Alsharafi - Primary Frequency Response Enhancement For Future Low Inertia Power Systems Using Hybrid Control Technique

energies
Article
Primary Frequency Response Enhancement for
Future Low Inertia Power Systems Using Hybrid
Control Technique
Abdulhameed S. Alsharafi 1 , Ahmad H. Besheer 2,3, * and Hassan M. Emara 1
1 Electrical Power and Machines Department, Cairo University, Giza 12613, Egypt;
alsharafi.ab@pg.cu.edu.eg (A.S.A.); hmrashad@gmail.com (H.M.E.)
2 Environmental Studies and Research Institute, University of Sadat City, Sadat City 32897, Egypt
3 Electrical Power Department, Higher Institute of Eng. & Modern Technology Marge, Cairo 11721, Egypt
* Correspondence: ahmed.tawfeek@esri.usc.edu.eg; Tel.: +20-100-111-0744

Received: 4 March 2018; Accepted: 14 March 2018; Published: 21 March 2018
Abstract: Maintaining the stability of a conventional power system during under frequency events
is partially dominated by a natural behavior called inertial response. Although a variable speed
wind turbine (VSWT) is fundamentally deprived from such behavior, it was shown recently that it
can virtually emulate this response, hence increasing its output power given to the grid to sustain
the power balance. This paper reviews and analyzes the performance of four primary frequency
control structures, and provides comparison between these controllers in terms of security indices.
The results reflect the superiority of the inertia emulation controller and the droop control type in low
and high wind speed respectively. To enhance the system frequency control response and take any
inherent advantage of each controller, this paper proposes two novel controllers based on combination
(hybridization) strategy between the four controllers. The results show that the combination between
the inertia emulation controller and the de-loading controller will lead to reducing the rate of change
of frequency (ROCOF) and raising the frequency nadir (FN) values. Finally, the role of each discussed
controller in determining the correlations among ROCOF, FN and wind power penetration level
are explored.
Keywords: primary frequency control; wind turbine; inertia control; frequency nadir
1. Introduction
The worldwide power system is shifting towards integrating more renewable energy generation
technologies. The motivating factors behind this upward trend are the desire to increase the diversity
and security of fuel supply, owing to the increase in fossil fuel costs, and the environmental concerns
about conventional generators. Many countries have set global targets for decreasing the carbon
dioxide (CO2 ) and other greenhouse gas emissions via increasing the capacity of electricity generation
from renewable energy sources [1]. At present, it is mentioned that wind is the most widely utilized
and fastest growing renewable energy technology for generating electricity, with a total installed
capacity of approximately 487 GW worldwide at the end of 2016 [2].
The new trends in harnessing renewable resources such as wind energy create several challenges
for future power systems. For instance, the increased utilization of switched mode high power
converters to facilitate integrating wind turbines into the electric grid modifies the total system
inertia and impacts the system’s ability to overcome frequency excursion due to inevitable production
consumption imbalance or frequency disturbance events due to fault conditions. Although this
problem is particularly of interest for isolated and weak electric networks [3], it may also adversely
affect large interconnected power systems with high wind power penetration and more halted
Energies 2018, 11, 699; doi:10.3390/en11040699 www.mdpi.com/journal/energies

Energies 2018, 11, x FOR PEER REVIEW 2 of 20
Energies 2018, 11, 699

conventional power plants (low inertia power system). This means that wind power generation 2 of 20
systems are not inherently able to respond to any probable frequency deviations in the system.
Consequently,
conventional power and unlike
plants conventional
(low inertia power powersystem).
plants, theThisoutput
meanspower that windfrompower
these generation
generation
systems will not directly respond to variations in system frequency.
systems are not inherently able to respond to any probable frequency deviations in theresearch This motivates the system.
community to search for technical solutions to let variable speed wind
Consequently, and unlike conventional power plants, the output power from these generation systems turbines (VSWTs) contribute
to the
will notsystem
directlyinertia
respond andtoto support in
variations primary
systemfrequency
frequency. control. The importance
This motivates the research of community
the frequency to
search for technical solutions to let variable speed wind turbines (VSWTs) contribute toworks
regulation needed for such kind of renewable energy technology is emphasized in many (e.g.,
the system
[4–7]). and to support primary frequency control. The importance of the frequency regulation needed
inertia
Several
for such kindcontrol techniques
of renewable energy aretechnology
proposed in the literatureintomany
is emphasized support worksthe(e.g.,
system frequency with
[4–7]).
increasing
Severalthe penetration
control of theare
techniques wind energy in
proposed in the
the electric
literaturegrid.
to Dreidy
supportetthe al. system
[8] generally split these
frequency with
control methods into two categories. The first one is with energy storage system
increasing the penetration of the wind energy in the electric grid. Dreidy et al. [8] generally split these where the additional
power comes
control methods primarily
into twofrom different
categories. energy
The storage
first one devices
is with energy such as batteries,
storage system super
wherecapacitors,
the additional etc.
The second
power comesone is without
primarily fromenergy
differentstorage
energy systems
storage where
devicesinertial
such control concepts
as batteries, super and demand
capacitors,
response programs are playing vital rule in amending the frequency
etc. The second one is without energy storage systems where inertial control concepts and demand deviation. Sun et al. [9]
introduced a review on the contribution of wind power for frequency
response programs are playing vital rule in amending the frequency deviation. Sun et al. [9] introduced control. It divided the
afrequency
review on control problem into
the contribution three levels
of wind poweroffor control that can
frequency be applied
control. on the
It divided thewind turbine
frequency level,
control
problem into three levels of control that can be applied on the wind turbine level, wind farm level and
wind farm level and power system level, where the wind turbine level includes inertial, droop and
de‐loading controllers as the primary control that are installed locally
power system level, where the wind turbine level includes inertial, droop and de-loading controllers as on the power electronic
converters
the primaryofcontrol
VSWTs. thatThis
are paper
installedfocuses
locallyononusing the control
the power method
electronic without
converters of energy
VSWTs.storage
This paperand
utilizing the concept of synthetic inertia to support the frequency.
focuses on using the control method without energy storage and utilizing the concept of synthetic Figure 1 shows the general
classification
inertia for the
to support different control
frequency. Figurestrategies
1 showsbased on different
the general working
classification ideas and
for different principles
control for
strategies
inertia emulation concept.
based on different working ideas and principles for inertia emulation concept.
Figure 1. Classification of control strategies.
Morren et
Morren et al.
al. [10]
[10] propose
propose twotwo simple
simple gaingain controllers
controllers to to change
change thethe torque
torque setset point
point depending
depending
on the frequency deviation and the frequency rate of change to emulate
on the frequency deviation and the frequency rate of change to emulate the hidden inertia and the hidden inertia and toto
support primarily the frequency, respectively. The same solution approach
support primarily the frequency, respectively. The same solution approach is proposed by Morren et is proposed by Morren et
al. [11],
al. [11], where
where aa constant
constant gain
gain proportional
proportional to to emulating
emulating inertia
inertia manipulates
manipulates the the feedback
feedback frequency
frequency
rate of change signal. The controller showed better results with respect to
rate of change signal. The controller showed better results with respect to the power, mechanical the power, mechanical and and
electrical stress
electrical stress onon the
the turbine.
turbine. Following
Following exactly
exactly the
the same
same controller,
controller, Zeni
Zeni etet al.
al. [12]
[12] discussed
discussed thethe
problems related to the implementation of virtual inertia and investigated
problems related to the implementation of virtual inertia and investigated the possibility of making the possibility of making
the value
the value of of the
the virtual
virtual inertia
inertia aa controllable
controllable parameter.
parameter. The The paper
paper identifies
identifies the
the maximum
maximum theoretical
theoretical
limit of what is called the virtual inertia
limit of what is called the virtual inertia factor. factor.
The synthetic
The synthetic inertia
inertia controller,
controller, itsits impact
impact on on the
the total
total system
system inertia
inertia and
and transient
transient response
response after
after
a frequency event is explored in
a frequency event is explored in [13]. The paper showed an enhanced effect on the total system inertia
[13]. The paper showed an enhanced effect on the total system inertia
for the
for the system
system thatthat integrates
integrates such
such controller.
controller. Gonzalez-Longatt
Gonzalez‐Longatt [14] [14] emphasized
emphasized that that this
this controller
controller
cannot totally avoid the operation of the under frequency load shedding
cannot totally avoid the operation of the under frequency load shedding protective scheme. protective scheme.
Under the
Under the same
same category
category ofof inertia
inertia response control, Gonzalez
response control, Gonzalez etet al.
al. [15]
[15] evaluated
evaluated two two different
different
control techniques, namely synthetic inertia and fast power reserve emulation
control techniques, namely synthetic inertia and fast power reserve emulation. The paper concluded . The paper concluded
Energies 2018, 11, 699 3 of 20
that the synthetic inertia controller is more desirable in low inertia systems while the fast power
reserve controller is desirable in high inertia system, considering that the deactivation time of the later
controller may initiate a second system frequency disturbance (nadir). Many papers take the same
direction and compared several controllers’ performances in supporting the frequency. For instance,
Yingcheng and Nengling [16] presented two wind turbine control methods (inertial and power reserve)
that enable frequency control for VSWT and discussed the advantages and disadvantages of each
method. Motamed et al. [17] compared three primary frequency controllers, namely, short-term extra
active power, inertia emulation and direct pitch angle regulation. The paper identified the best separate
and combined controller in terms of temporary minimum frequency (TMF). The paper also expressed
the favor of utilizing the direct pitch angle control in the two forms.
In this work, four primary response based control structures to support the grid frequency
in hydro dominated wind energy environment by mimicking the inherent natural behavior of fast
primary frequency response in conventional power plants are studied. The control performance of
each studied controller is compared. The combinations of the four controllers are also evaluated.
Two performance indices, namely rate of change of frequency (ROCOF) and frequency nadir (FN),
are considered. These performance indices reflect the effect of high penetration of VSWT in the grid
under different primary frequency controls.
The main contribution of this paper is that it proposes novel controller structures by
combining two established concepts, namely “releasing the hidden inertia” and “reserve capacity in
pitch”, to primarily regulate the system frequency despite the production/consumption imbalance.
The primary advantages of this work are as follows:
• The proposed controller equips the VSWT with a sufficient ability to play an active role in
responding to unforeseen grid transients.
• The proposed controller extends the results found in the literature by not only arresting the
frequency excursion, hence maintaining the system stability, but also enhancing the system
security indices, namely ROCOF and FN.
• All the proposed controller combinations succeed in providing extra generation capacity (i.e.,
reserve) to balance the mismatch in the generation demand requirements.
• The controllers cure the main shortcoming of using converter by eliminating its decoupling effect
between the VSWT and the grid.
The paper is organized as follows. Section 1 gives a generic introduction about the problem
under studies. Section 2 provides the necessary preliminaries where the frequency response in
conventional Power system is firstly introduced. Then, the studied mathematical model of the wind
turbine hydro dominated electric grid is presented. Section 3 addresses the main concepts behind
the chosen control philosophies applied in this paper. Sections 4 and 5 show the control performance
simulation verifications under different wind speed operating conditions and discusses its results.
A new combination strategy for the simulated controllers is established and analyzed as well. Section 6
discusses the effect of high wind power penetration on the system frequency and other security indices
for each studied controller. Finally, the conclusions is drawn in Section 7.
2. Preliminary
In the following subsections, the frequency response in conventional power system is discussed.
Then, the wind turbine hydro dominated power system model used in this paper is presented.
2.1. Frequency Response in Conventional Power System

