Nonlinear Dyn
DOI 10.1007/s11071-016-2655-y
ORIGINAL PAPER
Backstepping control of a wind turbine for low wind speeds
Abderrahmen Mechter · Karim Kemih ·
Malek Ghanes
Received: 31 May 2014 / Accepted: 25 January 2016
© Springer Science+Business Media Dordrecht 2016
Abstract The aim of this paper was the control of
active and reactive powers exchanged between the dou-
bly fed induction generator (DFIG) and the grid in the
presence of uncertainty. To achieve this objective, we
use the nonlinear backstepping control to command the
mechanical and the electrical part and them maximum
power point tracking algorithm based on fuzzy logic
theory to extract optimal power for low wind speeds.
In order to determine the optimal parameters for the
backstepping controller we use the genetic algorithm.
The simulation results are presented, using a 660 kW
DFIG, to demonstrate the effectiveness of the proposed
approach.
Keywords Doubly fed induction generator (DFIG) ·
Power control · Nonlinear backstepping control ·
Genetic algorithm · Maximum power point tracking
A. Mechter · K. Kemih (B)
L2EI Laboratory, Jijel University, BP 98, Ouled Aïssa,
Jijel, Algeria
e-mail: karim.kemih@ensea.fr
A. Mechter
e-mail: a.mechter@ensea.fr
M. Ghanes
ECS-ENSEA, 6, avenue du Ponceau,
95014 Cergy-Pontoise Cedex, France
e-mail: ghanes@ensea.fr
1 Introduction
Energy is an important factor for the development of
industrial activity. However, today, the problem of this
development is that it has spawned an increase in green-
house gas and the production of toxic and radioactive
waste. Thus, the reserve of petroleum, which represents
a significant source of energy, decreases continuously
and therefore, there will be no full coverage on energy
demand. Not forgetting, above all, nuclear energy that
also represents an important source for industrial devel-
opment, but due to its expensive installation and some
political reasons it is not available for all countries. In
addition, this source is ecologically dangerous. So for
all these reasons, the industrial world must be oriented
to renewable energy sources. Their interest is that they
do not emit greenhouse gases and produce no toxic and
radioactive waste.
Among these energy sources, wind energy is one
of the fastest growing methods in the world for the
production of electricity. The kinetic energy of moving
air, captured by the wind turbine rotor, is transformed
into electricity by the generator of the turbine [1,2].
Many previous research works have treated the prob-
lem of controlling the power for variable low wind
speed: reference [3] has used the sliding mode control;
the adaptive fuzzy PI control has been used to extract
an optimal power in [4]; reference [5] has proposed
PI controllers to regulate the power. In reference [6],
an RST controller has used to optimize the produced
power. The adaptive feedback linearization controller
123

