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Induction generator using AC/DC/AC PWM converters and its application to the
wind-energy systems

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 EuroCon 2013 • 1-4 July 2013 • Zagreb, Croatia

Induction Generator Using AC/DC/AC

PWM Converters and Its Application To The
Wind-Energy Systems
Adel MEHDI#1, Abdelmalek BOULAHIA#2, Houssam MEDOUCE#3, Hocine BENALLA#4
#
Electrotechnic Department University of Mentouri
Ain el-bey 25000 Constantine, ALGERIA
1
[email protected]
2
[email protected]
3
[email protected]
4
[email protected]

Abstract— This paper proposes basic concepts of a fixed speed are very susceptible to the weather effect and other external
wind turbine (FSWT), as an introduction to a modern wind actions.
turbine concept; also, energy extraction from the wind turbine, in To provide consumers with a good quality of electric
order to highlight the utility of the DPC in the field of the quality power, even in the operating conditions of the most disturbed,
of the electric power. The VOC will be compared with structure
several solutions are proposed [4,11], one of the innovative
known as DPC [1] applied to IG wind turbine connected to the
network using back-to-back PWM converters. The theoretical solutions proposed direct power control "DPC"[5]. This
principle of this method is discussed. From the simulation results, technique is based on the concept of direct torque control
it is shown that DPC-2L displays several features, such as a "DTC" applied to electrical machines. The objective is to
simple algorithm and good dynamic response. directly control the active and reactive power in a PWM
rectifier; the same principle has been applied previously to
The turbine side converter is controlled by the structure control the torque and flux in electrical machinery alternatives.
known Indirect Field Oriented Control (IFOC) in tow case [2]. In our case we have applied DPC to wind generation systems.
Both VOC and DPC are simulated using MATLAB software to
illustrate the performance of each technic. II. WIND ENERGY CONVERSION SYSTEMS
Keywords: back-to-back PWM converters, Direct power control,
Voltage oriented control, Wind power, power quality, squirrel cage
induction generators (SCIG).

I. INTRODUCTION

D uring the last years the low and medium voltage networks
have been connected with new active systems such as
wind turbines, photovoltaic systems, storage devices, units of
Figure 1. Induction machine (SCIG) based wind turbine [6].

A. Wind Turbine Induction Generator

improvement the quality of power and other. Almost all of
these new systems are connected to the grid by VSC (VSC The wind turbine and the induction generator (WTIG) are
Voltage Source Converter) with a filter. The rectifier at two shown in Figure1. The stator winding is connected by back-to-
levels based on a PWM control was typically used as robust back PWM converters (AC/DC/AC) to the grid and the rotor
and highly effective solution. Power electronics is becoming is driven by the wind turbine. The power captured by the wind
increasingly used by various systems related to power turbine is converted into electrical power by the induction
generation, and industrial equipment. Among the generating generator and is transmitted to the grid by the stator winding.
systems are cited, the wind power is growing rapidly around The back-to-back PWM converters are controlled in order to
the world. This expansion is due to research efforts in this limit the generator output power to its nominal value for
domain. So, wind turbines are widely developed as an variable wind speeds. In order to generate power the induction
alternative energy source in providing a cost-effective option generator speed must be slightly above the synchronous speed.
in the energy market. Therefore, the wind sector shows great But the speed variation is typically so small that the WTIG is
interest for direct connection of these units for medium considered to be a fixed-speed wind generator. The reactive
voltage networks for future developments [3]. power absorbed by the induction generator is provided by the
Furthermore, liberalization of the electricity market grid or by some devices like capacitor banks, SVC,
stimulates new ideas as in the case of power quality [3]. The STATCOM or synchronous condenser [6].
distribution and transport are usually based on the airlines and The fixed speed is related to the fact that an asynchronous
machine coupled to a fixed frequency electrical network

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 EuroCon 2013 • 1-4 July 2013 • Zagreb, Croatia

rotates at a quasi-fixed mechanical speed inndependent of the

0.5
wind speed.
X: 8.147B=0
B. Wind velocity 0.4 Cpmax Y: 0.48
The wind speed is a three-dimensional vector. However,
the direction of the vector wind speed in the vertical axis is not 0.3 B=5
important in terms of the wing wind because it is not seen by
its active surface. For simplification, the velocity vector is

Cp
0.2 B=10
moving in the horizontal plane The verticaal axis blades are
devoid of any device orientation of the blades
b (the active
surface is always facing the wind), then the behavioural
b pattern 0.1
of the wind is simplified considerably. The wind speed can B=220
therefore be modelled as a scalar function that changes over 0 B=15
time [3]. lamdanoom

