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Wind Energy Generation
Contents
About the Authors
Preface
Acronyms and Symbols
1 Electricity Generation from Wind Energy
1.1 Wind Farms
1.2 Wind Energy-generating Systems
1.2.1 Wind Turbines
1.2.2 Wind Turbine Architectures
1.3 Wind Generators Compared with Conventional Power Plant
1.3.1 Local Impacts
1.3.2 System-wide Impacts
1.4 Grid Code Regulations for the Integration of Wind Generation
References
2 Power Electronics for Wind Turbines
2.1 Soft-starter for FSIG Wind Turbines
2.2 Voltage Source Converters (VSCs)
2.2.1 The Two-level VSC
2.2.2 Square-wave Operation
2.2.3 Carrier-based PWM (CB-PWM)
2.2.4 Switching Frequency Optimal PWM (SFO-PWM)
2.2.5 Regular and Non-regular Sampled PWM (RS-PWM and NRS-PWM)
2.2.6 Selective Harmonic Elimination PWM (SHEM)
2.2.7 Voltage Space Vector Switching (SV-PWM)
2.2.8 Hysteresis Switching
2.3 Application of VSCs for Variable-speed Systems
2.3.1 VSC with a Diode Bridge
2.3.2 Back-to-Back VSCs
References
3 Modelling of Synchronous Generators
3.1 Synchronous Generator Construction
3.2 The Air-gap Magnetic Field of the Synchronous Generator
3.3 Coil Representation of the Synchronous Generator
3.4 Generator Equations in the dq Frame
3.4.1 Generator Electromagnetic Torque
3.5 Steady-state Operation
3.6 Synchronous Generator with Damper Windings
3.7 Non-reduced Order Model
3.8 Reduced-order Model
3.9 Control of Large Synchronous Generators
3.9.1 Excitation Control
3.9.2 Prime Mover Control
References
4 Fixed-speed Induction Generator (FSIG)-based Wind Turbines
4.1 Induction Machine Construction
4.1.1 Squirrel-cage Rotor
4.1.2 Wound Rotor
4.2 Steady-state Characteristics
4.2.1 Variations in Generator Terminal Voltage
4.3 FSIG Configurations for Wind Generation
4.3.1 Two-speed Operation
4.3.2 Variable-slip Operation
4.3.3 Reactive Power Compensation Equipment
4.4 Induction Machine Modelling
4.4.1 FSIG Model as a Voltage Behind a Transient Reactance
4.5 Dynamic Performance of FSIG Wind Turbines
4.5.1 Small Disturbances
4.5.2 Performance During Network Faults
References
5 Doubly Fed Induction Generator (DFIG)-based Wind Turbines
5.1 Typical DFIG Configuration
5.2 Steady-state Characteristics
5.2.1 Active Power Relationships in the Steady State
5.2.2 Vector Diagram of Operating Conditions
5.3 Control for Optimum Wind Power Extraction
5.4 Control Strategies for a DFIG
5.4.1 Current-mode Control (PVdq)
5.4.2 Rotor Flux Magnitude and Angle Control
5.5 Dynamic Performance Assessment
5.5.1 Small Disturbances
5.5.2 Performance During Network Faults
References
6 Fully Rated Converter-based (FRC) Wind Turbines
6.1 FRC Synchronous Generator-based (FRC-SG) Wind Turbine
6.1.1 Direct-driven Wind Turbine Generators
6.1.2 Permanent Magnets Versus Electrically Excited Synchronous Generators
6.1.3 Permanent Magnet Synchronous Generator
6.1.4 Wind Turbine Control and Dynamic Performance Assessment
6.2 FRC Induction Generator-based (FRC-IG) Wind Turbine
6.2.1 Steady-state Performance
6.2.2 Control of the FRC-IG Wind Turbine
6.2.3 Performance Characteristics of the FRC-IG Wind Turbine
References
7 Influence of Rotor Dynamics on Wind Turbine Operation
7.1 Blade Bending Dynamics
7.2 Derivation of Three-mass Model
7.2.1 Example: 300 kW FSIG Wind Turbine
7.3 Effective Two-mass Model
7.4 Assessment of FSIG and DFIG Wind Turbine Performance
Acknowledgement
References
8 Influence of Wind Farms on Network Dynamic Performance
8.1 Dynamic Stability and its Assessment
8.2 Dynamic Characteristics of Synchronous Generation
8.3 A Synchronizing Power and Damping Power Model of a Synchronous Generator
8.4 Influence of Automatic Voltage Regulator on Damping
8.5 Influence on Damping of Generator Operating Conditions
