Modeling, Simulation and Development of Supervision/Control System for Hybrid Wind Diesel System Supplying an Isolated Load

Transcription

1 Moeling, Simulation an Development of Supervision/Control System for Hybri Win Diesel System Supplying an Isolate Loa Vigneshwaran Rajasekaran 1, Ael Merabet 1 an Hussein Ibrahim 2 1 Division of Engineering, Saint Mary s University, Halifax, NS 2 Win Energy Techno-Centre, Gaspé, QC Technical Report Research fune in part by Win Energy Techno-Centre, Gaspé, QC June 2012

2 1. Introuction Canaa has aroun 300 remote communities (approximately) with a total population of about 200,000 (approximately), an these communities are not connecte to the North American electrical gri [1]. Most of these communities utilize iesel generator for ay-to-ay electrical power nees. Since iesel generators are highly expensive option an contribute to very high carbon emission [2], an alternative energy solution is require to reuce iesel fuel consumption by integrating an operating a clean energy source in parallel. A simulation base research stuy has been conucte, in which a control system evelope for hybri win-iesel system (HWDS) is simulate in MATLAB/Simulink environment. The project is envisage to provie knowlege on technical feasibility of control systems for hybri win iesel system supplying an isolate loa. The system consist of a win turbine generation (WTG) system, power electronic converters, iesel generator (DG) unit an ump loas. Develope control strategy operates the HWDS in win-iesel (WD) moe. The iea of integrating iesel generation (DG) unit with win turbine generation (WTG) system was initiate in 1970 s as a solution to overcome oil crisis. Since that time, many researches ha been conucte throughout the worl. Also, win power generation is estimate to prouce 12% of worl s electricity requirement by 2020 [3]; hence hybri win iesel system (HWDS) is economic reality to reuce the epenence on iesel fuel. A HWDS is hybri combination of a WTG system an DG unit to supply the maximum portion of the loa requirements from the intermittent source of win, while supplying quality electrical power [4]. However, highly complex controls involve in ensuring the proper sharing of intermittent win energy an controllable DG unit forms the basis for successful integration of WTG systems with DG units to meet the power eman. Where the HWDS operating in winiesel moe requires both WTG an DG to be controlle simultaneously to maintain the power sharing between them. HWDS can be constructe from a simple power network, where win turbines are connecte irectly to the iesel powere gri with limite auxiliary equipments or by integrating WTG system an DG unit with more complex control systems [5, 6]. The overall HWDS esign an components require for the system is ecie base on two interrelate choice of auxiliary equipments schemes: 1) the usage of battery base energy storage system to hanle fluctuation in energy an 2) the expecte quantity of energy from renewable energy resources i.e. system penetration. By implementing renewable energy base technologies into large power systems, the portion of energy that will be generate from the renewable energy resources is etermine in prior to give an iea about the components to be use in the HWDS. Base on the penetration level the HWDS has three ifferent schemes [7], the following classification of system penetration characterizes the levels of system complexity: 1) low penetration 2) meium penetration 3) high penetration HWDS.

3 Propose System Schematics for simulation stuy: Fig.1. Schematics of Hybri Win Diesel System supplying isolate Loas 2. Win Turbine Generation (WTG) System 2.1. Win Turbine Moel The moel is evelope by consiering the steay state power characteristic of the win turbine shown in figure 2. Where it is assume that: 1) stiffness factor of the rive train is infinite an 2) friction factor an inertia of the win turbine is combine with the generator couple to the win turbine. The mechanical power output of the turbine is expresse as below. P m Av C p (, ) 2 3 w (1)

4 Fig.2. Win Turbine C p V. λ C C Where C p is power coefficient of the turbine, ρ is the air ensity (kg/m 3 ), A is turbine swept area (m 2 ), ν w is win spee (m/s), β is blae pitch angle (egree) an λ is tip spee ratio given by below equation. r R v w (2) Where ω r is the rotor shaft spee an R is raius of the rotor blae. C p of the win turbine is moelle using a generic form as given in equation (3). Turbine characteristic moelling from [8] forms the basis for this equation expresse below. C 5 C 2 i C p(, ) C1 C3 C4 e C6 i (3) With i 1 (4)

