Wind Turbine Models for Power System Stability Studies

127 Pages·2006·1.91 MB·English

THESIS FOR THEDEGREE OFLICENTIATE OFENGINEERING
Wind Turbine Models for Power System Stability
Studies
ABRAM PERDANA
DepartmentofEnergy and Environment
DivisionofElectricPowerEngineering
CHALMERSUNIVERSITY OFTECHNOLOGY
Go¨teborg,Sweden 2006
Wind Turbine Models forPowerSystem Stability Studies
ABRAM PERDANA
c ABRAM PERDANA, 2006.
(cid:13)
Technical Report at Chalmers UniversityofTechnology
DivisionofElectricPowerEngineering
Department ofEnergyand Environment
Chalmers UniversityofTechnology
SE-412 96 Go¨teborg
Sweden
TEL: [phone]
FAX: [phone]
http://www.elteknik.chalmers.se/
Chalmers Bibliotek,Reproservice
Go¨teborg, Sweden 2006
WindTurbineModelsforPowerSystemStabilityStudies
ABRAM PERDANA
DivisionofElectricPowerEngineering
DepartmentofEnergy and Environment
Chalmers UniversityofTechnology
Abstract
The purpose of this thesis is to develop dynamic models of wind turbines for power
system stabilitystudies. More specifically, the wind turbinemodels are mainly intended for
voltageand frequencystabilitystudies.
In developing the wind turbine models, each part of the wind turbines are examined
to define relevant behaviors that significantly influence the power system response. Cor-
respondingly, mathematical models of these parts are then presented with various possible
levels of detail. Simplified models for each part of the wind turbines are evaluated against
moredetailedmodelstoprovideaclearunderstandingonhowmodelsimplificationsmayin-
fluenceresultvalidityandsimulationefficiency. Inordertoobtainconfidentresults,thewind
turbinemodelsarethenvalidatedagainstfieldmeasurementdata. Twodifferentcasesofval-
idation are then presented. Based on the measurement data of two different wind turbines,
mosttypicalbehaviorsofthewindturbinesarediscussed. Finally,bothconformityandnon-
similaritybetween simulationresults of the wind turbine models and the field measurement
dataareelaborated.
Two different methods of predicting stator transient current of a wind turbine generator
followingafaultarepresented. Thefirstmethodimplementsamodifiedfifth-ordermodelof
aninductiongeneratorwhichisdevelopedtobecompatiblewiththefundamentalfrequency
network model. The second method utilizes an analytical method in combination with the
third-order model of an induction generator. A solution for the implementation of wind
turbinemodelsthat require a simulationtimestep smallerthan thestandard simulationtime
stepis alsoproposedinthethesis.
In order to comprehend behaviors of wind turbines subject to different power system
stabilityphenomena,anumberofsimulationsareperformedinthepowersystemsimulation
tool PSS/E with the standard simulation time step of 10 ms. Each stability phenomenon
are simulated using different wind turbine models. The simulation results are evaluated to
determinethemostappropriatewindturbinemodelforeachparticularpowersystemstability
study. It is concluded that a fixed-speed wind turbine model consisting of the third-order
model of an induction generator and the two-mass model of a drive train is a compromised
solutionto provideasinglewind turbinemodel fordifferent typesofpowersystemstability
studies.
The thesis also presents aggregated models of a wind farm with fixed-speed wind tur-
bines. Theresultofthesimulationsarevalidatedagainstfield measurementdata.
Keywords: windturbine, modelling,validation,fixed-speed, variable-speed, powersys-
temstability,voltagestability,frequency stability,aggregatedmodel.
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Acknowledgements
This work has been carried out at the Division of Electric Power Engineering, Department
ofEnergyandEnvironmentatChalmersUniversityofTechnology. Thefinancial supportby
NordicEnergy Research, SvenskaKrafna¨t and Vattenfallisgratefullyacknowledged.
First of all I would like to thank my supervisor Associate Professor Ola Carlson for his
excellent supervision and helps during this work. I would like to express gratitude to my
examinerProfessorToreUndelandforprovidingguidanceand encouragement.
IoweadebtofgratitudetoUrbanAxelsson,becauseofhimIcouldstartand realizethis
work. My acknowledgmentsgo to all members of the reference group, particularly Elisabet
Norgren, fortheirvaluablecontributions.
I would like to thank my colleagues within the Nordic Project, Jarle Eek, Sanna Uski
and Torsten Lund, for their cooperation and contributions. My gratitude also goes to all
members of the Nordic Reference Group, especially Poul Sørensen (RISØ, Denmark), As-
sociate Professor Arne Hejde Nielsen (DTU, Denmark), Bettina Lemstro¨m (VTT, Finland),
Dr. Kjetil Uhlen (SINTEF, Norway) and Dr. Jouko Niiranen (ABB Oy, Finland), for their
fruitfuldiscussionsduringvariousmeetings.
Special thanks go to Professor Torbjo¨rn Thiringer for his valuable comments and sug-
gestions. I also appreciate Nayeem Rahmat Ullah and Marcia Martins for good cooperation
throughout my research and valuable suggestions during the thesis writing. Thanks go to
Ferry August Viawan for a good companionship. I would also like to thank Associate Pro-
fessorPabloLedesma, Dr. Evert Egneholm,Dr. JonasPersson and JohnOlav G Tandefora
good collaboration during writing papers. I also thank all the people working at the former
ElectricPowerEngineeringDepartment forprovidingsuchaniceatmosphere.
