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Misra 2017
Misra 2017
Misra 2017
fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2017.2762644, IEEE
Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Abstract—The mathematical modelling of DFIG-DC I mr Magnetizing current
system, including dominant harmonic (fifth and seventh), ρ Rotor flux angle
along with its control in rotor flux reference frame is _
presented in this paper. Modelling of the system provides X Space phasor quantity
the feed-forward terms which consist of the fundamental s e Stator frequency, Prime mover frequency
and oscillatory components of the current. The use of
non-derivative feed forward terms with proportional Md Machine electromagnetic torque
integral can reduce the steady state current ripple, but for ab Rotor axis (rotating axis)
controlling the transient current ripple use of resonant dq Rotor flux axis (rotating axis)
controller is suggested such that the use of derivative αβ Stator axis (stationary axis)
feed-forward terms can be avoided. The resonant S, P, Q Apparent, active and reactive power respectively
controller is capable of controlling the current ripple by Superscript
itself, but its use with suitable feed-forward terms can
+,-5, +7 (dq)+, (dq)5- and (dq)7+ reference frames
enhance the performance of the system. DC voltage
regulation of standalone DFIG-dc system is obtained by * Reference quantity
four combinations of above mentioned controllers and Subscript
feed-forward terms. A comparison is made on +,-5, +7 Positive, negative components in respective
performance of these control structures. Feed-forward frames
terms used in the control structure require decoupled a, b Voltage or current in rotor reference frame (ab)
currents. Therefore, decoupling of various currents in 6 Sixth order ripple
different d-q axes are obtained with mathematical 1 Phase-1 voltage or current
understanding. The proposed control schemes are verified f , r, s Filtered quantity, Rotor quantity and Stator
on 5.5 KW slip ring induction machine for standalone
quantity respectively.
application.
NOMENCLATURE
S LIP ring induction machine (SRIM) was generally used
for the high starting torque and variable speed motoring
applications, therefore, it is designed with higher turns ratio
Rs R r Stator resistance, Rotor resistance respectively between stator and rotor. Also, since the power to the machine
is generally supplied from stator side; it is designed to takes
Ls L r Stator inductance, Rotor inductance respectively
flux from stator side. All these properties can be utilized by
Lo Magnetizing inductance stator side control of SRIM in the standalone dc power
r Rotor leakage factor generation (DFIG-dc), where, the required flux is supplied
Total leakage factor from stator side, while the diode rectifier is connected at the
P Number of Machine poles low voltage side (rotor side). To establish such a system
Vrd Vrq d-axis, q-axis rotor voltage respectively requires mathematical modelling of SRIM in rotor flux
reference frame. Modelling will help in understanding the
I rd I rq d-axis, q-axis rotor current respectively system and design of control strategy. Such a system will be
Vsd Vsq d-axis, q-axis stator voltage respectively useful in low voltage applications.
Variable speed constant frequency generation from SRIM
is widely reported for grid connected and standalone
Manuscript received Month 03, 2017; revised Month 07, 2017; applications which is summarized in [1]. The isolated ac
revised Month 08, 2017; accepted Month 09, 2017. power generation through SRIM is established in stator flux
Himanshu Misra and Amit Kumar Jain are with the Department of
reference frame [2]. Further a sensor less control with
Electrical Engineering, Indian Institute of Technology Delhi, New Delhi,
INDIA (e-mail: himanshu00129@gmail.com, amitjain@ee.iitd.ac.in) integrated active filter is presented in [3] for standalone
(contact phone: +91-1126591264).
