Non Linear Control of a Doubly Fed Induction

Generator in Wind Turbines

M. Doumi*, A.G. Aissaoui**, A. Tahour**, M. Abid**, and K. Tahir**

* CAOSEE Laboratory, Béchar University, 08000, Algeria, e-mail: doumicanada@gmail.com

**IRECOM Laboratory, Sidi Bel Abbes University, 22000, Algeria, e-mail: IRECOM_aissaoui@yahoo.fr

Abstract— In this paper, a decoupling control strategy has been linear function of the state of that system or the input variables
applied to control the active and reactive powers generated by a to that system. For non-linear systems, there are many well-
Double Feed Induction Generator (DFIG). We propose new established control techniques.
control strategies based on fuzzy sliding mode in order to control
the power of the wind turbine transmitted to the grid and to Sliding mode theory, stemmed from the variable structure
make the wind turbine adaptable to different constraints. The control family, has been used for the induction motor drive for
use of this method provides very satisfactory performance for the a long time. It has for long been known for its capabilities in
DFIG control, and the chattering effect is also reduced by the accounting for modeling imprecision and bounded
fuzzy mode. Simulations results show interesting performances of disturbances. It achieves robust control by adding a
the system in terms of the reference tracking stability and the discontinuous control signal across the sliding surface,
robustness against parameters variations. satisfying the sliding condition. Nevertheless, this type of
control has an essential drawback, which is the chattering
Keywords-wind electrical conversion system (WECS); DFIG; phenomenon caused from the discontinuous control action.
fuzzy Sliding Mode; chattering ; robustness
The idea is this combined control (SMC) also advanced by
a controller is called Fuzzy (FLC) to reduce these phenomena
I. INTRODUCTION
chattering. Simulation results of this FSMC show good
Wind energy is one of the most important and promising performance and considerable reduction of the chattering
source of renewable energy all over the world, mainly because phenomenon [6].
it is considered to be nonpolluting and economically viable. At
the same time there has been a rapid development of related The two controllers are compared and results are discussed,
wind energy technology [1]. the objective is to show that controllers can improve
performances of doubly-fed induction generators in terms of
The controls of wind energy conversion system constitute a reference tracking, sensibility to perturbations and parameters
vast subject and are more complex than those of DC drives [2]. variations.
Furthermore, Vector control obtains very good application in A schematic diagram of a DFIG based wind energy
DFIG because it can achieve decoupling of the active power generation system is shown in Fig. 1.
and the reactive power. In recent years, many researches of
vector control take the following manner to track the largest
wind energy under the rated wind speed [1].
Double fed induction generator is widely used for variable-
speed generation, and it is one of the most important generators
for wind energy conversion systems. Both grid connected and
stand-alone operation is feasible [3] through an AC/DC/AC
frequency converter [1]. The major advantage of the doubly-
fed induction generator, which has made it popular, is that the
power electronic equipment only has to handle a fraction (20-
30%) of the total system power in order to guarantee the
stability of the network in acceptable conditions [4].
The DFIG control is based on a stationary model which is Figure 1. Configuration of DFIG- Wind Turbine
submissive to many constraints, such as parameters
uncertainties, (temperature, saturation .....), that might divert II. MODELING OF THE DFIG
the system from its optimal functioning. That is why the
regulation should be concerned with the control’s robustness The modeling of the DFIG is described in the d-q Park
and performance [5]. reference frame. The following equation system describes the
total generator model [7].
Non-linear control is a sub-division of control engineering
which deals with the control of non-linear systems. The
behaviour of a non-linear system cannot be described as a
­ dI ds If the per-phase stator resistance is neglected, which is a
°vds Rs ids   Z s I qs realistic approximation for medium power machines used in
dt
° wind energy conversion, the stator voltage vector is
° dI qs consequently in quadrature advance in comparison with the
°°vqs Rs iqs   Z s I ds
dt (1) stator flux vector. With these assumptions, the new stator
® voltage, the fluxes and electromagnetic torque expressions can
°v dI
Rr idr  dr  (Z s  Zr )I qr be written as follows [10]:
° dr dt
° dI qr
°v Rr iqr   (Z s  Zr )I dr ­vds 0
°¯ qr °
dt ® (7)
°̄vqs vs Zs I s
­I ds A s ids  Lm idr
° ­I s A s ids  Lm idr
°
°I qs A s iqs  Lm iqr
(2) ® (8)
® °̄0 A s iqs  Lmiqr
°I dr A r idr  Lm ids
°I qr A r iqr  Lm iqs
¯ Lm
Cem  pI s iqr , (9)
The stator and rotor angular velocities are linked by the As
following relation: ωs = ω + ωr. Equations of mechanical and
We lead to an uncoupled power control; where, the
electromagnetic torques are [8]:
transversal component iqr of the rotor current controls the
active power. The reactive power is imposed by the direct
Cem P(Ids iqs  Iqs ids ) (3) component idr. The stator active and reactive power and
voltages are given by:
d:
Cm  Cem J˜  f ˜: (4)
dt ­ Lm
The active and reactive powers at the stator provided to the ° Ps v s A iqr
° s
(10)
grid are defined by: ® 2
°Q v Lm i  v s
° s s
As
dr
A s Zs
°Ps vds ids  vqs iqs
­ ¯
® (5)
°̄Qs vqs ids  vds iqs
­ di
°vdr Rr idr  A r V dr  gZs A r Viqr
Where: Rs is stator resistance, Rr is rotor resistance, ° dt
® , (11)
A s and A r are respectively stator and rotor inductance, Lm : diqr Lm vs
°v Rr iqr  A r V  gZs A r Vidr  g
qr
Mutual inductance, I ds , I qs are respectively direct and °
¯ dt As
quadrature stator flux, I d r , I q r are respectively direct and In steady state, the second derivative terms of the two
quadrature rotor flux, ids , iqs are respectively direct and equations in (11) are nil. We can thus write [7]:

quadrature stator current, id r , iq r are respectively direct and ­

°v Rr idr  gZ s A r Viqr
quadrature rotor current, p: number of pair poles, ωs, ωr : ° dr
synchronous and rotor angular frequency, respectively. °° Lm vs
, (12)
®vqr Rr iqr  gZ s A r Vidr  g
III. DFIG FIELD ORIENTATION STRATEGY ° As
° Z s  Zr
For obvious reasons of simplifications, the d-q reference °g
frame related to the stator spinning field pattern and a stator °¯ Zs
flux aligned on the d-axis were adopted. The DFIG is In the same conditions, it appears that the vdr and vqr
controlled by the rotor voltages. It is an independent control of equations are coupled. We have to introduce a decoupling
active and reactive powers [7]. We can write: system, by introducing the compensation terms Femd and Femq
in which
­I ds Is
° ­ Femd gZs A r Viqr
® dI qs (6) °
°I qs 0 ® Lm vs (13)
¯ dt ° Femq gZs A r Vidr  gZs
¯ Zs A s
With these conditions the decoupling of torque and flux is
guaranteed in the field oriented control and it can be controlled
linearly as in the separate excited DC motor [9].
 u u eq  u s , (17)

where: u – control signal, ueq – equivalent control signal, us –

switching control term [8].

us = u max
sat (S(X)/ M) , (18)

