Power Control Rf Wind Turbine System Eased Rn

DFIG-Generator, Xsing Sliding Mode Technique

Yasmine Ihedrane (*), Chakib El bekkali Badre Bossoufi

LISTA Laboratory, Faculty of Sciences Dhar El Mahraz.
University Sidi Mohammed Ben Abdellah.
Fez, Morocco
yasmine.ihedrane@usmba.ac.ma
bekkali7@hotmail.com
Abstract— This paper presents the study and the modeling of a
new nonlinear control technique called sliding mode control
applied to the variable speed wind system based on the doubly Fed
Induction generator in order to improve the performance of the
wind system.
The objective of this modeling is to apply the sliding mode
control technique, known for its insensitivity to variations in
internal and external parameters, stability, simplicity and very low
response times, to control the active and reactive power Generated
by the doubly Fed Induction generator. The Maximum Power Point
Tracking strategy is applied to extract the maximum of the
maximum power produced by the generator. The simulation results
show that the wind turbine can operate at its optimum energy for a
wide range of the wind speed.
Index Terms— Wind system, Doubly-Fed Induction
Generator (DFIG), Sliding mode control, nonlinear system.
Laboratory of Electrical Engineering and Maintenance,
University of First Mohammed, Higher School of
Technology
Oujda, Morocco
badre_isai@hotmail.com
for controlling non-linear systems and Systems with an
imprecise model [3]. The principle of this technique consists in
bringing the state trajectory of a system towards the sliding
surface and to switch it by means of appropriate switching
logic around it to the equilibrium point, Hence the
phenomenon of slip[3,4].
In this paper, we begin with the modeling of the turbine.
Next, a tracking technique operating point at maximum power
point tracking (MPPT) will be presented[3] Then, we will
present a model of the DFIG in the referential (d, q). After that,
we will tackle the principle of Sliding mode control. Finally
with the use of MATLAB / SIMULINK, we will present and
analyze the simulation results to validate our theoretical study.
The Figure 1 presents the general structure of the wind
system and Sliding mode control [15-20] :

I. INTRODUCTION
Recently, energy needs have grown tremendously, while
sources of sickle fuels have declined enormously, that is why
the development and exploitation of renewable energies have
grown such as solar, hydraulic, wind … etc .The latter have
clean sources, favorable to the environment and above all
inexhaustible.
Today, wind energy is cited as the most promising source
for responding to this global energy crisis, owing to its
motivating nature, the evolution of semiconductor technology
and the new methods of controlling the variable speed turbines Figure.1 . Architecture of the control.
[1]. II. MODELING THE WIND TURBINE SYSTEM:
Nowadays , wind turbines based on DFIG whose rotor is
connected to the grid via power converters , in contrast to the A. Model of turbine :
stator which is directly connected to the grid (fig.1) are the The model of the turbine is modeled from the following
most used because it allows producing electricity at variable system of equations: [4,13,14]:
speed and thus to better exploiting the wind resources for
. .
different wind conditions [2]. But, this type of machine is P = (1)
characterized by a mathematical model Multivariable, non-
linear, with strong coupling between the two control variables: P = C (λ, β).
. . .
(2)
magnetic Field and electromagnetic torque. For this reason,
several methods of controlling of DFIG have emerged, among
C ((λ, β) = C − C . β − 4 ∗ exp − +C .λ (3)
them, the Sliding mode technique.
.
In 1980s, the sliding control of systems became interesting With: =( −
. . )
and attractive. It is considered one of the simplest approaches
β : the blade pitch angle .

