J Electr Eng Technol.

2015; 10(5): 1969-1982 ISSN(Print) 1975-0102

http://dx.doi.org/10.5370/JEET.2015.10.5.1969 ISSN(Online) 2093-7423

Virtual Inertia Control of D-PMSG Based on the Principle of Active

Disturbance Rejection Control

Qiaoming Shi†, Gang Wang*, Lijun Fu*, Yang Liu*, You Wu* and Li Xu*

Abstract – The virtual inertia control (VIC) of wind turbine with directly-driven permanent-magnet
synchronous generator (D-PMSG) can act similarly to the conventional synchronous generator in
inertia response and frequency control, thereby supporting the system frequency stability. However,
because the wind speed is inconstant and changeable to a certain extent and the D-PMSG is a complex
nonlinear system, there are great difficulties in the virtual inertia optimal control of the D-PMSG.
Based on the design principle of the active disturbance rejection control (ADRC), this paper presents a
new VIC strategy for the D-PMSG from the perspective of power disturbance suppression in the
system. The strategy helps fulfill the power grid disturbance estimation and compensation by means of
the extended state observer (ESO) so as to improve the disturbance-resisting performance of the
system. Compared with conventional proportional-derivative virtual inertia control (PDVIC), this
method, which is of better adaptability and robustness, can not only improve the property of the D-
PMSG responding to the system frequency but also reduce the influence of wind speed disturbance.
The simulation and experiment results have verified the effectiveness and feasibility of the VIC based
on the ADRC.

Keywords: Wind turbine generator, Virtual inertia control, Active disturbance rejection control,
Frequency response, Robustness

Nomenclature z1, z2 Observed quantity of the state variable.

β1, β2 Control parameters of ESO.
ωn Rated angular frequency of the power system (rad/s). h Control step of the ADRC.
ω Angular frequency of the power system (rad/s). k0, kVIC Control parameters of ADRVIC.
Δω Angular frequency deviation of the system (rad/s). Subscripts and Superscripts
H Inertia time constant of the power system (s). ref Reference value.
D Damping coefficient of the load. 0 Initial value.
SB Total capacity of the synchronous generators (Watt). n Rated value.
Pm Output power of prime motor (Watt). * Per unit value.
PL Frequency-insensitive load of system (Watt).
Rp Frequency droop coefficient of the system.
Jw Rotational inertia of the D-PMSG (kg·m2). 1. Introduction
ωw Angular velocity of the wind turbine (rad/s).
Pw Grid-connected power of the D-PMSG (Watt). The wind turbine with D-PMSG, which has low failure
PMPPT Output power of MPPT control (Watt). rate, high reliability and high power generation efficiency,
PVIC Auxiliary output power of VIC (Watt). has gradually become a dominant model in wind power
kp, kd Control parameters of PDVIC. industry [1]. At present, it can perform the maximum
R Blade radius (m). power point tracking (MPPT) control through the full-
V Wind speed (m/s). power converter (FPC) for an efficient use of wind power.
Cp Power coefcient. However, the rotating speed of the permanent-magnet
θ Blade pitch angle (degree). synchronous generator (PMSG) is decoupled from the
λ Tip speed ratio. system frequency in this control mode, while the output
x, x1, x2 State variable. power and rotating speed of D-PMSG only vary with wind
speed without responding to the frequency fluctuation.
† Corresponding Author: College of Electrical Engineering, Xi’an
Jiaotong University, China. (shqm14210@163.com) Thus, the system cannot be provided inertia and frequency
* National Key Laboratory of Vessel Integrated Power System Tech- support. With a continuous increase in wind power
nology, Naval University of Engineering, China. (wanggang60742@ penetration, the number of connected conventional power
126.com, lijunfu2006@sina.cn, {liuyang8930, wuyou1351}@126.com,
xuli199108@163.com) plants will reduce. The decoupling effect of D-PMSG will
Received: December 16, 2014; Accepted: June 18, 2015 lead to a continuous decrease of system inertia only to have

1969
Copyright ⓒ The Korean Institute of Electrical Engineers
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 Virtual Inertia Control of D-PMSG Based on the Principle of Active Disturbance Rejection Control

