International Journal of Energy Research

ARTIFICIAL NEURAL NETWORK BASED DIRECT TORQUE

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CONTROL FOR VARIABLE SPEED WIND TURBINE DRIVEN
INDUCTION GENERATOR
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Journal: International Journal of Energy Research

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Manuscript ID: Draft

Wiley - Manuscript type: Special Issue on Developments in Nuclear and Renewable Energy
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Date Submitted by the

n/a
Author:

Complete List of Authors: duggirala, nagaananth; VITAM College of Engineering, Electrical &
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Electronics Engineering
D, HimaBindhu; VITAM College of Engineering, Electrical &
electronics Engineering
V, Jagadeesh; ARDEE HITECH PVT LTD, Electrical & electronics
Engineering
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Direct torque control (DTC), , Wind turbine, , Induction generator,

Keywords:
artificial neural network (ANN).
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3 ARTIFICIAL NEURAL NETWORK BASED DIRECT TORQUE CONTROL
4 FOR VARIABLE SPEED WIND TURBINE DRIVEN
5 INDUCTION GENERATOR
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D.V.N. ANANTH, Assistant Professor, VITAM Engineering College, nagaananth@gmail.com
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D. HIMABINDHU, Associate Professor, VITAM Engineering College
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V.JAGADEESH, Embedded Hardware Developer, ARDEE HITECH PVT LTD, jagadeesh.vkumar@gmail.com
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11 Abstract—In General wind speed varies with time, season, time is typically well over 100ms. In fact, with its torque response,
location etc. Therefore, there is a need to study about DTC has achieved the natural limit. With the voltage and current
12 available, response time cannot be any shorter. Even in the newer
variable-speed wind power generation system based on direct
13 “sensor-less” drives the torque response is hundreds of milliseconds.
torque control (DTC) of an Induction generator (IG). The
14 proposed system can achieve two main features, one is with With DTC, accurate torque control at low frequencies, as well as at
15 change in the wind speed, output torque of IG changes, so full load torque at zero speed without the need for a feedback device
16 output power changes. These changes can be achieved in such as an encoder or tachometer. With DTC, speed can be
17 short period, compared to previous ANN techniques. controlled to frequencies below 0.5Hz and still provide 100% torque
18 Secondly, if there is any requirement to change in the IG right the way through to zero speed.
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19 speed, the desired speed can be achieved at a faster rate. Torque repeatability: DTC, without an encoder, can provide 1 to
20 Hence this paper aims to present a predictive scheme to 2% torque [1] repeatability of the nominal torque across the speed
21 correct this time delay. Finally, simulation results show that range. This is half that of other open-loop AC drives and equal to
the proposed DTC method effectively reduces the torque and that of closed-loop AC and DC drives.
22
flux ripples at low switching frequency, even under variable
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23 Motor static speed accuracy: - Error between speed reference and
24 speed operation conditions. The result of DTC system actual value at constant load. For DTC, speed accuracy is 10% of the
simulation in MATLAB / SIMULINK shows that ANN speed motor slip, which with an 11kW motor equals 0.3% static speed
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recognition optimization algorithm has better tracking accuracy. With an 110kW motor, speed accuracy is 0.1% without
26 encoder (open-loop). This satisfies the accuracy requirement for
capability and fitness, as well as favorable static and dynamic
27 properties. 95% of industrial drives applications. However, for the same
28 accuracy from DC drives an encoder is needed. In contrast, with
Keywords: Direct torque control (DTC), wind turbine, induction
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29 frequency controlled PWM drives the static speed accuracy is

