You are on page 1of 12

P.

1
DSP-based Experimental Rig with the Doubly-Fed Induction Generator for
Wind-turbines
Balduino Rabelo and Wilfried Hofmann
CHEMNITZ UNIVERSITY OF TECHNOLOGY
Reichenhainer Str. 70
Chemnitz, Germany
+49 371 531 3586/3324
barab@hrz.tu-chemnitz.de
www.tu-chemnitz.de
Keywords
Wind power generation, doubly-fed induction machine, modelling, digital signal processor.
Abstract
In this work the modelling and design for a wind generation control system using the doubly-fed
induction machine and a DSP-based experimental set-up construction as well as part of its commissioning
are presented. A DC-machine driven by a thyristor bridge emulates the windmill and is connected to the
shaft of the generator. The latter is fed through its slip-rings by a back-to-back converter consisting of 2
IGBT-VSI connected with a DC-Link. The stator is directly connected to the grid. An LC-Filter at the
output of the mains-side inverter supresses the harmonics and furnishes the required reactive power to the
system. The systems electrical losses are minimised through an optimal control strategy in which the
reactive powers of both converters are simultaneously controlled. Due to the amount of required variables
and measured quantities, as well as, the complexity of the control structure a powerful processing
capability is needed. All of these features make a very interesting and challenging engineering task. Some
simulation and experimental results will be shown and inherent problems of the commissioning will be
addressed.
Introduction
The use of the doubly-fed induction machine as a generator at a high-power level is well known [1]. The
motivation and preliminary theoretical studies of using this type of machine as a generator controlled by
the rotor slip-rings with two 6-pulse IGBT VSI-PWM in a back-to-back configuration for MW-Class
wind power plants were described in previous works [2], [3]. This configuration enables the control of the
reactive power in both rotor and mains side in order to optimise the overall system efficiency and
influence the net power factor. Some controller design and simulation were also carried out in [4] as well.
As can be seen in Figure 1 the stator is directly connected to the mains, and the rotor to a VSI. A voltage
DC-Link connects the mains-side inverter to the rotor-side one. An LC-filter is used to dampen the high
frequency harmonics generated by the switching of the IGBTs. This latter also has the function of
furnishing reactive power to enable power factor correction on the net within a desired range. Such a
configuration maintains either the speed or the torque control within a range suitable for wind power
generation. Furthermore, it splits the reactive power in both the rotor and net sides with a view to
controlling the power factor and minimising losses. The inverters were controlled in current in a
synchronous frame oriented to the net voltage space vector, making a phase-locked-loop (PLL) necessary
for measuring the mains voltage angle. Outer control loops for regulating the active power control the
electromagnetic torque, in order to maximise the input power from wind and damp mechanical
oscillations, as well as maintaining a constant DC-link voltage. This is done in order to keep the active
P. 2
power balance between generator and supply. The reactive power is also controlled through outer loops
for the power angle. A 4 kW experimental set-up to verify the theoretical results is being concluded. The
control algorithm is done through a DS1103 board from Dspace,. This board contains an IBM Power PC
and a Texas TMS320F240 DSP in a master-slave-configuration.
Ps
Pr
Qr
Qs GZK
Qw Pw
Qc
Pn
Qn
DFIG
Pmec
Vw
Control
Power PC/DSP
Hardware
Interface
Rotor-side
Inverter
Mains-side
Inverter
Rotor
Stator
LC-Filter
Trafo
Wind
Turbine
Fig. 1 - System overview and power flow
Firstly, a set for simulating the wind turbine and driving the induction machine using a separately excited
DC motor was mounted and tested. Real wind data was used to reproduce real operating conditions, as
will be shown in the second part of this work. This set was also used to carry out the tests on the induction
machine in order to achieve the electrical and mechanical parameters required in the dynamic model. The
modelling and comparative simulation results and recorded machine tests are presented in the third
section, along with some comments concerning the control methods. The following sections describe the
control structure and the construction of the generating system, including inverters, the harmonics filter,
sensing/measuring and hardware; and also addresses the inherent problems of the design and
commissioning phases.
Wind Turbine Emulator
A 7.5 kW DC machine fed by a 3-phase thyristor controlled bridge rectifier with a separated field
winding fed by a 1-phase controlled rectifier were used to drive the generator shaft. This drive can
operate in four quadrants and also in field weakening. Real wind data of turbine torque and speed were
used as reference values to control the DC motor. The latter were passed to the control through data
communication equipment called DDC, developed at Chemnitz Technical University. It enables the
connection of computer and rectifier control hardware using RS-232 and RS-485 serial interfaces with a
baud-rate of 4800. The induction machine's rotor was short-circuited and the stator was connected to the
mains so that it would work as a generator in super-synchronous operation and as a motor in under-
synchronous operation and vice-versa for the DC machine. The diagram of Figure 2 illustrates this
system.
P. 3
DFIG
Mains
400 V
50 Hz
Pmec
P el
C
RS 485
Control
Q M ,
Rectifier
M *,
Ia
Ua
Wind Simulator
RS 232
DDC
Generator
Wind Data
DC
Fig. 2 DC machine drive diagram.
Every 150 ms a new reference value was read giving the 200s wind profile seen in the Figure 3. The
relatively long sample time also contributes to the error between reference (red) and real (blue) speed
values which can be observed below. The darker region under the 1500 rpm horizontal ordinate and over
the speed profile signifies the under-synchronous operating region. Figure 4 shows the instantaneous
values of power measured at the rotor shaft. The darker region under the 0 kW ordinate signifies the
generating region for the DC machine. The other small regions of under-synchronous operation seen in
Figure 3 do not appear here, which contradicts what was said before. This can be explained if one notices
that these dark areas also indicate an amount of energy. This amount must be then smaller than the kinetic
energy kept by the inertia of the drive during these transients.

