ISA Transactions 53 (2014) 827–833

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ISA Transactions
journal homepage: www.elsevier.com/locate/isatrans

Research Article

Second-order sliding mode control for DFIG-based wind turbines fault

ride-through capability enhancement
Mohamed Benbouzid a,n, Brice Beltran a, Yassine Amirat b, Gang Yao c, Jingang Han c,
Hervé Mangel a
a
University of Brest, EA 4325 LBMS, Rue de Kergoat, CS 93837, 29238 Brest Cedex 03, France
b
ISEN, EA 4325 LBMS, 20, Rue Cuirassé Bretagne, 29200 Brest, France
c
Shanghai Maritime University, Department of Electrical Automation, 201306 Shanghai, China

art ic l e i nf o a b s t r a c t

Article history: This paper deals with the fault ride-through capability assessment of a doubly fed induction generator-
Received 6 December 2013 based wind turbine using a high-order sliding mode control. Indeed, it has been recently suggested that
Received in revised form sliding mode control is a solution of choice to the fault ride-through problem. In this context, this paper
10 January 2014
proposes a second-order sliding mode as an improved solution that handle the classical sliding mode
Accepted 23 January 2014
Available online 13 February 2014
chattering problem. Indeed, the main and attractive features of high-order sliding modes are robustness
This paper was recommended against external disturbances, the grids faults in particular, and chattering-free behavior (no extra
for publication by Dr. Jeff Pieper. mechanical stress on the wind turbine drive train).
Simulations using the NREL FAST code on a 1.5-MW wind turbine are carried out to evaluate ride-
Keywords: through performance of the proposed high-order sliding mode control strategy in case of grid frequency
Wind turbine
variations and unbalanced voltage sags.
Doubly fed induction generator
& 2014 ISA. Published by Elsevier Ltd. All rights reserved.
Fault-ride through
Second-order sliding mode

1. Introduction
An increasing number of power system operators have imple-
mented technical standards known as grid codes that wind turbines
must meet when connecting to the grid [1,2]. Generally, these grid
codes requirements cover many topics such as voltage operating
range, power factor regulation, frequency operating range, grid
support capability, and low fault ride-through capability. Indeed,
grid codes dictate FRT requirements. LVRT capability is considered
to be the biggest challenge in wind turbines design and manufac-
turing technology [3]. LVRT requires wind turbines to remain
connected to the grid in the presence of grid voltage sags.
The DFIG is one of the most frequently deployed large grid-
connected wind turbines. Indeed, when compared with the
full-scale power converter WT concept, the DFIG offers some
advantages, such as reduced inverter and output filter costs due
to low rotor- and grid-side power conversion ratings (25–30%) [4].
However, DFIG-based WTs are very sensitive to grid disturbances,
especially to voltage dips [5].
n
Corresponding author.
E-mail addresses: Mohamed.Benbouzid@univ-brest.fr (M. Benbouzid),
brice.beltran@dga.defense.gouv.fr (B. Beltran), Yassine.Amirat@isen.fr (Y. Amirat),
gangyao@shmtu.edu.cn (G. Yao), jinganghan@shmtu.edu.cn (J. Han),
Herve.Mangel@univ-brest.fr (H. Mangel).
In this context, this paper proposes to address the FRT pro-
blems using a so-called active method achieving FRT with no
additional devices. The goal is to control rotor voltages and
currents, to reduce the rotor overvoltages and/or overcurrents,
and therefore avoid the crowbar use/activation in order to keep
full DFIG control at all times to meet the FRT requirements. The
implementation of classical flux-oriented vector control techn-
iques (PI controllers) has been proven to work well for the
accomplishment of the initial grid code requirements [6–9]. But,
this kind of control could be easily saturated when dealing with
substantial sag. Moreover, it is sensitive to the generator para-
meters and other phenomena such as disturbances and unmo-
deled dynamics [10,11]. In particular, [10] gives a critical review of
control methods for LVRT compliance with DFIG. This state-of-the-
art review suggests the need of robust and nonlinear controller.
A robust one has been proposed in [12], claiming full control in all
LVRT cases. However, this was achieved with an oversized
converter to accommodate rotor overvoltages and full rotor
current control. It is therefore suggested that sliding mode control
is a solution of choice to the FRT problem [13].
Therefore and in this particular context, this paper proposes the
use of high-order sliding mode control as an improved solution that
handles the classical sliding mode chattering problem and particu-
larly avoids using additional devices and converter oversizing. Indeed,
the main and attractive features of HOSMs are robustness against

0019-0578/$ - see front matter & 2014 ISA. Published by Elsevier Ltd. All rights reserved.
http://dx.doi.org/10.1016/j.isatra.2014.01.006
828 M. Benbouzid et al. / ISA Transactions 53 (2014) 827–833

