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Active and Reactive Power Control of a Variable Speed Pumped Storage System

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 Active and Reactive Power Control of a Variable
Speed Pumped Storage System
Usman Nasir[1] (IEEE Student Member), Z. Iqbal[2]
[1]
National University of Sciences and Technology,
Islamabad, Pakistan
[1]
09beeunasir@seecs.edu.pk
Abstract—today, variable speed pumped storage (VSPS)
system is an emerging technique, being used in hydro powered
plants to increase the efficiency, quality and control of the power
of the grid. The doubly fed induction machine (DFIM) based
VSPS systems are gaining more importance because of the cheap
price of the converter i.e. back to back power electronics
converter. This paper discuses an efficient method for the rotor
side converter (RSC) to control the active and reactive power
flowing through the stator of DFIM while the grid side converter
(GSC) has been used to maintain the DC voltage level. This paper
also discusses the VSPS systems Worldwide and its comparison
with hydro powered projects which are recently developed in
Pakistan. This paper suggests the use of VSPS systems in
Pakistan to increase the efficiency of the conventional hydro
power projects.
Keywords— power electronics converters, DFIM, pumped
storage, power control
I. INTRODUCTION
The doubly fed induction machine (DFIM) is popular for
the applications related to the reduction of power fluctuations
from the wind turbines and for wind energy conversion
systems (WECS), it is usually referred as doubly fed induction
generator (DFIG). Most of the work, considering a DFIM, is
being done in a configuration in which the DFIM is driven by a
wind turbine and stator of the DFIM is directly connected to
the grid while the rotor is connected to the grid via power
electronics converter [1]. An efficient control of power and
VAR- compensations for DFIM with wind turbine [2] and the
vector control for the mentioned system have been successfully
developed [3]. The replacement of a wind turbine with a hydro
turbine, leads to the concept of variable speed pumped storage
(VSPS) system.
The VSPS system has the capability to store a large amount
of electrical energy, with a single reversible pump-turbine or a
Francis turbine [4] but the DFIM for VSPS systems will be
much larger than for WECS. Fortunately, a significant
evolution has been seen from the last 10 years in the modeling
of VSPS systems [28]. For example, a VSPS system was
commenced in 1981 with a capacity of about 17.5 MW at
Narude Power Plant for demonstration purposes and a 400MW
VSPS system was commissioned in 1993 for Okawachi Power
Plant [28]. This shows that Japan has pioneered in the field of
978-1-4799-7993-6/15/$31.00 ©2015 IEEE
M.T. Rasheed[3] and H. Minxiao[4]
[2]-[4]
North China Electric Power University
Beijing, 102206, China
[4]
hanminxiao@ncepu.edu.cn
VSPS systems and it has superseded China and America. Now
Israel is going to construct its first VSPS system at Gilboa with
a capacity of 300MW [27]. This paper discusses the active and
reactive power control of the DFIM in a VSPS system and it
proposes an efficient active and reactive power control method
for the rotor side converter (RSC) while grid side converter
maintains the DC voltage and simulation is done in Matlab/
Simulink® along with PSIM® using SimCoupler®. Today, the
energy crisis in Pakistan has reached an un-tolerable level and
one of the most important factors is the efficiency of energy
that is being produced from hydro power projects. The
country’s main power source is the conventional hydro power
dam and renewable energy sources such as wind and solar is
emerging these days but these renewable energy sources can’t
fulfill the demand. This paper suggests the use of Francis
turbine or a pump-turbine with DFIM to make VSPS system
for upcoming hydro power projects in Pakistan. In 2001, a 184
MW Chashma Hydro Power Project was built in Pakistan and
it still used the conventional Bulb type turbines with
synchronous generator and in 2012, a 72 MW Khan Khwar
Hydro Power Project was also built, although it used Francis
type turbines but it was also not a VSPS based hydro project.
Considering the last decade, Pakistan has failed to develop
VSPS systems while the countries like Japan, China and USA
are utilizing the advantages of these systems.
II. VARIABLE SPEED PUMPED STORAGE USING HYDRO
ELECTRIC TURBINE
VSPS system uses a reversible hydro turbine to store the
electrical energy by pumping the water from a lower reservoir
to a higher reservoir during the time when the demand of the
load is low and it pumps or generates the electricity by
allowing the water from higher reservoir to a lower reservoir
during the period of time when the demand of power is high.
Today, the maximum efficiency of a VSPS is about 85% [23].
In a VSPS system, the stator of DFIM is connected to the grid
through a transformer while the rotor of DFIM is connected to
adjustable blade hydro turbine and a power electronics
converter is used to control the speed of the DFIM as shown in
the Fig. 1.
Fig. 1. Variable speed pumped storage (VSPS) system using DFIG fed by a
back-to-back power electronics converter Fig. 2 The electrical equivalent circuit of the DFIM

