Int J Syst Assur Eng Manag
https://doi.org/10.1007/s13198-019-00844-3
ORIGINAL ARTICLE
Super-twisting sliding mode control for brushless doubly fed
induction generator based on WECS
Oussama Moussa1 • Rachid Abdessemed1 • Said Benaggoune1
Received: 2 February 2019 / Revised: 25 June 2019
Ó The Society for Reliability Engineering, Quality and Operations Management (SREQOM), India and The Division of Operation and
Maintenance, Lulea University of Technology, Sweden 2019
Abstract This paper deals with the robust power control of
a grid-connected brushless doubly-fed induction generator
(BDFIG) driven by the variable speed wind turbine. With
the using of a super twisting algorithm which is a high-
order sliding mode controller (HOSMC). This approach
guarantees both the dynamic performance and the same
robustness as traditional first order (SMC) algorithm and
reduces the chattering phenomenon, which is the biggest
disadvantage in the implementation of this technique. The
developed algorithm relies on the decoupling control by
implementing the strategy of oriented grid flux vector
control. In order to enhance the desired performances, an
attempt is made by controlling the generated stator active
and reactive powers in a linear and decoupled manner to
ensure the global asymptotical stability, HOSMC approach
is implemented. Therefore, an optimal operation of the
BDFIG in sub-synchronous operation is used in addition to
the stator power flows where the stator power factor is kept
in a unity. The suggested method is examined with the
Matlab/Simulink software. The performances and the fea-
sibility of the designed control are illustrated by simulation
results.
& Oussama Moussa
o.moussa@univ-batna2.dz
Rachid Abdessemed
r.abdessemed@univ-batna2.dz
Said Benaggoune
s_benaggoune@univ-batna2.dz
1
LEB Laboratory, Department of Electrical Engineering,
Faculty of Technology, University of Batna 2, Rue Chahid
Boukhlouf Med El-Hadi, 05000 Batna, Algeria
Keywords Wind energy conversion system (WECS) 
Brushless doubly fed induction generator (BDFIG)  Vector
control  Active and reactive power  Back-to-back
converter  High-order sliding mode control
1 Introduction
Researchers have long been looking for alternative form of
energy production driven by the environmental concerns
and the operational cost. This led to an increased study on
renewable form of energy in recent years (Dash and Pat-
naik 2014). The dynamics of these renewable forms are
constantly being improved as a result its complexity
increases and its control strategies are modernized (Fateh
et al. 2016). That is why the brushless doubly fed induction
generator (BDFIG) based of wind energy conversion sys-
tem (WECS) has earned a significant affinity in the last few
years due to his variable wind speeds operating ability
which resulted in optimal power generation (Mahboub
et al. 2017). The BDFIG, also called the (BDFM) brushless
doubly fed machine, guarantees significant benefits as a
variable speed generator for wind power application as a
result of its fractionally rated converter and brushless
operation (Serhoud and Benattous 2013). The reliability of
the device increases and the cost of the maintenance
decreases with the absence of a brush gear (Shao et al.
2009). This configuration is difficult to reach installation
and very significant for offshore. Furthermore, the manu-
facturing cost of the (BDFIG) is significantly less in
comparison to the doubly fed induction generator
(McMahon et al. 2006). This is the result of the simple
structure of the rotor winding and the absence of the slip
ring system. In recent years, researchers have focused their
123

