Sustainable Energy Technologies and Assessments 51 (2022) 101961

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Sustainable Energy Technologies and Assessments

journal homepage: www.elsevier.com/locate/seta

Original article

Improved dynamic modelling of DFIG driven wind turbine with algorithm

for optimal sharing of reactive power between converters
Sonam Gupta a, Anup Shukla a, *
a
Department of Electrical Engineering, Indian Institute of Technology Jammu, India

A R T I C L E I N F O A B S T R A C T

Keywords: In this paper, dynamic modelling of Doubly Fed Induction Generator (DFIG) considering the stator-rotor circuit
DFIG electromotive force model is developed to compensate for the voltage drop and ensure ease in the calculation.
Field Oriented Control(FOC) Converter control of DFIG is designed to share reactive power at lower than rated wind speeds, effectively
RSC control
reducing rotor winding copper losses. Loss reduction and maximum power control are achieved by adequately
Reactive Power Sharing
controlling active and reactive components of rotor currents through the Rotor Side Converter (RSC) control for
Loss reduction
Wind turbine an efficient system. Control strategies for decreasing DFIG losses are described in this article. The stator power
factor is offered to determine DFIG’s reactive power support by rotor and grid side converters. At any wind
speed, the reactive power-sharing ratio for converters is estimated to reduce machine copper losses. The opti­
mum source of the reactive power depends on the relative loss consideration in the machine. However, this
reactive power-sharing approach enhances system efficiency. To test the suggested formulation and examine the
grid-interactive DFIG fed wind turbine performance for the controlling techniques, a Matlab/Simulink model of a
2.5 MW wind turbine is developed.

machine power loss. The power grid requires reactive power support to
enhance the voltage stability and operate appropriately under grid fault.
1. Introduction Reduced capacity converters employed in DFIG has driven wind energy
conversion system capable of bidirectional power flow connected to the
Wind energy has taken an important place in power generation with rotor. DFIG can supply power at constant voltage and frequency while
the fast increasing trend of deployment of renewable energy. India has with the variation in the rotor speed [6]. These characteristics make the
the fourth-highest installed capacity in the world with the total installed DFIG suitable for the variable speed drives for wind energy conversion
capacity of 39.25 GW till March, 2021 and has the target of 125 GW of systems.
renewable by 2022 [1]. Wind energy has a high potential to meet energy The demand for reactive power varies with the active power devel­
demands and is one of the priorities due to advancements in technology oped by the generator. For variable speed wind turbines, the need for
[2]. Various configurations are in use for converting wind energy to reactive power varies dynamically, and controllers are required to meet
electrical energy. Different types of machines are employed for gener­ the demand. Synchronously rotating stator flux oriented vector control
ating electrical energy from the wind turbine [3]. Out of these, DFIG is the most commonly used method for independent control of real and
preferred especially for variable speed wind turbines to extract power reactive power in the DFIG driven wind turbine system. Converters
from wind energy owing to improved efficiency and reduced converter connected on the machine and the grid sides play a significant role in
ratings [4]. controlling the reactive current injected in the DFIG and maintaining the
DFIG or Type-III topology represents the variable speed Wind Tur­ unity power factor at the stator terminals. However, the fundamental
bines with partial power electronics conversion system [5]. Type-III has reactive power requirement of the machine is provided from the rotor
the capability of controlling speed and reactive power independently. If terminals. RSC is a voltage controlled source [7] to build up stator
reactive power can be controlled, it provides a much more improved voltage quickly, and GSC contributes to the smooth, active power flow in
response during fault recovery and voltage dips caused by the faults. the grid by controlling the DC link. Therefore, controlling the DFIG
Induction machines operate at a lagging power factor and require connected to the grid or standalone is crucial for efficient operation [8].
considerable reactive power, absorbed through the stator, increasing

* Corresponding author.
E-mail addresses: [email protected] (S. Gupta), [email protected] (A. Shukla).

https://doi.org/10.1016/j.seta.2022.101961
Received 21 August 2021; Received in revised form 26 December 2021; Accepted 2 January 2022
Available online 16 January 2022
2213-1388/© 2022 Elsevier Ltd. All rights reserved.
S. Gupta and A. Shukla Sustainable Energy Technologies and Assessments 51 (2022) 101961

Nomenclature Rs ,Rr Stator, Rotor Resistance

sr Rotor Slip
β Reactive power Sharing percentage Vs , Vr Three Phase Stator, Rotor Voltage
ηg Gear Ratio Vw Wind Speed in m/sec
λ, β Tip Speed Ratio,Pitch Angle Vdr , Vqr d,q-axis Rotor Voltage
ωm Slip Speed(ωs − ωr ) Vds , Vqs d,q-axis Stator Voltage
ωs Stator Frequency in rad/sec Cp opt , λopt Optimal Power Coefficient,Tip Speed Ratio
ωt , ωr Wind Turbine,Generator Rotor Speed ωref Reference Rotor Speed (rad./sec)
r
Ψα , Ψβ Stator Flux along Stationary axis Ψr (d, q) dq axis Rotor flux
Ψdr , Ψqr d,q-axis Rotor Flux Ψs (d, q) dq axis Stator flux
Ψds , Ψqs d,q-axis Stator Flux f Frequency in Hz
ρ, A Air Density,Wind Swept Area Ir (d, q) dq axis Stator current
θr Rotor Transformation Angle Is (d, q) dq axis Stator current
θs , θm Stator Voltage and Machine Angular Position in Electrical Lm Magnetizing Inductance
Degrees Llr Rotor Leakage Inductance
Cp , Ct Power,Torque Coefficient Lls Stator Leakage Inductance
Idr , Iqr d,q-axis Rotor Current Prsc Rotor Side Converter Active Power
Ids , Iqs d,q-axis Stator Current Qrsc Rotor Side Converter Reactive Power
Ls ,Lr Stator, Rotor Inductance Vg Grid Voltage
P r , Qr Rotor Active and Reactive Power Vr (d, q) dq axis Rotor Voltage
P s , Qs Stator Active and Reactive Power Vs (d, q) dq axis Stator Voltage
Pt ,Tem Mechanical Power,Electromagnetic Torque GSC Grid Side Converter
Pcu
r Rotor Winding Copper Loss GSF Generator Signal Feedback
Pcu
s Stator Winding Copper Loss MPPT Maximum Power Point Tracking
Pcu
t Total Copper Losses p Pole Pairs
Qm Machine Reactive Power Requirement PLL Phase Locked Loop
Qig Total Reactive Power Injected to Grid RSC Rotor Side Converter
R Radius of Rotor Blade

