Renewable Energy 50 (2013) 780e785

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Renewable Energy
journal homepage: www.elsevier.com/locate/renene

The impact of wind farms with doubly fed induction generators on power system
electromechanical oscillations
M. Jafarian*, A.M. Ranjbar
Department of Electrical Engineering, Sharif University of Technology, Tehran, Iran

a r t i c l e i n f o

a b s t r a c t

Article history:
Received 18 January 2012
Accepted 12 August 2012
Available online 13 September 2012

Introduction of large amounts of new wind generation can affect the small signal stability of power
systems with three mechanisms: displacing synchronous generators (SGs); reducing SGs power generation; and the dynamics of wind farms (WFs) interacting with the electromechanical mode of SGs. In this
paper a novel approach is developed to investigate the impact of the latter mechanism on existing power
systems oscillations. In this approach, the dynamic behavior of grid connected WFs is studied independent of the dynamic behavior of system SGs. This approach helps to identify the conditions in which
the dynamics of WFs may interact with the electromechanical mode of SGs. Also it helps to foresee the
impact of these probable interactions on the frequency and damping of system oscillations. By using this
approach in a test system, it was shown that under some circumstances these dynamic interactions
considerably decrease the damping of system oscillations but they barely change the frequency of system
oscillations. The frequency of system oscillation and the operating point of WF are the two major
parameters determine the severity of the decrease in oscillation damping. Comparison of the SG electromechanical eigenvalues calculated before and after the introduction of the WF in the test system,
conrmed the prospects of the proposed approach.
2012 Elsevier Ltd. All rights reserved.

Keywords:
Small signal stability
Wind farm
Doubly fed induction generator
Dynamic interaction
Electromechanical oscillation

1. Introduction
During the last decade, wind power has been the worlds fastest
growing energy source [1] and many large WFs have been installed
and integrated into power systems, caused the share of wind power
to reach a considerable level [2].
As long as wind power penetration is insignicant, SGs determine
the overall dynamic behavior of power systems, but introduction of
large amounts of new wind generation can affect the stability of power
systems [3]. These effects in the elds of frequency stability [4,5],
transient stability [6], voltage stability [7] and small signal stability
have been treated and addressed in recent research efforts. Among
them, the small signal stability problem of power systems with high
penetration levels of wind power is one of the major challenging
elds. Small signal stability is the ability of the power system to
maintain synchronism when subjected to small disturbances. In
todays power systems, the small signal stability problem is usually the
lack of sufcient damping torque for system oscillations [8].
Among the several wind generation technologies developed
until now, variable speed wind turbines utilizing DFIGs are the

* Corresponding author. Tel.: 989133011810; fax: 982166164037.

E-mail addresses: mojedt@yahoo.com, mojedt@gmail.com (M. Jafarian), ranjbar@
sharif.edu (A.M. Ranjbar).
0960-1481/$ e see front matter 2012 Elsevier Ltd. All rights reserved.
http://dx.doi.org/10.1016/j.renene.2012.08.033

most popular scheme in power system industry [9]. DFIGs do not

introduce new electromechanical oscillations in power system but
they can affect existing system oscillations by three mechanisms:
displacing SGs; reducing SGs power generation; and the dynamics
of WFs interacting with the electromechanical mode of SGs.
The impact of DFIG based WFs on the small signal stability of
power systems has been the subject of many recent contexts. The
impact of large scale DFIG based wind power generation on power
system oscillations is investigated in [10]. The dynamics of WFs are
not considered and it is supposed that WFs displace existing
network generators. In [11] an approach based on the sensitivity of
system electromechanical modes with respect to the changes of
system inertia is developed with the assumption that WFs replace
network generators and thereby decrease system effective inertia.
In this study WF dynamics are not considered too. Modal analysis
technique is used in [9] [12], and [13] to analyze the impact of DFIG
based WFs on power system oscillations.
Up to now in most of the studies devoted to this subject, either
WF dynamics have been neglected or their impact on power system
oscillations have been investigated with the help of modal analysis
technique. Modal analysis technique can afford the identication of
dynamic interactions only in the simulated conguration and does
not suggest a general pattern.
This work develops a novel approach to investigate the interactions between the dynamics of WFs and the electromechanical

