Post on 12-Mar-2020
Vishnu K R,Nisha.G.Poothullil
International Journal of Electronics, Electrical and Computational System
IJEECS
ISSN 2348-117X
Volume 6, Issue 6
June 2017
Abstract—This paper presents control strategies to control the generator sides and the grid sides of a variable speed wind energy conversion system. At the generator side, rotor speed is controlled for maximum power extraction. At the grid side, the DC link voltage is regulated for maximum power transfer from generator side to grid side. Rotor speed and DC link voltage are controlled using sliding mode controller and PI Controller. Sliding mode controller provides robustness to external wind speed variations compared to the conventional PI Controller. Simulation results proves the effectiveness of the control scheme.
Index Terms—Rotor speed, PI Controller, Sliding mode control, Wind Energy Conversion system.
I. INTRODUCTION
The renewable energy sources are one of the biggest
concerns of our times[3]-[7].High prices of oil and global
warming make the fossil fuels less and less attractive
solutions. Wind power is a very important renewable
energy source. It is free and not a polluter unlike the
traditional fossil energy. It obtains clean energy from the
kinetic energy of the wind by means of the wind turbine.
The wind turbine transforms the kinetic wind energy into
mechanical energy through the drive train and then into
electrical energy by means of the generator.
Although the principles of wind turbines are simple,
there are still big challenges regarding the efficiency,
control and costs of production and maintenance. Wind
power is growing and most of the wind turbine
manufactures are developing new larger wind turbines.
The power rating of the wind turbines built in 1980 was
of 50 kW and it’s rotor diameter was 15 m long. In 2003
the power was of 5MW and the rotor diameter was 124
m.
There are different wind turbine configurations. They
can be with or without gearbox, the generator can be
synchronous or asynchronous and finally the connection
with the grid can be through a power converter or it can
be directly connected. Different modes of operation can
be used depending on the wind turbine configuration.
They are classified as variable speed and fixed-speed
turbines. For fixed-speed operation, the system is very
simple and thus the cost is usually low .As a drawback,
the conversion efficiency is far from optimal.
For the variable-speed wind turbine, the system is
controlled to maximize the power extracted from the
wind. Normally they are connected to the grid by means
of a power converter. It increases the cost of the whole
system but provides full controllability of the system. Among all these configurations, the trend is to use
variable speed wind turbines because they offer more
efficiency and control flexibility which is becoming very
important to comply with the grid requirements.
Permanent Magnet Synchronous Generator (PMSG) is
an interesting solution which is based on variable-speed
operation. Since the speed of wind turbine is variable, the
generator is controlled by power electronic devices. With
permanent magnets there is no need for a DC excitation
system. With a multi pole synchronous generator it is
possible to operate at low speeds and without gearbox.
Therefore the losses and maintenance of the gearbox are
avoided.
The generator is directly connected to the grid through
a full scale back-to-back power converter. The power
converter decouples the generator from the grid. With a
full scale power converter, there are more losses which
may be a drawback but it allows a full controllability of
the system. With the use of the power converter it is
possible to comply with the grid connection
requirements.
The full scale back-to-back converter can be divided
into two parts: the generator side converter and the grid
side converter. The generator side converter is mainly
used to control the speed of the generator in order to
maximize the output power at low wind speeds. The grid
side converter is mainly used to keep the voltage in the
DC-link capacitor constant and also to control the
reactive power delivered to the grid. Nowadays different
techniques are used to control the grid side converters.
ANALYSIS OF CONTROL STRATEGIES IN WIND ENERGY
CONVERSION SYSTEM
Vishnu. K .R Nisha. G. poothullil
P G scholar Assistant professor
Department of Electrical and Electronics Engineering Department of Electrical and Electronics Engineering Govt. Engineering College Thrissur Govt. Engineering College Thrissur
Vishnu K R,Nisha.G.Poothullil
International Journal of Electronics, Electrical and Computational System
IJEECS
ISSN 2348-117X
Volume 6, Issue 6
June 2017
Accurate Control in the variable speed wind energy
conversion system is required for maximising power
coefficient over a wide range of wind speeds. It is done
by tracking the rotor speeds corresponding to the
maximum power coefficient, despite the sudden changes
in wind gusts.
