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Published in IET Electric Power Applications
Received on 28th March 2012
Revised on 7th July 2012
doi: 10.1049/iet-epa.2012.0101

ISSN 1751-8660

Performance of the brushless doubly-fed machine

under normal and fault conditions
S. Tohidi1 M.R. Zolghadri1 H. Oraee1 P. Tavner2 E. Abdi3 T. Logan3
1
Department of Electrical Engineering, Sharif University of Technology, Azadi Street, Tehran 11365-8639, Iran
2
School of Engineering and Computing Sciences, Durham University, Durham DH1 3LE, UK
3
Electrical Engineering Division, University of Cambridge, 9 JJ Thomson Avenue, Cambridge CB3 0FA, UK
E-mail: stohidi@ee.sharif.ir

Abstract: In this study, the steady-state operation of the brushless doubly-fed machine (BDFM) in various modes is physically
elaborated and the active power flow and torque analysis are presented for each operating mode alongside confirmatory
experimental results on a 4/8 pole D160 size machine. The machine behaviour in asynchronous operating modes is described
similar to the conventional induction machines with corresponding pole numbers. Moreover, its performance in synchronous
mode is shown to be similar to synchronous machines. On the basis of the above, the BDFM performance is further analysed
under two possible fault conditions: first, a controller or converter fault leading to loss of synchronism is considered, where the
asynchronous, double-cascade mode must be introduced to describe the machine performance. Second, a voltage dip at the
mains terminal is considered. The simplistic behaviour of the BDFM during this fault, including the operation of a converter
protective crowbar, is investigated using steady-state torque–speed curves to obtain a general view of the machine performance.

Nomenclature of the DFIG is its use of slip-rings and brush-gear, which

p number of pole pairs
Nr number of rotor circuits (nests)
v angular speed
R winding resistance
L winding inductance
n efficient number of winding turns
s rotor slip
cosw power factor
Z, z synchronous impedance amplitude and phase
1, 2, r subscripts of the PW, CW and rotor
l, m subscripts of leakage and magnetising
p superscript of the parameters referred to the PW
side
1 Introduction
The penetration of wind power into electrical grids worldwide
has increased significantly in the last five years. Variable
speed wind turbines (VSWT) are used in most large
modern wind farms, because of their high wind energy
transfer characteristics. Among the various types of
technologies used for VSWTs, the doubly fed induction
generator (DFIG) is the most common. With its
fractionally-rated converter, it delivers flexible power factor
and rotor speed control at relatively low cost. The drawback
reduces reliability and increases maintenance costs [1].
To overcome this problem, the brushless doubly-fed
machine (BDFM) has been proposed as an alternative to the
DFIG. The BDFM has all the DFIG benefits, but without
slip-rings and brush-gear. Hence, it has potential future use
in wind generation [2], particularly offshore and pump
drives [3].
Several papers have been published recently on BDFM
steady-state and dynamic modelling. In [4], a dq equivalent
circuit for a 6/2 pole BDFM is presented in the rotor
reference frame model. In [5], the authors develop a
steady-state rotor reference frame model. Steady-state
modelling and a brief power balance analysis are given in
[6]. In [7], a unified reference frame dq model for the
BDFM is proposed and experimentally verified. Another
steady-state model is suggested and experimentally
validated in [8]. Using this model, BDFM performance is
analysed and some relations for the active and reactive
powers of BDFM are extracted in [9].
The above studies investigate the modelling of the BDFM,
but there is a need for detailed understanding of the machine’s
different operating modes. This paper fills this gap
by physical explanation of machine performance in all
its different modes, especially the synchronous mode.
In addition, a new mode, called double-cascade, is
introduced to account for when synchronism is lost.
This detailed steady-state understanding can then be used
to rationalise the BDFM’s behaviour under terminal voltage
dip conditions, which leads to the operation of the converter
protection crowbar. Although steady-state models cannot

