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Abstract—This paper presents a comprehensive analysis of resonance of synchronous generators with series compensated
sub-synchronous interactions in a wind integrated power system transmission lines as well as other devices such as HVDC con-
to understand and mitigate them. The proposed procedure has verter terminals. [4] reports an incident in which some gener-
two steps. In the first step, a frequency scan is performed to
determine the presence of resonant frequencies in the sub-syn- ators in a wind power plant and the series capacitors sustained
chronous range. In the second step, a detailed small signal analysis damages. Because of such incidents, it is important to under-
is performed. Participation factors are used to identify the state stand the phenomena of sub-synchronous interactions in a wind
variables that are involved in the interaction, and the control- integrated power system.
lability indices are used to determine the mitigation method. It Among many types of generators used in wind farms, the
is shown that the sub-synchronous interaction present in Type
3 wind turbine-generators connected to the grid through series doubly fed induction generator or Type 3 wind turbine-gen-
compensated lines is an electrical resonance between the generator erator [5] has been found to be most vulnerable to sub-syn-
and the series compensated line which is highly sensitive to the chronous interactions [4]. In [6], sub-synchronous resonance
rotor side converter current controller gains. between a wind farm equipped with fixed speed induction gener-
Index Terms—Doubly fed induction generator (DFIG), fre- ators and a series compensated line has been demonstrated using
quency scan, linearized model, self-excitation, small signal electromagnetic transient simulations. A small signal stability
stability, sub-synchronous interactions. analysis is performed in [7] to analyze sub-synchronous reso-
nance between a doubly fed induction generator equipped wind
I. INTRODUCTION farm and a series compensated transmission line. A more re-
cent work [8] shows that the sub-synchronous resonance present
in a variable speed systems is mainly due to the self-excita-
T HERE has been a significant growth in the integration of
wind power into power systems networks in recent years.
In year 2010, the total capacity of wind installations around
tion rather than due to the torsional interactions. However, an-
other recent publication claims, using time domain simulations,
that the sub-synchronous interaction between Type 3 wind tur-
the globe has increased by 23.6% [1]. With this increased wind
bine-generators and series compensated transmission systems
power integration, the transmission network capacities need to
is due to controller interactions [9]. In summary, there is dis-
be increased either by building new transmission lines or by en-
agreement in the industry on whether these oscillations are due
hancing the power transfer capability of the existing lines. A
to self-excitation or due to controller interactions. This paper
common approach for expanding transmission capacity is by
presents a comprehensive analysis of this problem to eliminate
using series compensation.
the doubts on the cause and nature of these oscillations.
It has been known for many years that the series capacitors
Another objective of this paper is to propose an efficient and
self-excite both synchronous and induction machines [2], but
effective procedure to identify and investigate sub-synchronous
only after the failure of an exciter shaft in one of the machines
oscillations. It is important to determine whether there are po-
at the Mohave power plant in October 1971, the severity of
tential sub-synchronous oscillation problems before carrying
the adverse effects of series capacitors on electrical machines
out a detailed study. A simplified frequency scanning method
came into the forefront of attention [3]. Since then extensive re-
is proposed as the first step of the procedure of a detailed study.
search has been performed to investigate the sub-synchronous
If the frequency scanning indicates a potential risk, a detailed
eigenvalue type study is proposed to investigate the cause and
Manuscript received October 26, 2011; revised February 10, 2012; accepted
June 05, 2012. Date of publication July 16, 2012; date of current version January nature of the problem. The eigenvalue technique is proposed in-
17, 2013. This work was supported by Manitoba Hydro and the University of stead of a time domain simulation for two reasons. Firstly, time
Manitoba. Paper no. TPWRS-01011-2011.
domain simulation of large systems is time consuming. Sec-
D. H. R. Suriyaarachchi and U. D. Annakkage are with the Department of
Electrical and Computer Engineering, University of Manitoba, Winnipeg, MB ondly, time domain simulations do not provide the information
R3T 5V6, Canada (e-mail: hiranya@ee.umanitoba.ca; annakkag@ee.umani- necessary either to understand the root cause of the problem or
toba.ca).
to design mitigation measures.