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This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2017.2762644, IEEE
Transactions on Industrial Electronics
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Transactions on Industrial Electronics
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of SRIM in the dc power generation. Power rating of diode rotor side of the conventional SRIM in the proposed DFIG-dc
rectifier is one per unit (rotor KVA), while, stator side system. Then reactive power has to be supplied from the rotor
converter (SSC) is partially rated and its power rating is the side as there is no scope to supply it from stator side due to
slip times of stator KVA (active power, power loss due to diode rectifier on the stator side. It reduces the magnitude of
harmonics, and reactive power). In this system, load is divided active component of current on rotor side due to reactive
as main and auxiliary load. Main load is directly connected at current sharing. However, only active current of rotor side
dc-link and auxiliary load is added through dc-dc converter for reflects on the stator side due to the transformer action for
constant torque operation as shown in Fig. 1. Idc1 is the current unity power factor at stator side. Therefore, power rating at
of main load, which is constant for main load. However, I dc2 is stator side of SRIM is reduced from its rated KVA
the current of auxiliary load which varies with speed of prime
(underutilization). Now rotor side converter is designed for
mover.
slip time of rotor KVA. Therefore, KVA rating of converter
A. Stator side control of SRIM will be reduced compared to stator side converter as needed in
The idea behind dc power generation from the stator side stator side control of the proposed system but proper
control is derived for the conventional SRIM which is used in utilization of conventional SRIM is not obtained in the rotor
the motoring applications. Since, conventional SRIM is side control. Hence, rotor side control of conventional SRIM
powered from the stator side, therefore, it takes active and leads to reduction of overall power rating of conventional
reactive power from the stator side which leads to higher KVA SRIM.
rating (as it contains active and reactive components of In addition, these machines have inbuilt turn ratios which
current) of stator windings as compared to rotor windings. works as matching transformer between stator and rotor and
Hence, placing VSC at the stator side gives proper utilization develops low magnitude of voltage at the rotor terminals.
of the machine’s power rating. In the proposed system, size of Diode rectifier connected at the rotor side converts ac voltage
stator side converter (KVA rating) remains small as compared into dc voltage of small magnitude which is suitable for the
to converter used in squirrel cage induction generator because standalone applications [16].
size of converter is decided by the KVA handled by it. As B. Selection of rotor flux reference frame
standalone DFIG-dc system is a doubly fed configuration,
Stator flux based field oriented control of SRIM is
where, the total active power generated by the system is the
commonly reported [1] for rotor side control. In this
combination of the active power at rotor side and stator side.
configuration, frequency and voltage at the stator of SRIM is
In the proposed DFIG-dc configuration, rotor is operated at
TABLE I
constant voltage and frequency and it is connected with diode COMPARISON OF TRADITIONAL DFIG WITH PROPOSED DFIG-DC SYSTEM
rectifier, while the stator of the SRIM is operated at slip Property Traditional Traditional Proposed DFIG-
voltage and frequency and it is connected with VSC. In this standalone standalone DC system
DFIG DFIG-DC
configuration, the current ratings of rotor and stator side can
System
be utilized at full load. Maximum power handled by rotor side Type of ac power dc power dc power
will be rated apparent power of rotor side and maximum power generation generation generation
power handled by stator side will be slip times of rated generation
Type of Rotor side Rotor side Stator side
apparent power of stator side because stator side is operating control control control control
at slip frequency which leads to slip times of stator voltage for Number of Two (Partially One (Partially One (Partially
constant flux. However, rotor apparent power contain active VSC used rated) rated) rated)
power and harmonics power, whereas, stator apparent power Number of NIL One (Rating One (Rating
diode equal to the equal to the rotor
have the components of active, reactive and harmonics power. rectifier used stator KVA) KVA)
In this way, power rating of the diode rectifier is equal to Modelling Stator flux Stator flux Rotor flux
