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IGF Workshop “Fracture and Structural Integrity”

IGF Workshop “Fracture and Structural Integrity”
Structural
Structural integrity
integrity of of aa Doubly
Doubly Fed Fed Induction
Induction Generator
Generator
XV Portuguese(DFIG)
Conference of a wind PCFpower system (WPS)
(DFIG) of a wind power system (WPS)
on Fracture, 2016, 10-12 February 2016, Paço de Arcos, Portugal

Mohammed Ezzahi
Thermo-mechanical modeling , Mohamed
a,*
of a high Khafallah
pressure , Fatima a
Majidbblade of an
turbine
b
Mohammed Ezzahi a,*
, Mohamed Khafallah a
, Fatima Majid
a airplane
(ENSEM),
gas turbine
Hassan
Km 7 Route
engine
Laboratoire Energie et Systèmes Electriques (LESE), Université Hassan II de Casablanca, Ecole Nationale Supérieure d’Electricité et de
a

Laboratoire Energie et Systèmes Electriques

Mécanique(LESE), Université II de Casablanca,
El-Jadida, Ecole
Casablanca, Nationale Supérieure d’Electricité et de
Maroc
b
Mécanique
Laboratoire de contrôle et de caractérisation (ENSEM), et
des matériaux Km 7 Route
des El-Jadida,
structures, Casablanca,
Université Maroc
Hassan II, Ecole Nationale Supérieure d’Electricité et
b
Laboratoire de contrôle et de caractérisation
de Mécanique matériaux a,etKm7, b
P. Brandão , V. Infante , A.M. Deus *
des (ENSEM), des structures, Université
Route El-Jadida, c
Hassan II,MAROC
Casablanca, Ecole Nationale Supérieure d’Electricité et
de Mécanique (ENSEM), , Km7, Route El-Jadida, Casablanca, MAROC
a
Department of Mechanical Engineering, Instituto Superior Técnico, Universidade de Lisboa, Av. Rovisco Pais, 1, 1049-001 Lisboa,
Portugal
b
IDMEC, Department of Mechanical Engineering, Instituto Superior Técnico, Universidade de Lisboa, Av. Rovisco Pais, 1, 1049-001 Lisboa,
Abstract
Abstract Portugal
c
CeFEMA, Department of Mechanical Engineering, Instituto Superior Técnico, Universidade de Lisboa, Av. Rovisco Pais, 1, 1049-001 Lisboa,
Improving the electricity production and enhancing the overall and the quality of the electrical grid are obligatory
Portugal
Improving
to reach nowadays the electricity production and
clients requirements enhancing
regarding the overall
the quality and the
of energy. quality
Thus, the of the electrical
integration of greengrid power
are obligatory
such us
to reach
solar, nowadays
Wind Power clients
Systems requirements
(WPS) andregarding
biomass has the quality
changedofthe energy.
energy Thus,
worldtheface,
integration of green power
and contributed suchthe
to satisfy us
solar, Wind Power
Abstract
international needs of Systems
energy.(WPS) and biomass
The renewable has changed
energies the objectives
are strategic energy world face,this
to lead and contributed
energetic to satisfy
revolution. the
In this
international
work, we areneeds of energy.
interested in the The renewable
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Fed Induction are strategic objectives
(DFIG), which to is
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most energetic revolution.
used machine in theIncase
this
ofDuring
work,
wind their
wepower operation, in
are interested
systems. Thismodern aircraftFed
themachine
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has many components
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advantages such(DFIG),
us effortsto increasingly
which is the
control demanding
most
over theused
WPSmachine operating
shaft conditions,
andinthe
theother
case
of especially
wind power the high pressure
systems. This turbine (HPT)
machine hasblades.
many Such conditions
advantages cause
such these
usreactiveparts
efforts to undergo
control over different
the WPS types
shaftofand
time-dependent
the other
mechanical
degradation,parts,
one ofless noise
which and
is creep. the control
A model of the
using the active
finite and
element the
method (FEM)powers. It uses
was developed, a back-to-back
in order to be ableinverter
to predict
mechanical
between the parts,
rotor less
and noise
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The the control
used of
inverter the
designactive
can and
be the reactive
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the creep behaviour of HPT blades. Flight data records (FDR) for a specific aircraft, provided by a commercial aviation
a back-to-back
electronics inverter
components
between
losses
company,thethen
and rotor
were and to
insert
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it grid.
obtain theThegridused
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through
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for optimized
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is related
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createand
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inverter is the insert
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controlled. into
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HPTthrough
we transformer.
willscrap
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was the The power
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scanned, itscontrol
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chemical is related
analysis ofto
composition both
a WPS.andthe DFIGwe
Indeed,
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proceeded
properties were
its inverter The
a obtained.
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into
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Then, weand integrity
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acalled
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called
according scrap. The
tofield
the
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oriented expected behaviour
control, by approximating in terms of displacement
the machine was observed,
model asby in
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decoupled at the trailing edge of
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Therefore such
Park transformation.
model can be useful inAll thethegoal results have
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Matlab\simulink framework.
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©©2018
2016The Authors.
The Authors. Published
Published bybyElsevier B.V.
Elsevier B.V.
©
© 2018
2018TheTheAuthors.
Authors.Published by Elsevier
Published by B.V. B.V.
Elsevier
Peer-review
Peer-review
Peer-review under
under
under responsibility
responsibility
responsibility of the
of the of Gruppo Italiano
the Scientific
Gruppo Italiano Frattura
Committee
Frattura (IGF)
(IGF) of PCF ExCo.
ExCo. 2016.
Peer-review under responsibility of the Gruppo Italiano Frattura (IGF) ExCo.
Keywords: Wind
Keywords: HighPower System;
Pressure DFIG;
Turbine Structural
Blade; Creep;integrity; Field oriented
Finite Element Method;control.
3D Model; Simulation.
Keywords: Wind Power System; DFIG; Structural integrity; Field oriented control.

