PMSG Synchronization Control Algorithm based on the Active Damping Principle

Transcription

1 GRID X Iteatioal Sypoiu o Idutial Electoic INDEL 014, Baja Luka, Novebe 0608, 014 PMSG Sychoizatio Cotol Algoith baed o the Active Dapig Piciple Mako Vekić, Steva Gabić, Evgeije Adžić, Zoa Ivaović, Vlado Poobić Faculty of techical ciece Novi Sad, Sebia veka@u.ac. Abtact I thi pape the odified active dapig law wa ued to dap ocillatio duig the ychoizatio poce of PMSG cacade. Due to the ipoed capacity liit of the covete ad excluive eactive powe ijectio, the dapig ability i liited. Boudaie of the aea which defie poible ychoizatio deped o PMSG iitial peed ad the diffeece betwee the gid ad PMSG agle at the oet of coectio. Exhautive tet by ea of the tate of the at HIL eulatio wee pefoed to pove both the odified dapig law ad it aea of applicatio. Keywod-PMSG (Peaet Maget Sychoou Geeato), PMSG cacade, active dapig, odified active dapig, aea of opeatio, boudaie, I. INTRODUCTION Active Dapig Piciple i popoed a the pat of cotol algoith tategy i vaiou gid coected applicatio. The ai of active dapig i vey iila o the ae a the pupoe of paive dapig tuctue (baed o paive eleet) to dap ocillatio duig the taitio peiod ad ipove tability. I cotat to paive dape, active dapig topology cotai powe electoic covete a active eleet. It hould be oted that active dapig i uch diffeet fo oe iila tuctue - active filte. The pupoe of active filteig i to uppe o eliiate udeied haoic i the yte, while the active dapig piaily dap taiet ocillatio. Modu opeadi of the active dapig i to ue the covete (ay 3-phae ivete) ad cotol it i uch ae to eulate the pogaable ipedace, effectively iceaig the yte oigial dapig level. The cocept i teted i ay applicatio. The active dapig piciple i eployed i FACTS to ipove the taiet tability of the yte i cae of powe flow fluctuatio [1] [6], ad gid voltage ditubace [7] [9]. Recetly a ube of pape popoe the active dapig to ipove the tability of LLCL-filte baed gid coected ivete [10] [1]. I [13] the cocept of peaet aget ychoou geeato (PMSG) cacade i popoed (Fig. 1) to actively dap the yte ubjected to the iput powe fluctuatio (chage i the iput load toque). Thi i eetially achieved though the eie covete coected i the ope widig of the PMSG which effectively odulate the oveall eactace. I thi pape the iila appoach with odified algoith i eployed to help the PMSG diect coectio to the gid. The eult ae veified uig tate of the at Hadwae I the Loop (HIL) platfo [14]. PMSG II. S N SERIES CONVERTER Figue 1. PMSG Cacade ACTIVE DAMPING ALGORITHM FOR PMSM CASCADE The ai copoet of a PMSG cacade yte (ee Fig. 1) ae: a gid-coected PMSG ad a all eie covete (0% of ated powe) i the ta poit of the ope widig PMSG) [13]. I Fig., the ychoou geeato i odeled a a thee phae voltage ouce u EMF i eie with ychoou iductace x S, while the gid ad the eie covete ae odeled a two additioal thee-phae voltage ouce, u GRID ad u SC, epectively. Figue. Siplified odel of PMSG Cacade Powe flow though the yte i cotolled by ijectig eactive voltage u SC whoe phae i hifted 90 with epect to the lie cuet vecto. The additioal equieet i that ijected eactive voltage copoet u SC hould ot exceed 0. [p.u.]. The gid i aued to be ideal (the ifiite powe) whee U GRID = 1 [p.u.], while the PMSG oto peed vaie oly lightly aoud it oial value, i.e. = 1 [p.u.]. It alo iplie U EMF =1. So iplified yte ca be decibed with followig equatio: 61

