Nonlinear Sliding Mode Power Control of DFIG under Wind

Speed Variation and Grid Connexion

(Full text in English)

Mourad LOUCIF1, Abdelmadjid BOUMEDIENE1, Abdelkader MECHERNENE1

1
Departement of Electrical and Electronics Engineering, Faculty of Technology, University Abou Bekr Belkaid, Tlemcen-
Algeria

Abstract
Wind turbine based on Doubly Fed Induction Generator (DFIG) is gaining in the growing wind market. By means
of a bidirectional converter in the rotor circuit the DFIG is able to work as a generator in both sub-synchronous
and super-synchronous modes. The topology of a DFIG, stator is connected direct to the grid while the rotor is
connected to grid with back to back converters. The nonlinear sliding mode controller is applied to the rotor
side converter (RSC) for the independently control of active and reactive power by using a stator flux oriented
strategy. The grid side converter (GSC) is controlled by using the oriented voltage control strategy. Also the dc
link control ensures the operation of unity power factor by making the reactive power drawn by the system to
zero. Simulation results are evaluated in terms of power followed tracking and sensitivity to disturbance during
the operation of sub-synchronous to super-synchronous generating modes using MATLAB/SIMULINK-PSB (Power
System Blockset) toolbox.
Keywords: doubly fed induction generator, wind turbine, power control, rotor side converter, grid side
converter

1. Introduction is to have its three phase static converters

designed for a part of the nominal power of
The contemporary era of rapid
DFIG, which generates a significant
industrialization and technological
economic benefit compared to other
development has raised a global energy crisis
solutions used (eg permanent magnet
that is one of the major concerning issues.
synchronous generator),[3]. Because the
The increase rate of weakening of fossil
DFIG allows control by the rotor and
energy resources in one hand and growing
operation over a range of ± 30% around the
energy demand on the other hand has
synchronous speed, therefore, the
initiated considerable research activity
converters connected between the rotor and
worldwide to explore means for tapping of
the electric network must be dimensioned
renewable energy resources. Wind energy,
for only a fraction of the power stator
due to its free availability and its clean and
provided (± 30% of the stator power). This
renewable character, ranks as the most
allows the reduction of losses in the power
promising renewable energy resource that
electronics components and increasing
could play a key role in solving the
global system [4].
worldwide energy crisis [1].
Nonlinear multivariable systems has been
At present, several types of electric
extensively studied in many books and
generators are used such as Doubly Fed
papers, the design procedures for such high
Induction Generator (DFIG), Induction
order nonlinear control systems may be
Generator (IG) and Permanent Magnet
complicated and vary from case to case [5],
Synchronous Generator (PMSG). Recently,
[6]. Therefore, under the control of
with the rapid development of the power
nonlinear systems, the question of
semiconductor devices, DFIG is an attractive
applicability is important and general
choice for variable speed application such as
method does not exist. All the efforts made
the electric vehicle and electrical energy
in recent years aim to expand as much as
production [2].
possible, all of the systems that the method
Currently, the variable speed wind
is applicable.
turbine system based on a double fed
The first works about variable structure
asynchronous generator (DFIG) is the most
systems using sliding mode control have been
used in terrestrial farms Its main advantage
realized during the 50 years by Emelyanov’s
24 ELECTROTEHNICĂ, ELECTRONICĂ, AUTOMATICĂ, 63 (2015), nr. 3

team. This approach was first developed for power coefficient of wind power machine,
linear second order system and has now been which is function of tip speed ratio (TSR) λ
extended to linear, non-linear, discrete and and blade pitch angle β. The coefficient is
multi-variable systems [7]. treated in [9]; the expression generally used
First, the modelling of the wind turbine is given by following:
and the maximization power point tracking
(MPPT) are presented. Second, the DFIG is  1
c
− 5
C p (λ , β ) = c1 (c 2 − c3 .β − c 4 )e λi + c 6 .λ
modelled in d-q Park reference frame. Third,  λi