* Corresponding author. Tel.: +212 663 49 90 78;

E-mail address: ezzahi1@gmail.com
* Corresponding author. Tel.: +212 663 49 90 78;
E-mail address: ezzahi1@gmail.com

2452-3216 © 2018 The Authors. Published by Elsevier B.V.

Peer-review
2452-3216 underThe
© 2018 responsibility of theby
Authors. Published Gruppo Italiano
Elsevier B.V. Frattura (IGF) ExCo.
Peer-review underauthor.
* Corresponding responsibility
Tel.: +351of the Gruppo Italiano Frattura (IGF) ExCo.
218419991.
E-mail address: amd@tecnico.ulisboa.pt

2452-3216 © 2016 The Authors. Published by Elsevier B.V.

Peer-review under responsibility of the Scientific Committee of PCF 2016.
2452-3216  2018 The Authors. Published by Elsevier B.V.
Peer-review under responsibility of the Gruppo Italiano Frattura (IGF) ExCo.
10.1016/j.prostr.2018.06.042
222 Mohammed Ezzahi et al. / Procedia Structural Integrity 9 (2018) 221–228
2 Author name / Structural Integrity Procedia 00 (2018) 000–000

1. Nomenclature

Ls Stator cyclic inductances

Lr Rotor cyclic inductances,
Ls Proper inductances of stator
Lr Proper inductances of rotor
Ms Mutual inductances between a stator and a rotor phases
Mr Mutual inductances between a rotor and a stator phases
M The maximum mutual inductance
Vds The voltage of the stator along the PARK axis ‘d’
Vqs The voltage of the stator along the PARK axis ‘q’
Vdr The voltage of the rotor along the PARK axis ‘d’
Vqr The voltage of the rotor along the PARK axis ‘q’
ds . The magnetic field of the stator along the PARK axis ‘d’
qs . The magnetic field of the stator along the PARK axis ‘q’
dr The magnetic field of the rotor along the PARK axis ‘d’
qr . The magnetic field of the rotor along the PARK axis ‘q’
ids The current of the stator along the PARK axis ‘d’
iqs The current of the stator along the PARK axis ‘q’
idr The current of the rotor along the PARK axis ‘d’
idr The current of the rotor along the PARK axis ‘q’
Ps The active power of the stator
Qs The reactive power of the stator
Pr The active power of the rotor
Qr The reactive power of the rotor
Pt Total power of the DFIG machine
Tem Electromagnetic torque.

