IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 35, NO.
6, NOVEMBER 2020
Stability Analysis on Torsional Interactions of
Turbine-Generator Connected With DFIG-WECS
Using Admittance Model
Srikanth Velpula , Student Member, IEEE, R. Thirumalaivasan , Senior Member, IEEE,
and M. Janaki , Senior Member, IEEE
Abstract—To evaluate the stability of Subsynchronous Torsional
Interactions (SSTI), we propose a simple and effective approach
using admittance model. The proposed approach gives the sub-
synchronous conductance based criterion to find the stability of
torsional interactions. The subsynchronous conductance based ap-
proach is utilized to evaluate the impact of Doubly-Fed Induc-
tion Generator based Wind Energy Conversion System (DFIG-
WECS) on the torsional vibrations of nearby turbine-generator.
The damping of Induction Generator Effect (IGE) and SSTI is
analyzed through admittance model at different wind speed with
various compensation level. The results of admittance analysis are
validated through eigenvalue analysis and transient simulation.
The results show that, the DFIG-WECS reduces the damping of
torsional modes in the low frequency region of subsynchronous
network mode. The damping of SSTI reduces with increase in wind
speed. Hence, the DFIG-WECS significantly destabilizes the low
frequency torsional modes at high wind speed with high compen-
sation level. Further, it is found that, the network conductance
at all critical torsional modes marginally reduces with Subsyn-
chronous Damping Controller (SSDC) at the inner loop of Grid
Side Converter (GSC) controller compared to other locations in
DFIG converter controllers.
Index Terms—Subsynchronous resonance (SSR),
subsynchronous torsional interactions (SSTI), DFIG based wind
energy conversion system (DFIG-WECS), admittance analysis,
critical conductance, subsynchronous damping controller (SSDC).
I. INTRODUCTION
HE integration of power converter based HVDC, solar
T system and Wind Energy Conversion System (WECS)
into the power system may arise the SubSynchronous Inter-
actions/SubSynchronous Oscillations (SSI/SSO) [1]–[15]. De-
pending upon the participation of different subsystems, the SSI
is categorized into Subsynchronous Control Interactions (SSCI)
and Subsynchronous Torsional Interactions (SSTI). The SSCI
is the interaction between the power converter and the series
Manuscript received December 7, 2019; revised February 22, 2020 and
April 22, 2020; accepted April 26, 2020. Date of publication May 4, 2020;
date of current version November 4, 2020. Paper no. TPWRS-01836-2019.
(Corresponding author: Thirumalaivasan Rajaram.)
The authors are with the School of Electrical Engineering, Vellore Insti-
tute of Technology, Vellore 632014, India (e-mail: srikvelpula@gmail.com;
thirumalai22@gmail.com; mjanaki74@gmail.com).
Color versions of one or more of the figures in this article are available online
at https://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TPWRS.2020.2992111
0885-8950 © 2020 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See https://www.ieee.org/publications/rights/index.html for more information.
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4745
compensated transmission line, whereas SSTI is the interaction
between the power converter and torsional vibrations [2]–[4],
[12]–[14]. The damping of SSTI depends on the operating modes
of converter controllers and their parameters. It is notable that
the power electronic converter may provide negative resistance
in the subsynchronous frequency region, thereby destabilizes the
torsional vibrations [1].
The high penetration of WECS into the power system led
researchers to analyze the impact of full-scale converter and
Doubly-Fed Induction Generator based WECS (DFIG-WECS)
on Subsynchronous Resonance (SSR) characteristics [2]–[4],
[8]–[19]. In [17], [18], the investigations on subsynchronous
interactions of DFIG report that, in the absence of controller dy-
namics the damping of subsynchronous network mode (NMsub )
improves at high wind speeds, whereas the damping reduces
with increase in compensation level. However, the controller
dynamics have significant impact on the damping of NMsub [15]–
[18]. The converters of the DFIG-WECS with supplementary
control signal can be used to mitigate SSR [8]–[13]. Also, the
nonlinear control method is used to mitigate SSCI [20]–[22].
References [23], [24] report the SSR in DFIG based wind farms
connected to series compensated line. The impedance model
based stability criterion is proposed to evaluate the stability
of subsynchronous network mode. The frequency response of
impedance model depicts the SSR frequency; thereby the stabil-
ity of SSR mode is evaluated. References [25], [26] investigate
the impact of DFIG on the torsional interactions of turbine-
generator connected to series compensated line at various oper-
ating conditions.
The Nyquist-criterion based methods, eigenvalue analysis,
immittance model analysis and damping torque method are
widely used to determine the small signal stability of SSR [1],
[2], [5], [18], [19], [27]–[36]. Among aforementioned methods,
the Nyquist-criterion based method using impedance model is
tedious to apply on a meshed power system having multiple wind
farms. Also, the Nyquist-criterion based method is a qualitative
method, and may not provide the accurate findings about the
damping and frequency of SSR [23], [24]. The computation
of eigenvalues requires the detailed state space representation
of the entire system including electrical and mechanical sub-
systems [5], [27], [32]. The damping torque method gives the
damping provided by the electrical system, which uses the
 4746
immittance model of the simplified system. The net damping
(sum of mechanical and electrical) governs the stability of
SSTI [5]–[7], [31], [37]. The positive electrical damping is the
adequate condition for a torsional mode to be stable [1]. In [29],
the technique of circle diagram is used to analyze the sensitivity
of electrical damping through SSR conductance. Reference [30]
proposes the risk indices of SSR to rank multiple generators in
a series compensated meshed network. The SSR risk indices
are estimated from the electrical damping provided by the con-
ductance of torsional mode. At certain conditions, the qualitative
analysis of immittance/electrical damping torque is not adequate
to find the stability of SSTI. At times, the net damping may be
positive with a small negative electrical damping. Further, find-
ing the stability and extremity of SSTI are highly important with
certain electrical systems which contribute negative damping.