the sliding mode controller is proposed for  =
1 1 0.035 (3)
control independently of active and reactive  λ λ + 0.08.β − 1 + β 2
 i
power by using a stator flux oriented
strategy applied to the rotor side converter ci (i=1,6) is given in appendix.
(RSC). Forth, the grid side converter (GSC) is The TSR is defined as the ratio between
controlled by using the oriented voltage the linear blade tip speed and the wind
control strategy, is applied to guarantee a dc speed, expressed as [10]:
link voltage and ensure sinusoidal currents in
Ωturb .R (4)
the grid side. Finally, some numerical λ=
simulation using Matlab/Simulink-PSB are V
obtained and discussed, which provides where Ωturb is the turbine speed.
some comments and conclusion. Figure 2 illustrates the relation between
2. System and Description Cp, λ and β obtained by (3)
In the present paper, the proposed system
studied is constituted of three interacting
main components which will be separately
modelled: wind turbine, gearbox, DFIG with
the topology that stator is connected direct
to the grid while the rotor is connected to
grid with back to back AC-DC-AC PWM
converter as presented in Figure 1.

Figure 2. Characteristic of the power coefficient

based on lambda variation

In a wind turbine, there is an optimum

value of tip speed ratio λopt for which Cp is
maximum and that maximize the power for
Figure 1. Wind energy conversion chain. a given wind speed. The peak power for each
wind speed occurs at the point where Cp is
2.1 Wind Turbine Modelling maximized. To maximize the generated
The output power captured by the wind power, it is therefore desirable for the
turbine is given by [8] generator to have a power characteristic
that will follow Cpmax line [11].
1 (1)
Pturb = .C p (λ , β ).ρ .π .R 2 V
. 3
2.2 Gearbox
2
The torque of the turbine, referred to the
The turbine torque is the ratio between
generator side by the gearbox G and the
the output power of the turbine and the
mechanical speed of the generator shaft are
turbine speed:
given by:
Pturb
T turb = (2)  T tur
Ω turb
T mec = G
where ρ is the air density, R is the blade  (5)
Ω = Ω mec
length and V the wind velocity, Cp is the  tur G
 ELECTROTEHNICĂ, ELECTRONICĂ, AUTOMATICĂ, 63 (2015), nr. 3 25

The mechanical equation of the system M sr

can be characterized by:
Te = p
Ls
(
ϕ sq .i rd − ϕ sd .i rq ) (9)

d Ωmec (6) with p is the number of pair poles

J = T m −T em − f .Ωmec
dt For all speed ranges the stator and the
rotor angular frequencies are related to the
where Tem is the electromagnetic torque of
shaft mechanical speed by
the generator, Ω mec is the mechanical shaft ω r = ωs − ω
speed, J is the equivalent total inertia of the
generator shaft and f is the equivalent total The expressions of stator active and
friction coefficient. reactive powers are given by
Ps =V sd .i sd +V sq .i sq
 (10)
Qs =V sq .i sd −V sd .i sq

3. Stator Field Oriented Control

The theory of field orientation control
(FOC), commonly known as vector control
was introduced in [14]. The doubly fed
induction generator (DFIG) model can be
described by the following state equations in
the synchronous reference frame whose axis
Figure 3. Bloc diagram of speed control d is aligned with the stator flux, as a result:
2.3 Dynamic Model of a DFIG ϕ sq = 0 an d ϕ sd = ϕ s
(12)
The electrical equations of the DFIG in the The expression of the electromagnetic
synchronous frame are written as follow torque is given as:
[12,13]:
M sr
 dϕ Te = p
Ls
(
−ϕ sd .i rq ) (13)
V sd = R s .i sd + sd − ωs .ϕsq
 dt
 d ϕsq The stator currents are expressed as:
V sq = R s .i sq + + ωs .ϕsd
dt  ϕ s M sr
 (7) i sd = L − L i rd
V d ϕ rd  s s
= R r .i rd + − ωr .ϕ rq  (14)
 rd dt i = − M sr .i
 d ϕ rq  sq rq
V Ls
= R r .i rq + + ωr .ϕ rd
 rq dt
By neglecting resistances of the stator
where Rs and Rr are the stator and rotor phases, the stator voltage will be expressed
phase resistances, respectively. by:
The stator and rotor fluxes are related to
the current by: V sd = 0
 (15)
V sq =V s = ωs .ϕs
ϕsd = L s .i sd + M sr .i rd