efforts on eliminating the slip rings as well as brushes, at
the same time, preserving the benefits of DFIG. The
importance of these benefits increase as a result of the
continuous attempt to minimize the operational and capital
costs of the wind turbines in addition to enhancing their
reliability.
Many BDFIG scalar control algorithms are proposed in
the literature. For example, it is presented that the machine
can be stabilized over a wide speed range by open loop-
control, closed-loop frequency control and phase-angle
control. However, field-oriented control also called vector
control (VC) methods, can offer better dynamic perfor-
mance (Poza et al. 2006). The latter can be applied with
conventional proportional in addition to integral (PI) con-
troller as mentioned in (Mahboub et al. 2017) and (Poza
et al. 2006). Taylor’s linearization of the system dynamic
model around a particular operational point is the basis of
these control proposals. Therefore, the validity of the
turning of the controller is restricted to a specific area.
Nevertheless, these controllers are not robust against
parameters variations, model uncertainties and external
perturbations and are able to give an asymptotic conver-
gence. Their main appeal is the rather low computational
cost along with their simple implementation.
Recently, with the advancement in both technology and
knowledge, various control strategies have been developed
for BDFIG based WECS; for example, feedback lin-
earization controllers, sensorless optimal based on exten-
ded kalman filter, super twisting (Sadeghi et al. 2018),
vector controls and variable control strategies implement-
ing the sliding mode control (SMC) (Xia and Guo 2015;
Mahboub et al. 2016). Amongst the different control
strategies mentioned above, the linear variable structured
control also called the SMC is known to be the most
qualified methods for dealing with the control of the
BDFIG based WECS (Mahboub et al. 2017). The SMC
guarantees an asymptotic stable condition for the nonlinear
systems thanks to a perfect hyper plane (Hu et al. 2010;
Ammar et al. 2017). Despite that, the SMC may not
completely nullify the dynamics of the error function due
to the significant drawback of chattering phenomenon,
even after boosting the controller gains. Linearization
concept was believed to be a good practice except the
problems of degraded system performance and low relia-
bility (Liu and Kong 2014). Concerning the control of the
nonlinear systems, the theory of sliding mode control has
been proved effective system uncertainties and distur-
bances (Chen et al. 2010). Therefore, the time derivative of
the control which is a higher order sliding mode control is
used, the latter is both robust and considers treating the
chattering case the same as the traditional SMC (Elghali
et al. 2010). Thus, using the active and reactive power of
the BDFIG, a high-order sliding mode control theory is
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Int J Syst Assur Eng Manag
suggested for the purpose of winding control side converter
(SSC) of the BDFIG. This procedure is employed on the
higher (second) order derivative of the sliding surfaces
replacing the first order time derivatives, resulting in the
reduction of the chattering phenomenon (Beltran et al.
2012). The grid side converter (GSC) of the BDFIG is
limited to proportional integral control. The strategy of the
BDFIG based WECS control mainly consist two separate
controls: (a) stator side converter (SSC) control; (b) grid
side converter (GSC) control. In this paper, an active and
reactive power of the stator of BDFIG is employed in a
control winding side convertor where its input is presented
for the SSC; however, the GSC is managed by traditional
PI based control strategy. The suggested control strategy is
based on the famous, super complicated algorithm, this
latter guarantees more reliable chatter free transient
response of the BDFIG parameters in comparison to the
traditional PI.
The main contribution of this paper consists on the
proposal of another order sliding mode control strategy that
can be applied to a BDFIG system with wind speed as a
random perturbation. We expect more realistic results than
those of (Sadeghi et al. 2018). The suggested control
strategy realizes its solid argument for its insensitivity to
parameters differences and the stability of the output
variables. More importantly, this technique allows for
controlling separately the active and reactive generated
powers by BDFIG.
2 Theory of operation
The brushless doubly fed generator (BDFIG) which is also
called automatic cascade machine consists of a stator
which holds a couple of three-phase balanced windings.
The first one called power winding (PW) is directly linked
to the grid, while the second one, the control winding
(CW), is linked to the bidirectional converter as presented
in Fig. 1. A driven rotor with special bars is crossed
between the two windings. The numbers of the stator
winding pairs of poles should be distinct ðPp 6¼ Pc Þ in order
to avoid the undesired direct magnetic coupling between
the two winding (Williamson and Ferreira 1997).
One of the main characteristics of the BDFIG is the
ability of the control winding to change the rotor current
which has been coupled by the power winding. These
results in a magnetic coupling that is crossed between the
two windings of the stator through the rotor (Williamson
and Ferreira 1997; Serhoud and Benattous 2013).
One of the main characteristics of the BDFIG is the
ability of the control winding to change the rotor current
which has been coupled by the power winding. These
Int J Syst Assur Eng Manag

Transformer
fp Power Psp 380v/50Hz
GRID
Pp
v β Power Psc
SSC GSC
fc R L
Gearbox f f

Vdc
Pc

S1 S6 S1 S6
BDFIG Space Vector Space Vector
Rt Modulation Modulation
G Ωt SVM SVM

HOSM control of Power factor

MPPT active and reactive control of grid-side.
powers *
P *
Q =0
* *
Pref Q =0 ired
Power

