1010 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 26, NO.

4, DECEMBER 2011

Modal Analysis of a DFIG-Based Wind Farm

Interfaced With a Series Compensated Network
Lingling Fan, Senior Member, IEEE, Chanxia Zhu, Student Member, IEEE,
Zhixin Miao, Senior Member, IEEE, and Minqiang Hu

Abstract—Interests of subsynchronous resonance (SSR) in series vtq , vtd q and d axis stator voltages.
compensated electric networks with wind power penetration have vq r , vdr q and d axis rotor voltages.
arisen recently. To better understand the nature of such systems, vcq , vcd q and d axis capacitor voltages.
modal analysis of a doubly-fed induction generator (DFIG)-based
wind energy system interconnected with a series compensated elec- vdc dc-link capacitor voltage.
tric network is conducted in this paper. The system model is built Ht Inertia constants for the turbine(s).
in Matlab/Simulink. The major contributions of the paper include: Hg Inertia constants for the generator(s).
1) identification of the four system modes (SSR, supersynchronous, Dt Damping coefficients of the turbine.
electromechanical, and shaft modes) of a DFIG-based wind farm Dg Damping coefficients of the generator.
interfaced with a series compensated network, 2) investigation of
the impacts of various parameters and operating conditions on Dtg Damping coefficient of the flexible coupling be-
those modes, and 3) prediction of the dynamic performance of the tween the two masses.
system using modal analysis and confirmation of such prediction Ktg Shaft stiffness.
via time-domain simulation results.
Index Terms—DFIG, eigenvalues, modal analysis, participation
factor, SSR. I. INTRODUCTION
UBSYNCHRONOUS resonance (SSR) phenomenon hap-
NOMENCLATURE S pened in series compensated transmission networks and
caused extensive damage to turbine-generator shafts in power
Pm , Pe Mechanical and electrical power. plants in history [1]. SSR is of great research interest of the util-
Ps , Qs Stator active and reactive power. ity industry. With the increasing penetration of wind power in
Pr , Pg RSC and GSC active power. transmission networks, interests of SSR phenomenon in wind
Tm , Te , Tg Mechanical electromagnetic torques and the energy systems have arisen. In “Dakotas Wind Transmission
torque between the two masses. Study” in Western Area Power Administration (WAPA) [2], se-
ωt , ωr Turbine speed and rotor speed. ries compensations in 345 kV lines are studied to increase the
ωs , ωe Stator frequency and the nominal frequency. export of wind power. Series compensation in transmission net-
rs , rr Stator and rotor resistances. work can cause SSR. Two of the SSR phenomena include an
Ls , Lr Stator and rotor inductances. induction generator effect (IGE) due to the negative resistance
M Mutual inductance between rotor and stator. at SSR frequency and torsional interaction (TI) due to the inter-
λq s , λds q and d axis stator flux linkages. action of turbines and the network LC resonance mode. Several
λq r , λdr q and d axis rotor flux linkages. recent research papers have addressed SSR issues in wind farms
λq m , λdm q and d axis air gap flux linkages. interconnected with series compensated networks [3]–[5].
iq s , ids q and d axis stator currents. Verma et al. [3] discuss SSR phenomena of a self-excited dou-
iq r , idr q and d axis rotor currents. ble induction generator based wind farm interconnected with a
iq g , idg q and d axis GSC currents. series-compensated network. Impacts of wind speeds and com-
ieq , ied q and d axis network currents. pensation levels on SSR are investigated. FACTS devices, such
as TCSC and SVC, are used to demonstrate how to mitigate
SSR in such systems. Ostadi et al. [4] investigate the small sig-
Manuscript received May 3, 2010; revised August 5, 2010, October 25, 2010, nal stability issues of a DFIG-based wind farm interconnected
and January 24, 2011; accepted June 9, 2011. Date of publication August 12, with a series compensated network. Though the word “SSR” is
2011; date of current version November 23, 2011. This work was supported not mentioned in the paper, the dominant mode is the electric
in part by the National Science Foundation under Grant ECCS 1005277. C.
Zhu’s work was partly supported by China Scholarship Council. Paper no. network SSR mode. Compared with the wind farm in [3], the
TEC-00193-2010. DFIG-based wind farm in [4] is equipped with back to back
L. Fan and Z. Miao are with Department of Electrical Engineering, Univer- converters and has control capabilities. Therefore, besides wind
sity of South Florida, Tampa, FL 33620 USA (e-mail: linglingfan@usf.edu;
zmiao@usf.edu). speeds and compensation levels, impacts of the parameters of
C. Zhu and M. Hu are with Southeast University, Nanjing, China 210096 the current control loops of the converters on small signal sta-
(e-mail: mqhu@seu.edu.cn; mqhu@seu.edu.cn). bility are investigated. In [5], the focus is on control design
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org. and testing using STATCOM to mitigate SSR in a wind energy
Digital Object Identifier 10.1109/TEC.2011.2160995 system similar as that in [3].
0885-8969/$26.00 © 2011 IEEE
FAN et al.: MODAL ANALYSIS OF A DFIG-BASED WIND FARM INTERFACED WITH A SERIES COMPENSATED NETWORK 1011