ϕsq = L s .i sq + M sr .i rq The orientation of the stator flux to the
 (8)
direct axis, and as a result, the voltage aligns
ϕ rd = L r .i rd + M sr .i sd
ϕ rq with the quadrature axis. Then the stator
 = L r .i rq + M sr .i sq
active and reactive power flow can be
where, Ls Lr are respectively the stator and written as:
rotor inductances and Msr is the magnetizing Ps = +V sq .i sq
inductance. isd , isq , ird , and irq are the direct  (16)
and quadrature stator and rotor currents Qs = −V sd .i sq
respectively.
Substituting (14) and (15) in (16), the
The electromagnetic torque is expressed
stator active and reactive power can then be
as:
expressed only versus these rotor currents
26 ELECTROTEHNICĂ, ELECTRONICĂ, AUTOMATICĂ, 63 (2015), nr. 3

by: n −1
d 
S (x ) =  + λ  e (x ) (20)
 M sr  dt 
Ps = −V s . L .i rq
 s (17) with: e(x) represents the difference
 2
Q = −V . sr .i + V s
M between the controlled variable and the
 s s
Ls
rd
Ls
 reference, e ( x ) = x ref − x ; λ is a positive
Due to the constant stator voltage, the coefficient, n is the relative degree.
stator active and reactive powers are • Convergence condition
controlled by irq and ird respectively. The convergence condition is defined by
The expressions of rotorique voltages as a the Lyapunov condition [17], which makes
function of rotorique currents are given as the surface attractive and invariant.
follows:
S ( x ).S& ( x ) p 0 (21)
 di rd
V rd = R r .i rd + σ .Lr . dt − σ .Lr .ωr .i rq (18) • Calculation of the control laws

 di The control algorithm is defined by the
V = R .i + σ .L . rq + σ .L .ω .i − g . M sr V . s
 rq r rq r
dt
r r rd
Ls relation:

where: U = U eq + U n (22)
M sr2 ωs where U is the control vector, U eq is the
σ = 1− ,g =
Ls .L r ωr equivalent control vector, U n is the
These two controls variables Vrd and Vrq switching part of the control.
equations are coupled. The decoupling is U eq can be obtained by considering the
obtained by compensation in order to ensure condition for the sliding regime, S& ( x ) = 0 .
the control of Ps and Qs independently. The equivalent control keeps the state
4. Sliding Mode Control variable on sliding surface, once reached.
Un is needed to guarantee the
The sliding mode control has been very
convergence of the system states to sliding
successful in recent years. This is due to the
surfaces in finite time.
simplicity of implementation and robustness
In order to reduce the undesirable
against system uncertainties and external
chattering phenomenon, J. J. Slotine
disturbances affecting the process [15].
proposed an approach by introducing a
4.1 Basic Idea of Sliding Mode Control boundary layer of width δ on either side of
The basic idea of sliding mode control is the switching surface [18].
first to draw the states of the system in an Then, U n is defined by:
area properly selected, then design a control
law command that will always keep the U n = K .sat (S i / δ ) (23)
system in this region [16]. The sliding mode
where sat (S (x ) / δ ) is the proposed saturation
control goes through three stages:
function (Figure 4), δ is the boundary layer
• Choice of switching surface width, K is the controller gain designed from
For a nonlinear system presented in the the Lyapunov stability.
following form:

x& = f (x , t ) + G (x , t )U (x , t ) (19)  S at (S ) = 1 if S >δ

S at (S ) =  S at (S ) = − 1 if S <δ
 S
where x ∈ R n is the state vector, U ∈ R m  S at (S ) = if S <δ
 δ
is the control vector, f ( x , t ) ∈ R n , ( x , t ) ∈ R n .m
.
In reference [18], the proposed equation
to determine the sliding surface is defined as
follows:
 ELECTROTEHNICĂ, ELECTRONICĂ, AUTOMATICĂ, 63 (2015), nr. 3 27

