Modelling and simulation of a doubly fed induction generator in stand alone variable speed hydro turbine

(1)

HAL Id: hal-03005794

https://hal.archives-ouvertes.fr/hal-03005794

Submitted on 14 Nov 2020

HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are pub- lished or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers.

L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d’enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.

Distributed under a Creative Commons Attribution| 4.0 International License

Modelling and simulation of a doubly fed induction generator in stand alone variable speed hydro turbine

D. Ramuz, Mamadou Baïlo Camara, Martine Sébéloué, Ollivier Tamarin, F.

Roubaud, H. Clergeot, J.-M. Kauffmann

To cite this version:

D. Ramuz, Mamadou Baïlo Camara, Martine Sébéloué, Ollivier Tamarin, F. Roubaud, et al.. Mod- elling and simulation of a doubly fed induction generator in stand alone variable speed hydro turbine.

2005 IEEE 11th European Conference on Power Electronics and Applications, Sep 2005, Dresden, Germany. 10 pp.-P.10, �10.1109/epe.2005.219777�. �hal-03005794�

(2)

See discussions, stats, and author profiles for this publication at: https://www.researchgate.net/publication/224643148

Modelling and simulation of a doubly fed induction generator in stand alone variable speed hydro turbine

Conference Paper · January 2005

DOI: 10.1109/EPE.2005.219777 · Source: IEEE Xplore

CITATIONS

10

READS

270 7 authors, including:

Some of the authors of this publication are also working on these related projects:

Multi-source Energy ManagementView project

These IntitulView project M.B. Camara

Université du Havre

113PUBLICATIONS 1,754CITATIONS SEE PROFILE

Martine Sebeloue

Institut Universitaire de Technologie (IUT) de Kourou 4PUBLICATIONS 12CITATIONS

SEE PROFILE

Ollivier Tamarin

Université de Guyane / Université de Bordeaux 31PUBLICATIONS 161CITATIONS

SEE PROFILE

All content following this page was uploaded by M.B. Camara on 15 March 2015.

The user has requested enhancement of the downloaded file.

(3)

Modelling and Simulation ofaDoubly Fed Induction Generator in stand alone Variable Speed Hydro Turbine

D. RAMUZ*(EPEMEMBER),M. CAMA**, M. SEBELOUE*, ^0.TAMARIN*, F. ROUBAUD*, H. CLERGEOT*, J-M. KAUFFMANN**

*Groupede RecherchesurlesEnergiesRenouvelables(GRER^-FrenchGuiana) IUT de Kourou^-BP725^-97387 Kourou (France / FWI)

2: (+33) 0594328002/Fax: (+33) 0594328175

: httl./w.ui-g,recherche.htmr

Laboratoired'Electronique, ElectrotechniqueetSystemes (UTBM/L2ES^-Belfort) ParcTechnologique^-90010 Belfort(France)

2:(+33)0384583601 /Fax:(+33)0384583636

Abstract: Inthis^paper, the authors^{propose an}approach with problems of electricity production in isolated sites in French Guiana. Indeed, the geographical context of French Guiana impliesaconcentrationofthepopulationonthe littoral connectedtothe electrical national grid "EDF"'(1, whereas population livinginrural^areasand in majority locatedattheedge of the rivers, ^are dedicated to their own means of production by using Power Diesel GeneratorsorPhotovoltaic systems.

Keywords^:DoublyFed InductionGenerator(DFIG), Vector Control Strategy, Standalone2, VariableSpeed HydroTurbine, Renewable Energysystems

1- Introduction

In the case of the production by Micro-Hydro Power Station3 with variable speed turbines, a

DoublyFed InductionGenerator (DFIG)canoptimize the^powerproduced. Indeed, duetothespeeds and the flows variability of the French Guiana rivers, DFIG makes it possible to compensate the variability in acceptable proportions andguarantees agood ^energy quality in the network. Astrategy ofvector control provides constant voltage, frequency, and this, in spite of the speed variations at

driving shaft and of reasonable variations of power consumption; ^moreover, it will allow a

hybridization with other ^power electricity production plants (as secondary producer by interconnection) of several electricity production systems or as principal producer via ^{a common} DirectCurrentbus.

