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Electric Power Systems Research

journal homepage: www.elsevier.com/locate/epsr

Reduced-order model of Type-C wind turbine generators

Hector A. Pulgar-Painemal a,∗ , Peter W. Sauer b
a
Department of Electrical Engineering, Federico Santa Maria Technical University, Valparaiso 239 0123, Chile
b
Department of Electrical and Computer Engineering, University of Illinois at Urbana-Champaign, IL 61801, USA

a r t i c l e i n f o a b s t r a c t

Article history: This paper presents a wind turbine generator (WTG) reduced-order model for time domain simulations.
Received 7 October 2010 Selective modal analysis is used to reduce the model order by focusing on the most relevant modes and
Received in revised form variables. In most cases, a single relevant mode is found; thus, a first-order model that captures the
12 November 2010
relevant mode is derived. Depending on the WTG dynamics, in some cases, reduced-order models of
Accepted 17 November 2010
higher order are required. The proposed model is applied to both 4-bus and 39-bus test systems. The
Available online xxx
results show that the proposed reduced-order model closely resembles the impact of WTGs in a power
system, even when large perturbations occur. Line and synchronous generator (SG) outages are taken
Keywords:
Power system dynamics
into account. The proposed model reduces the simulation time and the power system model complexity.
Wind power modeling
© 2010 Elsevier B.V. All rights reserved.

1. Introduction
Together with hydro-generation, wind is the most qualified
source to produce environmentally friendly power. Its main disad-
vantages are its variable production and lack of storage. However,
wind farms are able to provide energy: (a) without the risk of
depletion of their primary energy source and (b) in compliance
with operation standards. Additionally, wind generation systems
have the fastest payback period [1], less than a year; the lowest
installation period, due to their modularity; and low operation-
maintenance cost [2]. These characteristics make wind power
attractive for mass production, reflected in the increase of the
worldwide installed power capacity in recent years [3].
Power system dynamic analysis is mainly focused on the abil-
ity of SGs to maintain acceptable voltage and frequency levels.
Dynamic behavior of SGs is well known [4–6]. However, with
increasing wind-power penetration, new types of generators are
introduced and their behavior must be understood. In current
projects, the most common configuration is the Type-C WTG [7],
which is also known as Type-3 WTG [8].
Type-C WTGs are based on doubly-fed induction generators
(DFIGs). As DFIGs are asynchronous machines, the rotational fre-
quency of their shaft is not related to the frequency of their terminal
voltages and currents. In fact, the rotor angular speed of a WTG only
participates in the energy conversion, and a relationship between
a WTG’s power output, WTG’s angular speed and wind speed can
be established. Based on this characteristic, it seems that a complex
∗ Corresponding author. Tel.: +56 32 265 4192; fax: +56 32 265 4594.
E-mail address: hector.pulgar@ieee.org (H.A. Pulgar-Painemal).
dynamic model for a WTG is not required in power system analy-
sis. In fact, an aggregated model for wind farms that considers an
equivalent power injection at the point of common coupling (PCC)
has been proposed [9]. In other words, from the power system,
the wind farm is assumed to be equivalent to a power injection at
the PCC. Several publications have pointed out that WTGs do not
have a major impact on power system dynamics [9–13]. The most
influential component of a WTG model is the voltage controller,
which affects oscillations damping [14,15]. A simplified WTG model
is desired as the high number of turbines in a wind farm makes the
system more complex, and a detailed model can place an unsus-
tainable burden on a simulation program.
This paper presents a WTG reduced-order model for time
domain simulations; this model is based on a positive power injec-
tion or, in other words, a negative load. SMA is used to reduce the
model order by focusing on the most relevant modes and variables.
In most cases, a single relevant mode is found; thus, a first-order
model that captures the relevant mode is derived. The proposed
model reduces the simulation time and the power system model
complexity. Several simulations using both a 4-bus test system and
the New England test system (39-bus) show the efficacy of the pro-
posed model. In order to focus on the model-order reduction, an
equivalent WTG is assumed for a wind farm. Depending on the
equivalent WTG dynamics, in some cases, reduced-order models
of higher order are required.
This paper is structured as follows. In Section 2, the WTG
dynamic model is presented. This is a single-mass model with a
speed controller and a reactive power controller. Without loss of
generality, pitch angle controller is not considered by assuming
that the wind speed lies within its minimum and maximum limits.
In Section 3, modal analysis is presented which reveals the minor

