Abstract: The analysed results of both voltage regulation and current-harmonic suppression of a self-
excited induction generator (SEIG), under unbalanced and/or nonlinear loading conditions using a
current-controlled voltage source inverter (CC-VSI) are presented. A hybrid induction-machine model
based on the three-phase a-b-c and the d-q frames of reference is employed to describe the dynamic
performance of the studied system. The three-phase a-b-c induction-machine model is employed to
derive dynamic equations of the SEIG under nonlinear loading conditions. The synchronously
rotating reference frame based on a d-q axis model is used to decompose three-phase load currents
into active and reactive power currents. The three-phase a-b-c stator voltages of the SEIG and the
DC bus voltage of the inverter are simultaneously controlled by a proportional-integral (PI) voltage
controller and a harmonic compensator. The simulated results show that the performance of the
SEIG under unbalanced and/or nonlinear loading conditions has been effectively improved by the
proposed compensating scheme.
&(abc) k(abc) 4 Rf
n
prime
mover
‘(abc)
031 &(l23)
-U
/t
:“I- f), A
L
L
abc-deqeand
lowpass filter
-
id7
____L
/
deqe-abc
ic*(123)
ue iqe*
1 ieql
ide*
VDC
432 IEE Proc.-Gener. Trwsm. Distrih.. Vol. 148, No. 5. September 2001
reactive components (id/ and iqr) using a synchronously and 0, (= q t ) is the angle between the machine rotor and
rotating reference frame. The voltages of the AC mains and the reference frame, which is in the direction of the
the DC bus voltage of the inverter are controlled by two PI magnetic flux axis of the winding of phase a.
voltage controllers. The desired active and reactive compo- The mechanical torque equations of the SEIG can be
nents, ide* and iqe*are transformed into three-phase current described by
commands for CC-VSI in order to inject calculated three- 2Hp(w,) = T, - T,
phase currents into the lines of the SEIG system.
(7)
p@r = wr (8)
where H i s the inertia constant, and the electrical torque Te
can be expressed by
rotor stator In eqn. 7, Tmis the mechanical torque of the prime mover,
and it can be simulated by a separately-excited DC motor.
The mechanical torque T, can be expressed by the follow-
Fi .2 Three-ple connection d b g w n of SEIG with capacitor bunk, CC- ing equation:
V# and arbitrary loud
3 Model
where VDo RA,KOand q5 are the DC input voltage, arma-
Although the d-q axis model of an induction machine has ture resistance, machine constant, and field flux of the DC
been widely used in the field of induction motor control, motor, respectively.
the model is usually adapted to analyse the machine per- The excitation capacitors of each phase are identical and
formance under three-phase balanced conditions. If the their values are equal to 1OOpF. The voltage-current equa-
studied system is under an unbalanced three-phase operat- tions of the excitation capacitors shown in Fig. 2 can be
ing condition, the results obtained from the d-q axis induc- expressed as follows:
tion-machine model will become very complicated, since a
zero-axis quantity corresponding to a zero-sequence com- C,P(V,) = 2,s -iLa +icl (11)
ponent will be generated. For an insolated SEIG applica-
Cbp(vb) = i b s - i L b + ic2 (12)
tion, the connected loads are practically unbalanced in
C , P ( V c ) = i c s - i L c + ic3
nature. Hence, the three-phase a-b-c frame of reference is
(13)
preferred to describe the dynamics of the studied SEIG
under unbalanced andor nonlinear loading conditions. where iLa, iLb and iLc are, respectively, the three-phase line
Fig. 2 shows the three-phase connection diagram of a currents of an arbitrary load, icl,ic2and ic3are, respectively,
SEIG with a Y-connected excitation capacitor bank, a CC- the compensating currents generated by the CC-VSI. The
VSI, and an arbitrary load. The rotor windings of the stud- voltages of the capacitor bank, v,, v b and v, are also the
ied SEIG are Y-connected and their terminals are short- voltages of the mains, since these voltages are identical to
circuited together. The three-phase voltage equations of the the line-to-line voltages of the SEIG.