Fig. 3 Rotor speed reference and measured values Fig. 4 Mechanical power measured at the shaft of the DC machine
The data transfer was improved using a device driver to directly control the communication between the
computer and converter. A boundary was reached due to the reading capability of the rectifier serial port.
Later on, the dynamic characteristics of the wind turbine will also be included on the DC machine control
as shown in [5]. Depending on the wind and rotor speed the DC machine will produce a torque on the
shaft which corresponds with the wind turbine torque. The latter will have to be counter-balanced by the
generator torque control in order to set the speed and maximise the wind-mechanical power converting.
Dynamical stresses and resonance originated from exciting mechanical system eigenvalues will also be
emulated. Their compensation will be a second main task for the generator torque control. This requires
faster control loops, however the increased inertia by emulating the dynamics of the turbine keeps the
system still slow enough for using serial communication. These tasks will be performed using the master
processor serial port.
P. 4
Modelling
Induction Machine
For the system described in the Figure 2 the no-load, short-circuit and run-down tests were carried out
with the induction machine in order to achieve the mechanical and electrical parameters of the classical
model. The model is represented below in state-space equations
) ( ) (
) ( ) ( ) ( ) (
t t
t t t t
Cx y
Bu x A x

+ &
(1),
where the state vector is composed by the stator and rotor space vectors
T
r s
] , [ x
, the input vectors are
the voltage space vectors
T
r s
u u ] , [ u
and the output is the current space vectors
T
r s
i i ] , [ y
. The state and
input matrices as well as the output matrix are given by the following expressions
;
1
1
) (
1
1
1
1
1
]
1