A DFIG wind power system that is grid-connected is susceptible to efficiency improvement of DFIG connected to the grid and wind farms
faults, and external support is used to disconnect the DFIG from the grid are found in the literature. Conventionally, the reactive power for DFIG
during faults. Overcurrent and overvoltage that occur during the fault, should be given through RSC for magnetization [4]; some authors have
on the other hand, harm the protection unit. Various methods have been discussed the control schemes for reactive power allocation between the
used in [9] to provide the LVRT capability in the DFIG for balanced and converters. In stator field-oriented control, the supplied magnetizing
the unbalanced fault in the vector control. Voltage dips strongly affect current is entirely the same as d-axis rotor current Idr and is a constant
the RSC circuit, and for the protection of the circuit, flux models have value at unity power factor. When reactive power supplied to the
been generally used for the smooth operation of the system. Some generator is assumed to be entirely through the stator, set Idr = 0 [4].
studies have shown that the vector control method is effective at Kayikci et al. [15] explained different control schemes of reactive power
dampening overcurrent and overvoltage and providing voltage support control of converters for regulating voltage, and it is more effective to
during voltage dips. In DFIG, it is not possible to provide active power hold reactive power through rotor excitation. However, the effect of
control during and after a balanced - unbalanced fault, as well as to reactive power control strategies on the efficiency improvement of the
eliminate oscillations [10]. A power control unit is improved [11] in DFIG is not discussed. An optimal condition for stator d-axis current Ids
order to improve the performance of the DFIG. However, the grid code considering both iron and copper losses formulated in [16] for DFIG loss
requirements are provided, and the small fluctuations are minimized minimization. However, it is observed that the magnetizing current
simultaneously. The author has developed a sliding mode control model between the stator and rotor d-axis current, which produces the constant
in [12] to prevent damage to the converters during various short circuits stator flux losses, does not influence the losses. For copper loss mini­
in the DFIG. Therefore, the hybrid control approach for the stability of mization of wind energy conversion system, control techniques pre­
the system in the DFIG is required. DC link voltage control models have sented by the author in [17]. N.David et al. [18] examined the efficiency
been used for fault analysis in DFIG [13]. These control models have improvement of rotor tied configured machine where the control is
been designed to protect the GSC against inrush current that occurs performed on the stator side.
during the fault. Moreover, depending on the LVRT capability, grid code An analytical approach for efficiently obtaining the desired rotor
requirements must be provided after the fault. Therefore, the stator rotor currents Idr and Iqr , which minimizes the DFIG losses and the mechanical
emf model needs to be developed in DFIG. In addition, developing a power extracted from wind turbine maximized presented by Chen et al.
stator rotor emf model achieves smooth power output and increases the [19] [20]. Moreover, it is not simple to regulate the efficiency by
simulation performance. In this study, the stator dynamic model was regulating the flux inside the machine. Zhang et al. [21] have presented
developed to make a fast and accurate calculation of simulation studies traditional reactive power dispatch strategies to minimize the total
in balanced and unbalanced faults. In contrast, the rotor dynamic model losses from each device in the wind farm. A method for generating
was developed to minimize the inrush currents and the overvoltages in clusters of unit status associated with a probability of occurrence from
the system. an initial set of large wind power generation scenarios is developed in
The generator speed and the real power extracted by the wind tur­ [22]. Power Losses in the machine are modified by regulating the rotor
bine are affected by the rotor excitation, reactive power distribution and magnetization and reactive power flow between the converters. How­
losses of the DFIG [14]. Various strategies for the losses reduction and ever, this theoretical approach increases complexity. An improved

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S. Gupta and A. Shukla Sustainable Energy Technologies and Assessments 51 (2022) 101961

Fig. 1. Schematic representation of Type III Topology.

efficiency control strategy provides the loss minimization coordinated DFIG reactive power for magnetization. The authors have not presented
with MPPT control in the wind turbine presented by Karakasis et al. the simplified algorithm for deciding the sharing of reactive power be­
[23]. A voltage-oriented vector control implemented on the RSC [24] tween the RSC and GSC for variable wind speed limit for deciding the
and optimal reactive rotor current calculated considering the negligible optimal operating point to improve efficiency. An approach is proposed
effect of the current regulation regulating the machine’s speed. Huang and formulated in this paper that will determine the reactive power
et al. [25] proposed a scheme in which wind farms operated in a sharing required for the efficient system to minimize the losses in the
distributed manner for minimizing the losses in DFIG based wind farms machine keeping all the constraints as per grid codes under
by optimally distributing reactive power. However, reactive power- consideration.
sharing between converters for a single DFIG is not considered. In The main contribution of the paper are as follows:
[26], the author explored the share of reactive power in between back to
back converters to limit the thermal stress and balance the life expec­ • A dynamic modelling of the DFIG considering the stator and the rotor
tancy. A coordinated controller for the reactive power investigated in emf implemented for better simulation during the small voltage
[27] considering RSC as the central controller and GSC as the auxiliary disturbance.
one. Also, GSC is made to operate at the unity power factor till the RSC • The flux-based synchronously rotating reference frame presented for
working within its limit. M.Rahimi et al. [28] proposed the control ap­ RSC control to meet the needs of MPPT and supply optimal no-load
proaches for the improvement of the voltage profile and determines the magnetization current for DFIG.
required reactive power that should be optimally injected into the grid • An algorithm is proposed for deciding the optimal ratio of reactive
by the converters. However, the reactive power contribution is calcu­ power-sharing between the AC-DC-AC converter keeping the
lated by selecting the optimal value of the rotor currents corresponding apparent power rating and the power factor of the machine within
to the minimization of the square of the apparent power. M.S.Marhaba limit.
et al. [29] have discussed the coordinated control methods for reactive • Variation of total losses against loss reduction and reactive power-
power sharing without considering the stator and rotor power loss. sharing from the stator and RSC compared graphically.
Author in [30] applied the methodology for the coordinated tunning of
controllers of the DFIG based wind turbine. Different performance System topology with DFIG modelling and control described in
indices are considered to evaluate the multi-objective constrained Section 2. The various approaches for the magnetization of the DFIG and
problem. However, the impact on the efficiency of the system not dis­ the proposed optimal control algorithm for reactive power sharing with
cussed. In [31], the author recommends sharing the reactive power approximate analysis illustrated in Section 3. Discussion and the simu­
between RSC and GSC at below-rated wind speed conditions considering lation results are illustrated in Section 4 and the description subse­
the limit of stator apparent power rating. Moreover, the RSC’s optimal quently concluded in Section 5.
ratio of reactive power-sharing for magnetization at below-rated wind
speed is assumed. Therefore, in the literature discussed, the optimal 2. System Control and Topology
direct axis rotor magnetizing current computation in combination with
the MPPT and calculation of the sharing ratio of the reactive power The basic configuration of DFIG based wind energy conversion sys­
necessity to minimize the total losses of the DFIG has not been studied. tem is shown in Fig. 1. It comprises a back to back converter in the rotor
This work aims to compute the optimal control strategy for DFIG to circuit, which will control the frequency of output power, and the active
improve efficiency and reduce the total losses. and reactive power exchange with the grid. The stator is connected to
In most of the literature, the sharing of reactive power is mentioned. the grid without any power electronic interface, and only the rotor is
However, the approach required for an effective sharing ratio between supplied through power electronic converters, i.e. approximately
converters is not discussed by the authors. Some of the literature found 25%-30% of rated wind turbine power [6]. RSC functions as a controlled
the optimal value of the current for regulating the reactive power in­ voltage source because it injects an alternating current voltage at slip
dependent of the wind speed. Conventionally, RSC provides the required frequency into the DFIG rotor [7]. GSC operates as a controlled current

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S. Gupta and A. Shukla Sustainable Energy Technologies and Assessments 51 (2022) 101961

Fig. 2. Operating regions of DFIG based wind turbine, speed range limit, λ Vs Cp and λVs Ct graphs.