a serious influence on the frequency stability of the system The ADRC is a new control method, which overcomes
[2-4]. the shortcomings of classic PID control [14]. The method
To enable wind turbine generators to give power support can transform the nonlinear system into the linear integrator
to the system like traditional synchronous generators when series structure through the dynamic compensation
the frequency fluctuates, a deload control method for linearization so as to simplify the control design and
wind turbine generators was proposed in references [5-7]. eliminate the dependence upon the model of the controlled
In spite of improving the ability of the wind turbine system. And it can implement the system disturbance
generators to be involved in the frequency control, this estimation and compensation by use of the ESO so as to
method is not economical when large-scale wind power improve the ability to restrain the error and disturbance.
connected to the grid, with the inertia time constant of Thus, it is of better adaptability and robustness [15, 16].
MW-level wind turbine generators up to 6 s [2] and the In this paper, the active disturbance rejection virtual
kinetic energy stored in the rotor being considerable in inertia control (ADRVIC) of the D-PMSG is proposed
normal operating conditions of the turbine. References [2, from the perspective of power disturbance rejection of
8] and [9] offered a frequency response control method the system according to the principle of ADRC. Firstly, a
based on the kinetic energy of the rotor in wind turbines. simplified model of the wind power integrated system
The method introduces the auxiliary power related to the (WPIS) is established for the design of ADRVIC. Then,
proportional and derivative terms of the frequency deviation the process of design and the method of applying the
on the basis of the MPPT control. When the system ADRVIC are presented based on this model. Finally, the
frequency drops, the D-PMSG can release the kinetic effectiveness and feasibility of the ADRVIC are verified
energy stored in the rotor to get into the system inertia by comparing the ADRVIC and the PDVIC through the
response and primary frequency control. Because the simulation and experiment system.
converter can adjust the active power quickly, the wind
turbine generators can provide greater virtual inertia than
their inherent inertia [2]. Therefore, this control method is 2. Principle of Conventional Virtual Inertia
also called PDVIC. Using the PDVIC, it is possible for Control
the D-PMSG to adjust the power output and participate in
the frequency regulation when the frequency fluctuates and The imbalance of generating power and load will lead
to quit the frequency response when the system is stable. to the change of frequency in power systems, while the
Both enabling the D-PMSG to be involved in the frequency mechanical inertia of the rotor in the traditional
response of the system and ensuring the electricity- synchronous generator has a critical influence on the speed
generating efficiency, this method has become the focal of variation in the system frequency. The principle is
point of research. expressed as [17]:
The frequency response ability of the D-PMSG is easily
affected by the wind speed and the control parameters of the d Dw * DPA* - DDw *
= (1)
unit in practical operation. To bring the frequency response dt 2H
ability of units into full play under different working
conditions, reference [10] has analyzed the frequency where H is the inertia time constant of the system (s); D is
response ability of the D-PMSG and proposed a method the damping coefficient of the load; Δω* is the angular
of optimizing and improving the frequency control of frequency deviation of the system (pu), Δω*=ω*- ωn*,
wind turbine generators based on PDVIC. The method can where ω* is the angular frequency of the system (pu), ωn*
improve the frequency support ability of wind turbine is the rated angular frequency of the system (pu), ωn*=1;
generators to some extent. References [11] and [12] have ΔPA* is the unbalance power of the system (pu),
proposed a smooth control method of wind farms power ΔPA*=Pm*+Pw*-PL*, where Pm* and PL* are the output
output based on the inertia control. The method can power of prime motor and the frequency-insensitive load,
increase the frequency support time of the wind farm respectively (pu); Pw*=Pw /SB, where Pw is the grid-
through the coordinated control of multiple units. However, connected power of the D-PMSG (Watt), SB is the total
the influence of the wind speed random disturbance has not capacity of the synchronous generators (V·A). Before the
been taken into account in [11]. Reference [13] has offered VIC is introduced into the D-PMSG, the D-PMSG operates
a design method of primary frequency control of wind in the MPPT control mode. At this time, Pw*=PMPPT*, where
turbine generators based on the fuzzy control principle. PMPPT*=PMPPT /SB, PMPPT is the output power of D-PMSG in
Although confirmed through experiments, the method still the MPPT control mode (Watt).
needs to be used for power reserve. Reference [13] only As shown in (1), the greater H is, the more slowly the
confirmed the characteristics of the wind turbine generators system frequency changes, so the more stable the system is
responding to the frequency deviation of the system but it under the same unbalance power.
did not confirm the relation between the output of the units Because of the decoupling effect of the FPC, the D-
and the frequency deviation under VIC. PMSG in the power system in a normal MPPT control

1970 │ J Electr Eng Technol.2015; 10(5): 1969-1982

 Qiaoming Shi, Gang Wang, Lijun Fu, Yang Liu, You Wu and Li Xu

mode cannot release or absorb the rotor kinetic energy As is shown in (5), the conventional PDVIC improves
like traditional synchronous generators when the system the stability of the system from the aspects of inertia and
frequency fluctuates. Its rotational kinetic energy is damping.
“hidden” and almost has no contribution to the inertia of The PDVIC is simple in principle and clear in physical
the system. meaning, but it has difficulty in adjusting the parameters
The conventional PDVIC makes the D-PMSG change kp and kd and has poor adaptability under wind speed
its output when the system frequency fluctuates mainly disturbance. Therefore, based on the design of ADRC,
through the introduction of the auxiliary power related to this paper has proposed a new VIC strategy from the
the proportional and derivative terms of the system frequency perspective of reducing the disturbance of power.
deviation so as to simulate the properties of primary
frequency control and inertia response of the traditional
synchronous generators. The principle is expressed as [10]: 3. Active Disturbance Rejection Virtual Inertia
Control Method
d Dw *
PVIC = - k p Dw * - kd (2)
dt 3.1 Mathematical model of the wind power integrated
system
where PVIC is the auxiliary output power of VIC (Watt); kp
and kd are the proportional and derivative parameters, kp >0, The system structure of the D-PMSG which has been
kd >0 in practical projects. connected to the grid is shown in Fig. 1. The D-PMSG
After the VIC is introduced, the grid-connected power of contains the wind turbine, PMSG [18], FPC and its control
the D-PMSG is equal to the sum of the output power of systems.
MPPT control and VIC if the response time of the D- Wind energy is captured through the wind wheel to drive
PMSG is ignored, that is the PMSG. Its rotor movement equation is expressed as:
Pw = PMPPT + PVIC (3) d ww Pwind Pw
Jw = - (6)
So the response equation of the system frequency turns dt ww ww
from (1) into:
where Jw is the rotational inertia of the D-PMSG (kg·m2),
* - D Dw * ωw is the angular velocity of the wind turbine (rad/s), Pwind
d Dw * ( Pm* + PMPPT
* - PL* ) + PVIC
= (4) is the mechanical power which the wind turbine obtains
dt 2H from the wind (Watt). Pwind is expressed as [19]:
where PVIC*= PVIC/SB.
Combining with (2), (4) can be derived as follows: Pwind = 0.5 rp R 2 v3C p (l , q ) (7)
l = ww R / v (8)
d Dw * ( Pm* + PMPPT
* - PL* ) - (k *p + D)Dw *
= (5)
dt 2( H + kd* ) where ρ is the air density (kg/m3), R is blade radius (m), v
is wind speed (m/s), Cp is the power coefcient, θ is blade
where kp*=kp/SB, kd*=kd/SB. pitch angle (degree), and λ is tip speed ratio.

PR + jQR PO + jQO

PL + jQL
q PLL1 q PLL 2
q

- -
U DCref QOref
QRref + +
-
+ Pwref - +
+ +
wwref - + ww Dw*

Fig. 1. WPIS with D-PMSG

http://www.jeet.or.kr │ 1971
 Virtual Inertia Control of D-PMSG Based on the Principle of Active Disturbance Rejection Control