0 5 10 15
lamda
Figure 3. Wind tuurbine characteristics

t model‫ܥ‬௣ ሺߣǡ ߚሻ. This equation,

A generic equation is used to
based on the modeling turbine characteristics
c of [7], is

‫ܥ‬ଶ ಴ఱ
‫ܥ‬௣ ሺߣǡ ߚሻ ൌ ‫ܥ‬ଵ ൬ െ ‫ܥ‬ଷ ߚ െ ‫ܥ‬ସ ൰ ݁ ഊ೔ ൅ ‫ߣ ଺ܥ‬ ሺͶሻ
ߣ௜
Figure 2. Wind velocity With

ܸ௩ ൌ ݂ሺ‫ݐ‬ሻ ሺͳሻ ͳ ͳ ͲǤͲ͵ͷ

ൌ െ ଷ ሺͷሻ
The wind speed will be modelled in i this study, as ߣ௜ ߣ ൅ ͲǤͲͺߚ
Ͳ ߚ ൅ͳ
determined by a sum of several harmonics in the form
The coefficients ଵ to ଺ arre: ଵ = 0.5176, ଶ = 116, ଷ =
௜
0.4, ସ = 5, ହ = 21 and ଺ = 0..0068.
ܸ௩ ሺ‫ݐ‬ሻ ൌ ‫ ܣ‬൅ ෍ሺܽ௡ •‹ሺܾ௡ ‫ݓ‬௩ ‫ݐ‬ሻሻ
‫ݐ‬ ሺʹሻ
௡ୀଵ
The ሺ‫ܥ‬௣ ‫ߣ ׽‬ሻ characteristiics, for different values of the
pitch angleߚ, are illustrated inn Figure 3. The maximum value
C. Wind Turbine
of ‫ܥ‬௣ (‫ܥ‬௣ ݉ܽ‫ = ݔ‬0.48) is achievved for ߚ = 0 degree and for ߣ =
The model is based on the steeady-state power 8.1. This particular value of ߣ is defined as the nominal value
characteristics of the turbine. The stiffness of
o the drive train is (ߣ௡௢௠ ).
infinite and the friction factor and the inerrtia of the turbine
must be combined with those of the generaator coupled to the D. Asynchronous Machine
turbine. The output power of the turbine is given by the The electrical part of thee machine is represented by a
following equation [7]. fourth-order state-space modell and the mechanical part by a
second-order system. All elecctrical variables and parameters
ߩ‫ ܣ‬ଷ are referred to the stator. All stator
s and rotor quantities are in
ܲ௠ ൌ ‫ܥ‬௣ ሺߣǡ ߚሻ ܸ ሺ͵ሻ
ʹ ௪௜௡ௗ the arbitrary two-axis referencee frame (dq frame) [8].
Where
ܲ௠ Mechanical output power of
o the turbine (W)
߮௦  ߮௥ 
‫ܥ‬௣ Performance coefficient off the turbine
ߩ Air density (kg/m3) ‫ܮ‬௠ 

‫ܣ‬ Turbine swept area (m ) 2

ܸ௪௜௡ௗ Wind speed (m/s)

ߣ Tip speed ratio of the rotorr blade tip speed to Figure 4. IG electtric equivalent model
wind speed
ߚ Blade pitch angle (deg)

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 EuroCon 2013 • 1-4 July 2013 • Zagreb, Croatia

Electrical System
ͳ
݀ ߮௥ ൌ ‫ܮ‬௠ ‫݅ כ‬ௗ௦ ‫כ‬ ሺʹ͵ሻ
ͳ ൅ ܶ௥ ȉ ܵ
ܸ௤௦ ൌ ܴ௦ ݅௤௦ ൅ ߮௤௦ ൅ ߱߮ௗ௦ ሺ͸ሻ
݀‫ݐ‬
ܶ௥ ൌ ‫ܮ‬௥ Ȁܴ௥  ሺʹͶሻ
݀
ܸௗ௦ ൌ ܴ௦ ݅ௗ௦ ൅ ߮ௗ௦ െ ߱߮௤௦ ሺ͹ሻ
݀‫ݐ‬ The speed controller is based on a PI regulator. The outputs
of this regulator are set points for the torque applied to the
݀ IFOC controller.
ܸ௤௥ ൌ ܴ௥ ݅௤௥ ൅ ߮ ൅ ሺ߱െ߱௥ ሻ߮ௗ௥ ሺͺሻ
݀‫ ݐ‬௤௥
݀
ܸௗ௥ ൌ ܴ௥ ݅ௗ௥ ൅ ߮ െ ሺ߱െ߱௥ ሻ߮௤௥ ሺͻሻ
݀‫ ݐ‬ௗ௥