8.6 Influence of Turbine Governor on Generator Operation
8.7 Transient Stability
8.8 Voltage Stability
8.9 Generic Test Network
8.10 Influence of Generation Type on Network Dynamic Stability
8.10.1 Generator 2 – Synchronous Generator
8.10.2 Generator 2 – FSIG-based Wind Farm
8.10.3 Generator 2 – DFIG-based Wind Farm (PVdq Control)
8.10.4 Generator 2 – DFIG-based Wind Farm (FMAC Control)
8.10.5 Generator 2 – FRC-based Wind Farm
8.11 Dynamic Interaction of Wind Farms with the Network
8.11.1 FSIG Influence on Network Damping
8.11.2 DFIG Influence on Network Damping
8.12 Influence of Wind Generation on Network Transient Performance
8.12.1 Generator 2 – Synchronous Generator
8.12.2 Generator 2 – FSIG Wind Farm
8.12.3 Generator 2 – DFIG Wind Farm
8.12.4 Generator 2 – FRC Wind Farm
References
9 Power Systems Stabilizers and Network Damping Capability of Wind Farms
9.1 A Power System Stabilizer for a Synchronous Generator
9.1.1 Requirements and Function
9.1.2 Synchronous Generator PSS and its Performance Contributions
9.2 A Power System Stabilizer for a DFIG
9.2.1 Requirements and Function
9.2.2 DFIG-PSS and its Performance Contributions
9.3 A Power System Stabilizer for an FRC Wind Farm
9.3.1 Requirements and Functions
9.3.2 FRC–PSS and its Performance Contributions
References
10 The Integration of Wind Farms into the Power System
10.1 Reactive Power Compensation
10.1.1 Static Var Compensator (SVC)
10.1.2 Static Synchronous Compensator (STATCOM)
10.1.3 STATCOM and FSIG Stability
10.2 HVAC Connections
10.3 HVDC Connections
10.3.1 LCC–HVDC
10.3.2 VSC–HVDC
10.3.3 Multi-terminal HVDC
10.3.4 HVDC Transmission – Opportunities and Challenges
10.4 Example of the Design of a Submarine Network
10.4.1 Beatrice Offshore Wind Farm
10.4.2 Onshore Grid Connection Points
10.4.3 Technical Analysis
10.4.4 Cost Analysis
10.4.5 Recommended Point of Connection
Acknowledgement
References
11 Wind Turbine Control for System Contingencies
11.1 Contribution of Wind Generation to Frequency Regulation
11.1.1 Frequency Control
11.1.2 Wind Turbine Inertia
11.1.3 Fast Primary Response
11.1.4 Slow Primary Response
11.2 Fault Ride-through (FRT)
11.2.1 FSIGs
11.2.2 DFIGs
11.2.3 FRCs
11.2.4 VSC–HVDC with FSIG Wind Farm
11.2.5 FRC Wind Turbines Connected Via a VSC–HVDC
References
Appendix A: State–Space Concepts and Models
Appendix B: Introduction to Eigenvalues and Eigenvectors
Appendix C: Linearization of State Equations
Appendix D: Generic Network Model Parameters
Index
WIND ENERGY GENERATION Modelling and Control
WIND ENERGY GENERATION Modelling and Control Olimpo Anaya-Lara, University of Strathclyde, Glasgow, UK Nick Jenkins, Cardiff University, UK Janaka Ekanayake, Cardiff University, UK Phill Cartwright, Rolls-Royce plc, UK Mike Hughes, Consultant and Imperial College London, UK A John Wiley and Sons, Ltd., Publication
This edition first published 2009  2009 John Wiley & Sons, Ltd Registered office John Wiley & Sons Ltd, The Atrium, Southern Gate, Chichester, West Sussex, PO19 8SQ, United Kingdom For details of our global editorial offices, for customer services and for information about how to apply for permission to reuse the copyright material in this book please see our website at www.wiley.com. The right of the author to be identified as the author of this work has been asserted in accordance with the Copyright, Designs and Patents Act 1988. All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or trans- mitted, in any form or by any means, electronic, mechanical, photocopying, recording or otherwise, except as permitted by the UK Copyright, Designs and Patents Act 1988, without the prior permission of the publisher. Wiley also publishes its