Stator Field Oriented Control of
Doubly-Excited Induction Machine in
Wind Power Generating System
Yifan Tang Longya Xu
Student Member, IEEE Member, IEEE
Department of Elecmcal Engineering
The Ohio State University
2015 Neil Avenue
Columbus, Ohio 43210
Abstract- Optimal operation of a wind power generating system is speed may be sub-synchronous,when slip-poweris subtractedfrom
featured by the variable-speed constant-frequency mode in which the rotor circuit, or super-synchronous,when slip-power is supplied
maximum-power-capturing from the wind turbine and constant- to the rotor circuit [1,3].
frequency-interfacing with the power system are the primary
concerns. A slip power recovery system with a doubly excited Therefore, we can conclude that it is possible for a wound
wound rotor induction machine is attractive in this situation. In this rotor induction machine to achieve VSCF operation and to recover
paper, field orientation control for doubly-excited induction slip power, by implementing control in the rotor circuit. However,
machines is studied. Since the operational condition and control using the existing models and methods [1,2,3], both performance
objectives of the variable-speed constant-frequency generating analysis and control of torque, speed, power, etc., seems a
system are significantly different from those of a variable speed formidable task.
drive system, implementationstrategy of field orientation control of
induction machines must be re-examined. A stator field orientation In this paper, a field orientation control method for doubly-
control method suitable for the doubly excited induction machine in excited induction machines is developed, based on the stator flux d-
a wind power generating system is developed. Digital simulation is q model. Field orientation control for well-known variable speed
carried out showing that the doubly excited induction generatorwith induction motors is reviewed and the fundamental differences of an
the proposed control strategy can track the optimal torque-speed induction machine in variable speed drives and VSCF generating
profile of a wind turbine very well. In addition, flexible reactive systems are discussed, then a field orientation control method
power control is also accomplished. suitable for a doubly-excited induction machine in a wind power
generating system is developed, with digital simulations.
INTRODUCTION
FIELD ORIENTATION CONTROL FOR
Variable-sped operation is critical to gain high eficiency for DOUBLY-EXCITED INDUCTION MACHINES
certain generating systems. For example, in a wind power
generating system, it is requid that the generator track a prescribed A . Operational principle and modeling of doubly-excited induction
torque-speed profiie, usually a square function [ 11, or otherwise not machines
only the generating system can not capture the largest possible
energy available from wind but the blades of the wind mill will Field orientation or vector control of an induction motor
subject to torsional stress and windage friction. On the other hand, drive systems has been actively researched for the last decade. The
to interface the generating system with the power system, the decoupled torque and flux control in AC motors based on the
frequency of the output voltage from the generator must be constant. concept of field orientation has become a standard of comparison for
high performance AC drives. Although the subject of field
To configure a variable speed constant frequency (VSCF) orientation control (FOC) is not a closed chapter in the story of AC
system, induction generator is considered very attractive for its drives, it is at a relatively mature stage [4].
flexible rotor speed with respect to the constant stator frequency.
While the rotor speed of an induction machine is allowed to vary, However, theory and implication of applying field
the slip power losses set the limit for the rotor speed range. orientation control technique to the variable speed constant
Whenever the rotor speed is beyond the limit, slip power losses frequency generating system remained a nearly unexplored territory.
become unacceptable and the efficiency of the machine becomes The operational condition and control objectives of drive systems
very low. The solution to expand the speed range and reduce the and generating systems are vastly different. It is, therefore,
slip power losses simultaneously is to doubly excite the stator and instructive to examine the fundamental differences of the two
rotor windings. In the doubly excited scheme, a solid-state power systems.
converter regenerates the majority of the slip power back to the
power grid, thus improving system efficiency significantly. Figure l(a) shows the structure of a cage induction motor in
a variable speed drive system. At the rotor side, the input voltage is
Various control algorithms have been suggested to identically zero because of the short-circuit cage while at the stator
implement operation of a doubly excited induction machine. For a side, the input voltage is completely conditioned to a proper
doubly-excited induction motor, Ioannidou and Tegopoulos [2] magnitude, frequency and phase angle according to the FOC
studied the relations of rotor current, torque, slip power, power algorithm so as to achieve desirable performance. Torque
factor and eficiency with speed, rotor voltage magnitude and phase production diagram for FOC is described in Figure 1(b).