M. Jafarian, A.M. Ranjbar / Renewable Energy 50 (2013) 780e785

781

mode of SGs. The basis of this approach is studying the dynamic

behavior of grid connected WFs and system SGs independently. In
this regard, rst the element of network Jacobian matrix with
respect to which the SG electromechanical eigenvalue has the most
sensitivity is identied; then by evaluating the inuence of the WF
dynamics on that element, conditions in which the dynamics of WF
may interact with the electromechanical mode of SGs are detected.
Also the impact of these probable interactions on the frequency and
damping of system oscillations is foreseen.
2. WF model
For power system dynamic simulations, it is common to model
WFs as a single equivalent wind turbine [11]. A wind turbine is
consisted of the turbine, generator, drive train and converter.
2.1. Turbine
In general, for stability studies, the dynamics related to the
turbine, yaw system, and tower can be ignored [14,15]. Therefore
wind turbines input mechanical power is assumed constant in this
paper.
2.2. Generator
Equation (1) describes the dynamic behavior of a DFIG. These
equations are obtained by transforming the machine three-phase
voltage equations into a synchronously rotating frame, referred to
as the dq frame.



1 d
j
vsqd Rs isqd  us jsdq
ueb dt sqd


1 d
j
vrqd Rr irqd  us  ur jrdq
ueb dt rqd

(1)

jsqd Xss isqd  Xm irqd

jrqd Xrr irqd  Xm isqd
In these equations v, i and j represent the voltage, current and
ux respectively; us and ur are the stator and rotor rotating speeds
respectively; ueb is the rotating speed of the synchronous reference
frame and equals 2p60 rad/s; R is the resistance; Xss, Xrr and Xm are
the stator, rotor and mutual reactances respectively; and subscripts
s, r, d and q stand for the stator, rotor, d-axis and q-axis variables
respectively.
2.3. Drive train
In general, to model the drive train of a wind turbine, it is
enough to consider a two-mass model (one for the turbine, the
other for the generator). The following equations are used to model
the drive train of the wind turbine,

2Ht

dut
dqtw
Tm  kqtw  c
dt
dt

1 dqtw
ut  ur
ueb dt

Fig. 1. DFIG controls.

mechanical and electrical torques respectively; and k and c are the

shaft stiffness and damping coefcients respectively.
2.4. Converter
In case of DFIGs, a three-phase voltage is injected into the rotor
through a back-to-back converter system. This converter is
composed of three parts: grid side converter; DC link; and rotor
side converter. If the switching frequency is high enough and the
switching losses are ignored, for power system stability studies it is
possible to neglect the dynamics related to the grid side converter
and DC link [16].
To model the rotor side converter, the decoupling control
strategy for the active and reactive power generation of DFIGs, that
was proposed in [17], is used in this paper. Fig. 1 shows the block
diagram of this control strategy. Similar control structures have
been used in [16,18], and [19].
In this paper only the voltage control mode is considered for
WFs. In this mode the reactive power reference (Q* in Fig. 1) comes
from the simplied equivalent of the supervisory controller of the
WF which is depicted in Fig. 2. In this mode, the terminal voltage
reference (V* in Fig. 2) is set by the WF operator. DFIG parameters
and WF controller parameters are given in the Appendix.
3. The impact of WFs on system electromechanical
oscillations
To investigate the impact of WFs on system electromechanical
oscillations, Test system A is developed and used. Fig. 3 depicts the
oneeline diagram of this test system, where impedances are given in
p.u. on a 1000 MVA base. In this paper for the sake of simplicity, only
the oscillation of one SG against a strong system (represented as an
innite bus) is considered. The fourth-order model with exponential
modeling of magnetic saturation is considered for the SG. Constant
mechanical torque input is assumed. The IEEE-type AC4A excitation
system model is used. Parameters of the SG are given in the
Appendix. The SG supplies a 150 MW load. One half of the load is
represented as constant impedance and the other half is modeled as
constant power. In Test system B, as depicted in Fig. 4, a 150 MW DFIG
based WF is introduced in Test system A. It is assumed that the WF is
operating at its rated operating point (rated wind speed).

(2)

dur
dqtw
2Hr
kqtw c
 Te
dt
dt


Te Xm iqr ids  idr iqs
where ut and ur are the turbine and generator rotating speeds
respectively; qtw is the shaft twist angle; Ht and Hr are the turbine
and generator inertia constants respectively; Tm and Te are the

Fig. 2. Voltage control mode.

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M. Jafarian, A.M. Ranjbar / Renewable Energy 50 (2013) 780e785

Table 1
SG electromechanical eigenvalues.

Fig. 3. Test system A.