To ensure the service continuity of any power system, its frequency should be within a permissible
range of its nominal value (50 or 60 Hz) which may be affected by the active power balance between
the generation and the demand.
Energies 2018, 11, 699 4 of 20
Normal standard requires the frequency excursion of ±0.2 Hz under regular operating states.
This
Energiesexcursion
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x FOR
x FOR beREVIEW
PEER
PEER raised
REVIEW to ±0.5 Hz if the total grid capacity is not high. If there is a 4large of420
of 20
frequency disturbance, the power system requires a frequency control (primary and secondary) to
correct
correct
correct thethe
the frequency
frequency
frequency disturbance
disturbance
disturbance [13,18].
[13,18].
[13,18]. Figure
Figure
Figure 2 describes
22 describes
describes thethe
the overall
overall
overall system
system
system frequency
frequency
frequency response
response
response
with
with emphasizing
emphasizing ononthethe effect
effect of the
of the total
total inertia
inertia of the
of the power
power
power system
system in in Great
in Great
Great Britain
Britain [19].
[19]. It It clear
It is
is is clear
clear
that
that
that the the frequency
the frequency
frequency response response
response passespasses
passes through through two main
through two main states. states.
states. The The
The first first
first one one
one is is called
is called primary
called primary response
primary response
response
with
with a time
aa time
time frame frame
frame range
range
range from
from
from 0 s 0tos030to
ss,to
30 30 s,can
which
s, which
which becan canbe be
further further
further
split into split
split
two intointo
two
distinct two distinct
distinct
zones zones
zones
that that
represent that
represent
represent
fast primary fastfast primary
primary
response fromresponse
response 10from
0 s tofrom 0 s0to
s and s 10
to 10
slow s and
sprimary
and slowslow primary
primary
response response
response
from 10 s up fromfrom
to 3010s.10 s up
s The
up to to 30
30
second s.
s. The
oneThe
second
second
is calledone one is called secondary
is calledresponse
secondary secondary response
response
with a rangewith with a range
a rangeup
of several of
of to several
several
thirtyup up to thirty
to thirty
minutes. minutes.
minutes.
Other Other
Other and
additional additional
additional
slower
andand
frequency slower
slower frequency
frequency
control control
control
(tertiary (tertiary
(tertiary
control is not control
control
shown isinisthe
not not shown
shown
figure. in the
in the figure.
figure.
Figure
Figure
Figure 2. 2. General
2. General
General system
system
system frequency
frequency
frequency response.
response.
response.
Generally speaking,
Generally the high penetration of wind power source in any electric grid results in
Generally speaking,
speaking, the the high
high penetration
penetration of of wind
wind power
power source
source in
in any
any electric
electric grid
grid results
results in
in
frequency stability
frequency challenges, owing to the power electronics converter that decouples the wind
frequency stability
stability challenges,
challenges, owing owing toto the
the power
power electronics
electronics converter
converter that
that decouples
decouples thethe wind
wind
turbine
turbine from the power system. Thus, the power system will be deprived from the inertia response
turbine from
from the
the power
power system.
system. Thus,Thus, the
the power
power system
system willwill be
be deprived
deprived from
from thethe inertia
inertia response
response
that
that could
could be be given
given by by
the the VSWTs.
VSWTs. In In such
such cases,
cases, a a control
control technique
technique is is needed
needed to to support
support andand
that could be given by the VSWTs. In such cases, a control technique is needed to support and regulate
regulate
regulate thethe frequency
frequency [8].3[8]. Figure
Figure 3 shows
3 shows the
theof impact
impact of of increasing
increasing thethe penetration
penetration level
level of of wind
wind
the frequency [8]. Figure shows the impact increasing the penetration level of wind turbine in
turbine
turbine in
in the the electric
electric grid. The figure reflects the need for proposing solution to alleviate the increase
the electric grid. Thegrid.
figure The figurethe
reflects reflects
needthe
forneed for proposing
proposing solutionsolution to alleviate
to alleviate the increase
the increase in the
in in the
the frequency
frequency deviation
deviation in the case high
of high wind penetration level.
frequency deviation in the in the
case ofcase
highofwind wind penetration
penetration level. level.
Figure
Figure 3. Frequency response with different wind power penetration level without frequency control.
Figure 3.3.Frequency
Frequency response
response with
with different
different wind
wind power
powerpenetration
penetrationlevel
levelwithout
withoutfrequency control.
frequency control.
2.2. Frequency
2.2. Response Conventional
in Conventional Power System
2.2. Frequency
Frequency Response
Response in
in Conventional Power
Power System
System
Basically, the
Basically, wind turbine inertia can be defined based on the amount of stored kinetic energy
Basically, the
the wind
wind turbine
turbine inertia
inertia can
can be
be defined
defined based
based on
on the
the amount
amount of of stored
stored kinetic
kinetic energy
energy
in in the wind turbine rotating blades. The stored kinetic energy and the inertia constant are defined as
in the wind turbine rotating blades. The stored kinetic energy and the inertia constant are defined as
the wind turbine rotating blades. The stored kinetic energy and the inertia constant are defined as
Equations (1)
Equations and (2):
Equations (1)
(1) and
and (2):
(2):
1 1
E = 1 Jω 2 (1)
(1) (1)
22 2
1 1
2 2 (2)(2)
Energies 2018, 11, 699 5 of 20
1
2 Jω 2
Energies 2018, 11, x FOR PEER REVIEW H= 5 of (2)
20
s
where ωωisisthe
where theturbine
turbinerotor
rotorrotational
rotationalspeed,
speed,J isJ is
itsits moment
moment S isSthe
of inertia,
of inertia, is the nominal
nominal valuevalue
of theof
the apparent power and H is the inertia constant measured in seconds. Morren
apparent power and H is the inertia constant measured in seconds. Morren et al. [10] stated the typical et al. [10] stated the
typicalof
values values of this constant
this constant to be
to be about 2–6about
s and2–6 s and emphasized
emphasized that windthat windhidden
turbine turbinecapability
hidden capability
to either
to either emulate the inertia or support the grid frequency primarily can be released
emulate the inertia or support the grid frequency primarily can be released using additional control using additional
controlThe
loops. loops. The system
system used inused
this in this study
study represents
represents micromicro
grid grid comprised
comprised of hydro
of hydro powerpower station
station in
in addition to wind farm based on six-pitch regulated VSWT. This system is
addition to wind farm based on six‐pitch regulated VSWT. This system is built and simulated in thebuilt and simulated in the
MATLAB/Simulink(R2012b,
MATLAB/Simulink (R2012b,MathWorks,
MathWorks,Natick,Natick, MA,MA, USA)
USA) environment.
environment.
The feedback
The feedback control
controlsystem
systemfor forthe
thestudied
studiedmodelmodel consists
consistsof three main
of three building
main buildingblocks. The The
blocks. first
one is a hydro turbine model block. The second one is the governor with rotor/load
first one is a hydro turbine model block. The second one is the governor with rotor/load model block model block to
represent the power system [20]. The third model block is the wind farm which
to represent the power system [20]. The third model block is the wind farm which is mainly based on is mainly based on
3.6 MW
3.6 MW commercial
commercial VSWTVSWT [21].
[21]. Figure
Figure 44 shows
shows the the general
general layout
layout of of the
the used
used model.
model.
Figure
Figure4.4.Wind
Windturbines
turbinesconnected
connected to
to hydro
hydro dominant
dominant power
power system.
system.
For the wind turbine model block, ∆ expresses the change in measured electrical power, and
For the wind turbine model block, ∆Pe expresses the change in measured electrical power, and
is the level of the penetration of the wind turbine generators. For the hydrodynamic model block,
L is the level of the penetration of the wind turbine generators. For the hydrodynamic model block,
∆ P is the change in the mechanical power, ∆ is the rotor speed deviation and ∆ is the change
∆Pm is the change in the mechanical power, ∆ωr is the rotor speed deviation and ∆PL is the change
in the load demand. For the rotor/load model block, Heq is system inertia constant and D is the load
in the load demand. For the rotor/load model block, Heq is system inertia constant and D is the load
damping. It is worth mentioning here that the pitch control model is also included in the wind turbine
damping. It is worth mentioning here that the pitch control model is also included in the wind turbine
model to secure both generator and turbine operations in above rated and under high wind speed
model to secure both generator and turbine operations in above rated and under high wind speed
conditions. Different gain values and limitations parameters for this model are found in [17].
conditions. Different gain values and limitations parameters for this model are found in [17]. Moreover,
Moreover, the following assumptions are considered:
the following assumptions are considered:
 The contribution of the wind turbines in the system frequency changes is null.
• The The wind
contribution of thelevel
penetration wind (Lturbines in the system frequency changes is null.
p) affects the governor, the generator models and the total system
• inertia.
The wind penetration level (Lp ) affects the governor, the generator models and the total
 system inertia.
Spinning reserve is available to compensate for any existing generating units in the case of any
• generation
Spinning reserve
deficit.is available to compensate for any existing generating units in the case of any
generation deficit.
3. Methods for VSWT Primary Frequency Control
3. Methods for VSWT Primary Frequency Control
In this section, four controllers types based on only the inertial control concept including the de‐
loading In this section,
control four controllers
technique are presented. typesThese
basedcontrollers
on only thecaninertial
simplycontrol concept
be realized including
as an the
additional
de-loading control technique are presented. These controllers can simply be realized
control loop in the power electronics converter of the turbine. The controllers’ main principles and as an additional
control control
related loop in (technique)
the power electronics
strategies areconverter of the
analyzed. Theturbine. The controllers’
proportional main
integral (PI) typeprinciples and
controller is
related control (technique) strategies are analyzed. The proportional integral
used in the most of the presented control techniques. The controlled (output) variables used are (PI) type controller is
used in the most of the presented control techniques. The controlled (output) variables
mainly: the system frequency, the frequency deviation, the rotor speed and the three‐phase output used are mainly:
the system
current frequency,
of the the frequency
turbine generator. deviation,
The control the rotor speed
(manipulated) and the
variables arethree-phase
incrementaloutput
power current
or torqueof
the turbine
signal. generator. The control (manipulated) variables are incremental power or torque signal.
3.1. Use Kinetic Energy