source since it maintains the dc-link voltage constant and injects an AC 2.1.2. Region-II: MPPT and Speed limiting mode
at grid frequency to the network. DFIG is a regular induction machine With the below-rated wind speed, the turbine’s rotational speed
that absorbs reactive power from the grid. RSC controls the slip power adjusted in such a way that Cp remains at optimal value. In this oper­
by controlling speed and torque along with the reactive power on the ating region, pitch control is deactivated (β = 0) and above rated speed
stator side [3]. GSC provides the DC bus voltage for RSC, and the pitch control activated to control the power extracted from the wind. By
reactive power support to the grid [32]. When grid voltage imbalance is properly adjusting the rotational speed, MPPT can be attained in this
detected, the generator starts taking more reactive power and hence region of operation. Different approaches indirectly regulate the rotor
causes voltage instability. However, reactive power injection to the grid speed to optimal value until it gains the rated speed. Speed controller
by the RSC can improve the steady-state performance; however, reactive gives power reference to the RSC based on maximum energy extraction
power-sharing is chosen arbitrarily [33]. The wind speed operation zone at low wind speed.
highly influences the control scheme. It determines the critical limits
like the maximum rotor speed limit over a wide range of operations from 2.1.3. Region-III: Power limiting mode
sub-synchronous to super-synchronous mode [34]. At a high wind, speed power can be limited or controlled by initiating
the pitch angle controller. When the wind speed reaches above the rated
value, the RSC’s rotor speed is governed to avoid overloading in the
2.1. Turbine Speed Control regions converters. Hence, pitch angle control or Off MPPT control activated to
limit the turbine’s power is running in this region.
Wind speed plays an essential role in deciding the control actions.
The control scheme highly influenced by the wind speed operating re­ 2.1.4. Region-IV: Braking mode
gions and also on the working principle that determines the critical Wind speed above the cut-out value causes instability in the ma­
limits like the maximum rotor speed limit [2]. chine’s controls. In such unavoidable circumstances, the device should
be disconnected from the turbine to avoid the whole system’s collapse.
2.1.1. Region-I: Starting mode
Wind turbine moved from stand by mode to starting mode in this
region of operation with an increase in wind speed. When turbine speed 2.2. Model of Wind Turbine and Machine Ratings
crosses the cut-in rate, wind turbine gets connected to the power grid
and mechanical input power to machine increases with the cubic of wind The aerodynamic model represents the power extraction and calcu­
speed. The power coefficient is not at its maximum, and hence maximum lating the mechanical torque as a function of the rotational speed, wind
power extraction is not possible. speed. Power recovered from the wind given by the relation [2]

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S. Gupta and A. Shukla Sustainable Energy Technologies and Assessments 51 (2022) 101961

Fig. 3. Speed Vs Mechanical Power for different Wind Speed.

Fig. 4. RSC Control Loop.

⎧ DFIG is considered according to the cut-in and rated wind speed in m/s.
⎪
⎪0
⎪
⎪
Vw < 0
The corresponding slip range is +0.3 and − 0.3. By considering this, the
⎪
⎨ 0.5ρπ R2 V 3 Cp V cut− in
⩽Vw ⩽ < V rated length of each blade and gear ratio can be computed. Optimal values of
(1)
w opt w w
Pt =
Power Coefficient (Cp ) and Tip Speed Ratio (TSR) represented as λ ob­
2 3
⎪
⎪ 0.5ρπ R V w Cp (λ, β)
⎪ V rated
w ⩽Vw ⩽ < V cut−
w
out
⎪
⎪
⎩0 Vw ⩾V cut−
w
out
tained by plotting different wind turbine characteristics and rotational
speed at which maximum power extracted at any wind speed, Vw ob­
Wind power is the function of air density (ρ), area swept (A) by the tained from the following relation as:
rotor blade, wind speed (Vw ) and power coefficient (Cp (λ, β) = 0.593
ηg λopt Vw
theoretically by Betz Limit) for fixed pitch angle (β = 0). Cp (λ, β) express ωref
r = (2)
R
the efficacy of the wind turbine in the transfer of energy in the wind to
the mechanical energy. The mechanical system evaluates the generator and turbine angular
( )
− 18.4
( speed as a function of the generator’s torque and Electromagnetic tor­
151
Cp (λ) = λ(k) − 0.58β − 0.002β2.14 − 13.2 0.73e λ(k) and 1
λ(k) = que. The optimal torque control method employed for extracting the
) maximum power from the WECS.
1 0.035
λ+0.08β − β3 +1 are the constant parameters in the equation directly
(3)
2
Tem = − Kt (ωref
r )
taken from the wind turbine specification sheet. For the fixed pitch
angle, Torque coefficient (Ct ) can be calculated from look up table be­ 0.5ρπR5 Cp max
Cp (λ)
where, Kt = λ3opt η3g
tween (Cp ) and (λ) expressed as Ct (λ) =
As wind speed changes instantaneously, it is necessary for the rota­
λ
To determine the wind turbine’s required control type, it is vital to
tional speed to be varied to operate the system at Maximum Power Point
understand the power curve in Fig. 2 that specifies how much power can
(MPP) under all operating conditions. By adjusting rotor speed and
be extracted from the incoming wind. Moreover, the speed range of

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S. Gupta and A. Shukla Sustainable Energy Technologies and Assessments 51 (2022) 101961