angle. It was suggestedthat by controllingthe latter three quantities,
it is possible to meet any torque-speed requirement, and optimize
some of the performance indexes such as efficiency and power
factor. For a doubly-excited induction generator, Holmes and
Elsonbaty [l] and Vicatos and Tegopoulos [3] expressed the
complicated torque-speed relation in stator and rotor voltages along
with machine parameters. It was derived that there are three torque
components, namely, two asynchronous torque produced by the (a) Structure (b) Torque Productlon
stator source and the rotor source respectively and a synchronous
torque produced by the interaction of the two sources. A constant Fig. 1. Singly-excitedInduction Machine
stator frequency can be maintained over a wide speed range by
supplying the rotor circuit with slip-frequency voltage, and the
0-7803-0510-8/92$03.00 01992IEEE 1446
Compared with a cage induction motor with FOC, the The torque equation can be written as
terminal constraints of a doubly-excited induction machine arc
somewhat interchanged in a VSCF generating system. As shown in
Figure 2(a), the magnitude and frequency of the stator voltage are (3)
constants defined by the utility power supply while the rotor
terminal receives fully controlled voltage from a power Converter. Note that the voltage equations of the rotor circuit are not
In addition, in the doubly excitation scheme, the power converter included assuming that the current r and & are known quantities
processes only part of the total power converted by the induction produced by a current regulated 4 converter.
machine, carresponding to the slip power of the machme.
B. Statorfield orientation control
In a wind power generating system, control schemes for the
doubly-excited induction machine are expected to achieve the
following objectives: 1) The induction generator is required to track
a prescribed torque-speed curve, for maximum wind power
capturing; 2) The stator output voltage frequency must be constant;
3) Flexible reactive power control is achievable. Other issues such
as stability and parameter sensitivityare also impatant.
(a)Strutture (b) Torque Production
Fig. 2. Doubly-excitedWound-rotor InductionMachine The stator field orientation control is based on the stator flux
d-q model, where the reference frame rotates synchronously with
respect to the stator flux, with its d-axis overlaps the instantaneous
Under the new terminal constraints, which is substantially axis of the stator flux. Therefore, w = o,,where o,is the angular
different from that of a singly-excitedinduction machine, operation frequency of the stator voltage, and \s= 0. For such a reference
of a doubly excited induction machine has the followingfeatures :
frame selection, the system equations, in scalar form, are d u d to
1) The levels of the stator flux, airgap flux and rotor flux arc
approximately unchanged over a wide speed range, since the v h = rs i h + dlias (4)
fkquency and magnitude of the stator voltage are ked.
2) The speed of its rotating field is constant, whereas for a singly-
excited induction motor, the speed of the rotating flux is controllable
and so is the slip of the rotor. For a doublycxcited induction
machine to achieve variable speed operation, the only possibility is
to change the slip frequency, instead of changing both the stator
frequency and the slip frequency as in the case of singly-excited
induction motor.
3) Speed and toque axe controllable through the power converter
linked to the rotor circuit. For the system to achieve a higher
efficiency, the energy circulationvia the slip power Tccovtry process where vmis the constant stator voltage magnitude.
is inevitable. The slip power may be substractedfrom or supplied to
the rotor circuit, when the system is operating in sub-synchronous Since the d-axis of the reference fram is chosen to be the
speed or super-synchronousspeed,respectively. instantanems axis of the stator field, the phase angle of the stator
voltage is generally not a constant, although its f q u e n c y and
The stator voltage equations of the induction machine in the magnitude arc constants constrainedby the power system.
arbitraryrotating dq-n reference frame can be written as [5J
The electromagnetic torque is now
A torque production diagram derived f "(4) through (9) is
where shown in Fig. 2(b), which is analogous to Figure l(b), with the role
of the stator circuit and the rotor circuit somewhat interchanged.
As discussed previously, the level of the stator flux remains
approximately unchanged, constrained by the constant magnitude
and frequency of the stator voltage. Therefm. toque control can
be most conveniently achieved by controlling the rotor current
component orthogonalto the stator flux.
The reactive power at the terminal of the stator winding, in
motor convention, can be expressed as
3
and "x" represents vector cross product. w is the rotating speed of Qs =-(v
2 gdis -vdsiJ
the reference frame. The stator flux linkages are related to the
currents, also in matrix form, From (4) and (5), with the stator flux remaining unchanged, the
reactive power can also be expressed as
where As indicated by (61,ids is controllable by b.Therefore, f"(1 l),
the d-axis component of the rotor currcnt, i&, can be controlled to
regulate the reactive power.
