INDEX

3L-NPC, See Three-level neutral point Behavior

clamped multilevel topology, under asymmetrical dips with crowbar
Active and reactive power representations protection, 488
under unbalanced conditions, 454 under three-phase dips with crowbar
Active neutral point clamped multilevel protection, 486
topology, 116 Betz limit, 8
Active power calculation, 610 Block diagram of vector control, 146, 313
Active power control, 37 Braking chopper, 492
Active power oscillations cancellation
strategy (APOC), 457 Cascaded H bridge multilevel topology,
Active vector selection 115
of P-DPC, 420, 422, 439, 441 Characteristics of DFIM supported by DC
of P-DTC, 404, 405, 449 coupled storage, 540
Air density, 7 Circle trajectory of fluxes, 370, 390
Amplitude Clarke transformation, 94, 605
and frequency control by the use of PLL Classic DPC, See Direct power control (DPC)
of stand-alone systems, 558 of the DFIM,
of the space vector, 603 Classic DTC, See Direct torque control
of the stator voltage, 558 (DTC) of the DFIM,
Analysis of the unbalanced voltage distortion Classification of AC machine’s controls,
based on the amplitude of space 366
vectors, 461 Combination of Crowbar
Angle d between the flux space vectors, and braking chopper, 493
367, 388 and software solutions during voltage
Apparent power calculation, 609 dips, 490
ab components, 605 Complex conjugate, 214
ab model of the DFIM, 212 Constant switching frequency, 399, 416
considering iron losses, 611 Constant switching period, h, 400, 418, 431
Continental outage, 480
Back to back power electronic converter, 26, 87 Control block diagram
Balanced voltage, 267 of P-DPC, 420, 434
Balanced voltage dips, 268 of P-DTC, 403, 449
Balancing of DC bus capacitors voltages, Control for unbalanced voltage
128, 444 based on DPC, 452
Base values, 175 based on DTC, 461

Doubly Fed Induction Machine: Modeling and Control for Wind Energy Generation,
First Edition. By G. Abad, J. López, M. A. Rodrıguez, L. Marroyo, and G. Iwanski.
Ó 2011 the Institute of Electrical and Electronic Engineers, Inc. Published 2011 by John Wiley & Sons, Inc.

619
620 INDEX

Control for voltage dips based on DTC, 467 Dynamic response, See Transient
Control solutions for grid voltage response performance of DTC
disturbances, based on direct and DPC,
control techniques, 451
Control structure Electric grid integration, 583
of encoder calibration processes, 516 Electric power system, 47
of grid voltage synchronization processes, Electromagnetic force induced during a
519 voltage dip, 272
Converter model, 89 Electromagnetic torque, Tem, 167, 168, 169,
Crowbar, 29, 481 214, 216, 306, 331
control, 365
Damping of natural flux, 324 during voltage dips, 487
DC Link, 99 expression considering iron losses, 614,
DC-link bus voltage, during voltage 616
dips, 485, 491, 493, 495 Encoder calibration, 514
Delayed signal cancellation (DSC), 356 Encoder zero position correction, 515
Demagnetizing current, 340, 490 Equivalent circuit of the system when the
Dependence between the stator active and crowbar is activated, 482
reactive powers and the stator and Equivalent inductance, Leq, 563
rotor flux space vectors, 388 Exciter mechanically coupled to the
Derivative expressions of stator active and DFIM, 590
reactive powers, 397 Experimental tests, 241
Derivative expressions of torque and the
flux, 380 Feedback matrix G, 509
Design Field oriented control, See Vector control
of an active Crowbar, 484 of DFIM,
requirements for the DFIM, 202 Fixed speed wind turbine, 2
Direct control, 363 basic description, 2
Direct drive, 24, 587, 588 commercial wind turbine, 9
Direct power control (DPC) of the power control of wind turbines, 5
DFIM, 387 Flux ON–OFF controller, 373, 404
basic control principle, 387 Flux orientation, 305, 311
control block diagram, 390 Flying capacitor multilevel topology,
rotor voltage vector effect in the 115
DFIM, 395 Forced flux, 274
Direct torque control (DTC) of the Forced machine, 294
DFIM, 364 Four quadrant modes of operation, 171
basic control principle, 365 Full converter, 24
control block diagram, 371 Future challenges for wind energy
rotor voltage vector effect in the generation, 580
DFIM, 379
Double inverter fed DFIM, 592 Gearbox, 11
dq model of the DFIM, 214 Grid Code, 39
dq model of the DFIM considering iron frequency operating range, 40
losses, 614 inertial response, 44
Dual vector control techniques, 346 low voltage ride through (LVRT), 46
dv/dt Filter, 96 power control, 43, 479
Dynamic modeling of the DFIM, 210 power factor control, 41
considering the iron losses, 610 power system stabilizer function, 45
 INDEX 621

