Modeling and Simulation of Variable Speed Wind

Turbine with Direct Drive Permanent Magnet

Synchronous Generator

Kedar Patil1 Bhinal Mehta2

PG Student, M&V Patel Dept. of Electrical Engineering, Asst. Professor, M&V Patel Dept. of Electrical Engineering,
Charotar University of Science and Technology, Charotar University of Science and Technology,
Changa, India. Changa, India.
[email protected] [email protected]

Abstract— Wind turbine generator has been popular in the and permanent magnetic synchronous generators (PMSG). In a
area of renewable energy source. Wind Turbine generator has permanent magnet generator, the magnetic field of the rotor is
shown the biggest growth in the past 10 years compared to other produced by permanent magnets. Other types of generator use
renewable sources. Direct drive generator using Permanent electromagnets to produce a magnetic field in a rotor winding.
Magnet Synchronous Generator (PMSG) is used now a days as
Permanent magnet generators do not require a DC supply for
variable speed wind turbine generator. PMSG is suitable for the
application due to its high efficiency, high torque-to size ratio, the excitation circuit, also they do not have slip rings and
and low maintenance requirement. This paper derives all contact brushes [3]. Integration of variable speed wind turbine
necessary equations which require for modeling of PMSG. The permanent magnet synchronous generators with grid, the
generator model is established in the dq–synchronous rotating variable speed of generators allow operating wind turbines at
reference frame. In this Paper MATLAB/Simulink simulation the optimum tip-speed ratio and hence at the optimum power
has been developed using 6 KW permanent magnet synchronous efficient for a wide wind speed range[4]. PMSG can be
Generator. In order to verify the presented model simulations connected to the power network by means of a fully controlled
with MATLAB/Simulink software have been conducted. frequency converter, which consists of a pulsewidth
Simulation results prove the validity of the model.
modulation (PWM) rectifier, an intermediate dc circuit, and a
Index Terms—Permanent Magnet Synchronous Generator, PWM inverter. The generator can be controlled to obtain
Wind Turbine generator, Machine Modeling maximum power from the incident wind with maximum
efficiency under different load conditions[5]. The control
I. INTRODUCTION strategy can be developed for independent active and reactive
The growth of renewable energy technology has shown a power control while extracting the maximum power from
promising growth as an alternative energy resource or as a wind. The control system can be separately decoupled the
supplement towards the conventional electric generation. In active power and reactive power control through the generator
particular, the wind energy has experienced the biggest growth side converter and the grid side converter respectively [6]. By
in the past 10 years. As of 31 Oct 2013 the installed capacity of controlling the grid side converter, reactive power can be
wind power in India was 19933.68 MW. It is estimated that supplied during the voltage dip in order to facilitate voltage
6,000 MW of additional wind power capacity will be installed restoration[7]. The advantages like higher efficiency, low
in India by 2014. Wind power accounts for 8.5% of India's maintenance and no gearbox require are make permanent
total installed power capacity, and it generates 1.6% of the magnet synchronous generator more attractive than other
country's power. Currently, five countries (Germany, USA, generators and therefore this paper is focus on PMSG.
Denmark, India and Spain) concentrate more than 83% of A typical two-pose three-phase Permanent Magnet
worldwide wind energy capacity in their countries [1]. Synchronous Machine is shown in Figure 1. The as, bs and cs
Generator for wind turbine application is basically two axis represents the stationary windings of the stator.
types: fixed speed wind generator and variable speed wind The as-axis is obtained by applying the Right Hand Rule to as
generator [2]. In early stage of wind generator development, and as’ windings. Respectively, the bs-axis and cs-axis are
fixed speed induction generators were used. But their limitation obtained using the same method. The cross-section
like poor power quality, low efficiency adversely influences representation of the current in the windings is viewed as a
their further application. On other hand variable speed wind solid or crossed circle. In Fig.1, the as, bs, and cs windings are
generators allows operating wind turbine at optimum tip speed pictured as crossed circles, which means that there is positive
ratio and therefore optimum power efficiency for wide range of current flowing into the paper. On the contrary, the as’, bs’,
wind speed. There are two types of variable speed wind and cs’ windings are pictured as solid circles depicting positive
generator are used: doubly fed induction generators (DFIGs) current going out of the paper.

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 assigning qd-axes rotating at ωr where the d-axis is aligned
with the North Pole of the permmanent magnet motor. To obtain
the rotor reference frame, a transformation matrix Ksr is
applied to the stationary circuitts.
⎡ ⎛ 2π ⎞ ⎛ 2π ⎞⎤
⎢Cosθ Cos⎜θ − ⎟ Cos⎜θ + ⎟
⎝ 3 ⎠ ⎝ 3 ⎠⎥
⎢ ⎥
3⎢ ⎛ 2π ⎞ ⎛ 2π ⎞ ⎥
Sinθ Sin⎜θ − ⎟ Sin⎜θ +
r
Ks = ⎟ (1)
2⎢ ⎝ 3 ⎠ ⎝ 3 ⎠⎥
⎢ 1 1 1 ⎥
⎢ ⎥
⎢⎣ 2 2 2 ⎥⎦
There is no need to derive rotor voltage equation as no
external source is connected to rotor magnets and also variation
in rotor flux with respect to time is neglected. The voltage
equation of stator circuit may be expressed as[8]