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predict machine’s transient behaviour precisely, they can be
used to obtain a general view demonstrating results of
crowbar operation.
2 The BDFM
The BDFM has two, three-phase windings in its stator. Their
pole numbers are arranged to be different to avoid
direct-coupling [10]
p1 = p2 (1)
Furthermore, in order to reduce the asymmetrical
electromagnetic force on the rotor, their pole pair difference
should be greater than one [10]
|p1 − p2 |l1 (2)
As can be seen in Fig. 1, the power winding (PW) is
connected directly to the grid and therefore works at grid
frequency. Most of the power is transferred between the
BDFM and grid through this winding. The PW produces an
magneto-motive force (MMF) in the air gap rotating at grid
frequency. The control winding (CW) is connected to the
grid through a bidirectional, fractionally-rated frequency
converter. The frequency converter usually consists of two
back-to-back voltage source inverters. The inverter
connected to the CW, the machine side inverter (MSI),
controls the rotor speed and the machine reactive power
[11, 12]. The grid side inverter controls the DC-link voltage
and can assist in controlling the BDFM terminal voltage by
supplying or absorbing reactive power. The CW produces
an MMF in the air gap rotating at MSI frequency.
To establish cross-coupling between the PW and CW, the
rotor winding (RW) must produce both p1 and p2 pole pair
MMFs in response to either p1 or p2 pole pair MMFs
produced by the PW and CW, respectively. To fulfil this
requirement, the number of sets of rotor circuits, Nr , should
be equal to p1 + p2 [13], each set comprising one or more
Fig. 1 BDFM structure
Fig. 2 Nested loop rotor of the prototype D160 BDFM
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loops in the nested loop rotor (Fig. 2). However, other
possible rotor arrangements are currently under investigation.
In this situation, the p1 or p2 pole pair components of the
RW MMF will rotate at identical speeds but in opposite
directions with respect to the rotor [14]. The p1 and p2 pole
pair MMFs produced in the air gap with Nr rotor circuits is
tabulated in Table 1.
Owing to its special design, the RW cannot be considered
purely sinusoidally space-distributed, and therefore contains
high-order space harmonics. Nevertheless, as PW and CW
are assumed to be sinusoidally space-distributed, the
resulting space harmonics of the air-gap flux cannot induce
electro-motive force (EMF). However, the considerable
harmonic content of the rotor MMF leads to increased rotor
leakage inductance.
3 Steady-state model
The PW and CW can each be modelled in a similar way to the
stator winding of a conventional asynchronous machine.
However, because of the special RW design of the BDFM,
it reacts to both p1 and p2 pole pair stator MMFs. Hence,
the rotor model could be drawn as shown in Fig. 3.
Saturation has been neglected and the BDFM core loss is
not taken into account here.
3.1 Simple induction mode
In this asynchronous mode, one of the stator windings, for
example the CW, is opened and the other is supplied.
The PW produces a p1 pole pair rotating field at speed
of v1. The rotor slip due to the field, s1 , can be determined
from
v1 − p1 vr
s1 = (3)
v1
Owing to the special RW design, a p2 pole pair MMFr1 – 2 and
consequently rotating air-gap flux component is produced, in
addition to the explicit p1 pole pair MMFr1 – 1. As shown in
Table 1, MMFr1 – 2 rotates with respect to the CW at the
speed of v′2 (4) and induces an EMF in the CW.
v′2 = Nr vr − v1 (4)
Now, the rotor slip because of this field can be calculated, that
is
v1 − p1 vr
s′2 = (5)
v1 − Nr vr
The machine model in the simple induction mode can
therefore be drawn as Fig. 4a. The parameters of the CW
and the rotor are divided by s1 /s′2 ( = −v′2 /v1 ) and s1 ,
respectively, to translate them to the PW frequency. In this
way, the amplitudes and phases of the CW and rotor
currents remain unchanged. If all the parameters are referred
to the PW side and the Thevenin equivalent circuit of the
PW is used, the equivalent circuit can be transformed to
Fig. 4b.
The p2 pole pair component of flux produced by the RW
can be considered as a flux leakage. Hence, as shown in
Fig. 4b, there is a high RW leakage reactance that decreases
the currents. Consequently, the BDFM active power will be
significantly lower than that of a similar conventional
induction machines. Thus, the active power flow can be
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Table 1 MMFs in the BDFM air gap

Produced by Number of Electrical speed with Electrical speed with

pole pairs respect to rotor respect to stator

MMF1 PW p1 v1 2 p1vr v1
MMFr121 RW in response to MMF1 p1 v1 2 p1vr v1
MMFr122 RW in response to MMF1 p2 2(v1 2 p1vr) −v1 + p1 vr + p2 vr
= −v1 + Nr vr
MMF2 CW p2 v2 2 p2vr v2
MMFr221 RW in response to MMF2 p1 2(v2 2 p2vr) −v2 + p2 vr + p1 vr
= −v2 + Nr vr
MMFr222 RW in response to MMF2 p2 v2 2 p2vr v2