The main idea of this concept is to enable increasing the output power of the wind turbine for a
few seconds to capture the frequency excursions in the case of frequency event. This power is
Energies 2018, 11, 699 6 of 20
3.1. Use Kinetic Energy

The main idea of this concept is to enable increasing the output power of the wind turbine for
a few seconds to capture the frequency excursions in the case of frequency event. This power is
principally released from the stored kinetic energy in the turbine blades rotation. This controller is
principally released from the stored kinetic energy in the turbine blades rotation. This controller is
imbedded in the switched mode power converter that is used essentially to enable the wind turbine
imbedded in the switched mode power converter that is used essentially to enable the wind turbine
working in the variable speed mode. The controller is activated once the deviation in the frequency
working in the variable speed mode. The controller is activated once the deviation in the frequency
becomes more than 20 mHz; this value can be adjusted according to the different grid codes. Hence,
becomes more than 20 mHz; this value can be adjusted according to the different grid codes. Hence,
the reference power offered to the converter will change its value that will lead to change in the rotor
the reference power offered to the converter will change its value that will lead to change in the rotor
speed (i.e., change in the kinetic energy of the rotor blades). This process will be associated with
speed (i.e., change in the kinetic energy of the rotor blades). This process will be associated with power
power released or absorbed from the power system which is known as the inertial response [18]. In
released or absorbed from the power system which is known as the inertial response [18]. In this
this way, the wind turbine will be equipped with a new added functionality to work as the
way, the wind turbine will be equipped with a new added functionality to work as the conventional
conventional power plant that inherently has inertial response due to the direct coupling between its
power plant that inherently has inertial response due to the direct coupling between its synchronous
synchronous generator and the AC grid. The inertial controller is implemented by the following two
generator and the AC grid. The inertial controller is implemented by the following two methods.
methods.
3.1.1. “Hidden” Inertia Emulation
3.1.1. “Hidden” Inertia Emulation
This controller is a simple control loop added on the power converter controller [10] that creates
This controller is a simple control loop added on the power converter controller [10] that creates
an active power control signal (inertial power Pin ) given by:
an active power control signal (inertial power Pin) given by:
d f sys
Pin =22H f sys (3)(3)
dt
where
whereHHisisinertia
inertiaconstant and f sys is
constantand is the
the frequency
frequency of
of the
the system
system (per
(per unit).
unit). Figure
Figure55shows
showsthe
the
diagram
diagramofofreleasing
releasing“hidden”
“hidden”emulation
emulationinertia
inertiacontrollers.
controllers.AAlow
lowpass
passfilter
filterisisadded
addedininthe
thefeed
feed
forward
forwardpath
pathwith
withthe
thederivative
derivativeterm
termto toavoid
avoidany
anyfrequency
frequencynoisy
noisymeasurement
measurement[19]. [19].
LOW PATH FILTER
× Pin
fsys Π 2H
×
PMPPT -
MPPT PI CONVERTER
Pmeas ωr,ref ∆ωr Pref

∑ ∫ ∑
ωr,meas + - +
Figure
Figure5.5.Releasing
Releasinghidden
hiddeninertia
inertiacontroller.
controller.
AAnormal
normalmaximum
maximumpower powerpoint
pointtracking
tracking(MPPT)
(MPPT)block
blockisisalso
alsoemployed,
employed,which
whichisisonly
onlyaastatic
static
P‐ω
P-ω characteristic used to provide a reference speed for a definite power. The error signalbetween
characteristic used to provide a reference speed for a definite power. The error signal between
the
themeasured
measuredandandthethereference
referencespeed
speedisissent
senttotoaaPI
PIcontroller
controllerwhich
whichisisworking
workingininminimizing
minimizingor or
attenuating
attenuatingthis
thissignal.
signal.The
Theoutput
outputcontrol
controlaction
actionfrom
fromthe thePIPIcontroller
controllerrepresents
representsthethemaximum
maximum
power
powerthat
thatshould
shouldbe befollowed
followedby bythe
theconverter
converterin inthe
thenormal
normalcondition
conditionand
andthat
thatisismodified
modifiedbybyPPinin
(Equation
(Equation(3))
(3))in
inthe
thecase
caseofoffrequency
frequencyevent
event[11].
[11].
3.1.2.
3.1.2.Fast
FastPower
PowerReserve
ReserveEmulation
Emulation
The
Thefast
fastpower
powerreserve
reserveemulation
emulationcontroller
controllerisisused
usedtotoprovide
provideshort
shortterm
termconstant
constantpower
powerand
and
support the frequency response for a short period of time (e.g., 10 s). The fast power reserve (
support the frequency response for a short period of time (e.g., 10 s). The fast power reserve (Pres )isis
)
derived
derivedfrom
fromaasimple
simpleintegration
integrationof
ofkinetic
kineticenergy
energystored
storedininthe
thewind
windturbine
turbinerotor
rotor [22,23]:
[22,23]:
1
1 (4)
,
Pres t = 2 J ω 2r,0 − ω ,2r,t (4)
2
where t < is the lasting time of the fast power reserve from the beginning of the frequency
disturbance, , is the initial rotational speed and , is the rotor rotational speed corresponding
to t. Figure 6 shows the fast power reserve emulation controller scheme, where the new reference
rotational speed ( , ) is given as:
Energies 2018, 11, 699 7 of 20
where t < tmax is the lasting time of the fast power reserve from the beginning of the frequency
disturbance, ωr,0 is the initial rotational speed and ωr,t is the rotor rotational speed corresponding to t.
Figure 6 shows the fast power reserve emulation controller scheme, where the new reference rotational
speed
Energies(ω
2018, f ) is
r,re11, given
x FOR as:REVIEW
PEER 7 of 20
22 Pres t
s
, f = ωr,t, =
ωr,re ω 2r,0
, − (5)(5)
2 J
, , , (5)
Pres
MPPT PI CONVERTER
Pres ωr,ref ∆ωr
Pmeas ωr,0 Pref
MPPT Equ. (3) ∑ ∫PI CONVERTER
Pmeas ωr,0 - ωr
ω+r,ref ∆ Pref
Equ.ω(3)
r,meas ∑ ∫
+ -
ωr,meas
Fastpower
Figure6.6.Fast
Figure powerreserve
reserveemulation
emulationcontroller.
controller.
Figure 6. Fast power reserve emulation controller.

