GRID CODE REQUIREMENTS AND PERFORMANCE

OF ADAPTIVE INTERNAL MODEL CONTROLLERS

FOR BETTER VOLTAGE SAG RIDE THROUGH IN
DOUBLY FED INDUCTION GENERATOR
WIND FARM

A SYNOPSIS

Submitted by

AMUTHAN.N

in partial fulfillment of the requirements for the degree of

DOCTOR OF PHILOSOPHY

FACULTY OF ELECTRICAL ENGINEERING

ANNA UNIVERSITY

CHENNAI 60 0025
 DECEMBER 2013
1 Introduction

Renewable energy sources play a pivotal role in improving the economic status
of the country, next to energy conservation. In the modern electrical generation
systems, renewable energy sources are getting importance to produce high quality
green electricity. Renewable energy sources are important alternative energy sources to
improve the living standard of the people in the 21 st century. Recent news says that
Indian living standards cause present population to consume 25% of world’s
unconventional energy sources.

Wind is a freely available resource for power generation. Conversion of power

from wind is a rapidly developing area. The running cost for converting renewable
energy into power is negligible, compared to conventional power plant and the value of
fuel saving is very high. Also extraction of power from wind is cheaper than solar
energy system.

Wind energy is a significant source to produce clean electricity in our country.

Conventional and unconventional supply sources are limited in the modern era, and
most of such energy resources have already been exploited fully. In the coming
decades, the world will rapidly have to move from fossil energy to non-fossil energy.

Windmills are mostly used to pump water, grinding, threshing, cutting

sugarcane, and moving saline water in salt works. Development of technology to
utilize the high-speed wind resource is the foremost technology to improve the
economic status of the people.

The first wind turbine was developed using squirrel cage machine in the late
1980s with a rated power of less than 100kW. The modern wind turbines with DFIG
have a rated power up to 5.0MW. These turbines are constructed for very high
efficiency, performance and very low maintenance. Also it is suitable for next
generation offshore application.

DFIG Grid
3

Wind 3
Turbine

Rotor Side Grid Side

3 Converter Converter

Rotor side Grid side

converter converter
control control

Fig.1 General Configuration for shunt connected DFIG wind turbine system.

Internal Model Controller (IMC), a robust controller was proposed in

1982.Internal model controller is mostly used in current control; papers by (Andreas
Peterson 2005, Johan Morren et al 2005, HU Jia-bing et al 2006, Yuan Xufeng et al
2010, Al-Chalabi et al 2009, David Campos-Gaona et al 2013) describe the internal
model controller for voltage sag ride through. A celebrated property is the fact that the
adaptive algorithm does not formally require ‘‘any prior assumption on the plant’’ and
the plant can be of any order, stable or unstable, non-minimum phase, linear or
nonlinear (Brian D.O. Anderson et al 2006).

2 Motivation

Wind energy is the key development area to meet the power demand of the
country. India is one of the leading countries in the world for natural resource
availability. The high-speed wind is one among them. Rural electrification is one of the
key issues associated with the Indian wind energy development. Many researches are
still going on to improve the generation of power from wind. Commercialization of
wind energy depends mainly on technological development and making it
economically viable.

The grid integration of wind farms has several problems. One of the main
problems is fault ride through and the fluctuation. Voltage Sag Ride Through (VSRT)
is a critical phenomenon in wind power generation system. The main causes for the
voltage sag are error in system configuration, problems in grid connections, failure in
protective devices, lightning and different types of faults. According to the present
requirements, wind turbines should remain connected and actively support the grid
during faults. This requirement became essential because the contribution of power
generated by a wind farm can be significant and it was at risk of being lost as in the
past practices. Earlier, wind turbines were simply disconnected from the grid during
faulty condition and reconnected when the fault is cleared and the voltage returned to
normal. This method causes financial losses and requires more manpower requirement.