stator and rotor windings of the induction machine can be
expressed by the following equations [15]:
us(abc) Rs(abc)is(abc) +PAs(abc) (1)
I110
2O i
100
vv(abc) R v ( a b c ) i v ( a b c )+ P A r ( a b c )
(2)
90
The stator and rotor flux-linkage vector in eqns. 1 and 2 G
can be written in matrix form as below: € 8 0
70
60
where
L, = [ +
L1, L,,
-O.5Lm,
-0.5Lm,
-0.5L,,
L I , +L,,
-O.5Lm,
-0.5L,,
-0.515,~
Lis + L,, 1 (4)
50
40
0.0
' I
0.5
I
1.o
I
1.5
Im, A
I
2.0
I I
2.5
I
3.0
Fig.3
+
LIT L,, -O.5Lm, -0.5L,,,
Magnetisation curve of SEIG
-0.5L,, Ll, +
L,, -0.5Lm,
The saturated characteristic of the magnetising reactance
-0.5LmT -0.5Lmr LIT L,,+ X, plays a very important role in the voltage buildup proc-
ess of a SEIG. The nonlinear characteristic relating X,(Q)
Lsr
and the magnetising current I,(A) of the studied SEIG is
1
cos(0,) cos(& +1200) cos(&.- 1200) obtained from an experimental test, and is shown in Fig. 3.
cos(&) cos(0,+1200) Such a nonlinear relationshp can be fitted with a continu-
ous function
cos(& - 120.) cos(&)
(6) X m = a[arctan(pI, - y) +S]/I, (14)
IEE Proc.-Gener Transm. Distrib., Vol. 148, No. 5, September 2001 433
where the coefficients in eqn. 1, a, 0, y and 6, are deter- The voltage of the DC bus can be calculated from the
mined as below: inductor currents as follows:
a = 69.386, p = 1.797, y = 0.96 and 6 = arctan(y) 2 C ~ c p ( v o c=
) FAi,l + FBic2 + FCic3(22)
and the value of thlz initial magnetising reactance can be The set point of the VDcmust be greater than the peak
derived from eqn. 14. using L’HBpital’s rule. value of the generated phase voltage in order to generate
Once the magnetising inductance M(= Xm/mb)is found, the desired line currents.
the mutual inductan’ceused in the above equations can be
determined by: 4 Control strategy
0
I I I
Fig. 4 Schemtic diugruw of cwrent-controlledvol~ugesource mverter
With this matrix, the transformation between the three-
The voltage<urrent equations of the filter inductors can phase a-b-c frame of reference and the ds-qJaxis frame of
be written as: reference is power invariant.
Since the ds-qs axes are orthogonal co-ordinates and the
LfP(ic1) = va - e a - R ~ i c l (18) dJ-axis is aligned with a-axis of the three-phase a-b-c frame
of reference, the stator voltages vdT and v can be converted
L f P ( i c 2 ) = vb - eb - R f i c 2 (19) to a polar form. The absolute value o r t h e vector stator
voltage, I V , ~ ~ , and its vector angle, e,, are, respectively,
Lfp(ics) = - - Rfics (20) expressed as:
where e,, eh and e, are the output voltages as a function of
both the capacitor voltage and state of the switches, and
they can be expressed as:
LO, = arctan % (25)
vds
The sensed voltage 1v.J is compared with the reference
voltage I v , ~ ~ * and the error is sent to the input point of the
434 IEE Pro,.-Gener. Trunsm.Distrib.. Vol. 148, N a 5 , September 2001
first PI controller (PI-AC), and its output is denoted as &*, reference can be represented as:
which is the reactive current command for regulating the
voltages of the mains.
In addition to the AC voltage being regulated, the DC
bus voltage should also be regulated. Since the switching +
iZe = 5 d l dc* (32)
losses and conductor losses of the inverter cause the DC Here, the DC term of the active power current is extracted
bus voltage to be varied, the additional power supplied by using a fourth-order Butterworth low-pass filter with
from the SEIG is needed to keep the DC bus voltage at a cut-off frequency at 15Hz. The reference currents of the
constant value. The control loop for the D C bus voltage CC-VSI can then be obtained by transferring and it,e*
regulation is also shown in Fig. 1. The error between the back to the three-phase system, i.e.