5 Fig.3. Simulink moel of Win Turbine Figure 3 shows the mathematical moel of win turbine evelope in Simulink. Equations (1)- (4) have been use in eveloping this moel. The function f (u) in figure 3 is expresse below: f ( u) opt vw R (5) Where, opt is the optimum tip-spee ratio. For the turbine use in simulation, the maximum value of C p (i.e. C pmax =0.48) is reache for optimum tip-spee ration opt =8.1 an β=0 egree Inuction Machine Moel Stanar inuction machine block from SimPowerSystem/Simulink has been use where fourth-orer an secon-orer state space moel is use for representing the electrical an mechanical system of the inuction machine respectively. All the variables an parameters of the electrical system are referre to the stator sie, an are inicate by the prime symbol ( ) in the machine equations given below. The equivalent circuit moel of the electrical system in q- axis an -axis frame of reference is shown in figure 4 an 5 respectively. Fig.4. Equivalent circuit moel of electrical system of inuction machine in q-axis frame of reference

6 Fig.5. Equivalent circuit moel of electrical system of inuction machine in q-axis frame of reference The equations of electrical system are V qs R i s qs t qs s (5) V s R i s s t s qs (6) V V r qr R i R i r qr r r t t r qr ( r ) r ( r ) qr (7) (8) Where, L i L i qs s qs m qr L i L i s s s m r L i L i qr r qr m qs L i L i r r r m s L s L ls L m L r L lr L m

7 The equations of the mechanical system are t t 1 m ( Te 2H m m F T m m ) (9) (10) The electromagnetic torque of the machine is calculate as per the below equation: T e 1.5( siqs qsis) (11) Where, R s, R r, L ls, L lr, are stator an rotor resistance an leakage inuctance. L m is magnetizing inuctance. L s, L r are total stator an rotor inuctances. V qs, i qs are q-axis stator voltage an current. V qr an i qr are q-axis rotor voltage an current respectively. V s an i s are -axis stator voltage an current. V r an i r are -axis rotor voltage an current. ϕ qs, ϕ s stator q an axis fluxes. ϕ qr, ϕ r rotor q an axis fluxes. ω m an Ө m are mechanical rotor angular velocity an position. ω r is electrical angular velocity. T e an T m are electromagnetic an mechanical shaft torques. J is combine rotor an loa inertia coefficient. H is combine rotor an loa inertia. F is combine rotor an loa viscous friction. 3. Diesel Generation (DG) System 3.1. Diesel Engine Moel The iesel generator consists of a iesel engine with the governor system an a synchronous machine riven by the iesel engine. Major components of the iesel engine Simulink moel consist of controller, actuator an a elay block as shown in figure 6. The consiere iesel engine moel [9] uses: 1) the Controller for checking the steay-state error in spee an 2) the actuator with gain K, time constant T i an integrator altogether for controlling the fuel rack position.

8 Fig.6. Simulink moel of Diesel engine with governor control system The iesel engine moel is evelope with stanar secon orer controller an actuator with two transfer function blocks TF1 an TF2 [10]. With the presence of ea time an occurrence of parameter variation in real-time iesel generation system, controlling the spee of iesel engine prime movers involves technical complexity, resulting in slow plant ynamics. The controller use provies quick response at the startup an fast spee recovery uring loa variation. In general the evelope iesel engine moel emulates the rate of fuel consumption as a function of spee, moele using a simple first orer equation relating the fuel rack position with evelope mechanical power, which is the output of the engine moel [11]. Governor control system plays a major role in regulating the spee of the engine an in turn the power generation by controlling the iesel s flow to the engine, so that the require power is generate to supply the loa. Variation in the ea-time together with system parameter uncertainties results in significant egraation in the performance of iesel engine as a prime mover, mainly uring loa changes, which is a commonly occurring change in power system. The existence of the non-linear, time-varying, ea time between the fuel injection an prouction of mechanical torque T mech [12] makes the iesel engine a non-linear system. So the spee is commonly controlle with a PI controller to prevent steay-state error in spee. Finally the prouction of mechanical torque T mech is represente by conversion of fuel-flow to torque after a time-elay e -TD.The equation use for the conversion is expresse below. T mech D ( S) e st ( S) (12) 3.2. Synchronous Generator (Alternator) Moel Stanar synchronous machine block from SimPowerSystem/Simulink has been use, where sixth-orer state space moel is use in representing the electrical system of the machine. The electrical system for each phase consists of a voltage source in series with RL impeance, which implements the internal impeance of the machine. Dynamics of the stator, fiel an amper

9 wining are taken into consieration in the moel, an the equivalent circuit is represente in the rotor reference frames q-axis an -axis as shown in figure 7 an 8 respectively. Fig.7. Equivalent circuit moel of electrical system of synchronous machine in q-axis frame of reference Fig.8. Equivalent circuit moel of electrical system of synchronous machine in -axis frame of reference The equations of electrical system are as follows V Rsi ( ) Rq t (13) V q Rsiq ( q ) R t (14)

