006 - Vortrag - Norpie04 - 1

Voltage Regulator for Reactive Power Control on Synchronous Generators in Wind Energy Power Plants
NORPIE / 2004 Nordic Workshop on Power and Industrial Electronics

NORPIE04 - Nordic
Workshop
Power and
Industrial Electronics
14-16
June, 2004on
Trondheim,
Norway
14-16 June, 2004

Trondheim, Norway
1. Introduction
2. E-On
Guidelines
Voltage Regulator for Reactive Power Control on

3. Modelling
Synchronous Generators in Wind Energy Power Plants
4. Controller
Balduino
Design
Rabelo Wilfried Hofmann
Andreas Basteck Martin Tilscher
5. Simulation
Results
6. Conclusion
FACULTY OF ELECTRICAL ENGINEERING

DEPARTMENT OF ELECTRICAL MACHINES AND DRIVES
VOITH TURBO
CONTROLABLE DRIVES
14-16 June, 2004 Trondheim, Norway
Topics
1. Introduction
2. E-On
Guidelines
3. Modelling
4. Controller
Design
5. Simulation
Results
6. Conclusion
1. Introduction
2. E-On Guidelines
3. Machine Modelling
4. Controller Design
5. Simulation Results
6. Conclusion
Motivation
1. Introduction
2. E-On
Guidelines
In a project with the Voith Co. the AEM Co. and the TU Dresden preliminary
studies of a windmill using a hydrodynamic torque converter (VORECON)
were carried out.
3. Modelling
The TU Chemnitz accomplished the following tasks:
4. Controller
Design
5. Simulation
Results
6. Conclusion
Modelling and simulation of a synchronous generator

Emulation of the E-On cases for power plant connection to the electrical grid
1. Synchronisation and connection with the mains supply
2. Reactive power exchange with the net
3. Load drop
4. Active power limiting with frequency variation
5. Short-circuit behaviour
Guidelines for net connection from E-On

1. Introduction
Ergnzende Netzanschlussregein fr Windenergieanlagen, 1.8.2003, E-on Netz Ltd.
2. E-On
Guidelines
3. Modelling
Why?
Further expansion of wind energy. 2010 - 20,000 MW 2020 40,000 MW
Wind generators will have to support the grid in case of faults
European interconnected system can bare a maximum drop of 3,000MW
4. Controller
Design
Who?
Wind farms with more than 100 MW connected to the high voltage and extrahigh voltage grids.
5. Simulation
Results
How?
1 - Support the grid in case of 15% to 60 % voltage drops for not more than 3s
2 - Reduce the active power and frequency fluctuation. 10% Pc/min
3 - Limit the cut-in in 1.2 of the rated power Pc at the connection point
4 - Control the reactive power in a desired range
6. Conclusion
Verification of compliance with the new norms

Guideline from manufacturers and measuring institutes
Active Power Limiting Curve

1. Introduction
2. E-On
Guidelines
3. Modelling
4. Controller
Design
5. Simulation
Results
6. Conclusion
Reactive Power Control Range

1. Introduction
t < 30min
2. E-On
Guidelines
3. Modelling
4. Controller
Design
5. Simulation
Results
6. Conclusion
Enlarged Range
Voltage Drop Profile

1. Introduction
2. E-On
Guidelines
3. Modelling
4. Controller
Design
5. Simulation
Results
6. Conclusion
Hydrodynamic Torque Converter VORECON

1. Introduction
2. E-On
Guidelines
3. Modelling
4. Controller
Design
5. Simulation
Results
6. Conclusion
Dynamical Model of the VORECON

