IEEE Transactions on Energy Conversion, Vol. 13, No.

1, March 1998

Commutation angle analysis of the slip energy recovery drive

21

S.A. Papathanassiou, Student Member, IEEE

M. P. Papadopoulos, Member, IEEE

Department of Electrical & Computer Engineering National Technical University of Athens

42, Patission Str.. 106 82 Athens. GREECE

Abstract: A well known characteristic of the slip energy recovery drive (SERD) is the large commutation overlap of the rotor side rectifier, which compromises the accuracy of simplified dq models often used for its simulation. In this paper the variation of the rectifier commutation angle and the factors that determine its magnitude are investigated using a detailed hybrid abc-dq model of the SERD, the accuracy of which is validated by experimental results. The dependence of the commutation angle on the DC current and the operating slip is shown for a case study drive and practical relations are deduced which permit the evaluation and a posteriori correction of the steady state error of simplified dq models, where the commutations and converter harmonics are ignored.

Kevwords: Slip energy, commutation angle. hybrid model. simplified dq models

I. INTRODUCTION

Recoverv Transfoni'.er

J I RdLd

~F((~~_~I--,r :r:-=F.;---"'jll"-':ll{ ~ ~~

Diode Rectifier

Line-commutated Thyristor Inverter

Fil!,ure 1. Slip energy recovery drive (SERD).

The slip energy recovery drive (SERD), also known as the static Kramer or Scherbius drive. utilises a wound rotor induction machine and a rotor static converter cascade, as shown in figure I. Its operation is analysed in numerous papers, and steady state and dynamic models of varying sophistication levels have heen proposed for its simulation. (1- 10j. The task of modelling the SERD is greatly simplified using dq models, which ignore the switching operation of the rotor converters. (R-IOj. Although these models are

PE-150-EC-O-04-1997 A paper recommended and approved by the IEEE Electric Machinery Committee of the IEEE Power Engineering Society for publication in the IEEE Transactions on Energy Conversion. Manuscript submitted July 10, 1996; made available for printing March 26,1997.

numerically very efficient and easy to interface to existing power system dynamic simulation tools, a fundamental assumption which compromises their accuracy is neglecting the commutation overlap of the diode rectifier, which may take large values due to the leakage inductances of the wound rotor induction machine. Understanding the factors that determine the angle of overlap and obtaining an evaluation of the introduced error is very important for the reliable use of the simplified models.

The particularly large values of the commutation angle y of the SERD lin normal operation have been shown in [1,21. where the variation of y with the operating slip of the drive is examined, using a valve-by-valve representation of the rectifier but ignoring the inverter harmonics and the DC filter dynamics. In this paper the analysis is extended to show the effect of the DC current magnitude (and hence the torque of the drive), which, along with the operating. slip, determine the magnitude of y. For this purpose, the detailed hybrid abc-dq model of (4) is utilised. which caters tor the switching operation of both rotor converters and takes into account the DC filter dynamics. The derivation of the model equations is described and its accuracy is verified by experimental results from a 1.5 kW laboratory set-up. Subsequently the hybrid model is used for the commutation angle analysis of a case study 90 kW induction motor drive and practical relations are deduced tor the steady state error of simplified dq models. such as the ones used in [9,10], which permit its evaluation and a posteriori correction.

2. EQUATIONS OF THE HYBRID MODEL

For the representation of' the induction machine of the SERD both dq and direct 3-phase models have been utilised. e.g. [1-3]. However, the best choice appears to he the hybrid abc-dq model introduced in [4] and further used in similar studies [5-7] with very good results. In this model, the actual abc rotor states are preserved, which is particularly convenient for handling the constraints introduced by the diode rectifier. On the other hand, the stator abc variables are transformed to a dq reference frame fixed to the rotor, with its d axis aligned with the rotor phase a axis. removing thus the rotor angle dependent terms in the equations of the system.

Starting with the direct abc voltage equations of the induction machine and appllying to the stator variables the abcdq transformation defined by matrix C

a b

C = ~[ cosd eosin -120 <})

3 -sinD -sin(1) -120°)

e

eos(() + 1200) 1 d -sin(D + 1200) q

leads to equations (I), next page, in which all variables are in p.u. and the rotor quantities are referred to the stator turns.