In this paper, we propose a simple and effective approach to
find the stability of SSTI using admittance model. We analyze the
impact of DFIG-WECS on SSTI using the proposed approach.
The main contributions of this paper including the merits of the
proposed approach are as follows.
r Analysis of admittance model to assess the admit-
tance/electrical damping contribution of DFIG-WECS on
SSTI in subsynchronous frequency range.
r A simple and effective approach to evaluate the stability of
SSTI using admittance model. The proposed approach uses
the decrement factor based stability criterion as to formu-
late the critical conductance for torsional modes, thereby
subsynchronous conductance based stability criterion is
found. The critical conductance denotes the conductance
margin/verge of instability. Each torsional mode has its
own conductance margin. Accordingly, the stability of
SSTI is evaluated from the locus of network conductance
about all conductance margins. The proposed conductance
based stability criterion is used to evaluate the impact of
DFIG-WECS on SSTI.
r Analysis on Induction Generator Effect of DFIG-WECS
using admittance model to assess the effect of DFIG on
SSR mode (NMsub ).
r Correlating the IGE effect of DFIG and torsional inter-
actions of turbine-generator at different wind speed with
various compensation levels. To our knowledge, this work
is the first that proposes the subsynchronous admittance
model method to analyze the combined effect of IGE and
SSTI with DFIG-WECS, and correlating those two effects.
r As the critical conductance gives the verge of instability,
the proposed conductance based stability criterion can
facilitate the careful tuning of controllers with high stability
margin and to avoid the risk of SSTI.
r Utilizing the proposed approach to find the suitable lo-
cation of a simple band-pass filter based subsynchronous
damping controller (BPF based SSDC) with unity gain on
DFIG controllers.
The paper is organized as: Section II presents the system
diagram and methods used to analyze SSTI. In Section III,
the stability criterion for torsional modes is developed using
the admittance model. The use of proposed stability criterion
to evaluate the stability of SSTI with DFIG-WECS; validation
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IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 35, NO. 6, NOVEMBER 2020
through the eigenvalue analysis and transient simulation are
presented in Section IV. The findings and conclusions are briefed
in Section V.
II. SYSTEM DIAGRAM AND METHODS OF SSTI ANALYSIS
Our study system is adapted from IEEE First Bench Mark
model with DFIG-WECS [38]. In the following subsections, we
explain the system diagram and methods of SSTI analysis.
A. System Diagram
Our study system comprises a long series compensated trans-
mission line supplied by a six-mass turbine-generator and DFIG-
WECS as shown in Fig. 1(a). The DFIG-WECS (at bus B) is
connected to the point of common coupling (bus C) through a
short line. The rating of the both generators is 300MVA, and the
system parameters are calculated on the base value of 300MVA,
60 Hz [7], [17].
The dynamics of synchronous generator (SG) is modeled
as given in [5]. The modeling of DFIG based WECS consists
of wind turbine, shaft, gear box and DFIG with back to back
converters. The mechanical system of DFIG-WECS is modeled
as a two mass-spring model [17], [39]–[42]. Note that, the
synchronous reference frame of the DFIG (dq) is aligned with
the network reference frame (DQ) [5].
We use the vector control strategy to design the controllers of
DFIG converters. The vector control of voltage source converters
enables the independent control of active and reactive pow-
ers [41]–[43]. The vector control of RSC (Rotor Side Converter)
and GSC (Grid Side Converter) is achieved by aligning the
q-axis of the synchronous reference frame with the stator voltage
vector. The operating modes of RSC and GSC controllers are
discussed below.
1) RSC Control: The controllers of RSC are designed to
vary the torque (Tg ) and reactive power output (Qs ) of DFIG
stator [17], [41]. Accordingly, the torque and reactive power
control loops form the outer loops of RSC. To extract the
maximum output from wind turbine, the reference torque is
estimated on Maximum Power Point Tracking (MPPT) curve at
optimal rotational speed. The torque and reactive power control
can be achieved by controlling q and d-components of the rotor
current respectively. Hence, the current control loops form the
inner loops of RSC. The structure of RSC control is shown in
Fig. 1(b). The dq components of reference rotor voltage are
obtained from the current control loops.
2) GSC Control: In GSC controller, the outer loops are
designed to regulate the stator voltage (Vs ) and DC voltage
(Vdc ) as shown in Fig. 1(c). The outer loop controllers set
the reference value of dq components of GSC output current.
Subsequently, the current control loops set the reference value
of dq components of GSC output voltage [17], [41].
