Moulay Ismail University Meknes, Morocco 3 Department of Electrical and Computer Engineering, Higher School of Technology.

Transcription

1 Low-Speed Senole Contol of DFIG Geneato Dive fo Wind Tubine Sytem Bade Booufi & Hala Alami Aoui, ElMotafa Ziani, Ahmed Lagioui 2, Aziz Deouich 3 Laboatoy of Electical Engineeing and Maintenance, Highe School of Technology, EST-Oujda. Fit Mohammed Univeity, Moocco. 2 Depatment of Electical and Compute Engineeing, Highe National School of At and Tade. Moulay Imail Univeity Mekne, Moocco 3 Depatment of Electical and Compute Engineeing, Highe School of Technology. Sidi Mohamed Ben Abdellah Univeity Fez, Moocco Bade_iai@hotmail.com Abtact: In thi pape, we peent a nonlinea obut contol of active and eactive powe by the ue the PI egulato contol (FOC) a Double-Fed Aynchonou Geneato (DFIG) ytem incopoated in a winubine. The powe tanfe between the tato and the netwok gid i caied out by acting on the oto via a bidiectional ignal convete. Initially, a contol tategy of the MPPT-DFIG i peented. Theeafte, a new contol technique fo wind ytem i peented. Thi contol technique i baed on an SVW placement contol tategy. The oveall tability of the ytem i hown uing SVW block. The pefomance and obutne ae analyzed and compaed by imulation baed Matlab / Simulink oftwae. Keywo: DFIG-Geneato, Roto Contol, Matlab/Simulink, Wind-Tubine, MPPT Contol, SVW.. Intoduction Recently, the wind enegy ha become a viable olution fo the poduction of enegy, in addition to othe enewable enegy ouce. While the majoity of wind tubine ae fixed peed, the numbe of vaiable peed wind tubine i inceaing [-2]. The Doubly-Fed Aynchonou Geneato (DFIG) with FOC contol i a machine that ha excellent pefomance and i commonly ued in the wind tubine induty. Thee ae many eaon fo uing an Doubly-Fed Aynchonou Geneato (DFIG) fo wind tubine a vaiable peed, uch a educing effot on mechanical pat, noie eduction and the poibility of contol of active powe and eactive. The wind ytem uing DFIG geneato and a "backto-back" convete that connect the oto of the geneato and the netwok ha many advantage. One advantage of thi tuctue i that the powe convete ued ae dimenioned to pa a faction of the total ytem powe [3-4]. Thi allow educing loe in the powe electonic component. The pefomance and powe geneation depend not only on the DFIG geneato, but alo the manne in which the two pat of "back-to-back" convete ae contolled. The powe convete machine ide i called "Roto Side Convete RSC" (PWM Invete ) and the convete Gid-ide powe i called "Gid Side Convete GSC" (PWM Invete 2). The RSC convete contol the active powe and eactive powe poduced by the machine. A the GSC convete, it contol the DC bu voltage and powe facto netwok ide. Accoing to the application, conide eveal algoithm of contol can be ued uch a the cuent contol algoithm, of active o eactive powe, peed, poition...etc. the tuctue a of the thee contol algoithm geneally compie an intenal loop of egulation of the cuent. Finally i often mot difficult to implement becaue it geneally contitute the mot complex pat of the contol algoithm. The othe contol loop ae elatively much imple to implement. Thi i why, within the famewok of thi wok, one will paticulaly be inteeted in the cuent contol technique implementation of the electic machine "the PI Regulato Contol (FOC)". In thi pape, we peent a technique to contol two powe convete which i baed on the FOC contol. We analyze thei dynamic pefomance by imulation in Matlab/Simulink envionment. We tat by modeling of the wind tubine, and then a tacking technique opeating point at maximum powe point tacking (MPPT) will be peented. Theeafte, we peent a model of the DFIG in the d-q efeence, and the geneal pinciple of contol of both powe convete which i baed on FOC-SVW technique [5-6-7]. Conideing the complexity of the diveity of the electic contol device of the machine, it i difficult to define with univeal manne a geneal tuctue fo uch ytem. Howeve, by having a eflexion compaed to the element mot commonly encounteed in thee ytem, it i poible to define a geneal tuctue of an electic contol device of machine which i how in Fig.: E-ISSN: Volume 9, 204