The study system consists of an equivalent DFIG, its back-to-

back rotor-side converter (RSC) and grid-side converter (GSC),
the drive train and the transmission line. A 4th order model is
used to describe the dynamics of the stator and rotor currents of
an induction generator in the synchronous reference frame [12].
A two-mass model [13] is used to describe the dynamics of
the rotor and the drive train. The parameters of the shaft are
given in Appendix Table IX. The high switching dynamics at
the order of kilo Hz of the IGBT-based converter are ignored
Fig. 1. System structure. in the modeling process while both the inner and outer control
loops of the RSC and GSC are taken into consideration. The
dynamics of the capacitor in the dc-link between the RSC and
A thorough small signal analysis or modal analysis of se-
the GSC are modeled as a first-order differential equation.
ries compensated networks with wind power penetration can
Unlike models for transient stability where the dynamics of
improve the understanding of such systems and facilitate SSR
the electric network are ignored, in this study, to demonstrate
mitigation. As DFIG is the state-of-the-art wind generator tech-
the electric network LC resonance mode, the dynamics of the
nology, DFIG-based wind energy systems should be the focus of
current through the inductor and the dynamics of the voltage
such investigation. Though Ostadi et al. [4] present a small sig-
across the series-connected capacitor are modeled in differen-
nal analysis of a DFIG-based wind farm interconnected with a
tial equations. Further, since the wind farm is modeled in the
series compensated network, only the SSR mode is identified as
synchronous reference frame, the transmission network should
the dominant mode and further studied. All other system modes
also be modeled in the same reference frame for simulations
are not presented. Furthermore, the shaft system is modeled as
and small signal analysis [14]. The details of the models and the
one-mass system and hence the shaft mode of the wind turbine
modeling procedure can be found in [9] and [15].
cannot be observed. Small signal analysis of DFIG-based wind
In this study, the RSC and GSC control loops are modeled,
energy systems has also been performed in [6], [7], and [8] with
where the inner loops are current control loops and the outer
the shaft mode captured. However, the network dynamics are
loops are the power/voltage control loops. For the RSC control
ignored in the models and SSR phenomena cannot be captured.
loops, the qd-axis loops are to track the active and reactive
In addition, a constant turbine power is assumed and only one
power references respectively. Maximum power point tracking
wind speed is discussed in [6] and [7].
is used to determine the active power order of the q-axis control.
Our preliminary work on modeling DFIG-based series com-
For the GSC control loops, the qd-axis loops are to track the
pensated wind energy systems is presented in [9]. In this paper,
dc-link reference voltage and the wind farm terminal voltage
the objective is to present an overview picture of the system
respectively. The detailed description of the GSC control scheme
modes under a changing operating condition (e.g., the varying
can be found in [16] and the detailed description of the control
wind speeds). Small signal analysis or modal analysis will be
schemes of both the converters can be found in [9].
performed to identify the system modes and their character-
In the following sections, models of the series compensated
istics. This study will lay the foundation for future works in
network, the induction generator, the DFIG’s dc link, the tor-
SSR mitigation and stability enhancement in systems with wind
sional dynamics and DFIG’s converter controls are discussed.
penetration.
The rest of the paper is organized as follows. Section II de-
scribes the study system and the models. Section III presents A. Series Compensated Network Model
modal analysis, participation factors, and residues. Identification Synchronous reference frame is widely used for modeling
of the system modes is presented in Section IV using eigenvalue induction machines [17]. The same reference frame should be
analysis and participation factors. Section V presents the impact adopted for the network model. In the synchronous reference
of converter control on modes using root locus diagrams. Sec- frame, the dynamics of the series compensated system can be
tion VI presents time-domain simulation results and Section VII described by
concludes the paper. ⎡ 0 −ωe Xc 0 ⎤
⎡ ⎤ Xc ⎥ ⎡ vcq ⎤
vcq ⎢ ωe 0 0
d ⎢ vcd ⎥ ⎢ ⎥
II. STUDY SYSTEM ⎢ −1 RL ⎥ ⎢ vcd ⎥
⎣ ⎦ = ωB ⎢ 0 − −ω ⎥⎣ ⎦
The study system is shown in Fig. 1 where a DFIG-based wind dt i ⎢ e ⎥ ieq
⎣ XL XL
eq
⎦
farm (100 MW from aggregation of 2 MW units) is connected ied −1 RL ied
0 ωe −
to a series-compensated line whose parameters correspond to XL XL
the IEEE first benchmark model for SSR studies [10]. The wind ⎡ ⎤
0
farms can be considered as coherent generators and can be rep- ⎢ 0 ⎥
⎢ ⎥
resented by one large DFIG. This approach has been practiced ⎢ vtq − Eq ⎥
⎢
+ ωB ⎢ ⎥. (1)
in system studies [11]. The parameters of a single 2 MW DFIG ⎥
⎢ XL ⎥
and the equivalent DFIG are listed in Appendix Table VIII. The ⎣v −E ⎦
td d
parameters of the network are listed in Appendix Table IX.
XL
1012 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 26, NO. 4, DECEMBER 2011