3.2.
3.2. Droop
DroopControl
Control
In
In [8,24],
3.2. Droop a very simple
Control
[8,24], simple structure
structureofofaaproportional
proportionalcontroller
controller based
based ononthethe difference
difference between
between the
the
gridgrid frequency
frequency andand its nominal
its nominal value
value is proposed.
is proposed. This
This controller
controller is similar
is similar to to
thethe droop
droop controller
controller in
In [8,24], a very simple structure of a proportional controller based on the difference between
in
thethe conventional
conventional synchronous
synchronous generators,
generators, whichwhich is normally
is normally used forused for supporting
supporting primary
primary frequency
the grid frequency and its nominal value is proposed. This controller is similar to the droop controller
frequency
control. The control. The droop characteristic
droop characteristic of the frequencyof the frequency
is normally is normally
as depicted as depicted
in Figure 7, whereinthe
Figure
change7,
in the conventional synchronous generators, which is normally used for supporting primary
where the change
in the active powerin is the active
directly power istodirectly
proportion the changeproportion to the change
in the frequency. in the frequency.
The frequency The
and the active
frequency control. The droop characteristic of the frequency is normally as depicted in Figure 7,
frequency
power changes and the
are active
based on power changes
Equations (6)are
andbased on Equations
(7). This controller will (6) and (7). Thisonce
be activated controller will be
the frequency
where the change in the active power is directly proportion to the change in the frequency. The
activated
deviationonce the frequency
increases deviationvalue,
certain threshold increases certain threshold
as specified in the gridvalue,
code.as specified in the grid code.
frequency and the active power changes are based on Equations (6) and (7). This controller will be
activated once the frequency deviation increases ∆ certain threshold value, as specified in the grid code. (6)
∆ f = f g − fm (6)
∆ ∆ (6)
∆ ∆f
(7)
∆P = Pg − Pm = − ∆ (7)
∆ nominal reference R
where fg is the real grid frequency, fm is the frequency, Pg is the active power at(7) fg,
Pwhere
m is the
fg is the real
active powergridatfrequency,
fm and R is fm the
is the nominal
speed reference
adjustment ratefrequency,
which also Pg expresses
is the active
thepower at fg ,
generator
where
P m is theA
fg isactive
the real gridat
power frequency,
fmpower fm the
and Rsignal
is is the nominal
speed reference
adjustment frequency, Pg expresses
is the active power at fg,
stiffness. supplementary will be generated asrate which also
in Equation (8) and addedthe generator
to the power
P is the
stiffness.
m active
A MPPT power
supplementary at fm and
power R is the speed
signalinwill adjustment
be generated rate which
as permanent also
in Equationdroop. expresses the generator
(8) and added to the power
signal from controller, as shown Figure 8. is the
stiffness.
signal from A supplementary
MPPT controller, power signalinwill
as shown be generated
Figure 8. K p is the aspermanent
in Equationdroop.
(8) and added to the power
signal from MPPT controller, as shown in Figure 8. ∆ ∆ is the permanent droop. (8)
∆P = K p (∆ f ) (8)
∆ ∆ (8)
Figure 7. The droop Characteristics of the frequency.
Figure
Figure 7.
7. The
The droop Characteristics
droopLOW
Characteristics
PATH FILTER
of
of the
the frequency.
frequency.
∆f ∆P
LOW PATH FILTER
∆f ∆P
CONVERTER
PMPPT -
MPPT PI
MPPT ∑ ∫PI +-
∑ CONVERTER
ωPr,meas
meas
+
ωr,ref -∆ωr PMPPT Pref
∑ ∫ ∑
ωr,meas
+ - +
Figure 8. Droop control for VSWTs.
Figure 8. Droop control for VSWTs.

Energies 2018, 11, 699 8 of 20
Figure 7. The droop Characteristics of the frequency.
LOW PATH FILTER
∆f ∆P
CONVERTER
PMPPT -
MPPT PI
∑ ∫ ∑
ωr,meas
+ - +
Figure
Figure8.8.Droop
Droopcontrol
controlfor
forVSWTs.
VSWTs.
This increase in active power will be obtained from the kinetic energy store in the wind turbine
blades making the rotor speed to drop with probability of stalling wind turbine under low operational
rotational speed. This shortcoming may be avoided if a certain working time for this controller is
specified similar to the case of fast power reserve emulation. In such case, a triggering system takes
the rule to cut the droop control action on this prescribed time.
Remark 1
Comparing the above mention three control structures shown in Figures 5, 6 and 8 reflects the
following points:
1. They all depend on the MPPT control block to determine the reference rotor speed of the wind
turbine which may either be further corrected by the aid of PI controller to determine the normal
reference maximum power signal as in the case of inertia emulation and droop control. In such
cases, this MPPT signal is forwardly modified by an extra active power signal that can be
produced from the stored kinetic energy in the turbine blades (hidden/synthetic/emulated
inertia) or from speed adjustment rate constant (R) as ∆f /∆P droop characteristics to produce the
needed reference power signal for the converter hence reducing the frequency excursion.
2. Conversely, it may be used as an initial speed value in Equation (3), in addition to determining
a short term constant power called Pin for certain specified period of time, t. In such case,
the needed reference rotor speed of the wind turbine will be determined and compared with the
measured value of the rotor speed to produce the needed reference power signal—by the aid of
PI controller—for the converter hence reducing the frequency excursion.
3.3. De-Loading Control

Another control method used for primary frequency support and principally differs than the
concepts of releasing hidden inertia and droop control shown in Section 2 is known as de-loading
control. The main idea of this method is to scarify the MPPT operation and keep the power
available as reserves. In such case, the wind turbine will no longer work over the MPPT curve but it
works on de-loading curve. Figure 9 shows three de-loading possibilities known as over-speeding,
under-speeding and pitching, which can be applied in low and high wind speed, respectively.
When the wind speed is below the rated value of wind speed, VSWT is always on the MPPT
operation mode with the constant blade pitch angle (β = β min = 0). This operation mode allows
exploiting the maximum power from the rotor speed of wind turbine as much as possible. If the wind
speed is high enough to exceed the rated value, the pitch angle increases to maintain the rated output
power [19].
The de-loading control can be realized by two ways: rotational speed control (either under- or
over-speeding) in low wind speed case and pitch control in high wind speed case. Both methods will
be discussed in the next sections.
de‐loading curve. Figure 9 shows three de‐loading possibilities known as over‐speeding, under‐
speeding and pitching, which can be applied in low and high wind speed, respectively.
When the wind speed is below the rated value of wind speed, VSWT is always on the MPPT
operation mode with the constant blade pitch angle ( 0). This operation mode allows
exploiting the maximum power from the rotor speed of wind turbine as much as possible. If the wind
Energies 2018,
speed11,is699
high enough to exceed the rated value, the pitch angle increases to maintain the rated output 9 of 20
power [19].
Figure 9. Different de‐loading options and maximum power tracking curve.

