Development of Mathematical Model for Doubly Fed

Induction Generator in Simulink/MATLAB for

analysis of vector control strategies
Rojan Bhattarai Dr. Madhav Manjrekar
Department of Electrical and Computer Engineering Department of Electrical and Computer Engineering
Energy Production and Infrastructure Centre Energy Production and Infrastructure Centre
Charlotte, North Carolina, USA Charlotte, North Carolina, USA
rbhattar@uncc.edu Madhav.Manjrekar@uncc.edu

Abstract— This paper presents a dynamic model of a doubly fed Not only the overall installed wind power capacity, but also
induction generator that can be used to teach and implement the the average rated power per wind mill is constantly increasing.
various control strategies used to control the machine. The And, it has been seen that especially for wind mills above 2.0
machine is modelled in d-q reference frame rotating at arbitrary MW, the Doubly Fed Induction Generator (DFIG) is most
speed (the rotating speed of reference frame can be chosen by the widely used generator concept. [2] In such a scenario it is
user as per the nature of study) and is most beneficial for first important to teach our graduate level and senior level
year graduate students and senior level undergraduate students undergraduate students about the concept of DFIG and its
courses. The model developed is intended to be used as a test control techniques.
bench to develop new control strategies for doubly fed induction
machine which has been widely used in the power generation The DFIG, also known as the wound rotor or slip ring
using wind turbine systems. The use of vector control strategies induction machine with stator and rotor winding. [3] [4]. The
to control the active and reactive power of the stator is also DFIGs are widely used in variable speed energy applications
illustrated. with a static converter connected between stator and rotor.
Currently, this topology occupies close to 50% of the wind
Keywords—doubly fed induction machine; vector control; wind energy market. [5] Table I shows some of the commercially
power generation; machine course available WECS, with power in the range of 1.5 – 3MW,
I. INTRODUCTION which are based on DFIGs.
Wind energy is one of the world’s fastest growing energy TABLE I. COMMERCIALLY AVAILABLE WECSS IN THE RANGE OF 1.5 –
source. Since 1996 the global wind power cumulative capacity 3 MW BASED ON DFIGS
has grown almost exponentially from 6.1 GW in 1996 to
Manufacturer Reference Number Power Range
almost 320 GW in 2013. [1] Fig. 1 below shows the of Models (MW)
exponential growth trend of Wind Energy Conversion Systems
(WECS) in the past years. AAER A1650-A2000 6 2.0
Alstom Power ECO 4 1.67 – 3.0
General GE Energy 7 1.5-2.5-2.75
Electric
Mitsubishi MWT 5 2.4
Nordex N 9 1.5-2.4-2.5
Sinovel SL 8 3.0
Vestas V80-V90- 7 1.8 – 2.0 -2.6
V100 -3.0

DFIGs are also used in higher power ranges (> 3 MW)