3 Objective and Scope

3.1 Objective of the work

The present work aims at the development of rotor side current control strategies
using adaptive internal model controllers for grid connected Doubly Fed Induction
Generator (DFIG), with particular reference to wind power generation. The general
objective of this research is to investigate the improvements required in the Indian grid
code, performance of the adaptive internal model controller with adjustment
mechanisms used to support the generator and to minimize the VSRT problems.

3.2 Scope of the work

Normally, FACTS devices like SVC, STATCOM, Storage devices and

Superconducting technology are used to improve the performance of the VSRT.In this thesis
much emphasis is given to the performance of the adaptive internal model controller with
model free and model reference approach. Further, the influence of adjustment mechanism
used in the adaptive internal model controller is studied for VSRT Problem. Fixed gain
adjustment mechanism with MIT Rule is simulated and the problems associated with the fixed
gain adjustment mechanism are rectified with variable gain adjustment mechanism using
FUZZY and ANFIS.

4 Summary of Research Work

4.1 Review of Grid Code Requirements

In the recent years, installation of renewable energy system is increasing rapidly. At

the same time, the power penetration to the grid due to renewable energy sources has also
increased. This increase in the power penetration causes several problems compared to
conventional power sources because of scarcity of renewable power sources. The main
problems associated with transmission of power to long distance from the renewable
energy sources are power fluctuations and VSRT.

Wind energy is highly variable and fluctuate with respect to meteorological

conditions, with variations of wind velocity and direction. Sometime the power output may
be zero for a long period. Therefore, it is difficult to predict and connect wind turbine power
output to the grids. The connection procedure is different from conventional electricity
generation methods. Grid integration is the critical problem in the large-scale wind farms. A
better interconnected grid will also improve the running cost and the emerging pricing policy.
Therefore, it requires a common procedure to connect the system to the grid. Many countries
have developed their own procedure to make the connection to the grid called grid code.

Grid code means connection and operational requirements and specific standards for
wind farm grid integration. Modern wind farms must be able to provide active power control,
voltage and reactive power control, frequency control, power balance and fault ride-through
capability in order to maintain the electric system stability and reliability. Better understanding
is required for wind farm and grid interaction at distribution system operator level; otherwise,
it leads to long delay in connection approvals for developers and wind turbine manufacturers.
In addition, large variety of grid code requirements, with no technical justification will make
complex situation for wind turbine manufacturers. For example, some generators will not meet
the specific grid code requirements of some countries like Germany.

4.2 Modelling of the Doubly Fed Induction Generator

DFIG generator is widely used in wind farms. A variable speed generator has the
ability to capture more power from the wind. It is a wound rotor generator in which the stator
remains at a constant grid frequency. In addition, the rotor and stator are controllable
independently. It is also possible to include additional resistance in the rotor. The DFIG can
operate at maximum efficiency over a wide range of wind speeds. Also it is a flicker free
generator.

Equations in stator coordinates

Vs  rs is  s M  pi 2    1 ddt
s
s
(1)

Vr  rr ir   s - r  M  pi 2     1  ddt
r
r
(2)

M pi  2 =90o space rotator i.e., M

pi
 
2 = 0 -1;1 0 (3)

flux linkages

s  Lmis  Lr ir (4)

r  Ls is  Lmir (5)

Where
Ls  Lm  Lls (6)

Lr  Lm  Llr (7)

4.3 Adaptive internal model controller for voltage sag ride through
 Internal Model Controller (IMC) was originally developed for chemical engineering
applications and is considered as a robust control method. The additional cost of implementing
IMC compared to PI control is negligible, although IMC has lower parameter sensitivity. The
benefit of the IMC design method is that the controller parameters are expressed directly in the
machine parameters and the desired closed-loop bandwidth. Hence, the design procedure is
simple, and trial and error can largely be avoided. IMC is still very useful for standard PI
controller design. The controllers are implemented in synchronous coordinates, which has
been shown to yield the best performance among low-complexity current controllers (Lennart
Harnefors et. al, 1998).

one of the features of IMC is that it requires an explicit model of the plant to
be used as part of the controller. When the plant itself happens to be unknown, or the
plant parameters vary slowly with time owing to aging, no such model is directly
available a priori, and one has to resort to identification techniques to come up with
an appropriate plant model on-line(Aniruddha Datta et al 1996)

The rule of adaptive law is used to make the parameters of plant model approach the
parameter of the controlled plant and gradually equal it. Meanwhile, the controller parameters
can be adjusted online according to the internal model parameters. The design is simple and
parameter regulation is convenient. When the mismatch between the controlled plant and plant
model is serious, the low-pass filter can’t work effectively. So the adaptive control is
augmented to improve the system adaptability (Xuejuan Shao et al).