1. Introduction
2. E-On
Guidelines
Rotor Hub
Gear Box
Vorecon - Voith
Coupling
Brake
Torque
3. Modelling
4. Controller
Design
5. Simulation
Results
6. Conclusion
Interface
TU Chemnitz
Basic Equations
1. Introduction
2. E-On
Guidelines
The voltage equation of a synchronous machine

where the underline defines a complex vector
q
3. Modelling
4. Controller
Design
5. Simulation
Results
6. Conclusion
u s Rs i s
d
s
dt
u ss u sdsd ju sqsq
us
r
d
u sq
u sd
Description in a rotating reference frame
d
u
R
i
sd r sq
s sd
sd
dt
d
u sq Rs isq sq r sd
dt
Torque and Flux Linkage Equations

1. Introduction
The electromechanical torque expression
2. E-On
Guidelines
3. Modelling
3
M e Z p sd isq sq isd
2
The dynamical interactions between the stator, damping

and field circuits are given the following operators
1 sTq
s 2Td' Td'' s Td' Td'' 1
GLq ( s ) Lsq
GLd ( s ) Lsd 2 ' ''
'
''
1 sTq''0
s Td 0Td 0 s Td 0 Td 0 1
''
4. Controller
Design
5. Simulation
Results
6. Conclusion
Lsd L'sd Td' 0

Gf ( s )
L f 1 sTd' 0
The fluxes can be obtained by the expressions
sd ( s ) GL ( s )isd ( s ) G f ( s )u f ( s )
sq ( s ) GLq ( s )isq ( s )
d
Block Diagram of the Synchronous Generator

1. Introduction
2. E-On
Guidelines
3. Modelling
4. Controller
Design
5. Simulation
Results
6. Conclusion
Control Variables
1. Introduction
2. E-On
Guidelines
The system has 3 control variables:

- pitch angle and the guide vane position control the main power flow
- field voltage controls the magnetising of the synchronous generator and the
reactive power flow.
3. Modelling
This latter can also influence the stability of the system.
4. Controller
Design
5. Simulation
Results
6. Conclusion
Wind
Turbine
Pitch
Angle
Guide Vane
Position
H
Vorecon
Synchronous
Generator
Field Voltage
uf
Induced Voltage Controller

1. Introduction
The induced voltage controller UPol uses the field voltage uf to regulate the flux
2. E-On
Guidelines
In high-powered generators these self-excited control schemes present a faster

inner field current control not shown here
3. Modelling
Considering the speed constant the induced voltage dynamics depends only on
the flux
4. Controller
Design
5. Simulation
Results
6. Conclusion
Controller Tasks and Structure

1. Introduction
2. E-On
Guidelines
3. Modelling
4. Controller
Design
5. Simulation
Results
6. Conclusion
The field controller has to accomplish the following tasks:

regulate the induced voltage at the machine terminals during synchronisation
control the power factor or the reactive power flow during normal operation
guarantee the dynamical stability during undesired transient conditions
An outer power factor control loop influences the induced voltage in normal
operating conditions, as well as compensates the voltage drop over the stator
windings during loading
Controller Optimisation
1. Introduction
2. E-On
Guidelines
The induced voltage controller posses 2 basic PI structures for synchronisation

and for normal operation that were optimised by module (BO) and by
symmetrical optimum (SO) rules, respectively.
3. Modelling
Bode Diagram
150
BO open
BO closed
SO open
SO closed
100
4. Controller
Design
5. Simulation
Results
6. Conclusion
Mag (dB)
50
0
-50
-100
0
Phase (deg)
-45
-90
-135
-180
10
-2
10
Frequency (Hz)
10
Synchronisation Starting Currents

1. Introduction
2. E-On
Guidelines
3. Modelling
4. Controller
Design
5. Simulation
Results
Connecting the machine to the mains with an angle error from less than 10
degrees gives transient currents which peak values lie under 40 % of rated
value vanishing in less than one second, as shown in the left figure.
With a neglectiable angle error the start-up currents are much smaller, as can
be observed in the right figure.
stator phase currents

0.5
0.4
0.3
I ab c /I n
0.2
0.1
0
6. Conclusion
- 0.1
- 0.2
- 0.3
- 0.4
- 0.5
1.2
1 .2 5
1.3
1.3 5
t(s)
t(s)
1.4
1.45
t(s)
Torque Step from No-load to Rated Value

