7th Mediterranean Conference and Exhibition on Power Generation, Transmission, Distribution and Energy Conversion

7-10 November 2010, Agia Napa, Cyprus (Paper No. MED10/102)

Direct Drive Synchronous Generator Wind

Turbine Models for Power System Studies
I. D. Margaris and N. D. Hatziargyriou

Abstract-- The large-scale integration of wind power into

modern power systems has set novel challenges for wind
turbine modeling and analysis. Accurate modeling of different
wind turbine technologies is becoming a necessity as wind
turbines replace conventional units in the production side. This
paper describes models for two major variable speed wind
turbine types namely Electrically Excited Synchronous
Generator (EESG) and Permanent Magnet Synchronous
Generator (PMSG). Steady state principles of both types are
analyzed and mathematical modeling of crucial components is
described. The behavior and operation of the system during
stochastic wind speed series is simulated using software tools
Matlab and PowerFactory. The two configurations are accessed
based both on the steady state characteristics and the control
system designs. The paper covers a wide range of control
methods, which are implemented in both wind turbine schemes.
Regarding the PMSG scheme, an advanced damping controller
to damp possible oscillations excited in the drive train is
presented and its contribution to the safe operation of the wind
turbine is explained. In the alternative direct drive scheme
(EESG) three different control methods applied in the electrical
system are presented.

The permanent magnet configuration does not need

excitation system in the generator decreasing the overall cost
while the efficiency is improved, [2]-[4]. However, in the
EESG concept the control flexibility of the separate
excitation system and the simple electromagnetic
construction of the generator without permanent magnets
make this configuration attractive, [5]-[7]. Although both
schemes use a synchronous generator, the control system
differs significantly mostly due to the presence of a PWM
converter at the generator side in the PMSG scheme. The
diode rectifier can not be controlled in the EESG and
therefore control has to be ensured through either an
additional DC/DC converter or through the excitation
system. Details on the synchronous generators used in direct
drive wind turbines nowadays can be found in [8]. The
modeling principles for each system are presented in the
paper and various control methods applied are being
analyzed.
II. MODELING OF ELECTRICAL SYSTEM FOR EESG AND PMSG

Index TermsDirect drive synchronous generator, damping

controller, electrical excitation, permanent magnet

I. INTRODUCTION

WIND TURBINES

The system layout for each direct drive configuration is

illustrated in Fig. 1.

irect drive wind turbines have been constantly

increasing their share in the world wind energy market
during the last years. Improved performance during both
normal and transient operation has made this configuration
capable to play major role in the market share of variable
speed wind turbines, [1]. In this paper two types of the direct
drive wind turbine configuration, both using synchronous
generator, are under investigation. The first is using an
electrically excited synchronous generator (EESG)
connected via diode rectifier, boost converter and a PWM
converter to the grid and the second is using a permanent
magnet synchronous generator (PMSG) connected via full
scale back-to-back converter. The steady state characteristics
of each type differ significantly and the control system which
is applied in each system has to be carefully designed to
achieve optimum operation during variable wind speeds.

I. D. Margaris is with the School of Electrical and Computer Engineering,

National Technical University of Athens, Division of Electric Power,
Greece (e-mail: imarg@power.ece.ntua.gr, ilmargaris@gmail.com).
N. D. Hatziargyriou is with the School of Electrical and Computer
Engineering, National Technical University of Athens, Division of Electric

Fig. 1. System layout for direct drive wind turbines electrically excited
synchronous generator and permanent magnet synchronous generator.

In the EESG scheme the generator can itself produce the

required field, so there is no need for a PWM converter at
the generator side. This is due to the presence of the
excitation system. The diode rectifier, connected at the
generator terminals, imposes the restriction of zero reactive
power production from the generator, i.e. the generator is
forced to operate at unity power factor (PF). However, the
reactive power exchanged with the grid depends on the
control of the grid side converter. The generator is not
Power and with the Public Power Corporation, Greece (e-mail:
nh@power.ece.ntua.gr).

