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Modeling and Control of Grid Connected Variable Speed PMSG Based Wind
Energy System

Conference Paper · April 2013

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 Conference on Advances in Communication and Control Systems 2013 (CAC2S 2013)

Modeling and Control of Grid Connected Variable Speed

PMSG Based Wind Energy System
Ankit Kumar Singh
Electrical Engineering Department, NIT Hamirpur,Hamirpur,
Himachal Pradesh-177005, India
E-mail: ankitee04@gmail.com

Ram Krisham
Electrical Engineering Department, NIT Hamirpur,Hamirpur,
Himachal Pradesh-177005, India
E-mail: ramkrishan6388@gmail.com

Yograj Sood
Electrical Engineering Department, NIT Hamirpur,Hamirpur,
Himachal Pradesh-177005, India
E-mail: yrsood@gmail.com

Abstract

In recent years, The advancement of power electronic technology, novel control strategies and new circuit
topologies, the grid connected small wind turbine industry is primarily dominated by the permanent magnet
synchronous generators (PMSG) have increasingly drawn interests to wind turbine manufactures. This paper
presents modeling and control strategy for the grid connected PMSG-based wind turbine systems, where PMSG is
used as a variable speed generator. The two mass drive train models is established for coupling the wind turbine and
generator , pitch angle control at high wind speed, an LC filter is used at both side of grid side converter for desired
power quality. The control scheme is developed for grid side converter to get regulated voltage at grid side. The
simulation model is tested in MATLAB/SIMULINK environment.

Keywords: Drive train, grid side converter (or inverter), LC filter, PMSG, wind turbine.

renewable energy sources. This is in no small part due

1. Introduction to the rapid advances in the size of wind generators as
There are various types of wind power systems, some of well as the development of power electronics and their
which are connected to power system grid and some applicability in wind energy extraction. For isolated
independent of the power grid. Many wind power settlements located far from a utility grid, one practical
sources have been installed in isolated islands and approach to self-sufficient power generation involves
remote villages. However, since these wind power using a wind turbine with battery storage to create a
systems are highly dependent on the wind, it is stand-alone system [3]. The use of permanent magnet
necessary to link them with the power grid so that they machines has become attractive for use in wind turbines
can continuously provide electric power to customers, because now days the available permanent magnet
which is a big incentive for both customers and utility materials have high coercive field strength and
companies[1][2]. temperature resistance, and are price competitive. In
In the recent years, wind energy conversion addition, the required power electronic converters for
systems have become a focal point in the research of output power control have undergone a major evolution.

© 2013. The authors - Published by Atlantis Press 134

Ankit Kumar Singh, Ram Krishan, Y R sood

Modern, high performance PWM converter provides

desired power factor and low harmonics distortion in
system

2. Wind Turbine Model

The wind turbine converts energy of wind flow into
mechanical energy. The turbine shaft drives the
generator rotor through drive train. The mechanical
power output from the wind turbine is Fig. 1. Cp-λ curve.