voltage operating range, 40 Low wind scenarios–low wind turbines, 581

voltage support, 41 Lowpass filter, 505
Grid connection switch, 573 LVTR, 479
Grid model, 94
Grid side converter, 28, 348 Magnetizing inductance, 163, 212, 243
Grid side system, 89, 133 and iron losses estimation with no-load test
ab model, 139 by VSC, 256
base values, 149 Mathematical description of the stand-alone
control block diagram, 146 DFIM system, 544
dq model, 140 model of stand-alone DFIM, 544
dynamic modeling of the grid side system, model of stand-alone DFIM fed from
139 current source, 549
grid voltage oriented vector control polar frame model of stand-alone DFIM,
(GVOVC), 143 551
per unit (p.u.) representation, 148 polar frame model of stand-alone DFIM
phase locked loop (PLL), 147 fed from current source, 554
phasor diagram, 135 Mechanical power, Pm, 167, 169
power flow study, 135, 136 Medium voltage doubly fed induction
steady state model of the grid side system, generator, 589
133 Minimum crowbar connection time, 489
vector control of the grid side system, 143 Modular multilevel converter, 115, 118
Grid voltage orientation, 312, 315 Multifunctional converter, 596
Growth in size of wind turbines, 582 Multilevel VSC topologies, 114

Hardware solutions for LVRT, 479 Nacelle, 11

HVDC technology, 581, 594 Natural flux, 274, 291, 317, 320, 344, 485,
Hypersynchronous operation, 158, 172 489
Hysteresis band, 373, 391 Natural machine, 295, 297, 298
Negative machine, 296, 298, 329, 333, 344
IEEE standard 112-1996, 242 Negative sequence, 279
Imbalanced voltage, See Unbalanced voltage, Neutral point clampled multilevel topology,
Induced force, 156 115
Inductive filter, 94 Neutral point piloted multilevel topology,
Influence of the rotor currents during voltage 116
dips, 290 New converter topologies for wind turbines,
Insulated gate bipolar transistor, IGBT, 115 598
Internal combustion engines, 537 New generator designs for wind turbines, 596
Iron losses, 243, 610 New trends on wind energy generation, 579
No-load test, See Magnetizing inductance
Jump to the normal operation in start-up of and iron losses estimation with
the DFIM, 522 no-load test by VSC,
Normal operation state of a wind turbine, 530
Leakage coefficient, 169, 214
Leakage inductances estimation by VSC, 250 Off-line estimation of the DFIM model
Limitation of the current references in vector parameters, 242
control, 307 Off-line iron losses estimation,
Loss of the current control under voltage dips, See Magnetizing inductance and
337 iron losses estimation with no-load
Low voltage ride through (LVRT), 46 test by VSC,
622 INDEX

Off-line leakage inductance estimation, Predictive direct torque control (P-DTC) of