The de‐loading
Figure 9. control cande-loading
Different be realizedoptions
by two and
ways: rotationalpower
maximum speed tracking
control (either
curve.under‐ or
over‐speeding)
Energies 2018, 11, xin low
FOR wind
PEER speed case and pitch control in high wind speed case. Both methods9will
REVIEW of 20
3.3.1. Rotational Speed Control
The de‐loading control can be realized by two ways: rotational speed control (either under‐ or
3.3.1. Rotational Speed wind
over‐speeding) in low speed case and pitch control in high wind speed case. Both methods will
Control
This control is known as under/over-speeding action which has many advantages. It provides
This control
sufficient reserves foristhe
known as under/over‐speeding
system and saves investment action which
on the hasstorages
many advantages.
by directlyIt provides
managing the
sufficient
energy 3.3.1.
in the reserves
wind which
Rotational for the
Speed may system
Control and saves investment on the storages by directly
be otherwise partially lost if the changes on the wind turbine managing the speed
energy in the wind which may be otherwise partially lost if the changes on the wind turbine speed
cause stall [19]. Figure is10known
showsasaunder/over‐speeding
traditional rotational speed controller for a VSWT.ItInprovides
this controller,
causeThis
stall control
[19]. Figure 10 shows a traditional rotationalaction
speedwhich has many
controller advantages.
for a VSWT. In this controller,
some sort
some of coordination
sufficient
sort ofreserves
coordination with droop
for thewith
system
droop controller
and and other
saves investment
controller and other oncontrol parameters
the storages
control parametersby is is
directly
needed.needed.
managing the
energy in the wind which may be otherwise partially lost if the changes on the wind turbine speed
cause stall [19]. Figure 10 shows a traditional rotational speed controller for a VSWT. In this controller,
DE‐LOADING
some sort of coordination with TRACKING CONVERTER
droop controller and other control parameters is needed.
ωr,meas Pwt Rotational Pref
DE‐LOADING ∑
+ speed control
TRACKING - CONVERTER
ωr,meas ∆P Pwt Pref
∑
Rotational
+ speed control
Figure10.
Figure - speed
10. Rotational
Rotational speedcontrol.
control.
∆P
3.3.2. Modified Pitch Control
3.3.2. Modified Pitch Control Figure 10. Rotational speed control.
Generally, the pitch control is a common technique which is used to regulate (increase/ decrease)
Generally,
the output the
powerpitch control
of the is a common
wind turbine generatortechnique
and keep which
minimum is used
fatiguetoloads
regulate
of the(increase/
turbine. Thisdecrease)
3.3.2. Modified Pitch Control
the output power of the wind turbine generator and keep minimum fatigue loads of
control technique can contribute in supporting the frequency response and give adequate the turbine.
power
Generally,
reserve without the pitch control
spending on is a common
storage techniqueThis
technology. which canis used
be to regulate (increase/
performed using thedecrease)
simple
This control technique can contribute in supporting the frequency response and give adequate power
the output power of in
theFigure
wind turbine generator and keep minimum pitchfatigue loads of the turbine.onThis
reservemodification
without
control
shown
spending
technique canon
11 where
storage
contribute
the required
technology. This modified
can be performed angle no
using longer
the depends
simplepower a
modification
rotor speed input signal but insteadin supporting
relies on a power the difference
frequency response
signal and
between givecurrent
the adequate
measured
shown value
in Figure
reserveof the
11
without where
powerspending
the required
on storage
and the de‐loading
modified
power
pitch angle
technology.
value. This This
signal
noconstitutes
can longer depends
be performed on asignal
using
the actuating
rotor
the speed input
simple
for a
signal but instead
modification relies
shown on ina power
Figure 11difference
where the signal
required between
modified the current
pitch angle
proportional integral controller used in traditional pitch angle control to obtain the modified pitch measured
no longer value
depends ofonthe
a power
rotor
and theangle. speed
de-loading input signal but instead relies on a power difference signal between the
In such kind of control, a hierarchical control approach is needed to coordinate with droop integral
power value. This signal constitutes the actuating signal for current
a measured
proportional
controller usedthe
value of
controller inpower
and other and thepitch
control
traditional de‐loading
anglepower
parameters for value.
successful
control This signal
theconstitutes
implementation
to obtain the
[19,25].
modified pitchactuating
angle. signal for a kind of
In such
proportional integral controller used in traditional pitch angle control to obtain the modified pitch
control, a hierarchical control approach is needed to coordinate with droop controller and other control
CONVERTER
angle. In such kind of control, a hierarchical control approach is needed to coordinate with droop
parameters for successful
controller implementation
and other control parameters for [19,25]. Pref
successful implementation [19,25].
DE‐LOADING CONVERTER
TRACKING βmax
Pref
ωr,meas Pwt
∑
- ∑
Traditional β
+ β - controller
DE‐LOADING
TRACKING
- + βmax
∆P Pmeas βmin
ωr,meas Pwt
∑
- ∑
Traditional β
+ Modified pitch β - controller
Figure 11. - + control.
∆P Pmeas βmin
4. Frequency Control Simulation
Figure 11. Modified pitch control.
11. Modified
Figuresimulation pitch control.
In this section, MATLAB/Simulink environment is utilized to validate each proposed
controller in Section 2. The
4. Frequency Control Simulationdynamic frequency response of wind power plant integrated with multi‐
machine hydro dominated power system is studied under the following environmental conditions:
In this section, MATLAB/Simulink simulation environment is utilized to validate each proposed
controller
Condition 1: low2.wind
in Section The speed.
dynamic frequency response of wind power plant integrated with multi‐
machine
Condition 2: high wind
hydro dominated power speed.system is studied under the following environmental conditions:
 Ten percent1:increase
Condition low windat the load side is applied after 5 s to represent a frequency event. According
speed.
to
 theCondition 2: high wind speed.[21], the wind speed is assumed to be 7.5 m/s for the low‐speed
chosen wind turbine model
value and 20 m/s for the high‐speed value. The penetration level of the wind power in the proposed
Ten percent increase at the load side is applied after 5 s to represent a frequency event. According
Energies 2018, 11, 699 10 of 20
4. Frequency Control Simulation

In this section, MATLAB/Simulink simulation environment is utilized to validate each proposed
controller in Section 2. The dynamic frequency response of wind power plant integrated with
multi-machine hydro dominated power system is studied under the following environmental conditions:
• Condition 1: low wind speed.
• Condition 2: high wind speed.
Ten percent increase at the load side is applied after 5 s to represent a frequency event. According
to the chosen wind turbine model [21], the wind speed is assumed to be 7.5 m/s for the low-speed
value and 20 m/s for the high-speed value. The penetration level of the wind power in the proposed
power system configuration is initially set to be 20%. The simulation mainly focuses on studying
the system frequency, the electrical power output given by the wind turbine and the wind turbine
rotor speed variables with and without control. Four different control schemes are initially tested.
As a step towards achieving better frequency response, a combination strategy is then suggested.
This combination strategy is based on the combination matrix shown in Table 1.
Table 1. Combination strategy.
Kinetic Energy
Inertia Emulation Fast Power Reserve Emulation
Rotational speed Low wind Low wind
De-loading
Modified pitch High wind High wind
Furthermore, an analysis for the system security indices in terms of ROCOF and FN in the case of
increasing the penetration of the wind power is performed to show the best controller structure and the
controller combination structure that has the best index values. In all performed simulation tests, results for the
interested variables without any control are recorded to show the effect of each controller on these variables.
4.1. Condition 1 Simulation Results

The importance of using control scheme for the frequency control problem under the proposed system
configuration is completely reflected in Figure 12. If no control is applied, the ROCOF has high results in
larger frequency excursion (in this case ∆f = 2 Hz) and lower FN (in this case TMF = 48 Hz). These values
cannot be accepted in regards to grid codes in different areas [26–28] where the normal frequency deviation
ranges ±0.02 Hz in Denmark, ±0.2 in Great Britain and ±0.5 Hz in Egypt. Hence, proposing control
scheme can play a vital role in alleviating this problem. Figure 12 shows the frequency response for four
different control schemes. The different controllers enhance the frequency response with respect to the
case of no control. Among these controllers, the inertia emulation control gives the best response and
enjoys smoother dynamic characteristics. It reduces the TMF value remarkably which leads to lowering the
frequency deviation and enhance the FN (∆f = 1.75 Hz and TMF = 48.25 Hz). Furthermore, the frequency
response with this controller enjoys smoother dynamic characteristics. On the other hand, during the
period of increasing the frequency to new steady state frequency deviation (the right side of Figure 12),
the ROCOF of the inertia emulation control is lower than the other controllers. Table 2 compares the
dynamics of each controller under the low wind speed condition.
Table 2. Dynamic comparison in low wind speed case.
∆f (Hz) TMF (Hz) ROCOF Decreasing Settling Time—ts (s)