2 Rotatio peed Machie Cuet Alpha axi Electical Toque Powe agle θ Powe agle i usc el 1 x S (1 co ) (1) d ec M el () 1 gid d 1 The fit pat of (1) i well kow expeio which decibe (i [p.u.]) the PMSG with ouded oto coected to the ideal gid. Geeally thi equatio defie the powe flow betwee two voltage ouce coected though the eactace (x hee). Howeve, the ecod pat of the equatio deped o the ijected voltage of eie covete, u SC. Cotollig thi voltage, the electical toque el ca be odulated ad hece, thi odulated toque could big the dapig ability. Uig the electo-echaical aalogy, it ca be how [13] that the voltage u SC hould be geeated a follow: d u kdp g (4) SC whee k dp i the dapig facto ad θ i the agle diffeece betwee the gid voltage ad iduced PMSG electootive foce. Afte the tat of ychoizatio thi agle diffeece i uually called the powe agle. The uppe equatio i actually the vaiatio of well-kow pig law applied to electoechaical pheoea [15]. Fo (1) ad (4) it ca be obtaied: d u kdp g kdp GRID 1 g (5) SC which i baically the coe of the cotol law fo dapig ocillatio caued by the iput (echaical) toque chage. III. SYNCHRONIZATION A. Itoductio It i well kow that fo ucceful PMSG coectio to the gid, appopiate gid voltage ad ef vecto (agitude, agle ad fequecie) hould atch. Eve whe voltage agitude (U gid = U ge ) ad fequecie ( gid = ge ) ae the ae, but ot the phae agle (θ gid θ ge ), ocillatio will occu a iulatio eult clealy cofi (Fig. 3). Of coue thee eult ae copletely expected. Paaete of the iulated achie ae give i [16]. The oveall dapig level of the yte i eve woe whe we peak about the high powe achie with elatively all tato eitace. B. Modified active dapig piciple The poce of ychoizatio to the gid whe voltage vecto ae diffeet eetially eeble the cae whe gid coected PMSG uffe load ditubace. (3) Tie Figue 3. Sychoizatio attept whe the diffeece i phae agle i θ = 70 ad gid = ge The both pocee iclude ocillatio. Theefoe, the idea to eploy the active dapig algoith decibed i the ectio II. i actually vey ituitive. Howeve, the decibed cotol law (5) ha to be odified, becaue i the cae of the ychoizatio it caot be aued that PMSG peed i oial, i.e. 1 [p.u.]. Theefoe, PMSG peed appea i the futhe coideatio a a vaiable which alo iplie vaiable U EMF = ψ, whee ψ i peaet aget flux. Followig thee odificatio, the equatio (1) becoe: el i x x i 1 U SC (6) co Accodigly, the cotol law accodigly i give by: U SC a ( 1) 1 co i I the uppe equatio a i the dapig coefficiet itead of k dp fo (5). The toque expeio (6) ow becoe: el i x a x 1 co I ode to coplete the cotol law, the coefficiet a ha to be deteied. The cotol tuctue i give at the Fig el el Figue 4. Sychoizatio cotol chee el U RP,,, Although thi cotol diaga look petty iple, the block which epeet toque calculatio i o-liea a (8) clealy how. Theefoe, i ode to obtai coefficiet a the lieaizatio aoud the opeatio poit ha to be pefoed. It i jutified to adopt the PMSG oial value ( = 1 [p.u.]) fo opeatio poit becaue the poce of ychoizatio hould tat whe the peed appoache gid (oial) peed. The lieaized cotol diaga i peeted o Fig. 5. (7) (8) 6