0378-7796/$ – see front matter © 2010 Elsevier B.V. All rights reserved.
doi:10.1016/j.epsr.2010.11.014

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Pref Pgen-jQgen
ωr Pref Iqrref Iqs-jIds
+ KP1+ KI1 + KP2+
KI2 Vqr
s s jX’s
ωr - -
+
Rs
VD VDjθ D
Re jXe
+
Pgen Iqr e-jθ D : 1
~ EqD’ -jEdD’ ~ ~ Ve jθe
Fig. 1. Active-power controller. IGC

dynamic interaction between WTGs and SGs. In Section 4, SMA is Doubly-Fed Induction Generator Electric Network
presented, and in Section 5, SMA is used to obtain a reduced-order
Fig. 3. Equivalent circuit of a WTG connected to a grid.
model. In Section 6, the reduced-order model is applied to both 4-
bus and 39-bus test systems. Finally, in Section 7, conclusions are
presented. Dωr /vwind is the tip speed ratio, D is a proportional constant, and 
is the pitch angle. The algebraic equations are represented by the
2. Dynamic model equivalent circuit shown in Fig. 3. Note that V D = (Vqs − jVds )ejD .
The electric network is simply represented by their Thevenin
A single-mass model of a Type-C WTG is considered. Active and impedance and voltage. The controlled current source is related
reactive power controllers are designed to extract maximum power to the active power injected to the rotor circuit of the DFIG. This
from the wind and to follow a reference, respectively. Assume controlled current is defined as
that the wind speed is within its technical limits so that no pitch Vqr Iqr + Vdr Idr
angle control is required. The set of differential-algebraic equations I GC = (10)
Vqs + jVds
(DAEs) of the generator are obtained by assuming that the dynam-
ics related to the stator are much faster than those of the rotor, where
mechanical motion and controllers. The differential equations of
Vqr = KP2 [KP1 (Pref − Pgen ) + x1 − Iqr ] + x2 (11)
the generator are the following:

dEqD  Xm
 Vdr = KP4 [KP3 (Qref − Qgen ) + x3 − Idr ] + x4 (12)
T0 
= −(EqD + (Xs − Xs )Ids ) + T0 ωs 
V − (ωs − ωr )EdD 
dt Xr dr EdD Xm
Iqr = − + Iqs (13)
(1) Xm Xr

EqD Xm
  Idr = + I (14)

dEdD Xm Xm Xr ds
T0 
= −(EdD − (Xs − Xs )Iqs ) − T0 ωs 
Vqr − (ωs − ωr )EqD
dt Xr More details about the dynamic model, and the measurement
(2) units of the variables and the parameters can be found in [13,16,17].
In the following sections, this model is called the full-order model.