On the basis ofarecentprototype [3 ],^asufficienttorquetosupplyaturbineupto500 kW could be obtained fromaflow ofwaterof¹ m.s-1 withaveryweakwater fall. To avoid tidesinfluence, the hydropower plantis located atmore than 30to 50 km from the littoral. Thus, this solutionverywell adapted in French Guiana where water falls are weak can also be used in other countries with the

same specificities likeBenin,Guineaorother countriesinequatorialAfrica.

A DFIG needs formagnetizing an auxiliary source, which feeds the windings atthe rotor. The originalityof this work istouse aDCsourceobtainedthrough photovoltaiccells.

IEDF:Electricitede France

Autonomous system=stand alone=isolatedgrid

3Micro-HydroPower Station:P<150 kVA

EPE 2005 Dresden P.1

EPE2005-Dresden ISBN:90-75815-08-5 P.1

(4)

EuropeanConference on Power Electronics andApplications2005

2-Characterization andmodelling of the elements ofaHydraulic Turbine in French Guiana[1]

2.1-Hydraulic characterizationof some rivers

The approach suggested for anhydraulic turbine canbe comparedwith that done inatraditional way forawindturbine: thevariability of theprimary source as well asthedimensioning of the unit canbe of thesameorder ofcomplexity.

For that, annual hydrological statements (experimental results) ofthe principal rivers (IRD(4) -

Guyana) given on figure 1 hereafter, initially enable us to characterize the flows and the possible variations ofthe primary source of energy. To support these data over longer durations, figure 2 hereafter gives us a statement over 47 years (IRD-Guyana) of some principal rivers. Indeed, the conditions of measurements of these statements were justified by hydraulic considerations and logistics all while keeping any disturbing influence as much aspossible (non turbulent conditions of flow,noinfluence ofthetides...).

Fleuve rire Station

Maroni Unak

Oyapock S~~ap Qyap,odk Ca AIftarl P'

Mana SaW.abl

Ap,pruae. l AAma Sinnamary ~PWWSa

ComtI iWQieI KArmouae1 mub

debi

{M"^/s

I68113 7424531,6

311I,3

2347 163 1015,44

ft 60940 251O to03005920 10300 7520 5900 6 M 7650 I760

nombre~

.8 2

36ue d3

4~

2612 44

8,8 ²³

344 30

643 8

41,2 31

3719 35

5 130

mainmun mInkum mei uI ^mese

0 04

5450@ 54M2 2970 6E71 280 21O13

1613 76O i1 16 56,10

1 300 2380 676 7420 848 48J0o 7$8 5150 700 211 417 13A0 17e' 0

564~

ii232

i 196

145128 143131

5,1359 Figure 1:Annualhydrologicalstatement in variousmeasuringsitescarriedoutbyIRD-Cayenne

2 000

'0W

- Langatabiaki SautBief - Pierrette

Pett Saut ^...R SaulManoDa SaultSabbat

Figure2:Hydrological statementover47yearsinsomemeasuringsitescarriedoutbyl'IRD4 Cayenne According to thc statemcntoffigure 1,we can notethat atthe various hydrological stations, thc medium flows can fluctuate in an avcrage ^ratio going from 1 to 3 (scc cvcn more). Moreover, thc annual statcmcnts (figure 1) arc very fluctuatingbut it is also the case duringthe 47 years (figure 2).

Nophenomenon ofcycle can behighlighted (these flows could be alittle bit linearizedby installation 4IRD:Institutde RecherchepourleDiveloppement

2/10

(5)

European Conference onPowerElectronics and Applications 2005

of tanks before theturbines). Moreover,we cannote significantmedium flows under lowdrop heights (some meters).