Note that network resonance at fn will be observed as an os-

cillation mode with a complimentary frequency fs − fn due to
the synchronous reference frame. The state variables associated
with the network are denoted by Xn and
Xn = [vcq , vcd , ieq , ied ]T .

B. Induction Generator Model

A 4th order dynamic model [12] is used for the DFIG with
rotor side converter. The model is described by
Fig. 2. RSC control loops.
Ẋg = AXg + BU (2)
where Xg = [iq s , ids , iq r , idr ]T
U = [vtq , vtd , vq r , vdr ]T .

C. DC-Link Model
The dynamics of the capacitor in the dc link between the rotor
and stator side converters are described by a first order model
dvdc
Cvdc = Pr − P g (3)
dt
Fig. 3. GSC control loops.
where vdc is the dc-link capacitor voltage, Pr and Pg are the
active power at RSC and GSC side, respectively.
With the system level equation, vtq and vtd can be successfully
D. Torsional Dynamics Model eliminated.
A two-mass system popularly used to represent torsional dy-
F. DFIG Converter Controls
namics [13] is given by
⎡ −D − D Dtg −1 ⎤ ⎡ Both RSC and GSC controls are modeled in this study. Cas-
⎡ ⎤ t tg ⎤ caded control loops in [7] are adopted in this paper. The control
Δωt ⎢ 2Ht 2Ht 2Ht ⎥ Δωt
d ⎣ ⎢ ⎥ loops are shown in Figs. 2 and 3.
Δωr ⎦ = ⎢ Dtg −Dg − Dtg 1 ⎥ ⎣ Δωr ⎦
dt ⎣ ⎦ In RSC control, the reference torque is obtained through a
Tg 2Hg 2Hg 2Hg Tg
Ktg ωe −Ktg ωe 0 lookup table. When the wind speed is greater than the rated
⎡ T ⎤ speed, it is a constant value. When the wind speed is less than
m the rated speed, the reference torque is the optimal torque corre-
⎢ 2Ht ⎥
⎢ ⎥ sponding to the measured rotating speed. Through this lookup
+ ⎢ −Te ⎥ . (4) table, the wind turbine is able to extract maximum wind power.
⎣ ⎦
2Hg In the GSC control loops, the q-axis loop is to regulate the
0
dc-link voltage and the d-axis loop is to regulate the terminal
The state variables associated with the torsional dynamics are voltage. In addition, the GSC has a similar topology of STAT-
denoted by Xt : Xt = [Δωt , Δωr , Tg ]T , where Δωt = ωt − ω0 COM and it is expected to be able to provide SSR damping
and Δωr = ωr − ω0 and ω0 is the nominal rotating speed. capability like an STATCOM. This concept has been explored
in the authors’ previous paper [16]. A supplementary signal
E. System Level Equation ΔVSSR is introduced to modulate the reference terminal volt-
age. In the next section, residue analysis will be presented based
vtq and vtd are treated as the inputs to the blocks of the series
on the open-loop system with an output plant signal Y (or the
compensated network and the induction generator model. vtq
controller input signal) and an input plant signal ΔVSSR (or U ).
and vtd are dependent on the other state variables and can be
The order of the DFIG converter controls is 8th. Let the state
eliminated through a system level algebraic equation. In this
variables of the converter controls be notated as XcT , then the
study, the terminal voltage phasor V̄t = vtq − jvtd is dependent
entire system model (20th order) can be described by
on the DFIG stator current phasor I¯s = iq s − jids , the trans-
mission network current phasor I¯e = ieq − jied , and the GSC Ẋ = f (X, λ) (6)
output voltage V̄g . To simplify the simulation model, dynamics
where λ is a list of operating parameters (e.g., Qs , Vdc , Vt∗ )
∗ ∗
of the inductor current at GSC are ignored. Hence a Kirchhoff’s
which determine the initial condition of the system X =
current law (KCL) based equation can be established as follows:
[XnT , XgT , vdc , XtT , XcT ] is assembled in Matlab/Simulink.
V̄g − V̄t Eigenvalue analysis and time domain simulations obtained with
I¯s + I¯e = . (5)
jXtg this model are described next.
FAN et al.: MODAL ANALYSIS OF A DFIG-BASED WIND FARM INTERFACED WITH A SERIES COMPENSATED NETWORK 1013

