International Conference on Intelligent Information and Network Technology (IC2INT’13)

Power Control for DFIG Based on the Active

Disturbance Rejection
Ali Boukhriss Tamou Nasser Ahmed Essadki
Laboratoire de Génie électrique ENSIAS, Université Mohamed 5 Laboratoire de Génie électrique
ENSET Université Mohamed 5 Rabat, Morocco ENSET Université Mohamed 5
Rabat, Morocco Rabat, Morocco
tnasser@ensias.ma
Ali_boukhriss@hotmail.fr Ahmed.essadki1@gmail.com

ABSTRACT factor is set at GSC and reactive power is transited directly

Active Disturbance Rejection Control ADRC is a robust control between the network and the stator depending on the command
method that is based on an extended state observer ESO, of the rotor side control.
representing both the internal and external disturbances, denoted
a total disturbances, which are estimated and compensated on-
line. In This paper, ADRC is applied to doubly fed induction
generator DFIG used in wind energy conversion systems. Stator
voltage orientation control (SVOC) approach is deployed to
provide independent control of active and reactive power. The
effectiveness of the control is investigated under change of
DFIG parameters. Simulations results are carried out with
MATLAB /SIMULINK.

Keywords
Active Disturbance Rejection Control, Doubly Fed Induction
Generator, Extended State Observer, Wind Energy, PWM.

1. INTRODUCTION
Today, with increased penetration of wind power into electrical
Fig 1: DFIG system configuration.
grids, DFIG wind turbines are largely used. Indeed, doubly fed
generators are typically used in applications that require varying 2.1 Wind turbine
speed of the machine's shaft in a limited range around the A wind turbine is a device that converts kinetic energy from the
synchronous speed of ± 30% [1].Thus, the power converter is wind. For a wind turbine, the power and torque harvested are
reduced, which then reduce their costs. The stator voltage given by the following formula:
orientation control SVOC allows a decoupling of active and
C p  ,  Sv 3
reactive power, and the two powers are controlled 1
independently. The PI controllers are commonly used for their Pt  (1)
2
ease of implementation [2][3], but they have performance
degradation when the parameters of the machine are subjected to v3
Tt  C p  ,  S
1 (2)
variations due to disturbances as temperature increasing for 2 t
example. ADRC proposes a new approach to reject both the
external and internal disturbances actively by estimating the Where Pt is the power, Tt is the mechanical torque,  is the Tip
disturbances directly and canceling it out, before that the system speed ratio,  is the density of the air, S is the surface swept by
would be affected [4]. ADRC has been successfully applied in the blades of the turbine, tis the turbine speed, v the wind
many challenging process to improve dynamic performance [5-
speed, pitch angle and Cp is the power coefficient for the wind
7]. In the ADRC design, disturbances are estimated using the
turbine. The power coefficient is a representation of how much
extended state observer and rejected in real time, hence the
of the available power in the wind is captured by the wind
name of the active disturbance rejection control ADRC.
turbine. Cp can be approximate by:
2. DYNAMIC MODEL  116
12.5
 
System model of converting wind power using DFIG is C p  ,    0.22  0.4  5 e i  0.0068 (3)
presented in Fig.1. Wind energy is the kinetic energy of the air  i 
in motion. Turbine is connected via a gear box to the machine
shaft. A doubly fed induction generator is directly connected to 1 1 0.035
  3
the grid and its rotor windings are connected to the grid through i   0.08   1 (4)
a back to back converter. Stator Voltage Oriented Control is
used for decoupling active and reactive power. Unity power

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 International Conference on Intelligent Information and Network Technology (IC2INT’13)

2.2 DFIG Model This observer denoted as a Linear Extended State Observer
DFIG model is described in the synchronous reference dq[8]. LESO is constructed as:
.
 z  Az  b0 Bu  L y  y 
Stator and rotor voltages are given by the following expressions, ~
where R, L, Lm, and  and I represent respectively windings
~  
resistance, inductance, mutual inductance, flux and current. The  y  Cz where L   1
subscripts s, r, d and q respectively indicate stator, rotor, d-axis   2 
and q-axis. L is the observer gain vector. To simplify the tuning process, the
ddqs observer gains are parameterized as [14]:
Vdqs  Rs I dqs   jwsdqs (5) 2 
dt L   20 
ddqr 0 
Vdqr  Rr I dqr   jwrdqr (7)
Where, 0 is the bandwidth of the observer determined by the
dt
pole placement technique. The estimate is more precisely by
The stator and rotor flux linkages and currents are related
increasing the bandwidth of the observer; however, a wide
through,
bandwidth increases the sensitivity to noise. In practice, a
dqs  Lm  Lls I dqs  Lm I dqr (9) compromise is made between the speed at which the observer
tracks the states and its sensitivity to sensor noise. With a
dqr  Lm  Llr I dqr  Lm I dqs (11) properly designed ESO, z1 and z2 are tracking respectively y
Electromagnetic torque Te is written as: and f.
The control law is given by:
3 Lm u z
Te  p (qs I dr  ds I qr ) u 0 2
2 Lm  Lls (12) b0 (16)
The original plant in Eq. (13) is reducing to a unit gain
3. ACTIVE DISTURBANCE REJECTION integrator.
CONTROL
y   f  z 2   u0  u0
.