C. Karawita is with Trans Grid Solutions Inc., Winnipeg, MB R3T 2E1,
Canada (e-mail: ckarawita@transgridsolutions.com). This paper is organized as follows. Section II describes the
D. A. Jacobson is with Manitoba Hydro, Winnipeg, MB R3C 2P4, Canada proposed frequency scan model. A brief description of the
(e-mail: dajacobson@hydro.mb.ca).
linearized models used for the eigenvalue analysis is given in
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org. Section III. In Section IV, the proposed procedure is described
Digital Object Identifier 10.1109/TPWRS.2012.2204283 with the aid of a small test system. Also, a comprehensive
Fig. 1. Induction generator frequency scan model. (a) Model I. (b) Model II.
TABLE I
COMPARISON OF FREQUENCY SCAN AND SMALL SIGNAL ANALYSIS RESULTS
TABLE II Fig. 10. Participation factors of the network mode. (a) System intact condition.
FREQUENCY SCAN RESULTS FOR THE MULTI-MACHINE TEST SYSTEM (b) Outage of the line between buses 1 and 6.
TABLE VI
PCC TRANSFORMER AND TRANSMISSION LINE PARAMETERS
TABLE IV
GENERATOR, DC CAPACITOR, AND CONVERTER TRANSFORMER PARAMETERS
APPENDIX
WIND FARM AND TEST SYSTEM PARAMETERS
the system intact and the aforementioned contingency exhibited The wind farm is operated at unity power factor at the point
a sub-synchronous interaction between the wind farm generator of common coupling (PCC) and the wind speed is assumed to
and the series compensated line only for the N-2 contingency. be 12 m/s. Table III shows the wind turbine and drive train pa-
The oscillatory mode frequency was 39.4 Hz and its damping rameters for the wind farm. The wind farm generator, dc capac-
was 1.9%. These observations were confirmed by comparison itor and converter transformer parameters are given in Table IV.
with electromagnetic transient simulations. The rotor side converter and grid side converter controller gains
In summary, the detailed analysis performed on multi-ma- are given in Table V. Note that the integral gain is the ratio
chine power systems confirms that the sub-synchronous oscilla- between the proportional gain and the integral time constant.
tions associated with wind farms with Type 3 turbine-generators For example, the integral gain for the rotor speed controller is
and series compensated networks are due to an electrical reso- given by . Point of common coupling trans-
nance between the network and the generator. former and the transmission line parameters used for the small
test system are given in Table VI.
VI. CONCLUSION
REFERENCES
A comprehensive procedure to study sub-synchronous oscil- [1] World Wind Energy Report 2010, World Wind Energy Agency, 2011.
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is essential to perform a detailed eigenvalue analysis regardless chronous resonance in a series-compensated wind farm using facts con-
of whether the net resistance seen by the generator rotor is neg- trollers,” IEEE Trans. Power Del., vol. 23, no. 3, pp. 1645–1654, Jul.
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[7] A. Ostadi, A. Yazdani, and R. K. Varma, “Modeling and stability
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[9] G. D. Irwin, A. K. Jindal, and A. L. Isaacs, “Sub-synchronous control U. D. Annakkage (M’95–SM’04) received the B.Sc.
interactions between type 3 wind turbines and series compensated ac (Eng.) degree from the University of Moratuwa,
transmission systems,” in Proc. IEEE PES General Meeting, Detroit, Moratuwa, Sri Lanka, in 1982 and the M.Sc. and
MI, Jul. 24–28, 2011. Ph.D. degrees from the University of Manchester
[10] L. A. Kilgore, D. G. Ramey, and M. C. Hall, “Simplified transmission Institute of Science and Technology (UMIST),
and generation system analysis procedures for subsynchronous reso- Manchester, U.K., in 1984 and 1987, respectively.
nance problems,” IEEE Trans. Power App. Syst., vol. PAS-96, no. 6, He is presently a Professor at the University of
pp. 1840–1846, Nov. 1977. Manitoba, Winnipeg, MB, Canada. His research
[11] B. L. Agrawal and R. G. Farmer, “Use of frequency scanning tech- interests include power system stability and control,
niques for subsynchronous resonance analysis,” IEEE Trans. Power security assessment and control, operation of restruc-
App. Syst., vol. PAS-98, no. 2, pp. 341–349, Mar./Apr. 1979. tured power systems, and power system simulation.
[12] C. Karawita, “HVDC interaction studies using small signal stability Dr. Annakkage is an editor of the IEEE TRANSACTIONS ON POWER SYSTEMS.
assessment,” Ph.D. dissertation, Univ. Manitoba, Winnipeg, MB,
Canada, 2009.