 
 



λspeed ratio given by :λ = R. (4)  C = _
⎧ _

. . . ⎪
⎪C . .
C = C (λ, β). (5) = C (λ, β). .V
.
. (10)
The fundamental equation of dynamics permits the ⎨ Ω =
determination of the evolution of the mechanical speed from ⎪
⎪ _
⎩ V = R.
the mechanical torque (Cem) applied to the rotor:
After calculation and a series of combinations, we get the
C =J =C −C − f .Ω (6) following equation:
The Figure.2 shows the curves of the power coefficient as a ( , ) . . Ω
function of λ for different values of β. A maximum power C _ = . . (11)
coefficient of 0.5506 for a speed ratio λopt =8and β=0°.
To extract the maximum of the generated power [6], it is
By setting Cp and λ respectively to optimal values, the necessary to fix the speed ratio λ to the value which
wind system will provide optimal electrical power. corresponds to the maximum of the power coefficient Cp. So,
Cp (lambda,beta)
the reference electromagnetic torque must be set to the
0.6

0.4
following value:
0.2
_ . . Ω
0 C _ = . . (12)
-0.2

The representation in block diagram form is shown in the

Cp

-0.4

following figure:
-0.6

-0.8 beta=0°
beta=2°
-1 beta=4°
beta=6°
-1.2 beta=8°
beta=10°
-1.4
0 2 4 6 8 10 12 14 16 18 20
Lambda

