synchronous PI controller have been adopted in order to control current-regulated induction machine [13,20]. Among which, synchronous PI controller has been acknowledged as being superior [20]. This paper makes use of Internal Model Control which is actually based on the concept of synchronous PI controllers while different approach is used in order to specify control parameters for a certain machine instead of using trail-and-error procedure [14]. With regard to IMC applications in DFIG control, [15] adopted

this method to determine control parameters of the rotor-side converter of a DFIG, assuming ideal operation of back-toback PWM converter. Moreover, the proposed approach may not be accurate enough due to the neglect of leakage factor. The same approach has been used by [16], while acknowledging leakage factor of induction machine, with DFIG controlled from the rotor-side. This paper will use the same approach, where dynamics of the PWM converters is taken into account along with the control of the DFIG from both stator- and rotor-side converters.

2. Principles of Operation:
Fig.1 shows the basic scheme adopted in the majority of systems. The stator is directly connected to the AC mains, whilst the wound rotor is fed from the Power Electronics Converter via slip rings to allow DIFG to operate at a variety of speeds in response to changing wind speed. Indeed, the basic concept is to interpose a frequency converter between the variable frequency induction generator and fixed frequency grid. The DC capacitor linking stator- and rotor-side converters allows the storage of power from induction generator for further generation. To achieve full control of grid current, the DC-link voltage must be boosted to a level higher than the amplitude of grid line-to-line voltage. The slip power can flow in both directions, i.e. to the rotor from the supply and from supply to the rotor and hence the speed of the machine can be controlled from either rotor- or stator-side converter in both super and sub-synchronous speed ranges. As a result, the machine can be controlled as a generator or a motor in both super and sub-synchronous operating modes realizing four operating modes [6]. Below the synchronous speed in the motoring mode and above the synchronous speed in the generating mode, rotor-side converter operates as a rectifier and stator-side converter as an inverter, where slip power is returned to the stator. Below the synchronous speed in the generating mode and above the synchronous speed in the motoring mode, rotor-side converter operates as an inverter and stator-side converter as a rectifier, where slip power is supplied to the rotor. At the synchronous speed, slip power is taken from supply to excite the rotor windings and in this case machine behaves as a synchronous machine. Rotor Stator Back-to-back Pr + j Qr PWM converter Fig.1.Schematic Diagram of Doubly-Fed Induction Generator P s + j Qs Grid

3. Dynamic simulation of DFIG in terms of dq-windings:

The general model for wound rotor induction machine is similar to any fixed-speed induction generator as follows [17]:

3.1. Voltage equations: 3.1.1. Stator Voltage Equations:

Vqs = p qs + ds + rs i qs Vds = p ds qs + rs i ds
3.1.2. Rotor Voltage Equations:

(1) (2)

V qr = p qr + ( r ) dr + rr i qr

(3) (4)

V dr = p dr ( r ) qr + rr i dr
3.2. Power Equations:

3 (V i + V qs i qs ) 2 ds ds 3 Q s = (V qs i ds V ds i qs ) 2 Ps =

(5) (6)

3.3. Torque Equation:

Te =

3P ( ds i qs qs i ds ) 2 2

(7)

3.4. Flux Linkage Equations: 3.4.1. Stator Flux Equations:

qs = ( Lls + Lm )i qs + Lm i qr

(8) (9)

ds = ( Lls + Lm )i ds + Lm i dr
3.4.2. Rotor Flux Equations:

qr = ( Llr + Lm )i qr + Lm i qs dr = ( Llr + Lm )i dr + Lm i ds

(10) (11)