In reference [5], the authors investigated the comparison of . . (2)

different topologies of power electronics converters i.e. 2-
Level Converter, 3-Level Diode Clamped Converter and 11-
Level H-Bridge Cascaded Converter using Indirect Field . . (3)
Orientation Control (IFOC) and the results show that the
converter with a higher number of levels, will help the speed . . (4)
control of a DFIM in VSPS system to have less fluctuations.
Previously, the work has been done on the speed control of a
DFIM in a VSPS system [5] and also a lot of work has been . (5)
done on the power control of DFIM with wind turbine [6].
Many papers have been published on power electronic
. (6)
converters, control systems and modeling of DFIM in a VSPS
system [7]-[10] but there has not been much work on the power
control of DFIM in a VSPS system. Fixed speed turbines can’t The magnetic flux can be represented by the following
provide a high efficiency; specifically during pumping mode equations;
because SM is connected directly to the grid will operate at a
constant speed i.e. the speed is locked with the system . . (7)
frequency while the flow of the water from the head changes . . (8)
instantaneously and the only variable in the system is the gate . . (9)
position. A variable speed turbine can help the system to attain
. . (10)
a higher efficiency as it increases the power adjustment
capability by changing the gate position [25] and as well as the . (11)
rotational speed [24] because the speed of the machine is not . (12)
locked to the system frequency. The DFIM used in the VSPS Where;
system, ensures the power produced to be optimized [12]. r : rotor’s frequency, s : synchronous frequency

Moreover, this kind of topology allows the coupling of the
renewable energy sources i.e. wind turbine system or
photovoltaic system with the grid [15]. A wind turbine
connected to the grid, has a lot of fluctuations and sometimes
during the low speed of wind, the power produced is not
sufficient to fulfill the demand. Therefore, a VSPS system is
required to compensate for the power required during that time.
A. Modeling of DFIM and Hydro Turbine
The mathematical dynamic model of the DFIM can be
transformed into a two phase synchronous rotating frame i.e d-
q-axis. The transformation to d-q-reference frame makes the
control system easier and efficient [11]. The electrical
equivalent circuit of the DFIM is shown in the Fig. 2. The
DFIM can be modeled electrically by using the following
equations [12]-[16].
R . . (1)
Rr, Rs : rotor’s resistance and stator’s resistance, respectively
Lr, Ls, Lm : rotor’s inductance, stator’s inductance and mutual
inductance of rotor and stator, respectively
The total power of the DFIM is given by the following
equations [17];
(13) (14)
The stator side active and reactive power is given by the
following equations [20]-[22].
. . (15)
. . (16)
Stator resistance is neglected because the voltage drop is
very small than the voltage of the grid. In the vector control
method, the stator flux is aligned with the d-axis in the
synchronous rotating frame [3]. The mentioned assumptions in
the vector control will lead to the following equations.
 0 (17) (18) machine (SM) [19] but the control of DFIM is more complex
Because; than a synchronous machine (SM).
(19) 0 (20)
B. Rotor Side Converter (RSC)
Equations (1), (2), (5), (6) can be written as follows;
The back-back converter in VSPS using DFIM has a rotor
side converter which controls the speed of the DFIM and a grid
. 0 (21)
side converter which maintains the DC voltage. Both of the
converters can work in bi-directional mode by employing
. (22)
IGBT’s. Reference [13], [16], [29] have used the power control
. (23) method on the RSC converter but it is for WECS. For VSPS
systems a similar control method can be adopted. DFIM has
. (24) been used instead of SM due to the mentioned advantages.

Equations (15), (16) can be written as follows; Active and reactive power reference values can be compared
with the actual active and reactive power of the grid to generate
. (25) . (26) the decoupled reference signals i.e. ‘iqr_reference’ and ‘idr_reference’.
Substituting the values of ‘iqs’ and ‘ids’ from (24) and (23) to The two decoupled reference signals are then compared with the
(25) and (26) respectively; rotor currents in d-q-axis i.e. ‘iqr’ and ‘idr’.
. . (27)
_ _ (35)
. . . (28)
_ _ (36)
The equations (27) and (28) show that the active and reactive
power of the stator of DFIM can be controlled in a decoupled
manner by controlling the values of ‘iqr’ and ‘idr’ respectively. The error signals are then converted to ‘vqr’ and ‘vdr’ by
The mechanical model of the DFIM can be expressed using the substituting (23), (24) in (3), (4).
following equations [12];
. . . . (37)
. . (29)
. . . . . (38)
Where;
Where;
(30), . (31)
(39) 1 (40)
.( . . (32)