Normally, when the output power of the unit is less than detailed model will complicate the design of the controller.
the limited power, the blade pitch angle will be adjusted to In ADRC, the unmodeled dynamics of the system can be
zero. At this time, Cp is only a function of λ. Cp can reach regarded as internal disturbance and be compensated by
its maximum Cpmax by adjusting ωw thus to fulfill the MPPT the ESO. Therefore, a simplified model of the wind power
control. At this time the corresponding λ equals the optimal integrated system can be built based on the physical
top speed ratio λopt. The power extracted from the wind is principles of VIC. And based on the simplified model the
expressed as [19, 20]: design of ARDVIC can be discussed.
Both the D-PMSG and the traditional synchronous
PMPPT = kmax ww3 (9) generator will participate in the adjustment of the system
frequency after the VIC is introduced. The structure of
where kmax is the coefficient used for the wind turbine to the system shown in Fig. 1 can be simplified as shown in
extract the maximum energy, kmax=0.5ρπR5Cpmax/λopt3. Fig. 2.
When the power system is in a steady state, the D- The VIC is mainly related to the electromechanical
PMSG operates in MPPT mode, with the auxiliary power transient process of the system, so the electromagnetic
PVIC equals zero. When the system frequency fluctuates, transient process in the D-PMSG system can be ignored in
the virtual inertia controller starts working. It adjusts the the simplified model. In references [9] and [21], the D-
rotating speed and power output of the generator and PMSG and FPC are equivalent to an inertia unit and their
regulates the rotor kinetic energy through the fast power electromagnetic loss power is ignored, then
control of the FPC, so that the D-PMSG will be involved
in the power system frequency regulation to damp the 1
Pw = Pwref (11)
frequency fluctuation. TA s + 1
In the process of VIC, whether the D-PMSG can
participate in VIC is also related to its rotating speed. where s is the Laplace operator; Pwref is the reference power
When the rotating speed of D-PMSG is low, the kinetic of the D-PMSG (Watt), Pwref =PMPPT +PVIC; TA is the inertia
energy of the rotor is relatively low, and releasing rotor time constant of the PMSG and the FPC (s), its value being
kinetic energy may lead to unit halting. When the rotating about 0.2 s. As the process of the system frequency
speed is relatively high, keeping increasing rotor kinetic response is commonly 10~30 s, the dynamics can be
energy may make the unit’s rotating speed exceed the ignored in the study of system frequency response control.
speed limit. In order to ensure the stable operation of the The output power of the D-PMSG is supposed to follow
D-PMSGs, when the rotating speed of a unit is lower than the variation in reference power strictly, that is,
0.6 pu or exceeds 1.1 pu, PVIC is adjusted to zero and the
unit will temporarily quit from VIC. Therefore, under Pw = Pwref (12)
different operating conditions, the reference power of VIC
is set as follows [4]:
The above analysis shows that in the study of the D-
PMSG VIC, the response time of the D-PMSG can be
ì0, ww < 0.6wwn
ï ignored in Eq. (3).
PVIC = í f (Dw ), 0.6wwn <ww < 1.1wwn
* (10) Fig. 2 shows that there is a certain relation between the
ï0, 1.1wwn <ww active power component and the frequency of the system,
î
which is as follows:
where ωwn is the rated angular velocity of the wind turbine
(rad/s). DPm* + DPw* - DPL* = Dw * ( 2 Hs + D ) (13)
When the larger wind speed causes the rotating speed
to be greater than its rated value, the pitch angle control where ΔPm*=Pm*-Pm0*, ΔPw*=Pw*-Pw0*, ΔPL*=PL*-PL0*,
starts acting to increase the pitch angle and decrease the Pm0*, Pw0* and PL0* are the original power of prime motor,
mechanical power obtained from the wind, thereby reducing
the rotating speed. In this process, the output power of the
unit will reach the upper limit of the FPC, which is
generally determined as 1.0~1.2 pu. The pitch angle +
Pwref
controller is usually a PI controller. 1 / SB
+
Pw*
3.2 Simplified model of the wind power integrated *
P * + *
Dw *
mref Pm
DPA 1 Dw *
system + 2Hs + D
-
PL*
The wind power integrated system is a complex
nonlinear system. Discussing the VIC method based on its Fig. 2. Simplified structure of WPIS with VIC

1972 │ J Electr Eng Technol.2015; 10(5): 1969-1982

 Qiaoming Shi, Gang Wang, Lijun Fu, Yang Liu, You Wu and Li Xu

D-PMSG and frequency-insensitive load respectively when z2 » g ( x, w(t ) ) (19)

the system is in a steady state, the relation of them is
expressed as: Then the disturbance observation can be introduced into
the control system as the compensated control variable:
Pm*0 + Pw*0 - PL*0 = 0 (14)
u = u0 - z 2 / b (20)
As for the D-PMSG, the amount of power change is
expressed as: where u0 is the control variable without disturbance
compensation.
DPw* = DPMPPT
* + DPVIC
* (15) By the action of control variable u, the nonlinear system
shown in (18) turns into:
where ΔPVIC*=PVIC*-PVIC0*, ΔPMPPT=PMPPT*-PMPPT0*, PVIC0*
and PMPPT0* are the VIC output power and the MPPT ì x& » bu0
output power respectively when the system is in a steady í (21)
îy = x
state. At this time, the virtual inertia controller does not
operate; that is, PVIC0*=0, so Now the nonlinear system in (18) is transformed into a
linear system as shown in (21), the process of which is
DPVIC
* = P*
VIC (16) called dynamic compensation linearization. For the
observation of the system disturbance, the state variable is
Supposing ΔP*=ΔPm*+ΔPMPPT*-ΔPL*-DΔω*, the dynamic firstly extended in the system shown in (18) to obtain the
response equation of the system frequency which includes following expression:
the VIC can be shown below based on (13), (15) and (16):
ì x&1 = x2 + bu
d Dw * DP* PVIC
* ï
= + (17) í x&2 = G (t ) (22)
dt 2H 2H ïy = x
î 1

By x=Δω*, then (17) is derived as follows:

where x1=x, x2 is the extended state variable, x2= g(x,w(t)),
G(t) is the unknown function. The real-time observation of
ïì x& = g ( x, w(t ) ) + bu x1 and x2 depends on the ESO. Reference [14] offered the
í (18)
ïî y = x method of designing the ESO. The algorithm is as follows:

where w(t)=ΔP*/2H, g(x,w(t))=w(t), u(t)=PVIC*, b=1/2H, ìe = z1 - y

w(t) is the external disturbance, g(x,w(t)) represents the ï
ï fe = fal (e, 0.5, d ), fe1 = fal (e, 0.25, d )
combined effect of internal dynamics and external í (23)
disturbance [14, 15], x is the state variable, u is the control ï z&1 = z2 + b0 u - b1 fe
ïî z&2 = - b 2 fe1
variable, y is the output variable, b is the system parameter.
As shown in (18), the frequency response of the WPIS
containing D-PMSG can be simplified as a first-order where e is the tracking error of ESO, z1 and z2 are the
system, and the fluctuations of wind speed and load in this observed quantity of the state variable x1 and x2
system can be treated as the disturbance of the system. respectively, β1 and β2 are the control parameters, and b0 is
the factor of the disturbance compensation. When b is
3.3 Active disturbance rejection virtual inertia known, b0=b; when b is unknown, b0 takes the estimated
controller value of b. fe, fe1 and fal(e, α, δ) are nonlinear function of e
[14]:
The design of the active disturbance rejection virtual
inertia controller is mainly based on the nonlinear system ì e
ï , e £d
shown in (18). The nonlinear system control design is fal (e, a , d ) = í d 1-a (24)
complicated while the linear system control design is ï e a sign(e), e > d > 0
relatively simple. The core of the ADRC is to implement î
the real-time observation of system disturbance with the
where α and δ are constants.
ESO and compensate the disturbance in the control
If α=1, fal(e,α,δ) will equal e. At this time, e can be used
variable so as to realize the linearization. Supposing the
instead of fe and fe1 in (23), thus to simplify (23) and
accurate estimation of the total disturbance of the system
obtain the following expression [14]:
g(x, w(t)) can be made, its value is expressed as:

http://www.jeet.or.kr │ 1973
 Virtual Inertia Control of D-PMSG Based on the Principle of Active Disturbance Rejection Control

ìe = z1 - y ADRVIC. As for the stability of the close-loop system,

ï based on reference [22] it can be proved that if g(x, w(t)) is
í z&1 = z2 + b0 u - b1e (25)
ï z& = - b e bounded, which means there is a positive number M1 and
î 2 2 |g(x,w(t))|≤M1, there will be β1 > 0, β2 > 0 and k0 > 0 making
the close-loop BIBO stable. The detail proof process of the
Here is the linear implementation method of the ESO. conclusion is shown in references [15] and [22].
After the state variable is extended, (21) will be turned
into: 3.4 Application of the ADRVIC

ì x&1 » b0 u0 The adopted algorithm needs to be discretized in practical

í (26)
î y = x1 application. The discretization method of (30) can be
expressed as [23]:
The ADRC aims at allowing x1 tend to the reference
value Δωr*, where Δωr*=0. As a result, the control variable ìe(k ) = z1 (k ) - y (k )
u0 in (26) is ï z ( k + 1) = z (k ) + h ( z (k ) + b u (k ) - b e(k ) )
ï 1 1 2 0 1
ï z2 ( k + 1) = z2 ( k ) + h ( - b 2 e(k ) )
u0 = k0 (Dwr* - x1 ) (27) í (31)
ïe (k ) = Dwr - z1 (k )
*

where k0 is the control parameter. For z1 is the observed ïu0 ( k ) = k0e (k )

ï
quantity of x1, so it can replace x1. The result is expressed as: îu ( k ) = u0 (k ) - z2 (k ) / b0

u0 = k0 (Dwr* - z1 ) (28) where h is the control step of the controller. The smaller the
value h takes, the stronger the control ability of the system
which is called linear state error feedback control law is. h usually takes the value between 0.0001 and 0.1 for the
(LSEFL) of the system. linear ESO [23].
The final control variable can be derived from (20): The control parameters β1 and β2 can be adjusted
according to the bandwidth of ESO ωo [24]. Deriving the
u = u0 - z2 / b0 (29) characteristic equation of ESO from Eq. (25) and set its
poles as ωo, as in the following equation:
Based on (25) and (28-29), it is possible to obtain the
expression for the first-order linear active disturbance l ( s ) = s 2 + b1s + b 2 = ( s + wo ) 2 (32)
rejection virtual inertia controller of the WPIS as
following: From Eq. (32) the following equation can be obtained:

ìe = z1 - y
ï z& = z + b u - b e ì b1 = 2wo
íb = w 2 (33)
ï 1 2 0 1 î 2 o
ïï z&2 = - b 2 e
í (30)
ïe = Dwr - z1
* Large ωo can improve the performance of ESO, but it
ïu0 = k0e will also magnify the system noise. In practice, a
ï compromise is made between the speed at which the
ïîu = u0 - z2 / b0 observer tracks the states and its sensitivity to the sensor
noises [24].
The structure of the controller in (30) is shown in Fig. 3. For the first-order system, ωo is set as 1/2h, and Eq. (33)
It shows that wind turbine generators can participate in turns into [23]:
the close-loop control of system frequency through
ì b1 = 1 h
í (34)
Dwr* = 0 + e LSEFL u0 + u Dw *
î b 2 = 1 (4h 2 )
WPIS
-
Equation(28) -
b0 w (t )
The control parameter k0 can be set according to the
1 / b0
bandwidth of the feedback system [24]:
z2
z1 ESO k0 = wc (35)
Equation(25)
ADRVIC

Fig. 3. Structure of ADRVIC where ωc is the system bandwidth, ωc=1/5~1/3ωo.