Fig. 1. Global Cumulative Installed capacity of wind turbine systems [1]
making a significant impact on grid, that is why their operation
and control is important to be taught to the future engineers.
For WECS based on DFIGs, gearboxes are required because a
multipole low speed DFIG is not technically feasible.[6]Most
of the commercial DFIGs are based on three stage (3S)
gearbox, but even with the problems associated with 3S
gearbox, the DFIG still has some advantages when compared II. DYNAMIC MODEL OF DOUBLY FED INDUCTION GENERATOR
to other generators used in wind energy applications. [5]. In The dynamic behavior of a particular machine is to be properly
[7], a result that compares three generators suitable for wind understood and studied, as the dynamic behavior of the
energy applications is presented: a direct drive Synchronous machine has an important effect on the overall performance of
Generator (SG) (which is one of the solution offered by the system of which it is a part. As DFIGs are becoming an
Enercon[8]), a direct drive permanent magnet generator (PMG) important part of the electrical power grid, their dynamic
(marketed by several companies, e.g Vestas [9], Clipper [10]), behavior should be understood more clearly by the future
and a 3S geared DFIG. The results in terms of weight, cost, engineers. As DFIGs are basically a variety of induction
size, and losses as found in [7] is presented considering 3S machine, the modeling of DFIG can be related to the modeling
generator as base is shown in Table II. Note the results of a wound rotor induction machine. There are plenty of
presented are considering 3S geared DFIG as base. mathematical models developed from induction machines,
which are available on literature [2],[14], [15], [16] . The
TABLE II. COMPARISION BETWEEN THREE COMMERCIALLY USED
WIND GENERATORS [7] model of symmetrical induction machine in [14] is one of the
earliest works attempted for modeling of induction machine. In
3S Geared Direct Direct Drive [14] the model of the machine developed is for squirrel cage
DFIG Drive SG PMG induction in dq axis rotating in arbitrarily rotating reference
Weight 100% ~850% ~450% frame with rotor side voltage as zero. In this work, we have
extended that model to include the rotor winding voltages. The
Stator Radius 100% ~600% ~600% rotor winding voltages in this case is supplied from the vector
control scheme used to control the active and reactive power at
Total Cost 100% ~120% ~105% the stator side. The model developed here is fifth order model
Power Losses 100% ~95% ~65% of the DFIG including five differential equations: d-axis and q-
axis stator flux, d-axis and q-axis rotor flux and the swing
equation. In [2], the author has presented a fundamental
One of the primary reasons of the popularity of DFIGs in frequency model of the DFIG with typical vector control
WECS application is the relatively smaller requirement of the scheme and also discusses about the accuracy of the reduced
power converters to control the generator. For a typical DFIG, order model under various operating condition of DFIG. The
the power converters are connected to the rotor circuit and, for model developed was in DigSILENT Powerfactory. In [15]
the restricted speed range, they are rated at fraction (usually and [16] the authors developed the mathematical model of the
30%) of the machine nominal power [11-13]. The slip rings are squirrel cage induction machine that is suitable for academic
used in order to connect the rotor windings to the power purposes and they have also provided suggestions on
electronic circuits. developing the machine model and things to be taken care of.

As DFIGs are gaining more popularity for wind energy In this work, the model of DFIG is developed in synchronously
application, it is becoming more and more important to teach rotating reference frame using the park equations developed in
the future engineers the control systems suitable for wind [14]. Only the vector control scheme for the rotor side is
power application of DFIG. The various control methods for discussed and developed in this work, as the control of GSC
DFIG applications like vector control, speed and torque focuses mainly on maintaining the DC link voltage between
control, Active Power (P) and Reactive Power (Q) control, GSC and RSC, while RSC works to control the P and Q
low-voltage ride through control etc. have been widely coming out of the stator. The model developed here assumes
presented and discussed in the literature. The aim of this paper the DC link voltage as fixed. The dq equivalent circuit of a
is to introduce and develop the model of the DFIG machine symmetrical induction machine in arbitrary reference frame is
and implement the vector control techniques to control the P shown below:
and Q of the DFIG. The model of the DFIG developed is in a
reference frame with arbitrary speed so that depending on the
application, the speed of the reference frame can be chosen.
For this paper, however, the control technique is applied for the
synchronously rotating reference frame with d-axis aligned in
the direction of stator flux. So, the vector control technique
applied here is stator flux oriented vector control.
The paper is organized as follows. In section II, the
mathematical modeling of DFIG is discussed and analyzed. In
section III, various control techniques that are currently used in
DFIG based wind farms are discussed. In section IV, the vector
control techniques for DFIG as it is applied in the DFIG model Fig. 2. Arbitrary reference frame equivalent circuits for a 3 phase,
is discussed and results are presented. Finally, the conclusions symmetrical induction machine
are presented in the end of the paper.
The equations representing the doubly fed induction machine
in per unit form in d-q axis is given by:
 (1) Using the equations (1) – (9) mentioned above the doubly fed
induction machine can be modeled. It should be noted that the
(2) machine model developed here doesn’t consider the flux and
current saturation limits of the machine. However, if it desired
to simulate the saturation characteristics of DFIG, it can be by
(3)
using saturation blocks in the output of the flux calculation
block.
(4)
The above equations were implemented in modular approach
The flux linkage per second is given by: so that it will be easier to build and debug the model and also
to understand the relationship between voltages, currents, flux
(5) and speed. Fig. 3 shows the representation of equation (6) to
(6) compute the stator flux in d-axis. Notice the use of integration,
instead of derivative. This was done because some signals may
(7) have discontinuities and/or ripple that could result in spikes
when differentiated. [16]
(8)
The electromagnetic torque developed in the machine is given
by:
(9)
And, the instantaneous power of the stator side in the d-q
reference frame is given by:
(10)