Vabc = rs iabcs + ρλabcs (2)

Fig. 1. Two Pole Three Phase Permanent Magnet Synchronous
S Machine
After transformation from abbc variables to qd0, Voltage
For analysis purposes, the convection and assumptions
a are as equation of PMSM are as follow
ws:
below. (i) d-axis is assigned to align with the north pole of the
rotor’s permanent magnet. (ii) q-axis to be 90° ahead of the
rotation. (iii)The direction of the rotation is counter clockwise
[ ]
K s−1Vqd 0 s = rs K s−1 iqd 0 s + ρ K s−1 λ qd 0 s[[ ] ] (3)

in Fig.1, the q-axis is 90° counter clockwisse ahead of the d-

axis. The rotor speed of the PMSM is defined d in angular Multiplying equations (3) with K s ,
velocity ωr. The rotor angle from the a-axiis to the d-axis is
indicated by θ r . The electromagnetic torque produced
p (Te) is in [ ] [[ ]
Vqd 0 s = K s rs K s−1 iqd 0 s + K s ρ K s−1 λqd 0 s ]
the direction of increasing θr and the load toorque (TL) is in the
other direction opposing θ r . This means
m that the [ ] [ ] [ ]
Vqd 0 s = K s rs K s−1 iqd 0 s + K s ρK s−1 λqd 0 s + K s K s−1 ρλqd 0 s
electromagnetic torque produced is positive when the PMSM (4)
acts as a motor and negative when the machine
m acts as a
generator. Here,
II. VOLTAGE EQUATION OF PERMAN
SYNCHRONOUS MACH
NENT MAGNET
HINE [K r K ] = r
s s
−1
s s ;
Modeling of Permanent Magnet Synchrronous Machine is
done based on assumptions for simplicity, ⎡ 0 1 0⎤
Assumption1: The rotor flux can be assumed to be
concentrated along d-axis while there is zeroo flux along q-axis. [K ρK ]
s
−1
s = ωr ⎢⎢− 1 0 0⎥⎥
Assumption2: Variation in magnet flux with respect to ⎢⎣ 0 0 0⎥⎦
temperature and time is considered to be negglected.
In order to further analyze the machinee, reference frame
theory will be used to simplify the analyssis [8]. Reference [
and K s K s
−1
] =1
frame theory explains how to change the stationary circuits
from stationary reference frame to rotor reeference frame. In Therefore equation (4) will become
dealing with PMSM, the rotor reference fraame is the same as
synchronously rotating reference frame. Thhis condition only Vqd 0 s = rs iqd 0 s + ω r λdq 0 + ρλqd 0 s (5)
applies to synchronous machines, since the machine operates
at synchronous speed, which means rotor’ss angular speed is
equal to that of the rotating stator flux. As mentioned
m before, Where
the purpose of using reference frame of the rotor
r is to simplify
the analysis process. With the rotor referrence frame, time [λ ] = [λ
dq 0
T
ds − λqs 0 ]
varying, θ r -dependent inductances can be b eliminated by

