A SURVEY ON VARIABLE-SPEED WIND TURBINE SYSTEM

J. Marques, H. Pinheiro, H. A. Gründling, J. R. Pinheiro and H. L. Hey

Federal University of Santa Maria – UFSM
Group of Power Electronics and Control – GEPOC
UFSM/CT/NUPEDEE, Campus Universitário, Camobi
97015-900, Santa Maria, RS, Brazil
e-mail: kjeferson@bol.com.br,humberto@ctlab.ufsm.br - http://www.ufsm.br/gepoc

off its optimum performance, and it generally does not

Abstract--This paper presents a review on the main types of extract the maximum power from the wind [21,29].
generator and static converters used to interface variable Alternatively, variable speed configurations provide the
speed wind turbine to the electric grid. Initially the static and ability to control the rotor speed. This allows the wind
dynamic characteristics of wind turbines are presented. Then, turbine system to operate constantly near to its optimum
different types of generators and static converters tip-speed ratio. The following advantages of variable-speed
configurations are described and their main advantages and
over constant-speed can be highlighted:
disadvantages are highlighted.
Index terms-- Wind Turbine, Static Converters, Generators (i) The Annual Energy Production (AEP) increases
because the turbine speed can be adjusted as a function
I. INTRODUCTION of wind speed to maximize output power. Depending on
the turbine aerodynamics and wind regime, the turbine
Global warming has been attributed to the increase of will on average collect up to 10% more annual energy
the atmospheric gases concentration produced by the burn [21].
of fossil fuel [1,2]. Wind power generation is an important (ii) The mechanical stresses are reduced due to the
alternative to mitigate this problem mainly due its smaller compliance to the power train. The turbulence and wind
environmental impact and its renewable characteristic that shear can be absorbed, i.e., the energy is stored in the
contribute for a sustainable development [3]. Three factors mechanical inertia of the turbine, creating a compliance
have made wind power generation cost-competitive, these that reduces the torque pulsations [24,26].
are: (i) the state incentives [4,5], (ii) the wind industry that (iii)The output power variation is somewhat decoupled
have improved the aerodynamic efficiency of wind turbine, from the instantaneous condition present in the wind
(iii) the evolution of power semiconductors and new and mechanical systems. When a gust of the wind
control methodology for the variable-speed wind turbine, arrives at the turbine, the electrical system can continue
that allows the optimization of wind turbine performance. delivering constant power to the network while the
Nowadays, many kinds of wind turbine systems (WTS) inertia of mechanical system absorbs the surplus energy
compete in the market. They can be gathered in two main by increasing rotor speed.
groups [10]. The first group operates with almost constant (iv)Power quality can be improved by reduction the power
speed “Danish concept” [26]. In this case, the generator pulsations. The reduction of the power pulsation results
directly couples the grid to drive train. The second one decreases voltage deviations from its rated value in the
operates with variable speed; In this case, the generator point of common coupling (PCC). This allows
does not directly couple the grid to drive train. Thereby, the increasing the penetration of the wind power in the
rotor is permitted to rotate at any speed by introducing network [24,26].
power electronic converters between the generator and the (v) The pitch control complexity can be reduced. This is
grid [21]. The constant speed configuration is characterized because the pitch control time constant can be longer
by stiff power train dynamics due to the fact that electrical with variable speed [26].
generator is locked to the grid; as a result, just a small (vi)Acoustic noises are reduced. The acoustic noise may be
variation of the rotor shaft speed is allowed. The an important factor when sitting new wind farms near
construction and performance of this system are very much populated areas [24,26].
dependent on the mechanical characteristic of the Although the main disadvantage of the variable-speed
mechanical subsystems, pitch control time constant, etc. In configuration are the additional cost and the complexity of
addition, the turbulence and tower shadow induces rapidly power converters required to interface the generator and the
fluctuation loads that appear as variations in the power grid, its use has been increased due the above mentioned
(P≈v3). These variations are undesired for grid-connected advantages. This paper presents a review of the main
wind turbine, since they result in mechanical stresses that configurations of variable-speed WTS, as well as control
decrease the lifetime of wind turbine [9,21,26] and decrease methods and their characteristics.
the power quality. Furthermore, with constant speed there The remainder part of this paper is organized as
is only one wind velocity that results in an optimum tip- following: Section II presents the wind turbine
speed ratio. Therefore, the wind turbine is often operated characteristics. Section III presents a brief description of