Table 2 Active power in the simple asynchronous mode

Voltage source power Copper loss Mechanical power

 
p1 vr
3V1thI1cosw1 3(R1th + RrP )I12 3 RPI2
v1 − p1 vr r 1

Fig. 3 Rotor model induces an EMF in the rotor with the slip s1 . The rotor
produces an MMF, which contains both p1 and p2 order
harmonics, similar to the simple asynchronous mode.
calculated, as illustrated in Table 2. As observed, the Repeating the procedure of the previous section and also,
mechanical power has the same form as an induction replacing the CW circuit by its Thevenin equivalent circuit
machine with p1 pole pairs. leads to the equivalent circuit shown in Fig. 6.
Then, the electromagnetic torque produced in the simple It is noteworthy that this mode of operation was the
asynchronous mode can be obtained as intended mode of the self-cascaded machine [14 – 16].
  The mechanical power generated by the machine is divided
p1 into two terms as shown in Table 3. The first term (Pm21)
T =3 RP I 2 (6)
v1 − p1 vr r 1 is similar to the mechanical power of an asynchronous
machine with p1 pole pairs. It is similar to the mechanical
Using this relationship, the torque – speed curve for the D160 power in the simple asynchronous mode, but much greater
BDFM with a 400 V, 50 Hz supply for the PW and opened because of the higher currents in the windings. The second
CW are plotted in Fig. 5 alongside the experimental results. term (Pm22) in the cascade mode is similar to
As predicted, the machine torque is small in this mode. The the mechanical power of an asynchronous machine with Nr
parameters of machine are included in Table 5 in Appendix 1. pole pairs.
Considering Pm21 and Pm22 , the electromagnetic torque
produced in the cascade mode is obtained as (7).
3.2 Cascade induction mode

In this further asynchronous mode, one of the stator windings,    

p1 Nr
for example the PW, is supplied and the other is shorted. T =3 RPr I12 + 3 RP I 2 (7)
The PW produces MMF1 and its corresponding flux v1 − p1 vr v1 − Nr vr 2th 1

Fig. 4 BDFM model in the simple induction mode

a Detailed model
b Simplified model referred to the PW side

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Fig. 5 Torque– speed curve of the BDFM in the simple induction
mode when CW is opened; 2 steady-state model, +++
experimental
Fig. 6 BDFM model in the cascade induction mode referred to the
PW side
Using (7), the predicted and experimental torque – speed
curves of the D160 BDFM in the cascade mode with
50 Hz, 400 V supply for the PW are illustrated in Fig. 7.
As can be observed in Fig. 7, the BDFM has two stable
operating regions in the cascade mode
† Around the synchronous speed of the PW (1500 rpm),
corresponding to Pm21;
† Around the natural speed (500 rpm), corresponding to
Pm22 .
In fact, the BDFM in cascade mode can be considered as
two induction machines, the first explicit, because of
the energised stator winding and rotor as mentioned before,
the second implicit, because of the rotor and shorted stator
winding.
For instance, in the case of cascade BDFM with shorted
CW, the rotor produces MMFr1 – 2 , which rotates at
2(v1 2 p1vr) with respect to the rotor. On the other hand,
the CW rotates with respect to the rotor at 2p2vr . Hence,
the synchronous speed of this machine will be equal to
natural speed (v1/( p1 + p2)).
3.3 Synchronous mode
The BDFM performance in the asynchronous modes is
weaker than the conventional asynchronous machines with
similar pole numbers, because of higher flux leakage arising
from special rotor form.
Table 3 Active powers in the cascade mode
Voltage source power Copper loss
3V1thI1cosw1 3(R1th + RrP + R2th
P
)I12
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Fig. 7 Torque– speed curve of the BDFM in the cascade induction
mode when CW is shorted; 2 steady-state model, +++
experimental
The synchronous mode of operation can be considered to
be the truly attractive BDFM mode. In this mode, in
addition to the couplings described in the previous section,
there are cross-couplings between MMFr1 – 2 and MMF2 as
well as between MMFr2 – 1 and MMF1 , because of their
identical rotational speeds. In this mode, the frequencies of
EMFs induced in the rotor, because of the p1 and p2 pole
pair components of its flux linkage, are equal. Therefore the
frequency of EMFs induced in the PW because of the CW
equals the frequency of the PW voltage source and vice
versa. This necessitates the production of two fields by the
PW and CW rotating at the same electrical speed but in
opposite directions with respect to the rotor. In this
situation, the synchronous rotor speed is
v1 + v2
v1 − p1 vr = −(v2 − p2 vr ) ⇒ vr = (8)
p1 + p2
Indeed, the CW frequency v2 should be regulated so that (8)
is fulfilled. Therefore the rotor slips for the p1 and p2 pole pair
air-gap flux components are equal to s1 and s2 , respectively,
as (9).
⎧ v1 − p 1 vr
⎪
⎨ s1 =
v1
v2 − p2 vr v1 − p1 vr (9)
⎪
⎩ s2 = =
v2 v1 − Nr vr
In this mode, the p1 (or p2) pole pair MMFs produced by the
PW (or CW) and RW have the same electrical speed and
direction, therefore they can establish a non-zero-mean
electromagnetic torque. The machine equivalent circuit can
then be drawn including both the voltage sources
simultaneously, as shown in Fig. 8a. It should be noted that
from (9), s2/s1 is equal to 2 v1/v2 .
Now, if the machine Thevenin equivalent circuit seen from
the PW side is replaced in Fig. 8a, the simpler model of
Fig. 8b will be obtained. It can be observed that the BDFM
model is quite similar to that for a synchronous machine,
Mechanical power
Pm21 Pm22
   