III. MODAL ANALYSIS, PARTICIPATION TABLE I

WIND SPEED v w in d , ROTOR SHAFT SPEED ω r , MECHANICAL POWER P m , AND
FACTORS, AND RESIDUES MECHANICAL TORQUE T m LOOKUP TABLE
Modal analysis or small signal analysis has been popularly
used in power system stability analysis. The application areas
include low frequency oscillation stability [18] and SSR stability
[19]. In [20], modal analysis and its applications in both areas
are covered. More recently, high bandwidth (six-sample per
cycle) model is used in accurate eigenvalue analysis of SSR
performance of TCSC control schemes [21]. of a single-input single-output plant can be expressed as
Modal analysis is a technique based on modal decomposition.
The mathematical model of the linearized study system can be Y (s) Ri
= G(s) = Σi=1,...,n (11)
written as a set of differential algebraic equations given by U (s) s − λi

Ẋ = AX + BU where Y (s) is the plant output, U (s) is the plant input, λi is the
(7) ith system root, and Ri is the residue corresponding to λi .
Y = CX + DU
where X is the state variable vector, Y is the output vector, U Ri = CVi Wi B (12)
is the input vector, A is the state matrix of size n × n, B is the
where Vi is the ith column of V matrix and Wi is the ith row of
input matrix of size n × r, Matrix C has a size of m × n and
W matrix.
D is the matrix which defines the proportion of the input which
For a complex root λi , the residue Ri is a complex num-
appears directly in the output (m × r).
ber which can denote a vector with direction. In a root lo-
Equation (7) can be transformed into a set of decoupled dy-
where cus diagram, −Ri represents the direction and speed of the
namic equations by introducing a new state vector X,
= W X and W is the left eigenvector matrix. Its inverse is closed-loop eigenvalue λci leaving the pole λi . This concept has
X
been approved in the first author’s previous paper [22]. Hence
the right eigenvector matrix and is denoted as V . W , V , and the
residues are effective in selecting control signals and designing
state matrix A have the following relationship:
controllers.
⎡ ⎤
λ1 A simple explanation of the residue is also presented in this
⎢ λ2 ⎥ paper. Assume that all the dynamics due to the other eigenvalues
W AV = Λ = ⎢ ⎣ .. ⎥.
⎦ (8) can be ignored and the open loop system dynamics can be
.
expressed by only one eigenvalue λi . Then the plant transfer
λn function becomes: G(s) = s−Rλi . The closed-loop system with
i
The new set of differential and algebraic equations can be written a gain controller will have a transfer function with the following
as denominator: 1 + KG(s) where K is the gain of the feedback
 ˙ control. The root of the closed-loop system is determined by
X = ΛX + W BU
. (9) 1 + KG(s) = 0, i.e., λci = λi − KRi = 0. Hence the shift in
Y = CV X + DU
the eigenvalue Δλi can be expressed as
Since Λ is a diagonal matrix, the dynamics of each new state
Δλi = −KRi . (13)
variable X
i are now decoupled, i.e., it is determined by its own
initial condition, the input and the ith system mode λi but not Therefore −Ri determines the direction of the motion and the