This paper is organised as follows: The wind turbine
system is explained in section II, Control strategies in
section III and section IV and the Simulation results in
section V.
Fig. 1. Block Diagram of PMSG based wind turbine
II. WIND TURBINE SYSTEM
The power extracted by a wind turbine is related to the
available wind power and the power curve of the
machine as expressed by the formula [1]
𝑃𝑚= 0.5ρ𝐶𝑝(λ)𝜋𝑟2𝑣𝑤3 (1)
Where ρ is the air density, r is the radius of turbine
blades, vw
is the wind speed and Cp is the power coefficient of the
wind
turbine as a function of the tip-speed ratio.
λ=𝑟𝜔𝑟
𝑣𝑤 (2)
where ωr is the turbine rotor speed. From the tip-speed
ratio
expression (2), any change in the wind speed while
keeping the rotor speed constant will modify the tip-
speed ratio which leads to the change of the power
coefficient Cp, as well as the generated power from the
wind turbine. Therefore, if the rotor
speed is adapted relative to the wind speed variation, the
tip speed ratio can be preserved at an optimum point λopt
which could yield to maximum power extraction by
operating the turbine at the speed reference.
III. PI CONTROLLER
The control system is an important feature for the wind
turbine performance. It maximizes the extracted power
from the wind through all the components and also
ensures that the delivered power to the grid complies
with the interconnection requirements. The control
strategy is applied to the converters.
The PMSG is driven by advanced power electronics. A
back- to-back Converter is used to connect the generator
to the grid and it provides the full controllability of the
system. It can be divided in two parts: the generator side
and the grid side. The first one controls the speed of the
rotor so that the power is maximized. The second one
controls the voltage across the DC-link and also the
reactive power delivered to the grid.
Fig. 2. Generator side control using PI controller
A. GENERATOR SIDE CONTROL
The generator side control consists of an outer loop PI-based Controller to control the rotational speed for maximum power extraction applications, and an inner loop PI-based current control to regulate the d-q components of the currents and provide the pulses for the IGBT-converter [2].
The speed controller is developed from the equation
Vishnu K R,Nisha.G.Poothullil
International Journal of Electronics, Electrical and Computational System
IJEECS
ISSN 2348-117X
Volume 6, Issue 6
June 2017
𝑑𝜔𝑟
𝑑𝑡=
−𝐵
𝐽ωr +
1
𝐽𝑇𝑒 -
𝑇𝑡
𝐽 (3)
where Te is the electric torque, Te is expressed by PI controller as
𝑇𝑒 = 𝐾𝑝(𝜔𝑟 − 𝜔𝑟𝑒𝑓) + 𝐾𝑖 ∫(𝜔𝑟 − 𝜔𝑟𝑒𝑓) (4)
q component of the current is expressed as
𝑖𝑞𝑟𝑒𝑓 =𝐽
𝜌ɸ𝑇𝑒 (5)
d axis current is set to zero .The expression for the current controller model is given as follows:
𝑑𝑖𝑑
𝑑𝑡=
−𝑅
𝐿𝑑𝑖𝑑 +
1
𝐿𝑑[𝑝𝐿𝑞𝜔𝑟𝑖𝑞 + 𝑣𝑠𝑑] (6)
𝑑𝑖𝑞
𝑑𝑡=
−𝑅
𝐿𝑞𝑖𝑞 +
1
𝐿𝑞[𝑝𝐿𝑑𝜔𝑟𝑖𝑑 − ɸ𝑝𝜔𝑟 + 𝑣𝑠𝑞] (7)
The current control laws are given as follows :
𝑣𝑠𝑑 = 𝐾𝑝(𝑖𝑑 − 𝑖𝑑𝑟𝑒𝑓) + 𝐾𝑖 ∫(𝑖𝑑 − 𝑖𝑑𝑟𝑒𝑓)dt-
𝑝𝐿𝑞𝜔𝑟𝑖𝑞 (8)
𝑣𝑠𝑞 = 𝐾𝑝(𝑖𝑞 − 𝑖𝑞𝑟𝑒𝑓) + 𝐾𝑖 ∫(𝑖𝑞 − 𝑖𝑞𝑟𝑒𝑓)dt-p𝐿𝑑𝜔𝑟𝑖𝑑 + 𝑝𝜔𝑟ɸ (9)
B.GRID SIDE CONTROL
The grid side converter connected to a three-phase power supply, through an RL filter [2], is vector controlled in grid voltage reference frame. In voltage vector (d, q) reference frame, the dynamic model of the grid voltage is given by:
𝑣𝑑 = 𝑣𝑖𝑑 − 𝑅𝑖𝑑 − 𝐿𝑑𝑖𝑑
𝑑𝑡+ 𝜔𝐿𝑖𝑞 (10)
𝑣𝑞 = 𝑣𝑖𝑞 − 𝑅𝑖𝑞 − 𝐿𝑑𝑖𝑞
𝑑𝑡− 𝜔𝐿𝑖𝑑 (11)
𝑒𝑑 = 𝑣𝑑 + 𝐿𝜔𝑖𝑞 (12)
𝑒𝑞 = 𝑣𝑞 − 𝐿𝜔id (13)
Fig. 3. Grid side control using PI controller
where L and R are the filter inductance and resistance respectively, vid and viq are the inverter voltage components.