4. Back-to-Back PWM Modeling:

Mathematical modeling of converter system is realized by using various types of models, which can be broadly divided into two groups: mathematical functional models and Mathematical physical models (either equation-oriented or graphicoriented, where graphic-oriented approach is actually based on the same differential equations) [18]. Functional model describes the relationship between the input and output signal of the system in form of mathematical function(s) and hence constituting elements of the system are not modeled separately. Simplicity and fast time-domain simulation are the main advantages of this kind of modeling with the penalty of losing accuracy. This has been a popular approach with regard to DFIG modeling, where simulation of converters has been done based on expected response of controllers rather than actual modeling of Power Electronics devices. In fact, it is assumed that the converters are ideal and the DC-link voltage between them is constant. Consequently, depending on the converter control, a controllable voltage (current) source can be implemented to represent the operation of the rotor-side of the converter in the model. Physical model, on the other hand, models constituting elements of the system separately and also considers interrelationship among different elements within the system, where type and structure of the model is normally dictated by the particular requirements of the analysis, e.g. steady-state, fault studies, etc. Indeed, due to the importance of more realistic production of the behavior of DFIG, it is intended to adopt physical model rather than functional model in order to accurately assess performance of DFIG in the event of fault particularly in determining whether or not the generator will trip following a fault. This paper proposes a graphic-oriented switch-by-switch representation of the back-to-back PWM converters with their modulators for both rotor- and stator-side converters (Fig.2), where both IGBT and reverse diode devices are represented as a two-state resistive switch [19]. The two-state switch can take on two values, RON (close to zero) and ROFF (very high).
Ios D1 T1 S1 D T1 S3 D1 T1 S5 500000.0 R1 Ior T1 D1 R3 T1 D1 R5 T1 D1

D1 T Va1 Vb1 Vc1 S4

D1 T1 S6

D1 T1 S2 R4

T2 D2 R6

T2 D2 R2

T2 D2

0.01

0.01 0.1

0.1

0.1

0.01

Ibr

Iar

Icr

Ias

Ibs

Ics

Fig.2 Back-to-back PWM converter structure

5. Control of generator and its associated converters: 5.1 Rotor-side converter control:
Aligning the d-axis of reference frame to be along the stator flux linkage (stator flux oriented control) will result in [12]:

e = 0 qs
And hence from Eq. 8:
e i qs =

(12)

Lm e i qr Lls + L m
e iqs

(13)

Substituting for

into Eq. 7 will result in: (14)

e e

Te =
e

Lm 3P e e i qr ds 2 2 Lls + L m

For ds to remain unchanged at zero, p ds must be zero [16]. Substituting for p ds using Eqs. 1 and 2 will result in
e e e e V ds = rs i ds . Neglecting stator resistance will lead to V ds = 0 . Substituting for Vds = 0 , Eqs. 5 and 6 will be simplified

as follows:

3 e e (Vqs i qs ) 2 3 e e e Qs = (Vqs i ds ) 2 Pse =

Therefore, the above equations show that active and reactive powers of the stator can be controlled independently.

(15) (16)

5.2 Decoupling control scheme:

Using stator flux oriented approach, implementation with current controlled PWM inverter requires decoupling scheme [13]. In fact, the system is coupled because the inductance matrix is not diagonal. It means that any changes on voltage component in d or q axes results in changes in both current components [13]. In order to combat this problem, equations will be re-developed in order to compensate for these cross coupling between d and q axes [12, 20]. Let us first define the following parameter called the leakage factor of the induction machine as [12]:

= 1

L2 m ( Lls + Lm )( Llr + Lm )
e e

(17)

Substituting for i ds from Eq. 9 into Eq. 11 for dr and from Eq. 13 into Eq. 10:
e e = ( Llr + Lm )i dr + dr e e = ( Llr + Lm )i qr qr e Substituting these equations into Eqs. 3 and 4 for V qr and V dr : e

Lm e ds Lls + L m

(18) (19)

'e e e V dr = V dr + V dr ,comp
e e 'e V qr = V qr + Vqr ,comp
'e V dr 'e V qr

(20) (21)
e L m ) pi dr e Lm ) pi qr

e rr i dr e rr i qr

+ ( Llr +

(22) (23) (24) (25)