Introduction of new wind generation can affect system oscillations by three mechanisms: displacing SGs (and thereby reducing
installed SGs capacity and system effective inertia); reducing SGs
power generation; and the dynamics of WFs interacting with the
electromechanical mode of SGs. The impact of each of these
mechanisms is studied separately in this section.
3.1. Reduction in the capacity and active power generation of SGs
To analyze the impact of reduction in the capacity and active
power generation of SGs on system oscillations, rst we reduced
the capacity of the SG in Test system A from 1000 to 850 MVA; then
its active power generation from 800 to 650 MW. Table 1 shows the
SG electromechanical eigenvalues for the base case and these two
developed scenarios. Considering the results in Table 1, it can be
concluded that reduction in the capacity of SGs increases the
frequency of system oscillations but does not affect the damping of
oscillations. Also reduction in the active power generation of SGs
barely changes the frequency and damping of system oscillations.
3.2. Interactions between the dynamics of WFs and the
electromechanical mode of SGs
In this paper a novel approach is developed to investigate the
interactions between the dynamics of WFs and the electromechanical mode of SGs. In this approach the dynamic behavior of
WFs and SGs is studied independently. In this regard, Test system B
is modeled as two separate systems: System 1 that contains the SG;
and System 2 that contains the WF and the transmission network.
The small signal model of System 1 has two inputs: Dp2 and Dq2
(incremental changes in the SG active and reactive power generation respectively) and two outputs: Dq2 and Dv2 (incremental
changes in the bus 2 voltage angle and magnitude respectively).
The small signal model of System 2 has two inputs: Dq2 and Dv2,

SG capacity (MVA)

SG power
generation (MW)

Electromechanical
eigenvalue

1000
1000
850

800
650
800

0.119  8.970j
0.114  8.663j
0.113  10.259j

and two outputs: Dp2 and Dq2. The dynamic behavior of System 1
can be described using the state equations of the SG as follows:

d
xg Ag xg Bg Dp2 Dq2 T
dt

(3)

Dq2 Dv2  Cg xg Dg Dp2 Dq2 T

where xg is the vector containing the state variables of the SG. The
dynamic behavior of System 2 can be described using its transfer
function matrix as follows:

Dp2 Dq2 T GDq2 Dv2 

GPq GPV
G
GQ q GQV

(4)

where G is the two-by-two matrix represents the transfer function

of System 2.
In Test system A, which contains no WF, G turns into a scalar
matrix (network Jacobian matrix). In this case, substituting Equation (4) into Equation (3) gives Equation (5) which describe the
state equations of Test system A. In these equations, Atot is the state
matrix of the test system.

d
xg Atot xg
dt


1 
Atot Ag Bg G1  Dg
Cg

(5)

Introduction of the WF in Test system B changes the magnitude

and phase of the elements of G (mainly because of the dynamics of
the WF). In the proposed approach, interactions between the
dynamics of WFs and the electromechanical mode of SGs are
investigated in two steps: rst the element of G with respect to
which the SG electromechanical eigenvalue has the most sensitivity is identied; then by evaluating the inuence of WF dynamics
on that element, the impact of WF dynamics on the electromechanical mode of SGs is foreseen.

3.3. Sensitivity of the electromechanical eigenvalue of SGs with

respect to the elements of G
The sensitivity of the electromechanical eigenvalue of the SG in
Test system A with respect to parameter a can be obtained using
Equation (6). In these equations lEM is the SG electromechanical
eigenvalue and JEM and VEM are its associated left and right
eigenvectors respectively.

Table 2
Sensitivity values of the SG electromechanical eigenvalue.

Fig. 4. Test system B.

Sensitivity
parameter

Sensitivity value

Sensitivity
parameter

Sensitivity value

jGPqj
jGQqj
jGPVj
jGQVj

0.296:91

0.008:183

0.027:297

0.001:38

:GPq
:GQq
:GPV
:GQV

1.511:182

0.006:274

0.017:36

0.004:198

M. Jafarian, A.M. Ranjbar / Renewable Energy 50 (2013) 780e785

Fig. 5. Bode plots of GPq in Test system A and Test system B.

vlEM
vAtot
F
JEM
va
va EM

1 2 
2 vG
vAtot
G1
Bg G1  Dg
Cg
va
va

Fig. 6. The electromechanical eigenvalues of the SG.

state equations of the WF. In these equations, xd is the vector

containing the state variables of the WF.

