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)

Contents

Contents
1 General Description

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

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

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

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

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

2 Input/Output Definitions of Dynamic Models

3 Input Parameter Definitions

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

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

11

Doubly-Fed Induction Machine (ElmAsmsc, TypAsmo)

General Description

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 machine. 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

3
UACi = P mi UDC
2 2

(1)

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 converter is loss-less:
PAC = Re(U AC I AC ) = UDC IDC = PDC

Doubly-Fed Induction Machine (ElmAsmsc, TypAsmo)

(2)

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 converter 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)

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:

uR e

j(R ref ]t

d s

ref

n dt
n s
dR
ref R
= RR iR +
+j
R
n dt
n
us = rs is +

+j

(3)

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

uRd
uRq

3
UDC
= P md
URnom
2 2

3
UDC
= P mq
URnom
2 2

(4)

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 converter, 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)

Input/Output Definitions of Dynamic Models

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:
Sr , Vr , Zb =

Vr2
Sr

Rated (Electrical) Active Power:

Per = Sr cos(r )
Rated Mechanical Power:
Pmr = Per r
r : Rated efficiency
Rated Mechanical Torque:
Mr =

Pmr
Pmr
=
r
(1 sr )n

Sr : Rated slip
n : Nominal electrical angular velocity
Rated Rotor Voltage, Urot

Doubly-Fed Induction Machine (ElmAsmsc, TypAsmo)

Input/Output Definitions of Dynamic Models

Table 2.1: Input Variables (signals)

Parameter
pt
xmdm
rradd
Pmd
Pmq

Symbol/Equ.
mm
Pm d
Pm q

Description
Turbine power, (rated tomechanical power
Mechanical Load Torque. (rated to mechanical torque)
Additional rotor resistance
d-axis-modulation index (referred to rotor angle)
q-axis-modulation index (referred to rotor angle)

Unit
p.u.
p.u.
p.u.

Table 2.2: Output Variables (signals)

Parameter
xspeed
pgt

Symbol/Equ.

Description
Mechanical Speed
Electrical Power

ird
irq
xphim
psis r
psis i
cosphim
sinphim

d-axis rotor current (referred to rotor angle)

q-axis rotor current (referred to rotor angle)
rotor angle
Stator flux, real part
Stator flux, imaginary part
cosine of rotor angle
sin of rotor angle

Unit
p.u.
p.u (rated
electrical active
power)
p.u.
p.u.
p.u.
p.u.
p.u.

Table 2.3: State Variables (signals)

Parameter
speed
phim
psiA1 r
psiA1 i
psiA2 r
psiA2 i
psiB r
psiB i

Symbol/Equ.
n
R
R
R
R
R
R

Description
Mechanical Speed
Electrical Power
Flux of loop A1, real
Flux of loop A1, imaginary
Flux of loop A2, real
Flux of loop A2, imaginary
Flux of loop B, real
Flux of loop B, imaginary

Doubly-Fed Induction Machine (ElmAsmsc, TypAsmo)

Unit
p.u.
rad
p.u.
p.u.
p.u.
p.u.
p.u.
p.u.

Input/Output Definitions of Dynamic Models

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

Parameter
slip
xme
xmem
xmt
xradd
addmt
ccomp
i star
usr
usi
urd
urq
ura
urb
urc
ird
iq
Ira
Irb
Irc
Irot

Description
Slip
Electrical torque, based on rated mechanical torque
rated mechanical torque
rated mechanical torque
Mechanical Torque, based on rated mechanical torque
Additional rotor reactance
Additional mechanical torque, based on rated
mechanical torque
Internal capacitance (for compensating reactive
power mismatch in case of PQ-load flow model)
i star=1: Star Operation i star=0: Delta Operation
(used for Star-Delta start-up)
Rotor Voltage, real part, referred to standard
reference system and rated rotor voltage
Rotor Voltage, imaginary part, referred to standard
reference system and rated rotor voltage
d-Axis Rotor Voltage, referred to rotor angle and
rated rotor voltage
q-Axis Rotor Voltage, referred to rotor angle and
rated rotor voltage
Slip-Ring Voltage, phase A, referred to rated rotor voltage
Slip-Ring Voltage, phase B, referred to rated rotor voltage
Slip-Ring Voltage, phase C, referred to rated rotor voltage
d-Axis Rotor Current, referred to rotor angle
q-Axis Rotor Current, referred to rotor angle
Rotor Current, Phase A
Rotor Current, Phase B
Rotor Current, Phase C
Rotor Current, Instantaneous Phasor Magnitude