Figure.2 Power coefficient as a function of λ and β

III. MAXIMIZATION OF POWER WITH MPPT STRATEGY :

In practice, an accurate measurement of wind speed is
difficult to achieve. Due to the following reasons [3]:
¾ The anemometer is located behind the rotor of the turbine,
which gives an erroneous reading of the wind speed.
Figure.3 Block diagram of the MPPT strategy without wind speed
¾ Since the diameter of the surface swept by the blades is measurement
large (typically 70 m for a 1.5 m wind turbine), a significant
variation in wind appears depending on the height of the B. Modeling of Doubly Fed Induction Generator :
anemometer. So, the use of a single anemometer leads to use Before doing the modeling of a doubly-fed induction
only one local measurement of the wind speed which is generator DFIG (Fig.4), we must represent a two phase model
therefore not sufficiently representative of its average value (d, q) given by Park transformation [13-15]. The mathematical
appearing on all the blades. An incorrect measurement of the model of the DFIG can be written as follow:
speed therefore necessarily leads to a degradation of the power
captured according to the power extraction technique. This is ⎧V = R .I + − ω .ϕ
why most wind turbines are controlled without speed control. ⎪
⎪V = R .I + − ω .ϕ
This control structure is based on the assumption that the wind
speed varies very steadily: (13)
⎨V = R . I + − ω .ϕ
.
Ω
= = − − .Ω =0 (7) ⎪
⎪
⎩V = R . I + + ω .ϕ
According to equation (7) ,and by neglecting the Φ = L .I + M .I
mechanical torque Cmec and the effect of the couple of viscous ⎧Φ = L .I +M .I
friction (f.Ωmec ), we obtain the following equation : (14)
⎨ Φ = L .I + M .I
C =C (8) ⎩Φ = L . I + M . I
We know that: The expression of electromagnetic torque based on stator field
and currents is given, by:
C = p. (Φ . I −Φ .I ) (15)
The stator active and reactive powers of the DFIG are
written as follows [13,14]
 P = V .I + V .I
(16)
Q = V .I − V .I
IV. SLIDING MODE CONTROL STRATEGY : to a function of LYAPUNOV [4].
Sliding mode is a particular mode of operation of systems
with variable structure. The advantage of this method is its
simplicity and robustness in spite of System uncertainties and
external disturbances.
The principle of this technique consists in bringing the state
trajectory of a system towards the sliding surface and to switch
it by means of appropriate switching logic around it to the
equilibrium point, hence the phenomenon of slip [3,4].
Figure.4 The trajectory in the phase plane
The design of the sliding mode control algorithm is carried
out mainly in three complementary steps defined by [3,4]:
A. sliding surfaces:
Consider the following non-linear system:
̇ = ( , ) + ( , ). ( , ) (17)
Where :
ϵ : Status Vector, ( , ) ϵ , ( , )ϵ ∗
, ϵ : Control Vector
In order to ensure the convergence of a state variable to its
reference value, it is necessary to choose a sliding surface
which is a scalar function such that the variable to be adjusted
slides on the latter.
J. SLOTINE proposes a form of general equation [3-5]
given by:
( )= + . ( ) (18)
Where :
δ: Positive gain; (x) = x − x : Deviation of the variable to
be regulated; n: is a relative degree which represents the
number of times that the surface must be derived to make the
command appear .
The objective of the command is to keep the surface at
zero. The latter is a linear differential equation whose unique
solution is e (x) = 0.
B. Conditions of existence and convergence:
In order to ensure the convergence mode LYAPUNOV
proposes a function V (x) which guarantees the stability of the
nonlinear system and the attraction of the variable to be
controlled to its reference value, the latter is defined as follows:
( )= . ( ) >0 (19)
For the function V(x) to decrease, it suffices to ensure that
its derivative V(x)̇ = S(x). S(x)
̇ <0. The idea is to choose a
scalar function S(x) to guarantee the attraction of the variable
to be controlled to its reference value, and to design a
command '' U '' such that the square of the surface corresponds
C. Determination of the control law
Once the sliding surface has been chosen, as well as the
criterion of convergence, it remains to determine the control
necessary to attract the state trajectory towards the surface and
then towards its equilibrium point while maintaining the
conditions of existence of the sliding mode.
The command (u) is a variable structure command given by
[10]
( ) ( , )>0
= (20)
( ) ( , )<0
Where: and are continuous functions, with ≠
This control (u) of discontinuous nature will force the
trajectories of the system to reach the sliding surface and to
remain there in the vicinity of the latter despite the presence of
the disturbances.
The system trajectories on the surface S are not defined
since the command (u) is not defined for S = 0, to do this,
FILLIPOV [11] and UTKIN [12] propose a method called the
equivalent control [4,10](Figure 5) . The addition of this
command pre-positions the system in a desired stable state and
in addition reduces the CHATTERING phenomenon.
Figure.5 The equivalent command
This structure consists of two parts [4], one concerning the
exact linearization (U ) and the other the stability (U ).
U=U +U (21)
(U ) is used to keep the variable to be controlled on the
sliding surface S(x) = 0. It is deduced, considering that the
derivative of the surface is zero S(x) ̇ = 0.
Consider the state system (17), we sought to determine the
analog expression of the control U.
The derivative of the surface S (x) is given by:
(̇ ) = . ( )+ . ( ). + . ( ). (22)
In the sliding and permanent regime, the sliding surface is
zero and its derivative as well as the discontinuous part are also
null, so the expression of the equivalent command becomes as
follows:
U = − . f(x). ( . B(x)) (23)
It is necessary that . B(x) ≠ 0 , so that the equivalent
command can take a finite value.
By replacing the equivalent command with its expression in
̇ we obtain :
S(x)
 ̇ = . B(x). U
S(x) (24) ̇ = − . + .
. .
̇ <0
In order to satisfy the condition of attractiveness S(x). S(x) .
(29)
̇ = − . − . − .
the sign of U must be opposed to that of . B(x). S(x). . . . . .
x Active power control surface
¾ The discontinuous control (U ) forces the dynamics to
converge towards the surface and ensures the The sliding surface proposed by J.SLOTINE is given by:
insensitivity of the system with respect to uncertainties
and perturbations. Several forms are proposed in the
( )= + . ( ) (30)
literature [8] [9], the simplest one is given by: To control the active power, we take n = 1, the expression
U = K. sign(S(x)) (25) of the active power control surface is as follows:
Where: K is a positive constant and (sign) the classical sign S(P ) = e(P ) = P −P (31)
function.
But the main disadvantage of the relay type control is the Its derivative is given by:
phenomenon well known by "CHATTERING". In steady state, ̇ ) = Ṗ
the latter appears as a high frequency oscillation around the S(P − Ṗ (32)
equilibrium point (Figure 6), because of the very discontinuous We replace Ṗ by its expression as well as İ obtaining us:
nature of the sign function.
.
̇ ) = Ṗ
S(P + .( − .I − ω .I −
. .
ω .V . ) (33)
. . .