(6)

To obtain the sensitivity values with respect to the phases and

magnitudes of the elements of G, vG/va in Equation (6) should be
replaced with appropriate matrixes. For example, in the cases of
magnitude and phase of GPq, vG/va should be replaced with the
following matrixes respectively:

vG
vG

va
vjGPq j

vG
vG

va
v:GP q

1
0

0
0

jGPq j*1:90+
0

0
0

783

Dq2 Dp3 Dq3 T JDq2 Dv2 Dq3 Dv3 

Dp2 
Jg Jgd
J
Jdg Jd

(9)

dxd
Ad xd Bd Dp3 Dq3 T
dt
Dq3 Dv3  Cd xd Dd Dp3 Dq3 
T

(10)
T

(7)

Substituting Equation (9) into Equation (10) gives Equation (11)

which describes the state equations of System 2 (in Test system B).
In these equations I is the two-by-two identity matrix.

(8)

dxd
T
Asys2 xd Bsys2 Dq2 Dv2 
dt

The sensitivity values in Test system A are calculated and listed

in Table 2. In this table the sensitivity values with respect to the
phases of the elements of G are reported in degrees. By considering
the results in Table 2, it can be concluded that the SG electromechanical eigenvalue has the most sensitivity with respect to the
changes of GPq, so that an incremental change in the magnitude and
phase of this element will result in an increase in the frequency, and
damping of this mode respectively. Variations in the other elements
of G inconsiderably affect this mode.

Dp2 Dq2 T Csys2 xd Dsys2 Dq2 Dv2 



Asys2 Ad Bd I  Jd Dd 1 Jd Cd


Bsys2 Bd I  Jd Dd 1 Jdg


Csys2 Jgd Cd Jgd Dd I  Jd Dd 1 Jd Cd


Dsys2 Jgd Dd I  Jd Dd 1 Jdg Jg

3.4. The impact of WF dynamics on GPq

The transfer function of System 2 can be formed using its state

equations as follows:

To form the transfer function of System 2 (G) in Test system B,

each of the elements of System 2 (the WF and the transmission
network) is modeled individually and then their models are
combined together.
The transmission network is modeled using its Jacobian matrix
as in Equation (9). The inputs of this model are: Dq2; Dv2 (incremental changes in the voltage angle and magnitude of bus 2
respectively); Dq3; and Dv3 (incremental changes in the voltage
angle and magnitude of bus 3 respectively), and its outputs are:
Dp2; Dq2 (incremental changes in the active and reactive power
injected in bus 2); Dp3; and Dq3 (incremental changes in the active
and reactive power injected in bus 3 respectively). In these equations J is the network Jacobian matrix. The WF is modeled as
a system with two inputs: Dp3 and Dq3 and two outputs: Dq3 and
Dv3. To form the small signal model of the WF, the WF model
described in Section 2 is linearized. Equation (10) describes the

(11)

Dp2 Dq2 T GDq2 Dv2 

1
GP q GPV
Csys2 sI  Asys2
G
Bsys2 Dsys2
GQ q GQV

(12)

As it was mentioned, the electromechanical eigenvalue of SGs

has the most sensitivity with respect to the changes of GPq. The
Bode plots of GPq in Test system A and Test system B are depicted in
Fig. 5. The frequency range of 0.6e30 rad/s (about 0.1e5 Hz), which
Table 3
Operating points of a DFIG wind turbine.
Operation Sub-synchronous speed
point

ur (p.u.)
PWF (p.u.)

Synchronous Super-synchronous
speed
speed

0.67 0.74 0.8 0.89 0.93 1

0.3
0.4
0.5 0.7
0.8
1

1.1
1

1.2
1

1.25
1

784

M. Jafarian, A.M. Ranjbar / Renewable Energy 50 (2013) 780e785

Table 4
SG electromechanical eigenvalues in different WF operating points.

Fig. 7. The Bode plot of GPq e sub-synchronous speed.

is the general frequency range of power system electromechanical

oscillations, is chosen for this plot.
As shown in Fig. 5, the dynamics of the WF decrease the phase of
GPq in the frequency range of 13e18 rad/s (about 2e2.9 Hz). The
most decrement happens in frequencies near 15 rad/s (about
2.4 Hz). Therefore, this approach foresees that introduction of the
WF in Test system B decrease the damping of system oscillations
with frequency in the range of 2e2.9 Hz and the most damping
decrement occurs for system oscillations with frequency near
2.4 Hz.
To verify the results, we calculate the electromechanical eigenvalues of the SG in Test system A and Test system B with considering
different values for the SG inertia constant (from 1 to 4 s). Results
(which are depicted in Fig. 6) conrm the prospects of the proposed
approach. In this gure the direction of the arrow indicates
increasing SG inertia.
4. Impact of WFs dynamics on system oscillations in different
operating points of WFs
The dynamic behavior of DFIG based WFs is totally dependent
on their operating point because they operate in a large slip range.
Table 3 describes a typical relationship between the steady state
rotor speed and the active power generation of a DFIG [14].
Until now, we have assumed that the WF is operating at its rated
operating point. Fig. 7 and Fig. 8 depict the Bode plots of GPq in cases

ur (p.u.)

