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Modelling and Simulation of Fuzzy-PI Control System for a Variable Speed Wind Power Generator

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Modelling and Simulation of Fuzzy-PI Control System for a Variable Speed Wind Power Generator Modelling and Simulation of Fuzzy-PI Control System for a Variable Speed Wind Power Generator By Md. Maruf Billah A thesis submitted for the fulfillment of a Master of Engineering (by Research) Supervisors: Dr. Mehran Motamed Ektesabi Dr. Nasser Hosseinzadeh Faculty of Engineering and Industrial Sciences (FEIS) Swinburne University of Technology Hawthorn, Victoria, Australia November, 2012 ABSTRACT This thesis serves the main objective of modelling and simulation of a variable speed wind power generator. Induction generators are considered to be most popular type of generator for wind energy system nowadays. Both squirrel cage induction generator (SCIG) and wound rotor induction generator (WRIG) can be used for wind power production. Doubly fed induction generator (DFIG) is a special type of WRIG. Both SCIG and DFIG are considered here for this research and a comprehensive simulation model has been completed for both types of induction generators. The control system of the wind power generator is considered as the most important subsystem for simulation and modelling purpose. Apart from the traditional PI type controllers, a newly improved intelligent fuzzy-PI control system is utilized here in active power, reactive power and DC-link voltage control loops. By introducing fuzzy logic control in the designed controllers, the simulated system becomes more adaptive and more agile to follow the nonlinear relationship of the system quantities. Both SCIG and DFIG systems with these fuzzy-PI type controllers are simulated in fixed and variable wind speed criteria. The significant system quantity response observation and analysis are carried out to demonstrate the correct working capabilities of the proposed control system. In terms of these system quantities, the proposed model response is compared with traditional PI controller based model. This insight brings out the clear improvement in a sense that, when fuzzy logic controllers are added with PI controllers, it can give better tracking of reference value thus improving the system quantity response. Apart from this, the authenticity of using this improved fuzzy-PI controllers in wind energy system can be claimed in a fault associated condition. The simulation shows that, system dynamics improve after a fault is cleared while the controllers are fuzzy-PI type rather than just the traditional PI type. Along with this analysis of significant system quantities in a steady state condition, several other important relationships were established among different system quantities. These relationships are important for a better understanding of the correct working status of the i proposed control system. Alteration of these relationships will affect the ideal operation of the system a great deal. Significant system quantity responses are simulated and compared with and without a controller. This represents the importance of using a control system in a variable speed wind power generator operation. Also a noise reduction capability of the designed control system is demonstrated in this research. This proves the compatibility of the proposed model to withstand inserted noise coming from external atmosphere via sensors. The last important finding of this research concerns the relationship of the inertia constant to the system’s initial start-up response. It has been shown in this thesis that the inertia constant affects fixed and variable speed operation in different ways. For variable speed operation, increasing the inertia constant does increase the time for system quantity to reach steady state level but helps to reduce oscillation. For the fixed speed case it has been shown that the oscillation is negligible and the time to reach the steady state is only affected by changing inertia constant. This relationship can help to select practical equipment with the proper inertia constant which will bring a tradeoff between the amount of oscillation and the time to reach to steady state level. In the appendix, a full chapter is devoted to the discussion on the experimental setup which was developed for the next phase of this research (future work). Initial experimental works have been carried out and mentioned with proper data and analysis. ii ACKNOWLEDGEMENTS This research work has been carried out at and supported by the Faculty of Engineering and Industrial Sciences (FEIS) of the Swinburne University of Technology. In the very beginning, I would like to express my gratitude to my both supervisors, Dr. Mehran Motamed Ektesabi and Dr. Nasser Hosseinzadeh for their continuous encouragement, support and patience. I would also like to thank Mr. Mikhail Mayorov from