generator, artificial neural network (ANN). typically between 1 to 3%. So the potential for customer process
30
improvements is significantly higher with standard drives using DTC
31 2 INTRODUCTION technology. A DTC drive using an encoder with 1024
32 Direct Torque Control which can be applicable to asynchronous pulses/revolution can achieve a speed accuracy of 0.01% [1].
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33 machines, permanent magnet machines etc, describes the way in
34 which the control of torque and speed are directly based on the
35 electromagnetic state of the motor. Similar to a DC motor, but
36 contrary to the way in which traditional PWM drives use input
frequency and voltage these machines can be controlled. DTC is the
Dynamic speed accuracy: - Time integral of speed deviation when
a nominal (100%) torque speed is applied. DTC open-loop dynamic
speed accuracy is between 0.3 to 0.4% seconds [1]. This depends on
the gain adjustment of the controller, which can be tuned to the
process requirements. With other open-loop AC drives, the dynamic
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37 first technology to control the “real” motor variables of torque and accuracy is eight times less and in practical terms around 3%sec. If
38 flux. Because torque and flux are motor parameters that are being we furnish the DTC controller with an encoder, the dynamic speed
39 directly controlled, there is no need for a modulator, as used in PWM accuracy will be 0.1%sec, which matches servo drive performance.
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40 drives, to control the frequency and voltage. This, in effect, cuts out
the middle man and dramatically speeds up the response of the drive The stability down to zero speed is good and both torque and speed
41 accuracy can be maintained at very low speeds and light loads. We
to the changes in required torque. DTC also provides precise torque
42 control without the need for a feedback device. To meet the major have defined the accuracies as follows: Torque accuracy: Within a
43 demands by the Industry, such techniques are necessary for speed range of 2-100% and a load range of 10-100%, the torque
44 accuracy is 2%. Speed accuracy: Within a speed range of 2-100%
 Better product quality which can be partly achieved with and a load range of 10-100%, the speed accuracy is 10% of the
45 improved speed accuracy and faster torque control. motor slip. Motor slip of a 37kW motor is about 2% which means a
46  Less down time which means a drive that will not trip speed accuracy of 0.2%.
47 unnecessarily; a drive that is not complicated by expensive feedback
48 devices; and a drive which is not greatly affected by interferences Disadvantages of DTC: If several motors are connected in parallel
like harmonics and RFI. in a DTC-controlled inverter, the arrangement operates as one large
49 motor. It has no information about the status of any single motor. If
50  Fewer products. One drive capable of meeting all application
needs whether AC, DC or servo. That is a truly “universal” drive. the number of motors varies or the motor power remains below 1/8
51  A comfortable working environment with a drive that produces of the rated power, it would be best to select the scalar control
52 much lower audible noise macro.
53 The ANNs are capable of learning the desired mapping between the
The benefit of DTC technology includes exceptional dynamic
54 performance features, many of which are obtained without the need inputs and outputs signals of the system without knowing the exact
55 for an encoder or tachometer to monitor shaft position or speed: mathematical model of the system. Since the ANNs do not use the
56 mathematical model of the system, the same. The ANNs are
Torque response: - How quickly the drive output can reach the excellent estimators in non linear systems [6] - [8]. Various ANN
57 specified value when a nominal 100% torque reference step is based control strategies have been developed for direct torque
58 applied. For DTC, a typical torque response is 1 to 2ms below 40Hz control of wind driven induction generator set to overcome the
59 compared to between 10-20ms for both flux vector and DC drives scheme drawback.
60 fitted with an encoder. With open loop PWM drives the response