maintaining operating points on Cpopt , the output power of a wind tur­ ⎧

bine can be controlled; this can be observed in the nonlinear power–­ ⎪
⎪ L2m
⎪
⎪ σ =1−
⎪
speed characteristic curve of the wind turbine. Each curve in Fig. 3 is ⎪
⎪
⎪
Ls Lr
ref
⎨
characterized by a unique rotor speed ωr corresponding to the MPP for Vs (d, q) = Rs Is (d, q) + jωs σLs Is (d, q) + e(d, q) ed = − ωs ψ qr
Lm
(8)
⎪
that wind velocity. However, Generator Signal Feedback (GSF) MPPT ⎪
⎪
⎪
Lr
⎪
control, feedback the computed power to the speed control loop on the ⎪
⎪
⎪
⎩ eq = ωs ψ dr
Lm
Rotor Side Converter Control for adjusting the reference speed, which Lr
then feeds to the PI controller for obtaining the reference value of the q-
Solving the equations for derivative of the stator emfs by substituting
axis rotor current for internal current loop control. In this technique,
the derivative term with rotor voltage Eqs. (6), (7)expressed as
maximum power tracked by computing total power extracted for the
wind generator. This method of achieving the maximum power point ded Lm
= ωs (Rr Iqr − Vqr ) + sr ωs eq
control is slightly different from the optimal indirect speed control. dt Lr
( )
From GSF MPPT control, ded Lm Lm Rr
√ ̅̅̅̅̅ = − ωs Rr Iqs + Vqr − ed + sr ωs eq
dt Lr Lr Lr
ωref
r = Kopt
3
Ps (4) (9)
deq Lm
( )1/3 = ωs (Vdr − Rr Idr ) − sr ωs ed
dt Lr
η3g λ3opt ( )
where,Kopt = 0.5ρπ R5 Cpopt ωs deq Lm Lm Rr
= ωs Rr Ids + Vdr − eq − sr ωs ed
Pt
dt Lr Lr Lr
Rating of DFIG obtained from the relation as (Ps = (1+sr )) For voltage
build up, active and the reactive power required from the stator as per From rotor voltage equations in (6), replacing the rotor fluxes by
machine parameters calculated as: see Fig. 4. using (7) and obtain rotor emf Ed , Eq which account for effect of stator
flux on rotor voltages. Rotor voltage equations thus represented as:
V 2g
Prsc = sr Ps ; Qrsc = sr (5) Lr d
2πfLm Vr (d, q) = Rr Ir (d, q) + e(d, q) + jsr ωs σ Lr Ir (q, d)
ωs Lm dt
{ (10)
Therefore, the rating of rotor side voltage source converter is Lm Lm
√̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅ + E(d, q) Ed = − sr ωs ψ qs Eq = sr ωs ψ ds
Ls Ls
calculated as Srsc = P2rsc + Q2rsc and it depends on the reactive power
supplied from the rotor side to maintain the power factor at the stator In the dynamic modelling of the DFIG, the computed d-q axis rotor
terminals. Moreover, the ratings of the GSC depends on maximum voltages representing the impact of the stator and the rotor emf in the
output stator power when not connected to load and grid as well i.e. vector control [35].
( )
S
(Pgsc = Ps ). The current rating of the GSC is computed as Igsc = √̅̅3gsc
sV
.
r s
2.4. RSC Control Algorithm
One of the advantage of using DFIG is that machine rating is smaller
comparative to wind turbine rating for generating power. RSC rating Stator field-oriented control performs control of real stator power
depends on the maximum value of both active and reactive power flow and reactive power by regulating Idr and Iqr current in a synchronously
through it. When there is no connected load and grid, GSC rating de­ rotating reference frame by independently holding the speed and the
pends on the maximum stator power output. However, the GSC reactive reactive power of rotor side. The corresponding coupling terms
power traditionally set equals to zero to maintain the unity power factor compensated at the controllers’ output, which then applied to drive the
across the common point of connection. rotor side control. With the decoupled control at below and rated wind
speed, reactive power can be shared at the appropriate level, and the
2.3. Dynamic Modelling of DFIG power can be taken as a reference to regulate the speed of the rotor [19].
The RSC introduces the ac voltage at the slip times the grid frequency to
The modelling of the doubly fed induction generator is presented in the rotor of machine. Rearranging the Eqs. (10) and considering the
the synchronously rotating reference frame along the direct (d) and derivative terms of fluxes, the rotor voltage along the d-q axis formu­
quadrature (q) axis. DFIG d-q axis stator and rotor voltages basic lated as in (11).
equations are expressed as below: Rotor voltages comprises of rotor currents regulating the RSC volt­
ages and the cross coupling elements as shown in the relation.
d
Vs (d, q) = Rs Is (d, q) + Ψs (d, q) + jωs Ψs (d, q) ( )
dt L2 d
(6) Vdr = Rr + m2 Rs + σ Lr Idr + udr + E1 ′
d Ls dt
Vr (d, q) = Rr Ir (d, q) + Ψr (d, q) + jωm Ψr (d, q)
dt ( )
L2 d
Stator and rotor flux linkages calculations in the frame rotating with Vqr = Rr + m2 Rs + σ Lr Iqr + uqr + E2 ′
Ls dt
the synchronous speed expressed in (7). The d-q axis analysis allows the ⎧
torque and flux in the machine-controlled independently. ⎪
⎪
⎪
⎪ Lm
⎪
⎪ u = − sr ωs σ Lr Iqr + Vds
⎪
⎪ dr
Ψs (d, q) = Ls Is (d, q) + Lm Ir (d, q)
(7)
⎪
⎪
⎪
Ls (11)
Ψr (d, q) = Lr Ir (d, q) + Lm Is (d, q) ⎪
⎪ L
⎪
⎪ m
⎪ u
⎨ qr = s ω
r s σ L I
r dr + V qs
L
From (7), s
⎪
⎪ 1− s Rs
⎪
⎪ E1 ′ = − Ed ( )− Eq
Ψr (d, q) − Lm Is (d, q) ⎪
⎪ s Ls sr ωs
Ir (d, q) = ⎪
⎪
Lr ⎪
⎪
⎪
⎪ E ′ = − E (1 − s Rs
⎪
⎪ )+ Ed
Ψr (d, q) − Lm Is (d, q) ⎪
⎪
2 q
s Ls sr ωs
ψ s (d, q) = Ls Is (d, q) + Lm ⎩
Lr
Stator voltages from (6) in terms of stator emf ed , eq while neglecting udr , uqr representing the cross coupling terms. It can be observed that
derivative terms and replacing the stator fluxes expressed as if the terms udr , uqr are neglected, the relationship between the d and q

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S. Gupta and A. Shukla Sustainable Energy Technologies and Assessments 51 (2022) 101961

components of rotor voltages and current components corresponds to By feeding reactive power during grid reactive power fluctuations,
the first order system. The cross coupling terms are seen as disturbances GSC improves grid power quality at the point of common coupling.
which can be decoupled or compensated by the current regulators and The dynamic model equation of the GSC with the inductance filter is
comprises of three components: cross coupling terms, back emf terms expressed as:
and the stator voltage terms.
dIdg
Stator and rotor active and reactive power expression in d-q refer­ Vdf = Lg + Rg Idg + Vdg + edf
dt
ence frame generally expressed as
dIdg (16)
3 3 Vqf = Lg + Rg Iqg − Vqg + eqf
Ps = (Vds Ids + Vqs Iqs ), Pr = (Vdr Idr + Vqr Iqr ) dt
2 2
(12) { edf = − ωg Lg Iqg + Vdg , eqf = ωg Lg Idg
3 3
Qs = (Vds Iqs − Vqs Ids ), Qr = (Vdr Iqr − Vqr Idr )
2 2 The cross-coupling terms that must be eliminated in decoupled
control are edf and eqf . The PI regulator is used to obtain the reference
Electromagnetic Torque equation related as function of stator flux
value for the inner loop current regulators when there is a voltage dif­
and rotor currents in d-q frame. According to the stator field oriented
ference between two voltages. The reference grid voltage values for the
vector control, the torque or the active power generated can be
switching control of the GSC are derived from the outer reactive power
controlled by regulating the quadrature axis rotor current.
loop and compared to the reference values for the inner loop current
3 Lm regulators. Vdf , Vqf are the grid side converter voltages which should be
Tem = p (Ψqs Idr − Ψds Iqr ) (13)
2 Ls same as the dc link voltages for the power transfer and Vdg , Vqg are the
source or grid voltages.
q-axis current loop controls the electromagnetic torque whose input With constant DC link voltage, power through RSC will be same as
signal is given by the PI controller comparing the actual rotor speed with that through the GSC. Coupling voltage aligned along the q-axis (Vqg =
the reference one. d-axis loop, corresponding to the control of magne­ 0,Vdg = Vg ). Therefore, the active and the reactive power equation are:
tizing current, uses the desired reactive power as the input signal. The {
regulating d q axis rotor currents are computed as 3 3
(17)
Pg = Vdg Idg , Qg = − Vdg Iqg
⎛ ⎞ 2 2

Idr Iqr Kp
( )⎜
Ki ⎜ 1 ⎟ From the above expression, it is clear that d-axis current controls the
⎟
ref
= ref = s+ ⎜ 2 ⎟ (14) active power of the converter and the q-axis current controls the reactive
I dr I qr s Kp ⎝σLr s + (Rr + Lm2 Rs )⎠
L s power of converter for the synchronously rotating refrence frame
aligned with the grid voltage.
By using pole zero cancellation techniques, the gains for the regu­ DC link voltage is regulated using PI controller where the reference
L2
√̅̅
value of the DC link voltage obtained as (Vdc ⩾2 23Vs , for unity modu­
Rr +mR
s
L2
lators are obtained as Kp = στLi r , Ki = s
, and the time response taken
lation index).
τi
as τi = 5 msec, sufficient for the operation of the wind energy system
Once the reference d q axis grid current obtained from the outer
[36].
active and reactive control loops, the reference currents are then
The rotor q axis current estimated from the outer speed control
controlled with the PI controller. The outputs of the controller then
regulator, while the d-axis current is obtained from the outer reactive
taken as the reference voltages of the GSC.
power PI controller [37]. Stator output reactive power controlled by the
d axis rotor current derived as in (15).
3. Reactive power sharing control between RSC and GSC
3 Vqs
Qs = − (Ψds − Lm Idr ) (15)
2 Ls Traditionally, the Qs loop eliminated by setting the rotor current to
The reference reactive power for the PI controller have significant zero; however, the necessary rotor current saving the rotor winding
impact on the converter performance and hence an algorithm is pro­ design dimension and the rotor-side converter. Conventionally, reactive
posed to select the reference value in the next section. power control does not fully use the GSC to regulate reactive power
[38]. In optimal strategy, GSC holds reactive power with the RSC to
minimize the overall power loss inside the DFIG.
2.5. GSC Control Algorithm