­
°sign(S) if S M
sat (S(X)/ M) ® , (19)
°̄S/M if S M

sat ˜ – saturation function, ϕ – threshold width of the

Figure 2. Block Diagram of simplified DFIG model.
saturation function.
From equations (10) and (11), a block diagram containing
the rotorique voltages as inputs, and active and reactive D. power control
statorique powers as outputs, is established in Fig. 2 [8]. To control the power we set n = 1, the expression of the
active power control surface becomes:
IV. SLIDING MODE CONTROL OF THE DFIG S ( P) ( Psref  Ps ) (20)
The SM controller has been very successful in recent years
due to the simplicity of its implementation and its robustness Taking its derivative and replacing it in the active power
against the uncertainties of the system and external expression (10) we get:
disturbances in the process. Sliding mode control is to bring L
back the state trajectory to the sliding surface and to advance S ( P) ( Psref  vs m iqr ) , (21)
on it with a certain dynamic point balance [8]. This trajectory As
consists of three parts: Taking the current expression iqr from the voltage vqr
equation (11) and neglecting the coupling term, since the slip
A. Choice of the surface of switchgear
g is weak, we have:
For a nonlinear system presented in the following form:
3 Lm
­ X f ( X , t )  g ( X , t )u ( X , t ) S ( P) ( Psref  vs (vqr  Rr iqr )) , (22)
2 A sA r V
°
®Y X (14)
eq s
° n Replacing vqr by vqr  vqr , the control appears clearly in the
¯X ƒ ,u ƒ
following equation:
Where fሺǡ–ሻǡ ‰ሺǡ–ሻ are the two non-linear functions
3 Lm
continuous and uncertain assumed bounded. It takes the form S ( P) ( Psref  vs eq
((vqr s
 vqr )  Rr iqr )) , (23)
of the general equation proposed by J.J.Slotine to determine 2 A sA r V
the slip surface: During the sliding mode and in steady state, we have:
­ n 1
°S ( X )
§d ·
¨  O¸ S ( P) 0 , S ( P) 0 , vqr
s
0, (24)
® © dt ¹ (15)
° d
eq
The equivalent control amount vqr is found from the previous
¯e X X
equations and written as:
Where e is the error, λ is a positive coefficient, n is the order
2 A A V
of the system, X d [ x, x d ,...]T is the desired signal, eq
vqr  Psref s r  Rr iqr , (25)
n 1 T
3 vs Lm
X [ x, x, ...,x ] is the state vector.
During the convergence mode, so that the condition
B. Convergence condition S  X  S  X  d 0 is verified, we set, and consequently, the
The convergence condition is defined by the equation Lyapunov switching term is given by:
[5], it makes the area attractive and invariant.
s
vqr k q vqr sign(S ( P)) , (26)
S  X  S  X  d 0 , (16)
To verify the system stability condition, the parameter
C. Control Calculation kq vqr must be positive.
The control algorithm is defined by the relation
To reduce any possible overshoot of the reference voltage vqr , The proposed fuzzy sliding mode control, which is
designed to control the active and reactive power of the DFIG
it is often useful to add a voltage limiter. is shown in Fig. 3.

E. Reactive power control

The same procedure as the active power is followed replacing

P by Q and taking into account the reactive power expression
(10) to get
S (Q) (Qsref  Qs ) (27)

The expression of the current idr is taken from the voltage

vdr equation (11)

3 Lm
S (Q) (Q sref  vs (vdr  Rr idr )) (28)
2 A sA r V
Figure 3. Block diagram of direct control power with FSMC
eq
Replacing vdr by vdr  vdrs , the control appears clearly in the
following equation: A. Design of fuzzy feedback controller
Lm
Fuzzy controllers have been widely applied to industrial
3
S (Q) (Q sref  vs ((v eq  vdr
s
)  Rr idr )) (29) processes. They are effective techniques especially when the
2 A s A r V dr mathematical model of the system is nonlinear or when there is
no mathematical model [11].
During the sliding mode and in steady state, we have:
The structure of the fuzzy control system consists of the
S (Q) 0 , S (Q) 0 , vdr
s
0, (30) following main parts: Fuzzification, Knowledge base,
eq
Inference engine, Defuzzification.
After computation, the equivalent control amount vdr is found
The schematic diagram of a complete fuzzy control system
to be as follows: is given in Fig. 4. The plant control U is inferred from the two
2 AAV state variables, error (E) and change in error CE [12-13].
eq
vdr  Q sref s r  Rr iqr , (31)
3 vs Lm
During convergence mode and to allow the condition for
S (Q)S (Q) d 0 to be verified, we set:
s
vdr k d vdr sign(S (Q)) , (32) Figure 4. Basic structure of fuzzy control system

To verify the system stability condition, the parameter k d vdr The two input variables E(ts) and CE(ts) are calculated at
must be positive. every sampling time as:
To reduce any possible overshoot of the reference voltage vdr ,
Et s  Yref t s   Ymes t s  1 , (34)
it is often useful to add a voltage limiter [8].
V. FUZZY SLIDING MODE CONTROL OF THE DFIG CE ts  Ets   E ts  1 , (35)
The disadvantage of sliding mode controllers is that the
discontinuous control signal produces chattering. In order to By integrating this signal, the reference voltage standard is
eliminate the chattering phenomenon, we propose to use the obtained by:
fuzzy sliding mode control.
The fuzzy sliding mode controller (FSMC) is a
modification of the sliding mode controller, where the
switching controller term sat(S(x)), has been replaced by a
fuzzy control input as given below [10].
v FSMC v SMC  v Fuzzy (33)
U ref ts  U ref ts  1  CU ref ts  , (36)
The gains GE and GCE, can be varied to tune the fuzzy
controller for a desired performance. They are used to
transform the physical values of the entries in a standardized
field [-1, 1].
En GE E , (37)