2HD dωr
= Tm − Te (3) 3. Modal analysis
ωs dt
dx1 The system is modeled by a set of DAEs as,
= KI1 [Pref − Pgen ] (4)
dt
ẋ = f (x, y, ˛) (15)
dx2
= KI2 [KP1 (Pref − Pgen ) + x1 − Iqr ] (5) 0 = g(x, y, ˛) (16)
dt
dx3 where f and g are vector nonlinear functions, x ∈ Rnd ×1 is the vector
= KI3 [Qref − Qgen ] (6)
dt of differential variables, y ∈ Rna ×1 is the vector of algebraic vari-
dx4 ables, and ˛ ∈ Rnp ×1 is the vector of parameters. The terms nd , na
= KI4 [KP3 (Qref − Qgen ) + x3 − Idr ] (7) and np are the number of differential variables, algebraic variables
dt
 =X 
and parameters, respectively, and ∂g(x, y, ˛)/∂ y is nonsingular along
where EqD m dr /Xr and EdD = −Xm qr /Xr . The state variables
the solution of the DAEs.
x1 , x2 , x3 and x4 are related to the active and reactive power con- A linear approximation of the set of DAEs has to be obtained in
trollers (see Figs. 1 and 2). The electrical and mechanical torque in order to perform a modal analysis. Use the generic form shown in
Eq. (3) are defined by Eqs. (15) and (16). Then, given ˛, linearize the system equations
  around an equilibrium point:
Te = EdD Ids + EqD Iqs (8)

v3wind ẋ = A x + B y (17)

Tm = Bωb Cp (, ) (9)
ωr 0 = C  x + D y (18)
where B = 0.5 R2 /Sb ,
 is the air density, R is the turbine radius, Using Kron’s reduction, algebraic equations are eliminated to
Sb is the WTG power base, Cp is a function that models the tur- obtain ẋ = (A − B D −1 C  )x = Asys x. The location of eigenval-
bine aerodynamics, which is also known as power coefficient,  = ues of Asys in the complex plane defines the local stability of the
operating point. Note that if all the eigenvalues are located on the
left half of the complex plane, the equilibrium point is stable. If any
Qref Idrref
+ KP3+ KI3 + KP4+
KI4 Vdr eigenvalue has a positive real part, then the equilibrium point is
- s - s unstable. By varying a particular parameter, if a complex pair of
Qgen Idr eigenvalues crosses the imaginary axis to the right half while the
others remain on the left half plane, then the crossing point is called
Fig. 2. Reactive-power controller. a Hopf bifurcation point and the system becomes critically stable.

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VL
VS VD
Load
~ Line 2
Line 1
SG
~ DFIG

Fig. 4. Four-bus test system.

Consider the 4-bus system of Fig. 4. Define the tracking curve for
the active power controller as Pref = Cωr3 . Assume an exponential
pv qv
model for the load as PL = P0 VL and QL = Q0 VL . The SG is repre-
sented by a two-axis model [6] and the transient reactance at both
q- and d-axis are equal, i.e., Xd = Xq . An IEEE Type-1 exciter and a lin-
ear speed governor without droop [18] are considered. Moreover,
keeping a constant power factor of 0.98 inductive, vary P0 from 0.32
to 1 p.u. (bifurcation parameter). System data is taken from [16].
The system’s dominant eigenvalues when the load is varied are
shown in Fig. 5. The eigenvalues pathway is subtly different when
the wind speed is changed, due to the increase of the WTG power.
Note that the eigenvalues associated with ωr , ω and Pm do not move Fig. 6. Dominant eigenvalues pathway for wind speeds of 10 m/s and 12 m/s (using
when load and wind speed are varied. The eigenvalues that cross a negative load model).
the imaginary axis are not related to the WTG but related to the
voltage controller of the SG. This result does not differ consider-
KI4 < 1.5 p.u. (proportional and integral gains of the reactive power
ably from the modal behavior of a system with a conventional SG
controller), the eigenvalues’ pathway are notably altered. In gen-
[6,13,16,19]. For all wind speeds and loadings simulated, eigenval-
eral, there are critical ranges for KI2 , KI4 , KP2 and KP4 , and if these
ues associated with the WTG’s state-variables are generally stable.
gains do not fall into these ranges, the system’s eigenvalues can be
From all the WTG’s state variables, ωr is the most relevant variable
estimated with a low error by using a negative load to represent
related to the WTG power output; its corresponding mode remains
the wind power [13].
almost unchangeable when the load and wind speed are varied [13].
This behavior suggests that a negative load model may be enough
to represent the power coming from the wind in power system 4. Selective modal analysis
analysis. The system’s dominant eigenvalues, when a negative load
model is used to represent the wind power and when the load is The previous section showed that, in steady state, a negative
varied, are presented in Fig. 6. Note that there exists a good agree- load can mimic the impact of WTGs in a power system. In the case
ment between the eigenvalues pathway when the full dynamic of dynamic analysis, a better representation which captures wind
model and a negative load model are used. Sensitivity analysis has speed fluctuations is required. In this paper, SMA is used to reduce
been performed with respect to the set-point of the WTG’s reactive- the order of the dynamic model. This technique allows reducing the
power controller, WTG’s inertia, static load’s parameters, network’s number of state variables by focusing on the most relevant modes
parameters and controllers’ parameters. This analysis shows that [20] and can be explained as follows. Consider a linear dynamic
system’s eigenvalues have a low sensitivity with respect to these system of n + m states as ẋ = Ax. Assume that there are h rele-
parameters except for the parameters of the inner loop of the active vant modes, i.e., h eigenvalues {1 , . . ., h }. By using participation
and reactive power controllers. For example, when KP4 < 0.3 p.u. and factors, n states are found to be related to the modes of interest
(relevant states); consequently, m states are not related to those
modes (irrelevant states). Note that h ≤ n, i.e., at least there is one
state associated to each relevant mode. Define r ∈ Rn×1 as the vec-
tor of relevant states and z ∈ Rm×1 as the vector of irrelevant states.
Thus, the linear dynamic system model can be written as
    