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2 In this paper, neural network flux position estimation, sector Optimum Pulse Selector: Within the Optimum Pulse Selector
3 selection and switching vector selection scheme proposed, and ANN (ANN) to determine the switching logic of the inverter. Furthermore,
4 based speed controller used to reduce the current ripple by regulating all control signals are transmitted via optical links for high speed
5 the switching frequency, are proposed. data transmission. This configuration brings immense processing
6 speed such that every 25 microseconds the inverter’s semiconductor
The organization of this paper goes on in the following order. In switching devices are supplied with an optimum pulse for reaching,
7 Section II, it will be presented the basic concept of DTC for or maintaining, an accurate motor torque. The correct switch
8 induction motor drive. In Section III and IV it will be described flux combination is determined every control cycle. There is no
9 estimation algorithm and artificial neural networks and predetermined switching pattern. DTC has been referred to as “just-
implementation of ANN to the DTC scheme. The simulation and in-time” switching, because, unlike traditional PWM drives
10 experimental results will be presented in Section V and VI for the
11 where up to 30% of all switch changes are unnecessary, with DTC
proposed scheme validation. In Sections VII, it will be presented the each and every switching is needed and used.
12 conclusions of this work.
13 Speed Control.
3 DTC CONTROL THEORY:
14 Torque Reference Controller: Within the Torque Reference
15 The block diagram shows that DTC has two fundamental sections: Controller, the speed control output is limited by the torque limits
16 the Torque Control Loop and the Speed Control Loop. Now we will and DC bus voltage. It also includes speed control for cases when an
walk around the blocks exploring each stage and showing how they external torque signal is used. The internal torque reference from this
17 integrate together. block is fed to the Torque Comparator.
18
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19 DTC’s Torque Control Loop. Speed Controller: The Speed Controller block consists both of a PID
20 VI measurements, in normal operation, two motor phase currents controller and an acceleration compensator. The external speed
and the DC bus voltage are simply measured, together with the reference signal is compared to the actual speed produced in the
21 Motor Model. The error signal is then fed to both the PID controller
22 inverter’s switch positions.
and the acceleration compensator. The output is the sum of outputs
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23 Adaptive Motor Mode, The measured information from the motor from both of them.
24 is fed to the Adaptive Motor Model.
Flux Reference Controller: An absolute value of stator flux can be
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25 The sophistication of this Motor Model allows precise data about the given from the Flux Reference Controller to the Flux Comparator
26 motor to be calculated. Before operating the DTC drive, the Motor block. The ability to control and modify this absolute value provides
27 Model is fed information about the motor, which is collected during an easy way to realize many inverter functions such as Flux
28 a motor identification run. This is called auto-tuning and data such Optimization and Flux Braking.
as stator resistance, mutual inductance and saturation coefficients are
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29 determined along with the motor’s inertia. The identification of 3.1 ALGORITHM FOR OPTIMIZING ANN
30 motor model parameters can be done without rotating the motor Algorithm is summarized as follows:
31 shaft. This makes it easy to apply DTC technology also in the (1) Make use of multi or bit-optimizing algorithm to learn all data
retrofits. The extremely fine tuning of motor model is achieved when samples, so as to obtain the weight values and threshold values
32 of the first function network.
the identification run also includes running the motor shaft for some
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33 (2) Filter all the samples. The filtering method is as follows:

seconds.
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a) Construct the BP network with the weight values and
35 threshold values of the first function network;
36 b) Calculate the absolute value of difference which subtract the
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37 neural network outputs from the actual outputs；

38 c) Select the samples who’s the absolute value is bigger than the
39 required accuracy as the new data sample of the second
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function network.
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At the same time, revise the original samples as follows: Make the
41 actual outputs of the data included in the new samples be 1; make the
42 actual outputs of the data included in the remaining samples be 0.
43 Hereinafter such sample is named as “samples tagged by function
44 network”.
Fig 2.1 DTC comprises two key blocks: Speed Control and Torque
45 Control
46
47 There is no need to feed back any shaft speed or position with
tachometers or encoders if the static speed accuracy requirement is
48 over 0.5%, as it is for most industrial applications. This is a
49 significant advance over all other AC drive technology. The Motor
50 Model is, in fact, key to DTC’s unrivalled low speed performance.
51 The Motor Model outputs control signals which directly represent
52 actual motor torque and actual stator flux. Also shaft speed is
calculated within the Motor Model.
53 Torque Comparator and Flux Comparator: The information to
54 control power switches is produced in the Torque and Flux
55 Comparator. Both actual torque and actual flux are fed to the Fig. 3.1 shows the block diagram representation of DTC based ANN
comparators where they are compared, every 25 microseconds, to a for wind turbine driven induction generator set
56
57 torque and flux reference value. Torque and flux status signals are
calculated using a two level hysteresis control method. These signals (3) Train the neural network with the isolated new samples and the
58 are then fed to the Optimum Pulse Selector. samples tagged by function network respectively. The resulting
59 weight values and the threshold values from the training of the
60 isolated new samples will be used in the elaborate function