 M sr di rq
e&1 = P&s − P&s = P&s +V s .
ref ref
.
 Ls dt
 (25)
e& = Q& ref − Q& = Q& ref +V . M sr . di rd
 2 s s s s
Ls dt


Figure 4. Saturation function Substituting the expression of the power

4.2 Active and Reactive Power Control by their expressions given in (18), the
equations below are defined as follow:
For n=1, the direct powers control
manifold equation can be obtained by:  .s
ref Msr V Msr .Vs 
e&1 = P&s + Vrq −Rr .i rq +σ.Lr .ωr .ird + g. 
e1 = Psref − Ps  σ.Lr .Ls  Ls 
 (24) 
ref
e& =Q& ref+ Msr V.s
e 2 = Qs − Qs
(
 2 s σ.L .L Vrd −Rr .i rd +σ.Lr .ωr .irq )
where Pref and Qref are the expected active  r s

and reactive powers references. (26)

The controller structure includes two

parts, one part on the exact linearization
and another said stabilizing part. So:

V rq = V rqeq +V rqn

 eq n (27)
V rd = V rd +V rd

Substituting (27), the expression of the

control voltage, in (26). The obtained result
is:
Figure 5. Diagram of direct power control of DFIG
using sliding mode control applied to do
rotor side converter

The derivate of (24), is expressed as:


 M .
V
(
 rq rq )
 V n +V eq − R .i + σ .L .ω .i 
r rq r r rd

& ref
e&1 = P s + sr s
 
. s
σ .L r .L s  + g . M sr V
 
  Ls
 
 (28)
 & ref M sr V . s
(( n eq
)
e&2 = Q s + σ .L .L V rd +V rd − R r .i rd + σ .L r .ω r .i rq
 r s
)
During the sliding mode and in permanent where the equivalent control is:
regime, we have: e1,2 = 0 , e&1,2 = 0 , V rdn , V rqn = 0 .
28 ELECTROTEHNICĂ, ELECTRONICĂ, AUTOMATICĂ, 63 (2015), nr. 3

 eq M sr V . s . s
M sr V
V rq = σ .L .L .P&sref + R r .i rq − σ .L r .ωr .i rd − g .
 r s Ls
 (29)
V eq = σ .L r .L s
.Q&sref + R r .i rd + − L r .ωr .i rq
 rd
M sr V . s

Therefore, the stabilizing control is given

by: Pg = v d i dg
 (35)
V rqn = − k 1 .sat (e1 ) Qg = −v d i qg
 n (30)
V rd = − k 2 .sat (e 2 ) Elsewhere, by neglecting the converter
losses, the DC power has to be equal to the
with k1 and k2 are positives constants.
active power flowing between the grid and
5. Grid Side Converter the GSC and one can write:
The grid phase voltages can be expressed
V dc i dc =V d i dg
as follow: 
 V dc (36)
 di ag c = i dc − i m
 dt
V ag = R g .i ag + L g +v ainv
 dt From this last equation, one can remark
 di bg that the DC link voltage (Vdc) may be
V bg = R g .i bg + L g +v binv
controlled by acting on the current idg in the
 dt (31)
voltage vector oriented reference frame.
 di cg
V cg = R g .i cg + L g +v cinv Thus, a reference current idgref was derived
 dt from the DC link voltage shown in Figure 4.
From (35), one can remark also that the
where: Rg and Lg are respectively the reactive power (Qg) can be regulated to its
resistance and inductance of the line reference value (Qgref) by acting on the
coupled between the grid and the GSC; (vainv, current iqg. Consequently, to guarantee a
vbinv, vcinv) are the GSC output voltages. unity power factor at the grid side, the
By using Park transformation, (31) can be reactive power command must be chosen as
expressed as follow, [19]: Qgref=0, so iqgref=0. Finally, after a dq-abc
 di dg transformation of these reference currents
V dg = R g i dg + L g − ωs L g i qg + v dinv (idgref, iqgref), hysteresis modulation may then
 dt be used as shown in Figure 6.
 (32)
V = R i + L di qg
 qg g qg g + ωs L g i dg + v qinv
dt
Thus, the active and reactive powers,
exchanged between the grid and the GSC,
are given by the following equations:

Pg = v dg i dg + v qg i qg
 (33)
Q g = v qg i dg −v dg i qg
By using the oriented voltage control
strategy, one can align the d-axis with the
stator voltage, so: Figure 6. Block diagram of the grid side converter
control
v qg = 0
 (34) 5.1 DC Bus Voltage Control Loop
v dg = v d
The DC bus voltage control is assigned to
Hence, the active and reactive powers an IP controller, which is frequently used
expressions are easily simplified as follow: because of his several advantages such as
 ELECTROTEHNICĂ, ELECTRONICĂ, AUTOMATICĂ, 63 (2015), nr. 3 29

reduction or even absence of overshoot in 6. Simulation Results

step tracking response, a good regulation To evaluate the performance of the
characteristic compared to conventional PI proposed method, the implementation in the
controller [20]. software MATLAB/Simulink-PSB environment
The IP regulator must be designed to
has been considered. The computation
stabilize the DC link voltage control loop,
and improve the dynamics of the controlled numerical method adopted is based on the
system during transient state with a zero Runge-Kutta algorithm. Therefore, various
steady state error by a judicious tuning of simulation tests were conducted, their
the parameters ki and kp. objectives are the control of active and
A simplified block diagram of the DC link reactive power for unity power factor apply
voltage control is shown in Figure 7. to DFIG with the topology stator is connected
direct to the grid while the rotor is
connected to grid with back to back
converters. The behaviour analysis of the
system for different operating conditions to
verify the tracking performance and the
disturbance rejection during the operation
of sub-synchronous to super-synchronous
generating modes.
Figure 7. Block diagram of control loop with IP 6.1 Tracking Tests
regulator
In the first case, simulation results were
The transfer function in closed loop can performed with a nominal values of the DFIG
be determined as follow: powers references corresponding -1000W to
-5000W at time t = 1.5s for active power
k i .k p reference and maintains the stator reactive
V dc (s ) C power reference zero to ensure unit power
= (37)
Ωdcref (s ) kp k p .k i factor in the stator side in order to optimize
s2 + s+ the energy quality returned on the network,
C C while the generator’s speed maintained
where constant at its nominal value 1450 rpm
(152 rad/s). The simulation results are
 kp presented in Figure 8. The active and
 ξ = reactive generated powers track almost
 2.ω n .C perfectly their references. We can notice
 (38) that the sliding mode control ensures a
 2 k p .k i perfect decoupling between them. In the
ω n = C other hand, the stator currents in the three
phase’s network constitute a balanced
The transfer function has no zero term in system of frequency 50Hz, it is very clear in
the numerator, the choice of a angular the zoom of currents are sinusoidal and less
frequency equal to the unit (ξ = 1) permits disturbed. The rotor currents in the three
to avoid overshoots and obtain a more stable phases present a good tracking and the
response compared to a PI regulator. frequency of the current is g *fs = 1.6Hz . The
The proportional and integral gains are set point variation indicates that the
deduced from (39) and (40) and given by the electromagnetic torque is the image of
expressions: active power.

k p = 2.ξ .ω n .C 6.2 Regulation Tests

(39)
In the second case, we have studied the
dynamic performances of the proposed
C .ω n2 control strategy. By introducing a sudden
ki = (40)
kp increase of the reference speed and the
30 ELECTROTEHNICĂ, ELECTRONICĂ, AUTOMATICĂ, 63 (2015), nr. 3

passage the sub-synchronous to super- the proposed control scheme against the
synchronous mode from 152rad/s to reference active and reactive powers under
172rad/s at time t = 2s. The corresponding speed variation are not affected indicating a
results, given by Figure 9, show the good disturbance rejection without
satisfactory performances respectively of overshoot. Adjusting the DC bus with an IP
the power tracking. Although the speed controller gives a good track without
reference suddenly increased, the overshoot.
simulation results confirm the regulation of