j (j = i).
related to other state variables X speed of the closed-loop system root. The larger the magnitude
of Ri , the more effective will be such feedback control.
A. Participation Factor
IV. SYSTEM MODES IDENTIFICATION AND RESIDUES
Participation factor is used to measure the effect of Xi on the
kth mode. The definition of participation factors for an eigen- In this paper, maximum power point tracking is modeled. For
value is given as each wind speed, the wind turbine’s rotating speed will have a
corresponding optimum value. Table I gives the relationship of
|Vik | |Wk i | the wind speed, the rotating speed and the torque.
p k i = n . (10)
k =1 |Vik | |Wk i | The values of the rotor shaft speeds, mechanical powers and
torques can be used as the operating conditions at various wind
pk i denotes the impact of the ith state variable on the kth
speeds. The operating points of other state variables can be
eigenvalue. Participation factor can be computed from the eigen-
computed accordingly.
vector matrices (V and W ).
The complete system modes are listed in Table II.
In Table II, λ15 –λ20 are nonoscillatory modes, λ11,12 and
B. Residues
λ13,14 are related to PI controllers in the converters, and λ9,10
For different control signals, residues corresponding to the have a high damping and a high frequency. These modes will
dominant system modes will be computed. The transfer function not be further discussed.
1014
TABLE II
COMPLETE SYSTEM MODES AT 7 M/S WIND SPEED WITH 75%
COMPENSATION LEVEL
Eigenvalue analysis of the study system at 75% compensation
level at different wind speeds are conducted with four oscilla-
tory system modes shown in Table III. These four system modes
at different compensation levels are shown in Table IV. The first
task is to identify the nature of the four modes. From the fre-
quency range, λ1,2 could be the SSR mode while λ3,4 represent
 
 
the super-synchronous mode. λ7,8 could be the shaft mode and
λ5,6 are still difficult to be identified.
A. Identification of SSR Mode and Supersynchronous Mode
The frequency of the electric network resonance mode fn is
given by [19]
IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 26, NO. 4, DECEMBER 2011
have a frequency of about 99 Hz, which is close to the frequency
range of λ3,4 . Hence, it can be confirmed that λ3,4 represent the
supersynchronous mode.
Another confirmation of Mode 1 as the SSR mode comes
from Table IV. It can be found that the frequency in the SSR
mode decreases with the compensation level increasing. For the
SSR mode, the higher the compensation level, the higher its
frequency. Observed from the synchronous reference frame, the
frequency of the SSR mode is decreasing. Meanwhile, the damp-
ing ratio of the SSR mode should decrease with an increasing
compensation level due to the IGE.
The damping of the SSR mode increases when the wind speed
increases. This phenomenon can be explained by induction gen-
erator effect. A general expression of the stator current can be
given as
√
ia = 2A sin(ωe t) + e−α t B sin(ωn t + θ) (15)
is 1 is 2
where is1 is the component with a frequency of ωe which is the
frequency of the driving voltages of all the generators and is2 is
the component with the SSR frequency ωn .
Consider is2 , the current component due to the LC resonance,
the steady-state circuit of the induction generator and the trans-

Xc
fn = fe (14)
XL
where XL is the total inductive reactance, Xc is the total capac-
itive reactance, and fe is the nominal system frequency. This
network oscillatory mode with a frequency of fn in stators will
have a corresponding component induced in rotor circuits with
a frequency of (±fn − fm ) (fm is the frequency corresponding
to the rotating speed). Interactions of the stator currents and the
rotor currents lead to the electromagnetic torque. Hence in the
electromagnetic torque, besides the dc component, there will
be two components, one with a frequency of (fe − fn ) (com-
plementary of the SSR network mode) and the other with a
frequency of (fe + fn ) for the supersynchronous mode. In this
study, the models are built in a synchronous reference frame.
Hence the network mode reflected in a stationary circuit with
a frequency of fn has a frequency of (fe − fn ) when the sta-
tionary circuits are observed from the synchronous rotating ref-
erence frame. The supersynchronous mode is reflected in the
electromagnetic torque which is not a circuit variable. Hence
in the synchronous rotating reference frame, this mode will be
observed to have a frequency of (fe + fn ).
At 75% compensation level, an estimation of the electric
network resonance mode based on (14) can be performed where
Xc is the reactance of the series compensation and XL is the
total inductive reactance of the system. In this study Xc is 75%
of the line reactance Xline while the total inductive reactance
XL should include the line reactance, the transformer reactance
and the machine circuit reactance. An estimation finds that fn is
about 42 Hz for 75% compensation level. Since the synchronous
reference frame is used to model the system, this mode reflected
in the stationary circuits now becomes 18 Hz in the study model.
λ1,2 has a frequency close to 18 Hz. Therefore, λ1,2 can be
confirmed as the SSR mode. The supersynchronous mode will
mission network can be expressed as Fig. 4.
In Fig. 4, the slip s1 should have the following relationship
with the rotating speed fm and the network resonance frequency
fn :
fn − fm
s1 = (16)
fn