+ ( Llr +

e V dr ,comp =

Lm e p e ( e r ) ( Llr + L m )i qr ds Lls + L m

e V qr ,comp = ( e r )

Lm e e + ( e r ) ( Llr + Lm )i dr ds Lls + Lm

Adding these compensating terms to the corresponding uncompensated voltage terms makes it possible to achieve decoupled performance of the stator flux-oriented control of the rotor-side converter. Fig.3 shows stator field oriented

control of rotor-side converter [20], where PI controllers are applied to control rotor current and shaft speed which will be explained further. It is also worth noting that VR and T represent rotation and phase transformations, respectively [21].
e V qr ,comp
ref r ref i qr ,e ref Vqr ,e

ref Var , s
ref Vbr , s

PI
e i qr

PI

r
ref i dr ,e e i dr

VR (sr) PI
ref Vdr ,e

-1

T (sr)
ref Vcr , s

-1

PWM

Rotor Side converter

e Vdr ,comp e i qr e idr VR(sr)

T(sr)

i abc

d/dt

Encoder

DFIG
Fig.3 Stator flux oriented control of rotor-side converter

5.3 Stator-side (Front-End) converter (FEC) control:

Fig.4 shows the schematic of FEC control. The main objective of stator-side converter is to maintain the DC-link voltage constant regardless of the magnitude and direction of the slip power. A current-regulated PWM scheme is used, where q and d axes currents are used to regulate DC-link voltage and reactive power, respectively. Based on Fig.2 and taking into account the inductance and resistance of the input filter, voltage equations across the inductor can be written as follows:

i as Va1 i as Vas V = R i + Lp i + V bs b1 bs bs ics Vc1 ics Vcs

Applying phase and rotation transformations [21] to the above equation results in:
e e e e Vds = Rids + Lpi ds e Li qs + Vde1
e e e e V qs = Ri qs + Lpi qs e Li ds + V qe1

(26)

(27) (28) (29) (30)

Therefore, reference values for front-end converter can be written as:

e e e V dref ,e = Ri ds Lpi ds + ( e Li qs ) 1 e e e e V qref ,e = Ri qs Lpi qs + ( e Li ds V qs ) 1

Where the terms in brackets represent the decoupling terms. Neglecting harmonics due to the switching, the capacitor leakage and the losses in the inductor resistance and converter itself [20]: 3 e e (31) Eios = Vqs iqs 2 M1 e Vqs = E (32) 2 2 3 e ios = M1iqs (33) 4 2

CpE = ios ior Assuming rotor-side converter DC-link current as disturbance and combining Eqs. (33) and (34): 3M 1 E= ios 4 2

(34) (35)

E E ref
PI
ref i qs ,e
e i qs

e e Li ds

Vqref ,e 1
PI VR-1(e) T-1(e)

Varef , s 1 Vbref , s 1
Vcref , s 1
PWM

ref ids ,e

PI

ref , e d1

FEC

e ds

R, L
e e Li qs e V qs

VR(e)

T(e)

Vabc

e iqs e ids

VR(e)

T(e)