KVA rating of rotor side of SRIM as given by (2) and KVA equation reference frame reference frame reference frame
derived in
rating of VSC connected at stator side is decided by the slip Frequency Constant Constant Varies with the
time of rated active power and rated reactive power as and voltage (oscillatory due slip
described in (1) and (3). Conversely, maximum KVA rating of at stator side to diode
rectifier)
VSC in squirrel cage generator is the rated KVA of stator as
Frequency Varies with the Varies with the Constant
given by (1) and (4) which is larger than the KVA rating of and voltage slip slip (oscillatory due
VSC used in the proposed system. at rotor side to diode rectifier)
2 2 Torque Torque is Present Present
Ps (Vsd Isd Vsq Isq ) , Qs (Vsd Isq Vsq Isd ) (1) ripple smooth
3 3 Voltage level Higher voltage Lower voltage Lower voltage
2 level level level
Pr (Vrd Ird
Vrq Irq
) , Qr 0 (2) Utilization of Poor utilization Poor utilization Better utilization
3 kVA ratings of stator and of stator and of stator and
S s(KVA) slip * P s(KW) jQs (KVAR) (3) of tradition rotor sides rotor sides rotor sides KVA
SRIM KVA ratings KVA ratings ratings
Ss (KVA) Ps (KW) jQs (KVAR) (4) Harmonics Switching Switching and Switching and
Similar to tradition DFIG [1] system, if VSC is placed at the lower order lower order
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kept constant which lead to constant stator flux. Additionally, Generally, DFIG-ac and DFIG-dc systems are modeled
modelling equations are simple in stator flux reference frame according to fundamental frequency in stator flux reference
for the rotor side control of SRIM. frame [1]-[14]. Since, the output dc voltage of DFIG-dc
Similarly, when SRIM is controlled from the stator side, the system considered in this paper (Fig. 1) is regulated through
frequency and voltage at the rotor side needs to be kept stator side converter and dc voltage is directly related to rotor
constant, and it also needs simple modelling equations which voltage as diode rectifier is used at rotor side. The rotor flux
can provide simpler stator side control. Hence, rotor flux reference frame based modelling of DFIG-dc system will be
based modelling is used. The concept of rotor flux based stator more appropriate for the simple control of the proposed
side control is well established for squirrel cage induction system. As DFIG-dc system contains dominant harmonics
machine (SQIM) [17]. The modelling equations of SRIM currents along with fundamental currents, its mathematical
controlled from rotor side can be derived from SQIM by not modelling should include lower order (fifth and seventh order)
equating rotor voltage to zero. However, the meaning of harmonics. In this modelling, frequency of the stator quantities
frequency in the modeling equations has been changed for (ωs) is variable and frequency of rotor quantities (ω s-ωe) is
proposed system where the ω s represents variable (slip) stator made constant by keeping negative rotor frequency reference
frequency and (ωs-ωe) represents the constant rotor frequency. (ωs-ωe)*. The negative sign is required for achieving slip
frequency in stator circuit without changing the conventional
C.Comparison of proposed standalone DFIG-DC system
direction of rotation of the prime mover.
with tradition DFIG
A brief comparison between traditional DFIG and proposed A. Stator currents
scheme is given in Table-I. Proposed standalone DFIG-dc system is controlled from the
stator side. Therefore, the nature of stator current including the
III. MATHEMATICAL MODELLING IN ROTOR FLUX dominant lower order harmonics in the modelling are given as
REFERENCE FRAME AND CURRENT DECOUPLING (5) and (6). In these equations, decoupled terms of current are
shown, and its derivation from actual current is illustrated in
sd
I I5 I7 cos 6( )t
sd5 sd7 s e
5 7
Isq Isq5 Isq7 cos 6(s e )t
Rs Rs
5 7
Isq5 Isq7 sin 6(s e )t
I5sd5
7
Isd7 sin 6(s e )t
dIsd
dI 5
dI 7 dI dI 5
dI 7
sd5 sd7 cos 6(s e )t sq sq5 sq7 cos 6(s e )t
dt dt dt dt dt dt
Ls Ls
dIsq5 dIsq7
5 7
dI5sd5 7
dt sin 6( )t dIsd7
dt s e sin 6(s e )t
dt dt
1 s
L 1 Ls
dI mrd dI mrd5 dI mrd7 cos 6( )t dI mrq dI mrq5 dI mrq7
5 7 5 7
dt cos 6(s e )t
Vsd dt
s e
dt
Vsq dt dt dt
dI5mrq5 7
dI mrd5 dI mrd7 sin 6( )t
5 7
dI mrq7
sin 6(s e )t
dt dt
dt
s e
dt
Ls (s e ) L ( )
s s e
s Isq
5s 5 5
I sq5 7s 7 7
I
sq7 cos 6( s e )t
s
I sd
5s 5 5
I sd5 7s 7 7
I sd7 cos 6( s e )t
5s5 I5 7s7 I7 sin 6( )t
sd5 sd7 s e
5 5 7 7
5s Isq5 7s Isq7 sin 6(s e )t
FFD1
FFQ1
1 Ls (s e ) 1 Ls (s e )
s I mrq 5s I mrq5 7s I mrq7 cos 6(s e )t
5 5 7 7
s I mrd 5s5 I5mrd5
7s 7 I7mrd7
cos 6(s e )t
5s5 I5mrd5 7 7
7s I mrd7 sin 6(s e )t
5 5 7 7
5s I mrq5 7s I mrq7 sin 6(s e )t
FFD2 FFQ2
(7) (8)
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further sections.