≥ 0 if fn ≥ fm
s1 (17)
< 0 if fn < fm
With the wind speed increasing, the corresponding rotating
speed fm increases. The frequency of the network resonance
at 75% compensation level fn is less than any rotating speed
fm . Hence, s1 is a negative number and its absolute value in-
creases when the wind speed increases. In turn, the absolute
value of Rr /s1 decreases. Therefore, the circuit has less neg-
ative resistance and the damping of the SSR mode increases
when the wind speed increases.
B. Identification of Shaft Mode
Participation factor analysis in Table V shows that the dom-
inant states for λ7,8 are the rotating masses’ speeds and the
torque between the two masses of the wind turbine. Hence, it
can be concluded that λ7,8 are related to the shaft mode. The
shaft mode is closely related to the mechanical torque, the elec-
tromagnetic torque, and the rotating speed. Hence, wind speed
has great impact on the shaft mode. When the wind speed is at
10 m/s, this mode has a negative damping. This phenomenon is
observed in [23] as well.
C. Identification of Electromechanical Mode
Observing Table I we can find that the frequency of λ5,6
changes along with the wind speed. As mentioned earlier,
FAN et al.: MODAL ANALYSIS OF A DFIG-BASED WIND FARM INTERFACED WITH A SERIES COMPENSATED NETWORK
TABLE III
SYSTEM MODES AT DIFFERENT WIND SPEEDS WITH 75% COMPENSATION LEVEL
TABLE IV
SYSTEM MODES AT 7 M/S WIND SPEED WITH DIFFERENT COMPENSATION LEVELS
Fig. 4. Equivalent circuit under subsynchronous frequency.
different wind speeds correspond to different rotating shaft
speeds. At 7m/s, the speed is 0.75 pu or 45 Hz. At 8 m/s,
the speed is 0.85 pu or 51 Hz. At 9 m/s and 10 m/s, the ro-
tating speeds are 57 and 63 Hz, respectively. Observation tells
that the frequency of the mode is the complimentary of the ro-
tating speed (fe − fm ). Thus, this mode is conjectured to be
related to the mechanical dynamics. Further experiments will
be performed to better identify this mode.
First, the rotor resistance Rr is varied. The purpose is to ob-
serve if such change has any impact on Mode 3. When the rotor
resistance Rr changes (from 0.00549 to 0.1 pu), the eigenvalue
loci of the SSR, super synchronous resonance, electromechani-
cal and shaft modes at 7 m/s wind speed and 75% compensation
level are shown in the Fig. 5. The shaft mode and the supersyn-
chronous mode are kept relatively constant. Two most notable
phenomena are remarked here:
1) Increase of Rr leads to an increased damping of Mode 3.
2) Increase of Rr leads to a decreased damping of Mode 1 -
the SSR mode.
The decrease of damping in the SSR mode can be explained
by an IGE using the circuit in Fig. 4. At 75% compensation
level and 7 m/s wind speed, fn is less than fm and s1 is a
negative number. Hence for the SSR mode, when Rr increases,
the absolute value of Rr /s1 will be close to and then exceed
the sum of the armature and network resistance which lead to
the negative damping of the circuit or an IGE. Therefore, when
the rotor resistance Rr increases, the damping of the SSR mode
will decrease and the SSR mode will move towards the right
half plane. The root loci in Fig. 5 corroborate with the above
analysis on the SSR mode.
In the rotor circuits, there is a dc component which is decaying
and related to the RL circuit. This component, if seen from the
1015
rotor circuit, has a frequency of 0 HZ. When this dc component
is seen from the synchronous reference frame, the frequency
of this component becomes (fe − fm ). Detailed expressions
of the rotor currents for short circuit transients can be found
in [24]. Changing Rr will increase the speed of decaying of this
dc component. If the component is seen from the synchronous
reference frame, then its damping is increased. Therefore, Mode
3 is related to the rotor circuit dynamics.
The relationship of Mode 3 and the mechanical dynamics,
however, has not been studied in literature. In the following
paragraph, the relationship will be explained. For simplicity, a
one-mass rotor speed dynamic equation is given by
dωr
2Hg = Tm − Te (18)
dt
where ωr is the rotor speed, Tm is the mechanical torque, and Te
is the electromagnetic torque, and Te = iq s idr − ids iq r where
iq s and ids are the quadrature and direct stator currents and iq r
and idr are the quadrature and direct rotor currents.
From (18), it can be found that the dynamics in the rotor
currents iq r and idr and the dynamics in the rotor speed ωr are
related. Therefore, the dynamics of the rotor speed impact Mode
3. This phenomenon can be observed from Table III: when the
wind speed changes, the rotating speed changes and Mode 3 has
changes in both frequency and damping. Changing the inertia
constant Hg can also have a significant impact on Mode 3, as
shown in Fig. 6.
Therefore, Mode 3 is related to both electrical and mechanical
dynamics and is called the electromechanical mode.
D. Residues
Residue analysis will be presented for SSR mode when the
wind speed is 7 m/s and the compensation level is 75%. The
open-loop system has an input U which is the supplementary
signal (ΔVSSR )to modulate the reference terminal voltage of the
DFIG wind farm. The output of the open-loop system is chosen
to be either the RMS voltage across the series capacitor Vc or
the RMS current through the transmission line Ie .
The residues of the SSR mode and the supersynchronous
mode at various compensation levels are documented in
Tables VI–VII .
1016
TABLE V
PARTICIPATION FACTOR AT DIFFERENT COMPENSATION LEVEL WITH 7 m/s WIND SPEED
Fig. 5. Eigenvalue loci of the SSR, super synchronous resonance, electrome-
chanical and shaft mode at 7 m/s wind speed and 75% compensation level for
increasing rotor resistance(R r = 0.00549 to 0.1).
Fig. 6. Eigenvalue loci of the SSR, super synchronous resonance, electrome-
chanical and shaft mode at 7 m/s wind speed and 75% compensation level for a
decreasing generator inertia constant(H g = 0.9 to 0.01).
From the two tables, it is found that residues of the SSR mode
and the supersynchronous mode are of opposite polarity when
the line current Ie is chosen as the control signal. This will in-
IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 26, NO. 4, DECEMBER 2011
TABLE VI
RESIDUES OF SSR MODE AT DIFFERENT COMPENSATION LEVELS
WIND SPEED IS 7 m/s
TABLE VII
RESIDUES OF SUPERSYNCHRONOUS RESONANCE MODE AT DIFFERENT
COMPENSATION LEVELS WIND SPEED IS 7 m/s
crease the difficulty of controller design. A simple proportional
controller will enhance the damping of the SSR mode but will
decrease the damping of the supersynchronous mode. On the
other hand, the residues of the SSR mode and the supersyn-
chronous mode are of same polarity when the voltage across the
series compensator Vc is chosen as the control signal. The design
of the feedback control using Vc is fairly simple. A proportional
feedback control is sufficient to force both the SSR mode and
the supersynchronous mode to move left thereby making the
system stable.
Fig. 7 is the root locus diagram when the voltage across
the series capacitor Vc is used as the control signal. With an
increasing gain, the SSR mode and the supersynchronous mode
will both move toward the left plane. To have a 5% damping ratio
for the SSR mode, the gain should be selected to be 26.0726.
Fig. 8 is the root locus diagram when the current through the
line or the series capacitor is used as the control signal. With
an increasing gain, the SSR mode and the supersynchronous
mode will move in opposite directions. To have a 5% damping
ratio for the SSR mode, the gain should be selected to be 14.
The corresponding supersynchronous mode will move to the
right plane and have a negative damping. The entire system is
unstable.
FAN et al.: MODAL ANALYSIS OF A DFIG-BASED WIND FARM INTERFACED WITH A SERIES COMPENSATED NETWORK 1017