B. Methods of SSTI Analysis
We employ three methods of SSTI analysis namely admit-
tance analysis, eigenvalue analysis and transient simulation. In
MATLAB-simulink, we develop the model of the system (shown
 VELPULA et al.: STABILITY ANALYSIS ON TORSIONAL INTERACTIONS OF TURBINE-GENERATOR CONNECTED
Fig. 1. (a) Diagram of the study system, (b) Rotor side converter control of DFIG, and (c) Grid side converter control of DFIG.
in Fig. 1) using its Differential and Algebraic Equations (DAE)
in DQ. The SSTI analyses are performed using the linearized
(DQ) model of the system.
1) Admittance Analysis: It is worth noting that the stability of
SSTI depends on the damping provided by the electrical and the
mechanical systems, in which the electrical damping depends
on the network admittance. Hence, the driving point admittance
viewed from the generator internal bus can be used to assess the
electrical damping and the stability of SSTI.
In the admittance analysis, the dynamics of the mechanical
systems are neglected [5], [29]. Accordingly, the linearized
model (of Fig. 1) for admittance analysis is obtained with
electrical dynamics alone. The WECS is modeled with DFIG
and converters. The synchronous generator is represented as
classical model with internal generated voltage as a source
behind the transient reactance [5]–[7], [35]–[37].
From the state space model of the electrical system (in DQ),
a matrix of driving point admittance functions (viewed from
synchronous generator internal bus) is obtained as,
[YN (s)] = [Cs ][s[I] − [As ]]−1 [Bs ] + [Ds ]
where [As ], [Bs ], [Cs ], [Ds ] are coefficient matrices of state
model.
Subsequently, the equivalent phase admittance of the network
at subsynchronous frequency is determined using the driving
point admittance functions as,
1
YN (j(ω0 − ω)) = [[YN DD (j(ω)) + YN QQ (j(ω))]
2 (2)
−j[YN DQ (j(ω)) − YN QD (j(ω))]]
where ω0 is the synchronous frequency. We denote the real and
imaginary part of YN (j(ω0 − ω)) as Gsub sub
N and BN , respec-
sub
tively. The frequency at which BN crosses zero is the SSR
frequency of the network, which is represented by ωnssr .
When the SSR frequency of the network is close to any one of
the torsional mode frequencies, the severe torsional interactions
are expected. The frequency response of real part of network
admittance given by Eq. 2 can depict the conductance provided
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4747
by network to the subsynchronous current components. Hence,
we use the frequency response of subsynchronous conductance
to assess the damping of SSTI in the range of torsional mode fre-
quencies. Further, the driving point phase admittance computed
as a function of subsynchronous frequency is more appropriate
to evaluate the stability of SSTI. We develop a simple approach
to determine the stability of SSTI using admittance model in
Section III.
2) Eigenvalue Analysis: In the eigenvalue analysis, the de-
tailed model of system (shown in Fig. 1(a)) is modeled with DAE
of both electrical and mechanical systems. The synchronous gen-
erator is modeled as 2.2 model as given in [5]. The eigenvalues
of the system are obtained using the state matrix of the linearized
model at an operating point. From the eigenvalues, the stability
of the system is determined.
3) Transient Simulation: The transient simulation is carried
out with the detailed model of the system used for eigenvalue
analysis. The transient stability of the system is analyzed by ap-
plying a disturbance to the system. A step change in mechanical
input to the turbine-generator is initiated in time-domain simu-
(1)
lation. The growing oscillatory time response is the indicative
of transient instability of the system at the operating condition.
III. SSTI STABILITY CRITERION BASED ON
NETWORK CONDUCTANCE
The damping torque and decrement factor are the equivalent
approaches to determine the stability of SSTI [5]. We use the
decrement factor criterion to formulate the SSTI stability crite-
rion on network admittance. The net decrement factor (σi ) for ith
torsional mode is the sum of the mechanical (σmi ) and electrical
(σei ) damping, which is given by [5], [28],
σi = σmi + σei (3)
A torsional mode is stable, if σi ≥ 0. Hence, the condition on
σi for a stable torsional mode is expressed as
σmi + σei > 0 (or) σmi > −σei (4)
 4748 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 35, NO. 6, NOVEMBER 2020

The electrical damping for the ith torsional mode in terms of

the network conductance is given by [5], [29],
(ω0 − ωmi ) ∗ Gω mi

σei = − N
(5)
8ωmi Hmi
where, Gω N
mi
is the conductance provided by the network to
the current component corresponding to ith torsional mode fre-
quency ωmi , and Hmi is the modal inertia of the corresponding
torsional mode. Substituting Eq. 5 in Eq. 4, we get
8σmi ωmi Hmi
Gω mi
< (6)
N
(ω0 − ωmi )
When the effect of network on the torsional mode frequencies
(ωmi ) is neglected, the damping provided by the mechanical sys-
tem (σmi ) for ith mode can be assumed constant [5], [28], [29].
From Eq. 6, we define the term critical conductance Gci for ith
torsional mode as,
Fig. 2. For variation in compensation level without DFIG (a) Network con-
8σmi ωmi Hmi ductance Gω nssr
and (b) Locus of subsynchronous network mode (NMsub ).
Gci = (7) N
(ω0 − ωmi )
Thus, the condition on network conductance for the stability
of ith torsional mode is expressed as,
Gω
N
mi
< Gci (8)
The critical conductance denotes the conductance mar-
gin/verge of instability. Each torsional mode has its own con-
ductance margin. Accordingly, the stability of SSTI is evaluated
from the locus of network conductance about all conductance
margins. From Eq. 8, the condition for stability of ith torsional
mode is stated as, if the network conductance at ith torsional
mode frequency (Gω mi
N ) is less than its conductance margin
(Gci ), the corresponding ith torsional mode is stable. In Sec-
tion IV, we use the proposed subsynchronous conductance based
criterion to find the stability of SSTI.