2 2. Modelling of the Wind-Tubine By applying the theoy of momentum and Benoulli' theoem, we can detemine the incident powe (theoetical powe) due to wind [5]:. 2 3 P incident = ρ. S. v () S : the aea wept by the pale of the tubine [m 2 ] ρ : the denity of the ai (ρ =.225kg / m 3 at atmopheic peue). v : wind peed [m/ ] In wind enegy ytem due to vaiou loe, available on the powe extacted fom the tubine oto, i lowe than the incident powe. The powe extacted i expeed by [9]: P. 2. S. C (, ). v 3 extacted = ρ p λ β (2) Cp (λ, β) i called the powe coefficient, which expee the aeodynamic efficiency of the tubine. It depend on the atio λ, which epeent the atio between the peed at the end of the blade and the wind peed and the angle of oientation of the blade β. The atio λ can be expeed by the following elation [9]: Ω t.r λ = (3) v The maximum powe coefficient Cp wa detemined by Albet Betz (920) a follow: max 6 C p ( λ, β ) = (4) 27 The powe facto i intinic to the contitution of the wind-tubine and depend on the pofile of the blade. We can model the powe coefficient with a ingle equation that depend on the peed atio λ and pitch angle β fo the blade [9]: Fig.: Achitectue of the Contol C p ( + 6 c5 A λ, β ) = c. c2. c3. β c4. e c. λ A c = , c 2 = 6, c 3 = 0.4, c 4 = 5, c 5 = 2, c 6 = The ix coefficient c, c 2, c 3, c 4, c 5 ae modified fo maximum Cp equal to fo β = 0. With A which depend on λ and β: = (6) 3 A λ β + β The Fig.2 how the cuve of the powe coefficient a a function of λ fo diffeent value of β. A coefficient of maximum powe of i obtained fo a peed atio λ which i 8 (λ opt ). Fixing β and λ epectively to thei optimal value, the wind ytem povide optimal powe [0-]. Fig.2: Powe coefficient a a function of λ and β (5) E-ISSN: Volume 9, 204

3 Fig.3: Wind-tubine DFIG chaacteitic The aeodynamic toue on the low axi can be expeed by Equation 7: [2-3] C al P = Ω eol t = 2.. S. C p( λ, β ). v 3. Ω ρ (7) Ω t : Rotational peed of the tubine C al : Toue on the low axi (tubine ide) The mechanical peed i elated to the peed of otation of the tubine by the coefficient of the multiplie. The toue on the low axi i connected to the toue on the fat axi (geneato ide) by the multiplie coefficient. The total inetia J i fomed of the educed inetia of the tubine and the fat axi of the inetia J of the geneato g [2]: J J + G tu = J 2 g (8) J tu : tubine inetia J g : inetia of the geneato. To detemine the evolution of the mechanical peed fom C mec total toue applied to the oto of the DFIG, we apply the fundamental equation of dynamic: dω J mec = C mec = C a C em t f. Ωmec (9) Ω mec : Mechanical peed of DFIG C a : Aeodynamic toue on the fat axi of the tubine C em : Electomagnetic toue f : Fiction. The above equation ae ued to pepae the block diagam of the model of tubine (Fig.4). Fig.4: Wind-tubine model 3. Extaction of Maximum Powe In oe to captue the maximum powe of the incident enegy of the wind-tubine, mut continuouly adjut the otational peed of the wind tubine. The optimal mechanical tubine peed coepond ha λopt and β = 0. The peed of the DFIG i ued a a efeence value fo a contolle popotional-integal type (PI phae advance). The latte detemine the contol et point which i the electomagnetic toue that hould be applied to the machine to un the geneato at it optimal peed. The toue thu detemined by the contolle i ued a a efeence toue of the tubine model (Fig.5). The ytem of vaiation of the angle of oientation of the blade (vaiation of the angle of incidence) to change the atio between the lift and dag. To extact the maximum powe (and maintain contant), the adjuted angle of incidence of the blade to the wind peed [4-5]. The "Pitch Contol" i a technique that mechanically adjut the blade pitch angle to hift the cuve of the powe coefficient of the tubine. Howeve, it i quite expenive and i geneally ued fo wind tubine and high aveage powe. Fo ou model, the "Stall Contol" technique, which i a paive technique that allow a natual aeodynamic tall (lo of lift when the wind peed become moe impotant). La égulation de la vitee de otation de l'angle de pa de pale de la tubine e poduit loque la vitee de la généatice et upéieue à 30% de a vitee nominale. Othewie, β i zeo. The ynthei of the PI contolle equie knowledge of the tanfe function of ou ytem. Thi i epecially difficult becaue of the powe coefficient. A imple popotional coection (P) i obtained afte teting. Note that β may vay fom 0 to 90 chaacteized by atuation. Fig.5: Block diagam with contol of the peed 4. Equivalent model of FOC DFIG- Geneato 4.. Contol Achitectue The Figue 6 how the achitectue of a contol ytem applied FOC baed DFIG ha: E-ISSN: Volume 9, 204

