006 - Vortrag_Norpie04_1.ppt

8/9/2019 006 - Vortrag_Norpie04_1.ppt

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2/25

1. Introduction

2. E-OnGuidelines

3. Modelling

4. ControllerDesign

5. Simulation Results

. Conclusion

Voltage Regulator for Reactive Power Control on Synchronous Generators in Wind Energy Power PlantsNORPIE / 2004 Nordic Workshop on Power and Industrial Electronics

14-16 une! 2004 "rondhei#! Norwa$

1. Introduction2. E-On Guidelines3. Mac!ine Modelling4. Controller Design5. Simulation Results

. Conclusion

"o#ics


3/25

1. Introduction

2. E-OnGuidelines

3. Modelling

4. ControllerDesign


. Conclusion



In a project with the Voith Co. the E! Co. and the "# $resden preli%inarystudies of a wind%ill using a hydrodyna%ic tor&ue converter 'V(REC()*were carried out.

"he "# Che%nit+ acco%plished the following tas,s-

$!odelling and si%ulation of a synchronous generator

$E%ulation of the E (n cases for power plant connection to the electrical grid

$/. Synchronisation and connection with the %ains supply$0. Reactive power e1change with the net$2. 3oad drop$4. ctive power li%iting with fre&uency variation$5. Short circuit 6ehaviour

Moti%ation


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1. Introduction

2. E-OnGuidelines

3. Modelling

4. ControllerDesign


. Conclusion



&!'($)urt!er e*#ansion o+ ,ind energ'. 2 1 - 2 M& 2 2 / 4 M&

$Euro#ean interconnected s'stem can 0are a ma*imum dro# o+ 3 M&$&ind generators ,ill !a%e to su##ort t!e grid in case o+ +aults

&!o($&ind +arms ,it! more t!an 1 M& connected to t!e !ig! %oltage and e*tra-!ig! %oltage grids.

o,(

2 - Reduce t!e acti%e #o,er and +re uenc' +luctuation. 1 Pc min1 - Su##ort t!e grid in case o+ 15 to %oltage dro#s +or not more t!an 3s

3 - imit t!e cut-in in 1.2 o+ t!e rated #o,er Pc at t!e connection #oint4 - Control t!e reacti%e #o,er in a desired range

6eri+ication o+ com#liance ,it! t!e ne, norms$Guideline +rom manu+acturers and measuring institutes

Ergnzende Netzanschlussregein fr Windenergieanlagen, /.7.08829 E on )et+ 3td.

Guidelines +or net connection +rom E-On


5/25

1. Introduction

2. E-OnGuidelines

3. Modelling

4. ControllerDesign


. Conclusion



7cti%e 8o,er imiting Cur%e


6/25

1. Introduction

2. E-OnGuidelines

3. Modelling

4. ControllerDesign


. Conclusion



Enlar%ed Ran%e

Reacti%e 8o,er Control Range

t 9 3 min


7/25

1. Introduction

2. E-OnGuidelines

3. Modelling

4. ControllerDesign


. Conclusion



6oltage Dro# 8ro+ile


8/25

1. Introduction

2. E-OnGuidelines

3. Modelling

4. ControllerDesign


. Conclusion



'drod'namic "or ue Con%erter 6ORECO:


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1. Introduction

2. E-OnGuidelines

3. Modelling

4. ControllerDesign


. Conclusion



D'namical Model o+ t!e 6ORECO:

Rotor Hub Gear Box Vorecon Vo!t" Cou#$!n%Bra&e

Inter'aceTU C"e(n!t)

Tor*ue


10/25

1. Introduction

2. E-OnGuidelines

3. Modelling

4. ControllerDesign


. Conclusion



"he voltage e&uation of a synchronous %achinewhere the underline defines a co%ple1 vector

$escription in a rotating reference fra%e

s s s s dt d

i Ru +=

++=

+=

sd r sq sq s sq

sqr sd sd s sd

dt d

i Ru

dt d

i Ru

q

d

sq sd s juuu += sq sd s juuu +=

su

squ sd u

r

;asic E uations


11/25

1. Introduction

2. E-OnGuidelines

3. Modelling

4. ControllerDesign


. Conclusion



( ) sd sq sq sd pe ii Z M = 23

"he electro%echanical tor&ue e1pression

"he dyna%ical interactions 6etween the stator9 da%pingand field circuits are given the following operators