Isd
5 7 Fd , Fq Ffd , Ffq
(Isd5 Isd7 ) cos 6(s e )t
Isd 5 (5) Equations 5 5 LPF 5 5
(Isq5 Isq7 ) sin 6(s e )t
Ffd5 , Ffq5
(15) to (20) Fd5 , Fq5
7
7 7
Fd7 , Fq7 Ffd7 , Ffq7
Isq
5 7
(Isq5 Isq7 ) cos 6(s e )t
Isq (6) Fig. 3. Block diagram of the decoupling method
(I5 I7 ) sin 6( )t
sd5 sd7 s e I
Lo mrq
I5mrq5 7
I mrq7 cos 6(s e )t
T
B. Stator voltages 5 7
Stator voltage equation is the main part of stator side r I mrd5 I mrd7 sin 6(s e )t
control scheme. It [(7) and (8)] gives the gist and clarity to the
control. The stator side control is operated on combined
L Isq
o
5
7
Isq5 Isq7 cos 6(s e )t
fundamental slip frequency, fifth and seventh order slip
Tr I5 I7 sin 6( )t
sd5 sd7 s e
frequency. Slip mentioned in (7) and (8) are given below.
dI mrq dI mrq5 dImrq7
5 7
Effect of these equations on control schemes is explained in a cos 6(s e )t
Vrq
further section. dt dt dt
L
( e e ) 5 (5(s e ) e )
Where, s s , s and o
dI5mrd5 7
(s e ) 5(s e )
dI
mrd7 sin 6(s e )t
dt dt
(7(s e ) e )
s7
7(s e ) (s e )Lo *
C.Rotor voltages
I mrd 5I5mrd5
7
7I mrd7 cos 6(s e )t
The rotor voltages are given in (9) and (10), where, the
behavior of dq-axes rotor voltages are expressed in terms of dc
5I5 7I7
mrq5 mrq7
sin 6(s e )t
component of (dq)+-axes current with sixth order ripple. The (10)
ripple is the results of multiplication of sixth frequency sine
D.Torque equation
and cosine function with algebraic sum of dc component of
(dq)5- and (dq)7+ axes currents. Electromagnetic torque of the machine is result of the
interaction of flux and MMF. The interaction of fifth and
I
Lo mrd
I5mrd5 7
I mrd7 cos 6(s e )t
seventh order harmonics, in the current and flux, results the
T 5
7
r I mrq5 I mrq7 sin 6(s e )t
oscillations in torque at sixth times of fundamental frequency.
Nature of torque is given in (11). The dc component and
o
5
7
L Isd Isd5 Isd7 cos 6(s e )t
coefficient of other higher order ripple of electromagnetic
torque are given in (12). It can be observed from (12) that, the
sq5
Tr I5 I7 sin 6( )t
sq7 s e
interaction of same frequency dq-axes stator current with
orthogonally placed magnetizing current components creates
dI mrd dI mrd5 dI mrd7
5 7 the dc component of torque as given in (11).