The amount of the reactive power contributed by the stator circuit is 3.1. Strategy I: Optimal magnetization current combined with MPPT
compensated by Grid Side Converter. GSC design ensures constant control
active power output from the overall DFIG generation system and, if
needed, also inject the required reactive power. The inductance filter For rated conditions, the magnetization of DFIG close to constant and
connected between the GSC and the grid terminals reduces the voltage, reactive power requirement wholly controlled through the rotor. In such
and the current harmonics arise through the switching of converters. case, the stator circuit’s reactive power avoided by setting Qs = 0. Even
GSC is responsible for maintaining DC bus voltage with certain limits by though providing unity power factor to the grid does not guarantee
transferring power from the rotor, stored in the DC link capacitor to the efficient operation at every wind speed. Magnetizing current generally
grid and the reactive power exchanged with the grid. In general, the determined by the stator voltage, and hence there exists to control the
reactive power reference value is set to zero VAR, and currents are magnetizing current from Idr . It is desirable to magnetize entirely from
exchanged at the grid voltage terminals with a power factor of unity. the stator side by setting Idr = 0 to minimize rotor converter losses [4].
However, depending on the application, it may be necessary to operate This strategy aims to show the optimum point that will lead to minimum
at reactive power values other than zero. Therefore, total reactive power losses in the generator.
of the machine can be controlled by setting power factor of the stator Field oriented control employed in the RSC controls the speed
[20]. The grid’s angle is estimated by PLL, an effective synchronisation through GSF MPPT and reactive power flow by decoupling control. The
method, for transformation of voltage and current coordinates. Its machine efficiency can be improved by altering the share of the reactive
closed-loop nature ensures stability and rejection of perturbations in generator power between the converter, i.e. through stator and rotor, at
angle estimation. an optimal significant value. Under Steady-state condition,

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S. Gupta and A. Shukla Sustainable Energy Technologies and Assessments 51 (2022) 101961

Table 3
Losses at Vw = 9 m/sec with optimal Q sharing.
Qshare
gsc
Pcu
s Pcu
r Pcu
t ΔLoss
(Cosϕs ) (%) (KW) (KW) (KW) (%)

1 – 6.69 9.71 16.4 –

0.98 36.19 6.95 8.38 15.34 6.4
0.97 44.4 7.09 8.16 15.25 7.0
0.96 53.5 7.27 7.95 15.22 7.2
0.95 59.5 74.09 7.83 15.24 7.08

Table 4
Losses at Vw = 6 m/sec with optimal Q sharing.
Qshare
gsc
Pcu
s Pcu
r Pcu
t ΔLoss
(Cosϕs ) (%) (KW) (KW) (KW) (%)

1 – 1.32 3.71 5.03 –

0.95 26.2 1.46 2.69 4.15 17.5
0.90 38.9 1.62 2.31 3.93 21.8
0.85 50.0 1.82 2.03 3.86 23.3
0.8 60.5 2.05 1.82 3.88 22.9

Table 5
Optimal sharing values at different wind speed.
Vw Qshare
gsc Qshare
rsc
Pcu
t ΔLoss pf Ss
(%) (%) (KW) (%) (Cosϕs ) (MVA)

12 52.0 47.9 45.8 2.7 0.98 2.05

11 54.1 45.8 32.6 3.4 0.98 1.68
10 51.9 48.0 22.6 4.9 0.97 1.40
9 53.5 46.4 15.2 7.2 0.96 1.15
8 53.1 46.9 9.9 10.6 0.93 0.93
7 52.4 47.5 6.2 15.9 0.9 0.74
6 52.2 47.74 3.8 23.4 0.84 0.58

Fig. 5. Flow chart for procedure to derive optimal rotor current.

Table 6
Table 1 Wind Turbine Parameters.
Losses at Vw = 12 m/sec with optimal Q sharing. Symbol Parameter Value

Qshare
gsc
Pcu
s Pcu
r Pcu
t ΔLoss Pt Rated Power 2.5MW
(Cosϕs ) (%) (KW) (KW) (KW) (%) R Rotor Blade Radius 42m
ηg Gear Ratio 1 : 100
1 – 21.83 26.49 48.32 –
λopt Optimal Tip Speed Ratio 7.2
0.99 46.25 21.5 24.25 45.84 2.4
0.98 65.91 22.03 23.86 45.90 2.3 Cpopt Optimal Power Coefficient 0.44
0.97 81.35 22.49 23.68 46.18 1.7 Vw Rated Wind Speed 12m/sec
0.96 94.67 22.96 23.61 46.57 0.9

Table 7
Table 2 DFIG Parameters.
Losses at Vw = 11 m/sec with optimal Q sharing.
Symbol Parameter Value
Qshare
gsc
Pcu
s Pcu
r Pcu
t ΔLoss
Ps Rated Power 2MW
(Cosϕs ) (%) (KW) (KW) (KW) (%)
Vs Nominal Stator Voltage 690V
1 – 14.94 18.90 33.85 – f Nominal Grid Frequency 60Hz
0.99 36.0 15.20 17.58 32.79 3.1
p Pole Pairs 2
0.98 54.1 15.53 17.130 32.67 3.4
0.97 67.7 15.86 16.9 32.76 3.2 Rs Stator Resistance 2.6mΩ
0.96 72.4 15.99 16.83 32.83 3 Rr Rotor Resistance 2.9mΩ
Lls , Llr Leakage Inductance 0.087mH
{ Lm Magnetizing Inductance 2.5mH
Ψds + jΨqs = Ψs + 0; Vds + jV qs = 0 + jωs Ψds (18) N Stator-Rotor Turns Ratio 0.33

Applying above conditions in the DFIG modelling equations, Ids de­

pends on the magnetizing component and direct component of rotor
current whereas in the absence of magnetizing current, stator and rotor Ψds − Lm Idr − Lm Iqr
Ids = ; Iqs = (19)
components are linearly dependent expressed in the equation as: Ls Ls
By using (18) in the stator voltage equation and neglecting the

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S. Gupta and A. Shukla Sustainable Energy Technologies and Assessments 51 (2022) 101961

gsc
Fig. 6. Variation of loss reduction and power factor with respect to Qshare at different wind speed.

gsc
Fig. 7. Variation of stator, rotor and total losses with respect to Qshare at different wind speed.

differential terms, certain relations are obtained,

Pcu cu cu
t = Ps + Pr
{ Ids = 0, Ψds = Lm Idr (20) (21)
Pcu 2 2 2 2
t = 3Rs (I ds + I qs ) + 3Rr (I dr + I qr )

Expression for calculating the power loss in the winding of the ma­ Replacing the stator d q current components by the (19) and rear­
chine in terms of d-q currents is given by: ranging the terms, the losses are computed as:

⎧ ( )
⎪
⎪ 3 L2
⎪ α1 =
⎪ Rr + m2 Rs
⎪
⎪ 2 Ls
⎪
⎪
⎪
⎪ ( )
⎪
⎪ 3 L2 R3 L 2
⎪
⎪ α2 = Rs + m2 Rr + s2 m4
⎪
⎨ 2 Ls ωs Ls
Pcu 2 2
t = α1 I dr + α2 I qr + α3 Idr + α4 Iqr + α5 Idr Iqr + α6 (22)
⎪
⎪ RL R2s Lm
⎪
⎪ α3 = − 3 s m2 Vqs α4 = 3 Vqs
⎪
⎪
⎪
⎪ ωs Ls ω2s Ls
⎪
⎪
⎪
⎪
⎪
⎪ R2 L2 V 2qs Rs
⎪
⎩ α5 = − 3 s m α6 =
ωs Ls ω2s

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S. Gupta and A. Shukla Sustainable Energy Technologies and Assessments 51 (2022) 101961

Fig. 8. Variation of apparent power, power factor,loss reduction and GSC share with respect to wind speed.