PI
Vdc _ mes
−
Vdc
* +

Speed

Fig. 1 Configuration of BDIFG wind energy

results in a magnetic coupling that is crossed between the qe qr q sp

two windings of the stator through the rotor (Mahboub q sc
et al. 2017; Williamson and Ferreira 1997).
Each of the two stators power supplies has distinct fre-
quencies. The first one has a fixed frequency which is
connected to the grid through a switch; whereas, the second ω sc d sc
one has a variable frequency that comes from an electronic
power–frequency converter as presented in Fig. 1. Given
Vsc
that fp and fc are the frequencies of the stator and rotor ωe de
current respectively, the natural synchronous speed of the q
I sc
I sc
d ωr
machine are given as follow (Mahboub et al. 2017; Ser- dr
houd and Benattous 2013): θr
d sp
xsc  xsp O
xr ¼ ð1Þ
Pc þ Pp
Fig. 2 Different reference frame in BDFIG
Nr ¼ Pc þ Pp ð2Þ
xsp and xsc are given as the electrical angular velocities 3 System modeling
of the PW and CW voltages, and xr is the rotor angular
speed. Pp and Pc are the number of pole pairs of PW and 3.1 Modeling of the wind turbine and gearbox
CW respectively. In this case Pp ¼ 3 and Pc ¼ 1, and Nr is
the number of rotor bars. The ‘‘±’’ refers to the case which The turbine is composed of three-bladed rotor and a hub.
the CW is excited in positive or negative phase sequence as Wind energy is changed into mechanical energy across the
shown in Fig. 2. turbine which rotates the main shaft of the generator. The
aerodynamic (mechanical) power Pm absorbed by means
of the wind turbine is presented by (Benelghali and Ben-
bouzid 2011):

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 Int J Syst Assur Eng Manag

synchronously with the power winding stator flux by

angular sped of xsp (Mahboub et al. 2017; McMahon et al.
2006) can be presented as:
d
Vsp ¼ Rsp Isp þ Usp þ jxsp Usp ð7Þ
dt
d
Vsc ¼ Rsc Isc þ Usc þ jðxsp  ðpP þ pc Þxr ÞUsc ð8Þ
dt
d
Vr ¼ Rr Ir þ Ur þ jðxsp  pP xr ÞUr ð9Þ
dt
The flux equations are as follow:
Fig. 3 Power coefficient versus tip-speed ratio
Usp ¼ Lsp Isp þ Mp Ir ð10Þ
1 Usc ¼ Lsc Isc þ Mc Ir ð11Þ
Pt ¼ q:pRt :V 3 Cp ðk; bÞ ð3Þ
2 Ur ¼ Lr Ir þ Mc Isc þ Mp Isp ð12Þ
whereas q is the air density, Rt is the wind turbine rotor
The electromagnetic torque is given as (Serhoud and
length, V is the wind speed.
Benattous 2013):
As demonstrated in Fig. 3 the power coefficient Cp ðk; bÞ  
shows the turbine capability to shift the kinetic energy of 3 q d d q 3 q d d q
Tem ¼ Pp Mp ðIsp Ir  Isp Ir Þ  Pc Mc ðIsc Ir  Isc Ir Þ
the wind into mechanical energy. The blade pitch angle b is 2 2
responsible for this coefficient and the k is the tip speed ð13Þ
ratio that is given as:
  The stator power’s expressions are:
116
3 d d 
21
Cp ðk; bÞ ¼ 0:5176  0:4b  5 e ki þ 0:0068k ð4Þ q q
ki Psp ¼ Vsp Isp þ Vsp Isp ð14Þ
2
With 1
ki
1
¼ kþ0:08b  0:035
b3 þ1
3 q d d d

Qsp ¼ Vsp Isp  Vsp Isp ð15Þ
2
X t Rt
k¼ ð5Þ We conclude from Eqs. (10) and (12) the following:
V
where Xt is the mechanical angular speed of the wind Usp  Mp Ird
Isp ¼ ð16Þ
turbine. Lsp
The connection between the turbine speed and the Ur  Mp Isp  Mc Isc
generator speed is presented as follows: Ir ¼ ð17Þ
Lr
Xg ¼ G:Xt ð6Þ
The substitution of Eq. (17) in Eq. (12) resulted in
where G is the speed increase ratio of the gearbox, and Xg Eq. (18):
is the mechanical angular speed of the generator. Lr Mp Mc Mp
As a result, when the wind speed differs the generator is Isp ¼ Usp  Ur þ Isc
Lsp Lr  Mp2 Lsp Lr  Mp2 Lsp Lr  Mp2
tuned as quickly as possible so that the MPPT (maximum
ð18Þ
power point tracking) strategy is used.
In order to obtain the maximum power generated, we The substitution of Eq. (16) in Eqs. (12) and (13)
have to preserve k at the optimal command rotor speed kopt . resulted in Eq. (17):
The coordinates of the optimal point is the maximum 3  
power coefficient Cp are ðkopt ¼ 9:2; Cpmax ¼ Psp ¼ Vsp k5 Uqsp  k4 Uqr þ k3 Isc
q
ð19Þ
2
0:5; b ¼ 0Þ. Increasing b permits the reduction of
3  
mechanical power that is obtained from the axis of the Qsp ¼ Vsp k5 Udsp  k4 Udr þ k3 Isc
d
ð20Þ
2
wind turbine.
where
3.2 Mathematical model of BDFIG

