Modelling and Optimal Control of The Doubly Fed

Induction Generator Wind Turbine System

Connected to Utility Grid
Anass Bakouri, Hassane Mahmoudi, Ahmed Abbou
Mohammed V University, Department of Electrical Engineering
Mohammadia School of Engineers
Rabat,Morocco
Anass.bakouri@gmail.com

Abstract—In this paper we are interested in modeling and control
design of doubly fed induction generator (DFIG) used in wind
energy conversion systems (WECs) connected to the electrical
network through back-to-back converter. The doubly fed
induction generator (DFIG) is the most exploited to generate
power from the wind, it provides the benefits of variable speed
operation by improved power quality, increased energy
capture, and reduced mechanical stress on the wind turbine.
The contribution of this work consists on using the field oriented
technic without any simplifications in the DFIG model. The
objective to be achieved with this control technique is on the first
one which operate the DFIG in maximal power point tracking (
MPPT) mode at low to medium wind speeds and the second
one pitch angle control which is used to regulate the output
power at rated value even when the wind speed experiences gusts.
Simulation results for a 1.5 MW WECS with DFIG confirm the
effectiveness and the performance of the global proposed
approaches.
Keywords-- Doubly Fed Induction Generator (DFIG);
Maximum Power Point Tracking (MPPT); Wind Energy
Conversion System.(WECS).
I. INTRODUCTION
Renewable energy has the potential to reduce pollution,
slow global warming, create new industries and jobs, there are
tremendous economic opportunities for the countries that
invent, manufacture and export clean energy technologies, the
use of renewable energy generation has become a global
research and development topic.
Wind power is one of the fastest growing renewable
technologies and has the potential to provide a significant
portion of our electricity needs and is also considered today as
an energy source which allows electrical production with
minimum environment perturbations.
In recent years Doubly Fed Induction Generators (DFIG) is
one of the most frequently deployed large grid-connected
wind turbines, are becoming increasingly acceptable due to
their suitability in the context of variable speed wind power
generating systems and they are more attractive than fixed-
speed systems because of their efficient energy production,
improved power quality and the electronics equipment power
are only carries a fraction of the total power (20-30%) [1][2].
In literature many authors have been studied different
approaches to control the DFIG in order to achieve certain
objectives such as the control of active and reactive power,
control the electromagnetic torque for optimizing the power
capture by wind turbine. [3,4,5,6], but most of these studies
are based on simplifying assumptions such as the stator
resistance effect is neglected and stator flux is constant and
oriented perfectly with d axis.
For a high performance control during the transient period,
we proposed in this article the use of the field-oriented control
technic with no simplifications in the model of DFIG. the rotor
side converter is controlled to operate the machine with the
maximum power point tracking (MPPT) technique for
maximum power extraction, and a pitch control which is also
presented to limit the generator power at its rated value. The
rest of this paper is organized as follows: The machine model
is presented in the section II. In the section III the MPPT and
pitch control are presented. The proposed scheme is designed
in the section IV. Last section shows simulation results and
discussion. The paper ends with a conclusion.
Ps
Grid
i s1
DFIG
if1 Pr
Gear box ir 1
RSC GSC
Fig1. Schematic diagram of a DFIG.
II. WECS MODELLING
The studied system is presented in Fig. 1.

978-1-5090-5713-9/16/$31.00 ©2016 IEEE

A. Wind Turbine Model
opt MPPT
The following expression represents the mechanical power optVw
captured by the wind turbine [7][8]. PI +
-
1/G
R
Tem _ ref m
Pw  0.5C p (  ,  )  . R 2VW3 (1)
1 t
Where VW is the wind speed (m/s), R is the radius of the + 1/G
- J s f m
turbine disk,  is the air density, C p (  ,  ) is the power Vw
coefficient,  is the tip speed ratio and β is the pitch angle.  Pitch
Tm Tem control
The tip speed ratio is given by: C p ( ,  )
-
R. t  R
 (2) Taer
VW 1/G 1
R 2
2
 t is the turbine speed .
The power coefficient C P is expressed as a function of i U3
and  [9]. t
Fig. 3. Wind turbine model with the MPPT algorithm.
116 21
C p (  ,  )  0.5176 (  0.4   5 ) exp(  )  0.0068  (3)
i i B. Modeling of The DFIG
i is given by: The DFIG is described in the Park d–q frame by the
following set of equations [10][7].
1 1 0.035 d sd
  3 (4)
i   0.08.   1 Vsd  Rs i sd    s  sq (6)
dt
d sq
The power extracted is optimum for C p  0.48 ,   0 and Vsq  Rs i sq    s  sd (7)
dt
  8.1 d
Vrd  Rr i rd  rd   r  rq (8)
dt
d
Vrd  Rr i rd  rd   r  rd (9)
C p max dt
0.48
The power coeffcient