has been developed in [7]. In [8], an LQG controller
basing on the linearized model of the wind turbine has
been used, and in [9], a robust fuzzy controller has been
proposed. Reference [10] has used an extended Kalman
filter to estimate the rotor speed and a proportional con-
troller to track the error between the measured and the
estimated rotor speed; reference [11] has proposed two
cascades nonlinear controllers (based on fuzzy logic
theory and sliding mode control): the first controller
has designed to extract the optimal aerodynamic energy
and the second has applied to control stator active and
reactive powers; in reference [12], a comparison has
been made between two controllers; the first has con-
ceived using the feedback linearization and the second
has conceived using quadratic linear theory control; in
reference [13], an adaptive robust controller has been
calculated to control the rotor speed.
In the literature, there are several works that discuss
the wind control problem using the backstepping con-
trol; in [14], the rotor currents as virtual controls for
the mechanical part are used; then, it is used as a ref-
erence for control for the electrical part. These virtual
drives are calculated by controlling the active and reac-
tive powers. In [15], the authors are not interested in
controlling the mechanical part; they directly impose
the references of active and reactive powers for the cal-
culation of the DFIG control law. In [16], the authors
use the rotor currents as virtual controls for the mechan-
ical part and then use it as a reference for controlling
the electrical part. These virtual commands are calcu-
lated by monitoring the stator flux and the speed of the
turbine rotation. In [17], the stator currents are used as
virtual commands to control the mechanical, and there-
after, they are used as references for the electrical part.
The authors in [18] use the stator currents as virtual
controls for the mechanical part and use it as a ref-
erence for control of the electrical part. These virtual
commands are calculated by monitoring the rotor flux
and the speed of the turbine rotation. In [19], the author
focuses on the control of the mechanical part; it uses the
electromagnetic torque as a control. In [20], the author
is not interested in controlling the mechanical part; the
controls are calculated directly from references powers
and measured. In [21], the authors calculate the rotor
currents and use them as virtual drives for control of
the mechanical part. These commands are calculated
by controlling the stator flux and the speed of turbine
rotation and used as references for the control of the
electrical part. All these papers mentioned above and
123
A. Mechter et al.
many others in the literature have not discuss the impact
of DFIG’s parameters variations on the performance of
the proposed control scheme.
The objective of this paper is the control of the pro-
duced electrical power using the backstepping control
for a variable low wind speed in the presence of uncer-
tainty. The command of the DFIG was designed to
control the active and the reactive powers exchanged
between the stator and the grid taking into account the
rotor resistance, the inductance, the tip speed ratio and
the power coefficient variations. Generally, the para-
meters of the backstepping controller are selected arbi-
trarily, in this paper; we propose the use of genetic
algorithms to select the optimal parameters.
Furthermore, to maximize the output power, the
fuzzy maximum power point tracking MPPT controller
proposed in [22] is used to adjust in real time the
rotational speed of wind turbines, according to wind
speed, without measuring the wind speed and without
the knowledge of the turbine characteristics.
2 Turbine modeling
The configuration of the wind turbine is shown in
Fig. 1 [23]. It is composed of two parts. The mechan-
ical part contains a rotor driven by wind energy and a
speed multiplier which adjusts the speed of the rotor to
that of the generator. The electrical part is represented
by a DFIG.
2.1 Mechanical part
The wind turbine cannot recover all the energy con-
taining in the wind. If it is the contrary case, the wind
is stopped. The energy recovered by the wind turbine
rotor is given by [24]:
 
1
Pt = Cp ρπ R ν .
2 3
(1)
2
 
where ρ, is the air density Kg/m3 , R is the blade
length [m] , v represents the wind speed [m/s].
Cp is the power coefficient which represents the
aerodynamic efficiency of the turbine and depends on
the tip speed ratio (λ) and the pitch angle of the blades
(β). It is given by [25]:
Backstepping control of a wind turbine for low wind speeds

J Ω̇mec = − f Ωmec + Cmec − Cem ⇒

0.5ρπ R 5 Cpmax 2
J Ω̇mec = − f Ωmec + Ωmec − Cem
G 3 λ3opt
f 0.5ρπ R 5 Cpmax 2 1
⇒ Ω̇mec = − Ωmec + Ωmec − Cem
J J G 3 λ3opt J
(6)
 2

with J the total inertia of the rotating parts Kg m , f
Mechanical part Electrical part
the coefficient of the viscous damping, Cem the elec-
Fig. 1 Configuration of a wind turbine tromagnetic torque of the generator (N m).

   2.2 Electrical part

1 0.035
Cp (λ, β) = c1 c2 − 3
λ + 0.08β β +1
  1  The electrical model of the DFIG in the Park reference
− λ+0.08β − 0.035
−c3 β − c4 e β 3 +1 + c λ (2) frame is given by the following set of Eq. [23]:
6 ⎧
⎪
⎪ Vsd = Rs Isd + dtd φsd − ωs φsq (a)
⎪
⎪
with: ⎨ Vsq = Rs Isq + d φsq + ωs φsd (b)
dt
(7)
c1 = 0.5109, c2 = 116, c3 = 0.4, c4 = 5, ⎪
⎪ Vrd = R r I rd + dt φrd − ωsl φrq (c)
d
⎪
⎪
⎩ V = R I + d φ + ω φ (d)
c5 = 21, c6 = 0.0068. rq r rq dt rq sl rd

