1. Introduction
2. E-On
Guidelines
5. Simulation
Results
6. Conclusion
VOITH TURBO
CONTROLABLE DRIVES
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 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
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 Trondheim, Norway
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
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 Trondheim, Norway
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
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 Trondheim, Norway
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 Trondheim, Norway
2. E-On
Guidelines
3. Modelling
4. Controller
Design
5. Simulation
Results
6. Conclusion
Enlarged Range
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 Trondheim, Norway
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 Trondheim, Norway
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 Trondheim, Norway
Rotor Hub
Gear Box
Vorecon - Voith
Coupling
Brake
Torque
3. Modelling
4. Controller
Design
5. Simulation
Results
6. Conclusion
Interface
TU Chemnitz
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 Trondheim, Norway
Basic Equations
1. Introduction
2. E-On
Guidelines
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
d
u
R
i
sd r sq
s sd
sd
dt
d
u sq Rs isq sq r sd
dt
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 Trondheim, Norway
3
M e Z p sd isq sq isd
2
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
sd ( s ) GL ( s )isd ( s ) G f ( s )u f ( s )
sq ( s ) GLq ( s )isq ( s )
d
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 Trondheim, Norway
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 Trondheim, Norway
Control Variables
1. Introduction
2. E-On
Guidelines
3. Modelling
4. Controller
Design
5. Simulation
Results
6. Conclusion
Wind
Turbine
Pitch
Angle
Guide Vane
Position
H
Vorecon
Synchronous
Generator
Field Voltage
uf
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 Trondheim, Norway
3. Modelling
Considering the speed constant the induced voltage dynamics depends only on
the flux
4. Controller
Design
5. Simulation
Results
6. Conclusion
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 Trondheim, Norway
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 Trondheim, Norway
Controller Optimisation
1. Introduction
2. E-On
Guidelines
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
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 Trondheim, Norway
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
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)
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 Trondheim, Norway
The generator is kept in synchronism and the currents reach the rated value
after the transient period.
3. Modelling
stator phase currents
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)
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 Trondheim, Norway
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
0.3
27
28
29
t(s)
30
31
32
33
t(s)
0.15
26
27
28
29
t(s)
30
31
32
33
t(s)
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 Trondheim, Norway
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)
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 Trondheim, Norway
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
- 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
34
t(s)
34.5
t(s)
35
- 2.8
-3
33
33.5
34
t(s)
34.5
t(s)
35
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 Trondheim, Norway
Voltage Drop
net voltages
600
3. Modelling
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.
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)
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 Trondheim, Norway
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
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 Trondheim, Norway
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.
stator phase currents
induced voltage
5. Simulation
Results
6. Conclusion
t(s)
t(s)
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 Trondheim, Norway