( )( ) 1

12

2

++++++=

'' d

' d

'' d

' d

'' d

' d

'' d

' d

sd d T T sT T sT T sT T s

! s" # '' q

'' q

sq q sT

sT ! s" #

-1

1

++=

' d

' d

f

' sd sd

f sT

T

! s" #

1 +

=

! s" u ! s" # ! s" i ! s" # ! s" f f sd sd d +=

! s" i ! s" # ! s" sq q sq =

"he flu1es can 6e o6tained 6y the e1pressions

"or ue and )lu* in


12/25

1. Introduction

2. E-OnGuidelines

3. Modelling

4. ControllerDesign


. Conclusion



;loc< Diagram o+ t!e S'nc!ronous Generator


13/25

1. Introduction

2. E-OnGuidelines

3. Modelling

4. ControllerDesign


. Conclusion



Control 6aria0les

+!n,Turb!ne

Vorecon S-nc"ronou.Generator

P!tc"An%$e

Gu!,e VanePo.!t!on

H

F!e$, Vo$ta%eu f

"he syste% has 2 control varia6les-- pitch angle and the guide vane position control the %ain power flow- field voltage controls the %agnetising of the synchronous generator and thereactive power flow.

"his latter can also influence the sta6ility of the syste%.


14/25

1. Introduction

2. E-OnGuidelines

3. Modelling

4. ControllerDesign


. Conclusion



Induced 6oltage Controller

"he induced voltage controller U Pol uses the field voltage u f to regulate the flu1

In high powered generators these self e1cited control sche%es present a fasterinner field current control not shown here

Considering the speed constant the induced voltage dyna%ics depends only onthe flu1


15/25

1. Introduction

2. E-OnGuidelines

3. Modelling

4. ControllerDesign


. Conclusion



"he field controller has to acco%plish the following tas,s-$ regulate the induced voltage at the %achine ter%inals during synchronisation$ control the power factor or the reactive power flow during nor%al operation$ guarantee the dyna%ical sta6ility during undesired transient conditions

n outer power factor control loop influences the induced voltage in nor%al

operating conditions9 as well as co%pensates the voltage drop over the statorwindings during loading

Controller "as


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1. Introduction

2. E-OnGuidelines

3. Modelling

4. ControllerDesign


. Conclusion



Controller O#timisation

"he induced voltage controller posses 0 6asic PI structures for synchronisationand for nor%al operation that were opti%ised 6y %odule ':(* and 6ysy%%etrical opti%u% 'S(* rules9 respectively.

-100

-50

0

50

100

150

10-2

100

102

-180

-135

-90

-45

0Phase ( deg)

BO openBO closedSO openSO closed

Bode Diagram

Frequency (Hz)

Mag (dB)


17/25

1. Introduction

2. E-OnGuidelines

3. Modelling

4. ControllerDesign


. Conclusion



S'nc!ronisation Starting Currents

1.2 1.25 1.3 1.35 1.4 1.45-0 .5

-0 .4

-0 .3

-0 .2

-0 .1

0

0.1

0.2

0.3

0.4

0.5

Iabc /I n

Connecting the %achine to the %ains with an angle error fro% less than /8degrees gives transient currents which pea, values lie under 48 ; of ratedvalue vanishing in less than one second9 as shown in the left figure.

With a neglectia6le angle error the start up currents are %uch s%aller9 as can6e o6served in the right figure.

t&s'

stator #!ase currentsstator #!ase currents

t&s'


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1. Introduction

2. E-OnGuidelines

3. Modelling

4. ControllerDesign


. Conclusion



"or ue Ste# +rom :o-load to Rated 6alue

5 5.5 6 6.5 7 7.5 8-4 .5

-4

-3 .5

-3

-2 .5

-2

-1 .5

-1

-0 .5

0

x 104

m e (Nm)

m a (Nm)

5 5.5 6 6.5 7 7.5 8

-3

-2

-1

0

1

2

3

Iabc /I n

n e1tre%e power step is si%ulated where the input tor&ue is increased fro%no load condition to rated tor&ue.