1974 │ J Electr Eng Technol.2015; 10(5): 1969-1982

 Qiaoming Shi, Gang Wang, Lijun Fu, Yang Liu, You Wu and Li Xu

However, in ADRVIC, parameters u0 and k0 both have g(x,w(t)) respectively, g(x,w(t)) contains the derivative term
actual physical meanings. If the tracking error of ESO is of the system frequency dΔω*/dt, so (41) is expressed as:
ignored, then z1≈Δω*. Considering Δωr*=0, Eq. (28) turns
into: PVIC , j = - kVIC , j k0 Dw * - kVIC , j g ( x, w(t )) / b0
d Dw * (42)
u0 » - k0 Dw * (36) » - k ADRC1, j Dw * - k ADRC 2, j
dt
In power systems, the relation between the variation of where kADRC1,j=kVIC,jk0, kADRC2,j=kVIC,j/b0.
conventional synchronous generator’s power output and The comparison of (42) and (2) indicates that the
the variation of system frequency is as follows [17]: added auxiliary power in D-PMSG is composed of the
proportional and derivative terms of the system frequency
DPG* = - Dw * R p (37) deviation. Therefore the ADRVIC has the same basic
function as the PDVIC so that the D-PMSG can achieve
where ΔPG* is the power output variation of synchronous the properties of frequency control similar to the traditional
generator (pu), and Rp is the frequency droop coefficient of synchronous generators. However, what is worthy of note
the system. is that this algorithm incorporates the disturbances of the
In Eq. (30), the meaning of u0 is the same as ΔPG*, it wind speed, D-PMSG and grid into the total disturbance
represents the variation of generator’s power output when for the purpose of observation and compensation and that it
system frequency changes, and k0 represents the proportional is more suitable for wind turbine generators due to its
relation between the variation of generator’s power output strong ability of disturbance resisting.
and the frequency deviation. Thus in analogy to Eq. (37)
the following equation is obtained:
4. Simulation Study
k0 = 1 R p (38)
4.1 Simulation platform
In power systems, Rp=0.02~0.06 [17], thus k0=16.7~
50.0 in (38). To verify the effectiveness of ADRVIC, a test system
The control variable obtained from (31) practically refers built on Matlab/Simulink is used for simulation study. As
to all the generators in the system, including all the D-PMSG shown in Fig. 4, the system includes an equivalent wind
and traditional synchronous generators, while PVIC is farm and an equivalent thermal power plant. The wind
concerned with the single D-PMSG, so the interrelationship farm with an installed capacity of 8 MW has four 2 MW-
of the D-PMSG capacity and the system capacity needs rated D-PMSGs while the thermal power plant with an
to be considered. Suppose the system has n synchronous installed capacity of 8.20 MW has one synchronous
generators and m D-PMSGs, each D-PMSG with a power generator. In the system, the power of load0 and that of load1
rating of PD-PMSG. For the jth D-PMSG: are 10.20+j3.1 MVA and 1.12+j0.20 MVA respectively.
Load0 is fixed and load1 is variable. S1 is used for the
PVIC , j = kVIC , j u (39) switching of load1. With the penetration of wind power is
n m
up to 49.3%, the system is a weak AC system.
kVIC , j = Pwn, j S B / (å S SG ,i + å Pwn, j ) (40) In the simulation system, the main parameters of the
i =1 j =1 wind turbine generator are: rated power Pwn=2 MW, rated
rotating speed ωwn=1.65 rad/s, radius of the wind wheel
where SSG,i is the rated capacity of the ith traditional R = 42 m, rated wind speed vn=11 m/s, and inertia time
synchronous generator, Pwn,j is the rated capacity of the jth constant Hw = 4.5 s. The capacity of the synchronous
D-PMSG, kVIC,j is the allocation coefficient n of the jth D- generator is Sn=8.2 MVA, and the inertia time constant is
PMSG. According to the definition, S B = å S SG ,i .
i =1
Eq. (40) shows that by using the allocation coefficient, B0

the capacities of both D-PMSGs and synchronous generators

are considered, thus the coordinated control of D-PMSGs B1 B2
Pwind Pw T1 T2
and conventional synchronous generators is implemented. L1 L2

According to (30) and (39), the power of the D-PMSG Synchronous

participating in the system frequency response is expressed Generator
8.2 MVA
as: S1

Load0 Load1
PVIC , j = - kVIC , j k0 z1 - kVIC , j z2 / b0 (41) Wind Farm 4 × 2 MW P0= 10.20 MW P1= 1.12 MW
Q0= 3.10 Mvar Q1= 0.20 Mvar
In (41), z1 and z2 are the observed quantities of Δω* and Fig. 4. Single-line diagram of simulation system

http://www.jeet.or.kr │ 1975
 Virtual Inertia Control of D-PMSG Based on the Principle of Active Disturbance Rejection Control

H = 6 s. The parameters of PDVIC are: kp=20×106, kd= VIC is not.

30×106 [2, 9]. The parameters of ADRVIC are: h=0.01, As shown in Fig. 5, the variable load is switched in
β1=100, β2=2500, k0=40, b0=1/12. suddenly. Fig. 5(a) shows that the decreasing speed and
magnitude of the system frequency are improved
4.2 Case 1: sudden load changes significantly with ADRVIC and PDVIC. Compared with
PDVIC, ADRVIC improves more. Fig. 5(b) and Fig. 5(c)
This case refers to the inertia response of the system show that D-PMSG releases the kinetic energy of the rotor
when there is a sudden change in load under the condition to support the system frequency by increasing the output of
of constant wind speed which is 10.7 m/s. In the simulation the unit when frequency drops. Compared with PDVIC,
system, as the D-PMSG units are of the same type, the ADRVIC can take full advantage of the inertia of the
response characteristic of each unit is also the same. Fig. 5 system and release the frequency regulation potential of the
and Fig. 6 show the dynamic response of the system at the unit so as to improve the property of the system frequency.
time when the variable load is switched in or out at 5 s. In As shown in Fig. 6, the variable load is switched out
the figures, ω, Pw, ωw and θ denote the angular frequency suddenly. Fig. 6(a) shows that ADRVIC can effectively
of the system, the output of the D-PMSG, the angular reduce the rise rate and magnitude of the system frequency
velocity and the blade pitch angle of the wind turbine and is better than PDVIC in control performance. Fig. 6(b)
respectively. The response curves marked in black, red and and Fig. 6(c) show that D-PMSG increases the kinetic
blue respectively represent three different situations, in energy of the rotor to support the system frequency by
which the ADRVIC and PDVIC are introduced and the decreasing the output of the unit when frequency rises. Fig.

1.005 1.015

1.01 Without VIC

1
With PDVIC
w (pu)
w (pu)

1.005 With ADRVIC

0.995 Without VIC
With PDVIC
0.99 With ADRVIC 1

0.985 0.995
0 5 10 15 20 25 30 0 5 10 15 20 25 30
(a) time (s) (a) time (s)

1.05
1.1
Without VIC 1
Pw (pu)

1.05 With PDVIC

Pw (pu)

With ADRVIC 0.95 Without VIC

1 With PDVIC
0.9 With ADRVIC
0.95
0.85
0 5 10 15 20 25 30 0 5 10 15 20 25 30
(b) time (s) (b) time (s)

1.01 1.02
Without VIC
1 1.01 With PDVIC
With ADRVIC
ww (pu)
ww (pu)

0.99 1
Without VIC
With PDVIC
0.98 0.99
With ADRVIC

0.97 0.98
0 5 10 15 20 25 30 0 5 10 15 20 25 30
(c) time (s) (c) time (s)

1 1.5
Without VIC
Without VIC 1 With PDVIC
0.5 With PDVIC With ADRVIC
q (deg)
q (deg)