By replacing the expression of V with V +V the

command clearly appears in the following equation:
.
̇ ) = Ṗ
S(P + .( − .I − ω .I −
. .
Figure.6 Phenomenon of "CHATTERING".
ω .V . ) (34)
. . .
To remedy this problem, several investigations have been
made. One of the solutions envisaged consists in introducing a ̇ ) =0 and
In sliding and permanent mode: S(P ) =0 ÆS(P
stop band around the switching surface. To do this, it suffices V =0 .
to replace the function (sign) with the saturation function (Sat),
whose discontinuities in the vicinity of zero are less brutal. V = −L . L . . Ṗ + (R I + L . ω . σ. I +
.
This saturation function can be expressed by [3, 4]:
ω . M. ) (35)
.
1 >
−1 < The discontinuous control V is given by:
( )= (26)
| |≤ V = K sat(S(P )) (36)
D. Application of the sliding mode command to the DFIG. Where:K : Positive gain
After presenting the theory of sliding mode control, we will x Reactive power control surface
analyze in this part the application of the sliding mode control
to the DFIG. We take the same surface as that of the active power:
According to the Field Oriented Control principle, the So : S(Q ) = e(Q ) = Q −Q (37)
quadrature component of the stator field is forced to zero and The derivative of the surface is:
the direct component is equal to the total stator field.
̇ ) = Q̇
S(Q − Q̇ (38)
The preceding equations become as follows:
We replace Q̇ by its expression as well as İ , we get:
­vsd 0 S(Q̇ ) = Q̇ + (V . .( − .I + ω .I ) (39)
°v vs Z s .Is
. .
° sq By replacing the expression of V with V +V we
° d
®vrd Rr .I rd  Ird  Zr .Irq obtain the following equation:
° dt
° d
°vrq Rr .I rq  Irq  Z r .Ird (27) S(Q̇ ) = Q̇ + (V . .( − .I + ω . I ) (40)
. .
¯ dt
̇ )=0
In sliding and permanent mode: S(Q ) = 0 Æ S(Q
=− . .
(28) and V = 0 .Hence, the formula of V becomes as
= − . . follow:
.
 . .
V =− . Q̇ +R .I − ω . L . σ. I (41)
. 0.5507

The discontinuous control V is given by: 0.5506

V = K . sat(S(Q )) (42)

Pwer Coefficient Cp
0.5505
Where:K : Positive gain
0.5504

V. SIMULATION RESULTS : 0.5503

In order to validate the robustness of the sliding control 0.5502

applied to a DFIG-based wind system, the following figures

show the results obtained from this application, where the 0.5501
0 5
Time(s)
10 15

following observations can be distinguished:

Figure.9 The Power Coefficient Cp
¾ The wind profile is given by the figure 7.
¾ The aerodynamic power according to the MPPT has the
same shape as that of the wind profile (Figure 8).
8.02

¾ The power coefficient Cp (Figure 9) and the specific speed 8

Spesific Speed Lambda

(Figure 10) are kept around their optimal values 0.5505 and 7.98

8 respectively, which ensures maximum mechanical power 7.96

¾ The rotation speed of the machine (Figure 11) is less 7.94

oscillating with a high reliability with respect to the input 7.92

speed. 7.9

¾ The shape of the electromagnetic torque of the DFIG 7.88

(Figure 12) is negative but with a shape different from that 0 5

Time(s)
10 15

of the wind profile this is due to the dynamic torque of the

Figure.10 The specific Speed
inertia.
¾ Figure 13 shows the active stator power and its reference 250

profile injected into the network, where a very good 200

decoupling can be seen between the active and reactive

power of the stator.
DFIG Speed(rad/s)

150

¾ The stator reactive power and its reference profile are

shown in Figure 14, which gives a unit power factor factor
100

cos φ (φ) = 1 because ( ) = 0) consequently a loss of iron 50

losses.
¾ Figure 15 shows the stator currents which are purely 0
0 5 10 15

sinusoidal with a constant frequency and consequently a

Time(s)

minimization of harmonics and therefore a better injection Figure.11 The DFIG Speed
into the Grid. 2000