2. Introduction

Wind energy conversion using Doubly Fed Induction Generator (DFIG) is one of the most important types of
renewable energy generations.. For that, DFIG machine is considered as the most used machine in the wind power
systems to guarantee the maximum stability and efficiency. Then, the structure of DFIG and the position of its
inverters, rotor and grid sides, leads to the active and reactive power control Mesbahi (2013) et Burton (2001) and the
grid coupling optimization by power electronic losses reduction Kling (2002) et Khil (2006). Thus, the fast
development of power electronics and microelectronics has opened new issues of investigation for induction motor
with vector control strategies Kadjoudj (2007) et Ba-Razzouk (1997). Furthermore, the control of DFIG is more
complicated because it can operate at different ranges of speed. In fact, many strategies have been developed to control
these machines by controlling their parameters such as power, current, current or torque. The most important target of
such control strategies is to provide a fast dynamic response under transient conditions and robust characteristics
against parameters’ fluctuation. Indeed, a Direct Power Control (DPC) method for DFIG drive to control the active
and reactive powers directly without the need of the frame transformation and the current controller used in a FOC
drive has been presented in the literature Jon (2009). So, both the simulation and the experimental results demonstrated
the validity of the DPC algorithm with a fixed switching frequency. Moreover, a model of a 850 KW DFIG machine
Belmokhtar (2011) has been tested and simulated by using a vector control. Then, the active and the reactive power
to enhance the overall operation of the wind turbine system and its control has been modeled in the same work.
Besides, Since1985, the direct torque control (DTC) was widely used for induction motor drives with fast dynamics.to
produce very fast torque and flux control and robust performances of the generator taking into consideration the torque
and the flux estimation accuracy and the drive parameters and perturbations Sorchini (2006), Vasudevan (2005) et
Takahashi (1986) . In this paper, we are focusing over study over the Field-oriented control, which has been used and
 Mohammed Ezzahi et al. / Procedia Structural Integrity 9 (2018) 221–228 223
Author name / Structural Integrity Procedia 00 (2018) 000–000 3

presented as a strategy for induction motor speed’s adjustment feeding by variable frequency converter Blaschke
(1972). This strategy, which is a classical one, still have more interest by developing new control algorithms and by
using the Sensorless WPS. Making the control of the active and the reactive powers easy and reliable. So, the FOC
models still giving good performances compared to the other methods of control. From a point of view of structural
integrity, the mastering of the controls of DFIG machines and the use of Sensorless commands give rise to an enhanced
running of the wind power system and optimize their maintenance.

3. Structural integrity of Wind Power systems (WPS):

In order to assess the structural integrity of WPS, we have to deal with both the mechanical and the electrical parts.
The figure 1 shows the different parts of a WPS:

Fig. 1. WPS elements

The failure of the electrical parts is one of the most important in wind power system. Thus, we need to optimize the
controls of the DFIG machine and adopt a Sensorless control strategy of the DFIG machine in order to guarantee a
less maintenance operation and run the WPs for a long time, figure 2.

Steady‐state
Slip calculation
model

Torque
Open loop
estimators
Flow induced
emf

Artificial
MRAS
Sensorless Transitional Intelligence
systems model
Complete
order
Conventional

Reduced Order
Observers

Extended
Kalman
HF Injection Kalman
Appearance of
the machine
Harmonics
notches

Fig. 2. The differents DFIG sensorless systems

224 Mohammed Ezzahi et al. / Procedia Structural Integrity 9 (2018) 221–228
4 Author name / Structural Integrity Procedia 00 (2018) 000–000

4. Modeling of the Doubly Fed Induction Generator (DFIG) in the (d-q) frame:

In this paper, we will proceed to modeling the DFIG in the rotating (d-q) frame Salloum (2007). Therefore, the
equations in the (d-q) frame of PARK transformation are given by many equations expressing the current and the
magnetic field.

For the stator, we find the equations blow:


Vds  Rs .ids  ds.   sqs. (1)
t

Vqs  Rs .ids  qs.   sds. (2)
t
ds  Ls .ids  M .idr (3)

qs  Ls .iqs  M .iqr (4)

For the rotor side, we find the equations below:


Vdr  Rr .idr  dr .   rqr . (5)
t

Vqr  Rr .idr  qr .   rdr . (6)
t
dr  Lr .idr  M .ids (7)

qr  Lr .iqr  M .iqs (8)

The stator and the rotor parameters are expressed according to each other:

 r   s  p. (9)

Ls  lr  M s (10)

Lr  l s  M r (11)

From all the equation above, we express the active and the reactive powers:
Ps  Vds .ids  Vqs .iqs (12)

Qs  Vqs .ids  Vd s .iqs (13)

Pr  Vdr .idr  Vqr .iqr (14)

Qr  Vqr .idr  Vdr .iqr (15)