i abc

Fig.4 Stator flux oriented control of stator-side converter

5.4 Current-Regulated (CR) modulation:

In this paper, a voltage-source, current controlled PWM converter is chosen. The main task of the control scheme in the Current Controlled (CC)-PWM converter is to force the current to follow their reference signals. By comparing desired and actual values of the phase currents, the CC generates the switching states for converter which decreases the current errors. There are various ways to obtain the switching signals for the inverter switches in order to control the inverter output current. The simplest is tolerance-band (hysteresis) control, where the actual current is compared to the desired current in each phase leg of the converter output. However, hysteresis controller has two main disadvantages: firstly, the switching frequency does not remain constant but varies along the AC current waveform and secondly due to the roughness and randomness of the operation, protection of the converter is difficult [13]. The latter will be of more significance when assessing performance of the system on fault condition. In this paper, SPWM method is adopted, which is based on a triangular carrier signal [13]. By comparison of the common carrier signal with three reference sinusoidal signals the switching instants of the IGBTs are defined. Utilizing SPWM modulation technique makes it possible to resolve the identified disadvantages of hysteresis control. In order to maintain the switching frequency within the switch-mode converter constant in a SPWM-modulated converter, it is a common practice to calculate the required rotor voltages that the converter must supply to the machine, making the rotor currents equal to their reference values [12]. This concept will be described in section 6.3.1. The error between reference and actual current, then, is amplified or fed through a PI controller. This scheme of modulation is usually referred to as fixedfrequency current control [19].

6. Controller Design: 6.1 Basics of Internal Model Controller (IMC):

The idea behind IMC is to augment the error between system, G(S), and the model of the system, G (S ) , by a transfer function C(S). More details can be found in [13, 14, 16]. For a first-order system the controller is an ordinary PI controller which can be represented as follows [22]:

F (s) = k p +

ki = G ( s) s s

(36)

Where G (s ) is the transfer function of the model of the system [20].

6.2 Supply-Side Converter

In this simplified design the small time constants such as power converter dead time, feedback filter and digital signal processing delay are neglected [13]. Thus, only the dynamics of supply-side filter is taken into account:

6.2.1 Current Controller:

I sref

+ -

PI Controller

Converter

Plant

Is

Fig.5 Current-control loop of stator-side converter Fig.5 shows the current-control loop of stator-side converter. Based on Eqs. 29 and 30 and considering compensation terms as disturbance, the plant for the current control loop is given by [20]:

G ( s) =

e ids ( s ) e ( R + Ls )ids ( s )

e iqs ( s) e ( R + Ls )iqs ( s )

1 R + Ls

(37)

Given converter model as [13]:

k cs =

M 1E 2Vtri

(38)

And substituting for Eq. 35 :

kp =
And

cs L
k cs

(39)

ki =

cs R
k cs

(40)

6.2.2 DC-link Voltage controller:

E ref

+ -

PI Controller

DC-Link Constant

Plant

Fig.6 DC-link voltage-control loop Based on fig.6 and given DC-Link transfer characteristic from Eq. 35 and plant transfer function as [20]: 3M 1 E= ios 4 2 And

(41)

1 Cs And substituting for Eq.36 leads to: G(S ) =

(42)

4 2 E C (43) 3M1 There will be a remaining error when the induction machine is loaded and active power flows between DC-link and the machine. The remaining error can be eliminated by adding an integrator to the DC-link voltage controller [22]. The following is often adopted for the selection of the controller integration time: kp =

Ti =

10

E
kp ki

(44) (45)

Where Ti =

6.3 Rotor-Side Converter: 6.3.1 Current Controller:

As mentioned previously, in order to keep the switching frequency constant, it is necessary to calculate the required rotor voltages. As shown in the block diagram of Fig.7, it is possible to generate the reference voltages from given reference currents. In fact, the i qr and i dr errors are processed by the PI controller to give Vqr and Vdr , respectively. Using Eqs. 22 and 23, the plant can be represented by transfer functions below: e 1 e idr ( s ) = V ' ( s) rr + s ( Llr + Lm ) dr
e 1 V ' ( s) rr + s ( Llr + Lm ) qr Therefore, the transfer function of the Plant can be given by: ^ 1 G(s) = rr + s ( Llr + Lm ) e iqr ( s ) =

(46) (47)

(48)

I rref

+ -

PI Controller

Vr'

Plant

Ir

Fig.7 Designing current-control loop for constant switching frequency Incorporating dynamics of PWM converter makes the above block diagram shown below.