Inertia Emulation Control 1.75 48.25 0.02150 23.60
Fast Power Reserve
1.88 48.12 0.02085 25.63
Emulation
Droop Control 1.92 48.08 0.02168 23.67
De-Loading/Rotational
1.93 48.07 0.02121 25.20
Speed Control
Energies 2018, 11, 699 11 of 20
Figure 12. Frequency response for different controllers in low wind speed case after frequency
Figure 12. Frequency response for different controllers in low wind speed case after frequency disturbance.
disturbance.
Figure 12. Frequency response for different controllers in low wind speed case after frequency
disturbance.
In Table 13a,b
Figure 2, it is shows
noticedthethatresponse
all controllers
of the used
windoffer the same
turbine settlingpower
electrical time and andsettle
rotordownspeedto the
for
same value
different of the
primary steady state deviation.
Figure 13a,b frequency
shows thecontrollers
response of after
thethe suggested
wind turbineunbalance
electrical event.
power Itand is noticed
rotor speedthat the
for
Figure 13a,b for
electrical showsfastthe response of the wind turbine electrical power
for 10and rotorslight
speed for different
different power
primary frequency power reserve
controllersemulation
after theremains
suggested constant
unbalance s with
event. increase
It is noticed in the
that the
primary
rotor frequency
speed compared controllers
topower after before
the speed the suggested unbalance
the frequency event. event.
The for It is for
trend noticed that the power
theslight
electrical electrical
electrical power for fast reserve emulation remains constant 10 s with increase in for the
power
other for fast power
controllers reserve emulation
is approximately remains constant for 10 s withincrease
slight increase in the ofrotor
rotor speed compared to the speed the beforesame, where
the frequencyan instantaneous
event. The trend for the in the value
electrical powerthe for
speed compared
electrical power to the speed
occurs and before
is the frequency
associated with event. The
decrease in trendspeed
rotor for the electrical
directly power
after the for other
frequency
other controllers is approximately the same, where an instantaneous increase in the value of the
controllers
event. isisapproximately
Thispower followed athe same, where an instantaneous increase in the value of the electrical
electrical occurs byand decrease in the
is associated value
with of electrical
decrease in rotorpower,
speedwhichdirectlyis after
associated with an
the frequency
power
increaseoccurs
in theand is associated
rotor speed. with decrease in rotor speed directly after the frequency event. This is
event. This is followed by aThe instantaneous
decrease maximum
in the value percentage
of electrical power,increase
which isinassociated
the wind with turbinean
followed
electrical by a
power decrease
of in
inertia the value
emulation, of electrical
fast power power,
reserve, which
droop, is
andassociated
de‐loading with an
control increase
are 30%, in11%,
the
increase in the rotor speed. The instantaneous maximum percentage increase in the wind turbine
rotor
7.2% speed. Therespectively,
and power
7%, instantaneous maximum
which enablespercentage
windincrease
the reserve, turbine intothe wind turbine
contribute electricalthe power
electrical of inertia emulation, fast power droop, and de‐loadingincontrol
damping grid
are 30%, 11%,
of inertia
frequency emulation, fast power reserve, droop, and de-loading control are 30%, 11%, 7.2% and 7%,
7.2% and transient.
7%, respectively, which enables the wind turbine to contribute in damping the grid
respectively, which enables the wind turbine to contribute in damping the grid frequency transient.
frequency transient.
(a)
(a)
(b)
(b)
Figure 13. (a) Electrical power; and (b) rotor speed of VSWT in low wind speed case after frequency
Figure 13. (a) Electrical power; and (b) rotor speed of VSWT in low wind speed case after frequency disturbance.
disturbance.
Figure 13. (a) Electrical power; and (b) rotor speed of VSWT in low wind speed case after frequency
disturbance.
Remark 2
Remark
1. 2 et al. [10] commented on the initial operating power of the turbine at the frequency
Morren
1. disturbance event
Morren et al. [10]and the amount
commented on of
theavailable additionalpower
initial operating powerofinthe
the turbine
turbine at
which is used to
the frequency
disturbance event and the amount of available additional power in the turbine which is used to
Energies 2018, 11, 699 12 of 20
Remark 2
1. Morren et al. [10] commented on the initial operating power of the turbine at the frequency
disturbance event and the amount of available additional power in the turbine which is used
to support the primary frequency response. In this paper, an investigation is performed to
check
Energiesthe
2018,available
11, x FOR PEERadditional
REVIEW power from the wind turbine in the case of higher wind
support the primary frequency response. In this paper, an investigation is performed to check speeds.
12 of 20
This investigation is made for
the available additional all four
power fromcontrollers. The wind
the wind turbine speed
in the case range is chosen
of higher to be 7–11
wind speeds. Thism/s
support the primary frequency response. In this paper, an investigation is performed to check
with investigation
an increment is of 0.5for
made m/s, where
all four the rated
controllers. speed
The wind is set to
speed be 11.34
range m/s.
is chosen For7–11
to be sake
m/sofwith
brevity,
the available additional power from the wind turbine in the case of higher wind speeds. This
only an theincrement
results for inertia
of 0.5 emulation
m/s, where control
the rated speedcase—as a best
is set to be 11.34control
m/s. Forcandidate in low
sake of brevity, only wind
investigation is made for all four controllers. The wind speed range is chosen to be 7–11 m/s with
the results
speed—are for inertia Figure
presented. emulation 14 control
shows case—as
that the a amount
best control
of candidate in low
contributed windby
power speed—
the wind
an increment of 0.5 m/s, where the rated speed is set to be 11.34 m/s. For sake of brevity, only
turbineare presented. Figure 14 shows that the amount of contributed power by the wind turbine is
theis increased
results as the
for inertia wind speed
emulation increases
control case—asdue to higher
a best control stored kinetic
candidate in lowenergy.
wind speed—
increased as the wind speed increases due to higher stored kinetic energy.
2. The conclusion that can be drawn here is that the wind turbine
are presented. Figure 14 shows that the amount of contributed power by the wind ability to provide
turbineinstant
is
2. The conclusion that can be drawn here is that the wind turbine ability to provide instant
additional
increasedpoweras the for primary
wind speed frequency
increases due support
to higheris stored
increasing
kineticasenergy.
wind speed increases at low
additional power for primary frequency support is increasing as wind speed increases at low
2. The
wind speedconclusion
conditions. that can be drawn here is that the wind turbine ability to provide instant
wind speed conditions.
additional power for primary frequency support is increasing as wind speed increases at low
wind speed conditions.
Figure 14. Contributed power of wind turbine vs. wind speed for only inertia emulation control case.
In this simulation
4.2. Condition 2 Simulationcase, because the considered wind speed value is high, all the studied
Results
Incontrollers
this simulation
(inertiacase, becausedroop,
emulation, the considered
fast powerwind speed
reserve andvalue is high, are
de‐loading) all the studied controllers
accompanied with
In this simulation case, because the considered wind speed value is high, all the studied
traditional
(inertia emulation, pitch controller
droop, to regulate
fast power the pitch
reserve and angle. The de‐loading
de-loading) controller concept
are accompanied is achievedpitch
with traditional
controllers (inertia emulation, droop, fast power reserve and de‐loading) are accompanied with
via applying
controller a modified
to regulate pitchangle.
the pitch control technique shown in Figure 11.concept
Figure 15isreflects the importance
traditional pitch controller to regulateThe de-loading
the pitch controller
angle. The de‐loading controller achieved
concept isvia applying
achieved
of
a modifiedusing control
pitch scheme
control for the
technique frequency
shown control
in problem
Figure 11. under
Figure the
15 proposed
reflects system
the configuration.
importance of using
via applying a modified pitch control technique shown in Figure 11. Figure 15 reflects the importance
It shows the frequency response for four different control schemes. It can be concluded that for both
controlofscheme for the
using control frequency
scheme for thecontrol problem
frequency controlunder theunder
problem proposed systemsystem
the proposed configuration. It shows
configuration.
low and high wind speed, an additional control scheme rather than the traditional control (MPPT)
the frequency
It shows theresponse
frequency forresponse
four different control schemes.
for four different It canItbe
control schemes. canconcluded
be concluded that for
that forboth
both low
needs to be implemented in the wind turbine converter to ensure good frequency indices and thus
low wind
and high and high
speed,windan speed, an additional
additional control control
scheme scheme
rather rather
than thantraditional
the the traditional control
control (MPPT)
(MPPT) needs
better frequency responses.
needs to be implemented in the wind turbine converter to ensure good frequency
to be implemented in the wind turbine converter to ensure good frequency indices and thus better indices and thus
betterresponses.
frequency frequency responses.
Figure 15. Frequency response for different controllers in high wind speed case after frequency
disturbance.
Figure 15. Frequency response for different controllers in high wind speed case after frequency disturbance.
disturbance.
In this case, the droop control outperforms all other proposed controllers in terms of FN and ∆f
values. The ROCOF of this controller is also enhanced and the overall frequency response exhibits
In thisIncase, the droop
this case, control
the droop outperforms
control outperformsallallother
other proposed controllers
proposed controllers inin terms
terms of FN
of FN ∆f ∆f
andand
the smoothest dynamic characteristics. Moreover, the droop controller shows the fastest response.
values.
values.Table The ROCOF
The3ROCOF of controller
of this this controller is also
is also enhanced
enhanced and
and thethe overallfrequency
overall frequencyresponse
response exhibits
exhibits the
compares the dynamics of each controller.
the smoothest dynamic characteristics. Moreover, the droop controller shows the fastest response.
Table 3 compares the dynamics of each controller.
Energies 2018, 11, 699 13 of 20
smoothest dynamic characteristics. Moreover, the droop controller shows the fastest response. Table 3
compares the dynamics of each controller.
Table 3. Dynamic comparison in high wind speed case.
∆f (Hz) TMF (Hz) ROCOF Decreasing Settling Time—ts (s)

Droop Control 1.72 48.28 0.02083 22.97
InertiaEnergies
Emulation
2018, 11, x FOR PEER REVIEW 13 of 20
1.74 48.26 0.02099 24.55
Control
Fast Power Reserve Table 3. Dynamic comparison in high wind speed case.
1.79 48.21 0.02070 25.45
Emulation
De-Loading/Modified ∆f (Hz) TMF (Hz) ROCOF Decreasing Settling Time—ts (s)
1.88 48.12 0.02157 24.85
Pitch Control Droop Control 1.72 48.28 0.02083 22.97
Inertia Emulation Control 1.74 48.26 0.02099 24.55
Fast Power Reserve Emulation 1.79 48.21 0.02070 25.45
Figure 16a–c shows the response of the wind turbine electrical power, rotor speed and pitch angle
De‐Loading/Modified Pitch Control 1.88 48.12 0.02157 24.85
for different primary frequency controllers after the suggested unbalance event. It is noticed that the
electrical powerFigure
for fast
16a–cpower
showsreserve emulation
the response remains
of the wind turbine constant
electrical for 10 s.rotor
power, Thespeed
trend andfor the electrical
pitch
angle for different primary frequency controllers after the suggested unbalance event. It is noticed
power for other controllers is approximately the same, where an instantaneous increase in the value of
that the electrical power for fast power reserve emulation remains constant for 10 s. The trend for the
the electricalelectrical
powerpoweroccurs for and
otheris associated
controllers with decrease
is approximately in rotor
the same, wherespeed directly after
an instantaneous the
increase in frequency
event. However, in this
the value of thecase, andpower
electrical due to the high
occurs and isvalue of the
associated withwind speed,
decrease thespeed
in rotor winddirectly
turbineafterrotor speed
the frequency
for the de-loading controlevent. However, pitch
(modified in this control)
case, and due to the high due
is increased valueto of the
the wind speed, the
reduction windpitch angle
in the
turbine rotor speed for the de‐loading control (modified pitch control) is increased due to the
value. The modified pitch angle controller shows a very high reduction rate for the pitch angle. This is
reduction in the pitch angle value. The modified pitch angle controller shows a very high reduction
followed by rate
a decrease in the
for the pitch value
angle. Thisof
is electrical
followed bypower which
a decrease is associated
in the with power
value of electrical an increase
which isin the rotor
speed exceptassociated
for the de-loading
with an increase controller
in the rotorwhere
speed the rotor
except speed
for the starts controller
de‐loading to decrease.
whereThe instantaneous
the rotor
speed starts to
maximum percentage decrease.inThe
increase theinstantaneous
wind turbine maximum percentage
electrical power increase in theemulation,
of inertia wind turbinefast power
electrical power of inertia emulation, fast power reserve, droop, and de‐loading controllers are 11%,
reserve, droop,
5%, 8%and de-loading
and controllers
2.5%, respectively, are 11%,
which enables 5%, turbine—in
the wind 8% and 2.5%, respectively,
high wind which enables the
speed—to contribute
wind turbine—in highthewind
in damping speed—to
grid frequency contribute in damping the grid frequency transient.
transient.
(a)
(b)
(c)
Figure 16. (a) Electrical power; (b) rotor speed; and (c) pitch angle of VSWT in high wind speed case
after frequency disturbance.
2. The dynamics of pitch angle response in the case of de‐loading controller is much higher than
the corresponding dynamics for the other controllers. Hence, the pitch angle mechanism in the
de‐loading controller needs to be highly responsive and more efficient to achieve these
dynamics, which will affect the total cost of the wind turbine.
Energies 2018, 11, 699 14 of 20
5. Combination Controllers’ Results