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2 network, and the resulting weight values and the threshold
3 values from the training of the samples tagged by function
4 network will be used in the input identifier.
5
6 4 THEORITICAL WIND TURBINE MODEL
7 There are two types of wind turbines namely vertical axis and
8 horizontal axis types. Horizontal axis wind turbines are
9 preferred due to the advantages of ease in design and lesser cost
10 particularly for higher power ratings [21].
The power captured by the wind turbine is obtained as The components of the stator flux (ϕsα, ϕsβ) given by (7).
11
12
13
Where the power coefficient Cp is a nonlinear function of wind
14 velocity and blade pitch angle and is highly dependent on the
15 constructive features and characteristics of the turbine. The stator flux linkage phase is given by (8).
16 It is represented as a function of the tip speed ratio λ given by
17
18
It is important to note that the aerodynamic efficiency is at the
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19 The electromagnetic couple be obtained starting from the estimated
optimum tip speed ratio. The torque value obtained by dividing sizes of flux (ϕsα,ϕsβ and calculated sizes of the current, Isα Isβ)
20 the turbine power by turbine speed is formed obtained as
21 follows:
22
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23 The stator resistance Rs can be assumed constant during a large
24 Where Ct (λ) is the torque co-efficient of the turbine, given by number of converter switching periods Te. The voltage vector
applied to the induction motor remains also constant one period Te.
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Therefore, resolving first equation of system leads to:
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27 Where the power co-efficient Cp is given by
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30 Where In equation (11); φs0 stands for the initial stator flux condition. This
31 equation shows that when the term RsIs can be neglected, (in high
32 speed operating condition for example), the extremity of stator flux
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33 vector Vs. Furthermore, the instantaneous flux speed is only

34 governed by voltage vector amplitude [1][4].
5 DTC BASED ON ANN ALGORITHM In fact, we have
Ѕ
≈ Vs the following Fig.3 Established for the
35
36 The ANN is trained by a learning algorithm which performs the case Vs=V3.
adaptation of weights of the network iteratively until the error
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37 between target vectors and the output of the ANN is less than an
38 error goal. The most popular learning algorithm for multilayer
39 networks is the back-propagation algorithm and its variants [l9]. The
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40 latter is implemented by many ANN software packages such as the

41 neural network toolbox from MATLAB.
42 In the case presented in this paper the DTC control strategy shown
43 on table I have been implemented. Neural network has been devised
44 having as inputs the torque error, the stator flux error and the
position of the stator flux and as output the voltage space vector to
45 be generate by the inverter [17].
46
47 The ANN is trained by a learning algorithm which performs the Fig 5.1 Shows the phasor diagram representation of stator flux,
adaptation of weights of the network iteratively until the error Clarks transformation components (α and β)
48 between target vectors and the output of the ANN is less than an
49 error goal. The most popular learning algorithm for multilayer ANN based voltage vector estimator: Here we have used a feed
50 networks is the back-propagation algorithm and its variants [l9]. The forward neural network to select the voltage vector. For this purpose
51 latter is implemented by many ANN software packages such as the different configurations of networks were used and the best
52 neural network toolbox from MATLAB [19] [20]. configured network is proposed and this scheme is depicted in the
53 In the case presented in this paper the DTC control strategy shown Fig. 2. The relation of variables used in the proposed scheme is as
on table-I has been implemented. Neural network has been devised shown in Fig. 3.There are three neural networks. First is to estimate
54 the value of stator flux position, θe as shown in the Fig. 5. This is the
55 having as inputs the torque error, the stator flux error and the
position of the stator flux and as output the voltage space vector to angle between the stator flux and the rotor flux. It is a two input-one
56 be generate by the inverter [17]. output feed-forward network with three layers. The input layer has 6
57 neurons of hyperbolic tangent sigmoid transfer function, first hidden
58 Stator Flux and Torque Estimation: The components of the layer has 4 neurons of log sigmoid transfer function and the output
current (Isα, Isβ), and stator voltage (Vsα, Vsβ) are obtained by the layer has 1 neuron of linear function. The necessary steps to adjust
59 application of the transformation given by (5) and (6), [1] : these weights associated with the hidden neurons can be made
60
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2 through the training of the neurons. Levenberg- Marquardt back-
3 propagation method is used here for training the network [18]. The 6. Verification of the system using
4 inputs given are‘d-axis stator flux’ and ‘q-axis stator flux’. MATLAB/SIMULINK
5 Second neural network is used to determine the sector number for
6 the estimated value of θe. There are total of six sectors, each sector
of 60 degree. Again three layers of neurons are used but with a 5-4-1 The proposed system was implemented using MATLAB/Simulink
7 feed forward configuration as shown in Fig. 6. Input layer is of log software; the wind turbine system is taken from matlab library. The
8 sigmoid transfer function, hidden layer is of hyperbolic tangent complete system is a closed loop system with speed output of the
9 sigmoid function and the output layer is of linear transfer function. machine compared with the reference. The ANN feed forward self
10 The training method used was Levenberg-Marquardt back- learning technique is used to estimate the speed of the machine using
11 propagation. The input given is the angle theta since sector selection current and flux parameters. The ANN will have flux and current as
is purely based on theta. inputs, with speed estimation as output.
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13 Last neural network is for the selection of voltage vector as given in
14 Fig. 7, which is based on three inputs, flux, torque and the sector.
Network taken this time is a 3-5-1 feed forward network with first
15 layer of log sigmoid transfer function, second layer of hyperbolic
16 tangent sigmoid transfer function and third layer of linear transfer
17 function. Training method used was again Levenberg-Marquardt
18 back-propagation. All the three neural networks were trained to
performance 0.00001 mse. Here ‘mse’ is a network performance
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function and it measures the network's performance according to the
20 mean of squared errors (mse).
21
22
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24
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27 Fig 6.1 shows the construction of the desired system using
28 MATLAB/ SIMULINK
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30 6.1 DTC implementation:
The speed is controlled by using transfer function, which gives the
31 desired torque for DTC calculation. The subsystem “DTC”
32 Fig 5.2 shows the schematic representation of three layered ANN mechanism is shown in the figure 6.1.
deriving rotor angle from stator flux
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34 ANN Speed Controller: The input and output of the ANN controller
35 can be obtained from the PI controller input output and which can be
written as:
36
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38 (13)
39 Where X(s) is the input and Y(s) is the output of PI controller, Kp
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40 and Ki are the proportional and integral gain constants.