0,4  sd  Ls isd  Lm ird (10)

0,3  sq  Ls i sq  Lm i rq (11)

0,2
 rd  Lr ird  Lm i sd (12)
 rq  Lr irq  Lm i sq (13)
0,1 opt
0
0 2 4 6 8.1 10 12 14 Where  , V , i and R are the fluxes, the voltage , the
Tip-speed ratio
currents and resistance, respectively; the subscripts d, and q
Fig. 2. Characteristic of C p (  ) indicate the d and q components, respectively; the subscripts
r and s indicate the rotor and stator side of the
induction generator, respectively; Ls , Lr and Lm are the
The fundamental principle of the dynamics is applied to know
the evolution of the mechanical speed. stator , rotor, and mutual inductances, respectively.
d m C. Model of The Converters:
J  Tm  Tem  f  m (5)
dt The converter model is expressed by the two following
Where J and f are the system moment of inertia and equations:
the friction coefficient respectively.
 V sa   2 1 1  S a  2.The block diagram of pitch angle system is shown in Fig.5
V   Vdc  1  2 1  S  (14) where Prated and Pg are the rated power and the generator
 sb  3   b  power respectively.
V sc   1 1  2  S c   ref 1 
Prated + PI +
- - 
i dc  S a ia  S b ib  S c ic (15)
Prated 1
( Sa , Sb , Sc ) are logic variables which represent the switch
states obtained by the application of the proposed control. idc Pg
2 Fig.5.The block of pitch angle.
and Vdc are the current and direct bus voltage respectively.
IV. DESCRIPTION OF THE PROPOSED CONTROL STRATEGY
III. MAXIMUM POWER POINT TRACKING (MPPT) AND The field oriented control (FOC) strategy is based
PITCH CONTROL on a synchronously rotating reference frame with the
The optimum operation speed of the generator is estimated stator flux vector position is oriented such as  sd   ref and
by the following equation:  sq  0
opt .Vw
 mopt  (16)  sd   ref
R  (17)
opt and  mopt are the tip speed ratio and the rotor speed  sq  0
optimal respectively. From the equations (10)-(13) and (17), the fluxes are written:

x 10
6  sd  Ls i sd  Lm ird   ref (18)
2
Maximum power point  sq  L s i sq  Lm irq  0 (19)
The mechanical power (w)

1.5
Vw  12 Lm
 rd  Lr i rd   sd (20)
Ls
1 Vw  10
 rq  Lr i rq (21)
0.5 Vw  8
Vw  6 Where scattering coefficient is:

0 L2m
0 1 2 3 4 5 6  1 (22)
The turbine speed (rad/s) L s Lr
Fig.4.Wind generator power curves at various wind speed. From equations (17) - (21) the rotor and stator voltages (6)-(9)
are then simplified to equations (23)-(26) [11]
The MPPT operation mode aims to maximize power
extraction for medium and low wind speeds by following the R s Lm R
maximum power point curve C p  max as depicted in Fig. 4. Vsd   i rd  ( s  s ) sd (23)
Ls Ls
We have to maintain the tip speed ratio at its optimal
value, C p  0.48 and  should be equal to 0, to extract the R s Lm
Vsq   i rq   s  sd (24)
maximum power and to achieve these objectives, the speed of Ls
the DFIG is controlled using the electromagnetic torque to
follow the optimum rotational speed.
  Vrdcomp
Vrd  v rd (25)
From the Fig. 4, we can see the MPPT curve where the power
  Vrqcomp
Vrq  v rq (26)
extracted is maximized.
When the wind speed is higher than its nominal value, it is With
necessary to limit the power produced in order to avoid damage
for the wind turbine.   ( Rr  Lr s ) i rd
v rd
The pitch control strategy is used in order to keep the turbine   (27)
blades at the optimum angle and limit the output power at its v rq  ( Rr  Lr s ) i rq
rated value for all wind speeds. For low and medium wind
speed, the pitch control is inactive, where the switch is in
position 1 for the opposite case the switch is moved to position
And regulating the direct flux with a PI controller.
 