ṙ A11 A12 r
= (19)
ż A21 A22 z
   
ẋ A x

This technique looks for a simplified representation of the irrel-

evant dynamics. A subsystem of the irrelevant dynamics can be
stated as

ż = A22 z + A21 r (20)

y = A12 z (21)

where y is the subsystem’s output; thus, the relevant dynamics are

Fig. 5. Dominant eigenvalues pathway for wind speeds of 10 m/s and 12 m/s (using
the full-order model).
represented by ṙ = A11 r + y. The subsystem’s state variables and
input are z and r, respectively. It can be proved that the forced
response y(t) of the subsystem to the input r(t) is given by
y(t) = M0 r(t) (22)

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−1
Using the function H (i ) = A12 (i I − A22 ) A21 , M0 can be cal-
culated by solving the following linear system of equations:

M0 [v1 , v2 , . . . , vh ] = [H(1 )v1 , H(2 )v2 , . . . , H(h )vh ] (23)

 
Vh

where i is the ith relevant eigenvalue and i is its corresponding

eigenvector. Note that i just considers the components of the rele-
vant variables. A sufficient condition for M0 to exist is rank{Vh }= h.
The solution for M0 is unique if and only if rank{Vh }= h = n. If there
are multiple solutions (h < n), degrees of freedom can be elimi-
nated by considering additional conditions to the problem; for
example, minimum norm of M0 . These conditions affect the con-
vergence properties of numerical techniques used to solve the
set of equations. Finally, a reduced-order model is obtained as
ṙ(t) = (A11 + M0 )r(t). The main advantage of selective modal anal-
ysis is that the eigenvalues related to the relevant dynamics are the
same in both the full and reduced-order model [20].

5. Reduced order model

Fig. 7. Evolution of vwind (p.u.), ωr (p.u.) and Pgen (p.u.) when HD = 0.5 s. vwind,base =
For simplicity, replace the SG of the 4-bus test system by a fixed 12 m/s, ωr,base = 451.4183 rad/s2 , Pgen,base = 0.2980 p.u..
voltage source such that V S = 1\0◦ . This assumption is supported
by the modal analysis and the fact that, besides the interchange of H(1 )
active power, there is not much interaction between the WTG and
  