ωsl = ωs − PΩmec (8)

λ represents the ratio between the blades linear speed
where: Vsd Vsq the voltages on the axis of the stator;
and the wind speed.
Vrd , Vrq the voltages on the axis of the rotor; Rs , the
It is given by [23]:
stator resistance; Rr , the rotor resistance; ωs , the pulsa-
tion of the stator currents; ωr , the mechanical angular
RΩt velocity of the electrical rotor; ωsl , the pulsation of
λ= (3)
v the rotor currents; P, the number of pairs of machine’s
poles.
Ωt is the mechanical angular speed of the turbine The magnetic equations of the DFIG are given
(rad/s). by [23]:
The mechanical torque (N m) available on the axis
⎧
of the turbine is given by: ⎪
⎪ φsd = L s Isd + L m Ird (a)
⎨
φsq = L s Isq + L m Irq (b)
(9)
0.5Cp ρπ R 2 v 3 ⎪
⎪ φ = L r Ird + L m Isd (c)
Ct =
Pt
= ⎩ rd
(4) φrq = L r Irq + L m Isq (d)
Ωt Ωt
where: Isd , Isq the stator currents on the stator axis;
The mechanical torque (N m) and the mechanical angu- Ird , Irq the rotor currents on the rotor axis; φsd , φsq the
lar speed (rad/s) on the axis of the generator are given stator flux on the stator axis; φrd , φrq the rotor flux on
by [26]: the rotor axis; L s , the stator inductance; L r , the rotor
 inductance; L m , the mutual inductance between the sta-
Cmec = G1 Ct tor and the rotor.
(5)
Ωmec = GΩt The stator active and reactive powers of the DFIG
are given by [27]:
G is the multiplication ratio.  
The mechanical angular speed is determined by Ps = 3
Vsd Isd + Vsq Isq
2
  (10)
applying the fundamental equation of dynamic: Q s = 23 Vsq Isd − Vsd Isq

123
 A. Mechter et al.

3 Power control strategies Thus, the stator voltage equations are reduced to:

As it is shown in Fig. 2, the control strategy is divided Vsd ≈ 0
(15)
into mechanical and electrical parts. Vsq = ωs φsd

Taking into account of Eqs. (12), (14) and (15), the

3.1 Mechanical part stator active and reactive powers can be written as:

To maximize the power of the recovered wind energy, Ps = − 3L m
2L s Vsq Irq
the rotational speed of the generator must evolve with 3Vsq2 (16)
the speed of the wind. With backstepping control, we Q s = − 3L
2L s Vsq Ird +
m
2L s ωs
determine the command (electromagnetic torque) that
To control the machine, we must establish the relation
should be applied to the machine to run the generator
between the rotor currents and voltages which will be
at the optimum speed.
the applied commands to the machine.
Taking into account of Eqs. (9c), (9d) and (12), the
3.2 Electrical part rotor flux can be written as:
⎧  
L2 L2
⎪
⎪ φrd = L r Ird − Lms Ird + LLms φs = L r − Lms Ird
The coupling between the armature (stator) and the ⎨
L V
inductor (rotor) makes the command of the DFIG dif- + LLms φs = σ L r Ird + Lms ωsqs
⎪
⎪  
ficult. ⎩ φ = L I − L m I = L − L 2m I = σ L I
2
rq r rq L s rq r rq r rq
We simplify the task by aligning the stator flux (φs ) Ls

in d-axis [28]. We obtain: (17)