Fig. 9. System Performance at varying wind speed under normal grid supply.

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S. Gupta and A. Shukla Sustainable Energy Technologies and Assessments 51 (2022) 101961

Fig. 10. Effectiveness of proposed model in System Performance with 20% voltage dip.

power extracted from the stator should be improved and can be attained
where, α1 , α2 , α3 , α4 , α5 , α6 are the constant coefficients depends on the by optimally regulating the direct axis current in the rotor winding. In
machine parameters. Coefficient α3 , α4 have negligible value and can be order to calculate the optimal value, value of speed controlling param­
excluded from the calculation. The losses inside the machine at the eter Iqr is required and is obtainted by taking (12) and (4)
existing rotor speed under optimal conditions need to be minimized to
K1
improve the efficiency and power capture from the wind turbine. For a (27)
2
Iqr = − 3Lm Vs
ωref
(r )
given rotor speed and steady-state operation, the power loss of DFIG can 2Ls

be minimized concerning the current in the rotor windings. However, where,K1 = 1/K2opt , Obtaining the value of Iqr from the MPPT control
the optimum value of rotor current expressed as:
and active power relation,then substituting the values to obtain the
∂Pcu ∂Tem optimal value for the magnetization of the rotor of DFIG.
t
| = 0, | =0 (23)
∂Idr ωr ∂Idr ωr
(28)
2
Idropt = G′′ ⋅(ωref
r )
The loss equation for obtaining the optimal value of the current
required for the magnetization computed as where, G = ′′ − 2Ls
3Lm Vs
⋅K1 ⋅G′ Thus, by injecting rotor d-axis current more
[ ] ∂Iqr significant than required for magnetising, the stator can be made to
2α1 Idr + α5 Iqr 2α2 Iqr + α4 + α5 Idr =0 (24) deliver reactive power to the grid, while the machine’s fundamental
∂Idr
reactive power requirement is supplied from the rotor terminals.
For a given rotor speed, generator torque (13) is constant Idropt , is the optimal d-axis rotor current that directly affect the losses
∂Iqr Iqr inside the generator.
= − (25)
∂Idr Idr
3.2. Strategy II: Proposed Algorithm for Optimal Reactive Power sharing
On solving (24), optimal value of the rotor current for magnetization between converters
obtained directly depending on the rotor current component regulating
the speed or torque of DFIG Reactive power injected to the grid by the stator winding is the sum
Idropt = G′ Iqr (26) of magnetizing component depending on stator voltage and the term
with d-axis rotor current regulating the stator reactive power [39]
√̅̅̅̅
where, G′ = α2 expressed as:
α1

With the aim of mitigating the losses inside the machine, active

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S. Gupta and A. Shukla Sustainable Energy Technologies and Assessments 51 (2022) 101961

Fig. 11. Variation in the losses with the reference change in the magnetizing current.

( )
3 Lm The current ratings across the rotor and the stator side are computed
Qs = Qm − Vs Idr (29)
2 Ls by the relations as

Total reactive power injected to grid by the DFIG is Ss Sr

Is = √̅̅̅ ; Ir = √̅̅̅ (33)
3Vs 3 Vr
Qig = Qs + Qgsc
( )
(30) Reactive power is responsible for producing flux by magnetization.
3 Lm 3
Qig = Qm − Vs Idr − Vs Iqg Reactive component supplied from the stator side to maintain the upf
2 Ls 2
across the grid and stator terminals. Converters size also depends on the
Total reactive power provided by the RSC and the GSC is share of reactive power [40]. RSC field-oriented control producing the
magnetizing component and control of reactive power plays a signifi­
Qtotal = Qig + Qm (31)
cant role in the stator and rotor windings power loss. It has been
The above Eq. (30) represents that the overall reactive power de­ observed that while sharing reactive power between RSC and GSC im­
pends on both Idr and Iqg current components, representing that RSC and proves the loss reduction percentage. By the optimal flow of reactive
GSC can optimally contribute to the grid reactive power. power, losses in the dfig can be controlled.
It is typical to set the rotor current to zero (eliminating the Qs loop), Apparent power rating along the stator and the rotor side depends on
minimizing the necessary rotor current and saving the rotor winding both the active and reactive power flow given as:
design dimension and the rotor-side converter. Conventionally, reactive
Ss = Ps + jQs ; Sr = Pr + jQr (34)
power control does not fully use the GSC to regulate reactive power
[38]. In optimal strategy, GSC holds reactive power with the RSC to Active power Ps generated at each wind speed calculated considering
minimize the total loss inside the DFIG. Reactive power adjusted be­ the MPPT operation condition. At unity power factor, maximum power
tween the RSC and GSC to maximize efficiency. Maximum reactive extracted from the wind turbine and GSC behaves reactive power
power flow through the RSC and required for the magnetization [31] is neutral. With the regulation of the power factor along the stator side,
given by reactive power burden reduced from the RSC and distributed optimally
with the GSC and the optimal sharing percentage calculated from the
V 2s formula expressed in (35). The step by step process of obtaining the
Qrsc = sr Qm , Qm = (32)
2πfLm optimal sharing percentage for the efficient system under steady state

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S. Gupta and A. Shukla Sustainable Energy Technologies and Assessments 51 (2022) 101961

Fig. 12. Variation in the losses with the reference change in the sharing of reactive power.

described in the flowchart in Fig. 5. Reactive power to be injected from

GSC at every wind speed obtained by regulating the power factor on the Qijgscopt
%Qgsc
share = ∗ 100
stator terminals formulated as Qijm (37)
√̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅ %Qrsc gsc
share = 1 − %Qshare
1
Qijgsc = Pijs ⋅ − 1 (35)
(cosϕijs )
2
Total reactive power requirement of the machine for magnetization
expressed as
with subject to constraints, Qrsc
⎧ Qm = Qgsc
share +
share
(38)
⎪ sr
⎪
⎪
⎪
⎪ V cut−
w
in
⩽V iw ⩽V rated
w
⎪
⎪
⎪
⎪ V w ⩽V iw ⩽V rated
⎪
cut− in where,Qshare = %QQshare
⎪ w
⎪
⎨ Qij ⩽Qrated Voltage and the current on the stator side are aligned in phase, and
rsc r
(36) can be regulated by GSC. With optimal control on the rotor side con­
⎪
⎪ Qijgsc ⩽Qrated
⎪ verter, GSC can also contribute to the magnetization of the machine
s
⎪
⎪
⎪
⎪ pf ⩾ ± 0.9
⎪
⎪
⎪ gsc
simultaneously. In the presented technique, this can be achieved by
⎪ %Qrsc
⎪
⎩ share + %Qshare = 1 altering the alignment of voltage and currents on the stator side by
regulating the current flowing in the stator windings at the unity power
At every wind speed, value of reactive power sharing calculated at factor. Variation in the stator current reflects changes in the power
different power factors to reach the optimal value so as to achieve the factor on the stator terminals as shown in (39) and (40). This change in
maximum loss reduction percentage. However, the sharing percentage the power factor demands the reactive power flow from the GSC to the
of the reactive power from the GSC and RSC calculated as: machine from the stator side windings. The percentage of the reactive
power share from both the converters calculated and analyzed. The
main objective of this optimal control is to increase the machine copper
loss reduction percentage for improving the overall efficiency of the