,
_

,
_

j
T T L
L
T L
L
j
T
t
r r s
m
s r
m
s
s
A

1
1
;
2
1
1
1
1
]
1


r r s
m
r s
m
s
L L L
L
L L
L
L


C I B .
Some simulations were done in Matlab using the achieved values for the parameters, and the results
compared with measured results in the laboratory. Figure 5 shows the calculated torque versus speed
characteristics of the machine in blue, and the red crosses are different measured operating points. A good
correspondence is observed in the linear region.
Fig. 5 Speed x Torque characteristic and measured operating points
Also a start-up transient was simulated and measured in terms of voltages and currents. Several trials
were carried out until, as in the simulation, the zero-crossing of voltage at time instant zero was found. As
can be seen in Figures 6 and 7 relying on the parameters is acceptable. Hence, the model presents similar
dynamic characteristics to the machine and so further simulations and controllers projects can be done.
P. 5
u
s (V)
is
us
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
-100
-80
-60
-40
-20
0
20
40
60
80
100
is (A)
0
320
-320
t (s)
is
us
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35
-80
-60
-40
-20
0
20
40
60
80
100
is (A) us (V)
0
320
-320
Fig.6 Measured values of voltage and current during start-up Fig.7 Simulated start-up
Net side and LC-filer
The supply and the harmonics filter were also included in a state-space model like (1) where the state
vector elements were the space vectors of the mains side inverter output current, of the net current and of
the voltage over the filter capacitor
T
C N W
u i i ] , , [ x , the input vector was composed of the space vectors of
the output voltage of the net side inverter and the net voltage
T
N N
e u ] 0 , , [ u
, finally the output vector was
equal to the state vector. The matrices A, B and C can be expressed as follows:
3
;
1 0 0
0
1
0
0 0
1
;
1 1
1
1
I C B A
1
1
1
1
1
1
]
1

1
1
1
1
1
1
1
]
1

N
F
F F
N N
F
F
F F
CF
F
CF LF
L
L
j
C C
L
j
L
R
R
L L
R
j
L
) R R (

where
N
L
,
F
L
,
F
C
,
LF
R
and
CF
R
are the supply inductance, the filter inductance and capacitance, the filter
inductor resistance and the damping resistance of the filter capacitor, respectively.
There are two main aspects which must be taken into account when designing the filter. Firstly, the
switching frequency of the semiconductors, and secondly, the required reactive power furnished by the
capacitor in order to influence the net power factor within a desired range. One has also to consider the
net inductance and eventually a transformer inductance in forming a T- circuit together with the
original filter. This leads to a 3
rd
Order filter for which the resonance frequency would be found in a
different location from the original filter on the frequency spectrum [5].
The filter for the 4 kW set was projected with a 3-phase coil inductor with an iron core and 3 capacitors
connected in delta for a 400 V net voltage or in star for 230 V. The inductor was designed for 10A for
carrying the maximum current when feeding 1/3 of the active power through the rotor and influencing the
power factor in the range boundaries and 1.2mH inductance for matching the desired resonance
frequency. The capacitors were designed with 500 V and 69uF capacitance in order to furnish the reactive
power for the system to work with unity power factor. This configuration presents a resonance frequency
of 533 Hz without taking the mains inductance into account. A variable transformer connected at the
output of the filter so that the mains side inverter could work with a reduced voltage level. The supply
inductance was measured 1.8mH and had to be considered to calculate the new resonance frequency of
Hz, which is still below the switching frequency.
P. 6
Control Structure
The basic assumption for controlling the VSI is that the inner current control loops in a cascaded structure
would have to be fast enough to make the inverters behave like a current source for the outer control
loops. The latter are responsible for regulating the active and reactive power flow. The control is
performed in dq-coordinates oriented to the mains voltage vector for the mains side inverter and to the
slip angle for the rotor side inverter. In order to measure the voltage vector angle a software implemented
PLL is used while the rotor position is given by an encoder. The inverters were controlled by the space
vector modulation technique in order to avoid low harmonics and to achieve a better modulation index,
specially in the case of the mains side inverter that has to impose higher voltage levels than the supply
voltage magnitude in order to influence power factor.
- Opt
n
n
n
r
T
e
T
e
n
n
s
s
n
r
+
+
+
+
+
+
+
+
-
- -
-
-
-
-
-
r
*
r
*
- Reg
- Reg
- Reg
U
DC
- Reg
U
DC

U
DC

*
+
-
i
n
- Reg
ir - Reg
inq
i rq
i
nq
i
rq
unq
u
rq
una
u
ra
u
nb
u
rb
u
nc
u
rc
i
nq
i
r q
i
rd
i
nd
abc
abc
abc
abc
RZM
Slave I/O
Slave I/O
RZM
Rotor
Side
Inverter
C
DC
C
DC
U
dc
Fan
PLL AD