With ADRVIC 0.5

0
0

-0.5 -0.5
0 5 10 15 20 25 30 0 5 10 15 20 25 30
(d) time (s) (d) time (s)

Fig. 5. System inertia response for a sudden increase in Fig. 6. System inertia response for a sudden decrease in
load load

1976 │ J Electr Eng Technol.2015; 10(5): 1969-1982

 Qiaoming Shi, Gang Wang, Lijun Fu, Yang Liu, You Wu and Li Xu

0.05 angular frequency of the system, the output of the D-PMSG,

0
the angular velocity and the blade pitch angle of the wind
turbine respectively. The black, red and blue curves
D P*
respectively represent three different situations, in which
pu

-0.05
z 2*2H
the ADRVIC and PDVIC are introduced and the VIC is not.
-0.1
For the high-medium wind speed, which averages 12
m/s, the curve of wind speed is shown in Fig. 8(a). The
0 5 10 15 20 25 30 inertia responses of the system in different control modes
(a) time (s)
are shown in Fig. 8(b) to Fig. 8(e). Fig. 8(b) shows that the
0.15 high penetration of wind power in the system results in a
0.1
relatively large frequency deviation caused by the changing
D P* wind speed under the traditional MPPT control, which will
seriously influence the frequency stability of the system.
pu

0.05 z 2*2H
The introduction of ADRVIC can reduce the fluctuation
0
range of the system frequency and improve the stability of
-0.05
0 5 10 15 20 25 30
14
(b) time (s)

Wind speed (m/s)

13
Fig. 7. Observed effect of ESO in ADRVIC at the time of a
sudden rise or drop in load 12

11
6(d) shows that the pitch angle control starts to increase the 0 20 40 60 80 100
pitch angle and decrease the power extracted from the wind (a) time (s)
so as to stop the rotating speed of the unit from further 1.02
rising when it exceeds the rated speed during the period
of the D-PMSG participating in the system frequency 1.01
w (pu)

response. 1
As shown in Fig. 5 and Fig. 6, the adjustment of the
output and rotating speed of units through VIC can make 0.99
them participate in the system frequency response and 0 20 40 60 80 100
support the stability of system frequency when load (b) time (s)

disturbance causes the frequency to fluctuate. When the 1.1

system is stable, the VIC will quit operation and the units
Pw (pu)

will return to the MPPT control mode to put wind energy 1

into full use. It is obvious that the introduction of VIC
0.9
helps establish a new coupling relationship between the
rotor and the system frequency, but the relationship does 0.8
0 20 40 60 80 100
not affect the efficiency of power generation. (c) time (s)
Fig. 7(a) and Fig. 7(b) show the contrast effect of
observation of ESO in ADRVIC respectively at the time of 1.1
a sudden rise or drop in load. In the figures, the red curve
ww (pu)

denotes the practical power disturbance while black curve 1

denotes the observed effect of ESO: ΔP*=g(x,w(t))×2H, z2
is the observation of g(x,w(t)). Fig. 7 shows that the ESO 0.9

can track and estimate the system disturbance accurately 0 20 40 60 80 100

under load disturbance, which provides a reliable basis (d) time (s)
for the compensation and suppression of power system
disturbance. 20 Without VIC
With PDVIC
q (deg)

With ADRVIC
4.3 Case 2: wind speed variation 10

This case refers to the influence of variation in wind 0

speed on the system under the condition of constant load 0 20 40 60 80 100
(e) time (s)
which is 10.20+j3.1 MVA. Fig. 8 and Fig. 9 show the
curves of system responses under two different conditions Fig. 8. System inertia response for high-medium wind
of wind speed. In the figures, ω, Pw, ωw, and θ denote the speed

http://www.jeet.or.kr │ 1977
 Virtual Inertia Control of D-PMSG Based on the Principle of Active Disturbance Rejection Control

the system. Furthermore, ADRVIC is more effective than D P*

0.02
PDVIC. Fig. 8(c) and Fig. 8(d) show that ADRVIC can z 2*2H
reduce the impact on the system by smoothing the output 0.01
of the units; however, this will results in relatively great

pu
variation in the rotating speed. When the rotating speed 0

exceeds the rated speed, the pitch angle control will start
-0.01
work to stop it from further rising. The changing curve of
the pitch angle is shown in Fig. 8(e). 0 20 40 60 80 100
For the low-medium wind speed, which averages 10 m/s, (a) time (s)

the curve of wind speed is shown in Fig. 9(a). The inertia

D P*
responses of the system in different control modes are 0.02
z 2*2H
shown in Fig. 9(b) to Fig. 9(e). It can be seen from the
0.01
figures that ADRVIC still functions well under the

pu
condition of low-medium wind speed and even has a better 0

-0.01
12
Wind speed (m/s)

0 20 40 60 80 100
11
(b) time (s)
10
Fig. 10. Observed effect of ESO in ADRVIC under the
9 conditions of high-medium wind speed and low-
0 20 40 60 80 100
medium wind speed
(a) time (s)
1.02
effect than PDVIC.
Fig. 10(a) and Fig. 10(b) show the contrast effect of
1.01
observation of ESO in ADRVIC under the conditions of
w (pu)

1 high-medium and low-medium wind speed. The red curve

denotes the practical power disturbance and the black
0.99
curve denotes the observed effect of ESO. As shown in
0 20 40 60 80 100 Fig. 10, the ESO can still track and estimate the system
(b) time (s) disturbance accurately under the condition of wind speed
disturbance.
0.9
0.8
Pw (pu)

4.4 Case 3: variation in system parameters

0.7
0.6 This case refers to the adaptability of ADRVIC to the
0.5 variation in system parameters. Case 1 and Case 2
0 20 40 60 80 100
(c) time (s) demonstrate that ADRVIC has strong ability to suppress
the system load disturbance and wind speed disturbance.
Parameter b0 is taken as actual value b in the algorithm,
1 b=1/2H=1/12. But in the practical operation of the system,
ww (pu)

0.9 some units quit operation owing to an overhaul while

0.8
others are connected to the grid due to an increase in load.
As a result, the inertia time constant of the system which
0.7
0 20 40 60 80 100 has been changing is difficult to obtain. For this reason, it
(d) time (s) is necessary to explore the influence of b0 on the control
10 performance of the algorithm.
The system simulation condition is the same as that in
Without VIC
Fig. 8, namely the high-medium wind speed which averages
q (deg)