Nomenclature Tg generator electromagnetic torque (Nm)

J turbine total inertia (kg m2)
WT wind turbine K turbine total external damping (Nm/rad s)
DFIG doubly fed induction generator d, q synchronous reference frame index
FRT fault ride-through s, (r) stator (rotor) index
LVRT low-voltage ride-through V (I) voltage (current)
HOSM high-order sliding mode P (Q) active (reactive) power
SOSM second-order sliding mode ϕ flux
MPPT maximum power point tracking Tem electromagnetic torque
v wind speed (m/s) R resistance
ρ air density (kg/m3) L (M) inductance (mutual inductance)
R rotor radius (m) s leakage coefficient, s ¼1 – M2/LsLr
Pa aerodynamic power (W) θr rotor position
Ta aerodynamic torque (Nm) ωr (ωs) angular speed (synchronous speed)
λ tip speed ratio s slip
Cp(λ) power coefficient p pole pair number
ω wind turbine rotor speed (rad/s)

external disturbances (grid faults) and chattering-free behavior (no characteristic, denoting the minimum required immunity of the
extra mechanical stress on the drive train) [14–16]. The proposed wind power station to the system voltage sags (Fig. 2) [1].
control strategy combines an MPPT using a second-order sliding
mode for the DFIG control [17,18]. The proposed work is based on
[17,18] philosophy (high-order sliding mode). In the case of [18], the 3. Wind turbine modeling
control is on the turbine with a specific controller. In the case of [17],
the control is on the DFIG as in this paper. However, this paper The wind turbine modeling is inspired from [17]. In the following,
contribution is on the design of the second-order sliding mode the wind turbine components models are briefly described.
controller based on the supertwisting algorithm that takes into
account grid disturbances, in addition to the optimal power extrac- 3.1. Turbine model
tion [19]. This strategy presents attractive features such as chattering-
free behavior, finite reaching time, robustness and unmodeled In this case, the aerodynamic power captured by the wind
dynamics (generator and turbine). To check the overall control turbine is given by
strategy ride-through performance, simulations using the NREL FAST 1
code on a 1.5-MW wind turbine are carried out in case of grid P a ¼ πρR2 C p ðλÞv3 ð1Þ
2
frequency variations and unbalanced voltage sags.
where
Rω
2. Grid-code requirements λ¼ ð2Þ
v
The rotor power (aerodynamic power) is also defined by
Grid-code requirements typically refer to large wind farms
connected to the transmission system, rather than smaller stations P a ¼ ωT a ð3Þ
connected to the distribution network. These new grid codes The following simplified model is adopted for the turbine
stipulate that wind farms should contribute to power system control (drive train) for control purposes.
(frequency and also voltage), much as the conventional power
stations, and emphasize wind farm behavior in case of abnormal _ ¼ T a  Kω  T g
Jω ð4Þ
operating conditions of the network (such as in case of voltage dips).
The most common requirements include FRT capability, extended 3.2. DFIG model
system voltage and frequency variation limits, active power regula-
tion, and frequency control, as well as reactive power/power factor The control system is usually defined in the synchronous d  q
and voltage regulation capabilities [1,2]. Grid codes main require- frame fixed to either the stator voltage or the stator flux. For the
ments regarding the addressed faults are given below. proposed control strategy, the generator dynamic model written in
a synchronously rotating frame d  q is given by
2.1. Frequency operating range 8
> dϕsd
> V sd ¼ Rs I sd þ dt  ωs ϕsq
>
>
>
>
Wind power plants are required to run continuously within > dϕ
> V sq ¼ Rs I sq þ dtsq þωs ϕsd
>
>
typical grid frequency variations between 49.5 Hz and 50.5 Hz. >
>
>
> V rd ¼ Rr I rd þ dϕdtrd  ωr ϕrq
Fig. 1 gives an example of frequency–grid voltage variations [1]. >
>
>
>
> V ¼ R I þ dϕrq þ ω ϕ
< rq r rq dt r rd
ð5Þ
2.2. Low voltage ride-through >
> ϕ sd ¼ L s I sd þ MI rd
>
>
>
> ϕsq ¼ Ls I sq þ MI rq
>
>
Grid codes invariably require that large wind farms must with- >
>
>
> ϕrd ¼ Lr I rd þMI sd
stand voltage sags down to a certain percentage of the nominal >
>
>
> ϕrq ¼ Lr I rq þ MI sq
voltage and for a specified duration. Such constraints are known as >
>
>
: T em ¼ pMðI I sq  I rq I Þ
LVRT requirements. They are described by a voltage versus time rd sd
 M. Benbouzid et al. / ISA Transactions 53 (2014) 827–833 829

Fig. 1. Frequency–voltage variations ranges [© Nordel] [1].