U
n


In
AD
AD
AD
dq
dq
dq
dq
i
n
ir
i
nd
ird
und
u
rd
i , i , i
na n b n c
i , i , i
ra rb rc
*
*
* *
*
*
*
*
*
*
*
*
*
*
*
Encoder
Input
DC
Motor
Encoder
Gen
i
r
i
n
u
n
7
3
3
3
5
Error Signals
IGBTPulses
6
Mains
Side
Inverter
Fan
4
Error Signals
IGBTPulses
6
1
dSpace
Trafo
Hardware
Interface

U
d
c

I
r
T
e
- Opt T
e
3
is
AD
i , i , i
s a s b s c abc
dq
n

I
s
i
sd
i
sq
k
T
LC-Filter
Supply
400V/50Hz
Fig.8 Control structure
The figure above shows the whole system structure containing the power part, the digital control and the
analogue interface between them. Measured values of current and voltages are conditioned at the interface
and passed to AD-converters and then to the control routine. The co-ordinate transformations, controllers
and further calculations are carried out and voltage reference values are given to the DSPs PWM units.
The switching signals are then passed to the hardware interface by the DSPs I/O unit and finally to the
Power modules where the gate pulses are generated. Error signals are also passed to the hardware
interface. The encoder signal is separately conditioned and passed to a special encoder input unit. Look-
up tables or special routines give the reference values for the optimum power angles and torque in order
to achieve minimal electrical losses and maximum wind power conversion.
P. 7
Current Control
Simple PI-controllers were chosen for the current control. Under the assumption of a small enough
sample time the controllers design were done in a quasi-continuous approach. The current model was
calculated and in Laplace domain gave the following equations for d and q- axis
1
1
+

,
_


r
r
sq
s
m
s rq r s rd rd
T s
R
L
L
i L u i


(2)
( )
1
1
+
+
r
r
rd r s rq rq
T s
R
i L u i


(3)
After feed-forward compensation of the cross-coupling terms due to the dq-transformation and of the
induced voltage by the stator flux on the d-axis a first order transfer function has left. Hence, linear
control analysis could be carried out. A further transfer function with unity gain was added in order to
take into account the system delay due to measuring, AD-conversion, computing time and dead-times.
This leads to the following second order model governed by the big machine time constant T1 and
respectively gain Kr, with a small time constant T.
( )( ) 1 1
1
+ +

sT sT
K
G
S
i
(4)
The controller gains were calculated by the optimal magnitude criteria (OM). By using this method the
big time constant is compensated and the resulting open loop transfer function characterised by equation 5
below shows a well damped imaginary pole pair as one can see in the figure 9. Figure 10 shows a Bode
diagram of the open current control loop. Optimal damping (OD) could also be used depending on the
ratio between the big and the small time constants in order to avoid undesired imaginary parts in the
characteristic equation, i.e., not well damped oscillations.
( ) 1 2
1
+


sT T s
G G G
i r o
(5)
Pole-Zero Map
Real Axis
I
m
a
g
A
x
i
s
-1800 -1600 -1400 -1200 -1000 -800 -600 -400 -200 0
-1000
-800
-600
-400
-200
0
200
400
600
800
1000
1.8e+0031.6e+0031.4e+003 1.2e+003 1e+003 800 600 400 200
0.98
0.93
0.85 0.74 0.62 0.48 0.32 0. 16
0.98
0.93
0.85 0.74 0.62 0.48 0.32 0. 16
System: Gc_i
Pole: -833 + 833i
Damping: 0.707
Overshoot (%): 4.32
Frequency (rad/sec): 1.18e+003