CEn GCECE , (38)

The output of the controller can be obtained by using the
gain GCU

CU GCU CU n , (39)
To synthesize the fuzzy controller of two variables (active
and reactive powers), Fuzzy control uses a set of rules to Figure 6. Block diagram of the whole system
represent how to control the plant. The complete control rules
used in our system are shown in Table 1.
In this section simulation results are obtained by using the
MATLAB/Simulink platform and are presented to show
Table I. Rule Base for Fuzzy Controller dynamic performances of the control system described above.
Controllers will be tested in reference tracking and robustness
CE NB NS ZE PS PB
E
against parameter variations.
NB ZE ZE PB PB PB
NS ZE ZE PS PS PS A. Reference tracking
ZE PS ZE ZE ZE NS The active-reactive stator power and its reference are
PS NS NS NS ZE ZE reported in Fig. 8 and 9. According to the results, we find that
PB NB NB NB ZE ZE the direct power control using SMC or FSMC have good
decoupling control of active and reactive power at the stator.
The reactive power is zero and it is a condition of operation of
Here NB is negative big, NM is negative medium, ZR is the DFIG for a unity power factor.
zero, PM is positive medium and PB is positive big, are labels
of fuzzy sets and their corresponding membership functions are Therefore we can conclude that the proposed controller is
depicted in Fig. 5. superior to SMC in eliminating chattering phenomena.

B. Robustness
In order to test the robustness of the two controllers, the
value of rotor résistance Rr is doubled from its nominal value.
Fig. 10 and 11 show the effect of parameter variations on the
active and reactive power response for the two controllers.
These results show that parameters variations of the DFIG
presents an observable effect on the powers curves and that the
Figure 5. Fuzzy memberships used for simulation effect proves more significant for sliding mode controller than
that with fuzzy sliding mode one. This result enables us to
The error signal of the controlled variable was the single conclude that this control type is more robust.
variable used as an input to the fuzzy system. In the above-
mentioned applications, the design of the fuzzy inference
system was completely based on the knowledge and experience
of the designer, and on methods for tuning the membership
functions (MFs) so as to minimize the output error [13].
In this paper, the triangular membership function, the max-
min reasoning method, and the center of gravity defuzzification
method are used, as those methods are most frequently used in
many literatures.

VI. RESULTS AND DISCUSSION

Simulation is done to illustrate the performances of the
sliding mode and fuzzy sliding mode Control applied to the Figure 7. Dynamic Responses to the active and reactive power tracking
DFIG. A bloc diagram is proposed in Fig. 7 to control the change using sliding mode controllers
whole system.

Figure 8. Dynamic Responses to the active and reactive power tracking
change using fuzzy sliding mode controllers
Figure 9. Test of robustness of rotor résistance variation +100% Rr using
SMC controllers
Figure 10. Test of robustness of rotor résistance variation +100% Rr using
FSMC controllers
VII. CONCLUSION
In this work, we proposed a method of combination
between the fuzzy controller and sliding mode controller in
order to overcome the disadvantages of sliding controllers and
FLC. After we have developed a decoupling control method of
active and reactive powers generated by the WECS based on
double fed induction Generator. Further, two types of
controllers using respectively a sliding mode and fuzzy sliding
mode are synthesized to perform powers reference tracking and
robustness under parameters variation.
Responses of our system with the fuzzy sliding mode
controller have shown that the last gives very interesting
performances toward reference tracking, sensitivity to
perturbation and robustness under parameters variation. The
chattering free improved performance of the FSMC makes it
superior to conventional SMC, and establishes its suitability for
the system drive.
VIII. APPENDIX
Rated data of the simulated doubly fed induction generator: 7.5
kW, Vs=220V, Fs=50 Hz, p=3, J=0.1Kg/m2, f=0.06N.m.s/rad,
Rs=0.95Ω Rr=1.8Ω, Lm=0.082H, A s 0.094+, A r 0.088+ .
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