41 Fig6.2: Design of complete DTC mechanism
The equation (13) can be written in the difference form as:
42
We will be getting the desired flux linkage from the speed reference
43 using flux table.
44 (14)
45 Where n is present time constant and (n-1) is previous time constant.
46 The equation for speed controller can be obtained as:
47
48 (15)
49 Y (n) is the output of speed controller which is the controlling torque
50 for the present control scheme of induction motor drive. The ANN
51 based speed controller (ANNSC) structure is as shown in Fig. 8.
52
53
54
55 Fig 6.3 it represents the flux table.
56
57 From the fig 6.2, we can observe that the flux linkage can be
calculated from speed reference.
58 Fig 5.3 shows the speed to torque relation using ANN system for
59 three layer system with weighing functions and relationship with
60 arrow.

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2 The DTC subsystem includes, table to convert estimated flux, stator The phase voltage output from the inverter circuit is fed to the IG
3 flux, and electromagnetic torque, reference torque to get the three set, and the implementation is shown in fig 6.7
6.7. The torque input to
4 phase voltages Ua, Ub and Uc fig 6.1. this machine, we get from
om the wind turbine system.
5
6
7
8
9
10
11 Fig6.4: showing subsystem for table
12
13 The subsystem for table (fig 6.3) shows the construction of estimated
14 parameters to get torque estimated. The PHIs is stator flux ( Isd, Isq)
15 is converted from 2 to 3 dimensional by using inverse parks Fig 6.8 shows, the implementation of induction machine model.
transformation to get the voltage parameter for logic table as shown
16 in fig 6.4. The PHIs is stator flux (magnitude of Isd, Isq), of the Electrical sub-model
model of the induction motor the three
three-phase to two-
17 machine output is compared with the reference flux estimated using axis voltage transformation is achieved using the following equation.
18 flux table with a relay to get the phase voltages. When comparing Where Vas, Vbs, and Vcs are the three
three-phase stator voltages, while
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19 estimated torque and actual torque using torque hysteresis shown in Vds and Vqs are the two-axis axis components of the stator voltage
20 fig 6.5, we get the terminal voltage e-T. vector .torque sub-model
model of induction motor In the twotwo-axis stator
21 reference frame, the electromagnetic T is given by
22 The parameters from fig 6.4, from PHIs we get stator voltage, e-PH
and e-T, and the logic table and transport delay, we will be getting
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phase voltages Ua, Ub and Uc as shown in fig 6.1 and these
24 (16)
variables will be input for the inverter system as shown in fig 6.6.6.6
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25 Using this circuit we get the input voltage (both phase voltage and
26 line voltage) to the wind turbine and induction generator set. The
combinational logic for this inverter design is [0 0 0;-1/3
0; -1/3 2/3;- (17)
27
28 1/3 2/3 -1/3;-2/3 1/3 1/3; 2/3 -1/3 -1/3; 1/3 -2/3 1/3;
1/3 1/3 1/3 -2/3; 0 0 Mechanical sub-model
model of induction motor from the torque balance
0]; equations and neglecting viscous friction, the rotor speed ωo may be
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obtained as follows
30
31
32
(18)
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34 Where J is the moment of inertia of the rotor and load and TL is tthe
35 load torque Stator current output subsub-model. The stator current
output sub-model
model is used to calculate the stator current amplitude
36 according to the following equation
Fig6.5: showing torque parameters with stator flux comparison.
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38 The torque table parameters combinational logic [1 0 0;0 0 0;0 0 0;0
39 0 0;0 0 0;0 0 0;0 0 0;0 0; 1 0 1; 0 0;0 0; 0 1 1;1 0; 0 0 0;0 0 0; 0 1 0;
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40 0 1 1; 0 0 0;0 0 0; 1 1 0; 0 0 1; 0 0 0;0 0 0;1 0 0; 0 0 1; 0 0 0;0 0 0; 0

1 0; 1 0 1; 0 0 0;0 0 0;1 1 0; 1 1 0; 0 0 0;0 0 0; 1 0 1; 0 1 0; 0 0 0;0 0 (19)
41