0885-8969/98/$10.00 © 1997 IEEE

22
U,d (r, +X,p) -wrX, 2XmP/3 -Xm(P +J3wr)/3 - X m (p - J3 Ol r) /3 isd
u ~q wrX, (r, +X,p) ex.,», /3 X m (J3p - wr)/3 -X m (J3p + co , )/3 i s q
U or XmP 0 (r , +XrP) 0 0 liH (1)
Ubr -XmP/2 J3XmP/2 0 (r, +XrP) 0 ibr
Un -XmP/2 -J3XmP/2 0 0 (r, +XrP) i CT Due (0 the use of three wire connections, zero sequence conditions do not arise and the corresponding equations are omitted. For the selected dq frame, the angle 8 in matrix C is the angle between the stator and rotor phase a axes.

The operation of the diode bridge rectifier is modelled under the assumption that no more than 3 diodes ever conduct simultaneously, which is justifiable under most practical operating conditions. This leads to the identification of the 13 possible rectifier operating states of Table I. The diode labels D 1 to D6 are jdentified 011 figure 2, where the equivalent circuits for two typical states of the recti fier are illustrated. Odd numbered states are characterised by the conduction of 2 diodes, one at each half bridge. Even numbered states, where 3 diodes are conducting at the same time, correspond to the commutation intervals, where the current is transferred from one rotor phase to another. The 13th state is for zero DC current and occurs in case of discontinuous conduction.

For motor operation and assuming perfectly sinusoidal rotor terminal VOltages, the sequence of appearance of the rectifier states would be 1-2- ... -11-12-1-2- ... For generator operation (at negative slips), the order of appearance is the opposite, since the sequence of the rotor phase voltages is reversed. Practically, due to the highly distorted currents and Voltages, this ideal sequence is not maintained and repeated transitions between consecutive states may occur before a commutation is completed (e.g .... 12-1-2-1-2-1-2-3 ... ).

Each rectifier state imposes easily identifiable constraints to the rotor voltages and currents. E.g. by inspecting the circuits of figures 2(a) and (b), for states I and 2 of the recti tier. constraints (2) and (3) are respectively deduced:

ibr = 0, iOT + ier = 0, iar = -id

(2)

U,U=Uar-Uer

iar +ibr +icr =0, ier =id

(3)

The DC link filter equation in all cases is (4), where the voltages and the current are in V and A:

. did

udl -ud2 =Rd1d +Ld- (4)

cit

Combining the general machine equations (1) with equation (4) per-unitised and observing the constraints imposed by the recti tier. the set of differential equations for each state can he derived, such as (5) and (6) for the states of figure 2.

OFF OFF OFF ON ON ON ON ON OFF OFF OFF

OFF OFF OFF OFF ON ON ON ON ON OFF

OFF OFF OFF OFF OFF OFF ON ON ON ON

ON ON ON ON ON OFF OFF OFF OFF OFF

ON OFF OFF OFF OFF OFF OFF OFF ON ON

ON ON ON OFF OFF OFF OFF OFF OFF OFF ON

(a)

(b)

Figure 2. Equivalent circuits for /Wo typical states of file diode rectifier. (a) State 1, (b) Slate 2.

The electromagnetic torque (in p. u.) is given by

r, = 1.¥rqird -1.¥rdirq =Xm(isqird - iSdirq) (7)

The rotor dq currents in (7) are easily obtained from the phase currents using the expressions

. 2 [. 1 (. .)]. d . J3 (. .) (8

lrd='31ar-Zlbr+lcr =1., an lrq=31br-lcr )

which are derived from the (abcj--s-rdq) transformation of matrix C, with 8=0, and the constraint i.,r+ibr+icr=O. From (7), (8) the p.u. electromagnetic torque is given by:

(5)

o

r Xo 0 Xm 0 [P:" j r"'O -";'0 +w ,X,;" +,/3x _oo,;" /3+ 2J3X _oo, ;" /3 j
X, .J3x rn /3 2J3Xm/3
Psq = Usq-W,rXsl'd-rS1Sq-XmWrlar (6)
l3X Tn /2 J3Xm/2 (Xd + 2Xr) (Xd +Xr) pi., U d2 - (2fr + R rl liar - (r, + Rd )ibr
3Xm /2 -.J3x rn /2 Xr -Xr pibr -rri"'f +rr1br (aJ

FFRi 1111'111

(h)

Fij,.'Url' J, Measured wavetormsjor operation at 74% slip, (a) ROTor phase a vottav« .uu! current, (h) Inverter DC voltage and DC current. (Scat» or file axes sltown infigure 4).