See Leakage inductances estimation the DFIM, 399
by VSC, basic control principle, 399
Off-line magnetizing inductance estimation, control block diagram, 402
See Magnetizing inductance and iron multilevel converter based P-DTC, 447
losses estimation with no-load test by Preliminary DC link charging for stand-alone
VSC, systems, 539
Off-line rotor resistance estimation, Proportional action in PI controller, 322
See Stator and rotor resistances
estimation by VSC, Rated power, 179, 181
Off-line stator resistance estimation, Rated rotor current, 179, 181
See Stator and rotor resistances Rated rotor voltage, 179, 181
estimation by VSC, Rated stator current, 179, 181
Offshore energy evacuation, 593 Rated stator voltage, 179, 181
ON–OFF controller, See Torque ON–OFF Reactive power calculation, 610
controllers and Flux ON–OFF Reactive power control, 37, 42
controller, Reconfigurable wind turbine based on DFIM,
ON–OFF hysteresis controller, See Torque, 591
Flux, Stator active power or Stator Reference adaptation of DPC, 395
reactive power ON–OFF controllers, Reference frame orientation, 312, 314, 316,
Onshore–Offshore windfarms, 580 318, 328
Oscillations in the electromagnetic torque, Reference frames, 606, 607
328 Referring rotor emf to the stator, 160
Oscillations in the stator current, 328 Region calculation, 434
Overvoltages in the DC-Link Bus under Relation between the steady state model and
voltage dips, 338 the dynamic model, 234
Reliability, 364, 399, 582
Parameters of the DFIM, 179 Replacement loads, 495
Partial voltage dip, 273 Requirements of stand-alone DFIM based
Per unit transformation, 173 system, 537
Phase looked loop (PLL), 332, Reversible power electronic converter, See
507, 558 Back to back power electronic
Phase-to-phase dip, 286 converter,
Phasor diagram, 163 Rotational transformation, 608
PI, proportional integral controller, 322 Rotor, 25, 159
Pitch (b) control, 5, 14 active power, Pr, 167, 169, 214, 215
Plant of the control loop in vector control, current, 158, 211
309, 319 Rotor flux, 163, 211
Polar frame, 551, 554 amplitude control, 365
Positive machine, 295, 298, 329, 333, 341, amplitude reference generation for DTC,
344 386
Positive sequence, 279 reference generation strategy, 464
Power coefficient, Cp, 8 reference generation strategy
Power train technology trends, 586 for voltage dip effect mitigation, 469
Predictive direct power control (P-DPC) space vector, 212
of the DFIM, 416 Rotor leakage inductance/impedance, 158,
basic control principle, 417 179, 212, 243
control block diagram, 419 Rotor locked test, 254
multilevel converter based P-DPC, 428 Rotor open-circuited analysis, 268, 273
 INDEX 623

Rotor reactive power, Qr, 170, 214, 215 Space vector representation, 603, 607
Rotor reference frame (D-Q), 607 in ab, 220
Rotor resistance, Rr, 158, 161, 179, 212, 243 in dq, 226
Rotor side in DQ, 225
converter, 96 Spanish verification procedure, 55
filter, 429 Spectrum analysis
Rotor voltage, 158, 211 of DTC, 384
of P-DTC, 411
Saturation of rotor converter, 328 Squirrel cage induction machine, 256
Sector angle look-up table, 373 Stacked multicell multilevel topology, 115
Selection of filtering capacitors for Stall control, 6
stand-alone systems, 541 Stand-alone DFIM based generation systems,
Sensorless control of the stator voltage and 537
frequency with PLL of stand-alone Start-up of the DFIM, 512
systems, 560, 562 STATCOM, 496
Sensors, 502 State space equations of the DFIM and the
Sequence component, 567 rotor side filter, 430
Sequences, 279 State-space representation
Sequential start-up of the DFIM based wind of ab model, 216
turbine, 523 of dq model, 229
Setting of the references during unbalanced of DFIM considering iron losses, 616
voltage, 350 Stator, 25, 159
Simulation block diagram of the DFIM, 217 Stator active and reactive power estimation,
Single-phase dip, 283 503
Sinusoidal pulse width modulation (PWM) of Stator active power ON–OFF controller, 390
two level converter, 101 Stator active power, Ps, 167, 169, 214, 215,
amplitude modulation index, 102 305, 330
frequency modulation index, 102 Stator and rotor flux full order observer,
output voltages, 103 508
spectrum, 104 Stator and rotor fluxes estimation, 507
Sinusoidal PWM with third harmonic Stator and rotor resistances estimation by
injection of two level converter, 104 VSC, 245
block diagram, 107 Stator circuit breaker, 513
output voltages, 106 Stator current, 158, 211
spectrum, 106 space vector, 212
Six pulse generation, 93 Stator flux, 163, 211
Slip, 157 estimation from stator voltage and currents
Space vector, 282, 603 measurements, 506
Space vector modulation (SVM) of two level space vector, 212
converter, 107 synchronization from stator voltage, 506
block diagram, 112 trajectory during a voltage dip, 270, 276,
normalized voltage amplitude, mn, 109 285, 287, 289, 290
output voltages, 111, 113 Stator leakage inductance/impedance, 158,
space vector representation, 108 179, 212, 243
spectrum, 114 Stator power error reduction criteria, 443
Stator power ripple reduction criteria, 422
Space vector diagram in a transient state Stator power waveforms
caused by mechanical speed or load of DPC, 393
change for stand-alone systems, 561 of P-DPC, 418, 431, 441
624 INDEX