Pm  12 ACp Vw3 (1) Hence, avoiding heat dissipation in the rotor winding
and providing higher overall efficiency. Recently the
Where ρ is the air density, A is the sweep area of PMSG is gaining lot of attention for WECS due to
the turbine blades, Vw is wind speed, Cp is the compact size, higher power density, reduced losses,
Aerodynamic power coefficient which is a function of high reliability and robustness. Moreover there is a need
the pitch angle β and the tip speed ratio λ. Since  and A of low speed gearless generator, especially for off-shore
are constant parameters, the wind turbine can produce wind applications, where the geared doubly fed
maximum power under a certain wind speed only when induction generator or induction generator will require
the turbine operates at the maximum Cp. A generic regular maintenance due to tearing-wearing in brushes
equation is used to express Cp. This equation, based on and gear box. Both the brushes and gear box can be
the turbine characteristics of, is given by eliminated from WECS by using directly coupled low
 C5
speed generators. Further, the elimination of gear box
C
Cp (, )  C1 ( 2i  C3  C4 )e i  C6  (2) can increase the efficiency of wind turbine by 10%
[4][5]. The low speed PMSG requires:
With a. Higher number of poles to get suitable
1 1 0.035 frequency at low speed and
  (3) b. Big rotor diameter for the high wind turbine
i   0.08 3  1 torque.
 is blade pitch angle, and  is defined by In case of asynchronous generators having large
no. of poles, the magnetizing current is very high due to
 R their low magnetizing reactance. Hence, for low speed
m  m (4)
Vw operation, PMSG with large number of poles are highly
beneficial. The dynamic model of PMSG can be
In (4), m is the turbine angular velocity and R is represented in rotating reference frame with the help of
the turbine radius. In small wind turbine generation following equations.
systems,  is rarely changed.
Where c1  0.5716,c2  116,c3  0.4,c4  5,c5  21 and diq
Vq  R s iq  Lq  r Ld id  r  m (5)
c6  0.0068 fig. 1 shows the Cp   curve described by dt
(2) for different pitch angle of  .The maximum value
of Cp ( Cp =0.48) is achieved  =0 degree and for did
max Vd  R s id  Ld  r Lq iq (6)
 =8.1.This particular value of  is defined as nominal dt
value (λnom).
The expression for electromagnetic torque in the
3. PMSG Modeling rotor can be written as
Permanent magnet have been extensively used to
 3  P 
replace the excitation winding in synchronous machines Te      Ld  Lq  iq id   m iq  (7)
with the well-known advantages of simple rotor design  2  2 
without field windings, slip-rings and excitation system.

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 PMSG Based Wind Energy System Paper

In case of cylindrical rotor, the L d ≈ L q and hence gen - Generator speed

the above equation reduces to K s -Shaft stiffness
 3  P  Ds - Damping coefficient.
Te      m iq (8)
 2  2 
5. Pitch angle Control
4. Drive Train Model
The pitch angle controller is active only in high wind
Drive train as the mechanical system of a wind turbine speeds, normally. In such circumstances, the rotor speed
consists turbine, generator and gear box. The major can no longer be controlled by increasing the generated
sources of inertia of this system lie in the turbine and power, as this would lead to overloading the generator
generator. The tooth wheels of the gearbox contribute and/or the converter. Therefore the blade pitch angle is
only a relatively small fraction. For this reason, the changed in order to limit the aerodynamic efficiency of
inertia of the gear is often neglected and only the the rotor. This prevents the rotor speed becoming too
transformation ratio of the gear system is included, but high. Unbalance power between output and wind energy
in this modeling gear ratio is taken to unity. Thus, drive input will increase the rotor speed of the generator. The
train is modeled as a two mass model, with a connecting pitch angle should be changed, to balance the electrical
shaft, and with all inertia and shaft elements as indicated and mechanical power. After the fault, pitch angle will
in fig. 2. be change back to normal operation. Pitch angle
controller model is shown as fig. 3. PI controller is used
The dynamic equations of drive train written on the for pitch angle controller. The output of PI controller is
generator side are the speed of pitch angle, it always limited up to 5°/s for
normal operation. In this model, the actuator and
dtur mechanical system is equivalent to an inertial link. It
2H tur  Ttur  K s s  Ds  tur  gen  (9)
dt should be taken into account that the pitch angle cannot
dgen be changed immediately, because of the size of the rotor
2Hgen  K s s  Tgen  Ds  tur  gen  (10) blades.
dt
ds Maximum
angle change
 tur  gen (11) rotor speed
speed

dt 1
Rate Angle
PI
rotor speed + limiter limit Pitch
s angle

Fig. 3. Pitch Angle Controller Model

6. Power Electronics Interface

The power electronic plays an important role in the
wind energy conversion systems. As the wind turbine
operates at variable speed according to available wind
Fig. 2. Two mass drive train model velocity, the voltage generated is of variable magnitude
Where and frequency. Therefore the power generated is needed
Ttur - Wind turbine torque to be processed before feeding it to grid or isolated
network. Several types of power electronic interfaces
Tgen - Generator torque
have been investigated for variable speed wind turbines
H tur -Wind turbine moment of inertia constant [6][7]. The proposed system consists of two back to
H gen - Generator rotor moment of inertia back converters decoupled by a dc-link. Generator side
constant converter is uncontrolled rectifier. The grid side
tur - Wind turbine speed converter has been realized by using six IGBT switches