The behavior of the DFIG during voltage sag of 50% for duration of 150 ms is stimulated.
The generator can initially operate at variable speed with full load, while the stator remains at
a constant grid frequency.
The dither signal affects the slope of the saturation, the approximate equivalence
between the dithered and smoothed systems depends on the frequency of the dither
signal(Luigi Iannelli 2002).Dither injection is a technique used earlier in the controller to
improve the performance( Behera, R.K,2008).

4.4 Direct model reference adaptive internal model controllers for voltage sag ride
through
 Renewable energy sources are considered as green energy technology sources in the world
because of its low greenhouse gas emission. Wind power, which is the fastest-growing source
of electric power generation of electricity with minimal environmental impact. Controller is
another main part of the wind farms to improve the state of art performance. In recent years,
robust controllers are gaining important to improve the system performance by reducing the
maintenance and operational cost.

Once a disturbance (e.g. transient voltage dip) occurs on the motor, current, terminal
voltage and synchronous torque developed will change and worst case, the motor may lose
stability. Control of the motor to bring back the system to its stable operating point is an
essential requirement. Modal control, which is an alternative to optimal control for linear
systems, is attractive from the classical control designer’s point of view. The algorithm for
designing the modal control is computationally attractive compared to optimal control
algorithm (Suryanarayana Sarma, K 1978) and various other control techniques are
investigated in this thesis.

MIT Rule is otherwise called sensitivity approach, and straightforward gradient approach.
MIT Rule based adjustment mechanism will not give stable closed loop system and the
performance of the system is not consistent, normally small gain is used in MIT Rule for
better performance, so it yields slow response (Mareels, I.M.Y 1989).

ym(s)
Rm

Am


e(s)

U(s) Y(s)
R(s)
Gimc Gp
E(s)

Ginv

d(s)
Fig.2 General Direct Model Reference Adaptive IMC diagram.

This controller is also known as mixed scheme of supervision and control. It mainly
consists of a reference model in parallel, which adjust to the desired response if deviations of
the temporal response from the expected trajectory are observed. That is, a comparison
between the output of the model used to impose a determined frequency response at selected
point and the real response is performed; if deviations are detected, the desired frequency
response is modified according to a certain adaptation law. In the mentioned case, a simple
constant has been used, but this scheme can utilize any of the classical design Model
Reference Adaptive Control (MRAC) criteria, such as MIT Rule (Eduardo F.Camacho et al
1997).

TABLE 1 Comparison of Active Power using fixed gain and variable gain adjustment mechanism
SL.NO. ROTOR ACTIVE POWER
MIT RULE MIT RULE FUZZYMIT ANFISMIT WITH
WITH WITH DITHER DITHER

DITHER
1. 0.01% 0.01% 1.7% 0.8%
INITIAL TRANSIENT IN ROTOR ACTIVE POWER
2. 0.8% 5.1% 9.4% 7.6%
FINAL TRANSIENT IN ROTOR ACTIVE POWER
3. 0.4% 0.4% 5% 1.4%
STATOR ACTIVE POWER
4. 76% 76% 77% 77%
INITIAL TRANSIENT IN STATOR ACTIVE POWER
5. 5.5% 5.5% 5.5% 5.5%
FINAL TRANSIENT IN STATOR ACTIVE POWER
6. ABOVE ABOVE ABOVE ABOVE P.U.VALUE