(33)

JT =Total moment of inertia for the VSPS System

m = Speed of DFIM, = Speed of hydro turbine
Tm = Mechanical torque, Te = Electromagnetic torque
K = Gear ratio coefficient, p= pair number of poles
The hydro turbine power is greatly dependent on the water hear
and water flow rate [24]. Reference [15] has discussed the hydro
turbine models and their efficiencies but generally the hydro
turbine can be modeled using the following equation.
ρ. g. Q . H. η (34)
Where;
Mechincal power produced by hyrdo turbine Fig. 3. Active and Reactive power control using RSC of DFIM for VSPS
ρ Density of the water, g Gravitational acceleration systems
Q Water flow rate, H Head of the water These decoupled voltage signals are then fed to the PWM
η Turbine efficiency controller of a RSC converter to control the power. The RSC
One of the main advantages of the DFIM is that the power controller works in a way to approach the reference values of
electronics converters are rated at about 30% of the DFIM’s the power by adjusting the speed of DFIM. The block diagram
rating [13]. This reduces the cost of the converter because of for the control system of RSC is shown in Fig. 2. The RSC
the switching device i.e. insulated gate bipolar transistor converter is a 3-Level diode clamped converter because the
(IGBT). It allows the separate control of active and reactive THD of the rotor currents in much lesser than cyclo-converter
power, power factor control [18] and it provides a higher or a 2-Level converter [5]. Cascaded multi-level converters can
efficiency of about 10% greater than that of a synchronous also be used [30] but they will make the control system more
complex while the focus is on the active and reactive power
control.
C. Grid Side Converter (GSC)
Grid side converter is usually used too control the DC
voltage present between the RSC and GSC [6]. The
capacitance value should be selected carrefully. The GSC
control loop can also be designed in ordder to control the
reactive power added to GSC from the grid or vice versa [16].
The aim of this paper is to control the reactivve power from the
stator side of the DFIM using RSC while the GSC only
maintains the DC voltage level. A simplle control system
technique can be applied to control the GSC C as shown in the
Fig. 4.

PS system in PSIM® with hydro turbine

Fig. 5. The simulation circuit for VSP
®
mode of Matlab/Simulink .