IV. ANALYSIS OF SSTI WITH DFIG-WECS AND SERIES

COMPENSATED TRANSMISSION LINE
We analyze the impact of DFIG-WECS on SSTI with fixed Fig. 3. For variation in compensation level with DFIG on different wind speeds
series compensation in the transmission line. The incorporation (a) Network conductance Gω N
nssr
and (b) Locus of subsynchronous network
of DFIG-WECS may arise IGE, which in turn can affect the sub
mode (NM ).
network dynamics in subsynchronous frequency range [17].
Therefore, first we analyze the impact of DFIG-WECS on sub-
synchronous network mode (NMsub ). Subsequently, we analyze
the impact of DFIG-WECS on SSTI, and correlate the IGE effect
sensitivity of NMsub from the terminals of synchronous generator
of DFIG. We apply the proposed subsynchronous conductance
internal bus.
based criterion to evaluate the stability of the torsional modes. At
The variation of network conductance at SSR frequency
last, we use the proposed approach to find the suitable location
(Gω N
nssr
) and eigenvalue of NMsub without DFIG-WECS are
of a SSDC on DFIG converters.
shown in Fig. 2(a) and Fig. 2(b), respectively. From Fig. 2,
we observe that the SSR frequency of the network (ωnssr )
A. Impact of DFIG-WECS on Subsynchronous Network Mode decreases with increase in compensation level. Whereas, Gω nssr
N
The IGE is the inherent property of DFIG, which causes marginally increases with increase in compensation level as
negative resistance in subsynchronous frequency range. In this shown in Fig. 2(a). It is to be noted that, the increase in Gω
N
nssr

sub
regard, we analyze about the impact of DFIG-WECS on subsyn- indicates the reduction in the damping of NM . From Fig. 2(b),
chronous network mode (NMsub ). To correlate IGE of DFIG and it is evident that the damping of eigenvalue of NMsub decreases
torsional interactions of synchronous generator, we assess the with increase in compensation level.

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 VELPULA et al.: STABILITY ANALYSIS ON TORSIONAL INTERACTIONS OF TURBINE-GENERATOR CONNECTED
Fig. 4. For variation in compensation level with DFIG on different wind speeds
(a) Network conductance Gω N
nssr
for Kp−Ird = 1.2, (b) Locus of subsyn-
chronous network mode (NM ) for Kp−Ird = 1.2, (c) Network conductance
sub
GωN
nssr
for Rl = 0.03 p.u and (d) Locus of subsynchronous network mode
Gω nssr
for Rl = 0.03 p.u.
N
Fig. 3(a) and Fig. 3(b) show the variation of Gω N
nssr
and
sub
eigenvalue of NM with DFIG-WECS, respectively. Com-
paring Fig. 2 and Fig. 3, we observe that, the inclusion of
DFIG-WECS reduces the SSR frequency of the network. In
Fig. 3(a), we note that, the SSR frequency ωnssr significantly
decreases with increase in compensation level, whereas there
is a marginal reduction in ωnssr with increase in wind speed.
For any compensation level, the network conductance Gω N
nssr
increases with increase in wind speed. GN ωnssr
decreases with
increase in compensation level at low wind speeds. However,
Gω N
nssr
greatly increases with increase in compensation level
at high wind speed. From Fig. 3(b), it is evident that both the
damping and frequency of NMsub decreases with increase in
wind speed for any compensation level.
To evaluate the effect of system parameters and DFIG con-
troller gains on IGE, the network conductance at SSR frequency
is determined for different line resistance (Rl ) and d-axis current
controller gain of RSC (Kp−Ird ). It is to be noted that, Fig. 3 is
obtained with Rl = 0.02 p.u. and Kp−Ird = 1. Fig. 4 shows the
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4749
Fig. 5. Graphical representation of resonance condition without and with
DFIG-WECS for Xc =0.3 p.u.
variation of network conductance at SSR frequency for different
values of Rl and Kp−Ird . Comparing Fig. 3(a) and Fig. 4(a), we
observe that for the rise in Kp−Ird , the network conductance at
SSR frequency increases. As a result, the damping of SSR mode
is expected to reduce. From Fig. 3(b) and Fig. 4(b), it is clear
that the damping of SSR mode reduces for rise in controller
gain Kp−Ird , which indicates increase in IGE. However, on
comparing Fig. 4(a) and Fig. 4(c), we note that the rise in
Rl decreases the network conductance at SSR frequency. As a
result, the damping of SSR mode is expected to improve. From
Fig. 4(b) and Fig. 4(d), it is evident that the damping of SSR
mode improves for the rise in the line resistance, which indicates
decrease in IGE.