P.U.VALUE P.U.VALUE P.U.VALUE

5 Conclusions

The control scheme of the grid-side converter is not addressed in this thesis. It is
assumed that the dc link voltages is constant and ripple free. Initially, the rotor side is
controlled without the protection circuit for the fault ride-through capability of the
DFIG wind turbine. Control implementation realized on an adaptive control approach
using Lyapunov theory adjustment mechanism, FuzzyMIT adjustment mechanism and
AnfisMIT adjustment mechanism are investigated for voltage sag ride through
capability. The influence of adjustment mechanism with fixed gain and variable gain is
simulated. It is observed that variable gain adjustment mechanism yields better
performance to improve the voltage sag ride through capability. The Anfis based
Adjustment Mechanism can handle high gain without affecting the dynamic
performance of the system.

A dither injected adaptive internal model control methodology is presented for

the performance study of DFIG for voltage sag in stator voltages. Stator flux, Rotor
flux, Stator current, Rotor current, Rotor Active Power, Stator Active Power, Stator
Reactive Power, Rotor Reactive Power, Rotor Speed and Torque of DFIG is simulated
using Matlab/Simulink environment. Stable operation of the DFIG was achieved by
means of a rotor current control technique. Also both real, reactive power are
controlled at the same time using this controller.

The analysis shows that dither signal substantially improves the voltage sag
performance of a DFIG wind farms and the amplitude of the dither signal is the critical
parameter to improve the performance of the dynamic system. Hence it is very useful
to reduce the torque ripples also. The proposed Improved Adaptive Internal Model
Control scheme has improved performance as compared with the conventional control
schemes. Simulation results have shown that the control is simple to implement and
very effective at compensating for the voltage sag ride through. Finally, the control
methodology proposed here can be easily extended to any other high performance
electric drives. Comparative results are presented for active and reactive power in the
proposed controller adjustment mechanisms.

Features of adaptive controller in a doubly fed induction generator is given as follows

 1. Smooth control action is possible with the proposed adaptive controller unlike
conventional grid connected wound rotor induction motor drive.

2. Controller depends very little on machine parameters.

3. Model reference controller is a derivative free controller.

4. The plant can be of any order, stable or unstable, non-minimum phase, linear or
nonlinear.

6 Proposed Contents of the Thesis

The proposed thesis has been organized into six chapters.

In Chapter I introduces very briefly, the basics of rotor current controller, review of doubly
fed induction generator, and some of the technical challenges in the interconnection of grid. It
presents the relevant state of art survey and sets the aim of the work carried out in the thesis.

In Chapter II the Indian and International grid code requirements are reviewed, The
improvements required in the Indian grid codes are also presented. In addition, some of the
possible solutions are mentioned and power quality issues are discussed.

In Chapter III the modeling of the doubly fed induction generator is dealt with. Review of
wind speed and system configurations are also given.

In Chapter IV the internal model controller and adaptive internal model controllers for
voltage sag ride through and grid fault response of the conventional DFIG system have been
presented through simulations.

In Chapter V the performance of direct model reference adaptive internal model controllers
for voltage sag ride through during grid fault response of DFIG system has been presented
through simulations.

In Chapter VI conclusion of the thesis with suggestions for further works are given.
6 References

[1] Al-Chalabi, L.A., Alwash, S.R. & Ataallah, A.H 2009,’Robust Internal Model Current
Control for Doubly-Fed Induction Generator’, Proceeding of Control and Applications,
pp.109-115.
[2] Andreas Peterson 2005, ‘Analysis, modeling and control of Doubly-Fed Induction
Generators for wind turbines’, Ph.D thesis, Chalmers University of Technology.

[3] Aniruddha data & James ochoa 1996,’Adaptive Internal Model Control: Design and
stability analysis’, Automatica, vol.32, issue.2, pp. 261-266.

[4] Behera, R.K, Das, S.P 2008, ‘Improved direct torque control of induction motor with
dither injection’, Sadhana, vol.33 (Part 5), pp.551–64.

[5] Brian D.O. Anderson & Arvin Dehghani 2006,’Challenges of adaptive control–past,
permanent and future’, Annual Reviews in Control, vol.32,pp.123–135.

