DIgSILENT PowerFactory

Technical Reference Documentation

Doubly-Fed Induction Machine

ElmAsmsc, TypAsmo
 DIgSILENT GmbH

Heinrich-Hertz-Str. 9
72810 - Gomaringen
Germany

T: +49 7072 9168 00

F: +49 7072 9168 88

http://www.digsilent.de
info@digsilent.de
r1018

Copyright 2011, DIgSILENT GmbH. Copyright of this document belongs to DIgSILENT GmbH.
No part of this document may be reproduced, copied, or transmitted in any form, by any means
electronic or mechanical, without the prior written permission of DIgSILENT GmbH.

Doubly-Fed Induction Machine (ElmAsmsc, TypAsmo) 1

Contents

Contents

1 General Description 3

1.1 Load-Flow Calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1.2 Short-circuit Calculations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1.3 Harmonic Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1.4 Transient Simulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1.4.1 Rotor Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

2 Input/Output Definitions of Dynamic Models 6

3 Input Parameter Definitions 9

3.1 Induction Machine type (TypAsmo) . . . . . . . . . . . . . . . . . . . . . . . . . . 9

3.2 Induction Machine Element (ElmAsmsc) . . . . . . . . . . . . . . . . . . . . . . . 11

Doubly-Fed Induction Machine (ElmAsmsc, TypAsmo) 2

1 General Description

1 General Description

Figure 1.1: Equivalent Circuit of the Doubly-Fed Induction Machine Model

Figure 1.2: Rotor-Side PWM-Converter

The doubly-fed induction generator (DFIG) is a rotor-voltage controlled, slip-ring induction ma-
chine. The PWM converter connected to the slip-rings controls the rotor voltage in magnitude
and phase angle, why active and reactive power output of the DFIG can be controlled.

As shown in Figure 1.1, the doubly-fed induction machine model of PowerFactory includes the
rotor-side converter. Hence, the doubly-fed induction machine is a model with two terminals,
an AC and a DC terminal. The induction machine model is identical to the standard induction
machine model of PowerFactory , including a very detailed approximation of Zrot with up to three
R-L ladder circuits.

The converter according to Figure 1.2 is modelled by a fundamental frequency approach. The
AC- and the DC-voltages are related to each other by the modulation index (Pm) that can be
defined by magnitude and phase angle or in cartesian co-ordinates, by real- and imaginary part:

3
UACr = P mr UDC
2 2
(1)
3
UACi = P mi UDC
2 2

The AC rotor-voltage is expressed in a rotor reference frame. It is assumed that the modulation
corresponds to a sinusoidal pulse-width modulation (PWM).

The relationship between AC and DC currents can be found by assuming that the PWM con-
verter is loss-less:

PAC = Re(U AC I AC ) = UDC IDC = PDC (2)

Doubly-Fed Induction Machine (ElmAsmsc, TypAsmo) 3

1 General Description

If relevant, switching losses can be considered as no-load losses by an equivalent resistance

connected between the DC-node and ground.

However, the detailed PWM-converter model of PowerFactory integrates no-load losses, why it
is recommended to consider all switching losses in the grid-side converter model.

The model is completed by the open-loop rotor voltage. The winding ratio between stator and
rotor is directly calculated from the open-loop rotor voltage without considering the voltage drop
across the leakage reactance due to no-load currents. Hence, if both parameters are available,
the winding ratio and the actually measured nominal rotor voltage, the input parameter Urot
rated slip ring voltage should be calculated from the winding ratio.

1.1 Load-Flow Calculation

For load flow analysis, active and -reactive power and the steady state slip have to be specified.
All other variables, including the corresponding modulation index are calculated during the load
flow iteration.

The specified active and reactive power defines the stator active- and reactive power, not the
total active power of the doubly-fed induction machine.

For many applications, it is useful to specify the power at a different point, e.g. at the HV-side of
a three-winding transformer fed by a DFIG. This is currently not possible but will be implemented
in future versions of PowerFactory

1.2 Short-circuit Calculations

Figure 1.3: Short-Circuit Model of the Doubly-Fed Induction Machine

For short circuit analysis, the doubly-fed induction machine is modelled by the subtransient
equivalent Protective actions, such as under-voltage tripping or bypassing of the rotor-side con-
verter cannot be directly considered in the subtransient model. However, if the rotor bypass is
ideal, with no additional resistance or reactance, the subtransient model is still correct.

1.3 Harmonic Analysis

For harmonics analysis, the doubly-fed induction machine model is the same as the standard
induction machine model that is based on the subtransient model according to Figure 1.3.

Doubly-Fed Induction Machine (ElmAsmsc, TypAsmo) 4

1 General Description

1.4 Transient Simulations

In time domain simulations (RMS- and EMT-simulation) the converter is controlled by the pulse
width modulation factors Pmd and Pmq. It is important to remember that the AC voltage and
hence the complex modulation factor is referred to the actual rotor reference frame and not
to the field reference frame. It is therefore necessary to convert the d-q output of a controller
(usually expressed in a field reference frame) to the rotor reference frame of the machine.