A. Steady State Analysis

The 4th order model of electrically excited synchronous
generator using the Park equations is derived neglecting the
stator transients (see Eq. (1.1)-(1.2)). One amortisseur
winding and the field winding are included in the model (see
Eq. (1.3)-(1.4)). The equation for the rotor angle and the
motion equation of the rotor are given in Eq. (1.5) and (1.6),
[9].
1

(1.1)
d =-rs id - r q + & d 0
b

q =-rs iq + r d + & q 0
b

Ef =

(1.2)

1
rfd i fd + & fd

1
0=rkq ikq + & kq
b
& & -
=

X md
X
fd = md
rfd
rfd

(1.3)
(1.4)
(1.5)

sys

& r
(1.6)
=Tm -Te -D r -1
b
b
The corresponding steady state equivalent circuit and phasor
diagram are given in Fig. 2.
2H

jX s

I%s
% E

rs

E% f

I%E
jX E

E% f

%
Us
rs I%s

U% s

% E

I%s

jX s I%s

The terminal voltage has to be kept also at reasonable levels

for insulation and protection reasons.
2
Ef = 2 pu, Pmax = 1 pu

Teminal voltage [pu]

1.8

Ef = 1.605 pu, Pmax = 1 pu

1.6
1.4
1.2
1

Ef = 1.5 pu, Pmax = 0.85 pu

0.8

0.2

0.8

2.2
Us=1.1 pu
2
Us=1 pu
1.8

1.6

1.4
Us=0.9 pu
0

0.2

0.4
0.6
Maximum active power [pu]

0.8

Fig. 4. Excitation voltage and maximum active power for different levels
of terminal voltage.

In the PMSG scheme the excitation voltage E% f induced

in the stator by the permanent magnets can be expressed as
follows:
E% f =j r % PM =j 2f % PM
(1.7)
where r is the electrical generator rotational speed, % PM is
the flux provided by the permanent magnets of the rotor, and
f is the electrical frequency. The excitation voltage E% f is
proportional to the electrical speed of the generator. The
equations of a PMSG can be expressed directly from Eq.
(1.1)-(1.4) given above, with the simplification that a PMSG
does not have amortisseur windings. Neglecting the stator
winding resistances the equivalent circuit and the phasor
diagram are given in Fig. 5.
jX s

I%s

Fig. 2. Steady state equivalent circuit and corresponding phasor diagram.

The relation between the excitation voltage, the terminal

voltage and the maximum available active power that can be
produced by the generator is illustrated in Fig. 3 for different
values of the excitation voltage. For low excitation voltage
the generator can not produce nominal active power. If the
excitation voltage is kept constant, a high voltage at the
generator terminals is required in order to produce nominal
active power.
Fig. 4 illustrates the relation between variable excitation
voltage and active power for different voltages around
nominal at the generator terminal. This relation between the
terminal voltage, the excitation voltage and the active power
is critical for the control and operation of the wind turbine.
The excitation voltage has to be kept as low as possible in
order to minimize the losses. However, its value has to be
high enough for the generator to produce high active power.

0.4
0.6
Active power [pu]

Fig. 3. Terminal voltage and active power for different excitation voltages.

Excitation voltage [pu]

capable of generating a constant high voltage at low speed,

therefore, a DC/DC boost converter must be used to raise the
voltage of the diode rectifier.
In the case of PMSG configuration the required field for
the generator is produced by the permanent magnets while
the generator side converter manages to control the stator
voltage as well as the DC-link voltage without the presence
of additional DC/DC converter. The chopper which is often
added in the DC-link is used to enhance the operation of the
system during transient phenomenon in the grid, i.e faults,
[4].

E% f =j r % PM

E% f
E% f

U% s

% PM

%I U%
s
s

jX s I%s

Fig. 5. Steady state equivalent circuit and corresponding phasor diagram.

III. EESG CONTROL SYSTEM AND RESULTS

In EESG the special features of the system synchronous
generator diode rectifier and DC/DC boost converter
determine the three different control methods that were
applied. Fig. 6 shows the modeling scheme for EESG. It is
noted here that details regarding the pitch control as well as
other mechanical and aerodynamic parts of the system can
be found in [10].