5 With PDVIC
With ADRVIC
12 m/s. In this case, the inertia time constant of the system
is 6s; that’s b=1/12, and b0 takes the value of b, 2b and 0.5b
0
respectively. The control performance of ADRVIC is shown
0 20 40 60 80 100 in Fig. 11. Fig. 11(a) and Fig. 11(b) show the observed
(e) time (s)
effect of ESO and the frequency response of the system
Fig. 9. System inertia response for low-medium wind respectively.
speed It can be seen from the Fig. 11 that the response curves

1978 │ J Electr Eng Technol.2015; 10(5): 1969-1982

 Qiaoming Shi, Gang Wang, Lijun Fu, Yang Liu, You Wu and Li Xu

0.03 b0=1/12
b0=1/6
0.02
b0=1/24
z 2*2H (pu)

Teref
0.01

0 wm wm

-0.01
wm
0 20 40 60 80 100
(a) time (s)
idc
1.015
b0=1/12
if
1.01 b0=1/6
b0=1/24
1.005
w (pu)

Fig. 13. Control scheme for WTE

1

0.995
The experiment system consists of wind turbine emulator
0 20 40 60 80 100 (WTE), PMSG, FPC, interconnection transformer and
(b) time (s) independent grid. The WTE consists of governor 6RA7025,
Fig. 11. Response characteristics of ADRVIC with DC motor, flywheel and gearbox, among which the
parameter b0 varying 6RA7025 controls the output mechanical torque of the DC
motor and simulates the output characteristics of the wind
of the system overlap completely in the case of different turbine. The inertia time constant of the actual MW-level
parameters. Therefore, certain variation in parameter b0 will wind turbine generators can be up to 6 s, while the inertia
not influence the correct estimation of power disturbance of the actual DC motor is very small (less than 0.5 s), so
by ESO or the effect of controlling the system frequency the flywheel is used to simulate the inertia characteristics
by ADRVIC. This illustrates that it is unnecessary to obtain of the MW-level wind turbine generators. The gearbox is
the accurate parameters of the system in ADRVIC, which used for connecting the high-speed motor with the low-
leads to reducing the dependence of ADRVIC on the grid speed PMSG.
parameters and ensuring the possibility of its practical The control structure of the WTE is shown in Fig. 13.
application. With the configuration software in PC1, the reference
torque of the DC motor is obtained from the samples of
motor rotating speed ωm, given wind speed v, and practical
5 Experiments value of pitch angle θ according to the mathematical
model of wind turbines. And the reference torque
5.1 Test bench command is sent to 6RA7025 through PLC, to perform a
closed-loop control of the torque. The FPC implements
To demonstrate the possibilities of applying the control the control of the generator-side and grid-side converter
algorithm proposed in this paper to the practical D-PMSG, through TMS320F2812. The control strategy of FPC can
a simulated wind power integrated experiment system is be seen from Fig. 1.
established on the basis of the governor 6RA7025 of The independent power grid is made up of a simulative
Siemens and digital signal processor (DSP) TMS320F2812 synchronous generator and equivalent load. The simulative
of TI Corporation. The hardware structure is shown in synchronous generator is implemented with an inverter
Fig. 12. based on the virtual synchronous generator theory [25].

Pw
if

Fig. 12. Experimental platform configuration

http://www.jeet.or.kr │ 1979
 Virtual Inertia Control of D-PMSG Based on the Principle of Active Disturbance Rejection Control

f (Hz)
f (Hz)
f (Hz)
Fig. 14. Test bench

In actual implementation, the armature resistance and

synchronous reactance of the synchronous generator are
equivalently replaced by the filter reactance, and the
inertia characteristics, frequency response characteristics
and voltage regulation characteristics of synchronous
generators are effectively simulated through the control
system.
In the experiment system, the main parameters of the
simulated wind turbine generator are: rated power Pwn=6.5
kW, rated rotating speed ωwn=18 rad/s, radius of the wind
wheel R=3.4 m, rated wind speed vn=9.5 m/s, and inertia
time constant Hw=5.7 s. The capacity of the independent
grid is Sn=8 kVA, and the inertia time constant is H=6 s.
The photo of the experiment system is shown in Fig. 14.

5.2 Experimental results

Under the condition of low wind speed condition, the

inertia response properties of the system can be acquired.
In the experiments, the wind speed is constant 7.5 m/s; the
initial load of the system is 7kW; the system has a sudden
addition of load disturbance of 2kW when t= 8 s. The
inertia response curves of the system operating on different
control modes are shown in Fig. 15. Fig. 15(a)~Fig. 15(c)
show the response curves of the system frequency, rotating
speed of PMSG and output of grid-side converter
respectively.
As shown in Fig. 15, the output and rotating speed of the
PMSG do not respond to the variations in system frequency
under the traditional MPPT control. Thus the system con
not get frequency support. However, ADRVIC and PDVIC
can get a new coupling relationship established between Fig. 15. Inertia response curves of the system in different
the wind turbines and the system frequency. When the control modes
frequency changes, the D-PMSG can adjust its output and
release the kinetic energy of the rotor to support the system
frequency. Fig. 15(a) indicates that ADRVIC improves the curve of the experiment system is almost the same as that
system frequency more than PDVIC because it can fully of the simulation system in the trend of variation though
release the kinetic energy of the rotor to provide more the two systems are at different power levels. Therefore,
power support for the system. A comparison between Fig. the ADRVIC proposed in this paper is effective and
15 and Fig. 5 illustrates that the response characteristic feasible in the practical D-PMSG.