I rref

+ -

PI Controller

Converter

Plant

Ir

Fig.8 Current-control loop of rotor-side converter including dynamics of PWM Where converter can be represented as [13]:

k cr =

M 2E 2Vtri

(49)

This will determine control parameters as follows:

kp =
And

cr ( Llr + Lm )
k cr

(50)

ki =

cr rr
k cr

(51)

6.3.2 Speed Controller:

rref

+ -

PI Controller

Plant

Fig.9 speed-control loop of DFIG Assuming single-mass representation of the mechanical drive train and using Fig.9, plant transfer function is given by [20]: ^ 1 (52) G(S ) = JS + D Therefore:

k p =
And

JP
2

(53) (54)

k i = D

7. Results and discussion: 7.1 Test system:

Simulation is carried out using PSCAD/EMTDC simulation tool. The performance of a 2.2 MVA, 690 V, 50 Hz, 4- pole DFIG is investigated before, during and after fault by applying a constant -1 p.u mechanical torque. Mechanical damping is set to 0.02 p.u to compensate for friction and windage losses. Reference values are set in such a way that Sub synchronous generating mode with +0.28 slip is realized. For sake of the simplicity, shaft is represented as a single-mass model using the swing equation. In order to limit fault currents/voltages, stator-to-rotor turn ratio is set to 0.4333. Fig.10 shows the power system used to investigate the performance of the DFIG under fault condition. A boost-up 0.69/11 kV, 2.5 MVA transformer with leakage inductance of 0.06 p.u connects the generating system through the distribution cables to the consumers and the rest of the network, where the latter is represented as a three-phase voltage source with a short circuit level of 100 MVA and X to R ratio of 10. A 3LG short-circuit fault with a fault resistance of 0.01 is applied to the network at t=7 sec for 470 msec. As can be seen in Fig.11, the dip in the stator voltage is about 85 % representing one of the most severe fault conditions under which DFIG should withstand. ~ Grid G 11kV line Load 11/0.69 Transformer DFIG

Fig.10 Block diagram of grid-connected induction wind generator

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7.2 Simulation results:

As can be observed in Figs. 11 and 12, immediately after fault, stator flux and consequently stator voltage will drop, depending on several factors such as fault type, fault location, fault impedance, short circuit level, X to R ratio ratio, etc.
Flux linkage 0.0030 Lambda (mWb)

Grid Voltage 1.20 1.00 Vg (p.u)

0.0020

0.80
0.0010

0.60 0.40

0.0000

0.20
-0.0010 6.0 7.0 8.0 9.0 10.0 11.0 12.0

0.00 6.0 7.0 8.0 9.0 10.0 11.0 12.0

Fig11. Stator Flux

Fig12. Stator Voltage

Using Eq.14, it can be concluded that Te is proportional to ds yet with negative sign. Therefore, using stator flux orientation and given behavior of ds = in Fig.10, an increase in electromagnetic torque, shortly after fault occurrence, is expected to observe. This characteristic can be confirmed by Fig.13. This increase in electromagnetic torque will result in the acceleration of the rotor based on the swing equation, as mechanical torque is assumed to be fairly constant. As depicted in Fig.14, upon fault clearance, rotor speed starts decreasing indicating appropriate action of the control system. However, in contrast to the electromagnetic torque, rotor speed does not immediately restore its pre-fault value, but decelerating for a few seconds until being stable. The main reason is that current control loops are designed to be much faster than speed control loop, e.g. 100 times faster, as fast speed control loops are susceptible to the noise [20].
Electromagnetic Torque 0.50 0.00 -0.50 TE (p.u)