0;0 0 1; 1 0 0; 0 0 0;0 0 0; 0 0 1; 1 1 0; 0 0 0;0 0 0;0 1 1; 0 1 0; 0 0 The machine parameters are as follows:
42
0;0 0 0; 1 0 0; 0 1 1; 0 0 0;0 0 0;1 0 1; 0 0 0;0 0 0;0 0 0;0 0 0;0 0 0;0 Rs=2.7ohm,Rr=2.23ohm,Ls=0.3562H, H, Lm=
Lm=0.3425 H, L r=0.3562
43 0 0;0 0 0;0 0 0]; H, J=0.00825 kg m2 , P=2, Ts=0.0546 nm, Tr=0.160 nm
44
45 6.3 Neural Network Implementation
46 The figures below represent the response of electromagnetic torque,
47 flux, stator current and the sequences state of switch inverter. The
48 reference torque г*isis a sample of Nm and a flux reference Ψs*=
1Wb.
49
50 Reference model equations: The reference rotor flux components
51 obtained from the reference model are given by:
Fig6.6: showing torque hysteresis control.
52
53
(20)
54
55 Adaptive model equations: The rotor flux components obtained
from the adaptive model are given by:
56
Fig 6.7 showing subsystem for the design of inverter
inver circuit for
57
the wind turbine IG set.
58
59 6.2 Induction generator implematation in matlab/ simulink
(21)
60
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2 Error betwen two model: Finally the adaptation scheme generates 6.4 wind turbine system modeling
3 the value of the estimated speed to be used in such a way as to
4 minimize the error between the reference and estimated fluxes. In the The block is taken from matlab library to implement the desired
5 classical rotor flux MRAS scheme, this is performed by defining a problem. The model is based on the steady-state power
6 speed tuning signal εω , to be minimized by a PI controller which characteristics of the turbine. The stiffness of the drive train is
generates the estimated speed which is fed back to the adaptive infinite and the friction factor and the inertia of the turbine must be
7 model. The expressions for the speed tuning signal and the estimated combined with those of the generator coupled to the turbine. The
8 speed can be given as [13],[14]: output power of the turbine is given by the following equation
9 Pm= Cp(λ,β) ν3wind, where
10 Pm =Mechanical output power of the turbine (W)
11 cp =Performance coefficient of the turbine
12 ρ =Air density (kg/m3)
13 A =Turbine swept area (m2)
(22)
14 vwind =Wind speed (m/s)
The subsystems for the Neural Network block are shown below. λ=Tip speed ratio of the rotor blade tip speed to wind speed
15 β= Blade pitch angle (deg)
16 In this paper,there are two cases for the generator speed ,
17 1) Constant generator speed of 500rpm and
18 2) The generator speed is variable, we use a timer for this process.
The pitch angle is taken as 22.5 degrees as constant and wind speed
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19
is variable with time and the wind speed magnitude varies with time
20 as
21 Fig 6.9 shows the subsystem for Neural Network Time= [0 0.125 0.25 0.75 1.25 1.75 2.25 2.75 3.25 3.75] Wind
22 velocity= [0 8 12 15 20 10 14 6 18 14] against base speed of 10m/s.
The x{1}, y{1} are input, output for the system with two layers self
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23 learning weighed Neural Network.
24 7. SIMULATION RESULTS
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25 Two case studies with constant generator speed and other variable
26 generator speed. In both the cases, the wind speed changes as is
27 described in section 6.4.
Fig 6.10 shows the process input subsystem Case1: wind speed changes with place, time, season etc., for wind
28
Fig 6.10 shows the process input subsystem, which is used to convert generation system, the wind rotates the blades, further it will rotate
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29 the given system with current and flux input to weighing function the wind shaft using some gear mechanism. The rotating shaft will
30 derivative. The block diagram representation of layer 1 of ANN be coupled to the induction generator or permanent magnet machine.
31 function is shown in fig 6.10. We have considered induction generator in this study. Based on wind
32 speed input to the wind turbine, electromagnetic torque will be the
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33 output. This torque is taken as reference in general for wind system