Vrd
dt cos 6( e
)t
dt M d,dc M d,cos 6 cos 6(s e )t
s
dt
L 2P L2o M d,sin 6 sin 6(s e )t (11)
o dI5 7 M d6
mrq5 dI mrq7 3 2 L r M d,cos12 cos12(s e )t
dt
dt
sin 6( s e )t
M
d,sin12 sin12(s e )t
(s e )Lo * However, interaction of different frequency dq-axes current
with flux results the oscillatory torque components of (12).
I mrq 5I5mrq5
7
7I mrq7 cos 6(s e )t
Two type of torque ripple is produced by the interaction of
5I5 7I7
fifth and seventh order harmonics which is sixth and twelfth.
mrd5 mrd7 sin 6(s e )t
But the resultant frequency of the torque oscillation will be the
(9) dominantly sixth times of fundamental frequency because its
5 5 7
7 I mrd
Isq Isd Isq5 Isd5 Isq7 Isd7
M d,dc
I mrq
5 7 5 7
M d,cos 6 sq5 Isq7
I Isd5 Isd7 Isq Isd Isq Isd
I5 (12)
M 5 7 5 7 mrd5
d,sin 6 Isd5 Isd7 Isq5 Isq7 Isd Isq Isd Isq 5
I
M d,cos12 7 7 5 5 mrq5
0 0 Isq7 Isd7 Isq5 Isd5 7
I
M d,sin12 7 7 5 mrd7
0 0 Isd7 Isq7 I5sd5 Isq5 7
I mrq7
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Auxiliary
Ir load
DC-link voltage control Ird 2-3/
through Rotor flux based
α-β/ 1-2-3/
Field oriented control Irq d-q Ir a-b/ DC-DC
R α-β Duty Buck
+
2K r cs I*sq _ const - PI
ratio Converter
Isq I dc2
Isq s 2 2cs o2 +
-
* I*sq I dc1
Vdc - + + - +
+- + ++ +
+
d-q/ Vdc
Vdc FFQ1 FFQ2 α-β/ Main
PI SRIM Load
FFD1 FFD2 1-2-3
I*mr -
+ + +
+- + + Diode
+ + Converter
Vrq _ est encoder Bridge
PI
Tr 1-2/
Isd Isd
Lo 2K r cs 1-2-3/
α-β/
s 2 2cs o2 Isq
d-q Rotor flux angle
R estimation
s P d
+
e 2
+
dt
(s e )*
Fig. 4. Control block diagram of the proposed control including all controllers and feedforward terms.
magnitude is higher than twelfth order terms (which are the Initially, all the quantities of various frequencies are
result of higher harmonics component of small magnitudes). transferred from αβ to ab plane using (13) thereafter; these are
transformed to respective planes by the help of (14).
E. Decoupling of stator and magnetizing currents Decoupling between different harmonics components is
It can be observed from the Fig. 2 that, the constant obtained by (15) to (20) for respective dq quantities. Where, F
frequency of dq-planes is appearing from the rotor reference shows the space phasor of stator current, and magnetizing
frame (ab) and it is the combination of prime mover speed current. Block diagram shown in Fig. 3 demonstrate that all
(ωe) and stator frequency (ωs). Therefore, all the quantities are relations shown in (15) to (20) are passed through low pass
treated in the rotor reference frame for decoupling of various filter (LPF) for getting the decoupled quantities. Cutoff
dq axes quantities. frequency of LPF can be selected from the large range of
je t frequencies available due to removal of high frequency ripple
Fab F e
(13) i.e. sixth times of fundamental frequency. Since, these
Fdq
j( s e )t
Fab e 5
, Fdq j5( s e )t
Fab e quantities are dc in nature, therefore, LPF leads to zero phase
(14) delay with no attenuation.