p1 vr Nr vr
3 RrP I12 3 RP I2
v1 − p1 vr v1 − Nr vr 2th 1
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Fig. 8 BDFM model in the synchronous mode referred to the PW side

a detailed model
b simplified model

but its internal voltage and synchronous impedance depend frequency does not fulfil (8), synchronism may be lost and
upon rotor speed. In fact, the BDFM in this mode acts as a consequently, ‘double-cascade mode’ can take place. In this
synchronous machine and its speed can be controlled at the situation, the fields produced by the PW and CW will rotate
grid frequency without using brushes and slip-rings. at different electrical speeds with respect to the rotor.
Regarding Fig. 8b, the PW active power, reactive power Thereupon, MMFr1 – 2 and MMF2 as well as MMFr2 – 1 and
and electromagnetic torque are obtained as (10) – (12), MMF1 , which have the same pole pairs, will rotate at
respectively. unequal speeds, hence generating oscillatory torques about
a zero mean.
V12 V E In this asynchronous mode, the cross-coupling between the
P1 = 3 cos(z) − 3 1 cos (z − d) (10) two stator windings cannot exist. Therefore in the double-
Z Z
cascade mode, the BDFM can be modelled as two separate
V12 V E cascade machines with coupled rotors, one with a shorted
Q1 = 3 sin(z) − 3 1 sin (z − d) (11) CW and the other with a shorted PW. Hence, two
Z Z
equivalent circuits may be drawn, one from the PW and
3 V1 E 3 E2 another from the CW side. The machine’s performance
Te = cos(z + d) − cos (z) (12) would then be the result of the superposition of these two
vr Z vr Z
circuits. For instance, if both stator windings are supplied
However, because of different PW and CW frequencies, it is
hard to find an analytical relationship for d. Hence, the PW
active and reactive power can be regulated by closed-loop
control of the CW voltage amplitude and phase. To validate
(10) – (12), tests have been performed on D160 BDFM in
synchronous mode. The active power at three rotor speeds
and different CW voltages is measured and using (10), its
corresponding d is obtained. As can be observed in Table 4,
the calculated and measured values show good agreement.

3.4 Double-cascade mode

As stated earlier, if both stator windings are supplied, MMF1

and MMFr1 – 1 with p1 pole pairs and also, MMF2 and
MMFr2 – 2 with p2 pole pairs will produce direct-coupling,
similar to two asynchronous machines in tandem. However, Fig. 9 Torque– speed curve of the BDFM in the double-cascade
if the CW converter or controller fails and the CW mode

Table 4 Calculated and experimental results for synchronous operation of D160 BDFM

N, V1 , V V2 , V measured d, electrical measured calculated measured calculated

rpm P1 , W degree cosw1 cosw1 Te , Nm Te , Nm

650 400 137 4731 17.4 0.881 0.911 67 66.9

698 400 159 4736 217.8 0.907 1 69 63.7
745 400 182 4774 218.9 0.949 0.984 64 59.1