The active disturbance rejection control was proposed by Han (17)

[9-11]. It is designed to deal with systems having a large amount
of uncertainty in both the internal dynamics and external
disturbances. The particularity of the ADRC design is that the
total disturbance is defined as an extended state of the system;
and estimated using a state observer, known as the extended
state observer (ESO). It was also simplified to linear ADRC
using the linear ESO, which makes it easy and convenient to
implement [12-13]. We consider the case of first order system
for the illustration of the method.
y  f  y, w, t   b0u
.
This can be controlled by a simple proportional controller.
u0  k p r  z1 
(18)
Where, r is the input signal reference to track.
The controller tuning is chosen as kpc, where c is the desired
closed loop frequency.
The combination of linear ESO and the controller is the linear
ADRC. Generally we choose 0=3~7c, and consequently, c is
the only tuning parameter [14]. Fig.2 represents the
implementation of the linear ADRC.

(13)
Where u and y are input and output variables. w is the external
disturbance, and f(y,w,t) represents the combined effect of
internal dynamics and external disturbance and b0 parameter to
estimate.
The basic idea is the estimation and compensation of f. Eq. (13)
can be written in an augmented state space form as:
.
 x1  x2  b0 u
. .
x 2  h where h  f
y  x
 1

 (14)
Or in the matrix form: Fig 2: Architecture of the developed ADRC controller
 .
x  Ax  b0 Bu  Eh 4. CONTROLLER DESIGN

 y  Cx
(15)
Where The control strategy is based on the stator voltage orientation.
t We recall that the voltage of a stator phase is given by:
0 1 1 1 0  d
A  ; B   ; C    ; E    Vsn  Rs isn  sn
0 0 0 0 1 dt (19)
A state observer of Eq. (14) will estimate the derivatives of y In a first approximation we can neglect the stator resistance
and f since Eq. (14) is now a state in the extended state model. which leads to:

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 International Conference on Intelligent Information and Network Technology (IC2INT’13)

Vsn  j sn (20) 5.1 Parameters uncertainties

Indeed, stator flux is 90° delay with stator voltage. It will result In order to evaluate the performance of the proposed control
with SVOC: scheme, the system is controlled with the reactive power
 Vds  0 qs  0 reference setting to zero and the active power step change from
 and -1MW to 1.5MW at time t = 0.4s. The robustness of the system
V
 qs  V s  ds   is analyzed by considering uncertainties in the machine
A phase locked loop PLL is used to orient the voltage on the q- parameters.
axis and calculate the angle required for the park transformation.
Rotor current references can be deducted from equations: 5.1.1 Rotor resistor uncertainties
In the following, we consider that the rotor resistance is
1  2 Ls ref 

I dr
ref
 ds  Qs changed. Three cases were examined. First, the rotor resistance
Lm  3 Vqs 
 Rr, has not been affected. Secondly, Rr is increased by 30% and
(21)
finally Rr is decreased by -30%. Fig. 4 shows clearly the
2 Ls ref
 (22)
ref
I qr Ps effectiveness of the control scheme based on the active
3Vqs Lm disturbance rejection control, the dynamic performance of the
The expressions of the rotor currents can be put into the form: system has not been modified, which presents a considerable
dI dr Vdr R Lm L dds advantage compared to conventional control scheme based on PI
  r I  r I qr  r   m
dt Lr Lr dr Lr Ls qs Lr Ls dt (23)
controllers.

