1
Controller Design for a Wind Turbine System
Including a Matrix Converter
S. M. Barakati, Student Member, IEEE, J.D. Aplevich, Member, IEEE and M. Kazerani, Senior
Member, IEEE
Abstract—The modeling and control design for a grid-
connected wind-energy converter system including a matrix
converter are presented. A nonlinear model is developed
including equations of mechanical aerodynamic conversion, drive
train, matrix converter, and squirrel-cage induction generator.
The model is linearized, and the steady-state and transient
responses of the small-signal model are evaluated and compared
with the nonlinear system. A controller is developed to track the
desired active and reactive powers delivered to the grid. Zero
steady-state error is achieved using integral action with state-
feedback control designed using LQ optimization. Simulations
show that the system outputs follow the references with zero
steady-state errors.
Index Terms- Wind Turbine, matrix converter, dynamic
model, control design, LQ method.
I. INTRODUCTION
W ind turbine systems can be classified as constant-speed
or variable-speed systems and the choice of components
depends on the system type. The constant-speed strategy
involves no control on the turbine shaft speed. However, this
method provides an easy and low-cost solution. The variable-
speed strategy offers advantages over the constant-speed
approach, such as maximum power point tracking capability,
lower mechanical stress, less variation in electrical power, and
reduced acoustical noise at lower wind speeds [1].
A variable-speed wind-turbine configuration including an
induction generator and an improved matrix converter
topology was proposed in [2] by the authors of this paper. A
matrix converter controls the terminal voltage and frequency
of the induction generator so that the wind turbine operates at
its maximum power point. In addition, the matrix converter
implements unity power factor at the interface with the grid.
This system targets small-to-medium power wind turbines.
In order to design a controller for the proposed scheme, a
comprehensive dynamic model is required. This model should
describe aerodynamic power conversion, drive train, matrix
S. M. Barakati is with the Department of Electrical & Computer
Engineering, University of Waterloo, Waterloo, Ontario N2L 3G1, Canada (e-
mail: smbaraka@engmail.uwaterloo.ca).
J.D Aplevich is with the Department of Electrical & Computer Engineering,
University of Waterloo, Waterloo, Ontario N2L 3G1, Canada (e-mail:
aplevich@ece.uwaterloo.ca).
M. Kazerani is with the Department of Electrical & Computer Engineering,
University of Waterloo, Waterloo, Ontario N2L 3G1, Canada (e-mail:
M.Kazerani@ece.uwaterloo.ca).
1-4244-1298-6/07/$25.00 ©2007 IEEE.
converter, and squirrel-cage induction generator. In addition,
for simulation, a model for wind speed should be included.
Various dynamic models for wind turbines with induction
generators and power electronic converters (PECs) have been
investigated by researchers [3], [4]. However, these models
do not employ the matrix converter as the PEC.
The matrix converter has an important function in the
proposed system and a comprehensive model of it must
include all significant features, i.e., control of output voltage,
output frequency, and input displacement power factor.
Reference [5] has developed a dynamic model in dqo frame
based on the application of dyadic matrix converter theory.
Another dynamic model of a matrix converter in dqo frame is
presented in [6], but displacement power factor correction is
not considered.
For the variable-speed operation, various schemes and
control techniques have been proposed. For example, some
models are based on estimating the wind speed in order to
optimize wind turbine operation [7]. Other controllers find the
maximum power for a given wind operation by employing an
elaborate search method [8]. In order to achieve maximum
power, other complicated control methods such as field-
oriented control techniques or the constant voltage/frequency
(V/f) method are used [9].
The aim of this paper is to design a power signal feedback
(PSF) control for a wind energy conversion system (WECS),
as proposed previously [2],[10]. To implement PSF control,
the maximum power curve of the wind turbine is required,
and tracking this curve is possible through the controller.
First, a brief review of the model will be presented.
Second, a small-signal linearized model is obtained. Third, the
simulation results for steady-state and transient operations of
the system are illustrated, for model verification. Fourth, a
state-feedback controller is designed using optimal control.
Finally, the responses of the closed-loop system for step
changes in active and reactive power references are given.
II. SYSTEM CONFIGURATION
The wind turbine system (Fig.1) consists of a wind turbine,
a gearbox, a squirrel-cage induction generator and a matrix
converter [2]. The matrix converter interfaces the induction
generator with the grid and implements a shaft speed control
to achieve maximum power-point tracking at varying wind
velocities. It also performs power factor control at the grid
interface and satisfies Var demand at the induction generator
 2

terminals. To avoid saturation of the induction generator Wind Speed

12
when the stator frequency decreases, the stator terminal

Wind Speed [m/sec]

voltage is also adjusted by the matrix converter using a 10
constant V/f strategy.
8