books in a variety of electronic formats. Some content that appears in print may not be available in electronic books. Designations used by companies to distinguish their products are often claimed as trademarks. All brand names and product names used in this book are trade names, service marks, trademarks or registered trademarks of their respective owners. The publisher is not associated with any product or vendor mentioned in this book. This publication is designed to provide accurate and authoritative information in regard to the subject matter covered. It is sold on the understanding that the publisher is not engaged in rendering professional services. If professional advice or other expert assistance is required, the services of a competent professional should be sought. Library of Congress Cataloguing-in-Publication Data Wind energy generation : modelling and control / Olimpo Anaya-Lara . . . [et al.]. p. cm. Includes index. ISBN 978-0-470-71433-1 (cloth) 1. Wind power. 2. Wind turbines. 3. Synchronous generators. I. Anaya-Lara, Olimpo. TJ820.W56955 2009 621.31’2136– dc22 ISBN: 978-0-470-71433-1 (HB) 2009012004 A catalogue record for this book is available from the British Library. Typeset in 11/13.5pt Times-Roman by Laserwords Private Limited, Chennai, India. Printed and bound in Great Britain by CPI, Anthony Rowe, Chippenham, Wiltshire
Contents About the Authors Preface Acronyms and Symbols Electricity Generation from Wind Energy 1 1.1 Wind Farms 1.2 Wind Energy-generating Systems 1.2.1 1.2.2 Wind Turbines Wind Turbine Architectures 1.3 Wind Generators Compared with Conventional Power Plant Local Impacts System-wide Impacts 1.3.1 1.3.2 Grid Code Regulations for the Integration of Wind Generation References Power Electronics for Wind Turbines Soft-starter for FSIG Wind Turbines Voltage Source Converters (VSCs) 2.2.1 2.2.2 2.2.3 2.2.4 2.2.5 The Two-level VSC Square-wave Operation Carrier-based PWM (CB-PWM) Switching Frequency Optimal PWM (SFO-PWM) Regular and Non-regular Sampled PWM (RS-PWM and NRS-PWM) Selective Harmonic Elimination PWM (SHEM) Voltage Space Vector Switching (SV-PWM) Hysteresis Switching 2.2.6 2.2.7 2.2.8 Application of VSCs for Variable-speed Systems 2.3.1 VSC with a Diode Bridge 1.4 2 2.1 2.2 2.3 xi xiii xv 1 2 3 3 7 10 11 13 14 17 19 21 21 21 24 25 27 28 29 30 33 33 34
vi 3 3.1 3.2 3.3 3.4 3.5 3.6 3.7 3.8 3.9 4 4.1 4.2 4.3 4.4 4.5 5 5.1 2.3.2 References Back-to-Back VSCs Generator Electromagnetic Torque Modelling of Synchronous Generators Synchronous Generator Construction The Air-gap Magnetic Field of the Synchronous Generator Coil Representation of the Synchronous Generator Generator Equations in the dq Frame 3.4.1 Steady-state Operation Synchronous Generator with Damper Windings Non-reduced Order Model Reduced-order Model Control of Large Synchronous Generators 3.9.1 3.9.2 References Excitation Control Prime Mover Control Squirrel-cage Rotor Wound Rotor Fixed-speed Induction Generator (FSIG)-based Wind Turbines Induction Machine Construction 4.1.1 4.1.2 Steady-state Characteristics 4.2.1 FSIG Configurations for Wind Generation 4.3.1 4.3.2 4.3.3 Induction Machine Modelling 4.4.1 Two-speed Operation Variable-slip Operation Reactive Power Compensation Equipment Variations in Generator Terminal Voltage FSIG Model as a Voltage Behind a Transient Reactance Dynamic Performance of FSIG Wind Turbines 4.5.1 4.5.2 References Small Disturbances Performance During Network Faults Doubly Fed Induction Generator (DFIG)-based Wind Turbines Typical DFIG Configuration Contents 34 36 39 39 39 42 44 47 47 49 51 52 53 53 55 56 57 57 58 58 58 61 61 62 63 64 64 65 70 70 73 76 77 77
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