Figure 8. Tracking Tests

 ELECTROTEHNICĂ, ELECTRONICĂ, AUTOMATICĂ, 63 (2015), nr. 3 31

Figure 9. Regulation Tests

7. Conclusions Table 3. Coefficient Value

This paper presents the application of two c1 c2 c3 c4 c5 c6

0.5176 116 0.4 5 21 0.0068
controls methods: the first one is nonlinear
sliding mode for the control of the active and
reactive power generated, obtained from
the nonlinear model decoupled by the stator 10. References
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[34] F. Poitiers, T. Bouaouiche and M. degree in electric engineering, from the Ecole
Machmoum. Advanced control of a doubly- Nationale Polytechnique (E.N.P), Algiers,
fed induction generator for wind energy Algeria, in 1991, 1994 and 2007 respectively.
conversion. Electric Power Systems Research Upon graduation, he joined the Electric
79 (2009) 1085–1096 Engineering Department of University of
[35] F. Blaschke. The principle of field oriented Bechar. He was an associate Professor, member
as applied to the new transvector closed-loop of Process Control Laboratory (ENP). Since 2012,
control system for rotating-field machine. he joined the Electric Engineering Department
Siemens Review XXXIX, vol.5, no.4, 1972, of University of Tlemcen. He is an associate
pp.217-220. Professor, member of Automatique Laboratory
[36] Utkin. V (1997) .Variable Structure Systems of Tlemcen (LAT).
with Sliding Mode. IEEE. Trans. Automatic His reserch interests include electric machine
Control. vol. 22, no.2, pp.212-222. drives, power electronics and process control.
[37] S. Ardjoun, M. Abid, A. Aissaoui and M. Correspondance adresse: Departement of
Naceri .A robust fuzzy sliding mode control Electrical and Electronics Engineering, Faculty
applied to the double fed induction machine. of Technology, University Abou Bekr Belkaid,
International Journal of Circuits, Systems and Chetouane B.P 30 Tlemcen-Algeria. Email :
Signal Processing. Issue 4, Volume 5, 2011 a10boumediene@yahoo.com
[38] V.I. Utkin. Sliding Mode Control and
Optimization. Springer-Verlag, Berlin, 1992.
[39] J.J.E Slotine, W. Li. Applied nonlinear Abdelkader MECHERENENE
control, Prence Hall, USA, 1998. received the BS and the MS
[40] M. Boutoubat, L. Mokrani and M. degrees in electrical engineering
Machmoum. Control of a wind energy from the High School of Technical
conversion system equipped by a DFIG for Education (ENSET) of Oran
active power generation and power quality - Algeria, in 1983 and 2008 respectively. Since
improvement. Renewable Energy, Vol. 50, 1983, he teaches in the field of electrical
2013, pp: 378-386. engineering in several technical schools.
[41] A. Mechernene, M. Zerikat and S. Actually, he teaches at the department of
Chekroun. Dynamical performances of electrical and electronics engineering, Faculty
sensorless vector control induction motor of Technology, University of Tlemcen and he is
drive with a new adaptive neural network also member of Laboratory of Automatic and
speed observer, STA2010 - Sciences and Analysis of Systems (ENP Oran).
Techniques of Automatic Control His research interests include power
electronics, electrical motor drives systems
8. Biography and development of intelligent applications
(Fuzzy Logic and Artificial Neural Networks),
Mourad LOUCIF was born in with particular interest for sensorless-control
Tlemcen (Algeria), on March 11, algorithms to electrical drive systems.
1988. Correspondance adresse: Departement of
In 2011, he received the M.Sc. in Electrical and Electronics Engineering, Faculty
University of Abou bekr Belkaid of Technology, University Abou Bekr Belkaid,
Tlemcen, Faculty of Technology. Chetouane B.P 30 Tlemcen-Algeria. Email :
Currently, he is a PHD student at the same mechernene_aek@yahoo.fr
university. He is an member of Automatique
Laboratory of Tlemcen (LAT).