Bode Diagram
Frequency (Hz)
P
h
a
s
e

(
d
e
g
)
M
a
g
n
it
u
d
e
(
d
B
)
-40
-20
0
20
40
10
1
10
2
10
3
-180
-135
-90
System: Go_i
Frequency (Hz): 121
Phase (deg): -115
Fig. 9 Pole-zero map of the current control Fig.10 Bode diagram of the open loop current control
The controllers were then calculated in z-Domain for the used sample time and digitally implemented.
Similar control design techniques were used for the mains side current control and were reported in [4].
P. 8
The following figures show experimental results of a step response test at the d and q current components
on the rotor and mains side using a 5 kHz switching frequency and 300 us sample time.
1 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9 2
-0.5
0
0.5
1
1.5
t (s)
i
rd
(A)
1 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9 2
-0.5
0
0.5
1
t (s)
i
rq
(A)
1.3 1.4 1.5 1.6 1.7 1.8 1.9 2 2.1 2.2 2.3
-1
-0.5
0
0.5
1
t (s)
i
rd
(A)
1.3 1.4 1.5 1.6 1.7 1.8 1.9 2 2.1 2.2 2.3
-0.5
0
0.5
1
1.5
t (s)
i
rq
(A)
Figure 11 Step response of the rotor side current control.
The above results show a good performance of the rotor side current control. However, the decoupling
terms must be further optimised in order to reduce the spikes on the other axis currents.
0.5 0.6 0.7 0.8 0.9 1 1.1
-0.5
0
0.5
t (s)
i
nq
(A)
0.5 0.6 0.7 0.8 0.9 1 1.1
-0.5
0
0.5
1
1.5
t (s)
i
nd
(A)
1 1.1 1.2 1.3 1.4 1.5 1.6
-0.5
0
0.5
1
t (s)
i
nd
(A)
1 1.1 1.2 1.3 1.4 1.5 1.6
-0.5
0
0.5
1
1.5
t (s)
i
nq
(A)
Figure 12 Step response of the mains side current control.
The results for the mains side current control are similar to the rotor side ones. Here must be said that the
synchronisation with the mains supply was carried out without any further problems. After synchronised
the 3-phase currents and specially the DC-link voltage presented a slow oscilation (about 2.5s period) due
to the finite sample time. This was corrected later together using a smaller switching frequency and a
sample time that makes the mains period divisible by 3 in order to meet more precisely the zero-crossings
of the net voltages.
Speed/Torque Control
For the outer speed and torque control loops the simplified current closed loop transfer function below
was assumed under the condition that T was small enough.
1 2
1
1 2 2
1
1
2 2
+

+ +


T s T s T s G
G
G
o _ i
o _ i
c _ i
(6)
P. 9
This assumption simplifies the outer loops control design. The mechanical system transfer function is
derived from the vector controlled machine and assuming the friction coefficient much smaller than the
inertia B << J and the load torque Tl as a disturbance and making it equals 0 the expression below is
achieved
( )
sJ
i K
B sJ
T i K
rd sq T
l rd sq T m


+

1
. (7)
The symmetrical optimum (SO) method fits quite well to the controller design for such a plant with a first
order transfer function from the closed loop current control together with the pure integration from the
mechanical system.
For the torque control design and eventually for speed control when not using the simplified current
control closed loop transfer function the optimal damping suits well for determining the controller
parameters. The 4 kW machine set presents T time constant not so small related to the dominant one.
Therefore the optimal damping would be a better choice for this outer loop as one sees in the following
figure where a step response of the speed control for both cases, SO and OD, are compared.
Step Response
Time (sec)
0 0. 05 0. 1 0.15 0.2 0. 25 0.3
0
0. 2
0. 4
0. 6
0. 8
1
1. 2
1. 4
1. 6
1. 8
2
OD
SO
Figure 13 Simulated step response of the speed control designed by SO (blue) and OD (red).
The DC-Link voltage control design was carried out under the same assumption done above for the speed
control. The DC-Link capacitor features a pure integrator and so the SO is used, as done before in [4].
The power angles controllers must not work rapidly due to undesired fast power changes. Hence, the OM
and OD might be good choices. It must be said that the model should be linearised in this point. Further
theoretical studies and practical results will help to point out an optimal design method for these
controllers in the near future.
Further it should be commented that the outer control loop fed back values have to be filtered before
compared with the reference values. Especially in the case of the power angles that are computed from
the measured currents corrupted by noise. Offsets in the 3-phase measured quantities also deserve some
attention. When these are not compensated well enough a net frequency oscillation on the dq-quantities
due to the unbalanced 3 phase components appears as a disturbance of the control.
P. 10
PLL
The phase-locked-loop is a very important part of the control system as long as this latter is voltage vector
oriented. So, the mains voltage angle displacement must be tracked continuously with a relative good
accuracy even under distorted conditions. This lead to the PLL approach done in [7]. In this approach the
q-axis voltage is compared to ist reference value that should be 0 and the error must be corrected by a PI-
controller which output is the net frequency. A further integrator gives the angular displacement that is
fed back to the voltage transformation in a rotating co-ordinate system. This plant composed of a dq-
transformation block and an integrator is well regulated by a controller designed by the SO criteria.
Furthermore, a feed-forward frequency value at the output of the controller can help achieving better
accuracy. A block diagram of the PLL scheme is depicted in the figure 10 and figure 11 shows the
performance of the used PLL.
- Reg
n
f f
dq
abc +
und
unq
-
und *
+
und *