Vrdcomp   r Lr irq ird ref  K p (  sd ref   sd )  K i  K p (  sd ref   sd )dt (31)
 (28)
 comp Lm
Vrq   r Lr ird   r L  sd
 s The expression of electromagnetic torque after the orientation
of the flux is:
 are calculated as follows
 and v rq
Consequently, v rd
Lm
Tem  p sd i sq   p sd i rq (32)
v rd
   K p ( i rd  ref  i rd )  K i  ( i rd  ref  i rd )dt (29)
Ls

v   K p ( i rq ref  i rq )  K i  ( i rq ref  i rq )dt
 rq Once  sd is regulated to  ref then the electromagnetic
torque will only depend on i rq and the reference current is
By using the equations (23) and (7), we can determine the
  determined as follows.
estimation of the stator flux  sd and the frequency  s .
 Tem  ref Ls
 LsV sd Lm i rq ref  (33)
 sd  Ls

L
i rd Pφsd  ref Lm
 Rs ( 1  s) 1 s s
 Rs Rs (30) The rotor side converter is controlled with the proposed
 control scheme in order to optimize the power extraction , this
 Vsq  Rs i sq control strategy is consists of inner current control loops
 s   which regulates independently the d-axis and q-axis rotor
  sd currents and outer controller .The control scheme of the
proposed fid oriented control is illustrated in Fig.6.
From the equation (30) we can see that the stator flux is
controlled by the direct current component and we can
generate the reference of direct current component by
Vrqcomp
 opt  mref Temref irqref Vrq
 Ls +
MPPT +- PI +- PI + dq
Vw P Lm s  ref
PWM
m
ird ref Vrd abc
sref +- PI +- PI +-

Vrdcomp
 sesti
s r

Vrdcomp  Lr r irq irq ir abc

dq
abc
 Lr r ird s ird
 dt +-

Vrqcomp Lm  r p m d r DFIG
+
+ r  sesti +
- encoder
Ls dt

s
s Stator Flux is abc
is dq
Estimation dq
 abc
 sesti Vs dq Vs abc
Grid
Fig.6. Schematic diagram of the global control applied to rotor side converter of the DFIG
 6
x 10
2
V. SIMULATION RESULTS AND DISCUSSION

Mechanical power (w)

To validate the effectiveness of the proposed control 1.5
strategies of DFIG which based in wind power generation
system, simulation results are carried out with the Matlab- 1
Simulink software. The power of the DFIG is rated at 1.5
MW. The parameters of the wind turbine and DFIG used are
0.5
given in Table (I, II).
0 2 4 6 8 10
The DFIG is tested during 10 s, when the system is subject Times (s)
to step change in wind speed as represented in Fig. 7, the Fig.8 Fig.10. The mechanical power.
illustrate the coefficient of power, For the MPPT operation the
coefficient of power equal to C p  0.48 and C p  0.48 . for the 220
Optimum speed
200 generato r speed
pitch control mode. The Fig. 9 shows the Tip speed ratio and
Pitch angle. The Fig. 10 illustrates the mechanical power 180

which follows the evolution of wind speed. 160

The Fig. 11 shows that the generator speeds follow the 140
optimum speed very well.
120
Referring to Fig. 12 and Fig. 13, we can see that the
electromagnetic torque and the stator flux follow their 100
0 2 4 6 8 10
reference values respectively, to optimize wind energy Time (s)
Fig.11. Generator speed with optimum speed.
capture. In Fig. 15 we can see that the current is in phase
opposition with the voltage, this confirms that the wind energy
system injects the active power into the network. 1.796

18 1.794
Stator Flux (V.s)

16 1.792
Wind speed (m/s)

14 Rated wind speed

1.79

12
1.788
10
1.786
8
0 2 4 6 8 10
Time (s)
6
0 2 4 6 8 10 Fig.12. Stator flux with its reference.
Time (s)
Fig.7. Wind speed.
Electromagnetic torque (N.s)

2000
Tem
0.5 0 Tem-ref

0.45
-2000
Coefficient power

0.4
-4000
0.35
-6000
0.3
-8000
0.25
-10000
0.2 0 2 4 6 8 10
Time (s)
0 2 4 6 8 10 Fig.13. The electromagnetic torque and its reference.
Time (s)
Fig.8. The coefficient power.
800
14
Grid frequency (rad/s)

12
Pitch angle (degree)

600
Tip speed ratio &

10 Tip speed ratio

8 400
6

4 200
Pitch angle
2
0
0 0 2 4 6 8 10
0 2 4 6 8 10 Time (s)
Time (s)
Fig.14. Frequency of the grid.
Fig.9. Tip speed ratio and pitch angle.
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TABLE I. DFIG PARAMETERS
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Stator voltage 690 v
[11] Aimani SE. “Modélisation de différentes technologies d’éoliennes
Stator resistance 0.0023 Ω intégréesdans un réseau moyenne tension,” Ph.D. thesis, Ecole
Centrale de Lille-Université des Sciences et Technologies de Lille 1 ,
Rotor resistance 0.002 Ω December 2004.

Mutual inductance 0.00288 H

Stator inductance 0.00293 H

Rotor inductance 0.00297 H

filter resistance 2 mΩ

filter inductance 2mH

Number of pole pairs 2

Shaft inertia 18.7 kg.m2

TABLE II. PARMETRES OF TURBINE

Radius 30.66 m

Gear ratio 71.28

Air density 1.22 kg/m3