Thus, these experimental statements enableustobetter characterize the flows of^someprincipal rivers, and will make it possibletomake acertain choice of the unit turbine ^-generator. Initially, the choice will be carried outby a compromise between the maximum exploitation of the flows with an

outputofenergyconversionashighestaspossibleand this with the minimum of civilengineering.

2.2^-Mathematical modelling of^apossiblewaterturbine:

The approach suggested by the turbine Banki (orCrossflow, Ossberger)^wasneglected by large manufacturers because of his output slightly lower (efficiency 80%) than that of^a Francis turbine much better and more spread, but its advantage is the simplicity of its construction. This turbine is appropriate for ranges of flows going from 20% to 100% and for falls varying from ¹ to 200m.

Moreover, figure 3 shows us a comparisonbetween various turbines and this, according to the fall height and specific speed; figure 4 gives the output of such aturbine according tothe flow and the used portion (compared with a Francis turbine). In figure 5 a comparison is made between the differenttypeof turbinesaccordingtothe fallheight,flow andpossible^power.

Figure 3:Comparison betweenvariousturbines accordingtospecific the speed and drop height (m) (Ossberger)

Figure 4: Output of the turbine accordingtothe efficiencyand the flowcomparedwith^aFrancis turbine

Thus, theprevious figures 3, 4 and 5 enabled usto characterize the choice of thetypeof turbine accordingtothe fallheightH(m),the flowQ(m3/s),theoutputofaBanki turbine and of thepossible

power(kW). Theinherent characteristic of^aBankiturbine(Ossberger) givenonfigure4, highlightsa

constantvalue fortheefficiency( 80%) accordingtothe usedportionofthe turbine(itselffunction of theQ flow) comparedwithaFrancisturbine.

So, ^a Banki turbine could be ^a good choice dueto its flexibility ofoperation ^{on a} broad ^range speedand its suitable outputandefficiency. Moreover, takingintoaccounttheheightof the waterfalls (1 to 3m as average value) and low velocity of the rivers (- ¹ m/s), the speedof the turbine will be rather slow.

3/10

EPE2005^-Dresden ISBN:90-75815-08-5 P.3

(6)

Modelling and Simulation ofaDoubly Fed Induction Generator for isolatedGrid(l) Micro-HydroPowerstation(2)inVariableSpeedTurbine forequatorialmedium RAMUZDenis Electronics Applications2005

Figure er eo various ines

| -W*!ki^ita accordingtothepossiblePower(kW),flow(m3/s),

and fallheight (in) (Ossberger)

Acurrentand^verymuchusedinhydraulicsformula isgiven by:

V=2A* 2*g* (1)

inwhich: V the speed (m/s), A aloss ratio (- 0,95 ^...1), g acceleration ofgravity (Paris) and Hthe fallheight (m)withoutconsideringpressurelosses.

Moreover,thepossiblepowercanbe calculatedby:

P=q*p*g *Q*H (2)

in which, P is the ^power (kW), ^q the global efficiency (turbine, multiplier, generator, transformer, lines, control, ...), ^p density(water A000 kg/m3), Qthe flow(m3/s)

The Torque accordingtotheflow,radius andtangential speedisgiven byEulerequation

Cm=Q * *(rOVO ^-^rv) ⁽³⁾

with:

Cm:torque(Nm)

= p*g :density weightofwater(N/m3) ro :radius ofwaterfilamentinput (m)

v:O waterfilamenttangential speed(m/s)

r1 and v ^: outputwheel radius

Theoutputpower Pm oftheturbine,whichrunswithaspeed (rd/s)who isexpressed by:

Pm Cm* ⁾ (4)

In the case ofa Banki turbine, the actual values often differ from those calculated because of

pressurelossesexistinginthe conduitsorthe diversion channelsresultingfrom thetermH.

4/10

(7)

EuropeanConferenceonPowerElectronics and Applications 2005

Concerningthe solarsunningneededbythephotovoltaic cellstomagnetizetherotorwindings, it

was measured sunning powerof about 5to 7 kWh/m2/day and 2200h of annual average insulation in French Guiana(Meteo France).