ܶ௘ ൌ ͳǤͷ‫݌‬൫߮ௗ௦ ݅௤௦ െ ߮௤௦ ݅ௗ௦ ൯ ሺͳͲሻ

Figure 5. Speed Controller
Mechanical System

݀ ͳ
߱ ൌ ሺܶ െ ‫߱ܨ‬௠ െ ܶ௠ ሻ ሺͳͳሻ
݀‫ ݐ‬௠ ݆ ௘

݀
ߠ ൌ ߱௠ ሺͳʹሻ
݀‫ ݐ‬௠
Where
߮௤௦ ൌ ‫ܮ‬௦ ݅௤௦ ൅ ‫ܮ‬௠ ݅௤௥  ሺͳ͵ሻ
߮ௗ௦ ൌ ‫ܮ‬௦ ݅ௗ௦ ൅ ‫ܮ‬௠ ݅ௗ௥  ሺͳͶሻ
߮௤௥ ൌ ‫ܮ‬௥ ݅௤௥ ൅ ‫ܮ‬௠ ݅௤௦  ሺͳͷሻ
߮ௗ௥ ൌ ‫ܮ‬௥ ݅ௗ௥ ൅ ‫ܮ‬௠ ݅ௗ௦  ሺͳ͸ሻ
‫ܮ‬௦ ൌ ‫ܮ‬௟௦ ൅ ‫ܮ‬௠  ሺͳ͹ሻ
‫ܮ‬௥ ൌ ‫ܮ‬௟௥ ൅ ‫ܮ‬௠  ሺͳͺሻ
III. BACK-TO-BACK POWER ELECTRONIC CONVERTER
A. Vector Control of the Machine Side Converter
The induction generator is fed by a current-controlled
PWM converter which is built using a forced-commutated Figure 6. Indirect Field Oriented Controller [9]
device (MOSFET). The speed control loop uses a proportional-
integral controller to produce the quadrature-axis current Simulations results
reference iq* which controls the motor torque. The motor flux
Machine current(A)

is controlled by the direct-axis current reference id*. Block 50

DQ-ABC is used to convert id* and iq* into current references
ia*, ib*, and ic* for the PWM modulator. Current and Voltage 0
Measurement blocks provide signals for visualization purpose.
Revolution speed, current, and torque signals are available at -50
the output of the 'Asynchronous Machine' block [2, 18]. 4 4.02 4.04 4.06 4.08 4.1 4.12 4.14 4.16 4.18
Time (s)
‫כ‬
ʹ‫ܮ‬௥ ܶ௘‫כ‬
݅௤௦ ൌ൬ ൰ ‫ כ‬൬ ൰ ሺͳͻሻ
͵‫ܮ݌‬௠ ߮௥ Figure 7. Induction machine current (IFOC)
g y y
Machine speed(rpm)

‫כ‬
݅ௗ௦ ൌ ߮௥‫ כ‬Ȁ‫ܮ‬௠  ሺʹͲሻ 600

400
ߠ௘ ൌ නሺ߱௥ ൅ ߱௦௟ ሻ ሺʹͳሻ 200

߱௦௟ ൌ ሺ‫ܮ‬௠ ‫݅ כ‬௤௦ ሻȀሺܶ௥ ‫߮ כ‬௥ ሻ ሺʹʹሻ 0 2 4 6 8 10

Time (s)

Figure 8. Machine speed (IFOC)

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 EuroCon 2013 • 1-4 July 2013 • Zagreb, Croatia

Simulations results
200

0 1000

Voltage Vdc(v)
800
-200
600
-400 400
0 2 4 6 8 10 200
Time (s)
0 2 4 6 8 10
Time (s)
Figure 9. Electromagnetic Torque Te (N.m)

B. Vector Control of the Grid Side Converter Figure 11. DC link voltage (VOC)

• Grid Voltage Oriented Vector Control 50

The grid side converter is in charge of controlling part of
the power flow of the IG. This power flow that goes through 0
the stator flows also through the DC link and finally is
transmitted by the grid side converter to the grid [13]. The
simplified block diagram of the grid side system, together with -50
4 4.02 4.04 4.06 4.08 4.1 4.12 4.14 4.16 4.18
a schematic of its control block diagram, is given in Figure 10. Time (s)