Rotor speed Omega (p.u) 0.900 0.850 0.800

-1.00

0.750
-1.50 -2.00 6.0 7.0 8.0 9.0 10.0 11.0 12.0

0.700 0.650 6.0 7.0 8.0 9.0 10.0 11.0 12.0

Fig.13 Electromagnetic torque

Fig14 Rotor speed

Clearly, immediately after the occurrence of fault condition rotor current and hence DC-link current increase. However, due to low voltages of DFIG terminals, stator-side converter can not exchange this extra current to the network and therefore active power falls toward zero (Fig.15). This will, in turn, lead to the accumulation of the charges and consequently DC-link voltage will rise. Shortly after fault clearance, rotor and stator current will restore their pre-fault values and so does DC-link voltage ensuring stable performance of the DFIG under transient conditions as shown in Fig. 16. Stator and rotor fault currents are depicted in Figs. 17 and 18, showing that fault inception produce large currents at stator terminals and consequently, due to the existence of magnetic coupling between rotor and stator, at rotor terminals. However, in contrast to conventional fixed-speed induction generator, fault currents do not decay very fast. This might be due to the action of controllers along with the impact of PWM modulators.

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Total active power 3.0k 2.5k 2.0k 1.5k 1.0k 0.5k 0.0 6.0 7.0 8.0 9.0 10.0 11.0 12.0 P_GEN (kW) 0.850 0.825 0.800 0.775 0.750 0.725 0.700 0.675 0.650 6.0 7.0 8.0 Ecap (kV)

DC-Link voltage

9.0

10.0

11.0

12.0

Fig.15 Total active power

Stator curent 4.0 3.0 2.0 1.0 0.0 -1.0 -2.0 -3.0 -4.0 6.80 6.90 7.00 7.10 7.20 7.30 7.40 7.50 7.60 7.70 Isa (kA)

Fig.16 DC-Link voltage

Rotor current 2.00 1.50 1.00 0.50 0.00 -0.50 -1.00 -1.50 -2.00 6.50 7.00 7.50 8.00 8.50 9.00 Ira (kA)

Fig.17 Stator current

Fig.18 Rotor current

8. Conclusions:
With increased penetration of wind energy and moving toward active networks, grid codes are being revised to reflect the new requirements. This has created an interest in developing more detailed models particularly with respect to fault analysis. This paper has proposed a detailed 5th order model of grid-connected DFIG and its associated controllers. Incorporation of stator flux transients into the induction machine model along with the switch-by-switch representation of sinusoidally modulated power electronics converters allows a more realistic prediction of the behavior of DFIG in the event of fault. Owing to the fact that DFIG controls have a significant influence on the system dynamics, vector control is applied for both stator- and rotor-side converters to increase the degree of controllability, where fixed-frequency Internal Model Controller approach is adopted to design the controllers precisely. In this way, a fairly robust fault-tolerant system is achieved ensuring transient stability of the system.

Acknowledgement:
The authors would like to thank The Robert Gordon University for providing facilities. Babak Badrzadeh is thankful for the Robert Gordon University for their financial support to undertake this research.

References:
1. Sun T, Chen Z, Blaabjerg F. Transient analysis of grid-connected wind turbines with DFIG after an external shortcircuit fault. 4th Nordic wind power conference, 2004, Chalmers University of technology, Sweden. 2. Koessler RJ, Pillutla S, Trinh LH. Integration of large wind farms into utility grids (Part 1-Modeling of DFIG). IEEE Power Engineering Society general meeting, 2003; Toronto, Canada. 3. Pourbeik P, Koessler RJ, Dickmander DL. Integration of wind farms into utility grids. ibid; Toronto, Canada. 4. Kazakchov YA, Feltes JW, Zavadil R. Modelling wind farm for power system stability studies. ibid; Toronto, Canada 5. Ekanayake, J.B, Holdsworth, L, Wu, X., Jenkins, N. Dynamic modeling of Doubly Fed Induction generator wind turbines. IEEE Transaction on Power Systems, 2003, 2:803-809. 6. Holdsworth L, Wu XG, Ekanayake JB, Jenkins N. Comparison of fixed speed and doubly-fed induction wind turbines during power system disturbances. IEE Proceedings: Generation, Transmission, Distribution, 2003, 3: 343-352

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