Performance Improvement of Grid Connected DFIG

fed by Three Level Diode Clamped MLI Using

Vector Control
Giribabu Dyanamina AmitKumar
Department of Electrical Engineering, School ofRenewable Energy and Efficiency,
National Institute ofTechnology, Kurukshetra, l36119 . National Institute ofTechnology, Kurukshetra, l36119.
Email: dgiribabu208@gmail.com Email: amit.yuvraaj09@gmail.com

fluctuating nature of wind speed and voltage fluctuations in

Abstract- This paper presents a vector control method ror the power system affects continuously. Therefore , it is
doubly red induction generator (OFIG) based Wind energy important to maintain good power quality in terms of grid
conversion systems (WECS) to independently control the active voltage and frequency for wind power integration. One of the
and reactive power. The performance of OFIG based WECS at the solution to overcome these power quality issues is to
rotor side is poor. To improve the performance of the system two replace the conventional inverter at the rotor side converter
level inverter (TLI) is replaced with Diode c1amped multilevel with multilevel inverter (MU). MUs are emerging technology
inverter (OCMLI) which is commonly used MLI topology due to its for high and medium voltage applications because of their
merits compared to other. The PI controllers in the VC of DFIG ability to generate high quality output wavefonns with a
systems are replaced with AN FIS controllers to improve steady low switching frequency. The integration of renewable energy
state and transient performance. The proposed OCMLI fed WECS
sources to medium voltage grid is better using MLI. MU
is simulated in MATLAB/SIMULINK environment where the MLI
topologies mainly c1assified as cascaded H-bridges inverters,
fed system using ANFIS controller results better performance
compared to TLI. diode c1amped MU, and flying capacitors (capacitor c1amped).
Among this diode c1amped inverters are the most commonly
Keywords-Vector control (VC); doubly ted indllction generator; used topology due to its advantages. In this paper vector control
ANFIS contoller; DCMLI strategy for DFIG has been studied using two level and three
level converters and the PI controllers in vector control are
I. INTRODUCTION replaced with ANFIS controller to improve the performance of
The rapid depletion of fossil fuels, air pollution, and WECS .
greenhouse gas emission has forced us to think about some non- A. DFIG Machine model(d-q)
conventional energy sources, like solar, wind, tidal/wave,
The machine modelling of DFIG in d-q reference frame can
biomass and small hydro energy. Among these resources, wind
be represented aso[4]
energy is the most preferred and widely used renewable energy
resource due to its advantages. The total installed capacity of (1)
wind power has been increasing all over the world in the recent
years. The new global total at the end of2016 was 493 GW [1]. (2)
Today doubly fed induction generator (DFIG) is one of the
(3)
most widely used technology for wind power generation due to
its advantages like, wide speed range, smooth active and
(4)
reactive power regulation, flexibility and robustness. However
DFIG based wind energy conversion system have some The flux linkage equations for DFIG stator and rotor are written
challenges Iike power quality issues [2], stability of grid [3], low as:
voltage ride through capability. To overcome these limitations
control schemes such as vector control (VC), direct torque ({J", = Ls i", + Lm idr (5)
control (DTC) and direct power control (DPC) have been
proposed [4-6]. In [4] vector control method for controlling ({Jqs = L s iqs + Lm iqr (6)
active and reactive power has been already studied. Although
steady state performance of VC is excellent and it gives quick ({Jd,- = Lr id,- + Lm l", (7)
dynamic response, it depends on the machine parameters
accuracy and its performance also requires more tuning effort ({Jqr = Lr iqr + L m iqs (8)
to ensure the system stability over the entire operation
Where,
range.
The DFIG is usually connected to grid through controlled Ls =L,s +Lm (9)
converters. The power quality of grid connected system is poor
Lr =L'r +Lm (10)
due to the non-sinusoidal output currents apart from this the