Doubly-Fed Induction Machine (ElmAsmsc, TypAsmo)

Unit
p.u.
p.u.
p.u.
p.u.
p.u.
p.u.
p.u.
p.u.
p.u.
p.u.
p.u.
p.u.
p.u.
p.u.
p.u.
p.u.
p.u.
kA
kA
kA
kA

Input Parameter Definitions

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)

Input Parameter Definitions

Parameter
loc name
ugn
sgn
pgn
cosn
effic
frequ
anend
nppol
nslty
i cage
aiazn
amazn
rtox
amkzn
aslkp
amstl
asstl
rstr
xstr
xm
xmrtr
i cdisp
rrtrA
xrtrA
rrtrA0
xrtrA0
r0
x0
r1
x1
rrtrB
xrtrB
i trans
aiaznshc
iinrush
Tinrush
Tcold
Thot
trans
xdssshc
rtoxshc
xtorshc

Description
Name
Rated Voltage
Power Rating: Rated Apparent Power
Power Rating: Rated Mechanical Power
Rated Power Factor
Efficiency at nominal Operation
Nominal Frequency
Nominal Speed
No of Pole Pairs
Connection
Rotor Model
Locked Rotor Current (Ilr/In)
Locked Rotor Torque
R/X Locked Rotor
Torque at Stalling Point
Slip at Stalling Point
Torque at Saddle Point
Slip at Saddle Point
Stator Resistance Rs
Stator Resistance Xs
Mag. Reactance Xm
Rotor Leakage Reac. Xrm
Operating Cage/Rotor data: Consider Current
Displacement (Squirrel Cage Rotor)
Operating Cage/Rotor data: Rotor Resistance RrA
Operating Cage/Rotor data: Rotor Reactance XrA
Operating Cage/Rotor data: Slip indep. Resistance RrA0
Operating Cage/Rotor data: Slip indep. Reactance XrA0
Operating Cage/Rotor data: Resistance RrA1
Operating Cage/Rotor data: Reactance XrA1
Operating Cage/Rotor data: Resistance RrA2
Operating Cage/Rotor data: Reactance XrA2
Starting Cage: Rotor Resistance RrB
Starting Cage: Rotor Reactance XrB
Consider Transient Parameter
For short-Circuit Analysis: Locked Rotor Current (Ilr/In)
Inrush Peak Current: Ratio Ip/In
Inrush Peak Current: Max. Time
Stall Time: Cold
Stall Time: Hot
Consider Transient Parameter
For Short-Circuit Analysis: Locked Rotor Reactance
For Short-Circuit Analysis: R/X Locked Rotor
For Short-Circuit Analysis: X/R Locked Rotor

Doubly-Fed Induction Machine (ElmAsmsc, TypAsmo)

Unit
kV
kVA
kW
%
Hz
rpm

p.u.
p.u.
p.u.
p.u.
p.u.
p.u.
p.u.
p.u.

p.u.
p.u.

p.u.
p.u.
p.u.
p.u.
p.u.
s
s
s

10

Input Parameter Definitions

3.2

Induction Machine Element (ElmAsmsc)

Parameter
loc name
typ id
bus1
bus1 bar
bus2
bus2 bar
outserv
ngnum
i mot
c pmod
pgini
qgini
slipset
Urot
tstart
Icrow
rcrow
xcrow
mdmlp
mdmex

Description
Name
Type(TypAsmo)
Terminal AC (StaCubic)
Terminal AC
Terminal DC (StaCubic)
Terminal DC
Out of Service
Number of: parallel Machines
Generator/Motor
Model
Active Power
Reactive Power
Slip
Rated Slip Ring Voltage (open rotor, standstill)
Starting Time
Rotor-Bypass Settings: Max Rotor Current
Rotor-Bypass Settings: Crow-Bar Resistance
Rotor-Bypass Settings: Crow-Bar Reactance
Mechanical Load: Proportional Factor
Mechanical Load: Exponent

Doubly-Fed Induction Machine (ElmAsmsc, TypAsmo)

Unit

MW
Mvar
%
V
s
kA
p.u.
p.u.
p.u.

11