φsd = φs ; φsq = 0 (11) L L −L 2
where σ = r Lsr L s m
Therefore, Taking into account of Eqs. (7c), (7d) and (17), the
⎧ rotor voltages can be written as:
 ⎨ Isd = − L m Ird + φsd ⎧  
φsd = L s Isd + L m Ird Ls Ls ⎨ Vrd = Rr Ird + L V
⇒ d
σ L r Ird + Lms ωsqs − ωsl σ L r Irq
φsq = L s Isq + L m Irq = 0 ⎩ Isq = − L m Irq dt
    ⇒
Ls ⎩ Vrq = Rr Irq + d L V
σ L r Irq + ωsl σ L r Ird + Lms ωsqs
dt
(12)
Vrd = Rr Ird + σ L r I˙rd − ωsl σ L r Irq
(18)
Vrq = Rr Irq + σ L r I˙rq + ωsl σ L r Ird + ωsl Lms ωsqs
L V
By taking the stator flux constant (ensured by a stable
grid connected to the stator), the stator voltage equa- Most of the surveys of failures in DFIG generator
tions are reduced to: indicate that in general, failures are dominated by stator
 and rotor winding insulation failures, inter-turn short
Vsd = Rs Isd
(13) circuits in stator windings, broken rotor bar or cracked
Vsq = Rs Isq + ωs φsd
rotor end rings and saturation in stator and rotor teeth.
The Eqs. (6) and (18) become:
Taking into account of Eqs. (10) and (13), the stator
active and reactive powers can be written as: f 0.5ρπ R 5 Cpmax 2 Cem
   Ω̇mec = − Ωmec + Ωmec −
Ps = 23 Rs Isd 2 + R I2 + ω φ I
s sq s sd sq
J J G 3 λ3opt J
(14)
Q s = 23 ωs φsd Isd + f 1 (19)
(L + L ) (L + L ) R + R
I˙rd = −
r r s s r r
We notice that the stator active power contains a resis-
(L r + L r ) (L s + L s ) − L 2m (L r + L r )
tive term relating to losses due to Joule effect. Assume
that the system is perfect (no losses by Joule effect) by ×Ird +(ωs − PΩmec )Irq
neglecting the resistance of the stator windings (for (L r +L r ) L s 1
+ Vrd
medium and high power machines, which are most (L r +L r ) (L s +L s )− L 2m (L r +L r )
commonly used in the production of wind energy). (20)

123
Backstepping control of a wind turbine for low wind speeds

Fig. 2 Principle diagram of

control strategy

GEARBOX
WIND
ROTOR
GENERATOR
+
- SHAFT

OBJECTIVE FUZZY
FUNCTION LOGIC NONLINEAR
BACKSTEPPING
CONTROL CONTROLLER
MPPT
GENETIC k1
ALGORITHM
- P
+

NONLINEAR
k2 BACKSTEPPING
DFIG
CONTROLLER

PARK’S
NONLINEAR MODEL
BACKSTEPPING
k3 CONTROLLER

 
(L r +L r ) (L s + L s ) Rr +Rr 0.5ρπ R 5 Cp Cp λ
I˙rq = −  f1 = +3 4 Ωmec 2
(23)
(L r +L r ) (L s +L s )− L m (L r +L r )
2
J G3 λ3opt J λopt
×Irq − (ωs − PΩmec )Ird  
Rr L r Rr L s Rr L s Rr
(L r + L r ) (L s + L s )  f2 = + 2 2 + + 2 Ird
−(ωs − PΩmec ) Ls σ Lr σ Lr Ls σ Lr Ls
(L r + L r ) (L s + L s ) − L 2m  
L r L s L s
Lm + 2 2+ + 2 Vrd (24)
× Vsq σ Lr σ Lr Ls σ Lr Ls
ωs (L r + L r ) L s  
(L s +L s ) (L r +L r ) Rr L s Rr L r Rr L s Rr
+
1  f3 = + 2 + 2 2 + Irq
(L r +L r ) (L s +L s )− L m (L r +L r )
2
Vrq σ Lr σ Lr Ls σ Lr σ Lr Ls
 