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the control techniques to optimize the output power. turbine if the angle of attack (α) is corrected accordingly
Section IV presents the main generators and converters with the vortices system behind the blades. Further, when
topologies that are applied to variable speed WTS. Section we select a profile it is important to consider the stall
V presents the control and static converter used in WTS. characteristic and the roughness sensitivity. It is also worth
Finally, Section VI summarizes the main points of this to mention that it is usually uneconomic to construct a wind
paper. turbine robust enough to operate at all wind speeds.
Therefore, it is necessary the use a method for limiting the
II. WIND TURBINES aerodynamic force on the wind turbine rotor. The mains
The performance of WPS depends on the wind turbine limiting methods are: passive and active stall regulation
characteristics. This section describes the types of wind [10,11,14], pitch regulation [9,10,12] and furling regulation
turbines and presents their static and dynamic [11]. Passive stall regulation and pitch regulation are the
characteristics. most used methods for medium and large WPS [10,22]
while furling is used for small WPS [4].
A. Types of wind turbines
B. Static Characteristics
There are two basic configurations of wind turbine, the
horizontal axis wind turbines and the vertical axis wind The mechanical power extracted from the wind by a
turbine. In addition, the wind turbine rotor can be propelled wind turbine depends on many factors [10,11,15]. A simple
either by drag forces or by aerodynamic lift. The horizontal equation is often used to describe the torque and power
or vertical based drag designs operate with low speed and characteristics of wind turbine, that is
high torque, which can be useful mainly for grinding grains p m = 0.5ρAc p ( λ)v w 3 (w) (1)
and pumping water [7,15]. On the other hand, the where:
horizontal and vertical based lift designs operate with high cp power coefficient;
speed and low torque, as a result, they have been used for
Rω w
generate electricity [7]. λ tip speed ratio (TSR) ( );
Chord Line vw
Lift Drag ωw turbine angular speed (rad/s);
R turbine radius (m);
vB ρ air density (kg/m3);
Plane of Rotation A cross section area of the turbine (m2);
β vw wind velocity (m/s).
Figure 2 shows the block diagrams representation of
α
vr vw this static characteristic, where β is the pitch angle.
β
Figure 1. Definitions of lift and drag for 2-D aerodynamics.
In order to understand the basic mechanisms behind of
the power generation from a wind turbine it is important to pm cp λ ωw
kt R
know the forces that act on the blade. The Figure 1
represents the cross section of a rotor blade (or airfoil) and
shows the forces that act on it in a 2-D aerodynamics vw3 vw
representation. The lift force (L) is produced at right angles
to the relative wind velocity (vr) while drag force (D) is Wind Turbine
aligned relative to it. The relative wind velocity is the
Figure 2. Static Characteristics of Wind Turbine: Kt=0.5ρA
vector resulting of the sum of the blade motion (vB) and the
In the equation (1), the power coefficient, cp(λ) depends on
wind velocity (vw) vectors [7]. This lift force pulls the
the aerodynamics characteristic of wind turbine, as well as
blades along its rotary path, causing thrust. The thrust
produces the shaft torque. The lift force increases with the the operation conditions. For a fixed pitch angle β, the
increase of the angle of attack in the normal operation power coefficient can be expressed as function of tip speed
region, i.e. before the airfoil reaches the region of stall ratio λ [31,36], as shown in Figure 4. For a variable pitch
behavior. In the stall region the lift force stay practically angle, the power coefficient can be expressed as a two
constant independently of the angle of attack. In addition, dimensional characteristic. In this case, it is function of λ
for a precise estimation of the torque generation, it is and β [10]. Finally, the relationship between torque and
important to consider the leakage at the tip of the blades, mechanical power is given by the equation [15,16].
which can be well described with a 3-D aerodynamics R
tm = pm (N.m) (2)
representation. This leakage produces a vortices system that Gλv w
reduces the angle of attack seen locally on the blades and where:
consequently decreases the power extracted from the wind G speed-up gear ratio
[6]. It is important to note that the local 2-D representation
can be used to estimate the power generated on a wind