The BDFIG equations that are obtained in the ðd; qÞ ref-

erence frame presented in Fig. 2 which rotates

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Int J Syst Assur Eng Manag

2 3 2 32 3
Lsp Mc Lsp Mc2 Mc Mp va 2 1 1 Sa
k1 ¼ 2
; k2 ¼ Lsc  2
; k3 ¼ 6 7 Vdc 6 76 7
Lr Lsp  Mp Lr Lsp  Mp Lr Lsp  Mp2 4 vb 5 ¼ 4 1 2 1 54 Sb 5 ð24Þ
Mp Lr 3
k4 ¼ ; k5 ¼ vc 1 1 2 Sc
Lr Lsp  Mp2 Lr Lsp  Mp2
As well as the rectified current is presented by:
We conclude from Eqs. (8) to (20) that the dynamic 2 3
ifa
relation between the CW current and the voltage in the is ¼ ½ Sa Sb Sc 4 ifb 5 ð25Þ
voltage in the d–q axis ðVsc and Isc Þ is presented as follow: ifc
8   
>
> d d d d d
q q q
> V
< sc ¼ R sc I sc þ k1 U r þ k2 I sc  xsc k 1 Ur þ k 2 I sc  k 3 U sp The output voltage is controlled by:
dt
   d 1
>
> d 
> Vscq ¼ Rsc Isc
:
q
þ k1 Uqr þ k2 Isc
q
þ xsc k1 Udr þ k2 Isc d
 k3 Udsp Vdc ¼ ðis  iL Þ ð26Þ
dt dt C
ð21Þ The active and reactive power control strategy for
BDFIG is defined according to the power winding current,
the control winding current d; q components can be linearly
3.3 Modeling and control of the grid side converter
managed through a regulator proportional integral (PI)
(Yao et al. 2008).
The grid side converter (GSC) has many advantages which
In order to control the converter on the grid side and the
are the power bi directionality, controlling the active power
DC link voltage to a desired reference, the latter have to be
by preserving constant DC-link voltage, and setting the
measured and set according to a reference value; also, the
reference reactive power to zero in order not to impair the
reference reactive power should be maintained at zero in
quality of the grid (Mesbahi et al. 2016).
order to give a unit power factor (Bekakra and Attous
Figure 4 shows the three parts that constitute a three-
2014).
phase rectifier SVM which are: the source, the converter
When using the Park transform on the system (used
and the load.
Eqs. 22, 23) the model of the converter in synchronous
The state space representation gives both the AC source
reference ðd; qÞ at the common connection point (PCC) are
model and the rectifier model:
2 3 2 3 2 3 2 3 given as:
ifa ifa vfa vsa 8
d6 7 6 7 6 7 6 7 >
> difd
Lf 4 ifb 5 ¼ Rf 4 ifb 5 þ 4 vfb 5  4 vsb 5 ð22Þ >
> Lf ¼ Rf ifd  Lf xs ifq þ vfd  vsd
dt >
< dt
ifc ifc vfc vsc difq
L ¼ Rf iq þ Lf xs ifd þ vfq  vsq ð27Þ
> f dt
>
>
> d
As for the continuous side: >
: Cdc Vdc ¼ Sd ifd þ Sq ifq
d dt
Cdc Vdc ¼ Sa ifa þ Sa ifb þ Sa ifc ð23Þ
dt By the use of direct axis current, the reactive power is
The converter: regulated, and the quadratic axis is implemented to adjust
the DC-link voltage. The reference frame is directed along

380V / 50Hz
grid side converter stator side converter
S1 S2 S3 is iL S S2 S3
1

vsa R f Lf i fa
a A
vsb i fb
b B
c Vdc
BDFIG
vsc i fc C

S4 S5 S6 S4 S5 S6

Fig. 4 Structure of the back-to-back SVM converter for BDFIG

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 Int J Syst Assur Eng Manag

the stator voltage vector. This process provides a chance to use of vector control technique that will be described in the
achieve independent control of the active and reactive following section.
power between the GSC and the supply side (Bekakra and In the following section, we will make a supposition that
Attous 2014). the d-axis of park mark in oriented based on the stator flux.
The forms of the active and reactive powers are as This choice is made based on the fact that the generator is
follow: usually coupled to a powerful network of ongoing voltage
8 and frequency.
> 3