(21) L r L s L s
+ 2 2+ + 2 Vrq
σ Lr σ Lr Ls σ Lr Ls
Rr = Rr + Rr , L r = L r + L r , L s = L s + L s L s ωsl L m Vsq L r ωsl L m Vsq
+ + (25)
Rr , L r , L s and  f 1 are the rotor resistance ωs σ 2 L r L 2s ωs σ 2 L s L 2r
variation, the rotor inductance variation, the stator
inductance variation and the gap calculation of λopt
and Cpmax , respectively. 3.3 The proposed control design strategy
After simplification, we obtain:
To command the nonlinear systems (22), the lineariza-
⎧ tion around operating point cannot be used to con-
⎪ 0.5ρπ R 5 Cpmax 2
⎪ Ω̇mec = − Jf Ωmec + Ωmec − Cem ceive the controller. Therefore, we must apply one of
⎪
⎪
⎪ J G 3 λ3opt J +  f1
⎨ the existing nonlinear control methods. Among these
I˙rd = − σRLr Ird + ωsl Irq + σ 1L Vrd +  f 2 (22)
⎪
⎪ r r
methods, the nonlinear backstepping control is used.
⎪
⎪˙
⎪ R L
⎩ Irq = − σ Lr Irq − ωsl Ird − ωsl ω σ Lm L Vsq + σ 1L Vrq +  f 3
r s r s r The basic idea consists the decomposing of the non-
linear control problem into a smaller one. The concep-
With : tion of backstepping control law is divided into various

123
 A. Mechter et al.

design steps. In each step, we calculate a virtual com- The speed tracking error can be defined as:
mand from the tracking error, which will be used in the
next step as a reference. We repeat the operation until eΩmec = Ωmec − Ωmec
d
(29)
obtaining the command that will be applied to the sys-
tem. It must be ensured, in each step, that the derivate If this function is always definite positive and its deriv-
of Lyapunov function (definite positive) is always neg- ative is always negative, then the error will be stable
ative [29]. and will tend toward zero.
Taking the dynamics of the DFIG drive system into The derivative of the Lyapunov function is given by:
account, the overall control system is supposed to hold
V̇Ωmec = ėΩmec eΩmec ⇒
the following assumptions: 
f 0.5ρπ R 5 Cpmax 2
(As1): All the state variables Ωmec , Ird and Irq are V̇Ωmec = eΩmec − Ωmec + Ωmec
J J G 3 λ3opt
measurable and available for feedback. 
d , I d and I d are the desired
(As2): The signals Ωmec Cem
rd rq − − Ω̇mec
d
+  f1 (30)
reference speed trajectory, the reference direct J
rotor current and the reference quadratic rotor In order to stabilize the speed tracking error dynam-
current. ics, that is, to guarantee Ωmec tracks the desired refer-
(As3): Rr , L r , L s , Cp and λ are finite; there- ence speed trajectory Ωmec d , C d must be chosen as:
em
fore, the functions  f 1 ,  f 2 and  f 3 are
0.5ρπ R 5 Cpmax
bounded such as: d
Cem = − f Ωmec + Ωmec
2
G 3 λ3opt
| f 1 | ≤ θ1 , | f 2 | ≤ θ2 and | f 3 | ≤ θ3  
− J˙Ωmec
d
+ J k1 eΩmec + J γ1 sign eΩmec
Theorem 1 Suppose that assumptions As1, As2 and (31)
As3 hold. Then, for system (22), if the following control with k1 being the feedback gain.
actions Vrd , Vrq are used: With this choice, we obtain:
    
V̇Ωmec ≤ eΩmec −k1 eΩmec −γ1 sign eΩmec +f1
Vrd = σ L r − k2 erd − γ2 sign(erd )
 ⇒ V̇Ωmec ≤ −k1 eΩ
2
mec
− γ1 eΩmec  + eΩmec  f 1
Rr
+ Ird − (ωs − P Ω̃mec )Irq + I˙rd
d
(26) (32)
σ Lr
 From assumption (As3), the following inequality
Rr
Vrq = σ L r −k3 erq − γ3 sign(erq ) + Irq holds eΩmec  f 1 ≤ θ1 eΩmec .
σ Lr
Then:
+(ωs − P Ω̃mec )Ird + (ωs − P Ω̃mec )
 −k1 eΩ
2
− γ1 eΩmec  + eΩmec  f 1
Lm ˙
mec
Vsq + Ird
d
(27)
ωs σ L r L s ≤ −k1 eΩ
2
mec
− γ1 eΩmec  + θ1 eΩmec 