13 0

12 -2000

11 -4000
Cem(N.m)
Wind Speed(m/s)

-6000
10

-8000
9

-10000
8

-12000
7
-14000
0 1 2 3 4 5 6 7 8 9 10
6 Time(s)
0 5 10 15
Time(s)

Figure.7 Wind profile Figure.12 the electromagnetic torque of the DFIG

6
x 10
6 x 10
2.5 2.5
Ps
Psref

2 2
Stator power Ps(W)
Power Turbine(W)

1.5 1.5

1 1

0.5
0.5

0
0 5 10 15 0
Time(s) 0 5 10 15
Time(s)

Figure.8 The aerodynamic Power

Figure.13 The active stator power(W)
 x 10
4
unbalanced grid or stand-alone load, Electric Power Systems
6
Qs Research, Vol. 79, pp. 355- 364, 2009
Qsref
>@ M.LOUCIF, “Synthèse de lois de commande non-linéaires pour le
4
contrôle d’une machine asynchrone à double alimentation dédiée à
un système aérogénérateur“, Thèse de Doctorat de l’Université
Stator power Qs (VAR)

Aboubakr Belkaïd – Tlemcen,2016 .

2

0 >@ Y. BEKAKRA, ‘‘Contribution à l’Etude et à la Commande

Robuste d’un Aérogénérateur Asynchrone à Double
-2
Alimentation,’’ Thèse de Doctorat de l’Université Mohamed
Khider – Biskra, 2014
-4
>@ H. Hashimoto, H. Yamamoto, D. Yanagisawa, F. Harachima,
“Brushless servomotor control using VSS approach,” IEEE TAS
2 4 6 8 10 12 14
Time(s)

Annuel Meeting, pp. 72-79, 1986.

Figure.14 The reactive stator power(VAR)
is abc
>@ B.Bossoufi, M.Karim, A.Lagrioui, M.Taoussi, A.Derouich
“Adaptive Backstepping Control of DFIG Generators for Wide-
4000
Range Variable-speed Wind Turbines system” Journal of Journal
3000
of Electrical Systems JES, pp317-330. Vol.10 No.3, September
2000
2014.
>@ Y.Bekakra, D.Ben Attous, “Sliding Mode Controls of Active and
Stator Current (mA)

1000

0 Reactive Power of a DFIG with MPPT for Variable Speed Wind

-1000
-2000
-3000
-4000
-5000
4.55 4.56 4.57 4.58
Time(s)
Figure.15 Stator Current (mA)
In this section an analysis and interpretation of the results
of the application of the sliding control to a DFIG-based wind
system will be presented as well as a comparison with a
literature based on the same control [7] .
The figures obtained show the different performances of
the wind system, which show the robustness and good tracking
of the references, the specific speed and the power coefficient
vary in proportion to the wind speed, which shows the
reliability of the system. Active and reactive power follows
their references well, making the system more robust.
In [7] paper, it is clear that the active and reactive power
(FIGS. 8 and 9) exhibit many oscillations, which implies less
robustness. It can also be noted that the frequency of the stator
current is different from that of the grid , which is one of the
major problems of wind systems. By comparing with our
results, we note that the wind system is more reliable and
robust, which makes it possible to make a better injection of
power in the Grid.
VI. CONCLUSION
This work presents the technique of control by sliding
mode applied to the wind system based on the DFIG used to
extract and transmit the maximum wind power to the power
grid. First, we began by modeling both the turbine and the
Doubly Fed DFIG induction generator in order to apply the
sliding control technique. The results of the simulation show
the reliability and robustness of this control presented by the
good tracking of the active stator power to their references,
which varies according to the wind profile, rapidly and without
exceeding with a negligible error. As perspective, this work
can be continued and completed by the implementation of this
command in an FPGA.
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