and Fdq
7
F j7( s e )t
e
ab
IV. CONTROL WITH DIFFERENT COMBINATION OF
Fd Ffd5
5 5
cos 6(s e )t Ffq5 sin 6(s e )t
CONTROLLERS AND FEED-FORWARD COMPENSATION
Fd (15)
Ffd7 cos 6(s e )t Ffq7 sin 6(s e )t
7 7 Main objective of control is to regulate the dc voltage
magnitude of the standalone DFIG-dc system in rotor flux
Fq Ffd5
5 5
sin 6(s e )t Ffq5 cos 6(s e )t
(16) reference frame. Importance of feed-forward compensation,
Fq
Ffd7
7
sin 6( )t F 7
cos 6( )t obtained by detailed modelling, is tested with different current
s e fq7 s e
controllers to understand their effectiveness in control and,
Fd5 Ffd cos 6(s e )t Ffq sin 6(s e )t
5
Fd5 (17)
Ffd7
7
cos12( )t F 7
sin12( )t
s e fq7 s e
Fq5 Ffd sin 6(s e )t Ffq cos 6(s e )t
5
Fq5
(18)
Ffd7
7
sin12( )t F 7
cos12( )t
s e fq7 s e
Fd Ffd cos 6(s e )t Ffq sin 6(s e )t
7
7
Fd7
(19)
Ffd5
5
cos12( )t F 5
sin12( )t
s e fq5 s e
F7 Ffd sin 6(s e )t Ffq cos 6(s e )t
7
Fq7
fq (20)
Ffd5
5
sin12( )t F 5
cos12( )t
s e fq5 s e Fig. 5. Bode plot of the resonant (R) controller
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leads to increase in the ripple of stator reference voltage. The wherever feed forward terms are not applied in the control. TI
transfer function of resonant controller is shown in Fig. 4, TMS320F2407A DSP is used for digital implementation of
where, the gain Kr is set according to ripple magnitude, ω c control algorithm. It is running at the clock frequency of 40
(10Hz) is selected for getting range of gain at nearby point of MHz with sampling time of 204.35µs
ripple frequency (300Hz) and ωn is ripple frequency which is Auxiliary loading arrangement is made by the help of dc-dc
subjected to compensate. Bode plot of resonant controller is buck converter. It helps to extract the maximum available
shown in Fig. 5. power at every speed by controlling the duty cycle of dc-dc
D. Current control with PI-R Controller including converter. A variable duty cycle is generated by comparing a
feedforward compensation desired Isq* with actual Isq through a separate PI controller
Use of feedforward terms with PI-R controller provides [Fig. 4.]. Since Isq is torque producing component therefore, it
the better control of dq axes current ripple as well as better provides constant torque operation even at variable speeds.
dynamics. Complete control block diagram is shown in Fig. 4
where, feed forward terms (FFD1, FFD2, FFQ1 and FFQ2) VI. EXPERIMENTAL RESULTS
are taken from equation (7) and (8). Standalone DFIG-dc system is modelled in rotor flux
reference frame and it is controlled from stator side through a
V. EXPERIMENTAL SETUP voltage source converter. The performance of the system is
tested for four combinations of control structures, as discussed
Experimental setup of stator side control of standalone
earlier, and it is given in the following subsections.
DFIG-dc system is shown in Fig. 6, where, the speed control
of dc machine is achieved by dc-dc converter. Voltage Source A. Effect of various controllers on system performance
Converter (VSC) is connected at the stator side of SRIM and and their effect on torque ripple
three phase diode rectifier is connected at the rotor side. DC Testing condition for all the control structures is kept the
link voltage is made common between load and VSC. Virtual same for comparison. SRIM is initially rotated in sub
battery arrangement (created by separate diode rectifier) with synchronous mode by speed controlled dc machine. The
series connected power diode is connected in parallel of dc- control is started in ramp fashion for smooth voltage and flux
link, for voltage build-up, in the beginning of control. The buildup which maintains the voltage by flux ratio constant
series connection of power diode provides smooth removal of during starting. Thereafter, the speed is taken to super
battery when dc link voltage built up. Two stator current synchronous mode. In addition to this, step load is applied and
sensors, two rotor current sensors, one dc link voltage sensor, removed during each mode of operation only with main load
and an encoder are used for verification of control scheme of and constant torque is maintained by auxiliary load with fixed
standalone DFIG-dc system. Two rotor voltage sensors are main load.