Remark 3 section, to enhance the frequency response during the time of frequency drop more than
In this
1.the results in the previous
All controller structuressections,
provide novel
highercombination controllers
power reserve following
margins under low the combination
wind matrix
speed conditions
(Table 1) are adopted. The controllers suggested in
compared to the case of high wind speed conditions. this section are mainly based on merging the
inertial response control and the de‐loading control concepts. Same wind speed conditions and same
2. The dynamics of pitch angle response in the case of de-loading controller is much higher than
system variables are studied. The inertial response controllers chosen here are inertia emulation and
the corresponding dynamics for the other controllers. Hence, the pitch angle mechanism in the
fast power reserve emulation. The de‐loading controllers are the rotational speed control in the low
de-loading controller needs to be highly responsive and more efficient to achieve these dynamics,
wind speed and the modified pitch control in high wind speed. The case of no control is also
which will affect the total cost of the wind turbine.
presented for the sake of comparison.
5. Combination Controllers’ Results
5.1. Low Wind Speed
In this section, to enhance the frequency response during the time of frequency drop more than
As can
the results in be
theinferred
previousfrom Figure
sections, 17, both
novel combined
combination controllers
controllers improvethe
following thecombination
frequency response
matrix
more than the case where no control is applied. In general, the suggested combinations
(Table 1) are adopted. The controllers suggested in this section are mainly based on merging enhancethethe
TMF values
inertial response(FNcontrol
values)and
andthe
thede-loading
settling time. For example,
control concepts. TMF
Samefor the speed
wind inertiaconditions
emulationand controller
same
alone is 48.25 Hz, while, in the case of combination with rotational speed control,
system variables are studied. The inertial response controllers chosen here are inertia emulation is 48.28 Hz.and
The
settling
fast power time is more
reserve than 15The
emulation. s for the inertia
de-loading emulation
controllers controller
are the alone,
rotational while,
speed in the
control case
in the lowof
combination with rotational speed control, is less than 15 s. In these wind speed conditions,
wind speed and the modified pitch control in high wind speed. The case of no control is also presented the inertia
emulation
for the sake of control is superior to fast power reserve control when combined with rotational speed
comparison.
control.
Figure
5.1. Low Wind18a,b
Speed shows the response of electrical power and rotor speed for both combined
controllers. The electrical power given by the wind turbine before and after the frequency event has
As can be inferred from Figure 17, both combined controllers improve the frequency response
no change in the case of no control. The instantaneous electrical power given by the wind turbine
more than the case where no control is applied. In general, the suggested combinations enhance
directly after the frequency event in the case of inertia emulation is higher than its corresponding
the TMF values (FN values) and the settling time. For example, TMF for the inertia emulation
value in the case of fast power reserve emulation. Despite the combination, the results here are in line
controller alone is 48.25 Hz, while, in the case of combination with rotational speed control, is 48.28 Hz.
with the results obtained with low speed and no combination. The instantaneous maximum
The settling time is more than 15 s for the inertia emulation controller alone, while, in the case
percentage increase in the electrical power given by the wind turbine for inertia emulation and fast
of combination with rotational speed control, is less than 15 s. In these wind speed conditions,
power reserve combinations with rotational speed control are approximately 7% and 2.5%,
the inertia emulation control is superior to fast power reserve control when combined with rotational
respectively.
speed control.
Figure 17. Frequency response for different controllers in Low wind speed case after frequency disturbance.
Figure 18a,b shows the response of electrical power and rotor speed for both combined controllers.
The electrical power given by the wind turbine before and after the frequency event has no change in
the case of no control. The instantaneous electrical power given by the wind turbine directly after the
frequency event in the case of inertia emulation is higher than its corresponding value in the case of
fast power reserve emulation. Despite the combination, the results here are in line with the results
obtained with low speed and no combination. The instantaneous maximum percentage increase in the
Energies 2018, 11, 699 15 of 20
EnergiesFigure
2018, 11,17.
x FOR PEER REVIEW
Frequency 15 of 20
response for different controllers in Low wind speed case after frequency
disturbance.
electrical power
Figure given by the
17. Frequency wind for
response turbine for inertia
different emulation
controllers in Lowand fastspeed
wind power reserve
case combinations
after frequency
with disturbance.
rotational speed control are approximately 7% and 2.5%, respectively.
(a)
(a)
(b)
Figure 18. (a) Electrical power; and (b) rotor speed (b) of VSWT in low wind speed case after frequency
disturbance.
Figure 18.
Figure 18. (a)
(a)Electrical
Electrical power;
power; andand (b) rotor
(b) rotor speedspeed of VSWT
of VSWT in low
in low wind wind
speed casespeed case afterdisturbance.
after frequency frequency
5.2. disturbance.
High Wind Speed
5.2. High Windwind
In this Speed
5.2. High Wind Speedspeed condition, the combined controllers show better frequency responses than
the In
case with
this nospeed
wind control (see Figure
condition, the19). The inertia
combined emulation
controllers show combination case isresponses
better frequency the best andthanyields
the
In
the withthis wind
best frequencyspeed condition, the combined controllers show better frequency responses than
case no control response
(see Figureunder
19). the
Theimbalance frequency
inertia emulation event. Thecase
combination response
is the of this
best andcontroller
yields
the case with
reflects verynolow
control
TMF(seeandFigure
ROCOF 19). values
The inertia
whenemulation
compared combination
withThe case
sameis values
theresponse the bestofandtheyields
same
the best frequency response under the imbalance frequency event. of this controller
the best frequency response under the imbalance frequency event. The response of this controller
reflects very low TMF and ROCOF values when compared with the same values of the same controllerif
controller (combined with rotational speed control) but in low wind speed condition or even
reflects
compared verywith
lowthe
TMF and obtained
results ROCOF values
in but
the inwhen
case compared
ofwind
inertia with thecontroller
emulation same values ofin the lowsame
(combined with rotational speed control) low speed condition or even alone
if compared wind
with
controller
speed. (combined with rotational speed control) but in low wind speed condition or even if
the results obtained in the case of inertia emulation controller alone in low wind speed.
compared with the results obtained in the case of inertia emulation controller alone in low wind
speed.
Figure 19. Frequency response for different controllers in high wind speed case after frequency disturbance.
disturbance.
This controller combination enables the wind turbine to provide the highest electrical power
disturbance.
This controller combination enables the wind turbine to provide the highest electrical power and
and perform the lowest reduction in pitch angle when compared to the fast power reserve emulation
perform the lowest reduction in pitch angle when compared to the fast power reserve emulation
This controller combination enables the wind turbine to provide the highest electrical power and
perform the lowest reduction in pitch angle when compared to the fast power reserve emulation
Energies 2018, 11, 699 16 of 20
controller case,
controller asas
case, shown
shown in in
Figure
Figure20a–c.
20a–c.The maximum
The maximum percentage
percentageincrease inin
increase the wind
the windturbine
turbine
electrical power for inertia emulation and fast power reserve combinations with modified
electrical power for inertia emulation and fast power reserve combinations with modified pitch control
pitch
arecontrol
approximately 15% and 5%, respectively, which enables the wind turbine—in high wind
are approximately 15% and 5%, respectively, which enables the wind turbine—in high windspeed—to
contribute
speed—to incontribute
damping the grid frequency
in damping transient.
the grid frequency transient.
(a)
(b)
(c)
Figure
Figure 20.20.
(a)(a) Electrical
Electrical power;
power; (b)(b) rotor
rotor speed;
speed; andand
(c)(c) pitch
pitch angle
angle of of VSWT
VSWT in in high
high wind
wind speed
speed case
case
6. 6. Effect
Effect ofof High
High Wind
Wind Power
Power Penetration
Penetration
The
The impact
impact ofof increasing
increasing thethe wind
wind penetration
penetration level
level inin
thethe proposed
proposed sample
sample ofof hydro
hydro dominated
dominated
power
power system
system is is studied
studied in in low
low and
and high
high wind
wind speed.
speed. System
System security
security indices
indices such
such asas ROCOF
ROCOF and
and
FN are calculated from the simulation. All proposed controllers in the previous section
FN are calculated from the simulation. All proposed controllers in the previous section are checked are checked
against
against a gradual
a gradual variation
variation of of
thethe wind
wind penetration
penetration level
level that
that ranges
ranges 0–40%.
0–40%.
6.1.
6.1. Low
Low Wind
Wind Speed
Speed
Figure
Figure 2121 shows
shows thethe ROCOF
ROCOF andand
FNFN with
with increasing
increasing wind
wind power
power penetration
penetration level
level in in low
low wind
wind
speed case. Figure 21a reflects the following points:
speed case. Figure 21a reflects the following points:
•  AsAs
thethe penetration
penetration level
level of wind
of wind power
power increase,
increase, the ROCOF
the ROCOF also increases,
also increases, whether
whether using using
or notor
not using control system and independent of the used controller
using control system and independent of the used controller type. type.
 At very low penetration levels (0–10%), the combined control techniques offer a good method—
to reduce the ROCOF values—and can be considered superior to the four proposed separate
control techniques.
different controllers. This means that, at this high level of penetration, any controller either in
combination or alone can be used to primarily capture the frequency.
 At the penetration level 0–20%, the fast power reserve emulation combined with rotational speed
control offer the best frequency control alternative to reduce the ROCOF values.
 From 20% to 40% penetration level, both combination cases yield same ROCOF values.
Energies 2018, 11, 699 17 of 20
However, the combination of inertia emulation with rotational speed control is the best when
the FN is considered.
• At veryFigure 21b reflects the