10 Where, L i L ( i i ) m f k q L i L q q i mq kq The subscripts use are: 1) s refers to rotor an stator parameters 2) l,m refers to leakage an magnetizing inuctance respectively 3) f, k refers to fiel an amper wining quantity respectively. The equations for the mechanical system are expresse below: t 1 ( t) ( Tm Te ) t K ( t) 2H 0 (15) ( t) ( t) 0 (16) Where, H is Inertia constant, T m is mechanical torque, T e is electromagnetic torque, K is amping factor representing effect of amper winings, ω(t) is rotor spee an ω 0 is spee of operation. 4. Control System for HWDS 4.1. Power Electronics Converter The power electronics converters play a major role in variable spee control operation of win turbines. A maximum power point tracking control scheme inclues the power electronics converters in spee tracking an controlling of the generator to run at optimum reference spee. This allows the win turbine to be operate at optimum tip spee ratio in turn to get higher power coefficient for extracting the maximum available power from the win. Also the power electronics converters are employe for regulating voltage an frequency of the power supply at the loa/gri sie of the win energy conversion system. The Universal Brige block in Simulink library has been use for simulating the three-phase power converters. It consists of six power switches connecte in a brige configuration. In this simulation, IGBT base power switches have been use, which is basically a forcecommutate switching evice an the converter is use as the voltage source converter. The back-to-back (converter) rectifier-inverter pair ( sequence from generator en) is the most preominantly use converter configuration for the variable spee win turbine generation system, consisting of voltage source converters with pulse with moulation unit for proucing firing pulse signals.

11 Loa Fig.9. Back-to-back rectifier-inverter pair configuration of power converters With two pulse-with moulate (PWM) voltage source converters (VSC) connecte back-toback, the configuration is a biirectional power converter unit as shown in figure 9. Where one converter works as rectifier an other converter operates as inverter throughout the power conversion process in either irection of power flow. A DC-link capacitor is connecte in parallel between the two converters. In orer to achieve complete control over the current injecte into the loa sie bus/gri, the DC-link voltage across the capacitor is maintaine at a higher magnitue than the loa sie line-line voltage. Control methoology for back-to-back converter configuration use in win energy conversion systems are escribe in [13]-[16]. Since the power electronics converters are connecte between the generators an loas, occurrence of any variation on either sie might result in voltage or current transients. A snubber is a evice use with the power converters play a major role in mitigating the effects of voltage transients in the electrical system. One of the commonly employe snubber for applications involving electric generator, motor an inuctive loa connecte system are the RC snubbers. It consists of capacitors an resistors. For simulation, a snubber capacitance C s can be set to zero to eliminate the snubber or to infinite (inf) to obtain a purely resistive snubber. Since IGBT is a force-commutate evice, the purely resistive snubbers have been use for satisfactory operation of the converter uner continuous firing pulses. An in case of iscontinuity of firing pulses the ioes connecte in anti-parallel operates an the converter works as a ioe converter for that time perio. In real-time system the iscontinuity occurrence is hanle by appropriate use snubber resistance an capacitance. Finally the two main challenges [17] involve with implementing power electronics converter an the control strategy in a variable spee win energy conversion systems are: 1) Operating win turbine at maximum power extraction state with varying win spee an 2) Converting variable frequency-variable magnitue of generate AC power into constant frequencyconstant magnitue power supply to be fe to loa/gri.

12 4.2. Maximum Power Point Tracking Control In orer capture the maximum power from the win, the maximum power point tracking metho is employe to control the shaft spee of the win turbine system. The mechanical power prouce by the win turbine at a given win spee is a function of the power coefficient C p as given in equation (1). For a win turbine system, power coefficient C p represents the value of fraction of power converte into mechanical energy from the available win energy. The C p epens on the tip spee ratio λ (which in turn epens on turbine rotor shaft spee an win spee V w ). Since C p being function of λ as mentione in equation (3), it reaches a maximum value for an optimum tip spee ratio λ opt. This value of C p implies that the win turbine is converting the maximum possible fraction of energy available in the win into mechanical energy. In orer to operate the win turbine with maximum C p, the rotor shaft spee is to be controlle an regulate at an optimum value for which the win turbine operates with tipspee ratio λ opt. This is achieve by controlling the generator shaft spee through power electronics converters with PWM pulse signals. A vector control scheme [18] is employe to control the IGBT base generator-sie power electronics converter, this in turn controls the rotational spee of the inuction machine. The complete schematic of the vector control scheme is shown in figure10. To achieve output power control, the rotor currents are controlle in orer to control the spee an torque of the inuction machine. Fig.10. Simulink moel of vector control scheme for MPPT