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 As per the assumptions rotor flux is along d axis and there Pem 3⎛ p⎞
is zero flux along q axis, therefore, the d-axis and q-axis stator Te = = ⎜ ⎟(ψ f iqs − ( Lds − Lqs )ids iqs ) (17)
flux linkage equation in rotor reference frame are ωr 2⎝ 2 ⎠
p
λqs = Lqs iqs (6) 2
The electromagnetic torque of PMSM in rotor reference
frame representation is very similar to that of the DC machine.
λds = Lds ids + ψ f (7) Where iqs the is the torque-producing component of the current,
the change of this variable will directly correlated towards the
Substituting flux linkage equations into equation (5), electromagnetic torque. In the same way, ids is the magnetizing
current. And lastly, Ψf is the constant permanent magnet flux
Vqs = rs iqs + Lqs ρiqs + ω r (Lds ids + ψ f ) (8) of the PM machine.
III. DRIVE TRAIN
Vds = rs ids + Lds ρids − ωr Lqs iqs (9) The drive train of wind turbine generator system consists
of blades, rotor shaft, gearbox, and generator. The accepted
By rearranging above equation, way to model drive train is to treat system as number of
discrete mass connected together by springs defined by
damping and stiffness coefficient.
diq
dt
=
1
Lq
[
− rs iqs − ωr (Ldsids + ψ f ) + Vqs ] (10)
When complexity of study varies, the complexity of drive
train differs. For example when problem such as torsion
fatigue are studied, dynamics of all parts have to be
did
=
dt Ld
1
[
− rs ids + ωr Lqs iqs + Vds ] (11) considered. For these purpose two lumped mass or more
sophisticated models are require. However when study focuses
on interconnection between wind farms and AC grid, the drive
For any Permanent Magnet Synchronous Machine, the can be considered as one lump mass model for sake of time
electrical power input can be expressed in the abc reference efficiency [2].
frame as follows: So that here Drive train can be defined as
Pabc = Vas ias + Vbs ibs + Vcs ics (12)
dω g Te − TL Bm
or in the dq-axes reference frame as follows: = − ωr (18)
3 dt J J
Pdq = (Vds ids + Vqs iqs ) (13)
2 IV. SIMULATION OF PERMANENT MAGNET SYNCHRONOUS
As a part of the input power, in the motoring mode, the GENERATOR
active power is the power that is transformed to mechanical
power by the machine, which can be expressed as follows: A block diagram illustrating the computer representation of
3 phase PMSG in rotor reference frame is given in figure 2.
3 The machine equations that are used in computer simulation
Pem = (ed ids + eq iqs ) (14)
2 are indicated by number in block diagram. As we have already
Where ed = −ω r Lq iqs (15) derived Current equation and torque equation of PMSG, from
equation 10, 11 and 17 MATLAB simulink model is derived as
And eq = ω r ( Ld ids + ψ f ) (16) shown in figure 3. Drive train equation is also derived so by
using equation 18 MATLAB simulink model is derived as
Here, ed and eq , are the back EMFs in the dq-axes shown in figure 4. The complete Model of PMSG is shown in
reference frame. Substituting expressions (15) and (16) into figure 5. Here 6 KW Permanent magnet synchronous
(14), the active power can be re-expressed as follows: Generator parameter [9] is shown in Table 1. By performing
3 this simulation in MATLAB Simulink resultant phase to
Pem = ωr (− Lqs iqs ids + iqs ( Ld ids + ψ f )) ground three phase voltage is shown in figure 6, Single Phase
2 rms voltage in figure 7, direct axis (Vd) and quadrature axis
3 (Vq) voltage in figure 8, Three phase output current waveform
Pem = ωr (ψ f iqs − ( Lds − Lqs )ids iqs ) in figure 9, direct axis( Id) and quadrature axis( Iq) current in
2 figure 10, electromagnetic torque produce and applied torque is
Hence, the electromagnetic torque developed by a PMSG can
shown in figure 11, speed of generator rotor in rad/sec is shown
be deduced as follows:
in figure 12.

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 • Computatioon of stator flux
Vabc Ks Vqd0 using equattion 6 and 7.
• Computatioon of current
using equattion 10 and 11.
Iabc Iqd0 • Computatioon of torque
(Ks )-1
using equattion 17.

Wr Te
• Computationn of rotor speed
TL
using equatioon 18.

Fig. 2. Simulation of PMSG in rotor reference fraame shown in block

diagram Fig. 3. Modelling of Currennt and torque equations of PMSG

Fig. 4. Modelling of Drive Train

Figure 5 Modeling of PMSG in MATLAB

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 Fig. 6. Phase to ground three phase Output voltage Fig. 10. current Id and Iq

Fig. 7. Single phase RMS Voltage Fig. 11. Applied toorque and electromagnetic Torque

Fig. 8. voltage Vd and Vq

V Fig. 12. Rotorr speed in rad/sec of generator

V. CONC
CLUSION
Variable speed wind generrator with direct drive permanent
magnet synchronous machinee is modelled and simulated.
Equations used for modelling are
a derived and presented in the
paper. The simulations are carrried out in Matlab environment
and model is validated. The ressults clearly demonstrate that by
applying rated torque responsess are obtained as required.
VI. APPPENDIX
The parameters of the PMSG used in the paper are listed
below [9]:

Fig. 9. Three phase outputt current

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 TABLE I. PARAMETERS OF PMSG Electric Power Systems Research Volume 80, Issue 1, January
2010, Pages 46–52.
Parameters Symbol Value [12] Transient Stability Analysis of Permanent Magnet Variable
Rated Power Power 6 KW Speed Synchronous Wind Generator, S. M. Muyeen, R.
Takahashi, T. Murata, J. Tamura , and M. H. Ali, Proceeding of
Rated Current I 12 A
International Conference on Electrical Machines and Systems
Rated Speed Wr 153 rad/sec 2007, Oct. 8-11, Seoul, Korea, PP 288 – 293.
No of Poles P 5
[13] Modeling and Simulation of Directly Driven Wind Turbine
Armature resistance rs 0.425 Ω with Permanent Magnet Synchronous Generator, Junfei Chen,
Stator d-axis inductance Ld 8.4 mH Hongbin Wu, Ming Sun, Weinan Jiang, Liang Cai, and Caiyun
Stator q-axis inductance Lq 8.4 mH Guo, IEEE PES ISGT ASIA 2012, pp 1-5.
Magnetic flux linkage Ψf 0.433 Wb [14] Control of Permanent Magnet Synchronous Generator for
Rated Torque TL 40 Nm Large Wind Turbines, Cristian Busca, Ana-Irina Stan, Tiberiu
Damping Coefficient Bm 0.001189 N.m/s Stanciu and Daniel Ioan Stroe, Industrial Electronics (ISIE),
Rotor inertia J 0.01197 Kg.m2
2010 IEEE International Symposium on PP 3871 – 3876.
[15] Simple Maximum Power Extraction Control for Permanent
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