1) Graphical Representation of Resonance Condition: Fur-
ther, we evaluate the graphical representation of resonance
condition to verify the impact of DFIG-WECS on electrical
resonance frequency [35]. To evaluate the resonance condition,
the equivalent per phase impedance of the system (shown in
Fig. 1(a)) is obtained from the terminals of the infinite bus. The
imaginary part of the equivalent per phase impedance is the
equivalent inductive reactance (XLeq ). Fig. 5 shows the variation
in equivalent inductive and capacitive reactances with frequency
varied from 50-300 rad/sec. The fixed series compensation (Xc )
is set to 0.3 p.u. In Fig. 5, it is observed that the resonance
condition occurs about ωer =169.84 rad/sec without DFIG-
WECS. The complement of electrical resonance frequency
found in graphical resonance condition is ωm = ω0 − ωer =
377 − 169.84 = 207.15 rad/sec. When the DFIG-WECS is in-
corporated, the equivalent inductive reactance decreases. At the
wind speed of 6 m/s, the electrical resonance frequency occurs
about 173 rad/sec. Compared to without DFIG-WECS, the
electrical resonance frequency increases with DFIG-WECS. The
rise in electrical resonance frequency is due to reduction in the
equivalent inductive reactance (XLeq ) with DFIG-WECS. The
complement of electrical resonance frequency found in graph-
ical resonance condition is ωm = ω0 − ωer = 377 − 173.1 =
203.9 rad/sec. From the graphical representation, it is clear that,
 4750
Fig. 6. Frequency response of real and imaginary parts of subsynchronous
network admittance at different compensation levels without and with DFIG-
WECS.
the DFIG-WECS reduces the equivalent inductive reactance of
the system, thereby reduces the frequency of subsynchronous
network mode.
The results show that, the integration of DFIG-WECS to a
series compensated transmission line reduces SSR frequency
of the network. Further, the frequency and damping of NMsub
decrease with increase in wind speed. At high wind speeds, the
reduction in the damping of NMsub is greater. This indicates
the IGE of DFIG is greater at high wind speeds. The IGE
increases/decreases for rise in the d-axis current controller gain
of RSC/transmission line resistance.
B. Assessing Impact of DFIG-WECS on SSTI Through
Network Admittance
The impact of DFIG-WECS on torsional interactions is as-
sessed from the frequency response of network admittance in
SSR frequency range. The variation in real and imaginary part
of subsynchronous network admittance (YNsub ) with Xc =0.3
and 0.75 p.u is shown in Fig. 6. The relative change in the
network conductance at SSR frequency (where BN sub
crosses
zero) along operating conditions is the measure of damping of
the corresponding mode.
In Fig. 6, with Xc =0.3 p.u, the peak conductance occurs
at about 207 rad/sec without DFIG-WECS. When the DFIG-
WECS is incorporated, the SSR frequency of network reduces
and occurs at about 204 rad/sec with wind speed Vω = 6 m/s.
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IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 35, NO. 6, NOVEMBER 2020
Also, the peak conductance at SSR frequency reduces. It is ob-
served that, the frequency of NMsub is close to torsional mode-4,
hence the torsional mode-4 is expected to be unstable. When
the wind speed increases, the SSR frequency slightly reduces,
whereas the peak conductance increases with increase in wind
speed. The peak conductance shifts further to low frequency
region with increase in the compensation level as shown in Fig. 6
(see for Xc =0.75 p.u). Besides, the value of peak conductance
is greater at high wind speed with higher compensation level
compared to lower compensation level. Indicating that, the
frequency and damping of NMsub decrease with increase in wind
speed.
From the results, it is clear that, the increase in wind speed on
DFIG-WECS reduces the frequency and damping (or increases
conductance) of NMsub . The reduction in the damping of NMsub
is greater at high wind speeds with high compensation. Conse-
quently, the DFIG-WECS may significantly reduce the damping
of low frequency torsional modes at high wind speeds with high
compensation.
Although, the frequency response of network conductance in
the range of subsynchronous frequencies can show the damping
characteristics of torsional and subsynchronous network modes,
the value of peak conductance does not give the stability of tor-
sional modes/subsynchronous network mode. We use a simple
and systematic method to determine the stability of torsional
modes from the network conductance.
1) Assessing Stability of SSTI Using Subsynchronous Con-
ductance Based Criterion: We find the stability of SSTI using
the proposed subsynchronous conductance based torsional mode
stability criterion (see Eq. 8). The condition for stability of ith
torsional mode (T M -i) is stated as, if the network conductance
at ith torsional mode frequency (ωmi ) is less than its conductance
margin (Gci ), the corresponding torsional mode is stable. Gci
denotes the verge of instability. Each torsional mode has its own
conductance margin. The torsional mode-5 of IEEE FBM is
never excited, therefore i=1 to 4. Accordingly, the stability of
SSTI is evaluated from the locus of network conductance about
four conductance margins.