n
+
Kf f
0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
-4
-3
-2
-1
0
1
2
3
4
t (s)
n
(rad)
Fig.14 PLL Block diagram Fig.15- Net voltage vector and PLL output angles
By the results shown above one can see that there are almost no significant divergences between the real
angle and the measured one. As observed at t=7.5ms the PLL is delayed by the angle step. No noticeable
correlated effects on the control were found when this delay occurred. The influence over the dq co-
ordinate transformation is possibly minimal due to the error at this instant being round 2.
Hardware
Hall effect sensors from LEM were used to measure currents and voltages, including the DC-link voltage.
The voltage sensors have a ratio from 1000V/25mA while the current transducers have a ratio from
200A/20mA. As these sensors deliver a current signal, this latter was then converted to a voltage and
filtered by differential amplifiers in order to reject common-mode signals superimposed on the desired
signal. Normal operational amplifiers integrated circuits, like the LM347N, were used to filter the
measured signal of the currents. The voltage measured signals require a better accuracy due to the
orientation, so these were filtered with a video difference amplifier chip AD830 from Analog Devices
that has a better performance than usual op. amps. The filtered signals are then passed through an AD
converter stage and then to the processor.
The master processor AD converter is composed of 4 converters with 4 multiplexed inputs each with 16
bits resolution and 4 us sampling time. If faster conversion is required there are still 4 AD converters
with 800 ns sampling time and 12 bits resolution. The slave also has 16 channels for AD conversion with
10 bits resolution. For the required measurements 13 inputs of the multiplexed converters were used for
the rotor, stator and net currents and for the DC-link and net voltages.
Digital I/O units provide a 32 bits output in 4 groups containing a word each in the master and 8 sole bit
outputs from the slave. For signalling and protection purposes 2 groups of the 8 bits were used, one for
the rotor side and one for the mains side control. A supervising routine monitors over-currents in the
rotor, stator and net, under- and over-voltages at the mains and at the DC-link blocking the pulses from
P. 11
controller and disabling the reset board. Furthermore it outputs a control signal that light a LED indicating
the kind of error that occurred.
The rotor speed signal is lead to an encoder input plug that, together with the AD-converter, belong to the
DS1103 hardware board. This system enables one to work with models developed in Matlab/Simulink
directly. The processor code is generated automatically and the inputs and outputs interfacing hardware
and software, like AD and DA converters, digital I/O units and PWM units, are available as Simulink
blocks in the RTI (Real Time Interface) library [8]. This system permits the easy development and testing
of new control structures for any process.
Power supplies to feed the hardware and the inverter drivers deliver +5,+-15, 24 and 26 V and are fed
from a 300 to 900 DC voltage, so that they can be fed directly from the DC-link. A pre-charging of the
DC-link capacitor before operation is also done through a diode 3-phase bridge rectifier from the mains.
The PWM units mentioned before send pulses to the semiconductor switches. These signals are passed
through a reset board where they are also increased from 5 V TTL level to 15 V CMOS as required by the
Semipack inverters from Semikron. The rotor side inverter has a chopper breaker for short-circuiting the
DC-link in case of failures. Error signals from the inverters are transmitted to the processor via the reset
board for signalling and protection purposes. In the reset board they can disable logical ports and block
the switching signals. Also in the 3-phase side of the net inverter there is a crow-bar to short-circuit the