The system(22) is ⇒ V̇Ωmec ≤ − k1 eΩ

2
− γ1 eΩmec  + θ1 eΩmec 
 asymptotically
  stable. mec
  f1   θ1  ⇒ V̇Ωmec ≤ − k1 eΩ
2
− (γ1 − θ1 ) eΩmec  (33)
   
Where     mec
  f 2  ≤  θ2  , γ1 ≥ θ1 , γ2 ≥ θ2 and
  f3   θ3  Finally, we get V̇Ωmec ≤ −k1 eΩ2
mec
− (γ1 − θ1 ) eΩmec ≤
γ3 ≥ θ3 and (k2 , k3 ) are the feedback gains, with x = 0, if γ1 ≥ θ1
 T  d T Step 2: In this step, we will calculate the quadrature
Ωmec Ps Q s and x d = Ωmec Psd Q ds .
and direct rotor currents references.
Proof Step 1: In order to stabilize the generator angu- The electromagnetic torque is given, depending on
lar speed tracking error dynamics, the positive definite the currents, by
Lyapunov function can be defined as follows:  
Cem = P φsd Isq − φsq Isd (34)
1 2
VΩmec = e (28) From (11), (12) and (30), we have:
2 Ωmec

123
Backstepping control of a wind turbine for low wind speeds

Lm erd  f 2 ≤ erd θ2 and erq  f 3 ≤ erq θ3 .

Cem = −P φsd Irq (35)
Ls It follows that:
erd  f 2 + erq  f 3 ≤ erd θ2 + erq θ3
Using (33), we obtain:
⇒ −k1 eΩ
2
− (γ1 − θ1 ) eΩmec  − k2 erd
2
− k3 erq
2
Ls mec
ref
Irq =− Cd ⇒ −γ2 erd  − γ3 erq  + erd  f 2 + erq  f 3
P L m φsd em
 ≤ −k1 eΩ
2
− (γ1 − θ1 ) eΩmec  − k2 erd
2
L s 0.5ρπ R 5 Cpmax 2 mec
ref
Irq =− − f Ωmec + Ωmec −k3 erq
2
 − γ2 erd  − γ3 erq  + erd θ2
P L m φsd G 3 λ3opt
 +erq θ3 ⇒
  V̇ ≤ −k1 eΩ
2
− (γ1 − θ1 ) eΩmec  − k2 erd
2
− J˙Ωmec + J k1 eΩmec + J γ1 sign eΩmec
d mec

−k3 erq
2
−γ2 erd −γ3 erq +erd θ2 +erq θ3 ⇒
(36) V̇ ≤ −k1 eΩ
2
mec
− (γ1 − θ1 ) eΩmec  − k2 erd
2

The optimal reactive power is set to zero to ensure a −k3 erq

2
− (γ2 − θ2 )erd  − (γ3 − θ3 )erq  (42)
unity power factor operation of the studied wind tur- Finally, we obtain:
bine: Q ds = 0 [11].
So, using (16), we obtain: V̇ ≤ −k1 eΩ
2
mec
− (γ1 − θ1 ) eΩmec  − k2 erd
2

Vsd −k3 erq

2
− (γ2 − θ2 )erd  − (γ3 − θ3 )erq  ≤ 0,
d
Ird = (37) if γ2 ≥ θ2 and γ3 ≥ θ3 (43)
ωs L m
which implies that the system (22) is asymptotically
Step 3: In this step, we will calculate the voltages
stable. 