The grid side control system consists of two control loops.The outer DC link voltage control loop is used to set the d-axis current reference, while the inner control loop assures that the d and q- components of the current track the corresponding references as shown in Figure 3. The current controllers will provide a voltage reference for the grid side inverter that is compensated by adding rotational emf compensation terms.
IV. SLIDING MODE CONTROLLER
In simplest terms, the Sliding Mode control is a kind of non linear control which has been developed primarily for the control of variable structure systems. Technically, it consists of a time-varying state-feedback discontinuous control law that switches at a high frequency from one continuous structure to another according to the present position of the state variables in the state space, the objective being to force the dynamics of the system under control to follow exactly what is desired and pre-determined. The main advantage of a system with Sliding mode control characteristics is that it has guaranteed stability and robustness against parameter uncertainties.
Vishnu K R,Nisha.G.Poothullil
International Journal of Electronics, Electrical and Computational System
IJEECS
ISSN 2348-117X
Volume 6, Issue 6
June 2017
Moreover, being a control method that has a high degree of flexibility in its design choices,the Sliding mode control method is relatively easy to implement as compared to other non linear control methods. Such properties make Sliding mode control highly suitable for applications in non linear systems, accounting for their wide utilization in industrial applications, e.g., electrical drivers, automotive control, furnace control, etc.
Sliding mode control is divided into two phases: In
first phase (Reaching phase) regardless the initial position
of the system, the Sliding mode control will force the
trajectory towards the sliding manifold. This is possible
by hitting condition.When the trajectory touches the
sliding manifold, the system enters the second phase
(known as sliding phase) of the control process and is also
said to be in Sliding mode operation.
A. GENERATOR SIDE CONTROL
The rotor dynamic system is governed by the following equation [1]:
𝑑𝜔𝑟
𝑑𝑡= −𝐴𝜔𝑟 − 𝐵𝑇𝑔 + 𝑑 (14)
Where Tg is the generator torque or the input used,
𝐴 =𝐾
𝐽and 𝐵 =
1
𝐽 are the rotor parameters, d is considered
as an unbounded disturbance. The function of the speed
controller is to track the reference speed.