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Fig. 10 Torque– d curve of the BDFM in the synchronous mode
when both the PW and CW are supplied with 400 V, 50 Hz
with 400 V, +50 Hz, the BDFM torque – speed curve in
double-cascade mode will be obtained, as shown in Fig. 9.
From this figure, there are three stable operating regions:
† Around natural speed (500 rpm);
† Around synchronous speed of the CW (750 rpm);
† Around synchronous speed of the PW (1500 rpm).
In order to further investigate the impact of cross-coupling
between the PW and CW, the BDFM torque is plotted in
Fig. 10 against d in the synchronous mode. Both stator
windings are supplied with 400 V, +50 Hz and hence the
rotor speed is 1000 rpm. As observed, the BDFM can
develop any desirable torque between 2197 to +87 Nm by
regulating the CW voltage phase. Whereas, according to
Fig. 9, the machine in double-cascade mode is unstable at
1000 rpm. Its operating point will be determined by
torque –speed curve of the mechanical load or prime mover.
Another problem associated with this mode is that it
produces oscillatory torques that can damage the rotating
parts or reduce their life. As mentioned earlier, these
torques arise because of the different speeds of MMFr1 – 2
and MMF2 as well as MMFr2 – 1and MMF1 .
4 Voltage dip analysis
The principles developed in the previous sections are used to
understand the BDFM behaviour during grid faults, which
result in voltage dips at the BDFM terminals.
When the terminal voltage dips, a high EMF is induced in
the RW because of the p1 pole pair flux linkage variations,
and as a result of coupling between the RW and CW, an
EMF is also induced in the CW. Depending on the voltage
dip level, this EMF can be very high and lead to high CW
current [17] with consequent high electromagnetic forces
Fig. 11 Proposed crowbar in BDFM
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Fig. 12 Wind turbine load and electromagnetic torques for a
BDFIG during a voltage dip and recovery
and temperature damaging the converter power electronic
switches or its DC-link capacitor. To protect the converter
against this current, the CW could be shorted, through a
series of parallel resistors, named crowbar, as shown in
Fig. 11 and in the mean time, the converter is turned off.
This has been the approach extensively adopted to protect
DFIG converters [18]. However, when the crowbar is
active, the BDFM operates in the cascade mode.
Obviously, a terminal voltage dip leads to a reduction of
torque, proportional to the square of voltage, but adding
crowbar resistance does not affect the maximum torque and
only shifts its corresponding speed.
For instance, the performance of a BDFM fitted to a VSWT
during and after a 70% grid voltage dip is now investigated
using the torque– speed curves shown in Fig. 12 as follows:
† Curves 1A and 1B, the input mechanical torque captured
through turbine in two different wind speeds;
† Curve 2, the during-fault cascade-mode torque, at reduced
terminal voltage;
† Curve 3, the post-fault cascade-mode torque, at full
terminal voltage.
The initial pre-fault operating point is considered at A1 or
A2 in Curve 1A or Curve 1B, respectively. When a 70%
voltage dip occurs and crowbar acts, the machine torque
shifts instantaneously from point A1 or A2 to the during-
fault Curve 2. In this situation, because of a mismatch
between mechanical and electrical torques, rotor starts to
accelerate on Curve 2 towards point B1 or B2 at which the
terminal voltage recovers to its pre-fault value.
After voltage recovery, the crowbar remains closed for a
short time, to ensure converter safety. Hence, the rotor
accelerates or decelerates along Curve 3 until point C1 or
C2, where the crowbar turns off and MSI becomes active.
Then, the machine can produce the required active power
and the MSI controls the rotor speed down to its initial value.
As can be seen from Fig. 12, at sub-natural speeds
the BDFM operates as motor while the crowbar is on. On
the other hand, at super-natural speeds, the machine always
is in the generating mode. The machine may even
decelerate after voltage recovery and before crowbar
deactivation, for example, between B2 and C2. It is
noteworthy that the BDFM absorbs reactive power when
crowbar is on and the machine is in cascade induction
mode. Either active power consumption in sub-natural
speeds or reactive power absorption is against the most grid
codes, such as the German Transpower [19]. In [17], the
use of dynamic resistors in series with the CW has been
IET Electr. Power Appl., 2012, Vol. 6, Iss. 9, pp. 621 –627
doi: 10.1049/iet-epa.2012.0101

proposed under voltage dip conditions. They demonstrate
better performance towards satisfying low-voltage ride-
through requirements of grid codes.
5 Conclusions
The steady-state performance of the BDFM has been
elaborated for asynchronous and synchronous modes of
operation. Active power analysis has been performed for
the asynchronous modes and their corresponding torque –
speed curves, obtained from theory and experiment, are
physically justified. Moreover, straightforward relationships
for the active and reactive power of the machine in
synchronous mode have also been proposed, showing that
although its speed can be variable at constant grid
frequency, but its active and reactive powers can be
controlled independently – considering the machine
limitations – at every desirable speed by injecting
appropriate CW voltage.
This steady-state performance of the BDFM has then been
used to obtain a better understanding of the machine
performance under fault conditions. A new operating mode,
double-cascade mode, is introduced to describe the machine
operation during loss of synchronism following a controller
or converter fault.
Furthermore, the operation of a converter protective crowbar
in a VSWT BDFM during voltage dips is explained.
The results show that although the crowbar protects the
converter against high CW currents during voltage dips, it
cannot fulfil the active and reactive power requirements of
grid codes and hence, other approaches are needed to ensure
BDFM low voltage ride-through capability.
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