1447
(a) Torque 4oo (b) Rotor Currents
As can be seen from (9) and (1I), control of torque via iqr I I 1
and control of reactive power via bare essentially decoupled; thus a
decoupler is not needed to implement field orientation control. In
addition, flux control is unnecessary since it maintains a constant s
level, while control of the reactive power becomes possible. .B
B
STATOR FOC IMPLEMENTATION IN
VSCF WIND-F'OWER GENERATING SYSTEM 2500
Fig. 3 shows an implementation of the stator field oriented
control of a doubly-excited induction machine. A current-regulated
PWM voltage-source inverter (CIWWM-VSI) is used on the
machine side; on the power network side, another PWM-VSI is
used. This PWM-VSI can maintain a constant voltage at the DC
side; therefore the size of the DC link filter can be reduced; it can
also improve interface performance (power factor and harmonic
distortion factor) at the AC side. The ability of bi-directional power
flow is necessary for the generating system to achieve both sub-
synchronous and super-synchronous speed operation. The kVA
rating of the power converters is only a portion of the full rating of
the machine, depending on the speed range and normal power factor
requirement.
(IRPWM PWM
Invener -
VSI
T-
. .
0, Te reference speed ,__,-'*
Fig. 3. Field Orientation Control Implementation 1700
2 3 4 5 6 7 8
time (sec)
In order to control the dynamic torque, the instantaneous
position and magnitude of the stator flux is made available through a
flux estimator. A rotor current vector is injected orthogonally to the ~
-
stator field, proportional to the command of the torque. Flexible
reactive power control is achieved by controlling the stator current turbinc torque __.----
400
component in the d-axis of the stator field. In addition, the second EM torque
PWM converter can provide reactive power to the rotor circuit. 300
_.--
A . Steady-state Performance
I 2 3 4 5 6 1 8
Using the stator flux model, electromagnectic torque control time (sec)
is decoupled from reactive power control. This and other steady-
(C)
state characteristics of the doubly-excited induction machines are m, I
shown in Fig. 4, over a speed range covering both sub-synchronous I M
and super-synchronous speeds. A typical wind-turbine
characteristic is assumed [l],from which optimal power extraction
and corresponding wind-turbine torque over a wide speed range can
be determined, as shown in Fig. 4(a). The electromagnetic torque
Te is directly controlled by i,, to track the optimal torque-speed
profile of the wind-turbine. The reactive power Qs is directly I
controlled by i&. as indicated in Fig. 4(b). In addition, Fig. 4(c) 2 3 4 5 6 7 8
shows that k,js is nearly unaffected by 4, or &, and Fig. 4(d) shows time (sec)
that vds is negligibly small.
200
.-,
100 300
$ 0
-100
I
2 3 4 5 6 7 8 0.01 0.k 0.03 0.k 0.05 0.k O
b 0.k 0.09 011
timc (sec) timc (see)
xi04 (b)
Fig. 5. Speed-eackhg by Field OrientationControl
. 0
Qs
-2 -
-4 LI I
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
loot (c) timc(sec)
ok 0.01 0.b 0.03 0.k 0.k 0.k O
timc (sec)
h 0.08 0.09 O!l
100
80
xi04 (b)
.-.-
4
1- -- - I 20
1
-2 t Qs
1 '0
100
0.01 0.02 0.03 0.04 0.05
time(sec)
0.06 0.07 0.08 0.09 0.1
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
80 -
time (sec)
60-
40-
7
100
50
b 1 20
'0
P
0.01 0.02 0.03 0.04 0.05
h e (sec)
0.06 0.07 0.08 0.09 0.1
0.01 0.k 0.03 0.k 0.05 0.06 0.07 0.08 0.09 011
timc (Sec)
time (sec)
Fig. 7. Conuol of Reactive Power
Fig. 6. Control of ElectromagneticTorque
2) M.G.Ioannidou, J.A.Tegopoulos, "Generalized Optimization
CONCLUSIONS Slip Power Recovery Drives", IEEE Trans. Energy
Conversion, Vol. 5, No. 1, March 1990, pp. 91-97
A stator field oriented control method for doubly-excited 3) M.S.Vicatos, J.A.Tegopoulos, "Steady State Analysis of a
wound-rotor induction machines is developed, using a stator flux d- Doubly-fed Induction Generator under Synchronous
q model. Variable-speed constant-frequency operation of a wind Operation", IEEE Trans. Energy Conversion, Vol. 4, No. 3,
power generating system is studied as an application. High- September 1989, pp. 495-501
performance and optimal operation can be achieved, while parameter
sensitivity problem associated with field oriented control of 4) D.W.Novotny, R.D.Lorenz, (edited) "Introduction to Field
induction motor drives is not encountered. Orientation and High Performance AC Drives", Second Edition,
IEEE Industry Application Society Tutorial Course, 1986
REFERENCES
5 ) P.C.Krause, "Analysis of Electric Machinery", McGraw Hill,
1) P.G.Holmes, N.A.Elsonbaty. "Cycloconverter-excited 1986
Divided-winding Doubly-fed Machine as a Wind-power
Converter", IEE Proceedings, Vol. 131, Pt. B, No. 2, March
1984, pp. 61-69