6
0 5 10 15 20 25 30 35 40
(a) t [s]

10.5

Wind Speed [m/Sec]

10

9.5

Fig. 1. Schematic diagram of the wind turbine system to be modeled 9

0 5 10 15 20 25 30 35 40
(b) t [s]
III. DYNAMIC MODEL OF THE WIND TURBINE SYSTEM
Fig. 2. Wind speed fluctuation: (a) unfiltered, (b) low-pass filtered.
A. Wind Speed Model
The wind model is not a component of the wind turbine It is worth mentioning that the low-pass filtered wind speed
model, but the output power calculation in the wind turbine data can be saved in a memory and used later for simulation,
requires the knowledge of instantaneous wind speed. The instead of using the instantaneous wind speed data and the
low-pass filter dynamic equation.
instantaneous wind speed VW can be described as follows
[11]: B. Aerodynamic Model
The aerodynamic model gives a nonlinear formula for the

∑ A cos(ω t +ψ )
N mechanical torque on the wind-turbine shaft as follows
VW (t ) = VWM + i i i
(1) [2],[12]:
i =0
1
where VWM is the mean value of the wind speed, typically TT = ρ Ar C p ( β , λ ) Vw3 (4)
determined as a 10-minute average value, and Ai and ψ i are 2ωT
the amplitude and random phase angle of the wind speed where Ar is the area covered by the rotor ( Ar = π R 2 , where R
fluctuations at discrete frequency ωi . Fig. 2(a) shows the is turbine rotor radius in m), Vw wind velocity in m/s, Cp
performance coefficient (or power coefficient), ρ air density
simulated waveform of typical wind speed fluctuations over in kg/m3, λ tip-speed-ratio (ωR/Vw), β rotor blade pitch angle
time. A formula for Ai and the related data are given in the in rad, and ωT turbine shaft angular speed in rad/s.
appendix. The power coefficient Cp can be expressed as a function of
For power calculations, the instantaneous wind speed λ and β as follows [2],[3]:
model can be augmented with complex wind effects on the π (λ − 3)
wind turbine blades, including high-frequency damping C p (λ , β ) = (0.44 − 0.0167β ) sin[ ] − 0.00184(λ − 3) β (5)
15 − 0.3β
effects and tower-shadow effects. To approximate the high
frequency damping effect, a low-pass filter with the transfer C. Mechanical Model
function given by (2) can be included in the aerodynamic The mechanical model is essentially a two-mass model of
model [7]: shaft dynamics, consisting of a large mass and a small mass,
1 corresponding to the wind turbine rotor inertia JT and
H= (2)
1 + τs generator inertia JG, respectively [7] (Fig. 3). The low-speed
The filter time-constant τ depends on the turbine radius, shaft is modeled as an inertia, a spring with stiffness
average wind speed at hub height, and the intensity of wind coefficient Ks, and a damper with coefficient B. An ideal gear
turbulence. Fig. 2(b) shows the wind speed after the low-pass box with the gear ratio 1:ngear is included between the low-
filter. speed and high-speed shafts. The drive train converts the
To account for the tower-shadow effect, a periodic torque aerodynamic torque TT on the low-speed shaft to the torque
pulse is added to the output torque of the aerodynamic model. on the high-speed shaft Tgen. The dynamics of the drive train
As a rule of thumb, the magnitude of this torque pulse equals is described by three differential equations, namely:
0.1 p.u., based on the rated torque of the wind turbine, and its
frequency ( f TP ) is [12]: d 1
ωT = [TT − ( K sδθ + Bδω )] (6)
f TP = N × f r (3) dt JT
where N is the number of blades and fr the rotor speed (in d
(δθ ) = δω (7)
Hz). dt
 3

d 1 1 t on ,ij
ωG = [ ( K s δθ + Bδω ) − Tgen )] (8) 0 < d ij (t ) = <1 i = a, b, c j = A, B, C (9)
dt J G n gear TSeq
d aj + d bj + d cj = 1 j = A, B, C
where δθ = θ T − θ G / n gear and δω = ωT − ω G / n gear . The
turbine and generator torques are TT and Tgen in N.m, the SaA

inertias are JT and JG in kg.m2, the angular shaft speeds are ω T SbA
and ω in rad./s, and the shaft angles are θ and θ in rad.
G T G