Fig. 2. LVRT requirements for different countries [1].

For simplification purposes, the q-axis is aligned with the stator with
voltage and the stator resistance is neglected. These will lead to
1 C p max
8   k ¼ πρR5 3 ð7Þ
>
2 λopt
>
>
dIrd
¼ s1Lr V rd  Rr I rd þsωs sLr I rq  M dϕsd
>
<
dt

L s dt
 Details about the adopted strategy are given in [17].
¼ s1Lr V rq  Rr I rq  sωs sLr I rd  sωs M
dIrq
Ls ϕsd
ð6Þ
>
>
dt
>
> T ¼  pM ϕ I
: em sd rq
Ls 4.2. HOSM control strategy

The DFIG-based WT control objective is to optimize the

extracted power by tracking the optimal torque Topt (7). The
control is a compromise between conversion efficiency and torque
4. DFIG-based wind turbine control
oscillation smoothing.
The reactive power is expressed as follows.
4.1. MPPT strategy
Q s ¼ V sq I sd  V sd I sq ð8Þ
The control objective is to optimize the capture wind energy by
Adapting (8) to our hypotheses, it comes then
tracking the optimal torque Topt.
V s ϕs V s M
Qs ¼  I ð9Þ
T opt ¼ kω2 Ls Ls rd
830 M. Benbouzid et al. / ISA Transactions 53 (2014) 827–833

As the stator reactive power reference is zero, then

Vs Vs
ϕs ¼ -I rd_ref ¼ ð10Þ
ωs ωs M
Let us consider the following tracking errors.
(
eIrd ¼ I rd I rd_ref
ð11Þ
eT em ¼ T em  T ref

Then we will have

8  
>
< e_ Ird ¼ s1Lr V rd  Rr I rd þ gωs Lr sI rq  M dϕsd
 _I rd_ref
Ls dt

>
: e_ T em ¼  psLML ϕs V rq  Rr I rq  gωs Lr sird
s r

M
 gωs ϕsd  T_ ref : ð12Þ
Ls

If we define the G1 and G2 functions as follows.

8  
>
< G1 ¼ s1Lr gωs sLr I rq  M
dϕsd
Ls dt  _I rd_ref
 
>
: G2 ¼  psLMs Lr ϕs  gωs sLr I rd  gωs M _
Ls ϕsd  T ref

Thus we have
8
_ 1  1 Rr _I
< e€ Ird ¼ s1L V_ rd þ G
r s Lr rd
_ 2 þp ð13Þ
: e€ Γ ¼  p M ϕ V_ rq þ G
em s Ls Lr s
M _
sLs Lr ϕs Rr I rq

Now, lets us consider the following second-order sliding mode Fig. 4. 1.5-MW wind turbine illustration.

controller based on the supertwisting algorithm [17–19].

8  1
>
>
> V rq ¼ y1 þ B1 eT em 2 SgnðeT em Þ þ s1Lr Rr I rd
>
>
< y_ 1 ¼ þB2 SgnðeT Þ
em
 1 ð14Þ
>
> ¼   2
3 I rd SgnðeI rd Þ  psLs Lr ϕs Rr I rq
M
> V y B e
>
>
rd 2
: y_ ¼ B Sgnðe Þ
2 4 I rd

where y1 and y2 are intermediate variables and represent the

control error integral. Fig. 5. Wind speed profile.

Fig. 3. The proposed FRT control structure.

 M. Benbouzid et al. / ISA Transactions 53 (2014) 827–833 831

Fig. 6. FAST wind turbine block.

Fig. 8. Grid voltage.

The above proposed second-order sliding mode control strat-

egy for a DFIG-based WT is illustrated by Fig. 3.