< Ps ¼ vsd :ifd þ vsq :ifq The direction that comes after the flow of the PW
2 ð28Þ greatly simplifies the dynamic equations taking the value of
: Q ¼ 3
v :i  v :i 
>

s
2
sq fq fd fq
/sp is stable therefore the conditions which have the dj/sp j
dt
The matrix form of this system is given as follow: factor are almost null (Mahboub et al. 2017; Serhoud and
     Benattous 2013).
Ps 3 vsd vsq ifd
¼ ð29Þ We implement the modeling of the generator Eqs. (7) to
Qs v
2 sq v sd ifq
(17) then, we direct the reference ðd; qÞ so that the axis d is
Equation (29) gives the reference currents ðifd ; ifq ÞWe coordinated with the stator flux of the Usp power generator.
give ðPs ; Qs Þ for the active and reactive powers of With stable and oriented stator flux:
references.  d
"  # Usp ¼ Usp
    ð33Þ
ifd 2 vsd vsq Ps Uqsp ¼ 0
¼ ð30Þ
ifq 3ðv2sd þ v2sq Þ vsq vsd Qs The stator flux equation of the generator (PW) turns to:

The DC bus control loop which is responsible for pre- Udsp ¼ Lsp Isp
d
þ Mp Ird
ð34Þ
serving continuous DC capacity of voltage is used to cal- 0 ¼ Lsp Isp þ Mp Irq
q

culate the reference of the real power Ps . Its value is

If we assume the stable electricity grid, having for ten-
presented by this given expression:
  sion simple Vsp , the result is a constant Usp stator flux. The

Ps ¼ Vdc :is resistance of the stator winding Rsp is ignored in order to
 ð31Þ
Qs ¼ 0 make the calculation easier, the voltage equations of the
Figure 5 shows the block diagram of the control of the stator windings (PW) is able to be simplified is steady state
network-side converter. as given in (Mahboub et al. 2017):
 d
Vsp ¼ 0
3.4 Modeling of stator (CW) side converter q ð35Þ
Vsp ¼ Vsp

In order to control the active and reactive powers The system of equations can be simplified following the
inserted into the grid by the stator (PW) of the BDFIG, assumption of oriented flow as follow:
8
the stator side converter (CW) is implemented. The > 3 q q
< Psp ¼ Vsp Isp
converter implemented a three-phase inverter with two 2 ð36Þ
levels that is governed by space vector modulation >
: Q ¼ 3 V q Id
sp
technique (Fig. 4). 2 sp sp
The mathematical model of the stator side converter is When substituting Eqs. (35) and (34) in Eqs. (19) and
presented by: (20) the power expressions becomes:
2 3 2 32 3 8
VA 2 1 1 Sa > 3 q
6 7 Vdc 6 76 7 < Psp ¼ Vsp k4 Uqr þ k3 Isc
q
4 B5
V ¼ 4 1 2 1 54 Sb 5 ð32Þ 2   ð37Þ
3
VC 1 1 2 Sc : Qsp ¼ 3 Vsp
> q
k5 Udsp  k4 Udr þ k3 Isc
d
2

4 Power decoupled control 5 High-order sliding mode control

Vector control permits the independent control of the Many studies were conducted on the control laws of sliding
active and reactive powers amongst the grid and the gen- modes for nonlinear systems, the objective of this method
erator (Dida and Attous 2015). This can be achieved by the is to constrain the system to evolve and maintain, in a finite
time and by a discontinuous control, on a sliding manifold

123
Int J Syst Assur Eng Manag
Fig. 5 Block diagram of the grid side SVM converter control
in which the resulting behavior has some prescribed
dynamics (Yu and Kaynak 2009). Sliding mode control
displays some simplicity of both design and robustness
characteristics as well as matched perturbations (Valenci-
aga and Puleston 2008). Never the less, the chattering
phenomenon (high-frequency oscillations along the sliding
motion) is still a big problem which can be very dangerous
for the generator due to the discontinuous control that can
cause overheating of the coil which can trigger a handful
un modeled high-frequency dynamics.
Some approaches were proposed to solve the problem
of chattering (Beltran et al. 2012). They were all based on
the idea of changing the dynamics closely to the dis-
continuity surface in order to avoid the real discontinuity
in one hand, in the other hand, maintain the primary
characteristics of the entire system (Levant and Alelishvili
2007; Benelghali and Benbouzid 2011). Except that both
the ultimate accuracy and robustness of the sliding mode
were partly gone.
High-order sliding surface is usually classified accord-
ing to the number of r successive derivative of the sliding
surface which is called the sliding order. The rime order of
system is as follow:
S ¼ S_ ¼ S€ ¼    ¼ Sðr1Þ ¼ 0 ð38Þ
r Refer to the relative degree of the system according to the
sliding surface.
The necessity of learning about the state variables and
their derivatives is the main problem of the command in
sliding mode of higher order. The outcome is the necessity
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 Int J Syst Assur Eng Manag