978-1-5090-2597-8/16/$31.00@2016 IEEE 560

Lls and Llr are stator and rotor leakage inductance respectively
and Lm is the mutual inductance.
Doubly fed induction generator is mainly used in wind
energy applications. DFIG have windings on both stator and
rotor. Through both the windings there is a significant amount
of active power transfer between shaft and electrical system.
The block diagram of a grid connected DFIG based wind energy
conversion system is shown in Figure 1. Stator windings are
connected directly to the grid. Rotor winding is connected to
grid via slip rings and back to back voltage source converter
(VSC). Converters are used to control grid and rotor current.
This helps to control the active and reactive power fed from
stator to the grid, irrespective ofwind speed. The two converters
are connected through a dc-link capacitor which reduces the
ripples in the dc-link voltage.
Figure I: DFIG based WECS connected to grid
11. VECTOR CONTROL OF DFIG
DFIG can be controlled by controlling rotor side converter
and grid side converter. Vector control can be implemented for
the converters. The objective of the Vector control for RSC is to
independently control stator active Ps and reactive power Qs.
The Vector control of RSC is illustrated in Figure 2. The control
scheme is explained in the general park's model ofDFIG. Using
the conventions in static stator oriented reference frame, stator
and rotor voltage vector equations are written as:
(11 )
(12)
rps = L)s + Ln,ir (13)
rpr = L,)s + L)r (14)
The vector control scheme consists of two series of two PI
controllers. The active and reactive power error signals are
given to the two different PI controller which gives direct rotor
current ird *, and quadrature current irq * respectively. These two
signals are compared with the generator currents, ird and irq and
2016 IEEE Region 10 Conference (TENCON) - Proceedings ofthe International Conference
the error signal is given to the other two PI controllers. The
output of these controllers is rotor voltage and
respectively. From rotor voltage equations,
. dird
vrd = Rrlrd +aLr dt (15)
dirq
vrq = Rrrq
i +aLr - dt (16)
Where, is the leakage factor defined as:
L2111
a = 1_ _ (17)
LsL,.
To ensure good tracking ofrotor d-q axis currents,
compensation terms are added to (15) and (16).
V;d = vrd - wS/ip aLrirq (18)
v,:q = vrq + wslip ( a L rird + Lmird ) (19)
The voltage outputs are given to the PWM generator which
generates PWM pulses to the rotor side converter. The
conventional converter used for the vector control is 2-level
inverter. This 2-level inverter output voltage waveform is
produced by using PWM with two voltage levels. This causes
the output voltage and current to be distorted and the THD of
the voltage and current is poor. MLI output voltage and current
is more sinusoidal and the THD is better. In this paper a 3-level
inverter is used in the vector control and its performance is
compared with 2-level converter.
III. MULTILEVEL INVERTER
A multilevel inverter is formed by connecting several
inverters in series or cascade. By using number ofunits different
voltage levels can be generated. By using multilevel inverter
smooth AC waveform can be produced which have low
distortion in its output. Thus total harmonic distortion (THD) is
reduced in output voltage and current waveforms. The
multilevel inverters are mainly classified as folIows:
1. Flying capacitor Multilevel Inverter
2. Diode clamped Multilevel Inverter
3. Cascaded H-Bridge (CHB) Multilevel Inverter
The most commonly used multi level topology is the diode
clamped inverter, in this the diode is used as the clamping
device to clamp the dc bus voltage which helps to achieve
stepped output voltage. Thus, the main concept of using diodes
in this MLI is to limit the voltage stress on switching devices.
An rn-level inverter requires (rn-i) voltage sources, 2(rn-i)
switching devices and (rn-i)(rn-2) diodes. As the number of
voltage levels increases the output voltage quality is improved
thus the voltage waveform becomes more sinusoidal.
The three-level diode-clamped inverter with one phase leg is
illustrated in Figure 3. The capacitors CI and C2 are series
connected, these capacitors are used to split the DC-bus voltage
into three-levels where the neutral point n, is denoted as middle
561
point of capacitors. The three levels of output voltage Van are
denoted as E, 0 and - E . To obtain the voltage level E, the
switches SI and S2 are to be switched ON. Similarly, to obtain
the voltage level -E and 0, the switches SI' and S2', S2 and S2',
are to be switched ON correspondingly. The switching states in
one leg of a 3-level DCMLI are shown in T ABLE 1. The crucial
component to differentiate the conventional two level and three
level diode c\amped inverter are diodes D I and D I'. These two
diodes help in c\amping the switching voltage to half of the DC
bus voltage. The operation of inverter using this c\amping
diodes is explained as when the two switches SI and S2 are
switched ON, the voltage across ' a ' and '0' is 2E, i.e., VaO = 2E.
In this case, DI' balances the voltage sharing between SI' and S2',
by SI' blocking the voltage across CI and S2' blocking the
voltage across C 2.
Wslip olr Irq
Vd,
Figure 2: Vector control structure for DFIG using DCMLI
IV. ANFIS BASED VECTOR CONTROL
A. Anfis concept
Adaptive neuro-fuzzy control is a very powerful technique
which basically uses the concept of both fuzzy controller and
artificial neural network. Artificial Neural Networks are
collection of intelligent algorithms used to control, predict time
series and identification of various parameter of induction
machine. The fuzzy based controllers have good capability to be
interpreted and they work on the basis of previous random
experiences. Combining fuzzy and ANN forms an intelligent
system which has good learning capabilities, good interpretation
and prior knowledge. ANFIS controller ensures selecting a
proper membership function and in turn selecting the correct
rule base.
B. Anjis Model
The ANFIS model architecture supports the TL-FLC method.
The rules are in linguistic form so interpretation and analysis of
intermediate results are possible. ANFIS control structure is
presented here as follows and is shown in Figure 4 [12].
The general ANFIS structure consists of five network layers
connected to each other arranged as a unit.
Layer 1: In this layer all the nodes present consists of the
membership function, or input variables. Input variables are
supplied to the next layer.
Layer 2: These nodes choose the least value of weights for the
two inputs. It represents the fuzzy set of each variables received
from layer I.
Layer 3: In this layer all the nodes caIculates the weight, which
is normalized. Fuzzy rules are matched in this layer.
Layer 4: This layer is the de-fuzzification layer which gives
output by using the rules. Normalization is performed by each
neurons in this layer.
Layer 5: This layer is the output layer which performs
summation of all the input signals and fuzzy classification result
is transformed to binary.
Layerl Layer4