5. Simulations using FAST code

Simulation using FAST with Matlab-Simulinks has been carried

out on the NREL WP 1.5-MW wind turbine (Fig. 4) using turbulent
FAST wind data shown by Fig. 5 [21]. The wind turbine, the DFIG
ratings, and control parameters are given in the Appendix.
An interface has been developed between FAST and Matlab-
Simulinks enabling users to implement advanced turbine controls
Fig. 7. Simulink model. in Simulink convenient block diagram form (Fig. 6). Hence,
electrical model (DFIG, grid, control system, etc.) designed in the
Simulink environment is simulated while making use of the
To ensure the sliding manifolds convergence to zero in finite complete nonlinear aerodynamic wind turbine motion equations
times, the gains B1, B2, B3, and B4 can be chosen as follows [19,20] available in FAST (Fig. 7).
8 
> _ 
>
> G1  o Φ1 5.1. Frequency variation
>
>
>
>
> 2 4Φ ðB þ Φ Þ
< B1 4psLMs Lr ϕs Φ1 ; B2 Z s2 L12 ðB1  Φ1 Þ
  r 1 1
ð15Þ The proposed SOSM-based FRT strategy will be first tested
> _ 
>
> G  o Φ regarding a frequency variation. Indeed, the studied case is a
>
>
2 2
>
> frequency fall from 50 to 48 Hz as illustrated by Fig. 8. This case
> B3 4 Φ2 ; B4 2 Z 4Φ22ðB3 þ Φ2 Þ
: s Lr s2 Lr ðB3  Φ2 Þ corresponds to a power generation loss that could lead to a rapid
decrease of the grid frequency.
In this context, it can be asserted that there exist finite times The FRT performances are illustrated by Fig. 9. It clearly shows
tTem and tIrd leading to (16). This means that the control objective is that the frequency fall has practically no effect on the torque. This
achieved. is confirmed by the quadratic error shown by Fig. 10. Obviously, a
( good tolerance is achieved for this type of fault.
I rd_ref ¼ I rd ; 8 t 4 t Ird
ð16Þ To assess the FRT capability enhancement of the proposed
T ref ¼ T em ; 8 t 4 t T em
SOSM control approach, it has been compared to a classical PI
832 M. Benbouzid et al. / ISA Transactions 53 (2014) 827–833

control approach [22,23]. The achieved results as shown by Figs. 11
and 12 clearly confirm the superiority of a high-order sliding mode
approach over more classical control approaches. It should be
noticed that the SOSM control approach achieves the same
quadratic error as a classical first-order sliding mode control.
by Fig. 17. This figure clearly shows that PI control achieves poorer
LVRT performances.
If the FRT performances were similar in case of frequency
variation, Fig. 18 shows the superiority of a high-order mode
control over a first-one in case of unbalanced voltage sags.

5.2. Unbalanced voltage sags

When unbalanced sags occur (Fig. 13), very high current,

torque, and power oscillations appear at double of the electrical
frequency, forcing a disconnection.
The LVRT performances are illustrated by Fig. 14 where an
almost constant torque is achieved. Good tracking performances
are also achieved in terms of DFIG rotor current (Fig. 15). Fault-
tolerance performances are also confirmed by the quadratic error
shown by Fig. 16.
To assess the LVRT capability enhancement of the proposed
Fig. 12. Quadratic error between the reference torque and the PI control-based one
SOSM control approach, it has also been compared to the same (frequency variation).
classical PI control approach. The achieved results are illustrated

Fig. 13. Grid voltage.

Fig. 9. Torque tracking performance during frequency variation: reference (green)
and real (blue). (For interpretation of the references to color in this figure caption,
the reader is referred to the web version of this paper.)

Fig. 14. Torque tracking performance during unbalanced voltage sags: reference
Fig. 10. Quadratic error between the reference torque and the SOSM control-based (blue) and real (green). (For interpretation of the references to color in this figure
one (frequency variation). caption, the reader is referred to the web version of this paper.)

Fig. 11. Torque: reference (green) and real (blue). (For interpretation of the Fig. 15. Current Ird tracking performance during unbalanced voltage sags: reference
references to color in this figure caption, the reader is referred to the web version (blue) and real (green). (For interpretation of the references to color in this figure
of this paper.) caption, the reader is referred to the web version of this paper.)
 M. Benbouzid et al. / ISA Transactions 53 (2014) 827–833
Fig. 16. Quadratic error between the reference torque and the SOSM control-based
one (voltage sags).
Fig. 17. Quadratic error between the reference torque and the PI control-based one
(voltage sags).
Fig. 18. Quadratic error between the reference torque and the first-order sliding
mode control-based one (voltage sags).
6. Conclusion
This paper dealt with a second-order sliding mode control of a
doubly fed induction-based wind turbine for fault ride through.
The SOSM-based FRT strategy has been tested regarding grid
frequency variations and unbalanced voltage sags on a 1.5-MW
three-blade wind turbine using the NREL wind turbine simulator
FAST.
The achieved results show promising successful ride-through
performances over well-known PI-based control and even over
classical sliding mode control (first-order). It should be particularly
mentioned that the proposed SOSM control approach does not
need any specific adjustments to fault ride-through purposes.
Appendix A. Simulated wind turbine characteristics.
Number of blades 3 unbalanced and distorted grid voltage conditions. IEEE Trans Energy Convers
Rotor diameter 70 m
833
Hub height 84.3 m
Rated power 1.5 MW
Turbine total inertia 4.4532  105 kg m2
Simulated DFIG parameters
Rs ¼0.005 Ω, Ls ¼0.407 mH, Rr ¼ 0.0089 Ω, Lr ¼0.299 mH,
M¼0.0016 mH, p ¼2
Control parameters
B1 ¼10, B2 ¼20,000, B3 ¼7, B4 ¼500
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