[13] C. Karawita and U. D. Annakkage, “Multi-infeed hvdc interaction
studies using small-signal stability assessment,” IEEE Trans. Power C. Karawita (S’04–M’09) received the B.Sc. (Eng)
Del., vol. 24, no. 2, pp. 910–910, Apr. 2009. degree from the University of Moratuwa, Moratuwa,
[14] C. Karawita and U. D. Annakkage, “A hybrid network model for small Sri Lanka, in 2002 and the M.Sc. and Ph.D. degrees
signal stability analysis of power systems,” IEEE Trans. Power Syst., from the University of Manitoba, Winnipeg, MB,
vol. 25, no. 1, pp. 443–451, Feb. 2010. Canada, in 2006 and 2009, respectively.
[15] O. Anaya-Lara, N. Jenkins, J. Ekanayake, P. Cartwright, and M. He is currently working at TransGrid Solutions
Hughes, Wind Energy Generation Modelling and Control. Chich- Inc., Winnipeg. His research interests include power
ester, U.K.: Wiley, 2009. system stability and control and power system
[16] R. Pena, J. C. Clare, and G. M. Asher, “Doubly fed induction gener- simulation.
ator using back-to-back PWM converters and its application to variable
speed wind-energy generation,” Proc. Inst. Elect. Eng., Elect. Power
Appl., vol. 143, no. 3, pp. 231–241, May 1996.
[17] M. Pöller and S. Achilles, “Aggregated wind park models for analyzing
power system dynamics,” in Proc. 4th Int. Workshop Large-Scale Inte-
gration of Wind Power and Transmission Networks for Offshore Wind D. A. Jacobson (M’85–SM’05) received the B.Sc.
Farms, Billund, Denmark, Oct. 20–21, 2003. and M.Sc. degrees in electrical engineering and the
[18] IEEE Task Force on Load Representation for Dynamic Performance, Ph.D. degree from the University of Manitoba, Win-
“Standard load models for power flow and dynamic performance sim- nipeg, MB, Canada.
ulation,” IEEE Trans. Power Syst., vol. 10, no. 3, pp. 1302–1313, Aug. He has been employed with Manitoba Hydro
1995. in the System Planning Department for 20 years.
[19] IEEE Subsynchronous Working Group, “Readers guide to subsyn- Since 2002, he has been involved with a variety of
chronous resonance,” IEEE Trans. Power Syst., vol. 7, no. 1, pp. groups in the wind industry. In addition to leading
150–157, Feb. 1992. interconnection or exploratory studies of wind
[20] S. Jiang, U. D. Annakkage, and A. M. Gole, “A platform for valida- generators in Manitoba, he is also a stakeholder in
tion of FACTS models,” IEEE Trans. Power Del., vol. 21, no. 1, pp. many U.S. studies that have investigated multi-GW
484–491, Jan. 2006. connections and major 765 kV overlays.
[21] H. Li and Z. Chen, “Transient stability analysis of wind turbines with Dr. Jacobson is a contributing member of the NERC Interconnection of Vari-
induction generators considering blades and shaft flexibility,” in Proc. able Generation Task Force. He is a steering committee member of the CanWEA
33rd Annu. Conf. IEEE Industrial Electronics Society (IECON), Taipei, Pan-Canadian wind integration study. He is a Distinguished Member of Cigre
Taiwan, Nov. 5–8, 2007. and has contributed to many working group reports over the years including:
[22] P. Kundur, Power System Stability and Control, N. Balu, Ed., 1st ed. Joint Study Committee C1/C2/C6.18 Coping with Limits for Very High Pene-
New York: McGraw-Hill, 1994. tration of Renewable Energy, C6.08 Integration of Large Share of Fluctuating
Generation, and C4.601 Power System Security Assessment. He is a member
D. H. R. Suriyaarachchi (S’11) received the B.Sc. of the IEEE Wind Power Coordinating Committee and is the current Technical
(Eng) degree from the University of Moratuwa, Committee Program Chair.
Moratuwa, Sri Lanka, in 2003 and the M.Sc. degree
from the University of Manitoba, Winnipeg, MB,
Canada, in 2008. He is currently pursuing the Ph.D.
degree at the Department of Electrical and Computer
Engineering, University of Manitoba.
His research interests include power system sta-
bility and control, power system simulation, and re-
newable energy.