(11)
Where,
: q-axis stator voltage Fig. 3. Snapshot showing the block computing the stator flux in d-axis using
the equation (6) above.
: d-axis stator voltage
: q-axis rotor voltage referred to stator After the model is developed, to test the validity of model, the
torque speed characteristic of the model developed in free
: d-axis rotor voltage referred to stator acceleration mode was potted with vdr and vqr as 0.
: stator resistance
: rotor resistance referred to stator
: q-axis stator current
: d-axis stator current
: q-axis rotor current referred to stator
: d-axis rotor current referred to stator
: speed of reference frame
: base speed of the system
: rotor speed
: derivative operator
: per unit stator flux in q-axis
Fig. 4. Plot showing the free acceleration characteristics of DFIM with rotor
: per unit stator flux in d-axis windings shorted under balanced conditions. Torque and Speed vs. time

: Stator, rotor and mutual reactance The results obtained by the above test was then benchmarked
: Electromagnetic Torque with the results obtained in [14]. The results obtained from the
developed machine model were in close resemblence with the
: Stator Active Power results presented in [14].
: Stator Reactive Power
 III. CONTROL TECHNIQUES APPLIED TO DFIG the machine rotor terminals can supply the desired current in
the rotor causing the change in magitude and phase of the
A. Vector Control of DFIG
rotor flux with respect to the stator flux. It can be shown that
The vector control techniques for the induction machine are the electrical torque developed in DFIG is propoertional to the
well documented in literature. In [11], the vector control cross product of the stator and rotor flux [7].
technique stated in [18] applicable for induction machines is
applied to DFIGs with the use of static Scherbius Scheme. (12)
Usually in squirrel cage induction machine, the stator currents
are controlled with an inverter in stator terminal using a d-q Where, is a constant dependent on machine parameters.
rotating reference frame aligned with rotor flux, where as in
DFIG, the inverter is connected to the rotor side and the stator For grid connected operation, as the stator flux can be
current is controlled using the d-q reference frame aligned with considered constant it can be seen that the machine torque
the stator flux. Under this control technique the active power in developed can be controlled by varying the rotor
the stator is dependent on the q-axis rotor current and reactive flux.Depending on the current state of the machine and
power is dependent on the d-axis rotor current.
position of the rotor, for a desired change in the electrical
In the reference frame alignment mentioned above, = torque, the rotor flux can be computed and to bring that
0, and = and if the stator resistance is neglected then, change in the rotor flux, the voltage vector can be looked up in
= 0. Using, the values mentioned above, the dependencies a predefined table that has the magnitude of voltage vector for
of Ps and Qs on and can be deduced. It is also a desired level of rotor flux.
important to note that as and is dependent on and
respectively, there is need of decoupling term in the vector
control scheme before the and as provided by
controller can be applied to the machine.
In actual scenario, the and finally obtained after
the decoupling terms are included is transformed into abc
domain, so that the inverter connected in the rotor terminal can
provide the necessary voltage on the rotor side to obtain the
desired P and Q in the stator side. However, in this model, as
the machine model is in d-q reference frame no such
transformation is necessary. The only transformation in this
case is to convert the supply stator voltage to d-q axis voltages.
The vector control scheme can also be implemented using a
reference frame aligned with the stator voltage vector. In this
case, the stator P and Q depends on the d-axis and q-axis rotor Fig. 6. Direct Torque Control Strategy for DFIGs [7]
voltage respectively.
C. Direct Power Control of DFIG
B. Direct Torque Control of DFIG
The technique of control applied in Direct Power Control of
A two level voltage source inverter can impose six active DFIG is similar to the direct torque control. It looks at the
vectors and two zero vectors at the machine rotor machine effect of the stator and rotor flux in the active and reactive
terminals as shown in fig. 5. power of the machine. It has been shown in the literature that
stator active power is proportional to the rotor flux component
perpendicular to the stator flux where as the stator reactive
power is proportional to the rotor flux component aligned with
the stator flux.[7] Like mentioned in the Direct Torque Control
the desired rotor flux can be applied by applying the necessary
rotor voltage using the space vector modulation technique.
Fig. 7 shows the arrangement of DPC control strategy. In this
strategy the control of P and Q is achieved through a hysteresis
controller, by adjusting the rotor voltage vector in an optimal
way in each and every sampling period. The implementation of
this control strategy requires very high switching frequency in
the rotor side converter.
Fig. 5. Voltage Space Vectors generated from two level voltage source
inverters

