Sensorless Control Scheme of DFIG Wind Energy
Conversion Systems Based on SOGIs and FLL
Anh Tan Nguyen and Dong-Choon Lee
Department of Electrical Engineering, Yeungnam University
280 Daehak-Ro, Gyeongsan, Gyeongbuk, 38541 Korea
nguyenanhtan91bk@gmail.com and dclee@yu.ac.kr
Abstract—In this paper, a novel sensorless control
scheme for double-fed induction generator (DFIG) wind
turbine systems using the second-order generalized
integrators (SOGIs) and frequency-locked loop (FLL) is
proposed. The rotor speed is estimated based on the SOGIs,
whereas the FLL is used to correct the estimated rotor
position. Since the SOGI has a characteristic of adaptive
filters, the rotor speed can be well estimated despite the
existence of ripples in the rotor currents. The feasibility of
the proposed method has been verified by simulation
results.
Index Terms—DFIG wind turbine, sensorless control,
SOGI-FLL, starting up process.
I. INTRODUCTION
The renewable energy sources have been increasingly
getting attentions over the last several decades, especially
as fossil fuel energy is running out. Among them, the
wind energy is one of the most promising candidates
together with the photovoltaic generation systems due to
its cleanness and renewability. Nowadays, the use of
doubly-fed induction generator (DFIG)–based wind
energy conversion systems (WECSs) has become popular
due to a wide operating speed range (about -25% to 25%
of synchronous speed) and partially-rated converter
(about 25% of turbine power). As usual in the AC motor
drive systems, it is desirable to eliminate the speed sensor
in DFIG wind turbine systems. Therefore, lots of research
results on sensorless control schemes of the DFIG have
been suggested [1]-[9].
For the purpose of eliminating the rotary encoders, the
simple method on rotor angle estimation based on
reference-frame transformations of rotor currents in an
open-loop manner has been proposed [1]. However, the
performance of that method is vulnerable to parameter
matches. Thus, in order to overcome the disadvantages of
open-loop sensorless control scheme, lots of the closed-
loop rotor position estimations have been studied by
means of utilizing the model reference adaptive system
(MRAS) observer [2], [3]. Besides, the application of
sensorless algorithm to maximum power point tracking
(MPPT) control employing the rotor position phase-
locked loop (PLL) has been proposed [4]. For the rotor
current MRAS observer, the influence analysis of
978-1-7281-2455-1/19/$31.00 ©2019 IEEE
466
_ SOGI
x + εx kε x + x'
k
_
× 
qx '
× × 
ω'
εf
−γ

FLL ω ff
Fig. 1. Standard SOGI-FLL structure.
parameter mismatch on sensorless control performance
has been investigated [5]. Also, in the open-loop manner,
another sensorless control method using phase difference
of estimated air-gap power and measured rotor current in
the stationary reference frame has been suggested [6].
Other slip angle estimation methods using the MRAS
observers have been studied recently [8], [9], where the
rotor currents in the synchronous reference frame and
back-EMF in the stationary reference frame are employed
for estimation.
Nowadays, the applications of the second-order
generalized integrator (SOGI) – frequency-locked loop
(FLL) structures in the grid-connected system are
attracting great attentions [10], [11]. Moreover, the
SOGI-FLL has been applied to the speed estimation of
PMSG wind turbine systems [12].
In this paper, a novel sensorless control scheme for
DFIG-based wind turbine systems is proposed based on
the SOGIs and FLL algorithm. The application of the
SOGIs to speed estimation gives excellent performances
despite the presence of ripples in rotor currents.
Meanwhile, the estimated rotor position error can be
significantly reduced by utilizing the FLL. The
effectiveness of the proposed method is verified by
simulation results.
II. STRUCTURE OF SOGI-FLL
Fig. 1 shows the standard SOGI-FLL structure, which
is operated as an adaptive filter with a tuning frequency
ω ' regulated by the FLL. The outputs of the SOGI can be
expressed as [11]
 qx ' k ω '2 + g ω ' s
(s) = 2 . (9)
_
εx kε x SOGI x' x s + kω ' s + ω '2 − gω '2
x + +
k _ ×  + +
g As can be observed, if the gain g is set to be zero, the
qx' ×  transfer functions of mSOGI are the same as those of
original one. Similarly, in the case that the tuning
frequency ω ' is different from input frequency ω, if the
ω' input signal is set as x = Acos(ωt), the outputs can be
expressed at steady state as
Fig. 2. Modified SOGI structure.
x' kω ' s
(s) = 2 , (1) 2
( kω ) + ( gω ')
2

x s + k ω ' s + ω '2 x ' = Aω ' cos (ωt + θ shx ' ) , (10)