3
GVRF-Grid Voltage Reference
=s
Cdc ,link

Ldc

dSVRF
Lf

Rf

qGVRF

U dc ,rec

dGVRF
U% s

% E jX E

E% f

I%E

U% gsc

% E % PM

dRRF

RRF-Rotor
Reference
=r
SVRF-Stator
Voltage Reference
=r
qSVRF

% s

dSFRF

I%s

SFRF-Stator
Flux Rotor
Reference
=r

Fig. 6. Modeling scheme for EESG wind turbine.

qRRF

In control scheme 1, the excitation system ensures

nominal voltage at the generator terminal, the DC/DC boost
implements the maximum power point tracking (MPPT)
strategy based on the rotor speed and providing the reference
for the active power. The grid side converter controls the
DC-link voltage close to the nominal value and the reactive
power which is provided to the grid. The reactive power
control is made either through control of the voltage at the
point of common coupling or through regulation of the
power factor. The control configuration for the first control
scheme is shown in Fig. 7. In the second control method, the
power control of the wind turbine is made through the
excitation system while the DC/DC boost converter regulates
the generator voltage. The grid side converter operates as
described in control scheme 1. In the third control scheme,
the excitation system controls the generator voltage, the
DC/DC boost converter controls the DC-link voltage while
the grid side converter takes over the power control both for
active and reactive power.
r

Pdcref +

PI

Pdcmeas

PI

d
dt

The Rotor Reference Frame RRF is attached to the

rotor flux vector - % E in the EESG and % PM in the PMSG
case, see Fig. 2 and 5 respectively. The rotational speed of
this frame is the electrical rotor speed, which is equal to:
poles
r =2f=r,mech
(1.8)
2
where r,mech is the mechanical rotor speed, f the
corresponding electrical frequency and poles the number of
the poles of the synchronous generator. In the Stator Voltage
Reference Frame SVRF the d axis is attached to the
stator voltage vector U% while in the Stator Flux Reference
s

Frame SFRF the d axis is connected to the stator flux

vector. The Grid Voltage Reference Frame GVRF is
used in grid side converter control system.
The maximum power point tracking strategy is offering
the reference active power based on the measurement of the
rotor speed and following the optimal speed-power
characteristic given in Fig. 9.

% E jX E

Pdcmeas

I%E

Us

Ef

Fig. 8. Reference frames used in the control system of EESG and PMSG
models.

r
U dc,link

ref
Qgsc
+

PI

ref
iq,gsc
+

PI

0.5
2

0
5

iq,gsc

meas
Qgsc

1.5

ref
q,gsc

Active power [MW]

U sref +

qSFRF

10
15 17.6
Rotor speed [rpm]

Fig. 9. Speed-power control characteristic used in the EESG scheme.

ref
U dc,link
+

meas
U dc,link

PI

ref
id,gsc
+

ref
d,gsc

PI

id,gsc

Fig. 7. Control configuration in control scheme 1 - EESG.

The independent control of active and reactive power as

well as the proper junction of the various parts of the system
is ensured through the use of the references frames shown in
Fig. 8. These frames refer to both EESG and PMSG
schemes.

Three different operating zones can be distinguished. The

first corresponds to the operation of the wind turbine with
maximization of the extracted aerodynamic power. The pitch
is kept constant and the rotor is adjusted to the variance of
the wind in order to achieve optimal aerodynamic
coefficient. The maximum power point tracking strategy is
followed in this zone. In the second area the active power is
increasing proportionally to the speed in order to allow for
dynamic changes in the speed during gusts in the wind.
Sudden changes in the active power output are thus avoided
during the transition from optimal operation to nominal
power while the additional energy from the wind is
accumulated as mechanical energy in the rotating rotor mass.

In the third zone the power is kept constant and equal to the
nominal. In this operating region, whenever the wind speed
exceeds its nominal value the pitch control is regulating the
pitch in order to avoid over-acceleration of the rotor.
The comparative results of the three control methods
implemented in the electrical system of the EESG are given
in Fig. 10 for stochastic wind speeds applied as input to the
model.
16

Wind speed [m/s]

14
12
10
8
6
4
0

20

40

60

80

100

Time [sec]

1.4

Control scheme 1

Control scheme 2

Control scheme 3

Active power [pu]

1.2
1
0.8
0.6
0.4

Fig. 10. Results for stochastic wind speed in EESG wind speed, active
power, rotor speed, generator voltage and DC-link voltage.