1980 │ J Electr Eng Technol.2015; 10(5): 1969-1982

 Qiaoming Shi, Gang Wang, Lijun Fu, Yang Liu, You Wu and Li Xu

6. Conclusion [7] K. V. Vidyanandan, and N. Senroy, “Primary Fre-

quency Regulation by Deloaded Wind Turbines
Based on the design principle of the ADRC, this paper Using Variable Droop,” IEEE Trans. Power Syst., vol.
has proposed the ADRVIC method for D-PMSG and 28, no. 2, pp. 837-846, May., 2013.
compared ADRVIC with conventional PDVIC through [8] J. Morren, S. W. de Haan, W.L. Kling, and J. A.
simulations and experiments. The results show that both of Ferreira, “Wind Turbines Emulating Inertia and Sup-
them can provide inertia and frequency support for the porting Primary Frequency Control,” IEEE Trans.
system under the condition of wind speed disturbance or Power Syst., vol. 21, no.1, pp. 433-434, Jan., 2006.
load disturbance. [9] J. M. Mauricio, A. Marano, A. G. Expósito, and J. L.
As ADRVIC participates in the frequency regulation M. Ramos, “Frequency Regulation Contribution
through the observation and compensation of the power Through Variable-Speed Wind Energy Conversion
disturbance in the system, it can suppress the frequency Systems,” IEEE Trans. Power Syst., vol. 24, no. 1, pp.
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The comparison of the control performances of ADRVIC [10] J. F. Conroy, and R. Watson, “Frequency Response
using different control parameters shows that the phenom- Capability of Full Converter Wind Turbine Generators
enon that the control parameter variation in a certain range in Comparison to Conventional Generation,” IEEE
has no effect on control of ADRVIC. Therefore, this method Trans. Power Syst., vol. 23, no.2, pp. 649-656, May,
is characterized by better adaptability and robustness in 2008.
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Acknowledgements Syst., vol. 24, no. 1, pp. 279-287, Feb., 2009.
[12] T. H. Nguyen, D.-C. Lee, and J. H. Kang, “Power
This work was supported by the National Basic Research smoothening control of wind farms based on inertial
Program of China (973 Program) (No. 2012CB215103), effect of wind turbine systems,” J. Electr. Eng.
and the National Natural Science Foundation of China (No. Technol., vol. 9, no. 3, pp. 1096-1103, May 2014.
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Robyns, and J. Deuse, “Fuzzy Logic Supervisor-Based
Primary Frequency Control Experiments of a Variable-
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[2] J. Morren, J. Pierik, and S. W. Haan, “Inertial response in publication of the 2006 American Control Con-
of variable speed wind turbines,” Electric Power ference, Minneapolis, USA, June, 2006.
Systems Research, vol. 76, no.2, pp. 980-987, 2006. [16] X. Li and S. Li, “Speed control for a PMSM servo
[3] L. Holdsworth, J. Ekanayake, N. Jenkins, “Power system using model reference adaptive control and an
system frequency response from fixed speed and extended state observer,” Journal of Power Electronics,
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Wind Energy, vol. 7, pp. 21-35, 2004. [17] P. Kundur, Power System Stability and Control, New
[4] H. Lee, J. Kim, D. Hur, and Y. C. Kang, “Inertial York: McGraw-Hill, 1994.
Control of a DFIG-based Wind Power Plant using the [18] J.-W. Jung, V. Q. Leu, D. Q. Dang, H.-H. Choi, and
Maximum Rate of Change of Frequency and the T.-H. Kim, “Sliding mode control of SPMSM drivers:
Frequency Deviation,” J. Electr. Eng. Technol., vol. an online gain tuning approach with unknown system
10, no. 2, pp. 496-503, Mar., 2015. parameters,” Journal of Power Electronics, vol. 14,
[5] R. G. de Almeida and J. Lopes, “Participation of no. 5, pp. 980-988, Sept., 2014.
doubly fed induction wind generators in system [19] Q. Shi, G. Wang, L. FU, L. Yuan, and H. Huang,
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[6] B. G. Rawn, P. W. Lehn, and M. Maggiore, “Control of the IECON2013, Nov., 1880-1886, 2013.
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http://www.jeet.or.kr │ 1981
 Virtual Inertia Control of D-PMSG Based on the Principle of Active Disturbance Rejection Control

IEEE Trans. Power Syst., vol. 23, no. 2, pp. 601-612, Yang Liu received the B.S. degree in
May. 2008. electrical engineering from Wuhan
[21] H Geng, D Xu, “Stability analysis and improvements University of Technology in 2008, and
for variable-speed multipole permanent magnet syn- the M.S. degree from Shanghai Maritime
chronous generator-based wind energy conversion University, China in 2010. He is cur-
system,” IEEE Trans. Sus. Energy, vol. 2, no. 4, pp. rently studying for his Ph.D. degree at
459-467, Oct., 2011. Naval University of Engineering. His
[22] Q. Zheng, L. Q. Gao, and Z. Gao, “On Stability research interests include the develop-
Analysis of Active Disturbance Rejection Control for ment of voltage control methods for wind power plants.
Nonlinear Time-Varying Plants with Unknown Dyna-
mics,” in Proceedings of the of 46th IEEE Conference
on Decision and Control, New Orleans, USA, pp. You Wu received his B.S. degree from
3501-3506, Dec., 2007. Tsinghua University, China in 2013. He
[23] J. Han, Active Disturbance Rejection Control Tech- is currently pursuing his M.S. degree at
nique, Beijing: National Defense Industry Press, Naval University of Engineering. His
2008. research interests include the develop-
[24] Z. Gao, “Scaling and Bandwidth-Parameterization ment of frequency control methods for
Based Controller Tuning,” in Proceedings of the 2003 wind power integrated system.
American Control Conference, Denver, USA, pp.
4989-4996, June, 2003.
[25] Q. Zhong, and G. Weiss, “Synchronverters: inverters
Li Xu received his B.S. degree from
that mimic synchronous generators,” IEEE Trans. Ind.
Hubei University of Technology, China
Electron., vol. 58, no. 4, pp. 1259-1267, Apr., 2011.
in 2013. He is currently pursuing his
M.S. degree at Naval University of
Engineering. His research interests
include the development of voltage
Qiaoming Shi received his B.S. degree
control methods for wind power plants.
in electrical engineering from Xi’an
Jiaotong University, China in 2010. He
is currently studying for his Ph.D.
degree at Xi’an Jiaotong University. His
research interests include the develop-
ment of wind energy grid integration
techniques.

Gang Wang received his B.S. and Ph.D.

degrees from Tsinghua University, China
in 1993 and 2008 respectively. He is
currently employed as Professor at
Naval University of Engineering, China.
His research field includes the develop-
ment of stability control methods for
wind power integrated system.

Lijun Fu received the B.S. degree in

electrical engineering from Hunan Uni-
versity of Science and Technology in
1989, and the M.S. and Ph.D. degrees
from Wuhan University, China respect-
tively in 1995 and 1997. He is currently
employed as Professor at Naval Uni-
versity of Engineering, China. His
research field includes the development of stability control
methods for Micro-grids.

1982 │ J Electr Eng Technol.2015; 10(5): 1969-1982