4 The contolle can be divided into two pat. The RSC Convete (SVW-RSC) contol the flux and the peed of the geneato DFIG. The GSC Convete (SVW-GSC) contol the DC bu voltage and active and eactive powe exchanged with the netwok and etablihe the fequency of the cuent ditibution netwok. The contol of DFIG i baed on thee featue: Fig.6: Conveion chain baed on the machine DFIG The extaction algoithm of maximum powe of MPPT; The vecto contol of DFIG; RSC Contol convete FOC Contolle of DFIG. Fig.7: Simulation cheme of FOC Contol applied fo DFIG-wind-tubine "The flux contol oiented" applied to the electic moto i ued to obtain the deied opeating mode by optimally poitioning a cuent flux and the eulting vecto. Many vaiant of thi contol pinciple have been peented in the liteatue which may have claified accoing to the oientation of the efeence fame (d-q) on: The oto flux, The tato flux, The ai gap flux. Following the detemination of the poition of the team; By diect meauement o obevation of the flux vecto (modulu, phae). Indiect by contol the fequency of lippage. In thi wok, we develop the vecto geneato contol DFIG with oientation mak (d-q) following the oto flux. E-ISSN: Volume 9, 204

5 The latte i divided into 3 pat: Flux contol, The contol of tato cuent, Decoupling o compenation DFIG Model Sytem The Powe equation in the d-q efeence DFIG can be witten [7-8]: dφ dφ dφ dφ q = v = v = v = v q R R R R. i. i. i. i q + Φ Φ + Φ Φ q ω ω ω ω (0) By diecting a flux of the model obtained fom the DFIG i implified and the eulting contol of the device i alo. The vecto contol of thi machine wa deigned by moving the make to the Pak along the axi q i contantly zeo tato flux: = 0 dφ = v vq = R. i dφ = v dφ = v q R. i + Φ R. i R. i. ω Φ q + Φ + Φ ω ω () Fom the equation of diect and quadatue component of the tato flux, the following expeion of tato cuent ae obtained: M i. i q = i (2) Φ M. i = (3) Thee tato cuent ae eplaced in equation diect and quadatue component of the oto flux: 2 M M M Φ = ( L ). i +. Φ = L. σ. i +. Φ (4) 2 M Φ = L. i. i = L. σ. i (5) σ i the dipeion coefficient between the winding and q: 2 M σ = L. L We ae obtained: R R dφ v =. Φ. M. i + R vq =. M. i + ω. Φ di M dφ v = R. i + L. σ. +. L. ω. σ. i di M v = R. i + L. σ. + L. ω. σ. i + ω.. Φ Fom equation 3 and 4 of the 6 ytem, we get: di M dφ = v R. i + L. ω. σ. i. L. σ di M v R. i + L. ω. σ. i ω... Φ L. σ Noting the following f.e.m: M dφ ed = L. ω. σ. i +. M eφ = ω.. Φ eq = L. ω. σ. i We ae obtained: di di = = [ v R. i ed ] L. σ = v R. i eq e L. σ [ ] Φ (6) (7) (8) (9) (20) (2) The toue i expeed a: Cem = p.( Φ. i Φ q. i ) (22) With an oientation of the tato flux a Φ q =0, we ae obtained: C = p.φ. i (23) em Fig.8: DFIG Model fo wind-tubine E-ISSN: Volume 9, 204