−1
the SG. Then, using the wind speed as system’s input and the WTG where ˛ωr = A11 + A12 (1 I − A22 ) A21 , kωr = ∂ω̇r /∂vwind and ˛P =
−1
power as system’s output, linearize the DAEs around the equilib- Ẽ1 + Ẽ2 (1 I − A22 ) A21 . Thus,
rium point defined by v0wind = 12 (m/s), P00 = 0.5 p.u. and Q00 = 0.1 Ṗgen = Ṗgen = ˛P ω̇r
p.u. Thus,
       = ˛P ˛ωr ωr + ˛P kωr vwind
ẋ A B x K 0 ) + ˛ k (v 0
(32)
= + vwind (24) = ˛ωr (Pgen − Pgen P ωr wind − vwind )
0 C D y 0
  = ˇ1 Pgen + ˇ2 vwind + ˇ3
J
where
 
x
[Pgen ] = [ E1 E2 ] (25) ˇ1 = ˛ωr = −0.1585 (33)
y
ˇ2 = ˛P kωr = 0.0118 (34)
By Kron’s reduction, eliminate algebraic variables to obtain: 0
ˇ3 = −˛ωr Pgen − ˛P kωr v0wind = −0.0946 (35)
−1 
ẋ = (A − B D C )x + Kvwind (26)
 
Asys
6. Applications

−1 
Pgen = (E1 − E2 D C )x (27) 6.1. 4-Bus test system
 
E
For dynamic simulations, the SG has a linear speed governor
For this equilibrium point, 1 = − 0.3267 is the relevant mode. with droop defined as,
By calculating the participation factors, ωr , x1 and x2 have a partic-
dTm 1
ipation in this mode of 93.8%, 5.5% and 0.7%, respectively. Thus, the = (−Tm + Psv ) (36)
dt TCH
reduction will be focused on this relevant mode and ωr as the rel-
dPsv 1
 1 (w − ws )

evant variable. Recall from the modal analysis that this mode does
= −Psv + PC − (37)
not considerably move when the load and wind speed are varied. dt TSV RD ws
Rearrange Eqs. (26) and (27) to obtain: The equilibrium point of Section 5 is used as initial condition.
       In Fig. 7, the wind speed sequence, the WTG power output, and
ω̇r A11 A12 ωr kωr
= + vwind (28) the WTG angular speed when the full-order model is used are
ż A21 A22 z 0
presented. A low inertia of 0.5 s is considered. The variables are
  per unitized using vwind,base = 12 (m/s), ωr,base = 451.4183 (rad/s2 ),

 ωr
[Pgen ] = Ẽ1 Ẽ2 (29) and Pgen,base = 0.2980 p . u. as base values. In Fig. 8, a comparison of
z the mechanical torque of the SG and the WTG power when the
 , E  , x , x , x , x ] . Having one rel- T full and reduced-order model are used is presented. A remark-
where z = [EqD dD 1 2 3 4
able agreement is observed. Note that this reduced-order model
evant mode and one relevant variable, the reduction leads
is very attractive in studies such as electricity market dynamics
to obtain an explicit solution for the irrelevant variables as
where the variability of wind power is an important issue [21,22].
z(t) = (1 I − A22 )−1 A21 ωr (t). Therefore,
This reduced-order model has been tested for a highly variable load
ω̇r = ˛ωr ωr + kωr vwind (30) pattern with promising results as well (see Fig. 9). In the study of
power system dynamic considering faults, WTGs may have a very
Pgen = ˛P ωr (31) low voltage at the PCC. In that case, this reduced-order model might

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Fig. 8. Comparison of Pgen and Pm by using the WTG full-order and 1st order models
Fig. 9. Load pattern and comparison of Pgen and Pm by using the WTG full-order and
with HD = 0.5 s.
1st order models with HD = 0.5 s.

fail to provide acceptable results. Note that in this simulation, the 0.2614 p.u. As the validity of the negative load model is subject
voltage VD varied from 0.9640 to 0.9741 p.u. At steady state, the to the values of KI2 , KI4 , KP2 and KP4 , a reduced-order model is also
power output is estimated by obtained when these parameters fall into their critical ranges. A
first-order model fails to give proper results because there is more
ˇ2 ˇ
Pgen = − vwind − 3 (38) than one relevant mode. As a matter of fact, when KP2 and KI2 are
ˇ1 ˇ1
reduced to 0.1 and 0.5 p.u., respectively, there are three relevant
If the wind speed decreases to 11.5 m/s, Pgen = 0.2607 p.u. When modes. Still, a third-order model is obtained by using SMA, which
the full model is used, the total power injected by the WTG is closely resembles the full-order model.