IwanttoexpressmygratitudetoallmyIndonesianfriendsinGothenburgforawonderful
brotherhoodandfriendship.
Myultimategratitudegoestomyparents,SitiZanahandAnwarMursid,andmyparents
in law, Siti Maryam and Dr. Tedjo Yuwono. It is because of their endless pray, finally I can
accomplishthiswork. Mymostheartfeltacknowledgementmustgotomywife,AsriKirana
Astuti for her endless patient, love and support. Finally, to my sons Aufa, Ayaz and Abit,
thankyouforyourlove,which makesthiswork sojoyful.
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Table of Contents
Abstract iii
Acknowledgement v
TableofContents vii
ListofSymbolsand Abbreviations xi
1 Introduction 1
1.1 Background and motivations . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Related research . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.3 Contribution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.4 Thesisoutline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.5 Publications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2 Modelling Aspects ofWindTurbines forStability Studies 7
2.1 Powersystemstability . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.1.1 Definitionand classificationofpowersystemstability . . . . . . . 7
2.1.2 Windpowergenerationand powersystemstability . . . . . . . . . 8
2.2 SimulationtoolPSS/E . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.2.1 Network representation . . . . . . . . . . . . . . . . . . . . . . . . 8
2.2.2 Simulationmode . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.3 Supportingtools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.4 Numerical integrationmethods . . . . . . . . . . . . . . . . . . . . . . . . 10
2.4.1 Numerical stabilityandaccuracy . . . . . . . . . . . . . . . . . . . 11
2.4.2 Explicitvsimplicitnumericalintegrationmethods . . . . . . . . . 12
2.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3 Fixed-speed Wind Turbine Models 15
3.1 Theinductiongenerator . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.1.1 Fifth-ordermodel . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.1.2 Third-ordermodel . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.1.3 First-ordermodel . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.1.4 Inductiongeneratormodelrepresentationas voltagesources . . . . 19
3.1.5 Result accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.1.6 Integrationtimestepsize . . . . . . . . . . . . . . . . . . . . . . . 26
3.1.7 Modifiedfifth-ordermodelforfundamentalfrequencysimulationtools 29
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3.1.8 Third-ordermodelwithcalculated peak current . . . . . . . . . . . 36
3.2 Turbinerotoraerodynamicmodels . . . . . . . . . . . . . . . . . . . . . . 37
3.2.1 Thebladeelement method . . . . . . . . . . . . . . . . . . . . . . 37
3.2.2 C (λ,β)lookuptable . . . . . . . . . . . . . . . . . . . . . . . . . 37
p
3.2.3 Windspeed -mechanical powerlookuptable . . . . . . . . . . . . 38
3.2.4 Activestallcontroller . . . . . . . . . . . . . . . . . . . . . . . . . 38
3.3 Mechanical system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
3.4 Soft starter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
3.5 Protectionsystem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
3.6 Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
3.6.1 Initializationprocedure . . . . . . . . . . . . . . . . . . . . . . . . 44
3.6.2 Mismatchbetween generatorinitializationand loadflow result . . . 45
3.7 Modelimplementationin PSS/E . . . . . . . . . . . . . . . . . . . . . . . 46
3.8 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4 ValidationofFixedSpeed Wind Turbine Models 49
4.1 ValidationofthemodelsagainstAlsvikfield measurementdata . . . . . . . 49
4.1.1 Measurementsetupand datadescription . . . . . . . . . . . . . . . 49
4.1.2 Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
4.2 Olosmeasurementdata . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
4.2.1 Measurementsetupand datadescription . . . . . . . . . . . . . . . 55
4.2.2 Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
4.3 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
5 SimulationofFixedSpeed WindTurbines 63
5.1 Windgustsimulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
5.2 Faultsimulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
5.3 Long-termvoltagestability . . . . . . . . . . . . . . . . . . . . . . . . . . 67
5.4 Frequency deviation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
5.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
6 AggregatedModelling ofWindTurbines 73
6.1 Aggregationmethod . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
6.2 Simulationofan aggregatedmodel . . . . . . . . . . . . . . . . . . . . . . 74
6.3 Validation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
6.3.1 Measurementlocationand data . . . . . . . . . . . . . . . . . . . 78
6.3.2 Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
6.4 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
7 FaultRide-through CapabilitiesofWindTurbines 85
7.1 Faultride-throughrequirementsin gridcodes . . . . . . . . . . . . . . . . 85
7.2 Faultride-throughschemes . . . . . . . . . . . . . . . . . . . . . . . . . . 86
7.2.1 Fixed-speedwindturbines . . . . . . . . . . . . . . . . . . . . . . 86
7.2.2 WindturbineswithDFIG . . . . . . . . . . . . . . . . . . . . . . 88
7.2.3 Windturbineswithfullpowerconverter . . . . . . . . . . . . . . . 90
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8 Conclusionand Future Work 91
8.1 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
8.2 Futurework . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Bibliography 95
Appendices 99
A FormulaDerivationofanInductionMachineModelasaVoltageSourcebehind
a Transient Impedance 99
B Blade Element Method 103
C AlsvikWind Turbine Parameters 107
D OlosWindFarmParameters 109
E Parameters Used forSimulationofFrequency Deviation 111
F WindTurbine Parameters 113
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