5. Field Oriented Control (FOC)

Field oriented control (FOC) or vector control is commonly used in DFIG controls due to its ability of controlling
the motor speed more efficiently, and due to its lower cost of building. FOC controls separately the active and the
 Mohammed Ezzahi et al. / Procedia Structural Integrity 9 (2018) 221–228 225
Author name / Structural Integrity Procedia 00 (2018) 000–000 5

reactive power of the generator. Indeed, there are FOC based on current oriented control and the one based on the
stator flux oriented control. The second one is widely used in the DFIG control designs in which the q-axis current
component is used for active power control and the d-axis component is used for reactive power control Wei
Qiao(2008) et Yongchang Zhang (2011. While for the first one, we are reversing the axis purpose Shuhui Li (2009),
the d-axis component is used for active power control and the q-axis current component is used for reactive power
control.
In this paper, we apply the vector control of the DFIG called field oriented control by approximating the machine
model as naturally decoupled current-field machine. However, employing an appropriate choice of reference frame
upon which control of the field-oriented quantities allows an independent control of the electromagnetic torque
known as FOC. The controlled back-to-back converter of a DFIG is typically connected through slip rings to the
rotor windings, and independent torque control is usually achieved through control of the rotor current. The model
of the FOC can be developed for the DFIG by taking into consideration that the rotor field is oriented according the
d axis, fixe rotor field and neglecting the stator resistance. We obtain in rotating (d-q) frame, the total transmitted
power as mentioned by the figure 3:
M
Pt  Ps  Pr  g  1.Vs . iqr (16)
Ls
Vs .s M
Qt  Qs  Qr    g  1.Vs . idr  Vqs .iqs (17)
Ls Ls

DFIG

Fig. 3. DFIG control scheme

The representation of the vector control is given in the Figure 4.

Fig. 4. Rotor flux orientation

The electromagnetic torque of the DFIG based on the fluxes and stator currents is given by:
6226 Mohammed
Author name / Ezzahi et al.
Structural / Procedia
Integrity Structural
Procedia Integrity
00 (2018) 9 (2018) 221–228
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M s
Tem  ds .iqs _ qs .ids   p. .iqr (18)
Ls
From the equation (18) above, we notice that we have a coupling between currents and fluxes. In order to make the
FOC control of the machine possible we adopt the assumptions:
 We consider the current and frequency as constants;
 We use the rotating d-q frame;
 We consider that the rotor flux is oriented according to the d axis (dr=r and qr=0);
 We neglect the stator resistance (Vds=0 and Vqs=s.s);
 Considering commonly used DFIG machines of medium and high powers.

6. Experimental and simulation results

As a result of the simulation in Matlab\simulink for both the DFIG modelling through the field oriented control,
we obtain in the sub-synchronous mode (slip <0):

Fig. 5. Rotor magnetic field evolution in sub-synchronous mode

Fig. 6. Measured and simulated speed in sub-synchronous mode

In the hyper-synchronous mode (slip >0), we obtain:

Fig. 7. Rotor magnetic field evolution in hyper-synchronous mode

 Mohammed Ezzahi et al. / Procedia Structural Integrity 9 (2018) 221–228 227
Author name / Structural Integrity Procedia 00 (2018) 000–000 7

Fig. 8. Measured and simulated speed in hyper-synchronous mode

By using the sensorless systems and specially the extended Kalaman filter (EKF) we were able to estimate exactly the speed, the magnetic field,
the position and the torque by adopting a decoupled modeling of the magnetic field and the torque as shown above. Thes estimations allowed us to
ensure a complete integrity of the wind power system by reducing the maintenance concerns related to the sensors.

Fig. 9. (a) Estimated (simulated) and measured speed, (b) estimated rotor magnetic field, (c) estimated position and (d) estimated torque.

7. Conclusion

Standard field oriented control (FOC) schemes used to command wind turbine-driven DFIGs uses regulators with
cascaded current and power loops, which require the use of an incremental encoder or Sensorless WPS. Although
stator-side active and reactive powers can be independently governed by adopting those control schemes, the system
transient performance degrades as the actual values of the DFIG resistances and inductances deviate from those based
on which the control system tuning was carried out during the early stage of installation. In addition, the optimum
228 Mohammed Ezzahi et al. / Procedia Structural Integrity 9 (2018) 221–228
8 Author name / Structural Integrity Procedia 00 (2018) 000–000

power curve tracking achievable proportional-integral -based control schemes shows a considerable need for
improvement. Even if feedforward decoupling control terms are traditionally incorporated to enhance the closed-loop
DFIG dynamic response, they are extremely dependent on DFIG parameters. Indeed, we showed the simulated values
of rotor flux and speed have been modelled with a big accuracy.
All obtained results are essential to maximise profits and maintain life cycle costs of wind power systems. They can
contribute to reduce the complexity of WPS that arises for several reasons, including rapid technology development,
complex supply chains and constrained infrastructure, remote locations and, more generally, lack of detailed failure
data. They can also help to establish asset management to effectively manage corporate assets for a maximum added
value, profitability and returns while safeguarding personnel, the community and the environment.

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