3 Dapig facto a Figue 5. Lieaized ychoizatio cotol chee The chaacteitic equatio deived fo Fig. 5 i the ecod ode equatio: whee: f B (9) 0, 0 A A el, el B (10) ad el i defied by (8). 0, 0 Obevig (9), the coefficiet ξ ad atual fequecy ω ca be eaily obtaied fo: B A и (11) B i.e: (1) A Fially, fo (10) ad (1) deied dapig coefficiet a ca be calculated a the fuctio of ξ, ad opeatio poit θ 0, 0 (the iitial agle diffeece ad PMSG peed value at the vey oet of ychoizatio epectively). The opeatio poit (θ 0, 0 ) itelf deped o the iput echaical toque M which acceleate PMSG. At the Fig. 6 depedecy of the coefficiet a a the fuctio of the divig iput toque i the full age of M fo 0.1 to 1 [p.u.] i peeted. Obviouly, the ychoizatio i accoplihed uccefully. Ocillatio i the powe agle, PMSG cuet, peed ad toque fade away copletely afte, while the taiet poce i popely daped. Howeve, keepig i id that the capacity of the eie covete i liited to 0. [p.u.], i.e: u c 0. p. u. (13) it i clea that the ychoizatio caot be achieved i all itace, i.e. fo all value of iitial PMSG peed iit ad agle diffeece θ iit. θ el u c Figue 7. Sychoizatio attept whe the diffeece i phae agle i θ iit = 70, gid = ge ad odified active dapig law applied Ideed, if the iulatio i pefoed ude the auptio that θ iit = - 150, the ituatio i uch diffeet a how at Fig. 8. θ el t u c Iput echaical toque Figue 6. Dapig facto a Fo the uppe diaga we ca ee that the coefficiet a vaie fo to i the whole divig toque age. Theefoe, we ca adopt the aveage value, i.e. a = 38.7 i futhe calculatio. Reult peeted late will jutify uch choice. C. Sychoizatio feaibility Let u apply the odified active dapig law i the cae fo Fig. 3. The ew ituatio i illutated at the Fig. 7. Figue 8. Sychoizatio attept whe the diffeece i phae agle i θ iit = 150, gid = ge ad odified active dapig law applied Obviouly, the ychoizatio wa ot ucceful. That ea the applicatio of the popoed odified active dapig law ha cetai liit which ae the coequece of (13). D. Modified active dapig law applicatio aea Boudaie of the aea whee the odified active dapig cotol piciple i applicable have to be deteied. Fo that pupoe, a detailed atheatical ad iulatio odel ae developed [17] i ode to fid the age of the iput echaical toque M, iitial agle diffeece θ iit ad peed iit fo which the ychoizatio i poible. The iulatio eult ae how at the Fig. 9. t 63

4 Reult fo the Fig. 9 ae obtaied ude auptio that the iitial PMSG peed at the oet of ychoizatio wa iit = 0.98 [p.u.], while the powe agle (the diffeece betwee the gid ad PMSG agle) ad iput echaical toque ae abitay value. It ca be cocluded that ychoizatio i poible fo ay value of the echaical iput toque i the age of [0.1,..,0.9, 1] whe the iitial powe agle θ iit i i the age of -30º to 100º. Thee boudaie ae eetially the coequece of the liited eie covete voltage (13). popoed ychoizatio algoith. Dpace ds1104 i eployed a the cotolle tage (Fig.5), while Typhoo HIL400 platfo i ued to eulate the powe tage (Fig. 1). Tet wee pefoed fo ie cae of iput echaical toque: M =( ) [p.u.]. Fo each cae, thee opeatio poit wee choe egadig iitial powe agle θ iit the uppe bouday, the lowe bouday ad egio betwee the. Hee, oly eveal chaacteitic eult ae how. Figue 9. The aea whee ychoizatio i poible Afte the aea i obtaied by ea of the detailed iulatio, we eed to pefo exhautive tetig i ode to veify the popoed odified active dapig law. Figue 11. PMSG Sychoizatio whe M =0.3 [p.u] ad θ iit=115º IV. EXPERIMENTAL RESULTS I ode to check the cotol law ad it bode, we eed to pefo tet i all opeatio poit, paticulaly o aea bode (Fig. 9) itelf ad a little beyod. Tetig with the eal hadwae, eve whe uig all powe tet bech would be dageou ad too laboiou becaue we eed to tet the gid tied PMSG applicatio. A vey efficiet alteative would be eal tie, hadwae i the loop (HIL) eulatio with exteely high iulatio tep, i.e. oveall latecy of 1 μ [14]. i q i d Figue 1. PMSG Sychoizatio whe M =0.3 [p.u] ad θ iit=-45º HIL platfo dspace i q dspace to HIL Iteface boad i d Figue 10. Expeietal etup Fig. 10 how the expeietal etup fo evaluatio of the Figue 13. PMSG Sychoizatio whe M =0.9 [p.u] ad θ iit=10º 64