13 Keeping the reference frame as stationery, the spee control of the inuction machine is realize on a rotating frame, where a simple PI controller with rotational spee error as input is use as the spee controller to prouce reference electromagnetic torque T e. The q-axis current components are calculate as per below equation. I * q 4 p LrTe 3 L m r (17) I * * r Lm (18) The -axis current I * an I q * are passe through the park transformation block shown in figure 11 (q to ABC conversion) to get the reference current I abc * for the current regulator. The output of the current regulator is use as the firing angle gate signal for the converter. Fig.11. Simulink moel of Park transformation for q to abc conversion In figure 11, i a an i b are calculate as per below expression: i b i a * I sin I cos * q * * I I q cos 3sin sin 3cos 2 2 (19) (20) The controller uses ω r * as the reference spee calculate from at λ opt for maximum power extraction using the below equation. * r R opt v w (21)

14 The actual turbine rotor shaft spee is measure an fe to the spee controller shown in figure 10. For each sample time, is compare with ω * r, an vector control system minimizes the ifference between an ω * r. Thus the controller uses the power converters to track an regulate the rotor shaft spee, so that the win turbine is operate at maximum C p, which in turn means achieving maximum power extraction from the available win. Hence maximum value of C p is achieve an maximum power is generate from the win DC-Link an Loa Voltage Control DC-link voltage is the voltage across the DC-link capacitor shown in below Figure 12. An IGBT base three phase loa-sie converter inclue in this system plays a major role in regulating the DC-link voltage V c an in turn the loa voltage at constant values respectively. A vector control scheme is employe to regulate c-link voltage V c an in turn to regulate the loa voltage. The input parameters to the control system are V c, loa voltage V abc, loa current I abc an reference c-link voltage V* c (=V c-ref ). Output of the control system provies the reference voltage, use as the input for the PWM signal generator. Generate PWM signal is use as the firing pulse for the loa sie converter. For each sample time the V c is measure an compare with V* c, an the voltage control block reuces the ifference between V c & V* c until the voltage across the loa is regulate to the esire voltage. Fig.12. Schematics for DC-link voltage an Loa voltage Control system Figure 13 shows the Simulink moel of the control scheme for the loa voltage control, all the parameters use within this Simulink moel are in per unit stanar system. In this, a stanar phase-locke-loop (PLL) block shown in figure 14 is use for fining the electrical angle ( ) an sine-cosine components for performing park-transformation to obtain q-component of loa voltage an current. A simple PI controller as shown in figure 15 is use in the DC

15 voltage regulator block to provie the -axis current I _Ref. The current regulator shown in figure 16 is use to get the -q components of the voltage. Then these -q components are use in calculating the reference voltage for the PWM generator block. Fig.13. Simulink moel of vector control scheme for loa voltage control Fig.14. Simulink moel of stanar Phase Locke Loop (PLL) block

16 Fig.15. Simulink moel of DC voltage regulator Fig.16. Simulink moel of Current regulator 4.4 Frequency Regulation Control Power system frequency represents the stability an balance maintaine between the loa power eman an power generate. Small or large fluctuation in loa power eman occurs commonly in any power system operation. Generator tripping or outage of power plants can lea to a critical stability problem an large frequency fluctuation in power system. In orer to avoi these common problems an safeguar the stability of power system, a frequency regulator control system shoul be implemente. The power supply frequency of the HWDS supplying the isolate loa can be regulate using controlle ump loas [19]. Dump loas are variable loas an controlle by power electronic switches with high frequency switching action. In this simulation stuy the ump loas are moele using eight sets of three-phase resistors connecte in series with GTO thyristor

17 switches as shown in figure 17, where A,B an C are the power supply terminals connecte in parallel to the main loas. The nominal power of each set follows a binary progression so that the loa can be varie from 0 to kw by steps of 1.75kW. GTOs are simulate by stanar ieal switches block in Simulink library. Fig.17. Simulink moel of ump loa system The frequency control is completely moelle using MATLAB Simulink. The frequency is regulate by the iscrete frequency regulator control system. A stanar iscrete 3-phase phase locke loop (PLL) system block is employe to measure the frequency of power system. The measure frequency is compare to the reference frequency (60 Hz) to obtain the frequency error. A phase error is obtaine by integration of frequency error. This phase error is then use as the input to proportional-erivative (PD) controller to prouce an output signal representing the require ump loa power. This signal is converte to an 8-bit igital signal using sampling system block shown in figure 18, for controlling switching of the eight sets three-phase ump loas. Switching action of these ump loas are performe at zero crossing of voltage to reuce fluctuations in the voltage. The complete Simulink moel of the iscrete frequency regulator control system is shown in figure 18.