DC bus voltage, VDc,and the reference voltage, VDc*,is
fed to the second PI controller (PI-DC), whose output is (33)
denoted by iCic*. The switching patterns of the CC-VSI are generated
The effect of the control scheme using these two control- according to the compared results between the actual
lers has a good performance under a balanced condition. currents and the reference currents with a small hysteresis
As mentioned above, the controlled voltage still has the rip- current band. The complete block diagram of the proposed
ple when the studied SEIG feeds unbalanced three-phase voltage regulator and harmonic compensation for the
loads or nonlinear loads. A solution for this problem is that SEIG system is shown in Fig. 1. The differential equations
three-phase load currents should be balanced by injecting of the SEIG and the CC-VSI compensating model are
the desired compensating currents into the line of the calculated using the Runge-Kutta method of integration.
SEIG. Combining the PI controllers and a low-pass filter, the
If the three-phase load currents are transformed into d-q proposed algorithm is simulated by using a system-oriented
axis currents according to the stator voltage vector phase, MATLAB in real time.
e,, then the load currents in terms of synchronously rotat-
ing d'-q' frame of reference are derived as: 5 Results and discussion
ig(&o) = K e i L ( a b c ) (26) Since the studied SEIG must be excited by injecting a lead-
where ing reactive power into the stator, a fixed capacitor bank
with 100pF/phase is used to supply the required reactive
Ke = power under the over-excitation condition, which ensures
the generated voltage can be sustained under a no-load
condition. The function of voltage regulation is achieved by
injecting the proper amount of reactive power from CC-
VSI. The effects of voltage regulator and harmonic com-
pensator with CC-VSI are examined and illustrated using
Again, the voltages of the mains based on synchronously the following three loading conditions.
rotating d'-q' axis frame of reference is given as:
(i) A three-phase resistive load. The resistance values of
both phases b and c are lOOQ, while the resistance value of
the phase a is 25 k 0 . It is used to simulate an open-circuit
Then, the expression for the active and reactive power of
condition on phase a as compared to that of phases b
the load based on the synchronously rotating de-q' axis and c.
frame of reference are given by:
(ii) A three-phase inductive load. Originally, a 120R resis-
tor and a 132.6mH inductor are connected in series in each
phase to constitute a balanced three-phase inductive load.
The impedance of phase a is suddenly changed to be a
With the orientation of the reference frame stated above, 2600Q resistor and a 5mH inductor to obtain an unbal-
the q'-axis voltage is equal to zero (v; = 0), and hence, iCf anced three-phase loading condition.
is regarded as the active power current, and iq; is consid- (iii) A nonlinear rectified load. A three-phase diode bridge
ered as the reactive power current. Both currents can be rectifier with a resistive load of 1000 connected at the D C
decomposed into a DC component and an AC component, side is employed to simulate a nonlinear loading condition.
and they can be represented as:
Fig. 5 shows the transient responses of the studied system
under the loading condition of (a) with a voltage regulator
but without harmonic compensation. The three-phase volt-
ages of the mains are shown in Fig. 5a. The highest voltage
in the three phases in Fig. 5 n is the voltage of phase a,
If the load currents listed above are entirely supplied by since the magnitude of the load impedance of phase a is the
the CC-VSI, the currents of the mains could be balanced largest one in the three phases. The function of voltage
and are equal to the three exciting currents of the capacitor regulation is started at r = 0.1 s, and the three-phase volt-
bank. Under this condition, the three-phase voltages are no ages still exhibit unbalanced waveforms since the function
doubt balanced. However, the CC-VSI can only supply of current harmonic compensation does not activate. Fig.
reactive power and ripple active power since there is no 5b shows that the absolute value of the vector voltage, Iv,I
other active energy storage component except the electro- has an apparent ripple component about 0 . 0 6 ~ ~ and 1 , it
lytic capacitor at the DC side. The DC term of the active would be enlarged a little after the voltage regulator is
power current, i,,,must be supplied by the SEIG. From the included. It is found from Fig. 5b that the average of the
discussion given above, the reference signal of the complete vector voltage is indeed close to the reference voltage,
compensation currcnt based on the de-qe axis frame of which is set to be 0.9pu when the voltage regulator is oper-
IEE Proc.-Geiier. Tr(m~ii7.Dktrih.. Vu1 148. No. 5, September 2001 435
ating under the steady-state condition. Fig. 5c shows the unavoidable when the harmonic current is compensated by
voltage waveform of phase a of the mains and the compen- the CC-VSI. Fig. 6d shows the active current component,
sating current of phlase a supplied by the CC-VSI. It is id?, and the reactive current component, iJ, which are
found that the compensating current lags the voltage, and decomposed from the three-phase load currents. The upper
therefore, the CC-VSI supplies the lagging reactive power portion is the active current, while the lower one is the reac-
for regulating the vector voltage. This is due to that fact tive power current. It is found that the DC term of the
that the absolute value of the vector voltage is larger than active power current is about 0.2pu, while the DC term of
the reference one before compensation. the reactive power current is null. Since the average reactive
power is not required for the purely resistive load, the AC
1 .o term of the active and reactive power current, which are
caused by the unbalanced loads, must be compensated
2 0.5 completely.