Side 1 ScA Side 2

The gear ratio is ngear, Ks is the shaft’s mechanical stiffness in frequency: fi frequency: fo
N.m/rad., and B the shaft’s mechanical damping in
SaB
N.m/rad./s. Ri Li i
Ga ia va vA i A Ro Lo

iGb ib SbB vB
vb iB
JT
ScB iC
1 : nGear iGc ic vc vC

TT Ks JG SaC
Aerodynamic

C
vGa vGb vGc SbC vgenC vgenB vgenA
ωT ωG TG
B
ScC
Tshaft n N

Low-speed Gear High-speed Generator Fig. 4. Schematic diagram of a conventional matrix converter.
shaft box Shaft

Fig. 3. A complete mechanical model of the wind Turbine shaft

where t on ,ij is the on-period of switch Sij in a switching
IV. MATRIX CONVERTER sequence period. The switching function matrix S can be
replaced by matrix D given by (10), where the elements are
A. Matrix Converter Topology
the low-frequency components of the S matrix.

Fig.4 shows a schematic diagram of a conventional matrix

⎡ d aA d bA d cA ⎤
converter that interfaces two different AC systems. In the
wind turbine system under study, the three-phase utility D = ⎢ d aB d bB d cB ⎥ (10)
⎢ ⎥
system and squirrel-cage induction generator represent the ⎢
⎣d aC d bC d cC ⎥⎦
input and output sides with nominal frequencies ωi and ωo , The sinusoidal input voltages and output currents of the
respectively. matrix converter can be given by:

B. Dynamic Model of Matrix Converter ⎡ cos(ω i t ) ⎤ ⎡ cos(ω o t + ϕ o ) ⎤

, (11)
A switching strategy can be chosen so that the output vi = Vim ⎢⎢cos(ω i t − 2π / 3)⎥⎥ i o = I om ⎢⎢cos(ω o t + ϕ o − 2π / 3)⎥⎥
voltages have nearly sinusoidal waveforms at the desired ⎢⎣cos(ω i t + 2π / 3)⎥⎦ ⎢⎣cos(ω o t + ϕ o + 2π / 3) ⎥⎦
frequency, magnitude and phase angle, and the input currents
are nearly sinusoidal at the desired displacement power factor.
where ϕo is the output current phase angle. The modulation
The modeling of the matrix converter starts with the
definitions of a switching function, corresponding to the problem is to find matrix D so that the desired output voltage
matrix converter switches, and an instantaneous switching and input current vectors are obtained as shown below, and
function matrix (or transfer matrix) [5],[13]. The transfer the constraints given by (9) are satisfied:
matrix relates instantaneous values of input and output
quantities. ⎡ cos(ωo t + α o ) ⎤
⎢
v o = D ⋅ vi = qVim ⎢cos(ωo t + α o − 2π / 3)⎥⎥ (12)
C. Low- Frequency Transfer Matrix
⎣cos(ω o t + α o + 2π
⎢ / 3)⎥⎦
Assuming that the switching frequency is sufficiently high,
the switching functions can be replaced by their low- ⎡ cos(ωi t + ϕ i ) ⎤
⎢
frequency components (or local average values) as far as the ii = D .i =
T
I im ⎢cos(ωi t + ϕ i − 2π / 3) ⎥⎥ (13)
fundamental components of the voltages and currents are ⎢cos(ω i t + ϕ i + 2π
⎣ / 3) ⎦⎥
concerned. The switching functions can then be replaced by
In these formulas, α o is the output voltage phase angle, ϕ i
the ‘duty cycles’ of the corresponding switches. The
definition of duty cycle and its constraints are: the input displacement angle, q the output-to-input voltage
gain, and DT is the transpose of matrix D. It has been shown
that the following low-frequency transfer matrix is one
solution [5],[13]:
 4