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S. Gupta and A. Shukla Sustainable Energy Technologies and Assessments 51 (2022) 101961

Fig. 13. Reference change of the reactive power with the change in the wind turbine operating region.

power conversion system. (continued )

Algorithm 1 Optimal reactive power sharing between converters
Pij
cosϕijs = √̅̅̅ s ij* (39) 4: Derive relations for Ps and Qs , Pr and Qr , copper losses, core losses and total losses in
3⋅VL ⋅I s
terms of active and reactive components.
Power factor along the stator can be controlled by regulating the 5: Regulate the power factor by using equation (39)
6: Check Pcu
r with every change in the stator power factor at particular wind speed.
stator current as expressed in (40)
6: if Pcu cu
r at (j + 1) < Pr at(j) then

I ij* i,upf
+ ΔI ijs (40) 7: Go back to step 5 and repeat calculations
s = Is
7: else if Pcu cu
r at (j + 1) > Pr at(j) then
Power extraction increased with optimal sharing of the reactive 8: Compute the apparent power ratings
power in between converters and this improvement analyzed by 8: else if Ss < Srated
s then
9: Optimal reference reactive power value obtained
observing the reduction in the loss percentage with respect to the
9: else Ss < Srated
operation of GSC at unity power factor. s
10: Go to step 3 and Operate at the unity power factor
ΔPcu 11: After obtaining the optimal reference value of reactive power, evaluate the change
%Pcu
t , reduction =
t
∗ 100 in the loss percentage.
Pcu
t,upf (41)
ΔPcu 3.2.1. Approximate model for optimal Q sharing between converters
cu cu
t = Pt,upf − Pt,opt,pf
Conventionally, the preferable method of providing the reactive
Traditional reactive power control of wind turbines does not fully use
power to DFIG is from the stator side by the RSC. This ensures better
the GSC to regulate reactive power. In the optimal control strategy, the
efficiency at the unity power factor, however, with the increase in power
GSC holds reactive power and the RSC to minimize the total loss inside
factor, ohmic losses also increases. At upf operation, Qs = 0 and rotor is
the wind turbine.
excited such that all magnetising current supplied through the rotor
Algorithm 1 Optimal reactive power sharing between converters
making stator side of the machine reactive power neutral. RSC and GSC
1: Obtain optimal values of λ, Cp from wind turbine characteristics. are decoupled by capacitor link. RSC separately generates the rotor’s
2: Calculate Pm , Ps , slip at present wind speed Vw .
gsc
reactive power needs, provided that the current is within converter
3: Calculate Qrsc
share , Qshare , Is , Ss keeping unity power factor at Stator terminals.
limits. For machine excited from the stator, Idr = 0 whereas, reactive
(continued on next column)

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S. Gupta and A. Shukla Sustainable Energy Technologies and Assessments 51 (2022) 101961

power regulation is more efficient through rotor excitation since any Q GSC is designed to supply 53.5% of reactive current from GSC and the
injected at the rotor terminals multiplied slip at stator terminals [15]. remaining from the RSC as shown in Table 3. When 53.5% of reactive
Optimal ratio of reactive power share can also be computed through power is taken from the grid side converter, the power factor is 0.96, and
approximate analysis [41]. Total copper losses in the machine calculated the total copper losses are 15.22 KW. However, when operating at the
as: unity power factor, the total loss is 16.4 KW, higher than the selected
( ( 2 )) operating value. At this optimal reactive power ratio, the power factor
1 Pr + Q2rsc
Pcu 2 2
t = 2 Rs (Ps + Qgsc ) + Rr (42) and the apparent power rating of the machine are also checked, which is
Vt s2 within the rated limit as in Table 3. Furthermore, an increase in grid-side
( ) sharing leads to increased losses and a decrease in the loss reduction
where, Qgsc = βQm ; Qrsc = 1 − β Qm (43) percentage. see Table 6.
β, is the optimal percentage share of reactive power from stator Case c (Near cut-out wind speed): In case of low wind speed, i.e. Vw =
through GSC. To achieve the objective of minimizing the total copper 6 m/sec, the optimal value obtained at power factor of 0.85, which is
loss inside the DFIG machine,(42) differentiated with respect to the less than the power factor limit as per grid codes as shown in Table 4.
optimal ratio when machine is rotating at the rotor speed as: The reactive power injection from the GSC needs to be taken other than
Minimize(Pcu the optimal value to maintain the power factor as per grid codes for
t ), with subject to constraints
⎧ cut− in satisfactory operation of the wind energy system. Moreover, it is
⎪
⎪ V ⩽Vw < V rated observed that at very low wind speed reactive power-sharing ratio of the
⎪ w w
⎪
⎨ λopt ηg Vw RSC is increased. Following the grid codes, the reactive power injection
(1 − s)⩽ ⩽(1 + s) (44) from the GSC must be less than the optimal value in order to maintain
⎪
⎪ Rωs
⎪
⎪
⎩ the power factor for the wind energy system to operate satisfactorily. It
Is ⩽I rated
s is concluded that at very low wind speed, the capacity of GSC cannot be
Optimal value of reactive power sharing between the converters fully utilized as the stator power factor should be kept within limits as
obtained by differentiating the objective function with respect to the per grid codes. Moreover, it is observed that at very low wind speed
variable β which indicates the reactive power sharing percentage from share of the RSC need to be increased. see Table 7.
the stator terminals. A similar analysis for the different wind speeds is compared graph­
ically and tabular form. The plot of the variation of the stator, rotor and
∂Pcu
t total losses against different GSC sharing is presented in Fig. 6. Variation
| =0
∂β ωr of the losses calculated at different sharing of reactive power between
(45)
Rr converters.
β≈
Rs + Rr The power factor is unity at zero GSC, Qshare %, and as the share in­
creases from the GSC, the loss reduction percentage improves, but then
β, is the approximate optimal sharing percentage of the reactive
begins to decline as the GSC share surpasses 50%. At a wind speed of
power from the GSC or stator for loss minimization below rated wind
9 m/sec, point M and N illustrate the ideal operating point. As a result of
speed regions, especially when the machine runs under sub synchronous
these plots, the optimum operating points for an efficient system were
mode considering not exceeding the VA rating of the machine. The
determined. The losses of the machine are minimized with the decrease
approximate calculation shows dependency on the internal parameters
in reactive power share from the RSC or with optimally distributing the
of the machine and is independent of the wind speed.
share of reactive power between the two converters. The approximate
optimal share ratio according to (45) is validated through the plot as
3.2.2. Selection of optimal Reactive power sharing between converters at
shown in Fig. 6 and Fig. 7. Table (1–4) shows how total losses decrease
different wind speed
as the share through the stator side increases, corresponding to sub-
Power factor is varied from unity to grid code limit to select the
synchronous and super-synchronous speeds.
optimal reactive power-sharing between converters at different wind
To the varying wind speed, the rotor side converter share, VA rating,
speeds. At cosϕ = 1, complete share of reactive power from the RSC.
total copper losses and the power factor examined in Fig. 8. The
Table 2–4 shows the computation of stator, rotor, and total copper losses
parameteric constraints for the various operating conditions were
from zero GSC converter magnetising power share. For a wind speed of
determined based on this comparative analysis as shown in Table 5.
11 m/sec or 9 m/sec as shown in Table 2 and 3, When the power factor is
Therefore, the proposed algorithm was implemented for optimal reac­
unity, the reactive power requirement of DFIG is fulfilled from the RSC.
tive power share selection. The comparative analysis clearly shows the
Total losses and loss reduction percentages were also calculated for the
impact of the reactive power on the machine’s apparent power rating
various power factors or injecting magnetizing reactive power from the
and the power factor limit. However, considering these ratings as per the
GSC. Losses are reduced when the stator operates at a power factor other
grid codes, the reactive power-sharing between the converters is
than unity. Moreover, the power factor of the stator is kept within the
decided.
range as per grid codes. While computation, a single optimal operating
point for maximum power extraction is obtained at every wind speed.
4. Simulation Results and Discussion
The following cases demonstrate reactive power sharing and its impact
on other parameters.
DFIG driven wind power system with the optimal reactive power
Case a (At rated wind speed): When wind speed, Vw = 12 m/sec, and
distribution between the converters is modelled in the Matlab/Simulink
GSC is operated at unity power factor, the total copper losses are
using SimPowerSystems toolbox. The performance of the machine
48.32 KW and this loss reduction percentage increases at power factor
modelling is analysed under normal and the small disturbance condi­
slightly less than the unity as shown in Table 1. However, at rated wind
tion. However, the performance of the system analysed with various
speed, operation at power factor other than the unity leads to the in­
excitation and reactive power sharing approaches corresponding to loss
crease in apparent power rating of the machine. When the power factor
reduction. Various signals used for the system are wind speed (Vw ), rotor
is 0.99, the apparent rating of the machine slightly increased from the
speed (ωr ), power coefficient (Cp ), direct rotor current (Idr ), direct stator
rated capacity of 2 MW and results in the overloading of the machine as
shown in Table 5. Therefore, at rated wind speed, GSC operated at the current (Ids ), stator voltages (Vs ), Stator currents (Is ), rotor currents (Ir ),
unity power factor irrespective of the improvement in the loss reduction. stator active and reactive power (Ps , Qs ). The parameters for the simu­
Case b (Below rated wind speed): When wind speed, Vw = 9 m/sec, the lation shown in the appendix.