Fig. 7. Root locus diagram when the control signal is the capacitor voltage. Fig. 9. Root loci of the system with a changing K T e when wind speed is 7
The “+” signs denote the locations of roots corresponding to the gain. m/s.

Fig. 10. Root loci of the system with a changing K T e when wind speed is
Fig. 8. Root locus diagram when the control signal is the line current. The 8 m/s.
“+” signs denote the locations of roots corresponding to the gain.

V. IMPACT OF CONVERTER CONTROLS ON SYSTEM MODES

The impact of GSC on SSR modes has been studied in [16].
There is no negative impact on the SSR modes and the impact
is negligible. In this section, the focus is on RSC control. The
torque feedback loop is opened in this study. Root locus dia-
grams are plotted to show the impact of a changing gain KT e
on the system modes. It has been mentioned in [9] and [4] that
the an increasing gain in the current control loop can lead to
instability of the SSR mode. Increasing the torque loop gain
could have a similar impact as increasing the current loop gain
on the system modes of study interest. In the following figures
(Figs. 9–14), such root locus diagrams are provided at different
wind speeds. The figures confirms that an increasing gain dete-
riorates the SSR mode or the electromechanical mode. Figs. 12
Fig. 11. Root loci of the system with a changing K T e when wind speed is
and 14 also demonstrate that the increasing gain can lead to the 9 m/s.
instability of the shaft mode.
1018 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 26, NO. 4, DECEMBER 2011

Fig. 12. Root loci of the system with a changing K T e when wind speed is
9 m/s.
Fig. 15. Simulation results of T e under different wind speeds and different
compensation levels. Under the initial condition, the compensation level is 25%.