2.3^-Modelling of the doubled fed asynchronousmachine used^asautonomousgenerator in hybridization withaphotovoltaicsystem

In the case of the production by Hydraulic turbine (2), the Doubly Fed Induction Generator (DFIG) makes itpossible to optimize the produced^power. Indeed, consideringthe variable speeds and flows of the French Guiana rivers, the Doubly Fed Induction Generator (DFIG), allows to compensate these variations in acceptable proportions while guaranteeing a good quality of the electrical network. Thestrategy ofoperationand control consists inproviding constantvoltageVand frequency f and this, ⁱⁿ spite of the speed variations and reasonable consumption variations.

Moreover, hybridization onDC bus by aphotovoltaic systemallows themagnetizing of the machine (V,fregulation). Photovoltaic systemmayalso contributetoactive andreactivepowerregulation.

The scientific Matlab/SimulinkTM software will be used for simulation. A DSPACE system is used for data acquisition and for the control laws on an experimental testbench equippedwith a 10 kW asynchronousmachine.

2.3.1 ^-General diagram

The Doubly Fed Induction Generator (DFIG) will be used in stand alone operation. In this configuration, â converter MLI with IGBT will control the rotor. Moreover, the originality of this system is conferred by â hybridization ôn Bus DC of an already existing photovoltaic system (as indicatedinfigure6below)which will make itpossibletoensurethemagnetizingof the machine.

DFIG Mini electrical

WM...G BT.C

/~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~...

VectorcontrolStrategywith DSPACEsystem

:...

panel ^I

Batteries

Figure6: Asynchronousmachine with woundrotorusedasgenerator linked withaphotovoltaic systemon aDC Bus.

5/10

EPE 2005 Dresden P.S

(8)

Modelling and Simulation ofaDoubly Fed Induction Generator for isolatedGrid(l) Micro-Hydro Powerstation(2)inVariableSpeed Turbine for equatorial medium

EuropeanConference^onPowerElectronics and Applications 2005

The system is composed ofa three-phase asynchronous machine with wound rotor actuated at

variable speed (+/- 30%0 compared tonominal speed) like a traditionalgenerator and ofa converter

feeding therotorwhich at^anymomentprovides the complement offrequencynecessary tomaintain constantthe frequencyinthestator.

2.3.2 ^-Modelling of the machine

0 Dynamic model of thedoubly fed induction generator

Acommonly used model fortheDoublyFed Generator is the Park model(withtheassumptions of using). Indeed, under these conditions, the asynchronous machine canbe described by a differential equationssystemind, ^qcomponents; Okisanunspecified anglewith fixedaxesrelatedtothestator^as

indicatedinfigure7.

V k k +d +J(sk ^k

V ⁼R I ⁺ -S +i(j)k4D

s s-S dt

Thus, the equations of themachineare: k (6)

Vk ^k ±d(D^r ^(D ^k

V^r =RrIr ⁺ dt_dt +j((t)k (t))-r

with: c0k = dk angular velocity of the axes system (d, q) and co angular velocity of the rotor

dt

comparedtothestator; RsandRr arerespectivelythestatorandrotorresistance)

Equations of fluxare: ^S s- k -rk (7)

Dk =LIk ⁺ lk

r r-r

Ls: statorcyclic inductance; Lr: Rotorcyclicinductance;M:cyclicmutual inductance

unspecified axesd q

revolvingaxesof the / ><-s ~~~rotor

fixedaxesof thestator

Fig. 7:Angletransformation Reference framechoice

Inorderto simplifythe equations of theDFIG, the choice of the reference frame whereequations (6) and (7) areprojected, must bejudicious. Indeed, the majority of the authors choose a reference frame relatedtothestatorfield. However, this choice isnotthe bestinthe consideredapplication; the parameters to be controlled being the stator voltages, the choice ofaxes shifted 90° behind ^on the vectorofstatorvoltage (Vsd= 0 andVsq=Vs) is muchmore advantageous [6]. It allows connecting the axissystemdirectlytothefrequencyof the creatednetwork. Figure8 illustrates this choice.