The network conductance is estimated at all critical tor-
sional mode frequencies using Eq. 2. Fig. 7 shows the
network conductance at torsional mode frequencies with-
out (Vω = 0 m/s) and with DFIG-WECS on various wind
speeds (Vω = 6, 8 and 10 m/s) for three compensation levels
(Xc =0.3, 0.7, 0.75 p.u). When Xc =0.3 p.u, the network con-
ductance at ωm1 , ωm2 and ωm3 (frequency of T M -1, T M -2 and
T M -3) is lesser than their corresponding conductance limits
with slight increase at higher wind speed. It indicates that,
T M -1, T M -2 and T M -3 are stable. Whereas, the network
conductance at the frequency of torsional mode-4 (Gω m4
N ) is
greater than the conductance limit Gc4 . Hence, the T M -4 is
unstable. For Xc =0.7 p.u and Xc =0.75 p.u, without DFIG, the
network conductance at ωm1 is lesser than the conductance limit
Gc1 (at both compensation levels). When the DFIG-WECS is
incorporated, the network conductance at ωm1 increases with
increase in wind speed and crosses conductance limit Gc1 . It
indicates that, the T M -1 is unstable. Whereas, the network con-
ductance at ωm2 , ωm3 and ωm4 is lesser than their corresponding
 VELPULA et al.: STABILITY ANALYSIS ON TORSIONAL INTERACTIONS OF TURBINE-GENERATOR CONNECTED
Fig. 7. Variation of network conductance at torsional mode frequencies (ωmi )
for different compensation levels without and with DFIG-WECS.
conductance limits, hence the T M -2, T M -3 and T M -4 are
stable.
To correlate the IGE effect of DFIG and torsional interactions
of turbine-generator, we relate the variation of SSR frequency
and subsynchronous conductance at different operating condi-
tions. First, we correlate the results of admittance model analysis
for Xc = 0.3 p.u. In Fig. 3, it is to be observed that, ωnssr is
close to the frequency of torsional mode-4 (ωm4 ) at Vω = 6 m/s.
When the wind speed increases, ωnssr moves further close to
ωm4 . Therefore, the damping of T M -4 is expected to reduce
with increase in wind speed. In Fig. 7, it is evident that, the
network conductance at ωm4 increases with increase in wind
speed.
Next, we correlate the results of admittance model analysis
at Xc =0.7 p.u and Xc =0.75 p.u sequentially. In Fig. 3(a), at
Xc = 0.7 p.u the SSR frequency (ωnssr ) lies between ωm1
and ωm2 , and close to ωm1 . Further, the network conductance
at ωnssr is significantly greater for high wind speed. Hence,
the damping of T M -1 is expected to improve with increase
in wind speed due to a greater conductance to SSR frequency
component. In Fig. 7, it is evident that, at low wind speed Gω N
m1
is greater than Gc1 , as the ωnssr close to ωm1 . At high wind
speed, decrease in Gω N
m1
is due to a greater conductance to SSR
frequency component. It indicates that, with Xc = 0.7 p.u the
damping of the T M -1 improves at high wind speed. However,
with Xc = 0.75 p.u the SSR frequency is very close to the
frequency of torsional mode-1 as seen in Fig. 3(a). Therefore,
the torsional mode-1 is expected to be unstable. In Fig. 7, it
is evident that the network conductance at ωm1 increases and
crosses the conductance limit Gc1 with increase in wind speed.
Indicating that T M -1 is unstable.
The results indicate that, DFIG-WECS affects the damping
and frequency of NMsub , thereby affect the damping/stability
of torsional modes. The damping/stability of torsional modes
in the low frequency region of NMsub reduces with increase
in wind speed. The DFIG-WECS significantly destabilizes the
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4751
low frequency torsional modes at high wind speed with high
compensation level.
C. Assessing Impact of DFIG-WECS on SSTI Through
Eigenvalue Analysis
In the eigenvalue analysis, the synchronous generator is mod-
eled as 2.2 model as given in [5]. The details about the modeling
of the system for eigenvalue analysis is discussed in Section II.
Table I shows the eigenvalues of torsional modes and networks
modes without and with DFIG-WECS for various compensation
levels (0.3 p.u and 0.75 p.u). From Table I, we summarize the
impact of DFIG-WECS below.
r The inclusion of DFIG-WECS reduces the frequency of
NMsub for any compensation level. The damping of NMsub
improves at low wind speed, however reduces at high wind
speed.
r The damping of torsional modes in low frequency region
of NMsub reduces with increase in wind speed.
r With Xc = 0.3 p.u, the frequency of NMsub is greater than
all critical torsional modes and close to torsional mode-4
for low wind speed. Hence, the torsional mode-4 is unsta-
ble. The damping of torsional mode-4 significantly reduces
with increase in wind speed, whereas, the damping of other
torsional modes reduces slightly.
r With Xc = 0.75 p.u, the frequency of NMsub is close to
torsional mode-1 for low wind speed. Hence, the torsional
mode-1 is unstable. The damping of torsional mode-1
greatly reduces with increase in wind speed. While, the
damping of other critical torsional modes improves.
r DFIG-WECS greatly reduces the damping of low fre-
quency torsional modes at high wind speeds. Besides, the
negative damping of high compensation level is greater
on low frequency torsional modes. Hence, DFIG-WECS
operating at high wind speed with higher compensation
level can greatly reduce the damping of low frequency
torsional modes.
Also, it is observed that, the complement of electrical reso-
nance frequency found in graphical resonance condition (shown
in Fig. 5) without and with DFIG-WECS (207.15 rad/sec and
203.90 rad/sec) are consistent with the subsynchronous network
mode frequency (206.30 rad/sec and 203.78 rad/sec) in column-
2 and column-3 of Table I.
D. Assessing Impact of DFIG-WECS on SSTI Through
Transient Simulation
The transient simulation is carried out with a step change in
mechanical input of synchronous generator without and with
DFIG-WECS for Xc = 0.3 p.u. A 10% decrement in input
mechanical torque of synchronous generator is applied at 0.5 sec
and removed at 1.0 sec. The step response of rotor angle (δ)
and LPA-LPB section torque without and with DFIG-WECS
are shown in Fig. 8 and Fig. 9, respectively.