6 4.4. Flux Contol Algoithm Pinciple The knowledge of the tato flux and it ue in the contol of DFIG-Geneato will affect the oveall behavio of the wind geneato, epecially at the onet of a voltage dip. In thi ection, we peent two technique fo obtaining an etimate of the diect component of the tato flux and vaiou contol tategie: A ynchonou appoach baed on flux contol in open loop, it i an appoach which aume that the flux i detemined by the gid netwok. An aynchonou appoach baed on flow contol cloed-loop, when the voltage i vaied. Thi etimate, a flux contol i eential Flux Contol Etimato Fom equation 6 it can be detemined by a dynamic etimate of the d-axi tato flux: Φ = L + R L. R ˆ v + M. i (24) La compoante du flux Φ et etimée alo pa l équation uivante : Φ = L. i + M. i (25) 4.5. PI egulato contol tuctue Thi pat i focue on etting by Space Vecto Modulation, d and q component of vecto cuent tato of the DFIG-geneato in the d-q otating cooinate ytem. The choice of thi cooinate ytem fo the PI contolle etting completion i becaue the diect and tanvee component of the vecto cuent tato in thi cae ae continuou magnitude in teady tate. The module of the vecto tato can be adjuted with high accuacy becaue the integal PI egulato cancel the eo in teady tate. A the phae of the vecto cuent tato, it i taxed coectly via cooinate tanfomation a the tanfomation of Pak and Pak oppoite. The output quantitie of an oe baed on PI egulato to contol the cuent tenion ae obtained at the teminal of the machine. Thee tenion ae then econtucted uing the Pule Wih Modulation technique (SVM). Thi technique conide the oveall SVM phae ytem. It geneate the efeence vecto voltage in the aveage value duing the ampling poge, and thi though the calculation in time domain of active vecto which define the aea in which i the efeence voltage vecto [5-8]. The goal of SVM i contol impoe oe, at each peiod of hah, an aveage voltage aco each phae of the load equal to it efeence voltage. To do thi, the epot geneated at each cyclical peiod hahing mut veify the elation () to enue the ealization of thi elationhip fo the two vaiant of SVM. V V V a b c V = V V an bn cn 2 S E = 2. S 3 2 S a b c (26) The efeence voltage V 0 (t), V 20 (t) and V 30 (t) ae compaed with the tiangula caie ignal i hown in Fig.7: (a) (b) Fig.9: (a) block diagam of the PWM contolled am i of the invete voltage (b) PWM function pinciple. In Fig.9, the t on and t off time coepond to the taken time by the contol ignal S i epectively at logic high and low logic. T PWM i the peiod of the caie. V io (k) i the voltage efeence of the i th am duing the k th hah peiod. The contol ignal Si i am of the invete voltage it high logic when the efeence voltage exceed the caie and low logic othewie. The voltage V i (t) i equal to +E/2 if the efeence voltage i geate than the caie and E/2 othewie. The Fig.0 peent a deciption of the witching contol ignal S a, S b and S c coeponding to a vecto PWM. E-ISSN: Volume 9, 204

7 5. Simulation eult The oveall model of the wind ytem wa imulated in Matlab/ Simulink/SimPoweSytem envionment. The Fig.0: Switching deciption of the SVM vecto. model include: wind tubine, Doubly-Fed Aynchonou Geneato (DFIG), two powe convete that connect the oto to the netwok (Figue ). Fig.: Simulation cheme of FOC Contol applied fo DFIG-wind-tubine 5.. DFIG pefomance Follow of the tajectoy (a) (b) E-ISSN: Volume 9, 204