VI. TIME DOMAIN RESPONSES

In this section, time domain simulations are presented to con-
firm the analysis. The initial condition of the state variable vector
X0 is computed through the equilibrium equation 0 = f (X0 , λ).
The references or initial values in the controllers are also com-
puted based on the initial conditions. Hence the system dynamic
response at the initial conditions will be flat line. When an event
applied, transient responses will be observed.
Remarks from the modal analysis in Section IV are listed as
follows:
1) Dominating system modes are changing while the oper-
ating condition changes. For example, at 7 m/s and 8 m/s
Fig. 13. Root loci of the system with a changing K T e when wind speed is wind speeds, the dominating mode is the SSR mode alone.
10 m/s. The electromechanical mode and the shaft mode have
enough damping. When the wind speed is 9 m/s, the dom-
inating modes are the electromechanical mode and the
SSR mode. When the wind speed is 10 m/s, the dominat-
ing modes are the shaft mode and the SSR mode.
2) When the wind speed is high (10 m/s), the shaft mode
becomes the dominant mode. The SSR mode has a better
damping when the wind speed is high.
Fig. 15 shows the dynamic responses of the electromagnetic
torque Te at different wind speeds and different compensation
levels. The dynamic responses confirm Remarks 1 and 2.
From the residue analysis, it can be found that the RMS volt-
age across the series capacitor (Vc ) is a better signal than the
current (Ie ). When wind speed is 7 m/s, the system can suffer
SSR instability when the compensation level reaches 75% due
to the IGE. In the simulation study (Figs. 16–18), initially, the
compensation level is set at 50%. At t = 1s, the compensa-
tion level changes to 75%. The dynamic responses of the sys-
Fig. 14. Root loci of the system with a changing K T e when wind speed is tem with and without SSR damping controller are plotted. The
10 m/s. SSR damping control uses the RMS voltage across the series
FAN et al.: MODAL ANALYSIS OF A DFIG-BASED WIND FARM INTERFACED WITH A SERIES COMPENSATED NETWORK
Fig. 16. Dynamic responses of T e and ω r . (a) Electromagnetic torque T e , (b)
rotor speed ω r , (c) terminal voltage V t .
Fig. 17. Dynamic responses. (a) DFIG output power P e , (b) DFIG exporting
reactive power Q e , (c) RMS voltage across the capacitor V c , (d) RMS line
current Ie .
Fig. 18. Dynamic responses. (a) ω t /ω r , (b) T t g , (c) V d c , and (d) the output
of the SSR damping controller ΔV S S R .
1019
capacitor (Vc ) as the input signal. A pure proportional control
with a gain of 30 is applied.
The dynamic responses of electromagnetic torque Te , rotor
speed ωr , and the terminal voltage Vt are shown in Fig. 16. The
dynamic responses of the DFIG’s output power Pe and reactive
power Qe , the RMS voltage across the series capacitor and the
RMS current through the transmission line are shown in Fig. 17.
The dynamic responses of the speed of the rotating masses in
the wind turbine, the torque between the two masses Ttg , the
dc-link voltage and the output of the SSR damping controller are
shown in Fig. 18. It is observed that with a damping controller,
the SSR is effectively mitigated.
VII. CONCLUSION
Modal analysis is performed for a DFIG-based wind energy
system interconnected with a series-compensated electric net-
work. Four system modes are identified, namely, the SSR mode,
the super-synchronous resonance mode, the electromechanical
mode and the shaft mode using eigenvalue analysis and partici-
pation factor. Parameters and operating conditions are varied to
confirm the characteristics of those system modes and demon-
strate their impacts on those system modes. Unique findings
documented in this paper include 1) the nature of the SSR,
super-synchronous, and electromechanical modes and their re-
lations with the wind speed; 2) impact of various parameters
(wind speed and converter control parameters) on the system
modes; and 3) feasibility test of using modal analysis to select
proper SSR mitigation signals.
APPENDIX
TABLE VIII
PARAMETERS OF A SINGLE 2 MW DFIG AND THE AGGREGATED
DFIG IN NETWORK SYSTEM
TABLE IX
PARAMETERS OF THE NETWORK SYSTEM AND THE SHAFT SYSTEM
1020 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 26, NO. 4, DECEMBER 2011

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