𝑒 = 𝜔𝑟 − 𝜔𝑟𝑒𝑓 = 0 (15)
The dynamics of the speed tracking error is given as follows
𝑑𝑒
𝑑𝑡= ὠ𝑟 − ὠ𝑟𝑒𝑓
(16)
= -Ae+u+d
where the control input u is given as follows;
𝑈 = −𝐵𝑇𝑔 − 𝐴𝜔𝑟𝑒𝑓 −𝑑𝜔𝑟𝑒𝑓
𝑑𝑡 (17)
The sliding mode control strategy used for the speed
control is given as follows:
𝑈 = −𝑘1√𝑒𝑠𝑔𝑛(𝑒) + 𝜔
𝑑𝜔𝑟
𝑑𝑡= −𝑘2𝑠𝑔𝑛(𝑒) (18)
where k1 and k2 are positive constants From the above equations generator input torque is given as follows:
𝑇𝑔 =−1
𝐵[𝐴𝜔𝑟𝑒𝑓 + ὠ𝑟𝑒𝑓 − 𝑘1√𝑒𝑠𝑔𝑛(𝑒) + 𝜔
𝑑𝜔
𝑑𝑡= −𝑘2𝑠𝑔𝑛(𝑒) (19)
The wind turbine is coupled with a PMSG,Therefore
electromagnetic torque has the following expression:
𝑇𝑔 =3
2 𝜌ɸ𝑣𝑖𝑠𝑞 (20)
where isq is the q component of stator current, ɸ is the
permanent magnet flux linkage, p is the no: of pole pairs. Vector control strategy is used to regulate the d-q components of generator axis stator current which are expressed as follows:
𝑖𝑠𝑞𝑟𝑒𝑓=2
3𝜌ɸ𝑣𝑇𝑔 (21)
isdref is kept to zero.
Fig. 4. Generator side control using sliding mode controller
Vishnu K R,Nisha.G.Poothullil
International Journal of Electronics, Electrical and Computational System
IJEECS
ISSN 2348-117X
Volume 6, Issue 6
June 2017
B.GRID SIDE CONTROL
For proper transfer of power from the generator side to the grid side , DC link voltage should be maintained a constant. In order to maintain the DC link voltage constant we use the sliding mode control approach and provide the required reference current required for the vector control strategy.
Grid dynamics with reference frames(d,q) are modelled as follows[1]:
𝑣𝑑 = 𝑣𝑖𝑑 − 𝑅𝑖𝑑 − 𝐿𝑑𝑖𝑑
𝑑𝑡 +ωL𝑖𝑞 (22)
𝑣𝑞 = 𝑣𝑖𝑞 − 𝑅𝑖𝑞 − 𝐿𝑑𝑖𝑞
𝑑𝑡 -ωL𝑖𝑑 (23)
vid and viq are the are the grid side inverter voltage components, vd and vq are the grid voltages id and iq are the gridcurrents, L and R filter inductance and resistance respectively. The reference frame is taken as follows:
𝑣 = 𝑣𝑑 + 𝑗0 (24)
The active and reactive power can be determined by:
𝑃 =3
2𝑣𝑑𝑖𝑑 (25)
𝑄 =3
2𝑣𝑑𝑖𝑞 (26)
The DC link voltage equation is carried out as follows:
𝐶𝑑𝑣𝑑𝑐
𝑑𝑡= 𝑖𝑔 − 𝑖𝑠 (27)
where C is the DC link capacitor, ig is the current between grid and DC link,is is the current between grid and stator side.
For an ideal inverter the power transffered is expressed
as follows:
𝑉𝑑𝑐𝑖𝑔 = 3
2𝑣𝑑𝑖𝑑 (28)
The DC link voltage dynamics can be expressed as:
𝑑𝑉𝑑𝑐
𝑑𝑡=
3𝑣𝑑
𝐶2𝑉𝑑𝑐𝑖𝑑 −
1
𝐶𝑖𝑠 (29)
The above equation can be modified as:
𝑑𝑉𝑑𝑐
𝑑𝑡= (𝐵𝑣 + 𝛥𝐵𝑉)𝑖𝑑 −
1
𝐶𝑖𝑠 (30)
Where
𝐵𝑣 =1
𝑐
3
2
𝑣𝑑
𝑣𝐷𝐶𝑖𝑑
VDC is the DC link voltage reference and 𝛥Bv is the
variation between actual voltage and reference voltage.