733
 Through of the torque/power characteristic of the wind III. CONTROL STRATEGIES FOR MAXIMUM POWER
turbine is possible to select the rotor speed where the TRACKING
efficiency and power generated are maximized [15]. This section describes the main techniques that have
been reported to the control of wind turbine toward the
C. Dynamic Models maximization the output power.
Generally, control system design and analysis requires a To allow the turbine to transfer a maximum fraction of
reasonable dynamic model of the plant. In order to facilitate available wind power for fluctuating wind velocities
control design as well as the analysis through simulation of incident upon the turbine blades, it is desirable to maintain
wind turbine system a simple dynamic model is desirable. the tip-speed ratio at point of maximum power coefficient
A lumped model is presented in Figure 3. It includes two cp(λ) in the Figure 4. Based in this principle several control
masses, and yields to a single resonant mode. The techniques have been developed to optimize output power
motivation to use this lumped model, is that it is simple, yet for a given wind velocity. Some of these measure the wind
incorporating the dominating drive train mode [18,19]. velocity and adjust the turbine rotating speed to keep the
ωt power coefficient at its maximum value [26,35,38,50].
Other techniques employed a Maximum Power Point
ωg Tracking (MPPT) algorithm with search for the turbine
Ks, Bs rotating speed, which result in the maximum power,
tm te
JT JG without measuring the wind speed [30,31,32,51]. Normally,
in the MPPT the production of the reference rotating speed
is based on a measurement of the power generated
Therefore, since the measurement of the power generated is
simpler and more accurate than the measurement of the
Figure 3. Simplified Wind Turbine Dynamic Model
The model is described by the following equations: wind velocity, the MPPT is preferred.
t m − t = J T ω t (3)
IV. GENERATORS AND TOPOLOGIES
t − t e = J G ω g (4)
In this section it is presented the main configurations of
∫
t = K S (ω t − ω g )dt + B S (ω t − ω g ) (5) generators and converters used for grid connected variable
speed WPS.
Where:
JT = the wind turbine inertia, A. Synchronous Generators
JG = the generator inertia,
A synchronous generator usually consist of a stator
ωt = turbine rotational speed,
holding a set of three-phase windings, which supplies the
ωg = generator rotational speed
external load, and a rotor that provides a source of magnetic
Ks = shaft stiffness,
field. The rotor may be supplied either from permanent
Bs = shaft damping,
magnetic or from a direct current flowing in a wound field.
This dynamic model has been used for physical parameter
estimation based on experimental data [17,19,20,33].
1) Wound Field Synchronous Generator (WFSG)
Three-dimensional simulation of the dynamic behavior of
WPS is presented in [52]. Its essential feature is a multi Utility
body simulation of a complete 3-D model of the wind grid
turbine including flexible elements (for example, of the
rotor and tower). The advantage in the use of this method is
that the developed 3-D simulation permits a safe realistic
forecast of normal operation and extreme loads. However,
for the purpose of the design of static converters controllers
a simpler models are preferable.