[6] David Campos-Gaona, Edgar L. Moreno-Goytia & Olimpo Anaya-Lara 2013,’ Fault
Ride-Through improvement of DFIG-WT by integrating a two-degrees-of-freedom
Internal Model Control’, IEEE Transactions on Industrial Electronics, vol. 60, no.
3,pp:1133- 1145.

[7] Eduardo F.C., Manuel Berenguel, & Francisco R.R 1997, ‘Advanced control of solar
plants’, Springer-Verlag, Spain.

[8] HU Jia-bing, HE Yi-kang & ZHU Jian Guo 2006,’The Internal Model Current Control
for wind turbine driven Doubly-Fed Induction Generator’ , IEEE Conference Record
of Industry Applications Conference, 41st IAS Annual Meeting, Tampa,pp. 209- 215.

[9] Johan Morren & Sjoerd W. H. de Haan 2005,’Ride through of wind turbines with
Doubly-Fed Induction Generator during a voltage dip’, IEEE Transaction on Energy
conversion, vol. 20, no. 2, pp: 435-441.

[10] Lennart Harnefors & Hans-Peter Nee 1998,’ Model-based current control of AC
machines using the Internal Model Control Method’, IEEE Transactions on Industry
Applications, vol.34, no.1, pp.133- 141.

[11] Luigi Iannelli 2002,’ Dither for smoothing relay feedback systems: an averaging
approach’, Ph.D. thesis, University of Naples Federico II.
 [12] Mareels, I.M.Y. & Ydstie, B.E 1989,’ Global stability for an MIT rule based adaptive
control algorithm’, Proceedings of the 28th conference on decision and control, Tampa,
pp.1585–1590.

[13] Suryanarayana Sarma, K. 1978,’Studies on the excitation control of synchronous

motor subjected to voltage dips’, Ph.D thesis, IITK.

[14] Xuejuan Shao, Jinggang Zhang, Zhicheng Zhao & Xinyu Wen 2005,’Adaptive
Internal Model Control of Permanent Magnet Synchronous motor drive system’,
Proceedings of the Eighth International Conference on Electrical Machines and
Systems, Nanjing,pp. 1843 – 1846.

[15] Yuan Xufeng, Sun Haishun, Wen Jinyu, Li Naihu, Yao Meiqi & Yao Liangzhong
2010,’DFIG control design based on Internal Model Controller’, China International
Conference on Electricity Distribution, Nanjing,pp:1-6.

7 Publications

7. 1 Papers in Refereed international Journals

1. N.Amuthan, P.Subburaj and P.Melba Mary 2013 “Direct model reference adaptive
internal model controller for better voltage sag ride through in DFIG wind farms”,
 Elsevier, International Journal of Electrical Power and Energy Systems,vol:47,pp 255-
263. (Impact factor: 3.11, Serial No in Annexure: I is 3797).

2. N.Amuthan, P.Subburaj and P.Melba Mary 2013, “Voltage sag ride-through using
improved adaptive internal model controller for DFIG wind farms”, Elsevier,
Computer and Electrical Engineering, vol.39, pp.214–224. (Impact factor: 0.937, Serial
No in Annexure: I is 2000).

3. N.Amuthan, P.Melba Mary, P.Subburaj and C.Sharmeela 2012,”Ride-through and

direct model reference adaptive internal model controller for DFIG wind farms”,
International Journal of Sustainable Energy, Taylor and Francis, vol.31, Issue.4, pp.
229-250. (Serial No in Annexure: II is 8664).

7. 2 Papers in Refereed National Journal

1. N.Amuthan and P.Subburaj 2013,”Improvements in the development of grid code

and review of power quality requirements for fluctuating wind power generation in
India”, The Journal of CPRI, vol.9, no.2, June 2013, pp.223-230.

7. 3 Presentations in International Conference

1. N.Amuthan & P.Subburaj 2012 “Voltage sag ride through using adaptive controller
for

doubly fed induction generator wind farms”, IEEE-INDICON 2012, Kochi, 7-9 Dec

2012.