system in case of over-voltage and surges. It works with a diode bridge rectifier whose DC side is
connected to the cathode of a thyristor. This latter is fired through a varistor connected to the DC side.
Switches and fuses are co-ordinated and put on the net connection points, as can be seen on the 3-phase
diagram below.
Converter
LC - Filter
Trafo
400V/0..400V
DFIM
Supply
400 V
50 Hz
S1
25 A
500V
S2
25 A
500V
S3
25 A
500V
1
2
S3 - Switch States
0 Open
1 Start resstors
2 Normal operation
L
f
C
f
Crow-bar
NAP
Net connecting point
F1
25 A
0
A
V
A
V
3x 3x
RWR NWR
DC-Link pre-charging
V
DC-Link
U_n
400V
I_s
25A I_n
25A U_s
400V
U_r
400V
V
A
V
S_v
S_
I_dc
-+25A
+
U_2
600V
R_v
_
F_v
25 A
Rectifier
DC-Link
+
_
U_1
600V
Synchronisation Synchronisation
Chopper
L
r
DCM
Ein
Aus
M entor
Fan
Feld
S_Field
K1
3x Ir 3x In
3x Un
Udc
25A
25A 25A
Shielded cable
A
V
Current transducer
Voltage transducer
Ampmeter
Voltmeter
20A
16A
10A
40 A
3x Is
Fig.16 Experimental rig 1-phase diagram
P. 12
Due to the high dv/dt on the switching of the DC-link voltage a considerable EMI is generated. This
causes some pollution of the power supplies voltages and of the signals required by the control. In order
to reduce these effects the measured currents and voltages signals are transmitted from sensor to filters
through coaxial cables. The cables on the output of the converters were shielded and the converters were
put in a metal shield box, as are the required hardware boards.
Conclusion
A detailed description of an experimental set construction, its control structure and modelling was done.
Some practical results were shown and eventual problems and concerns were addressed. An insight on the
hardware concept was also given.
For the whole control algorithm to be performed with the inner current control loop and the DC-link
voltage control it took 200 us turnaround time for the processors. A sample time of 300 us was used with
enough time margin for the outer control loops and further calculations to be completed. The space vector
modulation routine can be still optimised and some processor burden avoided. However, it is not a critical
point at this stage. The 5 kHz switching frequency was reduced in order to produce less switching losses.
Slow oscillations of the net currents and DC-link voltage as well as heating of the inductor filter were
observed by some operating conditions. The oscillations were wiped out by reducing the switching
frequency and using a proper sample time.
Further tests and commissioning of the controllers are being carried out so as to the optimisation
procedure to take place. Results of these latter works are to be published
Acknowledgements
We would like to thank the Department of Electrical Machines and Driver of the TU Chemnitz and the
DFG (Deutsche Forschungsgemeinschaft) for the technical and financial support of this work.
References
[1] Leonhard. W., 'Control of Electrical Drives', Springer-Verlag, Berlin, 2000
[2] Hofmann,W., 'Optimal Reactive Power Splitting in Wind Power Plants Controlled by Double-Fed Induction
Generator', Proceedings of AFRICON'99, Cape Town, Sept. 1999, pp. 943-948
[3] Rabelo,B., Hofmann,W. 'Optimised Power Flow on Doubly-Fed Induction Generators for Wind Power Plants',
Proceedings of PEMC2000, Kosice, Slovakia, 2000, pp.275-282
[4] Rabelo,B., Hofmann,W. 'Optimal Active and Reactive Power Control with the Doubly-Fed Induction
Generator in the MW-Class Wind-turbines', Proceedings of PEDS2001, Bali, Indonesia, 2001
[5] Rabelo,B., 'Inbetriebnahme eines Versuchstandes mit einem doppeltgespeisten Asynchrongenerators', Internal
report for the Graduation College Renewable Energy Sources DFG, TU Chemnitz, October 2000
[6] Cardenas,R. et alli, Experimental emulation of wind turbines and flywheels for wind energy applications, CD
Proceedings of EPE 2001, Graz
[7] Kraura, V., Blasko,V., Operation of a Phase Locked Loop System under Distorted Utility Conditions, IEEE
Trans. on Industry Applications Vol. 33, no.1,1997, pp58-63

You might also like