The fast wind speed fluctuations are reflected in the

voltages of the system although the active power output is
relatively smooth. The pitch control ensures that whenever
the wind speed exceeds the rated, the active power remains
constant and equal to the nominal. In control scheme 1, the
generator voltage and the DC-link voltage fluctuate but close
to their nominal values. The efficiency of the system is
ensured through the maximum power point strategy
implemented in the DC/DC boost converter. In the second
control scheme, the active power and rotor speed appear to
have delayed response compared to the other two control
schemes. This is due to the slow dynamics of the excitation
system. In control scheme 3, the results are similar to the
first control scheme as the grid side converter regulates the
active power production while the voltages are kept in safe
values around the nominal through the excitation system and
the operation of the DC/DC boost converter. In control
schemes 1 and 2, the fast dynamic operation of the
converters ensure that the active power output follows the
reference which is provided by the maximum power point
tracking strategy. However the second control scheme
ensures nominal voltage at the generator terminal despite the
fast wind speed fluctuations.

0.2
0
0

20

40

60

80

100

Time [sec]

20

Control scheme 1

Control scheme 2

Control scheme 3

Rotor speed [rpm]

19
18
17
16
15
14
13
0

20

40

60

80

100

Time [sec]

Generator voltage [pu]

1.015

Control scheme 1

Control scheme 2

The control scheme for PMSG is shown in Fig. 11. The

generator side converter controls the generator voltage and
the DC-link voltage. This control ensures nominal levels for
both voltages avoiding possible overvoltages, saturation
effects on the converter and frequent charges-discharges of
the capacitor used in the DC-link. The grid side converter
regulates the active and reactive power. The maximum
power point tracking strategy is optimizing the efficiency
while the reactive power production depends either on the
level of the voltage at the point of common coupling or on
the power factor regulation scheme applied.

Control scheme 3
Us

1.01

Lf

Rf

1.005

0.995

0.99
0

20

40

60

80

100

Time [sec]

1.008

Control scheme 1

Fig. 11. Modeling scheme for PMSG wind turbine.

Control scheme 2

Control scheme 3

1.006
DC-link voltage [pu]

IV. PMSG CONTROL SYSTEM AND RESULTS

1.004
1.002
1
0.998
0.996
0

20

40

60
Time [sec]

80

100

The results for stochastic wind speed are given in Fig. 12.
Whenever the wind speed is above its rated value, close to
12 m/s, the pitch mechanism is active and limits the speed to
its nominal value. The slow dynamics of the pitch control
ensure that dynamic changes in the rotor speed during
sudden changes in high wind speeds are allowed while the
converter control ensures nominal active power production.
For lower wind speeds, below 12 m/s, the pitch mechanism
is passive and the pitch angle is kept to its optimal value zero for the specific turbine. Under these conditions the

variable speed operation assures optimal energy capture.

The maximum power point tracking strategy adapts the
power and the speed to their desired values for each wind
speed following a characteristic similar to Fig. 9.
Meanwhile, the generator side converter control keeps the
stator and DC-link voltage in a small range around the
nominal values.

The control configuration of the PMSG scheme is

illustrated in Fig. 13.
r

U sref +

Cdc

PI

cmqs

iqsref +

PI

13.5
Wind speed [m/s]

Us

U dc,link

Generator
voltage
regulator

14

PMSG

d
dt

Generator
side
converter
control

iqs

Us

13
12.5

DC voltage
control

12

meas
U dc,link
+

PI

idsref +

11.5

cmds

PI

ref
dc,link

ids

11
10.5

Active power
control

10
0

100

200

300
Time [sec]

400

500

600

ref
Pgrid
+

PI

ref
id,gsc
+

Grid side converter

control

Active power [MW]

Reactive power
control
Power factor
regulation

1.6

ref
Qgsc
-

Voltage control

1.4

Reactive power
control scheme
selection

1.2

0.8
0

100

200

300
Time [sec]

400

500

600

Generator voltage [pu]

1.0005

0.9995
0

100

200

300
Time [sec]

400

500

600

17

Rotor speed [rpm]

PI

ref
iq,gsc
+

PI

cmq,gsc

iq,gsc

Fig. 13. Control configuration of the PMSG model.