used for observing the rotor voltage and are not a part of The performance of system for the control scheme based on
only PI controller is shown in Fig. 7 (a), (e), (i) and (m). In the
control scheme. The rotor side current sensor is used for
Fig. 7(a), Vdc is tracking the Vdc* and, the Isq is also tracking
deriving the feed forward terms, and these are not needed
Fig. 8. Steady state voltage and currents of rotor and stator in various control methods with their harmonic spectrum Scale: Vr1=170 V/div, Ir1 = 22
A/div, Time (rotor)=0.02s/div: Vs1= 85 V/div , Isa = 10.39 A/div, Time (Stator)=0.1s/div
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the Isq* which is the output of Vdc-PI controller. The flux (Isd) To compensate sixth order current ripples e.g. derivative,
is built smoothly using a ramp reference (Isd*=Imr*). When it non-derivative with better dynamic response and harmonic
reaches the rated value, the load dependent part of flux is compensation, it is required to use of feedforwards i.e. cross
added in the flux reference (21), as visible in Fig. 7(e). The coupling and back EMF. Fig.7 (d), (h) (l) and (p) show the
flux reference becomes negative, due to negative (s e )* , performance of standalone DFIG-dc system using PI-R
controller with feedforward terms. The ripple compensation in
which is the constant frequency of rotor quantities. It is
current and torque is better compared to all other control
selected negative for obtaining fractional value of slip under
structures discussed above, but the ripple content of stator
positive (anticlockwise) prime mover speed.
reference voltage is increased compared to PI-R controller. In
Vrq _ est I*sq this structure, the system is more sensitive to dynamics
I*mr (21)
Ls (s e )* Ts (s e )* condition, and it is reflected in the form of overshoot during
load change in sub-synchronous mode. The magnitude of
Vrq_est is the dc value of (10). The variation of dq-axes stator ripple in Pr is lowest in this method whereas, it is highest in P s
reference voltage is shown in Fig. 7(e). Ripple torque of (11) as shown in Fig. 7 (p).
with sixth order dominant ripple frequency is shown in
channel-2 of Fig. 7 (i), whereas the dc component of torque is B. Effect of various control structures on steady state
depicted in channel-3. However, the actual torque without voltage and current
neglecting higher order harmonics is estimated by (22) and, is Steady state per phase ac quantities of SRIM in different
plotted in channel-4. Therefore, magnitude of ripple is higher control structures are plotted in the Fig. 8. Data of all control
in Md compare to Md6. Constant torque mode is achieved by structures are taken from oscilloscope and, then plotted
controlling auxiliary load via dc-dc converter. In this control, together in MATLAB for the purpose of comparison. Effect of
actual Isq is maintained almost constant for constant Isq ac quantities based on only PI-controller on rotor voltage,
reference as shown in Fig. 7 (m). Active power of rotor and rotor current, stator reference voltage and stator current are
stator are calculated by the help of (1) and (2).This leads to shown in Fig. 8 (a), (f), (k), and (p). Distortion of rotor voltage
constant Md and constant Pr, but nature of Ps changes with and current can be observed from the Fig. 8 (a) and (f) due to
speed as stator takes power in sub-synchronous speed and the diode rectifier at the rotor side. Rotor voltage and current
generates power in super-synchronous speed as shown in Fig. distortion reflects on the stator reference voltage and current,
7 (m). in the form of ripple frequency, which is super imposed on the
Md
2P
32
Ir Is IrIs (22) fundamental of slip frequency, and it is shown in Fig. 8 (k)
and (p).