SG 8

~ 29

37
26 28 38
SG 10

~ 25 ~
27 SG 9 SG 6
30
~
2 18 17 35

16 21 22
3

1 15 24

14 23

39 5
36
~ 12 19
SG 1 ~
7 11 13 20 33 SG 7

8 6
~
34
10 SG 4

31
~
32 SG 5
9 ~
SG 2 ~
SG 3

Fig. 10. New England test system.

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Fig. 11. WTGs’ power when SG 3 goes out of service at t = 20 s. Power calculated by using the full-order and 1st order models are shown with solid and dashed lines,
respectively.
6.2. New England test system
The system is shown in Fig. 10 and data is taken from [23].
Line susceptance is reduced 70% with respect to the original data.
For simplicity, the parameters of the exciter and governor at
every SG are identical. An IEEE Type-1 exciter and a linear speed
governor with droop are considered and their parameters are:
KE = 1 p.u., TE = 0.7 s, KF = 0.08 p.u., TF = 0.8 s, KA = 200 p.u., TA = 0.04 s,
TCH = 0.05 s, TSV = 0.1 s, RD = 5% [16]. In addition, SG 1 is replaced
by an infinite bus. Two equivalent WTGs with identical parame-
ters are connected to buses 14 and 19, respectively. One relevant
mode is found for each equivalent WTG; thus, a first-order model
is obtained for each one. Dynamic simulations are performed when
two different wind speed sequences are applied to the WTGs. The
results show a good agreement when the equivalent WTGs are
represented by their full-order and first-order models. Large per-
turbations, such as line and generator outages, are considered as
well. In Fig. 11, the power injected by the WTGs is shown when
SG 3 goes out of service at t = 20 s. The WTGs’ power is properly
estimated by the first-order model. This proper estimation is also
observed when other SGs state variables are compared. Note that
the hypothesis of not having major interaction between WTGs and
SGs is verified. The major interaction between WTGs and the power
system is the interchange of power. Observe that during the out-
age, the WTGs’ power is perturbed. However, the power quickly
comes back to its unperturbed path which is subject to the wind
speed sequence. This unperturbed path is captured by the first-
order model. Note that the WTG connected at bus 14 has the largest
terminal voltage fluctuation; it varies from 0.8418 to 0.9420 p.u.
Still, the negative load model provides outstanding results. Similar
conclusions are obtained when line 2–3, SG 4 and SG 6 go out of
service.
7. Conclusion
A WTG reduced-order model for time domain simulations is
presented in this study. SMA is used to reduce the model order
by focusing on the most relevant modes and variables. A single
relevant mode, that is related to the WTG angular speed, is found
in most cases. As a result, a first-order model that captures this
relevant mode is obtained. Given its relation to the WTG angular
speed, the WTG power output is considered as the state variable
of the first-order model. The number of relevant modes is clearly
subject to the gains of the inner current loops of the active and reac-
tive power controllers. Reduced-order models of higher order are
required when there are more than a single relevant mode. In this
study, the proposed model is applied to both a 4-bus test system
and the New England test system; line and SG outages are taken into
Please cite this article in press as: H.A. Pulgar-Painemal, P.W. Sauer, Reduced-order model of Type-C wind turbine generators, Electr. Power Syst.
Res. (2010), doi:10.1016/j.epsr.2010.11.014
account. The results show that the proposed reduced-order model
closely resembles the impact of WTGs in a power system, reducing
the simulation time and the power system model complexity.
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