1 Layer2 Laycr3
1

.r
a
2E

w,!,
Ec

Figure 4: Intemal structure of ANfIS controller

C. Anjis controller design

o
The basic structure of the ANFIS controller consists of four
Figure 3: One leg of the 3-level diode clamped inverter important parts, which are, fuzzification, the knowledge base,
the neural network and the de-fuzzification blocks [10]. The
TABLE 1. SWITCHING STATES IN ONE LEG Of 3-LEVEL DIODE inputs to ANFIS controller are error and change in the error
CLAMPED INVERTER which are represented by following equations:
Voltage SI S2 SI' S2' e(t) = lV,ef - lV,. (20)
E 1 1 0 0 ~e(t)=e(t) -e (t - I) (21)
0 0 1 1 0
-E 0 0 1 1

562 2016 IEEE Region 10 Conference (TENCON) - Proceedings ofthe International Conference
 Where OJ,ej is the speed reference, OJ, stands for the rotor' s
5 ---.--.---,--.---c--,--.------~~

actual speed, e(t) and ll.e(t) are the error and change in the ~
error respectively. I::
In fuzzification unit conversion of crisp data into so me ;3
i
linguistic variables is done, which is fed as inputs to the next
block which is the ru le based block. Rule based block consists
of a set of rules written according to previous know ledge [12]. ~~ ~----~~-L--~------L----------L--~
1.42 1 . . 46 1,
15 l ,s.! 1 5S 1 ,6,
The output of rule base is the input for the neural network Ti me{>j
block. The back propagation algorithm for selecting proper set
of rule base for neural network training. The output obtained (b)
from the neural network unit is given to the de-fuzzification
unit. In this unit numeric data is obtained in crisp form from the
linguistic variables.
D. Anjis controller implementation in VC
ANFIS controller is implemented in vector control of DFIG
to control the active and reactive power. The vector control
model is similar to the model explained in previous section. The
1.46 L5 L 54 1.6
difference is that the PI controllers are replaced by the ANFIS Time{sl
controller. The results obtained from the VC with PI controller
(c)
are trained by using ANFIS editor and result is exported to the

[~
ANFIS controller.