Performance of standalone DFIG-dc system is shown in The standalone DFIG-dc system controlled using PI
Fig.7 (b), (f) (j) and (n) when feedforward terms FFD1, FFD2, controller and feed forward terms are plotted for analyzing the
FFQ1 and FFQ2 are used with PI-controller. The performance behavior of ac quantities in Fig. 8 (b), (g), (l), and (q). Use of
is same, but the ripple content of Isq is reduced compare to feedforward terms in control leads to reduction of harmonics
previous control, it can be observed in Fig. 7(b). This ripple TABLE II
reduction is achieved on the cost of increased stator reference COMPARISON OF HARMONIC SPECTRUMS OF ALL CONTROL SCHEMES
voltage ripple, since it now includes feedforward terms [Fig 7 Magnitude of Various PI PI - FF PI-R PI-R - FF
AC quantities
(f)]. The reduction of current ripple leads to reduction in
Fundamental (50Hz) lowest higher lower highest
torque ripple (Md) magnitude [Fig 7 (j)]. The PI with feed component in rotor
forward components provides the limited compensation voltage
because derivative and resistive component of ripple Fifth (250Hz) lowest lower higher highest
components in (7) and (8) are not included for simplicity of harmonic component
control. The magnitude of ripple in P r and Ps also affects by in rotor voltage
the feed-forward compensation. It can be seen from the Fig 7 Fundamental (50Hz) lower lowest highest higher
(n) that magnitude of ripple in P s is increased drastically but it component in rotor
reduces the ripple content in Pr. current
To compensate all kind of sixth order ripples i.e. derivative, Fifth (250Hz) highest higher lower lowest
and non-derivative ripples (resistive drop, cross coupling and harmonic component
in rotor current
back EMF) resonant controller is used with PI controller, but
cross coupling and back EMF type feedforward terms are not Fundamental (4Hz) lowest higher lower highest
component of stator
used initially for testing the ripple compensation. Fig.7 (c), reference voltage
(g), (k) and (o) are demonstrating the performance of 296Hz ripple lowest highest lower higher
standalone DFIG-dc system using PI-R controller. From these component in stator
plots, it can be concluded that, although the ripple content in reference voltage
current is reduced, the ripple in stator reference voltage is not Fundamental (4Hz) lower lowest highest higher
increased much as compared to previous control scheme. It component of stator
gives better torque ripple reduction. Compared to feed forward current
compensation, PI-R controller based compensation reduces the 296Hz ripple highest higher lower lowest
magnitude of ripple in Ps, but it increases in Pr as shown in Fig component in stator
current
7 (o).
0278-0046 (c) 2017 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.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2017.2762644, IEEE
Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
0278-0046 (c) 2017 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.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2017.2762644, IEEE
Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
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on, Vol.55, No.1, pp 218 - 228, Jan 2008. Department of Electrical Engineering, Indian
[4] Cardenas, R., Pena, R., Alepuz, S., Asher, G., "Overview of Control Institute of Technology Delhi, India. His areas of
Systems for the Operation of DFIGs in Wind Energy Applications," research interests include power electronics,
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[5] M. F. Iacchetti, G. D. Marques, R. Perini, “Operation and Design Issues
of a DFIG Stator-Connected to a DC-Net by a Diode Rectifier,” IET Amit Kumar Jain (S’04-M’12) received his B.E
Electric Power Appl., vol 8, No. 8, pp. 310-319, Sept. 2014. from SGSITS, Indore, in 1999; and M.Sc
[6] G.D Marques, M.F. Iacchetti, "Stator Frequency Regulation in a Field- (Engg.) and Ph.D. from Department of Electrical
Oriented Controlled DFIG Connected to a DC Link," IEEE Trans. Ind. Engineering, I.I.Sc., Bengaluru, in 2004 and
Electron.,vol.61, No.11, pp.5930-5939, Nov. 2014. 2010 respectively. He worked as Research
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Control in a DFIG Connected to a DC Bus via a Diode Rectifier," IEEE Center from 2010-2012, before joining as
Trans. Power Electron.,vol.30, No.3, pp.1286-1296, March 2015. Assistant Professor in Department of Electrical
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0278-0046 (c) 2017 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.