1. Introduction
An extreme power step is simulated where the input torque is increased from
no-load condition to rated torque.
2. E-On
Guidelines
The generator is kept in synchronism and the currents reach the rated value
after the transient period.
3. Modelling
generator torque
4. Controller
Design
x 10
0
- 0.5
5. Simulation
Results
-1
- 1.5
m a (Nm)
-2
6. Conclusion
I ab c /I n
- 2.5
-3
-1
- 3.5
m e (Nm)
-4
- 4.5
5.5
-2
6.5
t(s)
7.5
t(s)
-3
5.5
6.5
t(s)
7.5
t(s)
Coupling with the Reactive Power Control

1. Introduction
After a negative mechanical torque step over-shoots on the electromechanical
torque occur during the transient period.
2. E-On
Guidelines
3. Modelling
4. Controller
Design
The well-damped power factor controller reduced the over-shoots due to the
coupling with the active power canal and let the actual value reach the
reference smoothly after some seconds.
power factor
generator torque
- 1.2
x 10
0.4
- 1.3
5. Simulation
Results
6. Conclusion
- 1.4
- 1.5
Sinus Phi
0.35
m e (Nm)
- 1.6
m a (Nm)
- 1.7
0.25
- 1.8
- 1.9
0.2
-2
- 2.1
26
Cos Phi 0.92 ind
0.3
27
28
29
t(s)
30
31
32
33
t(s)
0.15
26
Cos Phi 0.98 ind
27
28
29
t(s)
30
31
32
33
t(s)
Power Factor Control

1. Introduction
The power factor controller presents good responses over the desired range.
Higher damping is observed on the capacitive range, as expected.
2. E-On
Guidelines
power factor
3. Modelling
0.5
actual
Ist
ref
Soll
0.4
4. Controller
Design
0.3

5. Simulation
Results
6. Conclusion
SinusPhi
0.2
0.1
inductive
induktiv
capacitive
kapazitiv
cos
-0.1
-0.2
-0.3
-0.4
-0.5
50
100
150
200
t(s)
Power Factor Step

1. Introduction
2. E-On
Guidelines
3. Modelling
4. Controller
Design
The power factor step presents a retarded response due to the coupling with
the active power channel.
The increase on the torque caused by the reference power factor step is less
damped than the reaction caused again on the power factor.
Such extremes reactive power steps must be avoided in the normal operation of
the generator in order to avoid the observed torque steps.
0.4
0.3
5. Simulation
Results
generator torque
power factor
- 0.8
Sinus Phi
-1
Cos Phi 0.92 ind
- 1.2
0.2
m e (Nm)
- 1.4
- 1.6
0.1
6. Conclusion
x 10
m a (Nm)
- 1.8
-2
-0.1
- 2.2
- 2.4
-0.2
- 2.6
-0.3
-0.4
33
Cos Phi 0.92 kap

33.5
34
t(s)
34.5
t(s)
35
- 2.8
-3
33
33.5
34
t(s)
34.5
t(s)
35
Voltage Drop
net voltages
600
3. Modelling
After the well-known transient periods

further oscillations appear on the torque
and on the currents due to the slow
increase of the mains voltage.
200
-200
-400
-600
19
4. Controller
Design
generator torque
5. Simulation
Results
Drehmomente (Nm)
0
-2
m Ant rie be
-4
20.5
21
21.5
t(s)
22
22.5
23
23.5
24
23.5
24
t(s)
x 10
2
1
0
-1
-6
-8
-2
-10
-3
-12
-14
19
20
me
19.5
x 10
6. Conclusion
400
Dreiphasiger Netzspannungen (V)
2. E-On
Guidelines
The 3-phase voltage drop profile from EON have a similar effect of a 3-phase
short-circuit on the machine.
D reiphas iger S tators trm e (A )
1. Introduction
19.5
20
20.5
21
21.5
t(s)
22
22.5
23
23.5
t(s)
24
-4
19
19.5
20
20.5
21
21.5
t(s)
22
22.5
23
t(s)
Power Angle and Speed