( kωω ') + (ω '2 − ω 2 − gω '2 )
2 2

qx ' k ω '2
( s) = 2 , (2) 2
( gω ) + ( kω ')
2

x s + k ω ' s + ω '2 qx ' = Aω ' sin (ωt + θ shqx ' ) , (11)

( kωω ') + (ω '2 − ω 2 − gω '2 )
2 2
where x is input signal, x ' and qx ' are output signals, k is
the damping factor.
In the case the tuning frequency ω ' is frozen, if the where the phase angles θ shx ' and θ shqx ' are defined,
input signal is set as x = Acos(ωt), the output signals can respectively, as
be expressed at steady state as

kωω '  kω (ω '2 − ω 2 − gω '2 ) + gkωω '2 

x' = A cos (ωt + θ sh ) , (3) θ shx ' = arctan   , (12)
 k 2ω 2ω '− g ω ' (ω '2 − ω 2 − gω '2 ) 
( kωω ') + (ω 2 − ω '2 )
2 2
 

kωω ' ω'  gω (ω '2 − ω 2 − gω '2 ) − k 2ω '2 ω 

qx ' = A sin (ωt + θ sh ) , (4) θ shqx ' = arctan   . (13)
ω  gkω 2ω '+ kω ' (ω '2 − ω 2 − gω '2 ) 
+ (ω − ω ' 2 2
)
2
( kωω ') 2
 
where the phase angle θsh is defined as
As aforementioned, the mSOGI can improve the
ω '2 − ω 2 estimation speed by increasing the damping factor k (e.g.,
θ sh = arctan . (5)
kωω ' k can be higher than 2). However, it can deteriorate the
From (3) and (4), it can be seen that if the tuning harmonic rejection capabilities of the SOGI. Therefore,
frequency ω ' is equal to the input frequency ω, the for specific requirements, the tradeoff between settling
outputs x ' and qx ' are in phase and in quadrature with the time and harmonic rejection of the SOGI should be
input signal x, respectively. It is worth mentioning that considered carefully. In this work, due to requirements
the in-quadrature signal is useful to extract the positive- regarding the significant harmonic rejection, the original
and negative-components from the unbalanced grid SOGI structure is highlighted in the following sections.
voltage for synchronization control in the three-phase
systems [11]. In addition, the amplitude and phase angle III. PROPOSED SENSORLESS CONTROL FOR DFIGS
of the input signal can be estimated from the outputs, A. SOGI for Speed Estimation
respectively, as
In (3) and (4), the ratio of amplitudes of the output
x = x '2 + qx '2 , (6) signals can be derived as
qx ' qx ' ω '
∠x ' = arctan . (7) = . (14)
x' x' ω
However, the application of the SOGI-FLL is limited From (14), with the knowledge of information of tuning
due to relatively long settling time in its responses (i.e.,
shortest settling time in SOGI responses of about 15 ms frequency ω ' and amplitudes of outputs, x ' and qx ' , the
corresponding to the damping factor k of 2 [11]). For the input frequency estimation can be achieved. The block
purpose of improving the estimation speed, the modified diagram for speed estimation using the SOGI is shown in
SOGI (mSOGI) structure, where the error between input Fig. 3. The measured rotor currents and the grid angular
signal and in-phase output signal is used to estimate the velocity obtained from the PLL algorithm are considered
in-quadrature output signal, has been studied, as shown in as inputs of the speed estimator. The rotor currents in the
Fig. 2. In the mSOGI structure, the transfer functions for stationary reference frame, such as iˆdrs and iˆqrs , are
outputs are expressed as
estimated by means of the reference frame transformation
x' kω ' s − gω '2
(s) = 2 , (8) with the angle θˆrSOGI , which is obtained by integrating the
x s + kω ' s + ω '2 − gω '2
estimated rotor speed ωˆ r . Since the “input frequency