8 (c) (c) Fig.3: Tet pefomance of the FOC contolle fo ejecting ditubance toue load applied at t = 0.3. (a)speed epone tajectoy (b) d-q axi cuent without uncetaintie (c) Electomagnetic Toue Paametic uncetaintie (d) Fig.2: Tet pefomance of the FOC contolle fo tajectoy tacking, (a) Speed epone tajectoy (b) Eo Speed epone (c) d-q axi cuent without uncetaintie (d) abc axi cuent Ditubance ejection (a) (a) (b) (b) (c) E-ISSN: Volume 9, 204

9 low dynamic of the ytem tudied andom wind. The objective i to ee the degee of continuing point of maximum powe and efficiency of the peed contol povided by the FOC contolle. The Fig.5 how the wind pofile filteed and applied to the ytem in thi cae. (d) Fig.4: Tet pefomance of the FOC contolle following a change in R. (a) Speed epone tajectoy (b) d-q axi cuent without uncetaintie (c) Electomagnetic Toue (d) cuent ia 5.2. Wind-tubine pefomance Uing the educed model, we applied a pofile cloe to the evolution of the eal wind wa filteed to uit the Fig.5: DFIG-Geneato with wind tubine inteface Fig.6: Benchmak of Wind Tubine Sytem Fig.7: Expeimental Benchmak of Wind Tubine Sytem E-ISSN: Volume 9, 204

10 The Fig.8 how the wind pofile filteed and applied to the ytem in thi cae. Fig. 8: Pofile applied to andom wind Wind-tubine. The figue 9 how the eult obtained fo thi application, whee the following obevation can be ditinguihed: The pecific peed λ and the powe coefficient C p doe not change a lot of value, they ae almot equal to thei optimal value efeence 9 and ucceively; The wind powe captued follow it optimal efeence and ha the ame hape a the wind pofile applied, thi ate i alo conitent with the wind toue ide of the MADA; The peed of the DFIG i the image of wind cauing the wind, it popely follow it efeence; The hape of the electomagnetic toue of the DFIG and it efeence, ae vitually identical, but diffeent fom the hape of the pofile of the wind peed due to the dynamic toue due to inetia; The phae hift between the voltage 80 and the tato cuent phae eflect a poduction of active powe only to the tato a illutated in figue powe; The hape of the component of the tato flux oientation how a good flow to enue vecto contol well decoupled fom the DFIG. E-ISSN: Volume 9, 204