Figure 5. Variable Speed Field Winding Synchronous generator

The WPS with wound field synchronous generator is
show in Figure 5. The stator winding is connected to
network through a four-quadrant power converter
comprised of two back-to-back PWM-VSI. The stator side
converter regulates the electromagnetic torque, while the
supply side converter regulates the real and reactive power
delivered by the WPS to the utility. The Wound Field
Figure 4. Power Coefficient as a Function of Tip Speed Ratio. Synchronous Generator has some advantages that are:

734
• The efficiency of this machine is usually high, because and the DC link, and PWM inverter is connected to the
it employs the whole stator current for the network. The advantage of this system regarding the system
electromagnetic torque production [44]. showed in Figure 6 is the use of field orientation control
• The main benefit of the employment of wound field (FOC) that it allow the generator to operate near its optimal
synchronous generator with salient pole is that it allows working point in order to minimize the losses in the
the direct control of the power factor of the machine, generator and power electronic circuit [30]. However, the
consequently the stator current may be minimized any performance is dependent on the good knowledge of the
operation circumstances [23]. generator parameter that varies with temperature and
• The pole pitch of this of this generator can be smaller frequency [41]. The main drawbacks, in the use of PMSG,
than that of induction machine. This could be a very are the cost of permanent magnet that increase the price of
important characteristic in order to obtain low speed machine, demagnetization of the permanent magnet
multipole machines, eliminating the gearbox [27]. material and it is not possible to control the power factor of
The existence of a winding circuit in the rotor may be a the machine [21,40].
drawback as compared with permanent magnet
synchronous generator. In addiction, to regulate the active B. Induction Generators
and reactive power generated, the converter must be sized The AC generator type that has most often been used in
typically 1.2 times of the WPS rated power [21,23]. wind turbines is the induction generator. There are two
kinds of induction generator used in wind turbines that are:
2) Permanent-Magnet Synchronous Generator squirrel cage and wound rotor [21,22].
(PMSG)
1) Doubly Fed Induction Generator (DFIG)

Utility
grid
Utility
grid

Figure 6. Permanent-Magnet Synchronous Generator with a Boost

Chopper.
Figure 8. Doubly Fed Wound Rotor Induction Generator
Figure 6 shows a WPS where a permanent magnet The wind power system shown in Figure 8 consists of a
synchronous generator connected to a three-phase rectifier doubly fed induction generator (DFIG), where the stator
followed by boost converter [23,36,42]. In this case, the winding is directly connected to the network and the rotor
boost converter controls the electromagnet torque. The winding is connected to the network through a four-
supply side converter regulates de DC link voltage as well quadrant power converter comprised of two back-to-back
as control the input power factor. One drawback of this PWM-VSI. The SCR converter can be used but they have
configuration is the use of diode rectifier that increases the limited performance [26]. Usually, the controller of the
current amplitude and distortion of the PMSG [42]. As a rotor side converter regulates the electromagnetic torque
results this configuration have been considered for small and supplies part of the reactive power to maintain the
size WPS (smaller than 50 kW) magnetization of the machine. On the other hand, the
controller of the supply side converter regulates the DC link
[23,24,38,39,62]. Compared to synchronous generator, this
Utility DFIG offers the following advantages:
grid • Reduced inverter cost, because inverter rating typically
25% of the total system power. This is because the
converters only need to control the slip power of the
rotor [26].
• Reduced cost of the inverter filter and EMI filters,
because filters rated for 0.25 p.u. total system power,
and inverter harmonics represent a smaller fraction of
total system harmonics [26].
Figure 7. Permanent-Magnet Synchronous Generator with PWM • Robustness and stable response of this machine facing
converter. against external disturbance [23].
Other scheme using PMSG is show in Figure 7, in the One drawback of DFIG is the use of slip rings that require
system, the PWM rectifier is placed between the generator periodic maintenance, especially at sea shore sites.