16.5

16

15.5
0

100

200

300
Time [sec]

400

300
Time [sec]

400

500

600

6.3
6.2
DC-link voltage [kV]

meas
gsc

cmd,gsc

id,gsc

meas
Pgrid

2
1.8

PI

6.1
6
5.9
5.8
5.7
5.6
5.5
0

100

200

500

600

Fig. 12. Results for stochastic wind speed in PMSG wind speed, active
power, rotor speed, generator voltage and DC-link voltage.

Oscillations in the mechanical part could be excited due

to sudden changes in the wind speed. A multipole
synchronous generator has a high number of poles and a
large diameter, thus increased generator inertia. As
explained in [11], the effective shaft stiffness is reduced
according to the following relation.
K shaft gen
effect
K shaft
=
(1.9)
poles
SB
2
effect
where K shaft
is the effective shaft stiffness, K shaft is the shaft

stiffness in Nm/rad and S B holds for the rated base power of

the generator in MVA. A two-mass model is therefore
needed to represent the mechanical system in order to
account for these possible oscillations excited in the shaft of
the turbine.
Sufficient damping of the oscillations is ensured through
the implementation of an external damping controller in the
electrical system of the wind turbine. In the PMSG
configuration the frequency converter provides the necessary
damping using the DC-link capacitor as a buffer between the
generator and the grid. The speed oscillations are
counteracted through charging and discharging operations of
the capacitor, [12]. The generator speed is the input in the
damping controller and the voltage reference for the DC-link
includes oscillations that counteract the torque oscillations in
the shaft. Results for a step reduction in the wind speed with
and without the damping controller are illustrated in Fig. 14.
In the second case the oscillations in the rotor speed and the
active power output of the generator lead to instability which
endangers the operation of the mechanical part of the wind
turbine.

13

Wind speed [m/s]

12.5
12
11.5
11
10.5
10
0

10
Time [sec]

15

20

speeds. An additional damping controller is implemented to

ensure stable operation during sudden changes in the wind.
The oscillations excited in the shaft of the wind turbine are
counteracted through the use of the DC-link capacitor as a
short-term buffer of energy. The results show the
improvement in the performance of the system and the
efficient damping of the oscillations, which otherwise could
lead to further stress in the mechanical system and possible
instability.

VI. REFERENCES

2.2

[1]

Active power [MW]

2
1.8

[2]

1.6
1.4
1.2

[3]

1
0

10
Time [sec]

15

20

[4]

Rotor speed [rpm]

17

[5]
16.5

16

[6]
15.5
0

10
Time [sec]

15

20

Fig. 14. Results for wind step with and without damping controller (red
and blue line respectively).

Other methods of damping have been proposed in the

literature using either the pitch system or the mechanical
structure of the generator, [13]-[14].

[7]
[8]

[9]
[10]

V. CONCLUSIONS
In this paper the variable speed wind turbine equipped
with direct drive synchronous generator is studied. The two
different configurations are examined based on their
electrical system regarding the behavior of the system during
variations in the wind speed. The first type is using electrical
excitation for the generator. The connection to the grid is
done through a diode rectifier, a DC/DC boost converter and
a PWM converter. Three different control schemes are
described and results for stochastic wind speeds are given.
The terminal voltage of the generator, the DC-link voltage
and the active power output of the system were regulated in
different ways. The relation between the excitation voltage,
the active power output and the stator voltage is explained in
steady state in order to justify the control principles applied
in each method proposed. The second configuration uses a
permanent magnet synchronous generator and a full
converter. The converter at the generator side controls the
stator voltage and the DC-link voltage while the converter at
the grid side regulates the active and reactive power output.
The control system ensures nominal voltages and optimal
operation of the wind turbine during low and high wind