1. Introduction
The oscillations observed previously on the torque and on the currents are also
observed on the speed.
2. E-On
Guidelines
The power angle crosses the stability limit for a short period of time.
The machine is kept in synchronism due to the reached dynamical stability
enabled by the power factor controller.
3. Modelling
4. Controller
Design
However, the required field voltages to magnetise the machine in such cases are
higher than the maximum allowed.
pole pitch angle
rotor speed
1560
120
5. Simulation
Results
break
80
down
60
Rated
1520
n Drehzahl
rpm)(rpm)
Polradwinkel ()
6. Conclusion
1540
100
40
20
1500
1480
1460
0
19
19.5
20
20.5
21
21.5
t(s)
22
22.5
23
23.5
t(s)
24
1440
19
19.5
20
20.5
21
21.5
t(s)
22
22.5
23
23.5
t(s)
24
Load Drop
1. Introduction
2. E-On
Guidelines
3. Modelling
4. Controller
Design
A 100 % load drop was simulated in order to verify the possible overvoltage
effects on the machine terminals.
The induced voltage increases after at the load drop moment but the field
controller actuates faster and limits the increase ratio letting the intern voltage
in acceptable levels until switching off or reloading.
induced voltage
5. Simulation
Results
6. Conclusion
t(s)
t(s)
Summary and Future Works

1. Introduction
2. E-On
Guidelines
3. Modelling
4. Controller
Design
5. Simulation
Results
6. Conclusion
A synchronous machine classical model was used to simulate different situations

before and after synchronisation with the electrical grid.
A voltage regulator for the field excitation of the synchronous generator was
designed. This controller has to guarantee stable operation of the generator
under various conditions including faults.
Simulation results show the good performance of the controller. With the
already existing controller the machine is kept stable during extreme conditions
like torque steps and reactive power variations. Faulty conditions were also
simulated.
Further studies will investigate the effects of faulty conditions on the
mechanical drive train caused by high electromechanical torque and its
harmonics and of the distribution line and the transformer on the performance
of the machine under voltage drops.

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Voltage Regulator for Reactive Power Control on Synchronous Generators in Wind Energy Power Plants

NORPIE / 2004 Nordic Workshop on Power and Industrial Electronics

14-16 June, 2004

Voltage Regulator for Reactive Power Control on

Rabelo Wilfried Hofmann

Andreas Basteck Martin Tilscher

FACULTY OF ELECTRICAL ENGINEERING

Modelling and simulation of a synchronous generator

Guidelines for net connection from E-On

Verification of compliance with the new norms

Active Power Limiting Curve

Reactive Power Control Range

Voltage Drop Profile

Hydrodynamic Torque Converter VORECON

Dynamical Model of the VORECON

The voltage equation of a synchronous machine

Description in a rotating reference frame

Torque and Flux Linkage Equations

The dynamical interactions between the stator, damping

Lsd L'sd Td' 0

Block Diagram of the Synchronous Generator

The system has 3 control variables:

This latter can also influence the stability of the system.

Induced Voltage Controller

In high-powered generators these self-excited control schemes present a faster

Controller Tasks and Structure

The field controller has to accomplish the following tasks:

The induced voltage controller posses 2 basic PI structures for synchronisation

Synchronisation Starting Currents

stator phase currents

Torque Step from No-load to Rated Value

Coupling with the Reactive Power Control

Cos Phi 0.92 ind

Cos Phi 0.98 ind

Power Factor Control

Power Factor Step

Cos Phi 0.92 ind

Cos Phi 0.92 kap

After the well-known transient periods

stator phase currents

D reiphas iger S tators trm e (A )

Power Angle and Speed

Summary and Future Works

A synchronous machine classical model was used to simulate different situations

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