V. RESULTS AND DlSCUSSION

The proposed three level inverter fed DIFG with ANFIS

controller in vector control is simulated in MATLAB/Simulink
1.4 1.42 1.44 1.46 1.48 1.5 1.52 1.54 1.56 1.58 1.6
software to prove the validity. The parameters used are listed in Ti.me(s)
table 11. The performance of DFIG for step increase in wind (d)
speed from 10 rn/s to 12 rn/s at 1.5s and stator current waveform Figure 5: Change in wind speed (a), Stator current waveforrn for vector control
of DFIG (b) two level inverter (c) DCMLI (d) DCMLI with ANFlS controller
for both 2-level inverter and DCMLI are shown in Figure 5.The
stator current waveform is having more ripples in case of two
level inverter and is less in DCMLI. The performance of VC can be improved by replacing PI
The performance of the WECS during starting transient controller with ANFIS controller. A PI controller is employed in
conditions for various parameters such as speed, torque, active order to obtain the controller parameters at each selected load.
and reactive power are illustrated in Figure 6. The rotor speed The resulting data from PI controller is used to train ANFIS that
during starting of the generator is having higher peak overshoot could deduce the controller parameters at any other loading
for vector control with 2-level inverter. This high peak condition within the same region of operation. The performance
overshoot is reduced by using ANFIS controller in place of PI of WECS during step change in wind speed for three control
controller. The rotor speed varies according to the wind speed in methods is illustrated in Figure 7. The performance ofthe vector
the all cases but in first case it takes more time to settle down. control using ANFIS controller and DCMLI is better compared
Implementing DCMLI in DFIG based WECS also improves the to other two methods. During step change in wind speed the
torque ripples by improving its current waveform. The active rotor speed and torque are changed and settles very quickly in
and reactive powers are controlled independently with vector case of ANFIS controller.
control method for both cases but the absorbed reactive power 1.2 ,--,-----,-----,-----,--,-----.------,----,--~~

in case ofDCMLI is less as shown in Figure 6(c) and the active

power is improved.
~0 8
i!. 0.6
1 1~ '"
) 12 - - - VKtOl'CGntrolUsincM
_ _ _ Ye«orControlUslnc

dT
MUmANft5

: 16F----------------
o
·.·-··-··-···
c
i 8 ~----~------~------~----~
11:5
0.05 0.1 0.15 0.2 0.25
Time(.)
0.3 0.35 0.4 0.45 0.5

(a)

(a)

20161EEE Region 10 Conference (TENCON) - Proceedings ofthe International Conference 563

 2

1.5

Gi
l
_ _ \l«tDfc-rotUllnrl 0
MU .... 4Nf1S Il.
GI 0.5
>
~
« 0

-0.5

.10! - - "0.!:-:
.05:----::0...,
.1--=-
0."'
15:----::0"'
.2--=-
0.'='
25:----::0"'
.' --=-
0.'="5:----::0...,
.4'--=-
0."45
=':-----:'
0.5 -3.8 0.85 0 .9 0.95 1 1 0. 5 1.1 11
.5 1.2
Tlm.(.) Time(s)
(b) (c)
10

lI.-dorc..m.oIU..,.TU
8
- - \l-nOl'c-.tr04Us1"1M

Gi _ _ vect .. tom,GI u.inc

l
0 6
MUMilANflS
i 2.5
Il.
GI
.~ 4
...
0

t> .!
« :
2 a:
. --
- -
'~.'C~"~U"":l
- - Ve<torConl rol U$I,.Ml
1_ _ VedOfCOflttoi UIII\I
MU W\d ANflS

0.1 0.15
Time(s) 1·a'=
.8--""Oc':
.8"'
5--""O...,
.9,--...,0,....9"'S,---c':-1----:-1."'
OS:----1:".-:-1---:-1."='15= ---:'1.2
(c) Tlm.(.)