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S. Gupta and A. Shukla Sustainable Energy Technologies and Assessments 51 (2022) 101961

4.1. System Performance at varying wind speed sharing ratio from the given expression gives approximately constant
value of sharing irrespective of the wind speed and depends only on the
At varying wind speed with respect to time at x axis, Fig. 9 shows the winding resistance of the given rated 2.5 MW DFIG. It is validated
wave forms of different parameters such as Vw , ωr ,Cp ,λ,Vs ,Is ,Ir ,Ps . As the through simulation by modifying the RSC control as shown in the
wind speed varies, the speed of the turbine rotor and machine rotor Fig. 12. In order to compare the impact of changing the reference value
varying accordingly. However, Cp is sustained at 0.44 which signifies the of the reactive power controller, after t = 1.5 sec, reference sharing of
operation of the wind turbine at the maximum power point. In this case, reactive power through stator and rotor changed to approximately 50%
grid reactive power Qg and the stator reactive power Qs set at zero to each according to computed value and it is observed that rotor copper
maintain unity power factor in the grid and stator terminals. Wind speed losses decreased and stator loss increase, however, the overall machine
between 8.5m/sec to 10m/sec corresponding to below and above syn­ ohmic losses reduced and hence makes the system efficient.
chronous speed of operation of DFIG respectively. The variation in rotor Fig. 13 demonstrate the system response in excitation of the machine
current frequency with the increase in the wind speed depicts the change when the mode of the machine changes from the sub-synchronous mode
in the operating mode of the system. Grid power Pg at speed above the of operation to the super-synchronous operating region particularly to
synchronous speed is the sum of the power from the rotor and the stator. rated wind speed. As it has already been shown graphically in Fig. 6 and
However, the impact of the small change of the voltage for about Fig. 7 that the optimal sharing of reactive power at rated speed will be
150 msec on performance of the system is shown in the Fig. 10. With the effective from the RSC only rather than sharing from both the con­
proposed modelling, the rotor speed and the dc link voltage exhibits verters. With the designed algorithm implemented in the control system
negligible effect during small change in the voltage of 20%. The Low the system reactive power reference, keeping all the constraint within
Voltage Ride Through (LVRT) characteristics also maintained as the the limits as per the grid codes switched according to the computed
system remain connected during the small disturbances in the grid optimal ratio with the change in the mode of the operation as well as at
without influencing the power generation. The oscillations as observed rated wind speed.
in the generated power and the electromagnetic torque wave forms are
due to the presence of the negative sequence currents arising corre­ 5. Conclusion
sponding to the change in the voltage at the grid terminals. Fig. 10 shows
the comparison between conventional flux model [9] and proposed This paper proposed modelling of doubly fed induction generator for
model for different wave forms such as ωr , Tem , Is , Ir , Ps , Qs , Pg . From improving the performance of the simulation. Moreover, the grid code
simulation results it was found that proposed model reduces oscillations requirement problems are eliminated during and after faults. An algo­
as well as improved the settling time as compared to the conventional rithm is proposed for deciding the optimal sharing ratio of reactive
flux model. power between the converters. However, different approaches has been
discussed for sharing the reactive power for significant improvement in
the copper loss reduction. The proposed algorithm clearly helps in
4.2. Performance analysis with the reference change in the magnetization
deciding the reactive power sharing between the converters below the
rated wind speed considering the VA rating and the power factor within
The machine’s rotor is magnetized either through the rotor side or
the limits as per grid codes. The scheme is designed in such a way that
the stator side. Set Idr = 0 or exclude the outer reactive power loop by
with the change in the requirement of the reactive power, the optimal
setting Qs = 0 for machine magnetization via stator or rotor, respec­
value of reactive power sharing selected for the converters and hence
tively. Also, it has been already analyzed that the magnetization of the
gives satisfactory RSC control. The performance of the converters in
machine from the stator side minimize the total machine ohmic losses.
sharing the reactive power below the rated wind speed analysed. Also,
However, in the vector control of the RSC, the individual results with
the approximate optimal ratio computation method can be used in the
and without the optimal direct axis rotor current are shown in Fig. 11.
management of reactive power in wind farms. Future research work will
After t = 2 sec, the reference of the direct axis rotor current same as the
focus on the detailed evaluation of proposed control model with some
exciting current, is changed to the optimal value. It has been observed
improvement to take into account the impact of various grid un­
that the total copper losses are reduced with the optimal d- axis rotor
certainties on the operating condition of wind energy conversion
magnetizing current. With optimal d-axis rotor current excitation, sys­
systems.
tem efficiency improves as rotor power loss decreases, and this method
is more significant in low wind speed regions.
CRediT authorship contribution statement

4.3. Performance analysis during reactive power share between RSC and Sonam Gupta: Methodology, Software, Data curation, Writing -
GSC original draft, Visualization, Validation. Anup Shukla: Conceptualiza­
tion, Visualization, Investigation, Software, Validation, Writing - review
Steady-state performance is obtained by magnetizing the DFIG either & editing.
through the stator or through the rotor. As shown in Fig. 12, before t =
1.5 sec, magnetizing through rotor by setting Qs = 0 demands higher
rotor current primarily same as the d-axis rotor current. After t = Declaration of Competing Interest
1.5 sec, excitation changed from rotor to stator by adjusting Qs to the
required value, and it has been observed that the rotor current decreased The authors declare that they have no known competing financial
and simultaneously stator current increases. Moreover, the losses in the interests or personal relationships that could have appeared to influence
rotor winding decreases lead to reducing the total power losses of the the work reported in this paper.
DFIG. Therefore, instead of magnetizing completely through the stator,
losses can be minimized by adjusting the d-axis rotor current, keeping
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