34 In this case, we are considering constant generator speed, and
examining with changes in the wind speed, how the induction
35 generator torque output changes.
36 Fig 6.11: Showing block diagram representation of Layer1 ANN For this we are considering the wind speed changes with time as
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37 system shown in the fig 7.1. We have taken a timer block from MATLAB
38 library and the timing and magnitude were as follows:
The parameters with weighing function, dot-product and transformed
39
function are shown in fig 6.11. Based on the weighing function and
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40 other respective parameters, we will get the first intermediate layer

41 of the ANN system. As the system is bounded within the weighing
42 function, the system will be stable and is self learning mechanism.
43 Similarly, the weighing functions to the second layer also
programmed to get the desired reference torque. Purelin, transig are
44
the linear transfer function blocks and bias is a constant with value “-
45 2.316110024977692”. Fig 7.1: changes in wind speed (m/s) with time.
46
47 Examining the results, with changes in wind speed as in fig 7.1, the
48 graph for stator flux d and q axis were shown in fig 7.2. Although
49 with the changes because of wind speed, torque input changes to the
generator, the trajectory between flux d and q does not change its
50 circular motion. Hence the system is stable with transient response.
51
52 Fig 6.12: Showing the MATLAB design of layers and weighing
53 function
54
55
56
57
58 Fig. 6.13 shows the block diagram represented using MATLAB for
59 the second layer of the system Fig7.2: shows graph between stator flux d and q axis.
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1
2 Now considering the time of response and its deviation from The stator current is constant as, even with the changes the torque,
3 reference value, Fig 7.3 and 7.4 will be explainable. Fig 7.3depicts, the speed of the machine is maintained constant, so current is also
4 with reference torque change, the electromagnetic torque of the constant, the zoomed picture of the Fig 7.7 is shown in Fig 7.8
5 machine changes respectively. The deviation from reference to
6 actual is as shown in Fig 7.4. Blue curve is reference value and green
is actual value. The deviation is about 0.22seconds and error value is
7 about ±0.03.
8
9
10
11
12
13
14 Fig 7.8 shows the zoomed picture of stator current 3 phases for Fig
15 7.7
16 Fig 7.3 : reference and actual value of Electromagnetic torque The stator voltages for the 3phases are shown in Fig. 7.9, the
17 voltages are also constant and doesn’t changed with torque change.
18 The zoomed view of stator voltage is shown in Fig 7.10.
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19
20
21
22
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23 Fig7.4: Zoomed picture of actual and reference electromagnetic
24 torque.
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25 With changes in torque input of the machine, the speed is maintained