5 At diplayed figue, epeet a electical peed of PMSG, i gid fequecy, i d ad i q ae d ad q copoet of the cuet i ychoou otatig fae whee i q i the cuet copoet popotioal to the electical toque. be poible fo ay itat i the age of θ iit = [-180,, 180 ]. i q i d Figue 16. PMSG Sychoizatio whe M =0.6 [p.u] ad θ iit=160 º Fig. 14. PMSG Sychoizatio whe M =0.9 [p.u] ad θ iit=-35º The uppe eult epeet two chaacteitic cae: all iput divig toque (M = 0. [p.u.]) ad big divig toque (M = 0.9 [p.u.]) i two extee cae; at the lowe ad uppe bode of the aea (Fig. 9). Fo Fig. 11 Fig.14 it ca be cocluded that ychoizatio i pefoed uccefully. At the Fig. 15 eult ae peeted whe the opeatio poit i deeply ito the afe aea. V. CONCLUSIONS The active dapig piciple i ued uccefully to cope with taiet ocillatio i gid-tied applicatio. I thi pape the odified algoith fo PMSG cacade wa eployed to help PMSG diect coectio to the electical gid. It i aued that covete iject oly eactive voltage copoet equal to 0. [p.u.]. Theefoe, the validity of algoith i liited by iitial ychoizatio coditio: agle diffeece, PMSG peed ad divig iput toque. The aea of ucceful coectio to the gid i deteied uig iulatio ad exhautively teted by ea of HIL eulatio i all opeatio poit of iteet. The futue eeach hould deal with futhe odificatio i the dapig law piciple. ACKNOWLEDGMENT Thi eeach wa patially co-fuded by the Miity of Educatio, Sciece ad Techological Developet of Republic of Sebia ude cotact No. III ad by the Povicial Secetaiat fo Sciece ad Techological Developet of AP Vojvodia ude cotact. No / Figue 15. PMSG Sychoizatio whe M =1.0 [p.u] ad θ iit= 45º Accodig to expectatio, the yte epoe i vey clea ad ooth. Futhe ivetigatio wa pefoed fo cae whe θ iit belog to the aea well beyod deigated bode (Fig. 15). Fo the figue bellow it i clea that the PMSG coectio to the gid i ot poible whe the iitial agle diffeece i igificatly diplaced fo the pe-defied boudaie. Howeve, the PMSG coectio to the gid i till poible lightly beyod bode of the aea defied by Fig. 9. I the puely theoetical ceaio whee o liit ae ipoed to the voltage ijected by eie covete, the ychoizatio would REFERENCES [1] F. A. L. Jowde, Ifluece of ode of opeatio of the SSSC o the all ditubace ad taiet tability of a adial powe yte, IEEE Ta. Powe Syt., vol. 0, o., pp , May 005. [] B. T. Ooi, M. Kazeai, R. Maceau, Z. Wolaki, F. D. Galiaa, D.McGilli, ad G. Joo, Mid-poit ittig of fact device i taiio lie, IEEE Ta. Powe Delivey, vol. 1, o. 4, pp , Oct [3] M. Nooozia, L. Agquit, M. Ghadhai, ad G. Adeo, Ipovig powe yte dyaic by eie-coected fact device, IEEE Ta. Powe Delivey, vol. 1, o. 4, pp , Oct [4] L. Gyugyi, C. D. Shaude, S. L. Willia, T. R. Rieta, D. R. Togeo, ad A. Edi, The uified powe flow cotolle: A ew appoach to powe taiio cotol, IEEE Ta. Powe Delivey, vol. 10, o., pp , Ap [5] F. A. Raha ad B. T. Ooi, VSC-HVDC tatio with SSSC chaacteitic, IEEE Ta. Powe Electo., vol. 19, o. 4, pp , Jul

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