_ S;
of the functions ðS; S; € . . .; Sðr1Þ Þ for the synthesis of a 5.2 HOSMC control of active and reactive powers
controller in sliding modes of order r
We take the following equation to describe the system in The super-twisting algorithm is implemented to design a
order to define second-order sliding mode command control using HOSMC which ensures robust performances
algorithms: with the parametric variation and perturbation.
In the following part, based on the active and reactive
x_ ¼ f ðt; x; uÞ
power references that were presented in Eq. (35), the sliding
To generate a sliding regime of order two on a given surfaces are given with the objective of independently con-
surface S, we have to preserve both S and it derivative at trolling the active and reactive generated powers.

zero in a restricted time S ¼ S_ ¼ 0 (Benelghali and
A. Choice of the sliding surfaces:
Benbouzid 2011). The first and second derivatives of S are
as follow: The given relation between the current (CW) and the
8 power (PW) are obtained as follow:
<_ o o 8
S ¼ Sðt; xÞ þ Sðt; xÞf ðt; x; uÞ > Qsp k4 k5
ot ox ð39Þ > d
< Isc ¼ þ Udr  Udsp
:€ q
1:5Vsp :k3 k3 k3
S ¼ uðt; x; uÞ þ cðt; xÞv ð41Þ
>
> q Psp k4 q
The classic sliding mode approach realizes the control : Isc ¼ q þ U
1:5Vsp :k3 k3 r
goal for a relative degree 1, never the less, the phe-
nomenon of reluctance can be minimized by the use of We have:
8
HOSMC to control. Based on this, the input u of the > Qref k4 k5
>
> d ref
¼
sp
þ Udr  Udsp
system is labeled a new state variable; whereas, its < Isc q
1:5Vsp :k3 k3 k3
derivative v ¼ u_ is taken as an actual order. The discon- ref ð42Þ
>
> P sp k 4
tinuous control v ¼ u_ guarantees the convergences in the > q ref
: Isc ¼ q þ Uq
1:5Vsp :k3 k3 r
direction of the sliding surface that is given as S ¼ 0 and
then preserves it, after that ðS ¼ S_ ¼ 0Þ. At last, when HOSMC robust strategy is implemented in order to
calculating the command u ¼ r v of the system, it turns guarantee the current (CW) and the (PW) convergence to
continuous resulting in the reduction of the reluctance their references. The given surfaces are given as follow:
phenomenon. (
q q ref
SðPsp Þ ¼ ðIsc  Isc Þ
Twisting and super twisting are the most used tech- d d ref
ð43Þ
niques in generating algorithms of the convergence of S SðQsp Þ ¼ ðIsc  Isc Þ
and toward zero. Then, we have:
(
_ sp Þ ¼ ðI_q  I_q
SðP ref
Þ
5.1 Algorithm of super twisting sc sc
ð44Þ
_SðQsp Þ ¼ ðI_d  I_d ref
Þ
sc sc
This algorithm of super twisting was first proposed by _
d q_
(Levant 1993) for the servo control of relative degree From Eq. (21), the derivate of control current ðIsc ; Isc Þ
systems equal to one, then, it was later modified by Khan can be expressed as:
8
and Spurgeon (2003) for systems of relative degree equal >
> d d V d Rsc d xsc  k1 d
< ðIsc Þ ¼ sc  I þ k1 Uqr þ k2 Isc
q
 U_ r
to two. It is meant to realize continuous control by HOSMC dt k2 k2 sc k2 k2
q
Rsc q xsc   k
obtaining only the information of S without the sign eval- >
> d q Vsc 1
: ðIsc Þ ¼  Isc  k1 Ur þ k2 Isc  k3 Udsp  U_ qr
d d
uation of S (RakhtAla et al. 2017). dt k2 k2 k2 k2
Based on the super-twisting algorithm, the command ð45Þ
HOSMC is as follow:
The proposed control approach which is based on the
u ¼ u1 þ u 2 super twisting algorithm has been introduced by (Levant
1993). The proposed high-order (second) sliding mode
With
 controller contains two parts:
u1 ¼ ajSjs signðSÞ Vscq ¼ u1 þ u2
s 2 0; 0:5 ð40Þ
u_ 2 ¼ bsignðSÞ  s
u1 ¼ a1 SðPsp Þ sign SðPsp Þ
ð46Þ
u_ 2 ¼ b1 sign SðPsp Þ

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Int J Syst Assur Eng Manag

8  q  8 s
<_ Vsc Rsc q xsc   k
1 > Vscq ¼ u2 þ a1 SðPsp Þ sign SðPsp Þ;
SðPsp Þ ¼  I  k1 Udr þ k2 Isc
d
 k3 Udsp  U_ qr  I_sc
q ref
>
) k2 k2 sc k2 k2 >
>
:€
SðPsp Þ ¼ u1 ðt; xÞ þ c1 ðt; xÞV_ scq
< u_ 2 ¼ b1 :sign SðP
sp Þ; s
Vscd ¼ w2 þ a2 SðQsp Þ sign SðQsp Þ; ð52Þ
ð47Þ >
>
>
> w_ ¼ b2 :sign SðQsp Þ;
: 2
And 0\s\0:5:

Vscd ¼ w1 þ w2 With positive constants a1 ; a2 ; b1 ; b2 ; u1 ; u2 that satisfy

 s the following inequalities.
w1 ¼ a2 SðQsp Þ sign SðQsp Þ 8
ð48Þ > G_ 1 \u1
w_ 2 ¼ b2 sign SðQsp Þ >
>
 q 
>
> a1  u1
8
Vsc Rsc q xsc  k1 d >
>
<_
k1 Uqr þ k2 Isc
q
 U_ r  I_sc
d ref >
> u1 ða1 þ u1 Þ
)
SðQsp Þ ¼
k2
 I þ
k2 sc k2 k2
> 2
< b1  ¼
:€ ðb1  u1 Þ
SðQsp Þ ¼ u2 ðt; xÞ þ c2 ðt; xÞV_ scd ) _ ð53Þ
>
> G 2 \u 2
ð49Þ >
>
>
> a2  u2
>
>
>
> u ða þ u2 Þ
By posing G1 and G2 such as: : b22  ¼ 2 2
8 ðb3  u2 Þ
> Rsc q xsc   k
1
< G1 ¼  Isc  k1 Udr þ k2 Isc
d
 k3 Udsp  U_ qr 
k2 k2 k2 Thus we guarantee the convergence of S Psp ; and
 
: G2 ¼  Rsc I d þ xsc k1 Uq þ k2 I q  k1 U_ d
> S Qsp to 0, respectively, in a finite time tPsp and tQsp ,
sc r sc
k2 k2 k2 r respectively.
ð50Þ Therefore, we will have:
( d ref d
So it comes that: Isc ¼ Isc ; 8 t  tIscd
8 ð54Þ
€ sp Þ ¼ 1 V_ q þ G_ 1
> q ref q
>
< SðP Isc ¼ Isc ; 8 t  tIscq
k2 sc
ð51Þ The HOSM control strategy is robust which meets the
>
> € sp Þ ¼ 1 V_ q þ G_ 2
: SðQ objectives drawn in the introduction. It achieves of fol-
k2 sc
lowing: enhancing energy efficiency, raising reliability and
Now consider the following command: minimizing the chattering phenomenon. Figure 6 presents
a general schematic diagram of the control scheme given
by BDFIG. Compared to the work of (Sadeghi et al. 2018)
which is not related to the control of GSC, and where the

Fig. 6 Block diagram of BDFIG control scheme

123
 Int J Syst Assur Eng Manag

Table 1 Electrical parameters

Power winding (PW) Control winding (CW) Rotor
of prototype BDFIG for
simulation (Mahboub et al. Resistance ðXÞ Rsp ¼ 1:732 Rsc ¼ 1:079 Rr ¼ 0:473
2017)
Self-inductance (mH) Lsp ¼ 714:8 Lsc ¼ 121:7 Lr ¼ 132:6
Mutual inductance (mH) Mp ¼ 242:1 Mc ¼ 59:8
Pole pair numbers Pp ¼ 3 Pc ¼ 1

DC link voltage is considered constant and fixed, in our

study, it is connected to the network and the voltage is
controlled on the network side.

6 Simulation outcomes

The control technique suggested in this paper has been

approved by the Matlab/Simulink software. The essential
parameters of BDIGF simulation model are discussed in
Table 1.
Figure 7 indicates (a) the speed of the wind (b) the Fig. 8 Stator (PW) active and reactive power
generator speed. The mechanical speed generated by the
turbine is similar the wind profile applied to the turbine are
shown by the simulation results. The MPPT block obtains
the active power set point of the stator.
Figures under demonstrate the performances of the
vector controls, and by HOSMC of the active and reactive
powers stator used to a wind turbine mechanism structured
from a cascaded BDFIG, rectifier and couple of level three
phase creator. From Fig. 8 in addition 9, it is known that

(a)

Fig. 9 Stator (PW) active and reactive power

both control strategies approve an idealist decoupling

between the both elements of the stator power (active and
reactive).
The outcomes found, without any doubt, demonstrate
that the usage of the two commands are able to maintain
the active and reactive powers to their aimed values,
otherwise with a great improvement of the outcomes found
(b) by HOSMC, taking in consideration the vector control,
namely in terms of feedback time and higher reference
seeking accuracy than those gathered from the traditional
PI controller, an essential reduction in the chattering phe-
nomena of the powers. We also see in case of reference
shift that the HOSMC the transient feedback of the two
active and reactive powers present no overshoot, however a
highest minimization of the mistake between the values of
the set points and the measured ones (proximately zero).
Figures 10 and 11 present the winding currents in which
we observe that both the frequency and the amplitude of
these control currents change during the period of variation
Fig. 7 a Wind profile applied, b mechanical speed