18 Fig.18. Simulink moel of iscrete frequency regulator control system The reference frequency input for the control has been consiere as 60Hz. For each sample time, frequency of the system is measure an compare with reference frequency. Any ifference in the frequency will actuate the require ump loas to minimize the error between the reference frequency an system frequency. The process continuous throughout the simulation to ensure the system frequency is maintaine at 60 Hz. 5. Simulation Results an Discussion Valiating the performance of the control system evelope for the HWDS is shown by the simulation stuy results. The parameters use for the simulation are mentione in the appenix. Power sharing of the sources an loas are epicte with appropriate scales Figure 19 shows the complete power flow involve in the power system. The first graph shows the generate power output from the WTG. The power fluctuation is ue to the varying win spee an operation of MPPT scheme to track the spee of turbine. The high frequency power output fluctuation from the loa sie power converter is smoothene by the LC filters. Although the power output from the power converters are smoothene, slight power swing istortion is observe. The secon graph in Figure 19 shows the loa power consumption in main loa. The transient behaviour observe in the start of simulation is ue to operation of WTG an DG units together. As in real-time HWDS, both WTG an DG are never starte supplying simultaneously. Generally, either of the source supplies the loa initially an epening on requirement other source is switche ON. Since the simulation is focuse on win-iesel moe of operation, both the sources were assume to in operation simultaneously, leaing to a transient curve in the start of simulation.

19 Fig.19. Power sharing of sources an loas The fourth graph in the figure 19 shows the loa power consumption in the ump loa. The ump loa is a variable loa operate by controlle GTO switches. The loa varies between 0 an kW. It can be observe that the ump loa control switches ON the require ump loa whenever the power generation is excessive. It is observe that the ump loa power consumption is fast responsive to any excessive power fluctuations. This in turn regulates the system frequency. Overall the observe performance of the ump loas system is goo an highly responsive. Figure 20 shows the performance of the control system for loa voltage regulation. The loa voltage is regulate at constant voltage. Fig.20. Regulate Loa voltage

20 Figure 22 shows the regulation of the power system frequency. The complete power system is operate at 60Hz frequency. This value is use as the reference frequency. It is observe that throughout the simulation the frequency is regulate an maintaine at constant 60Hz. The performance of iscrete frequency regulator control i.e. the ump loa control is goo. A small lag in start is attribute to the transient behaviour explaine above. Fig.22. Regulate power system frequency Figure 23 shows the spee tracking performance of MPPT control scheme. Step changes in the reference spees are shown in the graph an it can be observe that the MPPT control system performance is goo. Fig.23. Spee tracking performance of the MPPT Control

21 Conclusions an Prospective for Future Work The evelope control system operates the HWDS in win-iesel moe of operation. The maximum power point tracking control for tracking the optimum turbine spee has been simulate to show maximum power extraction performance for the win turbine. Usage of ump loas with high frequency switching GTOs prove to be a goo option to regulate the power system frequency. Simulation results for overall control system for simulate win spee with two step changes shows goo performance. The power generation require was share between the two sources an the power consumptions were equally balance between the main loa an ump loas. Future work will be focusse on PMSG (permanent magnet synchronous generator) base win turbine simulate with realistic varying win spee pattern. The current capacity of the generation system will be closely upate to resemble the generation capacity use in win iesel system of TechnoCentre project. Control system can be evelope to operate the HWDS in win-iesel an iesel-only moe operation. Pitch angle control can be simulate in the future work to control win turbine for above rate win spee regime in hanling excessive power generation.

22 APPENDIX Win Turbine parameters: c 1 = , c 2 = 116, c 3 = 0.4, c 4 = 5, c 5 = 21 an c 6 = λ opt =8.1, ρ = 1.14 kg/m 3, R=3 m, Gear-ratio = 1:3 Synchronous Machine: Nominal Power = 100 KVA, Reactances (in pu): X =3.23, X =0.21, X =0.15, Xq=2.79, Xq =0.37,X L =0.09, Stator Resistance = 0.07 pu, inertia coefficient= 1, pole pairs =2 Inuction Machine: Nominal power = 40 KVA, Stator resistance R s =0.087 ohm, Inuctance L ls =0.8mH, Rotor resistance R r =0.228, L lr = 0.8mH, Mutual inuctance L m =34.7 mh, Inertia factor J = 1.662, friction factor = 0.1, Pole pairs= 2 Main Loa =50 kw, Dump Loa (variable) =0 to kW

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