Due to the low conunutating reactance of the inverter (practically the transformer leakage reactance), the commutation overlap of the thyristors can he neglected and thus the operation of the inverter is characterised by 6 states where onlv two thyristors are simultaneously conducting (similar to 'the odd numbered states of the recti tier) and a 7th non-conducting state, Neglecting the transformer reactance, the inverter DC voltage is directly determined by the stator voltazes and the tiring delay angle.

The main simplifying assumptions of the hybrid model are neglecting the saturation, core losses and space harmonics of th~- induction machine and the commutation overlap of the thyristor inverter, Ideal characteristics are also assumed for the diodes and the thyristors,

3. EXPERIMENTAL VALIDATION OF THE MODEL

The accuracv of the hybrid model of the SERD is well known and has been veri tied in several relevant publications. In this section selected results from the experimental validation of the model are shown, using a small experimental set-up of a -l-pole I. S kW induction motor, driving a separately excited DC cenerator as a load, The slip power is returned to the grid thr()~urh a variable ratio autotransformer. The values of the parameters ot tlus drive are given in tile Appendix.

In fizure 3(a) the measured waveforms of the rotor phase a voltaue and current are shown, for operation at 392 rpm (74'7c silp). 140.S" inverter angle. 3.6 A average DC current

23

5 rnseCldiv,:20 V/div; 2 Aldiv

.. '.' .. : .. "," .. :". ";' .

. . . . . . . . .

. . "." .. : .. "," .. ~ ' .. "," ...... '.' ...... '.' ..

(aJ

. . . . . .

10 :msel:ldiv. 50 Vld~, 2 AJdiv: . .

.. "," .. : .. "," .. : " . '.' .. ~ .. '.' ...... '"," ..

: Vd~

. . . . . . . .

... : .. ·0···:·· ", ' .. " .. ·0'·· '; .

(h)

Figure 4. Simulated waveformsfor operation 11174'lr, slip. (a) ROTor phase a voltage and current. (h) lnverter DC voltag« and DC current.

and autotransformer ratio of S.2l. (The 1800 phase displacement between Var and lar is due to the convention used for the rotor current - see figure 1). The inverter DC voltage Ud2 and the DC current Id (with inverted sign for presentation purposes) for the same operating point can he seen in diagram 3(h). In figure 4, the corresponding simulation results are shown, converted to the: same units as the measured waveforms. The magnitude and the rorm of the calculated and measured waveforms show very good agreement.

For another operating point of 1028 rpm (31.5 % slip), mean DC current 4.0 A, inverter tiring angle 120.2° and autotransformer ratio 8.82, the measured and calculated rotor phase a voltage and current and the stator phase a current are shown in figures Sand 6. In this case. very good agreement is observed for the rotor current hut the measured rotor voltage exhibits a much higher distortion than the simulated waveform. This is due to the ~nskewed rotor of the experimental induction machine, resulting in large slot harmonics. more evident at higher rotor speeds. This is confirmed in figure 7. where the rotor phase voltage and current are displayed when external resistors are connected to the rotor terminals instead of the recovery cascade. The slot effect is ignored in the abc-dq machine model which assumes a uniform air-gap, sinusoidally distributed windings and fulll magnetic symmetry.

The measured and predicted stator currents also correspond well. the difference in their magnitudes heing due to the machine magnetising losses. which have heen ignored in the model. It is n~)table that the stator current waveforms of fizure S contain a low frequency modulation of their envelopes, arising from the interaction of the SO Hz supply frequency with neighhouring .. subharrnonics", induced tOYle stator hy the rotor current harmonics. In this case the fifth

(9)

24

(a)

1 .

(b)

Figure 5. Measured waveforms for operation a/ 31.5% slip. (a) ROTor phase a voltage and current. (b) Stator phase a current. (Scale of the axes shown if! figure 6).

harmonic of the rotor current induces to the stator currents of frequency S()*(I-(i*slip)=44.4 Hz ([3,S,[21) which result in pulsations of S()-44.4=S.(i Hz.

4. CO]\r[MUTATION ANGLE ANALYSIS

As in the case of any line-commutated converter, the switching operatiouof the diode rectifier involves the transfer or' the rotor current from one phase to another, depending on the AC side voltages, If the AC side inductances were assumed to he zero, the transfer of the current from one leg to another in the same half-bridge would he instantaneous and the operation of the rectifier would he modelled by the 6 oddnumbered states of Table I (as it is done for the line-side thyristor inverter). The machine phase inductances, however.