Fig. 4. DC voltage control using GSC of DFIM using VSPS

V systems
A phase locked loop (PLL) has been ussed to estimate the
value of ‘θg’ as shown in Fig. 4. The DC voltage i.e. ‘Vdc’ is
compared with the reference value i.e. ‘Vdc_ref
d ’ and an error
signal i.e. ‘Vdc_error’ is generated. This errror signal is then
compared with the grid side decoupled currrent i.e. ‘igdr’ and Fig. 6. The change of active power flowing
fl from stator of the DFIM to the
grid at t=2s
the signals ‘sq’ and ‘sd’ can be fed to the PWM generation
block for a 3-Level diode clamped GSC.
D. Simulations and Results
A 3-Level diode clamped converter topoloogy has been used
for the simulation of active and reactive power control of
VSPS system. The innovation is that the RSC C converter can be
used to control the active and reactive poweer of the grid from
the stator of the DFIM, as shown in the Figg. 3. As mentioned
earlier, the previous research focuses on thee control of power
via rotor side of the DFIM or DFIM with WECS. W The idea is Fig. 7. The change of reactive power flowing from stator of the DFIM to the
grid at t=2s and at t=3.5s
to use the results obtained in (27), (28) i.e thhe active power of
the stator depends on the ‘iqr’ while the reactive power
depends on the ‘idr’. So, changing the speedd of the DFIM will
change the decoupled rotor currents and hennce the decoupled
stator currents i.e. ‘ids’ and ‘idr’; thus the active
a and reactive
power of the stator changes. The DFIM and its control system
have been modeled in PSIM® while the Simulink S ®
’s hydro
turbine model has been integrated with w PSIM® via
SimCoupler®. Fig. 5. Shows the circuit diaggram of DFIM and
its control in PSIM®.
The Fig. 6 shows the active and reactivve powers flowing
from the stator of the DFIM to the grid. A change of stator’s
active power i.e. PRef= 40 kW to PRef’= 555 kW is applied at Fig. 8. The change of active and reacctive power flowing from stator of the
t=2s. The graphs shows that the stator’ss active power is DFIM to the grid at t=0.55s and t=0.955s, respectively
changed while the reactive power’s referencce is held constant For a large DFIM with hydro turbines, system will has more
i.e QRef = -2 kvar. A change of reactive poweer of the DFIM i.e. power fluctuations when a laarge power change is applied
QRef= -2 kvar to QRef= 8k var is applieed at t=2s and a suddenly i.e. 35 kW at t=0.555s and 8 k var at t=0.95s for
corresponding change can be seen in thee Fig. 7. Another active and reactive power, respectively as shown in Fig. 8.
change i.e QRef= 8k var to QRef= -10k var is applied
a at t=3.5s. Hence, in order to clearly demoonstrate the results, a very small
 hydro turbine is used with a small DFIM because a large
machine will produce power fluctuations and which will
create ambiguity in the results and waveforms.
Fig. 9. Fast Fourier Transform of Rotor Currents of DFIM
Fig. 10. Stator Currents of DFIM (When PRef changes at t=0.4s)
Fig. 11. The DFIM’s rotor speed change at t=0.8s due to the change in the
power’s reference value
1200
Where; 60
. 6
The DFIM changes its power by changing the speed of
rotor i.e. 1400rpm to 1520rpm, working in the super-
synchronous mode as shown in Fig. 11. The allowable change
of rotor’s speed is about ±30% [15] i.e. 840rpm to 1560rpm.
III. VARIABLE SPEED PUMPED STORAGE IN UNDER-DEVELOPED
COUNTRIES
From the last decade, it has been seen that there is huge
increase in the demand of electricity, especially in under-
developed countries due to the increase of population. Hydro
electric power projects can help the countries to meet the
demand of consumers. The developed countries such as Japan
and USA are successful in making the hydro power efficient by
introducing the concept of VSPS system. A comparison of
hydro power (VSPS and non VSPS) projects in China, USA
and Japan is shown in the Fig. 12.
China has hydro power projects nearly twice as USA has,
as the population of China is about 4 times greater than that of
USA [31]. The VSPS systems have been developed in a lot of
countries as shown in Fig. 13. China as a single country is
largely using VSPS systems i.e. 22% of the total power from
pumped storage plants in the whole World while Asia has about
26% and Japan is the main contributor in this value. India being
an under-developed country has a share of about 5% but
unfortunately, Pakistan is still not able to develop any VSPS
system. In Pakistan, a 184 MW Chashma Hydro Power Plant was
built in 2001 but it was also a conventional hydro power project
while pumped storage systems have also been developed
successfully at different sites in the World including Niagara Falls
[32].
Fig. 12. Total power in GW from hydro power projects in China, USA and
Japan
Fig.13. Percentage of utilization of pumped storage technique in hydro power
projects Worldwide
Moreover, a 72MW Khan Khwar Hydro Power Plant was
installed in 2012 which used two Francis type turbines and one
Pelton type turbine but this project also is not based on VSPS
system [33]. The data for the mentioned project are given in
Table. I
TABLE I. DATA FOR KHAN KHWAR HYDRO POWER PLANT
Power Generator
(MW)
Hydro Turbine
Gross Head – 250m
Total 3 units Synchronous
72
( 1 x 4 MW Pelton Type + 2 x 34 MW Type
Francis Type)
If possible, an introduction of VSPS system in this project
can improve the efficiency and the power control. The use of
DFIM by replacing the conventional SM, will allow the
decoupled active and reactive power control because the
reactive power compensation of the grid is much faster for
DFIM than SM [18]. The future projects in Pakistan must
consider the use of VSPS with DFIM to help the country
improve its energy quality. The SM being used at Khan Khwar
Project can be replaced with a DFIM to make VSPS system in
Pakistan.
IV. CONCLUSION
There has been a lot of research on DFIG based WECS but
a similar decoupled power control technique can be used to
control the power of DFIM based VSPS systems. The variable
speed hydro turbine changes its speed to change the power
flowing from DFIM’s stator as the stator power depends on the
decoupled stator and rotor currents. The RSC has been used to
control the power while the GSC only controls the DC voltage
between the RSC and GSC. Pakistan is facing an alarming
situation in terms of electricity shortage and there is an urgent
need of VSPS based hydro projects in Pakistan. If possible, in
Khan Khwar Hydro Project, the concept of VSPS must be
introduced using DFIM and the explained power control
method should be implemented to change the power of the
DFIM based VSPS. Further work is to optimize the system
using predictive control algorithms.
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