123
Int J Syst Assur Eng Manag

with a remarkable speed and precision. The appearance of

the chattering phenomenon illustrated in Sadeghi et al.
(2018) work is very slight in our case.
Figure 13 demonstrates the voltage and current of the
first phase of the grid which are still in phase, so a unit
power factor, this enables a significant advancement in the
shape of currents which is turned to sinusoidal signals, and
also both the zoom of a stator power winding voltage and
the matching current are on the same time axis. The unit
power factor is ensured by the proposed controller. The
ability of the SVM rectifier is certified by the harmonic
spectrum of the first phase current to minimize the har-
Fig. 10 Phase power winding current
monic content.
The Fig. 14 presents the accurate tracking of set-points
of active and reactive power. On the other hand, the fre-
with a remarkable speed and precision. It should be noted
quency of the current of the supply winding remains con-
that the robustness of the control structure should be ver-
stant to be adapted to the supply frequency of the grid so
ified taking into consideration the uncertainty of the
when the reference of the active power changes, the
parameters.
amplitude of the current also changes. On the other hand,
So, to determine the behavior of the control structure
Fig. 12 is approving the three phases SVM rectifier is
that functions under these terms and to verify the robust
simulated, it demonstrates the voltage through the capaci-
tor (direct voltage) throughout the shifting of power. It is
(a)
obvious that its pace follows well the reference (600 V)
pace with a fast feedback transient.
The simulation results illustrated in Figs. 9, 10 and 11
show the effectiveness of the control used for the control of
the active and reactive powers, a good tracking is observed

(b)

Fig. 11 Phase control winding current

(c)

Fig. 13 a The phase current and voltage of the grid. b Zoom phase
Fig. 12 DC bus voltage grid current and voltage. c Order of harmonic current of grid

123

d q
Fig. 14 Stator (PW) current Isp and Isp
(a)
2
(b)
2
Fig. 15 Parameter variations a Stator (PW) resistance variation.
b Stator (CW) resistance variation
regulators implemented with regard to the parametric
variation especially the stator (PW and CW) resistance
altered as given in Fig. 15. The main issue with electrical
machines is the changing of their electrical parameters as a
result of the temperature change.
Figure 16 demonstrates a tracking response of the ref-
erence value of the stator’s active and reactive powers plus
robustness assessment against a rise in the stator’s support
100% PW and CW at 18 s and 28. Figure 16a represents
the result of a traditional vector control whereas Fig. 16b
give the controls that were given by HOSMC. The results
confirm the reliability of the HOSM in comparison with the
vector control in the dynamic state operation. This
approach permits significant enhancement of both the
dynamic and static performances.
123
Int J Syst Assur Eng Manag
(a)
(b)
Fig. 16 Stator (PW) active and reactive power response. a Vector
control; b HOSMC
6.1 Parameters of wind turbine
Number of blade: 3, Radius of blade: Rt ¼ 50 m, Gear-box
gain: G ¼ 90, Global inertia coefficient: j ¼ 315 kg m2 ,
Air density: q ¼ 1:225 kg/m3 .
6.2 The parameters of Back-to-back SVM converter
used in our study:
Input AC rated phase-voltage: Vinp ¼ 220 V=f ¼ 50 Hz;
DC link capacitance: C ¼ 0:0022f , AC filter inductance:
Lf ¼ 0:02H; resistance Rf ¼ 0:1 X.
7 Conclusion
In this paper, a new higher sliding control strategy that was
applied to the non-linear affinity model of BDFIG is pro-
posed for variable speed wind turbines. This method is
beneficial in the way that it simplified the procedure of the
BDFIG design which resulted in the stability and the
robustness decoupling control of the active and reactive
powers of the BDFIG connected to the grid, by the
implementation of the HOSMC control which is based on
the super twisting algorithm. In order to ensure the effec-
tiveness of the control structure, a robustness assessment
was conducted in two different ways. The first one is
Int J Syst Assur Eng Manag
through a significant change in the stator active power set
points where in order to observe controllers responses to
track their set points. In the second, a resistance assessment
was conducted on the parameter variations in which the
choice of the stator resistors was made based on their
temperature sensitivity.
Simulation results demonstrate high performance of the
given control strategy with the verification of the parameter
error and external disturbances. By decoupling the system,
this approach enhances its performance. Also the control
strategy ensures the zero performance of the transient
system with reduction of the stabilization time. The pro-
posed BDFIG system can be a practical solution for the
wind energy conversion system.
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