These voltage vectors when applied for certain time interval,

can generate a resultant voltage vector, which when applied to

Fig. 7. Direct Power Control strategy of DFIGs [7]
IV. DETAILED ANALYSIS OF VECTOR CONTROL FOR DFIG
The vector control of DFIG is based on two things:
1. The active and reactive power in the stator terminal can be
controlled independently by the properly injected rotor current.
2. To inject the necessary rotor current, a voltage source
inverter is sufficient, if the reference signal is generated
properly.
It is also essential to note that the vector control strategies
employed in AC machines is equivalent to shunt DC machine
control. In DC machine, the torque and speed of the machine
can be controlled independently with armature and field
windings current respectively. In AC machines, similar control
can be achieved by representing the machine in dq axis and
controlling the d-axis and q-axis current respectively.
However, one should be aware of the fact that d-axis voltage is
also coupled with q-axis current and q-axis voltage with d-axis
current. So, when controlling the d and q axis current using d
and q axis voltage, one most use the decoupling terms so that
the applied rotor voltage can properly control stator side active
and reactive power.
In stator flux oriented control, the q-axis rotor current controls
the stator side active power and the d-axis rotor current
controls the stator side reactive power. The reference for q-axis
rotor current is generated using the PI controller that takes the
error between active power reference and actual power output
of the system as input. The reference q-axis current is then
compared with the q-axis current flowing in the rotor the error
of which is then fed into the second PI controller, which gives
the q-axis voltage reference. The voltage reference value thus
obtained is then decoupled from the d-axis current so that the
q-axis voltage that can maintain the stator active power can be
supplied from the rotor side.
Fig. 8 and Fig. 9 shows the vector control loop implemented
for the P and Q control of the DFIG.
Fig. 8. Active Power Control Loop
Fig. 9. Reactive Power Control Loop
Fig. 10 and Fig.11 shows the result of the test of vector control
strategy for the developed DFIG model. For time t=0 to time
t=2 secs, the stator active power refereence is set at -1 pu and
reactive power is set at -0.25 pu. At time t=2 secs, the stator
active power reference is then set at -0.5 pu for upto t=4 secs.
At t= 4 secs, the stator reactive power reference is then
changed to Q = -0.5 pu. Then, at t = 6 secs, the rotor speed is
then changed from 0.7 pu to 1.2 pu.
Notice, at time t=2 secs, there is only change in the active
power output of the stator whereas the reactive power output
remains undisturbed. Similarly, at time t = 4 secs, the reactive
power output of the system changes and the active power
remains undisturbed. Likewise, in time t = 6 secs, when there
is change in speed of the system, there is no significant change
in the stator active and reactive power, however we can notice
that there is change in both active and reactive power of the
rotor. It was observed that in super synchronous mode of
operation, the rotor can deliver both active and reactive power
into the system.
The results show the effectiveness of the vector control
strategies in controlling stator side P and Q as well as the
effectiveness of developing the mathematical model of the
system where different control schemes can be tested.
V. CONCLUSION
The paper presented a way to model the DFIG in
Matlab/Simulink and discussed about various control
techniques for DFIG system and presented a way to implement
the vector control scheme of DFIG in the machine model
developed.
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Fig. 10. Plot showing the active power output of the stator , rotor and the system as a whole

Fig. 11. Plot showing the reactive power output of the stator , rotor and the system as a whole