PWF(p.u.)

lEM

No WF
0.74
1
1.25

0
0.4
1
1

0.116
0.128
0.081
0.179






14.656j
14.672j
14.665j
14.807j

the WF is operating in sub-synchronous speed (WFs steady state

rotor speed equals 0.74 p.u.) and super-synchronous speed (WFs
steady state rotor speed equals 1.25 p.u.) respectively.
By comparing Figs. 6e8, it can be said that the phase of GPq peaks
at the same frequency of about 15 rad/s (2.4 Hz) in all the considered operating points but peak values are different (positive in the
cases of sub-synchronous and super-synchronous speed operating
points and negative in the case of synchronous speed operating
point). By using the proposed approach, it can be foreseen that the
introduction of the DFIG based WF in Test system B increases in the
former cases and decreases in the latter case the damping of SG
electromechanical oscillations with frequency near 2.4 Hz.
For the considered operating points, in case the SG inertia
constant equals 1.5 s, we calculate the electromechanical eigenvalues of the SG in Test system A and Test system B. Results (shown
in Table 4) support the prospects of the proposed approach.
5. Conclusion
In this paper a novel approach is developed to investigate the
interactions between the dynamics of DFIG based WFs and the
electromechanical mode of SGs and the impact of these interactions
on power system oscillations. The basis of this approach is to study
the dynamic behavior of grid connected WFs and SGs independently. In this regard, rst the element of network Jacobian matrix
with respect to which the electromechanical eigenvalue of SGs has
the most sensitivity is identied; then by evaluating the inuence of
the WFs dynamics on that element, conditions in which the
dynamics of WFs may interact with the electromechanical mode of
SGs are detected. Also the impact of these probable interactions on
the frequency and damping of system oscillations are foreseen.
By using this approach in a simple test system, it was shown that
these interactions occur in some frequencies. These interactions
have no signicant impact on the frequency of system oscillations
but they can change the damping of oscillations. The frequency of
the oscillation and the operating point of the WF are the two
parameters which determine the severity and direction of these
changes. In this regard, it was shown in a test system that at rated
operating point, the dynamics of the WF decrease the damping of
system oscillations with frequency in the range of 2e2.9 Hz and at
sub-synchronous and super-synchronous speed operating points,
they will increase the damping of SG electromechanical oscillations
with frequency near 2.4 Hz.
Comparison of the electromechanical eigenvalues of the SG
calculated before and after the introduction of the WF in the test
system conrmed the prospects of the proposed approach.
In this paper, the developed approach was used in a small test
system and the impact of DFIG based WFs was investigated only on
one type of system oscillations (oscillation of one SG against
a strong system). This approach can be extended to be used in more
complicated systems with different types of system oscillations.
Appendix

Fig. 8. The Bode plot of GPq e super-synchronous speed.

Parameters of SG:
Rating 1000 MVA, Pg 800 MW, Vbase 26 kV, fbase 60 Hz,
H 4 s,

M. Jafarian, A.M. Ranjbar / Renewable Energy 50 (2013) 780e785

Ra 0.003 p.u., Xl 0.16 p.u., Xd 1.81 p.u., Xq 1.76 p.u.

0 8 s.
Xd0 0.3 p.u., Tdo
Parameters of SG excitation system:
KA 0.04, TA 0.04, TB 12, TC 1, TR 0.05.
Parameters of wind turbine:
Sbase 2 MVA, Vbase 690 V, us 2p60 rad/sec.
Ht 4.33 s, Hr 0.62 s, k 1.11 p.u./el. rad, c 1.5 p.u.*s/el. rad.
Rs 0.00488 p.u., Rr 0.00549 p.u.
Xm 3.9530 p.u., Xss 4.0453 p.u., Xrr 4.0525 p.u.
Parameters of DFIG controller:
Kp1 0.1, Ki1 4, Kp2 0.1, Ki2 4, Kp3 0.01, Ki3 2, Kp4 0.1,
Ki4 2.
Kiv 5, Kpv 18, TC 0.15 s, TR 0.05 s, TV 0.05 s.
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