Power System Lab at Swinburne. I would like to thank my colleagues, Mr. Md. Ayaz Chowdhury and Mr. Mehedi Al Emran Hasan for their advice and comments. My special thanks go to my parents and my wife, Shirin Sultana, for being my inspiration. iii DECLERATION I hereby declare that I am the sole author of this thesis and to the best of my knowledge, it contains no material that has been published by others previously except where necessary references have been mentioned. No material of this thesis work has been submitted or accepted for any other degree of diploma at any university. Md. Maruf Billah November 2012 iv LIST OF PUBLICATIONS Peer reviewed Conference Proceedings: . “Modelling of a Doubly Fed Induction Generator (DFIG) to Study its Control System” speech presentation on 08.12.10 at Australasian Universities Power Engineering Conference (AUPEC-2010 December), Christchurch, New Zealand. By Md.MarufBillah, Dr. Nasser Hosseinzadeh, Dr. Mehran Motamed Ektesabi. “Variable Speed DFIG Modelling and Parameter Dependency of Initial Transient Response” published at 3rd International Conference on Power Electronics and Intelligent Transportation System Conference (PEITS-2010, November), Shenzhen, China by Md. MarufBillah, Dr. Nasser Hosseinzadeh, Dr. Mehran Motamed Ektesabi. “Dynamic DFIG Wind Farm Model with an Aggregation Technique” published at 6th International Conference of Electrical and Computer Engineers Conference (ICECE-2010, December), Dhaka, Bangladesh by M. A. Chowdhury, M. M. Billah, N. Hosseinzadeh and S. A. Haque. Seminar Presentations: . “Induction Generator Modelling and Simulation”poster and speech presentation on 03.11.2009 at Post Graduate (PG) Conference in Swinburne University of Technology, Hawthorn, Australia by Md. Maruf Billah, Dr. Nasser Hosseinzadeh, Dr.Mehran Motamed Ektesabi. “Detail Variable speed DFIG model Outlining the Important Internal Parameter Variation on Generator Response ”paper and speech presentation on 09.11.2010 at Post Graduate (PG) Conference in Swinburne University of Technology, Hawthorn, Australia by Md. MarufBillah, Dr. Nasser Hosseinzadeh, Dr. Mehran Motamed Ektesabi. v TABLE OF CONTENTS 1 Introduction..........................................................................................................1 1.1 Wind Power Generators……………………………………………………………..2 1.2 Thesis Outline………………………………………………………………………..4 1.3 Literature Review……………………………………………………………………5 1.4 Applied Control System and Algorithm…………………………………………….7 1.5 Wind Farms and Grid Connection…………………………………………………11 2 Wind Power And Wind Scenario Analysis…………………………...13 2.1 Source of Wind…………………………………………………………………….13 2.2 Different Parts of a Wind Turbine System…………………………………………15 2.3 Wind Turbine………………………………………………………………………16 2.3.1 Vertical Axis Turbine………………………………………………………17 2.3.2 Horizontal Axis Turbine……………………………………………………18 2.3.3 Fixed Speed Turbine………………………………………………………..19 2.3.4 Variable Speed Turbine…………………………………………………….20 2.4 Extractable Wind Power…………………………………………………………...21 2.5 Torque Derivation from Wind Power……………………………………………...22 2.6 Tip Speed Ratio…………………………………………………………………….24 2.7 Various Aerodynamic Power Controls…………………………………………….27 2.7.1 Pitch Control………………………………………………………………..28 2.7.2 Yaw Control………………………………………………………………..29 2.7.3 Stall Control………………………………………………………………...29 2.7.4 Active Stall Control………………………………………………………...29 2.8 Electricity Production from Wind………………………………………………….30 2.9 Global Wind Energy Scenario Analysis……………………………………….......31 2.10 Wind Energy Scenario in Australian Perspective………………………………….35 vi 3 Induction Generator Modelling………………………………………....39 3.1 Introduction………………………………………………………………………...39 3.2 General Aspects of Modelling……………………………………………………..40 3.3 Modelling Approaches……………………………………………………………..41 3.4 Three Axes to Two Axes Transformation (d-q transformation)………………….42 3.4.1 Transformation in d-q Stationary Reference Frame………………………..44 3.4.2 Transformation in d-q Synchronously Rotating Reference Frame…………45 3.4.3 Transformation in d-q Rotor Reference Frame…………………………….46 3.5 Voltage Transformation Equation………………………………………………….49 3.6 Current Transformation Equation………………………………………………….52 3.7 Power Transformation Equation…………………………………………………...54 3.8 Equivalent Circuit of Induction Generator…………………………………………55 3.9 d-q axes Induction Generator Model……………………………………………....58 3.9.1 DFIG with Partial Scale Power Electronic Converter……………………...62 3.9.2 SCIG with Full Scale Power Electronic Converter………………………...63 3.10 Two Mass Model for the Gearbox System………………………………………...64 3.11 Aerodynamic Power Calculation (Block Design)………………………………….65 3.12 Control System Block Design……………………………………………………...67 3.12.1 Pitch Angle Controller……………………………………………………...67 3.12.2 Rotor Side Controller……………………………………………………..67 3.12.3 Grid Side Controller………………………………………………………..68 3.13 Grid System Modelling…………………………………………………………….69
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