Fundamental (50Hz) = 50.94 , THD= 2.93%

1

Mag (% of Fundamental)
0.8

0.6

0.4

0.2

0
0 5 10 15 20
Harmonic order

Figure 10. Grid voltage oriented vector control

Figure 12. Grid current and THD (VOC)
The output voltage of the converter, are generated in order
to control the voltage of the DC link and the reactive power • Direct power control
exchanged with the grid. This is done, in general, according to Direct power control is based on the same control
a closed loop control law. Some typical controls are vector principles as the direct torque control technic. The unique
control or direct power control. However, in this section we are difference is the directly controlled variables. In the case of
studies the grid voltage oriented vector control (GVOVC) [10]. DTC, the electromagnetic torque and the rotor flux are directly
On the other hand, control of DC link voltage is necessary controlled, while in DPC, the stator active and reactive powers
since, the DC link is mainly formed by a capacitor. Thus, the are directly controlled.
active power flow through the stator must cross the DC link
and then it must be transmitted to the grid. Therefore, by only ܲ ൌ ‫ݒ‬௔ ݅௔ ൅ ‫ݒ‬௕ ݅௕ ൅ ‫ݒ‬௖ ݅௖  ሺʹͷሻ
controlling the Vdc variable to a constant value, this active
power flow through the converters is ensured, together with a ͳ
ܳൌ ሾ‫ݒ‬௔ ሺ݅௖ െ ݅௕ ሻ ൅ ‫ݒ‬௕ ሺ݅௔ െ ݅௖ ሻ ൅ ‫ݒ‬௖ ሺ݅௕ െ ݅௔ ሻሿሺʹ͸ሻ
guarantee that both grid and machine side converters have ξ͵
available the required DC voltage to work properly.
‫ݒ‬ఉ
In a similar way, one variable that can also be controlled ߠ ൌ ܽ‫ ݊ܽݐܿݎ‬൬ ൰ ሺʹ͹ሻ
with this schema is the reactive power exchange with the grid. ‫ݒ‬ఈ
In general, it can take different values depending on which Table I Switching Table
current are to be minimized.
ο‫ݍ‬ ο‫݌‬ ߠଵ ߠଶ ߠଷ ߠସ ߠହ ߠ଺ ߠ଻ ߠ଼ ߠଽ ߠଵ଴ ߠଵଵ ߠଵଶ
Since, for this control the magnitudes that must be
0 0 ‫଺ݒ‬ ‫ݒ‬ଵ ‫ݒ‬ଵ ‫ݒ‬ଶ ‫ݒ‬ଶ ‫ݒ‬ଷ ‫ݒ‬ଷ ‫ݒ‬ସ ‫ݒ‬ସ ‫ݒ‬ହ ‫ݒ‬ହ ‫଺ݒ‬
measured are the grid side current and voltage, together with 0 1 ‫଺ݒ‬ ‫଻ݒ‬ ‫ݒ‬ଵ ‫ݒ‬଴ ‫ݒ‬ଶ ‫଻ݒ‬ ‫ݒ‬ଷ ‫ݒ‬଴ ‫ݒ‬ସ ‫଻ݒ‬ ‫ݒ‬ହ ‫ݒ‬଴
the DC link voltage [6]. 1 0 ‫ݒ‬ଵ ‫ݒ‬ଶ ‫ݒ‬ଶ ‫ݒ‬ଷ ‫ݒ‬ଷ ‫ݒ‬ସ ‫ݒ‬ସ ‫ݒ‬ହ ‫ݒ‬ହ ‫଺ݒ‬ ‫଺ݒ‬ ‫ݒ‬ଵ
1 1 ‫଻ݒ‬ ‫଻ݒ‬ ‫ݒ‬଴ ‫ݒ‬଴ ‫଻ݒ‬ ‫଻ݒ‬ ‫ݒ‬଴ ‫ݒ‬଴ ‫଻ݒ‬ ‫଻ݒ‬ ‫ݒ‬଴ ‫ݒ‬଴

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 EuroCon 2013 • 1-4 July 2013 • Zagreb, Croatia

4
x 10

Active power(w)
8
6
4
2

0 2 4 6 8 10
Time (s)

Figure 16. Active power (DPC)