11 eult how that the popoed wind ytem and i feaible and ha many advantage. REFERENCES Fig.9: The Simulation eult of the aynchonou wind geneato dual powe and tato flux oiented, with a Backtepping contolle (Cae cale model of the DFIG and pofile of andom wind). 6. Concluion Thi wok ha been devoted to modeling, imulation and analyi of a wind tubine opeating at vaiable peed. A table opeation of the wind enegy ytem i obtained with the application of nonlinea Backtepping Adaptive contol. The oveall opeation of the wind tubine and it contol ytem wee illutated by epone to tanient and pemanent contol ytem. Geneato upplied powe to the netwok with an active powe whateve the mode of opeation. The wind geneato ha been teted and modeled with a vaiable peed opeation fo a powe of 200 kw. Simulation [] T. Ackemann and Sode, L. «An Oveview of Wind Enegy-Statu 2002». Renewable and Sutainable Enegy Review 6(-2), (2002). [2] T. Buton, D. Shape, N. Jenkin and E. Boanyi, Wind Enegy Handbook. John Wiley&Son, Ltd, 200. [3] W. L. Kling and J. G. Slootweg, «Wind Tubine a Powe Plant». in Poceeding of the IEEE/Cigé wokhop on Wind Powe and the impact on Powe Sytem, 7-8 June 2002, Olo, Noway. [4] D. Seyoum, C. Gantham, «Teminal Voltage Contol of a Wind Tubine Diven Iolated Induction Geneato uing Stato Oiented Field Contol». IEEE Tanaction on Induty Application, pp , Septembe [5] A. DAVIGNY, Paticipation aux evice ytème de feme éolienne à vitee vaiable intégant un tockage inetiel d énegie, Thèe de Doctoat, USTL Lille (Fance), [6] K. GHEDAMSI, Contibution à la modéliation et la commande d un convetieu diect de féquence. Application à la conduite de la machine aynchone, Thèe de Doctoat, ENP Alge (Algéie), [7] Booufi, B., Kaim, M., Lagioui, A. Matlab & Simulink Simulation with FPGA-Baed Implementation adaptative and not adaptative backtepping nonlinea Contol of a Pemanent Magnet Synchonou Machine Dive Wea Tanaction on Sytem and Contol, Vol.9 No., pp 92-03, Mach 204. [8] Booufi, B., Kaim, M. Ionita, S., Lagioui, A., Indiect Sliding Mode Contol of a Pemanent Magnet Synchonou Machine: FPGA-Baed Implementation with Matlab & Simulink Simulation Jounal of Theoetical and Applied Infomation Technology JATIT, Vol. 29 No., pp32-42, 5 July 20. [9] Booufi, B., Kaim, M. Ionita, S., Lagioui, A. The Optimal Diect Toue Contol of a PMSM dive: FPGA-Baed Implementation with Matlab & Simulink Simulation Jounal of Theoetical and Applied Infomation Technology JATIT, Vol. 28 No.2, pp63-72, 30 June 20. [0] Booufi, B., Kaim, M. Ionita, S., Lagioui, A. DTC CONTROL BASED ARTIFICIAL NEURAL NETWORK FOR HIGH PERFORMANCE PMSM DRIVE Jounal of Theoetical and Applied Infomation Technology JATIT, Vol.33 No.2, pp65-76, 30 Novembe 20. [] Booufi, B., Kaim, M. Ionita, S., Lagioui, A. Nonlinea Non Adaptive Backtepping with Sliding-Mode Toue Contol Appoach fo PMSM E-ISSN: Volume 9, 204

12 Moto Jounal of Jounal of Electical Sytem JES, Vol.8 No.2, pp , June 202. [2] B.Booufi, M.Kaim, A.Lagioui, M.Taoui, M.L.EL Hafyani Backtepping contol of DFIG Geneato fo Wide-Range Vaiable-Speed Wind Tubine IJAAC Intenational Jounal of Automation and Contol, pp 22-40, Vol.8 No.2, July 204. [3] B.Booufi, M.Kaim, S.Ionita, A.Lagioui, Pefomance Analyi of Diect Toue Contol (DTC) fo Synchonou Machine Pemanent Magnet (PMSM) 200 IEEE 6th Intenational Sympoium fo Deign and Technology of Electonic Package, IEEE-SIITME 200, at. No , pp Piteti, Romania. [4] Booufi, B., Kaim, M. Ionita, S., Lagioui, A., (202b) Low-Speed Senole Contol of PMSM Moto dive Uing a NONLINEAR Appoach BACKSTEPPING Contol: FPGA-Baed Implementation Jounal of Theoetical and Applied Infomation Technology JATIT, 29 Febuay, Vol. 36 No., pp [5] X. YU, K. STRUNZ, «Combined long-tem and hottem acce toage fo utainable enegy ytem», 2004 IEEE Powe Engineeing Society Geneal Meeting, vol.2, pp , 0 June [6] S. E. Ben Elghali, «Modéliation et Commande d une hydolienne Equipée d une généatice Aynchone Double Alimentation», JGGE 08, 6-7 Décembe 2008, Lyon (Fance).S [7] E. AIMANI, Modéliation de difféente technologie d éolienne intégée dan un éeau de moyenne tenion, Thèe de Doctoat, École Centale de Lille (Fance), [8] X. YAO, C. YI, D. YING, J. GUO and L. YANG, «The gid-ide PWM Convete of the Wind Powe Geneation Sytem Baed on Fuzzy Sliding Mode Contol», Advanced Intelligent Mechatonic, IEEE 2008, Xian (Chine). [9] A. BOYETTE, «Contôle-commande d un généateu aynchone à double alimentation avec ytème de tockage pou la poduction éolienne», Thèe de Doctoat, Nancy (Fance), E-ISSN: Volume 9, 204