6/10

RAMUZ Denis

EPE2005-Dresden ISBN: 90-75815-08-5 P.6

(9)

European Conference onPower Electronics and Applications 2005

VI I%

11N1.11 I%^% 7

N11

vsq=

- (d, q)^axes

,- (0w"~ rotor revolving axes Vsd=0e- ,'IT

.,,,,--

n statorfixed axes

Figure 8: Reference framechoice(d, q)

Under these conditions the generator equationsare:

and (DS ⁼LsIs +Mlr

4)r =LrIr +MIs

Byprojecting these equations onthe(d, q)axessystem,theequations become:

dFsd_Dsd

dt ^s sq

dVDsq

dt ss

VSd ⁼Rsisd +

Vsq ^=RSISq ^+- d(D~rd

Vrd ⁼RrIrd ⁺ _dtC rDrq dD^rq

Vrq ⁼ ^rrq dt+crDrd

The equations of magnetic fluxes become:

D)sd =Ls ^Jsd+MIrd

(Isq=LsIsq⁺M ^Jrq OIrd=LrLd+MIsd

Drq =LrLq+MIsq 3 Strategyofvectorcontrol

Due to the multidisciplinary of the proposed approach, the adopted methodology for modelling

was to structure the investigations fields by collaborations requiring specific competences (figure 9 hereafter).

The investigations ofhydraulic specialists concentrate ther efforts ^onthe characterization of the river and the turbine whereas electric engineering specialists areinvolved with the control of the stand alonegenerator (V, fregulation). 3 cases ofoperation are considered: hypo-synchronous operation, operationatsynchronism speedandhyper-synchronous operation. Startingwithmagnetizing from the photovoltaicsystemneeds^aspecialandoriginal approach.

The Matlab/Simulink simulation schemeproposedônfigure9, is brokenûp into 6 modules: from leftôntheright:

- characterization oftheriver,

- turbinecharacteristic (whichisreproduced by^aD.Ccurrentmachine),

- generatinghybridization onD.C busthrough photovoltaiccells,

- control of theconverterunit with thegenerator, 7/10

Vs= Rs -S +dt ^s ^s

Vr RrJr+dt ^rr ⁽⁸⁾

(9)

(10)

(1 1)

(12)

EPE2005-Dresden ISBN: 90-75815-08-5 P.7

(10)

Modelling and Simulation of^aDoubly Fed Induction Generator for isolatedGrid(l) Micro-HydroPowerstation(2)inVariableSpeedTurbine forequatorialmedium

EuropeanConferenceonPowerElectronics andApplications2005 connection tothe network,

characteristics ofatypicalconsumersload.

Figure9: Modular strategy ofsuggestedsimulation 4 Simulation results:

Simulations (figure ¹⁰ and 11) have been carried out over 100 seconds (near the synchronism speed). We ^canobserve the stability ofthe voltage and the frequency andthis, in spite oftransients reproducing adegraded operation.

Periinit

a

b

C 013

I'

et$8 1 = 1 =

4 ,4

I I "I, II

f i0I

~o ^2D ⁴⁰ ⁰⁰ ^ao w (t

til-nc

I I

_s.- _4,, I

_r_t_

0 S 4

I I

o --I--- --0- 4X

I I 1

rl.75^- '- g|rI 7r-I

I t I

O(S 1 1Wfi 2 Zb

timc-

Figure 10: Disturbanceonstability: a)statorfrequency(fs),b)rotorfrequency(fr), c) speed⁽ⁱⁱ⁾ 8/10

RAMUZ Denis

EPE2005^-Dresden ISBN:90-75815-08-5 P.8

PUFF..,c.

CE e--,.'l;

CA--C, (FK-l-,:1.

m

cv--1,

(11)

European Conference^onPower Electronics and Applications 2005

Voltage between b and^cphases

Figure 11: Stator Composed Voltages (betweenb,^cphases without load)

5 Conclusion

Thus, due to the large speed and flow variations in the French Guiana rivers, the Doubly Fed Induction Generator (DFIG), presents an original solution of compensationin acceptable proportions ofthe variability of theprimary source and thus guarantees a good quality oftheproduced energy.