[11]

[12]

[13]

[14]

A. D. Hansen and L. Hansen, Wind Turbine Concept Market

Penetration over 10 Years (1995-2004), Wind Energy, vol. 10 (1),
pp. 81 97, 2007.
M. Chinchilla, S. Arnaltes and J. C. Burgos, "Control of permanentmagnet generators applied to variable speed wind energy systems
connected to the grid," IEEE Trans. Energy Conversion, vol. 21, pp.
1305, 2006.
M. Yin, G. Li, M. Zhou and C. Zhao, "Modelling of the Wind
Turbine with a Permanent Magnet Synchronous Generator for
Integration," IEEE PES Power Eng. Soc. General Meeting, pp. 1-6,
June 2007.
V. Akhmatov, "Modeling and ride-through capability of variable
speed wind turbines with permanent magnet generators," Wind
Energy, vol. 9, pp. 313326, 2006.
S. Achilles and M. Pller, "Direct drive synchronous machine models
for stability assessment of wind farms," in Proc. 4th International
Workshop on Large-Scale Integration of Wind Power and
transmission Networks for Offshore Wind Farms, Billund, Denmark,
Oct. 2003.
M. R. Behnke and E. Muljadi, "Reduced order dynamic model for
variable-speed wind turbine with synchronous generator and full
power conversion topology," in Proc. 2005 Future Power Systems
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S. Heier, Grid Integration of Wind Energy Conversion Systems, New
York: Wiley, 1998.
D. Bang, H. Polinder, G. Shrestha and J. A. Ferreira, Review of
Generator Systems for Direct-Drive Wind Turbines, European Wind
Energy Conference & Exhibition, Belgium, March-April 2008.
P. Kundur, Power System Stability and Control, New York: McGrawHill, 1994.
I. D. Margaris, A. D. Hansen, N. A. Cutululis, P. Srensen and N. D.
Hatziargyriou, Impact of Wind Power in Autonomous Power
Systems Power Fluctuations Modelling and Control Issues,
submitted in Wind Energy, 2010.
V. Akhmatov, A. H. Nielsen, J. K. Pedersen and O. Nymann,
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permanent magnet generators. Part I. Modelling in dynamic
simulation tools, Wind Engineering, vol. 27 (6), pp 531-548, 2003.
A. D. Hansen and G. Michalke, Modelling and control of variable
speed multipole PMSG wind turbine, Wind Energy, vol. 11 (5),
2008.
S. Jckel, B. Hagenkort, T. Hartkopf and H. Schneider, Direct-Drive
Synchronous Generator System For Offshore Wind Farms with
Active Drive Train Damping by Blade Pitching, EWEC 2001,
Copenhagen, Denmark, pp. 991-994, 2001.
A. J. G. Westlake, J. R. Bumby and E. Spooner, Damping the
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VII. BIOGRAPHIES
Ioannis D. Margaris received Dipl. Eng. Degree and Master degree in
Electrical and Computer Engineering, Power Systems, from the National
Technical University of Athens, in 2006. He is currently pursuing his PhD
thesis at National Technical University of Athens, School of Electrical and
Computer Engineering. His research interests are dynamic modeling and
control of wind turbines and wind farms, power electronics, FRT, power
system integration of wind power. During 2008-2009 he was visitor PhD
student for a six month period at Ris National Laboratory in Roskilde,
Denmark.

7
Nikos D. Hatziargyriou was born in Athens, Greece. He received the
Diploma in Electrical and Mechanical Engineering from NTUA and MSc
and PhD degrees from UMIST, Manchester, UK. He is currently executive
Vice-Chair and Deputy CEO of the Public Power Corporation of Greece
and part-time professor at the Power Division of the Electrical and
Computer Engineering Department of NTUA. His research interests
include Dispersed and Renewable Generation, Dynamic Security
Assessment, and application of Artificial Intelligence Techniques to power
systems. He is fellow IEEE member, chair of the PSDP Committee,
convener of CIGRE SCC6 and member of the Technical Chamber of
Greece.