136
Ankit Kumar Singh, Ram Krishan, Y R sood

for each converter. Since PMSG is connected to grid which is taken as one p.u. whole of the control scheme
through AC/DC/AC system, only active power of for grid side converter is developed through d-q
PMSG can be transferred to grid and exchange of transformation technique.
reactive power cannot take place due to presence of dc- Simulink diagram of voltage regulator is shown in
link. To make the dc link voltage ripple free a LC filter fig. 5. The six-pulses to dc/ac converter is given through
is connected after AC/DC Rectifier. The control scheme discrete PWM generator. PWM generator takes the
is developed for grid side converter. input from output of the d-q to abc conversion block.
PWM converter has capability to absorb and deliver the
7. Control of grid side converter reactive power for the requirement of voltage
regulation.LC filter along with grid side PWM
The control of grid side converter is to regulate the
converter regulate the voltage of grid side with low
output voltage of dc/ac converter shown in fig. 4. The
LC filter output voltage is measured and transformed harmonic distortion. Frequency of PWM generator is
taken between 5 to 10Kz.
into d-q variable and compared with reference voltage

Fig. 4. Block diagram of grid connected PMSG based wind turbine system

Fig. 5. Simulink diagram of voltage control for grid side converter

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 PMSG Based Wind Energy System Paper

8. Simulation results
The system described above was simulated using matlab
Simulink environment. Wind speed profile is in stepped
form. Although real wind does not occur with such
abrupt slopes, a series of steps is a standard testing
signal which permits a clear interpretation of the system
behavior Fig. 6 shows rotor speed and pitch angle
control. Pitch angle control comes into picture at higher
wind speed, when the generator speed increases above
base speed due to increase of wind speed.

Fig. 6. (a) rotor speed of generator in p.u. (b) rotor speed of

generator in rad/s and (c) pitch angle.

Fig. 7. (a) and (b) shows instantaneous output

voltage and current of PMSG. Fig. 7 (c) and (d) shows
phase to phase rms value of voltage and current of
PMSG. The output power of PMSG is shown in figure Fig. 7. (a) Instantaneous output voltage of PMSG.(b)
instantaneous output current of PMSG(c) rms output voltage of
(e). The maximum power output of wind turbine at base PMSG.(d) rms output current of PMSG and (e) generator output
speed is 0.8 times of nominal mechanical power of power
turbine, which is shown in fig. 8.

Fig. 9. (a) and (b) shows rectifier voltage and

inverter output voltage respectively . The THD in
inverter output voltage around 64%, which contain a
large number of harmonics. A LC filters after inverter
output is connected to suppress the harmonics. Filter
output voltage contain only 1.4% THD value, which is
shown in fig. 9 (c).

9. Conclusion
This paper has proposed modeling and control of grid
connected wind energy system using Matlab/Simulink. Fig. 8. p.u. turbine output power versues turbine speed
The modeled system including all subsystems is

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 Ankit Kumar Singh, Ram Krishan, Y R sood

characterized and analyzed for validation. In the Table 2. Parameters of Turbine

modeling of drive train neglecting the gear ratio and it Parameters Values
reduces the losses in the system. Pitch angle control has
precisely implemented to control mechanical power ρ air density 1.08kg/m2
generated by the turbine. Control algorithm for grid side Base wind speed 12m/s
converter along with LC filter is developed to regulate Inertia constant(p.u.) 4
the voltage at grid side with desired power quality.

10. References

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3. S. R. Hadian-Amrei and H. Iranmanseh, “Novel direct
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4. Westlake A. J. G., Bumby J.R., Spooner E., „„damping
the power-angle oscillations of a permanent magnet
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