735
 • Rectifier can generate programmable excitation for the
generator [31].
DC • Fast transient response is possible [31].
transmission • The inverter can be operated as a VAR/harmonic
compensator when spare capacity is available [31].
Among the drawbacks are: (i) complex system control
(FOC) whose performance is dependent on the good
knowledge of the generator parameter that varies with
temperature and frequency [41],(ii) the stator side converter
must be oversized 30-50% with respect to rated power, in
order to supply the magnetizing requirement of the machine
Figure 9. Variable Speed Doubly Fed Full-Controller Induction [23].
Generator
The WPS of Figure 9 shows a doubly fed full-controlled C. Others
induction generator, with a dc-transmission link. This type There are other kinds of generator used in WPS that
of WPS allows to control the voltages and frequencies of appear in the literature, such as, Brush less Doubly-Fed
the rotor and stator, consequently this system provide a Generator [23], Variable-Reluctance Generator [28] and
higher flexibility on the control system than the Dual-Speed Induction generator [29]. However they not are
conventional doubly-fed induction generator shown in presented in this paper because they are special types of the
Figure 8. In addition, this WPS has been considered for generator whose practical application is justified for some
offshore sites, which are connecting to land gateway by special case.
submarine cables [40]. There are others method of interface
the DFIG to the grid. Among them, are: (i) cycloconverter V. CONTROL OF STATIC CONVERTERS
[21,34] and (ii) matrix converter [37], however they have In the early development of power converter, for WPS,
some disadvantages over the one presented in Figure 8, three-phase diode bridge or three-phase, phase-controlled
those are: poor line power factor, high harmonic distortion rectifier and a line/load-commutated inverter had been
in line and machine current for a cycloconverter and for a used. The major problems associated with these converters
matrix converter, despite of eliminate the dc capacitor, this are: (i) poor line power factor, (ii) high harmonic distortion
converter is more complex and its technology is less in line and machine current [21,31,53], (iii) poor dynamic
mature. performance. In modern designs, PWM techniques have
been used due decrease of harmonic distortion and the
2) Squirrel Cage Induction Generator (SCIG) increased controllability of the system, as well as to
improve the dynamic performance.
AC
supply
Generator network
Utility
grid

Figure 11. Back-to-Back four-quadrant PWM-VSI.

The back-to-back four-quadrant PWM-VSI, presented
in Figure 11, is widely used in WPS today [22]. The PWM
Figure 10. Variable Speed Squirrel Cage Induction Generator modulation reduces the current harmonic component in the
A WPS with squirrel cage induction generator is show input and output of the system. As a result, it reduces the
in Figure 10. The stator winding is connected to network torque pulsation on the generator and improves the output
through a four-quadrant power converter comprised of two power quality, respectively [47,54,55].
PWM VSI connects back-to-back trough a DC link. The Normally, a field orientation control (FOC) is preferred
control system of the stator side converter regulates the for control the stator/rotor side converter while the supply
electromagnetic torque and supplies the reactive power to side converter use vector controller. As an example Figure
maintain the machine magnetized. The supply side 12 shows a block diagram of the WPS with DFIG. The
converter regulates the real and reactive power delivered supply-side converter use a vector control, with a reference
from the system to the utility and regulates the DC link. frame oriented along the stator voltage vector position,
The uses of squirrel cage induction generator have some enabling independent control of the active and reactive
advantages: power [56-58]. On the other hand, the rotor side converter
• The squirrel cage induction machine is extremely is controlled by FOC, with the d-axis oriented along the
rugged; brush less, reliable, economical and universally stator-flux vector position. In this way, a decoupled control
popular. between the electrical torque and the rotor excitation
current is obtained [56,59-61].

736
 transformer
Utility
Gear DFIG
grid

LC
encoder
filter

irabc
θr

d/dt SVM SVM

ωr
Maximum Rotor-side E Stator-side
power iq * vector vector
point control
tracking
control iq * irabc

θs θe
Optimal
reactive Voltage vsabc
power Flux-angle angle
splitting calculation calculation

isabc
Figure 12. Vector-control structure for wind power system
.
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