Energy formagnetizingis furnishedby photovoltaic cells throughaDCBus.

Simulations show that thistypeofsystemused in aMicro-Hydro PowerStation is recommended for weak height falls. A complete 10 kW test bench controlled by a DSPACE system will allow validatingtheproposedconcept. Stabilityandperformanceshavetobe carriedon

Furtherdevelopmentswill be thestudy of various controldevicestowards theinterconnectionand hybridization possibilities with otherelectricitypowersystemsproductionwithstrongvariability, (i.e.

for isolated sites inequatorialenvironment andamininetwork).

Acknowledgments

This multidisciplinary research subject appears in the 6th measure ofCPER-DocUp 2000-2006.

Scientificallyvalidatedbythe FrenchMinistryfor Research andTechnology,thisprojectisgranted by European structural funds (FEDER), grants from the French Guiana Area, the Government and the Universityof the FrenchWest Indies and French Guiana.

References

1. Jacques Barret: "Atlas 2004delaGuyane"-EditionsPUG

2. Water Power Industries <<Energy from quietly flowing rivers>>, p7, CADDET Info Point, Issue1/4,March 2004

3. SERT<<Etude de l'electrification du campement touristique de Saut Sonnelle>>, 24p, Juillet 1999, Rapportcommande^par1'ADEMEGuyane

4. H.Godfroid, A.Mirzaian, D.Ramuz: 'Machine synchrone ^pour procedes exigeants', Revue Internationalede Genieelectrique, pp9-35

5. F.Poitiers, M.Machmoum, R.LeDoeuff: 'Simulation of^a Wind Energy Conversion System Basedon aDoublyFed InductionGenerator',EPE2003, CD, ppl-O0

6. S.Tnani, S.Diop, A.Berthon,JM.Kauffmann: 'AgeneralizedModel for Double Fed Induction Machines', IASTED 1995

7. F.Khatounian, E.Monmasson, F.Berthereau, E.Delaleau, JP Louis: 'Analyse et commande d'unsystemedegeneration electriquepourreseaude bordd'avion',EF 2003^-Supelec, 9, 10 Dec.2003,CD

8. D.Lecocq, P.Lataire, W.Wyjmeersch: 'The Double Fed Induction Motor both Stator and RotorVoltages Controlledby Cyclo-converters', EuropeanPower ElectronicsJournal, Vol 1, Oct1991,pp 103-112

9. S. Muller, M. Deicke, R.W. De Doncker: 'Doubly-Fed Induction Generators Systems for WindTurbines,IEEEIndustry Applications Magazine, May,June2000

9/10

(12)

Modelling and Simulation ofaDoubly Fed Induction Generator for isolated Grid(l) Micro-Hydro Power station(2) in Variable Speed Turbine for equatorial medium

EuropeanConference on PowerElectronics and Applications 2005

10. B. Robyns, Y.Pankow, L. Leclercq,B. Fran,ois: 'Equivalent Continuous Dynamic Model of Renewable Energy Systems', 7th International Conference on Modeling and Simulation of ElectricMachines, Convertersand Systems: ELECTRIMACS2002, Canada, Montreal, CD 11. Ludovic Leclercq, AymericAnsel, BenoYt Robyns: "Autonomous high power variable speed

wind generator system": EPE2003^-Toulouse CD-Rom

12. O.Gergaud, G.Robin, B.Multon, H.Ben Ahmed: "Energy modeling of a lead acid battery withinhybrid Wind / Photovoltaic systems":EPE2003^-ToulouseCD-Rom

13. Christian RKelber, Walter Schumacher: "Active damping of flux oscillations in doubly-fed ACmachines using dynamic variation of thesystem's structure":EPE2001 -Graz CD-Rom

10/10

RAMUZ Denis

View publication stats View publication stats