467
 λqss − Lsiqss
iˆdrs +
_
+ SOGI iˆdrs _ SOGI iqrs = , (17)
idrr
k
_
×  Lm
where Ls and Lm are the stator and magnetizing

Input frequency estimator

× 
e jθˆrSOGI
qiˆ s inductances, respectively, idss and iqss are d- and q-axis stator
ω grid dr _ SOGI

iqrr currents, λdss and λqss are the stator fluxes expressed as
_
iˆqrs + iˆqrs _ SOGI
k
_
+
× 
λ s
=
(v s
qs − Rs iqss )
ds , (18)
×  ω grid
qiˆqrs _ SOGI
(v − Rs idss )
SOGI
s
ds
θˆrSOGI ωˆ r ωinputSOGI λ s
qs =− , (19)
 PI ωgrid
ω grid where vdss and vqss are d- and q-axis stator voltages,
Fig. 3. Proposed scheme of speed estimation. respectively, and Rs is the stator resistance.
Assume the inputs of the FLL are set as follows:
Δθ r
iˆdrs _ SOGI = Acos(ωt + Δθr), (20)
iˆdrs _ SOGI i =Acos(ωt),
s
(21)
iˆdrs _ sh + B C Δθ r dr
ejΔθr _ γ
 PI
i = Asin(ωt),
s
qr (22)
iˆqrs _ SOGI iqrs
idrs 0 then, the value B in Fig. 4 can be derived as
Fig. 4. Proposed scheme of rotor position correction.
γ A sin ( 2ω grid t + 2Δθ r ) γ sin ( 2ω grid t ) γ sin ( Δθ r )
B= − − . (23)
2 2 2
estimator” block is operated based on (14), the input
angular velocity ωinputSOGI can be estimated as
It can be noted that the average value of B is
iˆdrs 2_ SOGI + iˆqrs 2_ SOGI dependent on the phase difference between the rotor
ωinputSOGI = ωgrid . (15) currents (i.e., iˆdrs _ SOGI and idrs ) and Δθr which affects the
( qiˆ ) + ( qiˆ )
2 2
s s
dr _ SOGI qr _ SOGI
sign of C due to integration. Thus, in order that iˆdrs _ SOGI
As shown in Fig. 3, the inputs of the SOGIs are rotor
currents in the stationary reference frame, whose matches with idrs in phase, which means that the rotor
frequency should be equal to the grid frequency under position compensation is achieved, the C value should be
normal operating conditions. Thus, the estimated rotor controlled to be zero by shifting the phase of iˆdrs _ SOGI by
speed ωˆ r should be controlled in order that the difference
Δθr.
between estimated input frequency and grid frequency
reaches zero. As a result, the rotor speed ωˆ r and the C. Proposed Sensorless Control Scheme
filtered rotor currents in the stationary reference frame From Figs. 3 and 4, the overall block diagram of the
(i.e., iˆdrs _ SOGI and iˆqrs _ SOGI ) can be estimated by using the proposed sensorless control is depicted in Fig. 5. As can
SOGIs. be seen, the estimated rotor angle θˆr is the sum of the

B. FLL for Correcting Estimated Rotor Position
In practice, the DFIG wind turbine systems usually
begin to be operated when the DFIG rotor is in motion. It
means that the determination of initial rotor position in
such a system is needed in order to ensure the desired
performances. Therefore, it is indispensable to
compensate, if any, the rotor position error.
Fig. 4 shows the block diagram of the estimated rotor
position corrector using the FLL. It can be seen that the
inputs of the corrector are the SOGI outputs ( iˆdrs _ SOGI and
iˆqrs _ SOGI ) in Fig. 3 and the rotor currents in the stationary
reference frame, idrs and iqrs as
λdss − Lsidss
idrs =
Lm
angle θˆr _ SOGI and the compensation angle Δθr, which are
shown in Figs. 3 and 4, respectively. The slip angle θˆsl for
the reference frame transformation is calculated by
subtracting the estimated rotor angel θˆr from the grid
phase angle θ grid obtained by the PLL algorithm.
It is recommended that in the proposed system the
sampling frequency of rotor speed estimation loop should
be higher than that of the rotor position correction loop
(e.g., 10 times higher). This assumption can ensure the
match of the angular velocity of the SOGI output iˆdrs _ SOGI
(i.e., ωinputSOGI ) and the grid angular velocity ω grid in prior to
the activation of the rotor position corrector. Therefore,
the rotor position can be accurately estimated by using
(23).
, (16) As aforementioned, since the inputs of rotor position
corrector include the rotor currents in the stationary