ai
2
5 0.0 1 .o
0
g -0.5 2 0.5
ai
0
-1.o 7 0.0
c
a
3 1.0 -1
4L 0.9
0.8 -+,
0.M) 0.05 0.ICl 0.15
I
0.20
I
0.25
I
0.30
I
0.35
I
0.40
1, s
b I I 1
0.00 0.05 0.10 0.15 0.20 0.25 0.30 0.35 0.40
1.o
t, s
1.5 b
Q
3
.-50 0.0
Q
>%
-0.5
Q
3
-1 .o
0.00 0.05 0:ICl 0:15 0:20 0:25 0:30 0135 0140 l.9j
t, s
C 1.8 I I I I I I I I
Fig.5 , Trunsient res otzsei' o SEIG under unbulanced resistive loding cowl-
twn (with voliuge regdtor &$ 0.00 0.05 0.10 0.15 0.20 0.25 0.30 0.35 0.40
a mains voltages
b absolute value o f vector voltage t, s
c voltage and compensating current of phase a
C
0.4 3
436 IEE Prw-Gener. Transm. Distrib.. Vol 148, No. 5, September 2001
Fig. 7 shows the transient responses of the studied system Fig. 8. At the beginning of the simulation, the compen-
under the loading condition of (b). The inductive load sating function is not applied to the studied system and
changes from a three-phase balanced condition to an the mains currents are the distorted currents of the recti-
unbalanced one at 0.1 s. It can be found from Fig. 7a that fier load as depicted in Fig. 8a. Once the control scheme
the three-phase voltages have no evident change when the starts at t = 0.1 s, the mains current of phase a, which is
load is suddenly switched to an unbalanced condition. The almost in phase with the mains voltage, approaches a
mains phase voltage and compensating phase current are pure sinusoidal waveform but with high-order harmonics.
shown in Fig. 7b. It is seen that the compensating current Fig. 8b shows the actual compensating current of phase a
leads the mains voltage before 0.1 s, while the compensating with respect to the mains voltage. After three cycles, the
current lags the mains voltage after the change of the load- system approaches its steady-state condition. The time-
ing condition. T h s means that the CC-VSI provides the scalar zoomed waveforms of mains voltage and reference
reactive power to the system under a balanced condition compensating current of phase a are shown in Fig. 8c.
and it absorbs the reactive power from the system under an Comparing Fig. 86 and c, it is obvious that the actual
unbalanced condition. The active current power compo- compensating current follows the reference current in a
nent, $, and the reactive power current component, iJ, of very good manner. Besides, the voltages of the mains are
inductive load currents are shown in Fig. 7c. It is found
actually compensated and modified from a distorted
that both currents contain the purely DC quantities for the
waveform to a nearly pure sinusoidal waveform after
balanced loading condition and they also have AC compo-
0.1 s. The stator current, load current and capacitor
nents under an unbalanced load condition, which must be
compensated by the CC-VSI. current waveforms of the nonlinear loading condition are
also shown in Figs. 90, b and c, respectively. It is found
i* .”
n - that the shape of the stator current waveform is improved
after compensation. It is also noted that the high-order
2 0.5
harmonics generated by the CC-VSI are sunk into the
ai exciting capacitor.
cn
c
5 0.0
m
1.o
h -0.5
0.5
-1.0 I I I I 1 I I I I Q
0.00 0.05 0.10 0.15 0.20 0.25 0.30 0.35 0.40 25 0.0
t, s 9.
m
v 2, v 2,211 v v v v v 2,
a
i..”