The DC link voltage dynamics is given below:
𝑑𝑉𝐷𝐶
𝑑𝑡= 𝐵𝑣𝑖𝑑 −
1
𝐶𝑖𝑠 + 𝑑𝑣 (31)
where dV represents the uncertainties in voltage The
voltage error dynamics is given as follows:
𝑑𝑒
𝑑𝑡=
𝑑𝑣𝑑𝑐
𝑑𝑡−
𝑑𝑣𝐷𝐶
𝑑𝑡
= 𝐵𝑉𝑖𝑑 −1
𝑐𝑖𝑠 − 𝑉𝐷𝐶𝑟𝑒𝑓 + 𝑑𝑣
= uv + dv (32)
Now uv is the control input given by
𝑢𝑣 = 𝐵𝑉𝑖𝑑 −1
𝑐𝑖𝑠 − 𝑉𝐷𝐶 (33)
The sliding mode control strategy applied for the DC
link voltage is given as follows:
𝑢 = −𝑘1√𝑒𝑠𝑔𝑛(𝑒) + 𝜔
𝑑𝜔
𝑑𝑡= −𝑘2𝑠𝑔𝑛(𝑒) (34)
So id is given by
𝑖𝑑 =1
𝐵𝑉(−𝑘1√𝑒𝑠𝑔𝑛(𝑒) + 𝜔 +
1
𝐶𝑠+ 𝑣𝐷𝐶)
𝑑𝜔
𝑑𝑡= −𝑘2𝑠𝑔𝑛(𝑒) (35)
Vishnu K R,Nisha.G.Poothullil
International Journal of Electronics, Electrical and Computational System
IJEECS
ISSN 2348-117X
Volume 6, Issue 6
June 2017
V. SIMULATION RESULTS
The proposed wind energy conversion system and the
comparison of two controllers were carried out in
MATLAB software. Here a wind turbine system is
connected to the grid through a PMSG and a back to back
converter. The simulation of the wind energy conversion
system with both proportional integral control and
sliding mode control is observed. It can be seen that for
constant wind speed the speed control response almost
remains same as shown in Fig 6 and Fig 9. The DC link
voltage is set to be controlled at 55 V as shown in Fig 7
and Fig 10. The difference occurs when there is a
variable wind speed, For variable wind speed sliding
mode control exhibit robustness, where as for PI control
where we need to tune the control parameters for
different speeds. This can be observed from Fig 8 and
Fig 11.
TABLE I
PARAMETERS OF WIND TURBINE
Number of blades
3
Air density(kg/m^2)
1.225
Diameter(m) 1.15
Pulley ratio 24:12
Moment of inertia(kg -m2) 0.028
TABLE II
PARAMETERS OF GRID SIDE
DC Link Voltage(V)
55
DC link capacitor(mF) 1.8
Filter resistance(ῼ) 0.5
Filter inductance(mH)
25
TABLE III
PARAMETERS OF THE PMSG
Rated current(A)
3
stator resistance(ῼ)
1.3
stator d axis
inductance(mH)
1.5
stator d axis
inductance(mH)
1.5
Flux linkage(wb)
0.027
Number of pole pairs
3
Moment of inertia(kg-
m2)
1.7*10^6
Coefficient of
friction(Nm-s/rad)
0.314*10^6
Fig. 6. Rotor speed control using PI controller
Vishnu K R,Nisha.G.Poothullil
International Journal of Electronics, Electrical and Computational System
IJEECS
ISSN 2348-117X
Volume 6, Issue 6
June 2017
Fig. 7. DC link voltage regulation using PI controller
Fig. 8. Variable speed control using PI controller
Fig. 9. Rotor speed control using Sliding mode controller
Fig. 10. DC link voltage regulation using sliding mode
controller
Fig. 11. Variable speed control using sliding mode controller
VII. CONCLUSION
The Controllers namely PI Controller and sliding mode
controller is investigated to deal with problems of
simultaneous control of the rotational speed and the DC-
link voltage to operate a variable speed wind energy
conversion system. By comparing the results of sliding
mode control strategy to the PI based control strategy, It
Vishnu K R,Nisha.G.Poothullil
International Journal of Electronics, Electrical and Computational System
IJEECS
ISSN 2348-117X
Volume 6, Issue 6
June 2017
can be observed that sliding mode control strategy is
robust against parametric variations and unknown
disturbances. The proportional and integral gains of the
PI controller are chosen by trail and error method and
need to be re-evaluated in case of new perturbation
scenario. The results shows the effectiveness and
robustness of the sliding mode control strategy.
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Vishnu K R,Nisha.G.Poothullil
International Journal of Electronics, Electrical and Computational System
IJEECS
ISSN 2348-117X
Volume 6, Issue 6
June 2017