468
 Wind turbine
DFIG Grid

RSC GSC v ab g vbcg

θ grid
PLL
ω grid
Vdc
ibr iar
θˆ sl abc
dqe
iqre idre SVPWM

abc
e
dqe θˆr _ SOGI iqrr
i e*
θgrid idrr
dr vdr vqre* Fig.3
_ iˆdrs _ SOGI ωgrid
idre*
θˆr + Δθ
Qs* + Reactive + Current +
_ power controller + θˆsl + iqrs
Qs
controller
_
r
+ Fig.4
Ps* + Active ie*
qr + Current
Decoupling
+
idrs
_ power
controller
_ controller +
Ps Decoupling
e
i
qr

Fig. 5. Proposed sensorless control for DFIG using SOGIs and FLL.

reference frame, the compensation angle Δθr can be 22ms 10ms

negatively affected by the stator current ripples under 1150

adverse grid conditions. By setting the gains of rotor 1100

ωˆ r
ωr
position corrector as sufficiently low values, the 1050
ωˆ r

estimated rotor angle θˆr is primarily contributed by the 1000 ωr

angle θˆr _ SOGI which is obtained based on the filtered 950

components. Therefore, the negative impacts of stator
current ripples on the compensation angle Δθr as well as
the estimated rotor angle θˆr can be mitigated remarkably.
D. Influences of Settling Time on Speed Estimation
From (1), if the input of the SOGI is set as x =
Acos(ωt), the output of the SOGI x ' can be expressed as
kωω '
x' = A cos (ωt + θ sh ) + e
( kωω ')
2
+ ( ω 2 − ω '2 )
2
where f (ω , ω ', A, t ) is a function of ω , ω ', A and t .
Due to the term of e ( ) , the settling time in the
− k ω '/ 2 t
SOGI response can be approximated as [11]
10
t s ( SOGI ) = . (25)
kω '
Thus, with k = 2 , ω = 2π 50 (rad/s), the settling time
ts(SOGI) is approximated to 23ms.
Fig. 6 shows how the settling time affects the speed
estimation. As can be seen in Fig. 6(a), when the rotor
speed abruptly decreases (e.g., a stepwise reference of
rotor speed is applied), it gives rise to the large changes
in the SOGI input signals (i.e., rotor currents) in
amplitude and frequency. Thus, the performance of speed
estimation becomes very poor for about 22ms. However,
due to the large moment of inertia of rotor shaft, the
5.8 6 6.2 6.4 5.8 6 6.2 6.4
Time (s) Time (s)
(a) (b)
Fig. 6. Rotor speed estimation with application of stepwise reference of
rotor speed under different moment of inertia conditions. (a) Low
moment of inertia. (b) Large moment of inertia.
abrupt decrease in rotor speed rarely happens in the
practical wind turbine systems even when the stepwise
reference in the rotor speed is applied. As can be
 kω ' 
− t observed, the performance of speed estimation is stable in
 2 
f (ω , ω ', A, t ) ,
Fig. 6(b), thus it leads to the conclusion that the
application of the SOGI to the sensorless control of DFIG
(24) wind turbine systems is completely suitable.
IV. SENSORLESS CONTROL SCHEME DURING
SYNCHRONIZATION PROCESS
In the practical DFIG wind turbine systems, the
synchronization algorithm needs to be implemented
before connecting the stator terminals to the grid. During
synchronization process, the stator voltage of DFIG is
synchronized with the grid voltage in terms of magnitude,
frequency and phase angle. As aforementioned, the
desired performances of such systems cannot be achieved
without the knowledge of information of initial rotor
position [14].
In the synchronization mode, the amplitude of stator
voltage is corrected by adjusting d-axis rotor current in
the synchronous reference frame, whereas the stator
voltage phase angle can be controlled by using the