"he generator is ,ept in synchronis% and the currents reach the rated valueafter the transient period.

t(s) t(s)

generator tor ue stator #!ase currents


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1. Introduction

2. E-OnGuidelines

3. Modelling

4. ControllerDesign


. Conclusion



26 27 28 29 30 31 32 33-2.1

-2

-1.9

-1.8

-1.7

-1.6

-1.5

-1.4

-1.3

-1.2x 10

4

m e (Nm)

m a (Nm)

Cou#ling ,it! t!e Reacti%e 8o,er Control

26 27 28 29 30 31 32 330.15

0.2

0.25

0.3

0.35

0.4

Sinus Phi

Cos Phi 0.98 ind

Cos Phi 0.92 ind

fter a negative %echanical tor&ue step over shoots on the electro%echanicaltor&ue occur during the transient period. "he well da%ped power factor controller reduced the over shoots due to thecoupling with the active power canal and let the actual value reach thereference s%oothly after so%e seconds.

t(s) t(s)

generator tor ue #o,er +actor


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1. Introduction

2. E-OnGuidelines

3. Modelling

4. ControllerDesign


. Conclusion



8o,er )actor Control

"he power factor controller presents good responses over the desired range.


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1. Introduction

2. E-OnGuidelines

3. Modelling

4. ControllerDesign


. Conclusion



8o,er )actor Ste#

33 33.5 34 34.5 35-0.4

-0.3

-0.2

-0.1

0

0.1

0.2

0.3

0.4

Sinus Phi

Cos P hi 0.92 kap

Cos Phi 0.92 ind

33 33.5 34 34.5 35-3

-2 .8

-2 .6

-2 .4

-2 .2

-2

-1 .8

-1 .6

-1 .4

-1 .2

-1

-0 .8x 10

4

m e (Nm)

m a (Nm)

"he power factor step presents a retarded response due to the coupling withthe active power channel."he increase on the tor&ue caused 6y the reference power factor step is lessda%ped than the reaction caused again on the power factor.Such e1tre%es reactive power steps %ust 6e avoided in the nor%al operation ofthe generator in order to avoid the o6served tor&ue steps.

t(s)t(s)

#o,er +actor generator tor ue


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1. Introduction

2. E-OnGuidelines

3. Modelling

4. ControllerDesign


. Conclusion



19 19.5 20 20.5 21 21.5 22 22.5 23 23.5 24-600

-400

-200

0

200

400

600

t(s)

D r e i p h a s i g e r N e t z s p a n n u n g e n ( V )

19 19.5 20 20.5 21 21.5 22 22.5 23 23.5 24-14

-12

-10

-8

-6

-4

-2

0

2

4

6

8x 10

4

t(s)

D r e h m o m e n t e ( N m )

m e

m Antriebe

19 19.5 20 20.5 21 21.5 22 22.5 23 23.5 24-4

-3

-2

-1

0

1

2

3

4x 10

4

"he 2 phase voltage drop profile fro% E() have a si%ilar effect of a 2 phaseshort circuit on the %achine.

fter the well ,nown transient periodsfurther oscillations appear on the tor&ueand on the currents due to the slowincrease of the %ains voltage.

6oltage Dro#

t(s)

t(s)t(s)

generator tor ue stator #!ase currents

net %oltages


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1. Introduction

2. E-OnGuidelines

3. Modelling

4. ControllerDesign


. Conclusion



"he oscillations o6served previously on the tor&ue and on the currents are alsoo6served on the speed.

"he power angle crosses the sta6ility li%it for a short period of ti%e."he %achine is ,ept in synchronis% due to the reached dyna%ical sta6ilityena6led 6y the power factor controller.


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1. Introduction

2. E-OnGuidelines

3. Modelling

4. ControllerDesign


. Conclusion



oad Dro#

/88 ; load drop was si%ulated in order to verify the possi6le overvoltageeffects on the %achine ter%inals.

"he induced voltage increases after at the load drop %o%ent 6ut the fieldcontroller actuates faster and li%its the increase ratio letting the intern voltagein accepta6le levels until switching off or reloading.

stator #!ase currents induced %oltage

t(s) t(s)


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1. Introduction

2. E-OnGuidelines

3. Modelling

4. ControllerDesign


. Conclusion



synchronous %achine classical %odel was used to si%ulate different situations6efore and after synchronisation with the electrical grid.

voltage regulator for the field e1citation of the synchronous generator wasdesigned. "his controller has to guarantee sta6le operation of the generator

under various conditions including faults.

Si%ulation results show the good perfor%ance of the controller. With thealready e1isting controller the %achine is ,ept sta6le during e1tre%e conditionsli,e tor&ue steps and reactive power variations. =aulty conditions were alsosi%ulated.

=urther studies will investigate the effects of faulty conditions on the%echanical drive train caused 6y high electro%echanical tor&ue and itshar%onics and of the distri6ution line and the transfor%er on the perfor%anceof the %achine under voltage drops.

Summar' and )uture &or

Documents

006 - Vortrag_Norpie04_1.ppt