Figure 7. Disturtion or rotor voltage and current due 10 the slot harmonics. Extcrna! resistors connected [0 tlie rotor terminals. oo mser.itiv. II! Vlr/iv. 1 Aliliv)

10 mSec/div, 10 V/div, ZAldiv

(a)

50 :mse91di~, 2 Ndiv : .

• •• ..! ••••••• ~ ••. , •••• ,... •• ~ •• '.' ••

: .. '.' .. ~ ..

. .

. . .

(h)

Figure 6. Simulated waveforms for operation at 31.5% slip. (a) Rotor phase a voltage and current. (b) Stator phase a current.

prohibit the step changes of the rotor phase currents, resulting in the appearance of' intermediate commutating states (even numbered in Table I), in which three diodes conduct simultaneously, The transition, tor instance, from state 1 to state 3 of Table I requires the transfer of the OC current io from diode 01 (phase 0) to diode 03 (phase c) in the upper half bridge, whereas in the lower half bridge diode 02 keeps conducting, providing the return path to ill (see figure 2).

The rotor phase a and b currents during the intermediate cornmutating state 2 are shown in figure 8(a), for a case with low OC current distortion. Their form resembles the wellknown exponential variation, although they are distorted by the inverter OC ripple. The onset of the commutation, i.e. the beginning of state 2, is the moment at which the diode 03 he comes positively biased, i.e. when the rotor phase h voltage he comes greater than that of phase a. The commutation ends when the current of the outgoing diode (01 in this example) he comes zero. The commutation angle y is defined as the duration of state 2 (or any other even-numbered state), expressed as an electrical angle.

When the OC current distortion is high, as in figure 8(h), the commutation process is not continuous, i.e. the transfer of the current from phase a to phase b is temporarily interrupted and the sequence of the recti tier states is not the ideal. The intermediate transitions which appear (1-2-1-2-1-2-3-2-3-2-3 in figure 8(h)) render the determination of the commutation angle arbitrary to a certain degree. In figure 8(h), for instance, both y and y' could he defined as the commutation angle, although they differ considerably. In the followinganalysis y will he used as the commutation angle is such cases.

State 1

Slate 2

Slate :3

Time

I_V-I

(ll)

Phase b

Time

I -y'-t

(b)

Figure II. Current commutation from phase a 10 phase b of the rotor (rectifier state sequellre 1-2-3). (a) Low. (b) High DC current distortion.

The duration of the commutations depends first of all on the AC side commutating reactance. which can be approximated hy tile Thevenin reactance at" the induction machine equivalent circuit. as viewed from the rotor terminals. This approximation is used in [7] to calculate the recti tier overlap in an enhanced equivalent circuit modelling approach and yields good results. For a given machine. the commutation overlap is related with its operating point. More specifically, the commutation interval directly depends on the magnitude of the DC current which must he transferred from one phase to another and on the magnitude of the commutating voltage, i .e . the AC voltage which forces the current to change path. It is reasonable to assume that the commutating AC voltage is the rotor EMF. i.e. the voltage induced to the rotor winding by the rotating air-gap MMF. Therefore. at low slips, when the rotor voltage is reduced. the commutation overlap will be larger, which is in agreement with relevant investigations ([ I ,2)).

A SERD considered for a variable speed wind turbine in [10, III is selected as a study case and its commutation angle is calculated at various operating points, corresponding to different values of the slip and the DC current. The drive comprises a ')0 kW X-pole induction machine and a 70 kY A converter cascade. The values of the machine and the DC filter parameters of this drive are given in the Appendix.

In figure 9 the electromagnetic torque is plotted against the rotor speed ror three inverter tiring angles. The solid line curves are round with the simplified dq models of [9,10), which ignore the recti tier overlap. and are the negative sloped parts of the well known static T e-Wr characteristics of the SERD (e.g. r 1(1). on which the drive operates stably in open loop. The "x". "..L" and "0" marked points are calculated with the hybrid model. for the same inverter angles.

The deviations of the dq models' results from those of the detailed hybrid model are due to the simplifications in the modelling of the converters. that is neglecting harmonics and. most important. ignoring the recti tier conunutation overlap. The converter harmonics create significant torque ripple hut

25

G)

e- 500

o I-

400 500 600

Rotor Speed (rpm)

700

Figure 9. Steady state torque-speed rharacteristirs for Three inver/a angles. Solid lines: Commutation overlap ignored. 'r', '+', '0' marks: Detailed hyhrid model.