469
 Synchronization mode

sin θ grid + sin Δθ ωˆ sl θˆ

cos θ grid
X _ PI  sl

(a)
300
200
X 100
0
idre idre*

cosθ s 10 iqre*
sin θ s
(b ) 0

-10
iqre
Fig. 7. Slip estimation during synchronization process.
500
vas
TABLE I (c) 0
PARAMETERS OF DFIG -500 vag
Parameter Value
Stator frequency 50 Hz 1400 ωˆ r
Rated stator power 1.3 MW (d ) 1200

Rated torque 10300 Nm 1000 ωr

Rated line-line stator voltage 690 V
Rated stator current 1068 A 4 θ grid
Pole pairs 3 ( e) 0

Stator resistance Rs 0.00265 Ohm -4 θs

Rotor resistance Rr 0.00263 Ohm
4
Mutual inductance Lm 5.48 mH
Stator leakage inductance Lls 0.169 mH (f) 0
θˆsl
DC link capacitor C 40 mF -4

DC link voltage Vdc 1200 V 0.1 0.12 0.14 0.16 0.18

Time (s)
TABLE II Fig. 8. Sensorless control performances during synchronization mode.
PARAMETERS OF WIND TURBINE (a) d-axis rotor currents (A). (b) q-axis rotor currents (A). (c) Grid and
Parameter Value stator phase-A voltages (V). (d) Rotor speeds (rpm). (e) Grid and stator
Gearbox ratio 1:80 voltage angles (rad). (f) Estimated slip angle (rpm).
Radius 40 m
Rated power 1.5 MW method. Therefore, the interruption of speed estimation
Rated speed 1150 rpm can be avoided.
Rated wind speed 11 m/s
Moment of inertia 3.2x106 kg.m2
V. SIMULATION RESULTS
The simulation of the proposed sensorless control
transformation with the estimated slip angle, which is scheme is performed in the PSIM platform. The system
given by the slip estimator as shown in Fig. 7. As can be specifications are listed in Tables I and II.
seen, the input of slip estimator is the sine of phase Fig. 8 shows the sensorless control performances of
difference between the grid and stator voltages, which is DFIG wind turbine system in the synchronization mode
expressed as with initial rotor speed of 1135 rpm. During this mode,
the d-axis rotor current is controlled for correcting the the
sin Δθ = sin (θ grid − θs ) = sinθ grid cosθ s − cosθ grid sinθ s , (26) stator voltage amplitude, whereas the q-axis rotor current
is controlled to be zero as shown in Figs. 8(a) and (b),
where θgrid is the grid voltage angle obtained from the respectively. Fig. 8(d) shows the estimated rotor speed,
PLL algorithm, and θs is the stator voltage angle given by which is obtained from the estimated slip speed and grid
frequency. The stator voltage angle θs and grid voltage
 −v s  angle θgrid are illustrated in Fig. 8(e). Fig. 8(f) shows the
θ s = tan −1  sds  . (27)
 vqs  estimated slip angle. It can be noted that it takes about 2
 
cycles for the synchronization process.
Thus, with utilizing the slip estimator, whereby the grid
After the synchronization, the MPPT control based on
voltage angle θgrid and the stator voltage angle θs match
the power signal feedback (PSF) is activated. Fig. 9
with each other by means of controlling the estimated slip
shows the proposed sensorless control performances in
angle θˆ .
sl the running mode under wind speed variation and adverse
It is worth mentioning that although the rotor position grid conditions. The SOGI damping factor k and FLL
estimator using SOGIs and FLL is only meaningful in the gain γ are set as √2 and 0.005, respectively. The grid
running mode, it should be activated even during voltages, which contain the 5% fifth- and seventh-order
synchronization process without any contributions to the harmonics each, and 10% voltage drop in phase A and
transformation angle θˆ . This can ensure the SOGI- 20% voltage drop in phase C from t= 5s to t= 6s, are
shown in Fig. 9(a). Fig. 9(b) shows the fluctuation of
sl

based-estimated rotor speed is different from zero at the

moment of activation of the running mode, when the slip
angle estimator for the synchronization process is not
needed and the estimated slip angle θˆ for the
transformation is completely obtained from the proposed
wind speed with the average value of about 9.4 m/s. As
can be seen, from t= 5s to t= 6s, due to grid voltage
variation, the d- and q-axis rotor currents should be
sl changed as well in order to ensure the desired
performances of power controls (i.e., measured powers