The model equations of the doubly fed machine can be derived from the normal, single-fed
induction machine equations by modifying the rotor-voltage equations:

d s ref
us = rs is + +j
n dt n s
(3)
j(R ref ]t
dR ref R
uR e = RR iR + +j R
n dt n

The per unit rotor voltage that appears in the above equation is related to the DC-voltage as
follows:

3 UDC
uRd = P md
2 2 URnom
(4)
3 UDC
uRq = P mq
2 2 URnom

The nominal rotor voltage considers the winding ratio between stator and rotor.

All other equations, including mechanical equations are identical to the standard, single-fed
induction machine model.

In stability analysis (RMS-simulation), stator flux derivatives in the stator voltage equations are
neglected, which is analogous to the standard, single-fed induction machine model.

1.4.1 Rotor Protection

For protecting the rotor side PWM-converter against high rotor currents and for avoiding loss of
synchronism of the rotor-side converter with the network, the rotor can be bypassed during fault
conditions.

Since in the current model, there is no specific parameter for bypassing the rotor-side con-
verter, the pulse-width modulation factors Pmd and Pmq must be set to (approx.) zero, which is
equivalent to bypassing the rotor.

For limiting the rotor current and for influencing the speed-torque characteristic of the machine,
the rotor additional bypass-resistance and -reactance can be included. These can be inserted
by setting the internal parameters rradd and xradd using Parameter-Events.

Additional protection, e.g. protection against under- or over-voltage can be implemented using
standard PowerFactory relay models.

Doubly-Fed Induction Machine (ElmAsmsc, TypAsmo) 5

2 Input/Output Definitions of Dynamic Models

2 Input/Output Definitions of Dynamic Models

Figure 2.1: Input/Output Definition of Dynamic Models

The following per-unit systems are used:

Rated Apparent Power, Rated Voltage:

Vr2
Sr , Vr , Zb =
Sr

Rated (Electrical) Active Power:

Per = Sr cos(r )

Rated Mechanical Power:

Pmr = Per r
r : Rated efficiency
Rated Mechanical Torque:
Pmr Pmr
Mr = =
r (1 sr )n
Sr : Rated slip
n : Nominal electrical angular velocity
Rated Rotor Voltage, Urot

Doubly-Fed Induction Machine (ElmAsmsc, TypAsmo) 6

2 Input/Output Definitions of Dynamic Models

Table 2.1: Input Variables (signals)

Parameter Symbol/Equ. Description Unit

pt Turbine power, (rated tomechanical power p.u.
xmdm mm Mechanical Load Torque. (rated to mechanical torque) p.u.
rradd Additional rotor resistance p.u.
Pmd Pm d d-axis-modulation index (referred to rotor angle)
Pmq Pm q q-axis-modulation index (referred to rotor angle)

Table 2.2: Output Variables (signals)

Parameter Symbol/Equ. Description Unit

xspeed Mechanical Speed p.u.
pgt Electrical Power p.u (rated
electrical active
power)
ird d-axis rotor current (referred to rotor angle) p.u.
irq q-axis rotor current (referred to rotor angle) p.u.
xphim rotor angle p.u.
psis r Stator flux, real part p.u.
psis i Stator flux, imaginary part p.u.
cosphim cosine of rotor angle
sinphim sin of rotor angle

Table 2.3: State Variables (signals)

Parameter Symbol/Equ. Description Unit

speed n Mechanical Speed p.u.
phim Electrical Power rad
psiA1 r R Flux of loop A1, real p.u.
psiA1 i R Flux of loop A1, imaginary p.u.
psiA2 r R Flux of loop A2, real p.u.
psiA2 i R Flux of loop A2, imaginary p.u.
psiB r R Flux of loop B, real p.u.
psiB i R Flux of loop B, imaginary p.u.

Doubly-Fed Induction Machine (ElmAsmsc, TypAsmo) 7

2 Input/Output Definitions of Dynamic Models

Table 2.4: Additional Parameters and signals (calculation-parameter)