1ii 40 , ' ' , jo •••

- . . . +'

~ . . • 0 I<

~30 -: + .. .; :t •••. ~x .•.... ~ .

c: • :ox . .

~20 •..•• 'to' ';'" oX- ••. ; .••••••• ';'" +'! 10P deg" ..

111· +ri<' • . .

al 10 .. 01<· .. ·~ •• .. : : x.~ 110.deg ..

~ . . . 0: 12P deg

o O~---~---~----~--~~_J o

50

250

100 150 DC Current (A)

Figure 10. Commutation lingle variation with The DC current for the

operating points offigure 9.

200

contribute negligibly to the average torque of the drive. In r 13), for instance, the most important of the parasitic asynchronous torques, due to the 5th harmonic of the rotor current, is estimated to he less than 4% of the fundamental.

In figure 10 the commutation angle y is plotted against the DC current for the operating points of diagram 9. Each point on diagram to is actually the average angle, he cause the interaction of recti tier and inverter DC harmonics of neighbouring frequencies create a low frequency modulation of y around its mean value. In addition, at low currents and slips the determination of the exact value of y is difficult, as already discussed. From diagram to the strong correlation between the commutation angle and the rotor current (and hence the torque) is apparent. It can he seen that for a given angle all points lie approximately on a straight line. indicating an almost linear relation between the overlap and the DC current. It is also observed that y increases as the slip decreases (corresponding to lower inverter angles). because the induced rotor EMF decreases and also the voltage drop on the machine resist.ances becomes more important. Notably, the dependence of the commutation angle on the slip would be much more marked if y' had been used instead of y. resembling the behaviour reported in [1,21. Notably, for low currents, where the overlap is small, the error of the simplified models in diagram 9 is negligible, although the harmonics are then more pronounced.

The following simplified analysis provides a rough correlation between the commutation angle y and the steady state error in the slip from neglecting the commutation overlap of the diode recti tier. Considering only the fundamental component of the rotor voltage, the average DC voltage Udt of the rectifier (see figure I), approximately equal to inverter DC voltage U,e, is

U J.J3 1 + ens y

rll=--U =U"?

II '2 rr z;

If the Voltage drop on the resistances and leakage

26

reactances of the induction machine is neglected, the induced rotor voltage is roughly proportional to the slip

U, '" ksU,

where k the proportionality constant and hence

U - 313 k-U I+cosy -U (10)

ell --1-1- "s 2 d2

If the rectifier overlap is Ignored, as in the simplified dq models, the required slip s' in order to counter the same inverter DC voltage Ud2 is given by:

313

Uell ;:::;--ks'U, =Ud2 (11)

11

Combining (10) with (11), the following relation is found between s (accurate slip from hybrid model) and s' (slip calculated with the simplified dq models):

l+cosy c::'s s' -s I-cosy

" =, ¢::} ----, = -- '" - (12)

2 s s 2

Using values for y from figure 10, it can be easily confirmed that relation (12) provides a fair approximation to the dq models' error in diagram 9. For instance, at 150 A DC current (appr. 720 Nm torque) the values of y for the three inverter angles of tOO°, 110° and 120° respectively are 33°, 30° and 2R". Using (12) the errors in the slip are found to be 8.1 %, 6.7% and 5.9%, which are very close to the actual errors of 7.3%_ 7.1% and 5.6%.

Therefore, if an approximation of the commutation angle y at various operating points is available, it can be used in conjunction with (12) for the a posteriori evaluation and correction of the steady state error of the simp Ii tied dq models.

5. CONCLUSIONS

For the steady state and dynamic analysis of the SERD simplified dq models are often used, in which the commutations and the harmonics of the converters are ignored. Although these models offer significant advantages, such as ease of implementation and numerical efficiency, their accuracy is compromised hy the large commutation overlap of the diode recti tier • due to the leakage inductances of the induction machine.

In this paper the commutation angle y of a case study SERD is investigated using a detailed hybrid abc-dq model, which takes into account the switching operation of the rotor converters and is experimentally validated. It is found that y depends primarily on the DC current (and hence the torque of the drive) and to a smaller extent on the operating slip. The effect of neglecting the commutations on the steady state accuracy of the simplified dq models is demonstrated and a practical evaluation of their error is provided.