12 r----r--~---,---~---~--~---,
(d)
Figure 7: Performance of DFIG during step change in wind speed at 1.5 s for
three control methods (a) speed (b) torque (c) active power and (d) reactive
power.
'IIworCDntrol U.l1IcltJ

- - - vl'ttOfconholUsInI M
The performance of the DCMLI is better than the 2-level
_ _ VKtorCoonroi UIJrw
MU ..... ANfIS
inverter. The voltage waveform is having more harmonie
content in 2-level inverter and the stator current is not
sinusoidal. The FFT analysis of voltage waveform for 2-inverter
and DCMLI are shown in Figure 8. From the figure it shows
that THD for 2-1evel inverter is 7.12% and for DCMLI the THD
0.04 0.06 0.08 0.1 0 .12 is 4.84%. Thus the performance of the grid connected DFIG is
Tlm.(.)
improved by implementing DCMLI in WECS .
(d)
Figure 6: Perfonnance of DFlG during transient for three control methods (a)
THD:7. 12%
speed (b) torque (c) active power and (d) reactive power. 10 ~.---.--.----.--,----.--..,....--,---,--,--~

1.15

~ 1.1
j
X. 1.05
~ ~----------~~------~
i soo 1000 1500 2{lOO 2500
Ffequency (Hz)
3000 3500 4000 4500 5000

0.95

(a)
0·1'':;.4-"'"7
1 .7.42;-"'"7
1 .744;-"'"71.7.46;-"'"71.7.
48;---'1''.5-"'"71.7.52;-"'"71.~54;-"'"7
1 .7
56;-"'"71 .758;---;'1.6
Time(s)
THD"484%
(a) 10
.(I.'5 r--~r----.---.---r--....,..--""T'"--"""'--'"

.(1.4

.(1.45

~ -0 .5
~
~ -0.55
...
.(1.6 soo 1000 1500 2000 2500 3000 3500 4000 4500 5000
Frequency{Hz)

-0.65 (b)
.(I·~';;.3--1;-'.3;'5---;'1.4-;---;1c';.4"S----:1;';.5;----;1.~5S'----;1"
.• --;-'1.•;;;S---}
1.7
Time(sl Figure 8: THD of stator current for (a) Two level inverter (b) DCMLI
(b)

564 2016 IEEE Region 10 Conference (TENCON) - Proceedings ofthe International Conference
 VI. CONCLUSION
In this paper vector control strategy for DFIG based wind
energy conversion system is studied. The performance of the
WECS with DCMLI is improved by reducing torque ripples.
Active power and reactive power has been controlled
independently with conventional two level inverter the voltage
waveforms contain large harmonie distortions. Implementing
MLI improves voltage THD and its current waveform more
sinusoidal thus improves the integration to grid.
TABLE [I.
DFlG RATINGS AND PARAMETERS
[12] Aware M.V, Kothari, A.G, Choube S.O, "Application of Adaptive Neuro
Fuzzy Controller (ANFlS) For Voltage Source Inverter Fed Induction
Motor Drive," The Third [nternational Proceedings of Power Electronics
and Motion Control Conference (WEMC 2000), voJ.2 , pp.935-939, August
2000.
[13] R V Jacomini, C M Rocha, J A T AJtuna, J LAcue, "Implementation ofa
Neuro-Fuzzy direct torque and reactive power control for DFlM ," IEEE
40" Conference of lndustrial Electronics Society (IECON 20 I4), pp.648-
654, October 20 I 4.
[14] A Kusagur, S.F. Kodad, B V. Sankar Ram, "Modeling, design &
simulation of an Adaptive Neuro Fuzzy [nference System (ANF[S) for
speed control of induction motor," [nternational Journal of Computer
Applications, voJ.6, no. I 2, pp.29-44, September 20 I O.

Parameters Values Adopted

Nominal Power (VA) 2 *10"

Grid frequency (Hz) 50
Nominal voltage (L-L) (V) 690
Stator resistance (pu) .03513
Stator inductance (pu) .04586
Rotor resistance (pu) .03488
Rotor inductance (pu) .04586
Mutual inductance (pu) 1.352
Friction factor (pu) 0
Pole pairs 2

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20161EEE Region 10 Conference (TENCON) - Proceedings ofthe International Conference 565