26 constant, which is considered as 500rpm in this case. The deviation
27 from 500rpm is about +7.5rpm which can be negligible. Fig 7.4 Fig7.9: Phase voltage of IG for three phases
28 shows the induction generator speed output. Fig 7.6 is helpful in
examining the deviation of actual speed from reference speed as is
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29
self explainable.
30
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32
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33
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35
36
Fig 7.10 shows the zoomed vie of three phase stator voltage
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37
38 Fig 7.5 shows generator speed with changes in electromagnetic Case2: In this case, we are considering variable generator speed
39 torque (comparing the constant speed in previous case), and examining with
changes in the wind speed, how the induction generator torque
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40 output varies.
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44
45
46
47
48 Fig 7.6 Reference and actual speed comparison
49
The three phase (a, b and c) currents are shown in the figure 7.7.
50
51 Fig7.11: shows graph between stator flux d and q axis.
52
53 Also with the change in generator speed and torque, the circular
54 trajectory as in Fig 7.11 does not change. This trajectory graph is
55 between stator flux d and q axis in pu. This shows that with
transients in the form of speed variation or on load, the system will
56 be in bounded state.
57
58
Fig7.7: stator 3 phase current
59
60
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 International Journal of Energy Research Page 8 of 9

8
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2 generator stator current and phase voltage changes as shown in Fig
3 7.16 and 7.17
4
5
6
7
8
9
10 Fig 7.17: shows the variation of stator phase voltages with time
11 Fig 7.12 shows the variation of induction generator speed with
12 time. As speed increases, the generator back emf increases and vice versa.
Also with the back emf, the terminal voltage and frequency also
13
increases. We can observe the changes in magnitude of voltage and
14 frequency with changes in generator speed variation.
15
16 8 CONCLUSIONS
17 The performance has been tested by simulations. Also, a command
18 flux optimization scheme has been proposed to reduce the torque
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19 ripple. The optimization was tested using simulation. The results
20 Fig. 7.13 shows the reference and actual value of electromagnetic show a reasonable improvement by flux optimization. The main
21 torque. improvements shown are:
• Reduction of torque and current ripples in transient and steady state
22 As with change in wind speed, the electromagnetic torque varies. response.
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23 With respect to this input variation in torque (blue graph), the actual • No flux droppings caused by sector changes circular trajectory.
24 machine toque (green) followed. The deviations from actual value • Fast stator flux response in transient state.
during the time (0 to 0.5seconds, 1.5 to 2seconds and 3.75 to 4
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25 In order to improve system performance, ANN is then used here.

seconds) is due to the factor of variation of induction generator speed Induction Generator with wind turbine driver simulation model with
26 with time as shown in Fig 7.12. intelligent ANN-DTC is created and analyzed based on MATLAB.
27 Simulation results demonstrate the feasibility and validity of the
28 proposed ANN-DTC system. Standing in vivid contrast against
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29 traditional DTC system, after ANN control and DTC technology is

30 used, the intelligent system effectively accelerates speed and torque
31 response, reduces torque and flux ripple, achieves fixed switch
frequency and improves system performance. The proposed
32 Fig 7.14 shows the zoomed relation of reference (blue) and actual intelligent DTC simulation model provides an effective method for
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33 (green) torque parameters studying DTC.

34
35 The deviation of actual and reference values are zoomed as shown in
Fig 7.14. the deviation is nearly 0.05 seconds. 9 REFERENCES:
36
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[1] Krause, P. C., ‘Simulation of symmetrical induction machinery’,
38 IEEE T rans. Power Apparatus Systems, Vol. PAS-84, No. 11, pp.
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40 [2] Ghani, S. N., ‘Digital computer simulation of three-phase

41 induction machine dynamics — a generalized approach’, IEEE T
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actual [3] Wade, S., Dunnigan, M. W. and Williams, B. W., ‘Modeling and
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Page 9 of 9 International Journal of Energy Research

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2 [10] Kuo-Kai Shyu, Li-Jen Shang, Hwang-Zhi Chen and Ko-Wen
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