Figure 7 shows the behaviour of the current generated by

the induction machine (SCIG) with a root mean square value of
35(A) and a frequency of 16.66 (Hz), this value of frequency
produce the mechanical speed of the rotor given under the
Figure 8 this speed is approximately of 52 rad/s at t=4s
Figure 13. Grid direct power control (DPC)
(߱௥ ൌ ‫߱ כ ݌‬௠ )
g y ( ) y
DC link voltage Vdc(v)

1000 A negative electromagnetic torque is applied to the shaft of

800 the induction machine in Figure 9 that means The
600 Asynchronous Machine operates in generator mode, we notes
400 that the torque is around his nominal value 240 (N.m), however
200 the machine acts as a motor mode (t=7 s) if the speed of wind
is too low (t=7 s; wind velocity is 2 m/s), thus the mode of
0 2 4 6 8 10
Time (s)
operation is dictated by the sign of the mechanical torque.
The voltage of the DC link capacitor is controlled using
Figure 14. DC link voltage (DPC) voltage oriented control, the response is showed in Figure 11
we can see the dynamic behaviour by the rise time which to
50 reach (2 s) with a overshoot ratio 14%.
Grid current(A)

0
At (t=7 s), a big variation in the rotor speed is appeared.
We can see that the dynamic response of the DC regulator to
-50
this sudden variation in the rotor speed (52 rad/s to 41 rad/s) is
not satisfactory. The DC voltage is back to 900 V within 100
4 4.02 4.04 4.06 4.08 4.1 4.12 4.14 4.16 4.18
Time (s)
cycles (f=50Hz).
The current waveform can also be identified in the
Figure.12; the FFT Analysis displays the frequency spectrum
Fundamental (50Hz) = 54.13 , THD= 13.63%
of the grid current. As expected, The Total Harmonic
8
Distortion (THD) is displayed above the spectrum
(THD=2.93%).
Mag (% of Fundamental)

6
At (t=4 s to 4.2 s) the current to be injected to the grid gives
a good waveform his frequency is f= 50 Hz and the RMS value
4 is 35A.
Now the grid side converter is controlled using another
2 algorithm known the direct power control the response voltage
of the DC link capacitor, is showed in Figure 14 we can see
0 also the dynamic behaviour by the rise time which to reach just
0 5 10 15 20
one second (1s) with a overshoot ratio11%.
Harmonic order
But the grid current waveform is not satisfactory witch
Figure 15. Grid current and THD (DPC) deliver a bad total harmonic distortion (THD=13.63) however a
small simple time Ts=2e-5s (Fs=50 KHz) is used [14, 15, 17].
Table II Parameters used in simulation
The power active controlled is shown in the last Figure 16
Power 37 kW Grid side inductor 2e-3H we can see that in motoring mode the induction machine
Grid voltage 250V Grid side resistor 3.87e-3 absorbed a great power due to the load torque and the inertia of
DC link voltage 900V DC link capacitor 1e-3F the turbine.
Current ‫׽‬35A Load resistor(DC link) 34.4
Switching frequency(voc) 2.5kHz Simple time (VOC) 1e-4s
Grid frequency 50 Hz Simple time (DPC) 2e-5s

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 EuroCon 2013 • 1-4 July 2013 • Zagreb, Croatia

IV. COMPARISON BETWEEN DPC AND VOC REFERENCES

Table III Advantages of DPC and VOC
[1] Zhang Yingchao, Zhao Zhengming, Mohamed Eltawil and Yuan
Technique Advantages Liqiang. «Performance Evaluation of Three Control Strategies for
*Fixed switching Freq. (easier design input filter) Three-Level Neutral Point Clamped PWM Rectifier.» IEEE inst.
*Advanced PWM strategies can be used Tsinghua University, Beijing, 100084, China., 2008
VOC
*Cheap A/D converters
*Good steady state performance [2] Marian P. Kamierkowski “Control Strategies for PWM
Rectifier/inverter-Fed Induction Motors” ISIE'2000, Cholula, Puebla,
*No separate PWM block
Mexico
*No current regulation loop
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*Good dynamics performances d’énergie dédiées à une éolienne de petite puissance.» Thèse.
DPC
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estimated (improve power factor and efficiency) L’amelioration De La Qualite De L’energie :De La Basse Tension A La
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[5] T. Noguchi, H. Tomiki S. Kondo et I. Takahashi. “«Direct Power
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*High inductance and sample frequency needed Jersey. s.d.
*Power and voltage estimation should be avoid at the
[7] Siegfried Heier, "Grid Integration of Wind Energy Conversion
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Connected Three-Level NPC Inverter Systems.» .» 2007.
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