6. REFERENCES

[II Z.M. Salarneh. L.F. Kazda. 'Commutation Angle Analysis of a Double Output Induction Generator Using a Detailed d-q Model'. IEEE Trans. 011 PAS. Vol. 104. No.3. 1985. pp. 512-518.

12J Z.M. Salameh. L.F. Kazda. 'Analysis of the Double Output Induction Generator Using Direct Three-phase Model. Part I - Commutation Angle Analysis'. IEEE Trans Energy Conversion, Vo1.2. No.2. 1987. PI'. 175-181.

[3J Z.M. Salamen. L.F. Kazda. 'Analysis of the Double Output Induction Generator II sing Direct Three-phase Model. Part II - Harmonic Analysis'. IEEE Trans. Energv Conversion, Vn1.2. No.2. 1987. pp. 182cl88.

(4[ J.E, Brown. W. Drury. B.L. Jones. P. Vas. 'Analysis of the Periodic Transient State of a Static Kramer Drive'. lEE Proc. B. Vol.l33. No. I. 1986. pp. 21-30.

(51 B,A.T. Al Zahawi. B.L. Jones. W. Drury, 'Analysis and simulation or static Kramer drive under steady state conditions'. lEE Proc. B. Vol. 136. No.6. 1989. pp. 281-291.

(6J E. Akpinar. P. Pillay. 'Modelling and Performance of Slip Energy Recovery Induction Motor Drives'. IEEE Trans. Energy Conversion. Vol.5. No.1. 1990.pp. 203-210.

[7] P. Pillay. L. Refoufi, 'Calculation of Slip Energy Recovery Induction Motor Drive Behavior Using the Equivalent Circuit'. IEEE Trans. Industry Applications, Vo1.30. No.!. 1994. pp. 154-163.

[8] E. Akpinar, R.E. Trahan. A,D. Nguyen. 'Modelling and Analysis of Closed-Loop Slip Energy Recovery Induction Motor Drives Using a Linearization Technique'. IEEE Trans. Energy Conversion. Vo1.8. No.4. 1993. pp. 688-697.

(9] P.C. Krause. O. Wasynzuk, M.S. Hildebrandt. 'Reference Frame Analysis of a Slip Energy Recovery System'. IEEE Trans. Energy Conversion. Vol.3, No.2. 1988. pp. 404-408.

[10] S.A. Papathanassiou, M.P. Papadopoulos. "DQ Dynamic Modelling of a Variable Speed Wind Turbine Equipped with a Double Output Induction Generator". Proceedings of IEEE Conference Stockholm Power Tech '95, June ,J 995. Stockholm. Sweden.

[II] S.A. Papathanassiou, M.P. Papadopoulos. 'Simulation and Control of a Variable Speed Wind Turbine Equipped with Double Output Induction Generator'. Proc. of Power Electronics and Motion Control (PEMC) Conference .. Warsaw. Poland. 1994. Vol. II. pp. 872-877.

[121 Y. Baghzouz, M. Azam. 'Harmonic Analysis of Slip-Power Recovery Drives'. IEEE Trans. Industry Applications, Vo1.28. No.1. 1992. pp. 50-56.

(13] A. Lavi. R.J. Polge, 'Induction Motor Speed Control with Static Inverter in the Rotor'. IEEE Trans-on PAS, Vol. 85, No.1, 1966. pp. 76-84.

7. APPENDIX

The parameters of the 1.5 kW experimental and the 90 kW case study drives are summarised in the following table.

AUTHOR BIOGRAPHIES

S.A, Papathanassiou was horn in Preveza. Greece in 1968. He received the Diploma in Electrical Engineering from the National Technical University of Athens (NTUA). Greece in 1991. He is currently pursuing postgraduate studies in NTUA. leading to the Ph.D. degree. His research mainly deals with wind turbine modelling and control.

M.P. Papadopoulos was born in loannina. Greece in 1932. He received the Diploma in Electrical and Mechanical Engineering in 1956 and the Ph.D. degree in 1974 from the National Technic;1 University of Athens (NTlJA). Greece. In 1956 he joined the Public Power Corporation of Greece. He has been engaged in the planning. design. operation and control of rural and urban distribution networks. as well as in the utilisation of electric energy. From 1965 to 1970 and from 1972 to 1985 he Was also employed as a part time Assistant in the Electrical Engineering Department of NTUA, He is currently Associate Professor in the Electric Power Division of the Electrical Engineering Department of NTlJA. His main research interests concern distribution systems and renewable energysources.