470
 Distorted+Unbalanced
500 500

( a) 0
-500 (a) 0

12 -500
Vw vag vbg vcg
(b) 10
8
6 1.5K
400 1K
0.5K iˆdrs _ SOGI (out)
(c) 350
(b ) 0K
300
idre idre* -0.5K
250 -1K
-1.5K iˆdrs (in)
1600
5.68 5.72 5.76
1200
(d ) e e*
Time (s)
800 i
qr i qr 35 5th-order
30 3rd-order
25 7th-order
-6K TDFIG (c ) 20
( e) -8K 15
-10K 10
5
0

1.12K ωˆ r 150 200 250 300 350 400

(f) 1.08K
Frequency (Hz)

1.04K
ωr 1
0.5
10 0
-0.5 θˆsl
(g) 0
(d ) -1
-10 Δωˆ r -1.5
-2

θˆsl
-2.5
4
( h) 0
5.68
Time (s)
5.72 5.76

-4 Fig. 10. Sensorless control performances under adverse grid conditions.

(a) Grid voltages (V). (b) Input and output signals of SOGI (A). (c)
-400K Harmonic spectrum of input and output signals of SOGI in frequency
(i ) -800K domain (A). (d) Estimated slip angle (rad).
-1200K Pg

20K Qg VI. CONCLUSIONS

( j) 0K
-20K
4 5 6
Time (s)
7 8
Fig. 9. Sensorless control performances under wind speed fluctuation
and adverse grid conditions. (a) Grid voltages (V). (b) Wind speed
(m/s). (c) d-axis rotor currents (A). (d) q-axis rotor currents (A). (e)
DFIG torque (Nm). (f) Rotor speeds (rpm). (g) Estimated rotor speed
error (rpm). (h) Estimated slip angle (rad). (i) Grid active power (W). (j)
Grid reactive power (VAR).
and reference powers match with each other) as shown in
Figs. 9(c) and (d). Fig. 9(g) shows the speed estimation
error. Although its average value is zero, the maximum
error is about 7.5 rpm (about 0.69% of the measured
speed) under abnormal grid condition due to the negative
influences of harmonics on the rotor speed estimator.
Figs. 9(i) and (j) shows that the power control
performance is stable even under the distorted and
unbalanced grid conditions as well as wind speed
fluctuations.
Fig. 10 highlights the system performances under the
adverse grid condition to verify the harmonic rejection
capability of the proposed method. The input and output
signals of SOGI and its harmonic spectrum are shown in
Figs. 10(b) and (c), respectively. As can be observed,
despite the existences of ripples in the rotor currents (i.e.,
the third-, fifth- and seventh-order harmonics), the
smoothly estimated slip angle can still be obtained based
on the filtered rotor currents as shown in Fig. 10(d).
This paper has proposed a novel sensorless control
scheme for DFIG wind turbine systems using the SOGIs
and FLL, at which the rotor speed is estimated by the
SOGIs, whereas the estimated rotor position error is
compensated by using the FLL. Since the SOGI is
operated as the active filter, the excellent speed
estimation can be achieved despite the existences of
ripples in the rotor currents. In the simulation system, the
distorted and unbalanced grid conditions (e.g., 5% fifth-
and seventh-order harmonics in the grid voltages, 10%
voltage drop in phase-A voltage and 20% voltage drop in
phase-C voltage) have been investigated to verify the
harmonic rejection capabilities of the proposed scheme,
namely, the maximum speed error is only about 0.69% of
the measured speed under those conditions.
ACKNOWLEDGMENT
This work was supported by the Korea Institute of
Energy Technology Evaluation and Planning (KETEP)
and the Ministry of Trade, Industry & Energy (MOTIE)
of the Republic of Korea (No. 20173030024770).
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