Stator reactive power ON–OFF controller, output voltages, 123

390 regions, 126
Stator reactive power, Qs, 170, 214, 215, 305, sextants, 124
330 short vectors, 126
Stator reference frame (a-b), 607 sinusoidal pulse width modulation
Stator resistance, Rs, 158, 179, 212, 243 (PWM), 122
Stator voltage, 158, 211 space vector modulation (SVM), 124
control of stand-alone systems, 558 spectrum, 123
harmonics compensation at nonlinear switching states, 120
load of stand-alone systems, 570 zero vectors, 126
space vector, 212 Tip speed ratio, 8
Steady state curves, 184 Torque and flux error reduction criteria, 450
Steady state equations of the DFIM in Torque and flux ripple reduction criteria, 407
p.u, 177 Torque and flux waveforms
Steady state equivalent circuit, 158, of DTC, 376
162, 166 of P-DTC, 401, 405, 451
Steady-state performance Torque coefficient, Ct, 8
of DPC, 395 Torque ON–OFF controllers, 373, 404
of DTC, 377 Torque oscillations cancellation strategy
of P-DPC, 424, 445 (TOC), 457
of P-DTC, 411, 415 Torque oscillations cancellation without
Subsynchronous operation, 158, 172 sequence calculation (TOCWSC),
Superposition principle, 329, 333 458
applied to voltage dip analysis, 294 Torque–slip curve of a SCIM, 258
Switching power loss reduction, 410 Total voltage dip, 268
Symmetrical components, 278 Transformation of coordinates, 605, 608
Synchronization before grid connection by Transformations to different reference
superior PLL of stand-alone systems, frames, 606
573 Transformer, 30, 53
Synchronization with the Grid, 518 Transient response performance
Synchronous operation, 158, 172 of DPC, 395
Synchronous reference frame (d-q), 607 of DTC, 377
System configuration during encoder of P-DPC, 424, 445
calibration and grid voltage of P-DTC, 411, 415
synchronization processes, 513 Tuning of the regulators in vector
control, 320
Testing the DFIM, 241 Two-level voltage source converter (VSC),
Third harmonic, 261 88, 364, 367
Third harmonic injection, See Sinusoidal u, Stator and rotor turns ratio
PWM with third harmonic injection, relation, 160
Three phase magnitudes, 603
Three-level neutral point clamped (3L-NPC) Unbalanced load, 567
multilevel topology, 116 Unbalanced voltage, 327
block diagram, 132 dip, 278
capacitor voltage balancing, 129 Uncertainty in parameters, 509
duty cycles, 126, 128 Variable speed wind turbine, 10
large vectors, 124 aerodynamics, 7, 11
medium vectors, 126 control of a variable speed wind turbine, 15
model, 120 electrical system, 22
 INDEX 625

maximum power tracking, 18 asymmetrical voltage dips, 278

maximum speed control, 18 DFIM equivalent model during voltage
mechanical system, 13 dips, 297
minimum speed control, 18 three-phase voltage dips, 268
modeling of variable speed wind turbine, Voltage dips classification, 51
11, 72 Voltage harmonics reduction during
Vector control of DFIM, 303 nonlinear load supply in
behavior under unbalanced conditions, stand-alone systems, 569
327 Voltage sensor, 247
behavior under voltage dips, 331 Voltage source converter (VSC),
complete control system, 313 87
control solutions for grid disturbances,
340 Wind energy generation system,
current control loops, 308 1, 25
current references, 305, 307, 314 Wind farm, 33
reference frame orientations, 311, 328 control system, 36
small signal stability of the vector control, solutions for voltage dips, 496
314 Wind speed, 8
Voltage asymmetry correction during Wind turbine manufacturers, 57, Table of
unbalanced load supply in Chapter 12
stand-alone systems, 567
Voltage dips, 50, 265, 467 Zero sequence, 279