In Fig. 8 and Fig. 9, the magnitude of oscillations in the step
response of rotor angle and LPA-LPB section torque increases
as time progresses, which indicate that the system is unstable.
While comparing to without DFIG-WECS, the amplitude of
 4752 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 35, NO. 6, NOVEMBER 2020

TABLE I
EIGENVALUES WITHOUT AND WITH DFIG-WECS AT VARIOUS COMPENSATION LEVELS

Fig. 10. FFT analysis on LPA-LPB section torque with DFIG on Vω = 10 m/s
at Xc = 0.3 p.u.

oscillations with DFIG-WECS is greater, which indicate the

Fig. 8. Transient response of rotor angle and LPA-LPB section torque without
DFIG at Xc = 0.3 p.u.
severe SSTI with DFIG-WECS.
The FFT analysis is performed on LPA-LPB section torque
for Xc= 0.3 p.u. at wind speed = 10 m/s (for Fig. 9). The
frequency components are computed between 1-7 s with the
time spread of 1 s and is shown in Fig. 10. Referring to Fig. 10,
it is observed that, the T M -1, T M -2 and T M -3 components
decay with time. However, T M -4 is predominant and increases
with time. Since modal inertia of T M -5 is very high, hence
T M -5 is never excited.
The decrement factor σ of T M -4 computed from FFT anal-
ysis on LPA-LPB section torque is found to be −0.7443 and
it is closely matching with the real part of eigenvalue (0.7488)
corresponding to T M -4 in column-4 of Table I. It is to be noted
that the decrement factor is defined as the negative of real part
of eigenvalue. From the results it is clear that, the findings of
FFT analysis on transient simulation are consistent with the
eigenvalue analysis.

E. Location of Band Pass Filter (BPF) Based Subsynchronous

Fig. 9. Transient response of rotor angle and LPA-LPB section torque with
DFIG (on Vω = 10 m/s) at Xc = 0.3 p.u.
Damping Controller (SSDC)
The proposed approach is utilized to find the suitable location
of band-pass filter based subsynchronous damping controller
(BPF based SSDC) on DFIG controllers. The objective of im-
plementing subsynchronous damping controller (SSDC) is to
reduce the network conductance in the range of critical torsional
mode frequencies.

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 VELPULA et al.: STABILITY ANALYSIS ON TORSIONAL INTERACTIONS OF TURBINE-GENERATOR CONNECTED
Fig. 11. Variation of network conductance at torsional mode frequencies
(ωmi ) for Xc = 0.3 p.u with SSDC at different locations in DFIG converter
controllers.
The band-pass filters based subsynchronous damping con-
troller is adopted from [7], [35]. The BPFs are used to extract
the current components corresponding to torsional mode-1 to
torsional mode-4 from the current flowing in series compensated
transmission line. The extracted components (DQ) are trans-
formed to the stator voltage oriented reference frame of DFIG
(dq). The dq outputs of SSDC are introduced at four locations of
DFIG converters namely, GSC outer loop (GSC-OL), GSC inner
loop (GSC-IL), RSC outer loop (RSC-OL) and RSC inner loop
(RSC-IL). The gains of BPFs are set to 1 in view of comparing
the effectiveness of SSDC for same gain.
The network conductance at all torsional mode frequencies for
Xc =0.3 p.u with SSDC at four locations of DFIG converters
is shown in Fig. 11. The relative change in the network con-
ductance at a torsional mode is used as a measure of damping
of the corresponding torsional mode. A smaller value of Gω N
mi
indicates better damping of the corresponding torsional mode.
In Fig. 11, we note that, the network conductance at all criti-
cal torsional modes marginally reduces with SSDC at GSC-IL
compared to other locations. The reduction in the network con-
ductance indicates the improvement in the damping of torsional
mode and hence damping of SSTI. The results demonstrate the
usefulness of the proposed subsynchronous conductance based
approach to design SSDC with high stability margin.
The frequency response of network admittance with unity
gain BPF based SSDC on GSC current control loop is evaluated
for Xc =0.3 p.u and Xc =0.75 p.u. Fig. 12 shows the frequency
response of real and imaginary part of network admittance with
BPF based SSDC on GSC current control loop. In Fig. 12 it is
observed that, for Xc =0.3 p.u the peak positive conductance oc-
curs at about 204 rad/sec with DFIG-WECS on Vω = 6 m/sec.
As a result, the torsional mode-4 is expectable to be unstable. The
peak positive conductance increases with increase in wind speed.
From Table I, it is evident that the torsional mode-4 is unstable
for Xc =0.3 p.u. When the SSDC is incorporated, the peak
positive conductance reduces. The network conductance is small
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4753
Fig. 12. Frequency response of real and imaginary parts of subsynchronous
network admittance at different compensation levels with SSDC on GSC current
control loop.
positive or negative in the range of torsional mode frequencies
with SSDC. As a result, the damping of all critical torsional
modes is expected to improve. It is to be observed that, the
negative conductance results in positive electrical damping (see
Eq. 5). When Xc =0.75 p.u, the peak positive conductance oc-
curs at about 104 rad/sec with DFIG-WECS on Vω = 6 m/sec.