Vrd and Vrq that will allow the currents to follow their
references calculated in step 2. Remark in many papers in the literature [30], the sign
The Lyapunov function is given by: function is approximated by the hyperbolic function
1 2 1 2 1 2 tanh.
V = eΩmec + erd + erq (38)
2 2 2

where the tracking error is given by: 4 Simulation results

erd = Ird − Ird
d
The simulation was established in MATLAB/Simulink
(39)
erq = Irq − d
Irq environment for a 660 kW machine. The wind profile
applied to the system is shown in Fig. 3; it varies under
The derivative of the Lyapunov function is given by: the nominal value (12 m/s) [31] and the parameters of
the DFIG and the wind turbine are given in Table 1.
V̇ = ėΩmec eΩmec + erd ėrd + erq ėrq ⇒ The genetic algorithm is used to optimize the control
2
V̇ = −k1 eΩ − (γ1 − θ1 ) eΩmec  parameters in order to converge rapidly to the desired
mec  trajectory and to attenuate the chattering phenomenon.
Rr 1 d
+erd − Ird +ωsl Irq + Vrd + f 2 − Ird The genetic algorithms are a stochastic global search
σ Lr σ Lr
 method that mimics the process of natural evolution.
Rr Lm
+erq − Irq − ωsl Ird − ωsl Vsq The structure of the proposed controller is shown in
σ Lr ωs σ L r L s
 Fig. 2. The Ωmec , Ird , Irq are the inputs of the objec-
1 d
+ Vrq +  f 3 − Irq (40) tives function, which are used to establish the form of
σ Lr
the objective function. The output of the fitness func-
Using the control law in the theorem, we get: tion is the input of the genetic algorithm which is used
V̇ ≤ −k1 eΩ
2
mec
− (γ1 − θ1 ) eΩmec  − k2 erd
2
− k3 erq
2
to obtain the optimal controller parameters by mini-
−γ2 erd  − γ3 erq  + erd  f 2 + erq  f 3 mizing the fitness function.
Genetic algorithms require two functions: an input
(41)
data encoding function as a bit sequence and a function
From assumptions (As2) and (As3), we have to calculate the adaptation of the bits sequence.

123
 A. Mechter et al.

Fig. 3 Simulation results x 10

5

without parameters 11 4
variations
3

s
Active Power P
10

Wind (m/s)
2
9
1 P ref
s

8 P mes
s
with GA
0
P mes
s
7 -1
0 2 4 6 8 10 0 2 4 6 8 10
time(s) time(s)
4
x 10
1 200
s

0 150
Reactive Power Q

Ω mec (rad/s)
-1 100
Q ref
s Ω ref
Q mes with GA Ω mes with GA
-2 s 50
Ω mes
Q mes
s
-3 0
0 2 4 6 8 10 0 2 4 6 8 10
time(s) time(s)

Table 1 Wind turbine

Parameter Numerical value Parameter Numerical value
parameters
Stator resistance 0.0146 Ω Number of pairs of DFIG’ poles 2
Rotor resistance 0.0238 Ω Air density 1.225 Kg/m3
Stator inductance 0.0306 H Blade length 21.165 m
Rotor inductance 0.0303 H Multiplication ratio 39
Mutual inductance 0.0299 H Coefficient of the viscous damping 0.01 N m/rad s

The description of the GA is given by the following integral of time multiplied by squared error (ITSE),
steps: defined by:
1. Randomly generated of some bits sequence with tss
population size 100; ITSE = ∫ te2 (t) (44)
2. Measuring the adaptation of each sequence; 0

3. Reproduction of the sequences according to its

where tss is the final time.
adaptation;
In previous works, most of the MPPT methods
4. Making the crossover operation of some random
described require the knowledge of the wind turbines
pair of sequences with crossover probability 80 %;
maximum power curve and the wind speed measure-
5. Making the mutation operation of a bit randomly
ment; for this, it is necessary to use the wind speed
chosen from one or more sequences with mutation
sensor to measure the wind speed, but the sensor adds
probability 10 %;
to a system a cost and presents some difficulties in
6. Go back to step 2 until obtaining a satisfactory solu-
practical implementation; for this reason, we use the
tion (the maximum number of generations is 20).
MPPT approach based on fuzzy logic controller pro-
In the literature, we can found many objective functions posed by Abdeddaim et al. [22] to maximize the output
as a performance criterion. In this paper, we use the power and to adjust in real time the rotational speed of