n- > vvvvv
-0’5iv
-1.0 i I I I I I I I I
0.00 0.05 0.10 0.15 0.20 0.25 0.30 0.35 0.40
0.5 t, s
a
a
._
0
j 0.0 1.0 7
Q
m
-0.5
-1.0 1 I I I I I I I
0.00 0.05 0.10 0.15 0.20 0.25 0.30 0.35 0.40
t, s
b
-1.0 i
0.00 0.05 O.\O 0.115 0.20 O.h 0.bO 0.$5 0;40
0’4
0.3 . ^
t, s
0.2
b
3
4 0.1
a-
$ 0.0
a
al -0.1
b
._
-0.2 1 I I I I I I I I
C
Fig.7 Trmiennt responses of SEIG under on unbahced uzrluctive loudirg -1.0-1 I 1 1
IEE Proc.-Gener. Trunsm. Distrib , Vol. 148. No. 5, September 2001 437
1.o A digital processor is required to implement the transfor-
mation between three-phase a-b-c and d-q axis reference
0.5 frames, in which the synchronously rotating angle can be
calculated. Since the PLL (phase-locked loop) technique is
0
3
& 0.0
not needed for tracing the voltages of the mains in this
.-m proposed control method, there is no frequency problem
-0.5
when the controller is operating. With the fast development
of semi-conductors and the cost reduction of digital signal
-1 .o
processor (DSP) chips, power devices have become more
0.00 0.05 0.10 0.15 0.20 0.25 0.30 0.35 0.40 and more popular. A number of DSP-based vector-control
t, s
schemes for induction machine drives have been imple-
mented and are feasible for various industrial applications.
a
The implementation of the DSP-based voltage controller
for the SEIG will soon become practical.
’‘OI
0.5
7 References
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-1 .o
3 RAMAKUMAR, R.: ‘Renewable energy sources and developing
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IEEE Truns. Energy Cunvers., 1997, 12, (4), pp. 368-374
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+, 1 1 I I 1 1 Trunsn7. DBtrib., 1984, 131, (2), pp. 3 3 4 0
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1, s
Res.. 1992. 24., (2).
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nfplu~~
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This paper has presented the voltage control strategy of 13 LEIDHALD, R., and GARCIA, G.: ‘Variable speed field-oriented
employing a voltage regulator and harmonic compensator controlled induction generator’. Proceedings of 33rd IAS-IEEE annual
meeting, 1998, pp. 540-546
to regulate and balance the generated voltage of an isolated 14 MARRA, E.G., and POMILLIO, J.A:: ‘Self-excited induction genera-
self-excited induction generator (SEIG), subject to unbal- tor controlled by a VS-PWM hi-directional converter for rural applica-
anced and/or nodi near loading conditions. The hybrid tions’. Proceedings of 13th APEC-IEEE annual meeting, 1998, pp.
11G112
induction-machine model based on a three-phase a-b-c 15 KRAUSE, P.C.: ‘Analysis of electric machinery’ (McGraw-Hili Book
reference frame and a d-q axis reference frame has been CO,New York, 1987)
proposed to describe dynamic characteristics of the studied
SEIG with the proposed current controlled voltage source 8 Appendix
inverter (CC-VSI). AI1 models associated with PI control-
lers and a low-pass filter are simulated in real time using 8. I Machine parameters
MATLAB simulator software. Transient responses of the 1.1 kW, 127(A)/220(Y) V, 8.3(A)/4.80 A, 60Hz, 2 poles,
studied system subject to balanced and unbalanced resistive R,s= R,. = 2.067Q X, = Xi,.= 2.382C2, H = 0.082s.
and inductive loading perturbations have been examined.
Dynamic characteristics of the studied SEIG with 8.2 CC-VSI parameters
harmonic compensal ion feeding a three-phase bridge diode Lr = 7mH, Rf= 0.35Q2,Cdc= 7200pF.
rectifier have also been performed. The analysed results
show that the performance of the studied SEIG under 8.3 Controller parameters
unbalanced and/or nonlinear loading conditions has been Both the PI-AC and PI-DC digital controllers have the fol-
effectively improved by the proposed compensating lowing parameters: proportional constant Kp = 0.012, inte-
method. gral constant Ki= 0.015.