low penetration following
levels points:
(0–10%), the combined control techniques offer a good method—to

reduce The (FN) values starts to decrease asbe
the ROCOF values—and can theconsidered superior
penetration level of wind topower
the four
startsproposed
to increase separate
if
control there
techniques.
is no frequency control action.
• At veryAthigh
verypenetration
low penetration levels
levels (0–10%), the
(35–40%), combined
there control
is no great techniquesinasthe
difference well as the inertia
FOCOF values with
emulation control offer superior methods to increase the FN values. The three other proposed
different controllers. This means that, at this high level of penetration, any controller either in
separate control techniques cannot increase the FN in this range of penetration level.
combination
 or alonelevel
At penetration canabove
be used10%,tothe
primarily
behavior ofcapture
the FN the frequency.
starts to alternatively decrease with all
• At the penetration level and
suggested separate 0–20%, the fast
combined power reserve emulation combined with rotational speed
controllers.

control At very
offer thehigh
bestpenetration
frequency levels (30–40%),
control the combined
alternative to reducecontrol
the techniques
ROCOF values.present superior
methods over the other controllers to increase the FN values with no big difference in the FN
• From 20% to 40% penetration level, both combination cases yield same ROCOF values. However,
values for these combined controllers.
the combination of inertia emulation with rotational speed control is the best when the FN
At the penetration level 0–40%, the inertia emulation control outperforms the other separate
is considered.
controllers in increasing the FN values, whether it is used separately or in a combined manner
with rotational speed control.
(a)
(b)
Figure 21. (a) ROCOF; and (b) FN vs. wind power penetration level in low wind speed case.
Figure 21. (a) ROCOF; and (b) FN vs. wind power penetration level in low wind speed case.
6.2. High Wind Speed
Figure 21b reflects
Figure thethe
22 shows following points:
ROCOF and FN with increasing wind power penetration level at high wind
speed. Figure 22a reflects the following points:
• The (FN) values starts to decrease as the penetration level of wind power starts to increase if there
is no frequency control action.
• At very low penetration levels (0–10%), the combined control techniques as well as the inertia
emulation control offer superior methods to increase the FN values. The three other proposed
separate control techniques cannot increase the FN in this range of penetration level.
• At penetration level above 10%, the behavior of the FN starts to alternatively decrease with all
suggested separate and combined controllers.
• At very high penetration levels (30–40%), the combined control techniques present superior
methods over the other controllers to increase the FN values with no big difference in the FN
values for these combined controllers.
• At the penetration level 0–40%, the inertia emulation control outperforms the other separate
controllers in increasing the FN values, whether it is used separately or in a combined manner
with rotational speed control.
Energies 2018, 11, 699 18 of 20
6.2. High Wind Speed

Figure 22 shows the ROCOF and FN with increasing wind power penetration level at high wind
speed. Figure 22a reflects the following points:
• As the penetration level of wind power increase, the ROCOF also increases, whether using or not
using control system and independent of the used controller type.
• At Energies
very 2018,
low11,penetration levels (0–10%), the fast power reserve emulation combined
x FOR PEER REVIEW 18 of 20 with
modified pitch control technique and the droop control represent the best methods to reduce the

ROCOF Asvalues.
the penetration level of wind power increase, the ROCOF also increases, whether using or
not using control system and independent of the used controller type.
• From

10% to 35% penetration levels, the fast power reserve control either in combination or alone
At very low penetration levels (0–10%), the fast power reserve emulation combined with
represents the best
modified pitchalternative to reduce
control technique and thethe ROCOF
droop values.
control represent the best methods to reduce the
• At very high penetration levels (35–40%), there is no big difference in the FOCOF values for
ROCOF values.

differentFrom 10% to 35%This
controllers. penetration
means levels,
that, atthethis
fasthigh
power reserve
level control either any
of penetration, in combination
controlleror either in
alone represents the best alternative to reduce the ROCOF values.
 At very high penetration levels (35–40%), there is no big difference in the FOCOF values for
Figure different controllers.
22b reflects This means
the following that, at this high level of penetration, any controller either in
points:
• As the penetration level of wind power increases, the FN also increases for all proposed controllers
Figure 22b reflects the following points:
except the combination of inertia emulation and modified pitch, where the FN decreases for the
 As thelevel
penetration penetration
from 0%level of wind
to 20% and power
increaseincreases, the until
after that FN also
40%.increases for all proposed
controllers except the combination of inertia emulation and modified pitch, where the FN
• At the decreases
penetration level 10–40%, the inertia emulation control combined with modified pitch
for the penetration level from 0% to 20% and increase after that until 40%.
control
 At the penetrationfrequency
offers the best control
level 10–40%, alternative
the inertia to reduce
emulation control the FN values.
combined with modified pitch
• At the penetration level 10–40%, the droop control seems to be the best
control offers the best frequency control alternative to reduce the FN separate controller, yielding
values.
low values
At the
ofpenetration
FN. level 10–40%, the droop control seems to be the best separate controller,
yielding low values of FN.
(a)
(b)
Figure 22. (a) ROCOF; and (b) FN vs. wind power penetration level in high wind speed case.
Figure 22. (a) ROCOF; and (b) FN vs. wind power penetration level in high wind speed case.
Remark 4
Remark 4 The work in this paper differs from [22–24] in the following points:
The1.work incontroller
More this paper differs
schemes arefrom [22–24] in the following points:
studied.
2. The work in this paper considers a wider spectrum of wind speeds.
3. A new combined control scheme is proposed.
Energies 2018, 11, 699 19 of 20
1. More controller schemes are studied.

2. The work in this paper considers a wider spectrum of wind speeds.
3. A new combined control scheme is proposed.
7. Conclusions
This paper compares the control performance of four primary frequency controllers for VSWT
to support the system frequency in the full range of wind speed. In particular, inertia emulation
control, fast power reserve control, droop control and de-loading control are studied, both separate and
combined. The simulation results show that theses controllers can successfully improve the frequency
response in the case of generation/consumption power imbalance. The simulation also reflects the
following points:
• The best control performance achieved in low wind speed in terms of ROCOF, FN and ∆f is the
inertia emulation.
• This controller enables the wind turbine to provide the maximum active power in the case of
frequency event, hence offers best damping for grid transient.
• The best control performance achieved in high wind speed in terms of ROCOF, FN and ∆f is the
droop control. This controller presents the highest response speed.
• The results obtained in low wind speed for the inertia emulation controller can be more enhanced
in the case of combination with rotational speed controller.
• The inertia emulation combination with the modified pitch control in high wind speed exhibits
the best control performance ever in terms of ROCOF, FN and ∆f, in different cases of low and
high wind speed. This combined controller represents shorter settling time (i.e., faster response).
Finally, the paper introduces full comparison between the studied controllers, both separate and
combined, in terms of ROCOF and FN subjected to increase in the wind power penetration level.
This comparison reveals that the combination solution offers better ROCOF and FN values in both low
and high wind speed conditions.
Author Contributions: Abdulhameed S. Alsharafi carried out the simulations and collaborated in the design of
the control strategies. Ahmad H. Besheer analyzed the results and formulated the discussions in the manuscript.
Hassan M. Emara collaborated in the design of the control strategies and reviewed the paper.
Conflicts of Interest: The authors declare no conflict of interest.
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(CC BY) license (http://creativecommons.org/licenses/by/4.0/).

Alsharafi - Primary Frequency Response Enhancement For Future Low Inertia Power Systems Using Hybrid Control Technique

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Alsharafi - Primary Frequency Response Enhancement For Future Low Inertia Power Systems Using Hybrid Control Technique

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energies

Energies 2018, 11, 699; doi:10.3390/en11040699 www.mdpi.com/journal/energies

Energies 2018, 11, 699

Figure 1. Classification of control strategies.

2.1. Frequency Response in Conventional Power System

3.1. Use Kinetic Energy

3.1. Use Kinetic Energy

LOW PATH FILTER

Pmeas ωr,ref ∆ωr Pref

Figure 6. Fast power reserve emulation controller.

Figure 7. The droop Characteristics of the frequency.

Figure 8. Droop control for VSWTs.

LOW PATH FILTER

3.3. De-Loading Control

Energies 2018, 11, x FOR PEER REVIEW 9 of 20

Figure 9. Different de‐loading options and maximum power tracking curve.

4. Frequency Control Simulation

Table 1. Combination strategy.

4.1. Condition 1 Simulation Results

Table 2. Dynamic comparison in low wind speed case.

∆f (Hz) TMF (Hz) ROCOF Decreasing Settling Time—ts (s)

Table 3. Dynamic comparison in high wind speed case.

∆f (Hz) TMF (Hz) ROCOF Decreasing Settling Time—ts (s)

5. Combination Controllers’ Results

• At veryFigure 21b reflects the

6.2. High Wind Speed

1. More controller schemes are studied.

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