As a result, the torsional mode-1 is expectable to be unstable. The
peak positive conductance increases with increase in wind speed.
From Table I, it is clear that the torsional mode-1 is unstable
for Xc =0.75 p.u. When the SSDC is incorporated, the peak
positive conductance reduces. The network conductance is small
positive or negative in the range of torsional mode frequencies
with SSDC. As a result, the damping of all critical torsional
modes is expected to improve. Hence, it is evident that the DFIG
with BPF based SSDC contributes positive electrical damping.
The effectiveness of the BPF based SSDC is tested for the
large step disturbance applied in mechanical input of syn-
chronous generator. The gains for SSDC are tuned for the
operating condition Xc = 0.3 p.u. Fig. 13 shows the response
of rotor angle and LPA-LPB section torque for 35% reduction
in mechanical input of synchronous generator applied at 0.5 sec
and removed at 1 sec with SSDC activated at 5 sec. From Fig. 13
it is to be observed that, the magnitude of oscillations in rotor
angle and LPA-LPB section torque increases as time progresses
till 5 sec. When SSDC is activated at 5 sec, the magnitude of
oscillations in rotor angle and LPA-LPB section torque reduces
 4754
Fig. 13. Response of rotor angle and LPA-LPB section torque for 35%
reduction in mechanical input of synchronous generator applied at 0.5 sec and
removed at 1 sec with SSDC activated at 5 sec.
with time, which indicates that the system is stable. Also, the
results demonstrate the effectiveness of SSDC to mitigate SSR.
V. CONCLUSION
In this paper, we propose a subsynchronous admittance based
approach to find the stability of SSTI. We use the proposed
approach to evaluate the impact of DFIG-WECS on torsional
modes of nearby synchronous generator with series compen-
sated transmission line. The damping of SSTI is evaluated at
different wind speeds with various compensation levels. The
findings about IGE of DFIG and torsional interactions of syn-
chronous generator are correlated to validate the outcomes of
subsynchronous admittance based approach about SSTI. Fur-
ther, the findings about the stability of SSTI in admittance
analysis are validated through eigenvalue analysis and transient
simulation. Our simulation results demonstrate the usefulness of
the proposed subsynchronous admittance method to determine
the damping of SSTI. The major outcomes of various analyses
with proposed approach are:
r Inclusion of DFIG-WECS slightly detunes the frequency
of NMsub . The network conductance at SSR frequency
increases with increase in wind speed, thereby reduce
the damping of NMsub . This indicates, the IGE of
DFIG is greater at high wind speeds. The IGE in-
creases/decreases for rise in the d-axis current controller
gain of RSC/transmission line resistance.
r The impact of DFIG-WECS on NMsub affects the network
conductance at torsional mode frequencies. Thereby, af-
fects the damping/stability of the torsional modes. The
damping/stability of the torsional modes in the low fre-
quency region of NMsub reduces (due to rise in network
conductance) with increase in wind speed.
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IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 35, NO. 6, NOVEMBER 2020
r The DFIG-WECS significantly destabilizes the low fre-
quency torsional modes at high wind speed with high
compensation level.
r The network conductance at all critical torsional modes
marginally reduces with SSDC at inner loop of GSC
controller compared to other locations in DFIG converter
controllers.
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Srikanth Velpula (Student Member, IEEE) received
the B.Tech. and M.Tech. degrees from Jawaharlal
Nehru Technological University, Hyderabad, India,
in 2009 and 2012. He worked as an Assistant Profes-
sor in the Department of Electrical and Electronics
Engineering at Mallareddy Institute of Technology
and St.Peters Engineering College, Hyderabad, India
from 2012 to 2013 and from 2014 to 2016 respec-
tively. He is currently pursuing the Ph.D. degree with
the School of Electrical Engineering, Vellore Institute
of Technology, Vellore, India. His research interests
include FACTS, integration of renewable energies into the power systems and
real-time digital simulation.
R. Thirumalaivasan (Senior Member, IEEE) re-
ceived the B.E. degree in electrical and electronics
engineering from Madras University, Chennai, India,
in 1999, the M.Tech. degree from the College of En-
gineering, Anna University, Guindy, Chennai, India,
in 2002, and the Ph.D. degree from the Department
of Electrical Engineering, Jawaharlal Nehru Techno-
logical University, Hyderabad, India, in 2014. He was
a Postdoctoral Fellow in the Engineering Systems
Design pillar at SUTD, Singapore in 2015-2016.
He is an Associate Professor in the School of Elec-
trical Engineering, Vellore Institute of Technology, Vellore, India. His research
interests include FACTS, HVDC, Wind energy conversion systems, real-time
digital simulation of power electronics and power systems.
M. Janaki (Senior Member, IEEE) received the B.E.
degree in electrical and electronics engineering from
Madras University, Chennai, India, in 1996, M.E.
degree in control and instrumentation from Anna Uni-
versity, Chennai, India, in 2002, and the Ph.D. degree
from the Department of Electrical Engineering, Jawa-
harlal Nehru Technological University, Hyderabad,
India, in 2015.
She is an Associate Professor with the School of
Electrical Engineering, Vellore Institute of Technol-
ogy, Vellore, India. Her research interests include
FACTS, HVDC, Wind energy conversion systems, real-time digital simulation
of power electronics and power systems.