123
Backstepping control of a wind turbine for low wind speeds

Fig. 4 Simulation results x 10

4

without parameters 11
variations (zoom) 20

s
Active Power P
10
15

Wind (m/s)
10
9
5 P ref
s

8 0 P mes
s
with GA
-5 P mes
s
7
0 2 4 6 8 10 0 0.2 0.4 0.6 0.8
time(s) time(s)

4
x 10
0
s
Reactive Power Q

-0.5

Ω mec (rad/s)
100
-1
Q ref
s Ω ref
-1.5 50
Q mes with GA Ω mes with GA
s
-2 Ω mes
Q mes
s 0
0 0.2 0.4 0.6 0.8 0 0.2 0.4 0.6 0.8 1
time(s) time(s)

Fig. 5 Simulation results x 10

5

with parameters variations 10 3

(Rr = 100 %, L s =
s
Active Power P
Wind (m/s)

3 %, Cp = 5 % and 9
2
λ = 5 %)
1
Pref
s
8
0
Pmes
s
7 -1
0 1 2 3 4 5 0 1 2 3 4 5
time(s) time(s)
4
x 10
1 200
s
Reactive Power Q

Ω mec (rad/s)

0 150

-1 100
Qref
s
Ω ref
-2 50
Qmes
s Ω mes
-3 0
0 1 2 3 4 5 0 1 2 3 4 5
time(s) time(s)

wind turbines, according to wind speed, without mea- ing to the change in Pt and Ωmec (Pt and Ωmec ).
suring the wind speed and without the knowledge of the The fuzzy logic controller is composed of three blocks:
turbine characteristics. This controller uses Pt and
Ωmec as inputs and Ωmec ref as output. The principle
1. Fuzzification (allows to transform a digital data
of the MPPT method is to perturb Ωmecref by Ω ref and
mec from a sensor into a linguistic variable): Triangular
to observe the change on Pt ; the reference rotational membership functions are used for Pt , Ωmec
speed variation Ωmecref increases or decreases accord-
and Ωmec
ref .

123

2. Inference engine: Inference rules represent the
knowledge that we have on the system due to human
expertise.
3. Defuzzification: It does the inverse of the Fuzzifi-
cation block; it transforms a linguistic variable into
digital data.
The reference of the rotational rotor speed is then used
to control the rotational speed of the generator using
backstepping control.
Figures 3 and 4 show the simulation results without
parameters variations and the zoom of these resultants,
respectively. It can be observed from these figures that
Ωmec , Ps and Q s converge to their desired references,
but the backstepping controller with parameters opti-
mized with genetic algorithm allowed to converge more
quickly to the desired trajectory than the backstepping
controller with parameters selected arbitrary.
To test the robustness of the proposed controller
with respect to faults, we have considered: Rr =
100 %, L s = 3 %, Cp = 5 % and λ = 5 % and
the simulation results are shown in Fig. 5. It can be seen
that the variation in the parameters (Rr , L s , Cp
and λ) does not affect the performances of the pro-
posed controller; also, the genetic algorithm selects the
best parameters for the backstepping command in order
to converge rapidly to the desired trajectory and atten-
uate the chattering phenomenon.
5 Conclusion
In this paper, the problem of controlling the produced
electrical power in DFIG wind turbine was presented
in the presence of uncertainty. The backstepping con-
troller was designed to control the active and reactive
powers, and the genetic algorithm was used to optimize
the control parameters in order to converge rapidly to
the desired trajectory and to attenuate the chattering
phenomenon. The fuzzy MPPT controller is used to
maximize the output power and to adjust in real time
the rotational speed of wind turbines. The obtained sim-
ulation results show the effectiveness of the applied
control strategies.
Acknowledgments This work was supported by the CMEP—
TASSILI project under Grant 14MDU920.
123
A. Mechter et al.
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