Parameter Description Unit

slip Slip p.u.
xme Electrical torque, based on rated mechanical torque p.u.
xmem rated mechanical torque p.u.
rated mechanical torque
xmt Mechanical Torque, based on rated mechanical torque p.u.
xradd Additional rotor reactance p.u.
addmt Additional mechanical torque, based on rated p.u.
mechanical torque
ccomp Internal capacitance (for compensating reactive p.u.
power mismatch in case of PQ-load flow model)
i star i star=1: Star Operation i star=0: Delta Operation p.u.
(used for Star-Delta start-up)
usr Rotor Voltage, real part, referred to standard p.u.
reference system and rated rotor voltage
usi Rotor Voltage, imaginary part, referred to standard p.u.
reference system and rated rotor voltage
urd d-Axis Rotor Voltage, referred to rotor angle and p.u.
rated rotor voltage
urq q-Axis Rotor Voltage, referred to rotor angle and p.u.
rated rotor voltage
ura Slip-Ring Voltage, phase A, referred to rated rotor voltage p.u.
urb Slip-Ring Voltage, phase B, referred to rated rotor voltage p.u.
urc Slip-Ring Voltage, phase C, referred to rated rotor voltage p.u.
ird d-Axis Rotor Current, referred to rotor angle p.u.
iq q-Axis Rotor Current, referred to rotor angle p.u.
Ira Rotor Current, Phase A kA
Irb Rotor Current, Phase B kA
Irc Rotor Current, Phase C kA
Irot Rotor Current, Instantaneous Phasor Magnitude kA

Doubly-Fed Induction Machine (ElmAsmsc, TypAsmo) 8

3 Input Parameter Definitions

3 Input Parameter Definitions

3.1 Induction Machine type (TypAsmo)

All rotor resistances and reactances are expressed in p.u. referred to the stator side.
Rotor impedances given in Ohm, referred to the stator side have to be divided by the base
2
impedance of the machine (Zbase = Urated /Srated )

Doubly-Fed Induction Machine (ElmAsmsc, TypAsmo) 9

3 Input Parameter Definitions

Parameter Description Unit

loc name Name
ugn Rated Voltage kV
sgn Power Rating: Rated Apparent Power kVA
pgn Power Rating: Rated Mechanical Power kW
cosn Rated Power Factor
effic Efficiency at nominal Operation %
frequ Nominal Frequency Hz
anend Nominal Speed rpm
nppol No of Pole Pairs
nslty Connection
i cage Rotor Model
aiazn Locked Rotor Current (Ilr/In) p.u.
amazn Locked Rotor Torque p.u.
rtox R/X Locked Rotor
amkzn Torque at Stalling Point p.u.
aslkp Slip at Stalling Point
amstl Torque at Saddle Point p.u.
asstl Slip at Saddle Point
rstr Stator Resistance Rs p.u.
xstr Stator Resistance Xs p.u.
xm Mag. Reactance Xm p.u.
xmrtr Rotor Leakage Reac. Xrm p.u.
i cdisp Operating Cage/Rotor data: Consider Current
Displacement (Squirrel Cage Rotor)
rrtrA Operating Cage/Rotor data: Rotor Resistance RrA p.u.
xrtrA Operating Cage/Rotor data: Rotor Reactance XrA p.u.
rrtrA0 Operating Cage/Rotor data: Slip indep. Resistance RrA0
xrtrA0 Operating Cage/Rotor data: Slip indep. Reactance XrA0
r0 Operating Cage/Rotor data: Resistance RrA1
x0 Operating Cage/Rotor data: Reactance XrA1
r1 Operating Cage/Rotor data: Resistance RrA2
x1 Operating Cage/Rotor data: Reactance XrA2
rrtrB Starting Cage: Rotor Resistance RrB p.u.
xrtrB Starting Cage: Rotor Reactance XrB p.u.
i trans Consider Transient Parameter p.u.
aiaznshc For short-Circuit Analysis: Locked Rotor Current (Ilr/In) p.u.
iinrush Inrush Peak Current: Ratio Ip/In p.u.
Tinrush Inrush Peak Current: Max. Time s
Tcold Stall Time: Cold s
Thot Stall Time: Hot s
trans Consider Transient Parameter
xdssshc For Short-Circuit Analysis: Locked Rotor Reactance
rtoxshc For Short-Circuit Analysis: R/X Locked Rotor
xtorshc For Short-Circuit Analysis: X/R Locked Rotor

Doubly-Fed Induction Machine (ElmAsmsc, TypAsmo) 10

3 Input Parameter Definitions

3.2 Induction Machine Element (ElmAsmsc)

Parameter Description Unit

loc name Name
typ id Type(TypAsmo)
bus1 Terminal AC (StaCubic)
bus1 bar Terminal AC
bus2 Terminal DC (StaCubic)
bus2 bar Terminal DC
outserv Out of Service
ngnum Number of: parallel Machines
i mot Generator/Motor
c pmod Model
pgini Active Power MW
qgini Reactive Power Mvar
slipset Slip %
Urot Rated Slip Ring Voltage (open rotor, standstill) V
tstart Starting Time s
Icrow Rotor-Bypass Settings: Max Rotor Current kA
rcrow Rotor-Bypass Settings: Crow-Bar Resistance p.u.
xcrow Rotor-Bypass Settings: Crow-Bar Reactance p.u.
mdmlp Mechanical Load: Proportional Factor p.u.
mdmex Mechanical Load: Exponent

Doubly-Fed Induction Machine (ElmAsmsc, TypAsmo) 11