L dqs
2000
dI qr Vqr Rr Lm Rr

  I qr  r I dr  r ds  m Rr + 30%R

Lr Lr Lr Ls Lr Ls dt

Rr - 30%Rr
1900
dt (24)
1800
This, leads for the Idr current, and the same study is used for Iqr
current, to: 1700

 f I dr , d , t   b0u t 
dI dr Iqr (A) 1600

dt (25) 1500

Where
1400
 Rr L  d   1 
f   I dr  r I qr  m  rqs  ds     b0 Vdr 1300

 Lr Lr Ls  dt   Lr 

u  V 1200

 dr
(26) 1100
0.3 0.35 0.4 0.45 0.5 0.55 0.6
f represents the generalized disturbance, Idr and u denote Time (s)

respectively the output and the control input of the plant, b0 is

Fig 4: Dynamic response with Rr uncertainties.
the parameter gain to approximate. Active disturbance rejection
control ADRC can be used to control the rotor currents. Fig.3 5.1.2 Mutual inductance uncertainties
describes schematic diagram for the controller design.
As above, we consider that mutual inductance has uncertainties
in its value. Three values are also used, Lm and Lm ±30%. Fig. 5
represents the dynamic system which is stable regardless to the
internal uncertainties.
2000
Lm
Lm + 30%Lm
Lm - 30%Lm
1900

1800

1700

1600
Iqr (A)

1500

1400

1300

Fig 3: Schematic block diagram for the rotor side control. 1200

1100
5. SIMULATION AND RESULTS 0.3 0.35 0.4 0.45
Time (s)
0.5 0.55 0.6

To highlight the strategy of control, the system is stimulated on
1.5MW DFIG wind turbine. Doubly fed induction parameters
are listed in Table 1. DC link voltage parameters are listed in
Table 2. Rotor current parameters are listed in Table 3.
Fig 5: Dynamic response with Lm uncertainties.
We can clearly see that ADRC is robust against plant
uncertainties; in fact, the proposed control law does not require a
perfect knowledge of the mathematical model of the system. It
should be noted that the ADRC response to a step change
presents no overshoot, unlike to the PI controllers applied to
similar systems [15].

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 International Conference on Intelligent Information and Network Technology (IC2INT’13)

5.2 ESO estimation signals 2000

z1qr
Iqr
As noted above in the description of the control process, ESO 1900

takes the important place to implement the active disturbance 1800

rejection control. Indeed, a well tuned ESO can follow the

1700
reference signal rref through z1 and estimate internal and
external uncertainties f through z2. In the following, we will

Iqr & z1qr

1600

highlight ADRC performances through the following 1500

commands:
1400
Active power step change from -1MW to -2MW at time t=0.35s
and reactive power step change from 0 to -1MVAR at time t=5s. 1300

Active and reactive power responses are illustrated in Fig. 6. It 1200

can be seen that powers are well follow theirs references.
Fig. 7, Fig. 8 and Fig. 9 show the ability of the extended state 1100
0.3 0.35 0.4 0.45 0.5 0.55 0.6 0.65
Time (s)
observer ESO to estimate Idr and Iqr current corresponding to the
powers references through z1dr and z1qr and total disturbance Fig 8: Iqr and its ESO estimation z1qr.
fdr and fqr through z2dr and z2qr.
5
x 10 5
2 x 10
Ps ref 2.5
Ps
z2dr
0 Qs ref
Qs
fdr
2 z2qr
-2 fqr
Active and Reactive Power W & VAR

-4 1.5

fdr & fqr & z2dr & z2qr

-6
1

-8
0.5
-10

0
-12

-14 -0.5

-16
-1

-18
0.3 0.35 0.4 0.45 0.5 0.55 0.6 0.65
Time (s) -1.5
0.3 0.35 0.4 0.45 0.5 0.55 0.6 0.65
Time (s)
Fig 6: Active (blue) and reactive power (red).
1600
Fig 9: Total dq-axis uncertainties fdr and fqr and its ESO
z1dr
Idr
estimation z2dr and z2qr.
1400

1200

1000
6. CONCLUSION
Idr & z1dr

800
In summary, we have developed in this paper a decoupling
control scheme applied to DFIG wind power system using the
600 active disturbance rejection control. The results have
400
demonstrated the effectiveness and robustness of the control
scheme against internal uncertainties of the system. The
200 capability of ESO to estimate in real time and eliminate the total
0
uncertainties has been shown.
0.3 0.35 0.4 0.45 0.5 0.55 0.6 0.65
Time (s) Table 1. Doubly fed induction generator parameters
Fig 7: Idr and its ESO estimation z1dr. Rated power 1.5MW
Grid voltage line to line rms 690V - 50Hz
Stator resistor Rs 10.3m
Rotor resistor Rr 2.28 m
Stator leakage inductance Lls 280.1
Rotor leakage inductance Llr 117.7
Magnetizing inductance Lm 26.96mH
Number of pole pairs p 2

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 International Conference on Intelligent Information and Network Technology (IC2INT’13)

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