D = D1 + D2 (14)
where ⎡ 0 ωo 0⎤
d
⎡ 1+ 2qcos(θs1) 1+ 2qcos(θs1 − 2π /3) 1+ 2qcos(θs1 + 2π /3)⎤ v dqogen + RO i dqoO + LO (i dqoO ) + Lo ⎢⎢ − ω o 0 0⎥⎥i dqoO
dt (17)
a ⎢
1+ 2qcos(θs1 −2π /3)⎥⎥
⎢⎣ 0 0 0⎥⎦
D1 = ⎢1+ 2qcos(θs1 + 2π /3) 1+ 2qcos(θs1)
3 ⎡ ω ⎤
⎣1+ 2qcos(θs1 − 2π / 3) 1+ 2qcos(θs1 + 2π / 3)
⎢ 1+ 2qcos(θs1) ⎥⎦ i
⎢ 0 0
d D 2a − 1 ⎥ D
= v dqoG
D
− R I i dqoG
D
− LI (i dqoG ) − Li ⎢ − ω i ( 2 a − 1) 0 0⎥ i dqoG
dt ⎢ ⎥
⎡ 1+2qcos(θs2) 1+2qcos(θs2 −2π/3) 1+2qcos(θs2 +2π/3)⎤ ⎢ 0 0 0⎥
1−a ⎢ ⎣⎢ ⎦⎥
D2 = 1+2qcos(θs2 −2π/3) 1+2qcos(θs2 +2π/3) 1+2qcos(θs2) ⎥⎥
3 ⎢ ⎡ ωi ⎤
⎢⎣1+2qcos(θs2 +2π/3) 1+2qcos(θs2) 1+2qcos(θs2 −2π/3)⎥⎦ 0 0
⎢ 2a − 1 ⎥
d ⎢ (18)
D
iqdoC = CI (vqdoO ) + C − ωi (2a − 1) 0 0⎥ vqdoO
dt ⎢ ⎥
and where θ s1 = ωi t − (ωo t + α o ) and θ s 2 = ωi t + (ωot + α o ) . ⎢ 0 0 0⎥
The parameter a (0 ≤ a ≤ 1) is used to adjust input ⎣⎢ ⎦⎥

displacement power factor according to the formula:

The superscript D shows the input quantities transferred to the
output-frequency frame. The quantities ωo and ωi are the
DPFin = cos{tan −1 [(1 − 2a ) tan(cos −1 ( DPFout ))]} (15)
generator and grid frequencies in rad./sec, respectively,
v dqogen and idqoO denote the generator voltages and currents in
where DPFin and DPFout are the input and output
D D
displacement power factors, respectively. In order to get a the dqo frame, respectively, vdqoG and idqoG are the grid
unity displacement power factor at the matrix converter input voltages and currents in the dqo output-frame frequency,
terminals, the parameter a should be set to 0.5 . However, respectively, vdqoO is the output voltages of the matrix
since the objective is to have a unity power factor at the utility D
converter terminal in the dqo frame, idqoC shows the capacitor
grid terminals, the matrix converter must operate at a > 0.5 .
currents in the dqo output-frequency frame, RI=diag{Ri, Ri,
Ri}, LI=diag{Li, Li, Li} , CI=diag{C, C, C}, RO=diag{Ro, Ro,
D. DQO-Frame Equations Referred to Output Side Ro}, and LO=diag{Lo, Lo, Lo}. It is worth mentioning that in a
The matrix converter contains no energy-storage elements, balanced three-phase system the o-axis voltages and currents
and thus, has no dynamics. However, the impedances of are zero.
connecting lines and input filters should be considered in a
complete dynamic model. As shown in Fig. 4, the two circuits V. SQUIRREL-CAGE INDUCTION GENERATOR
connected to the input and output terminals of the matrix
A commonly-used induction machine model is based on
converter are operated at two different frequencies. To
the flux linkages [14]. The machine is described by four
establish an overall model for the system under study, the
differential equations in the dq frame as follows:
variables (voltages and currents) should be transferred to a
common frequency frame. In this work, all quantities are
dψ qs
referred to the output frequency frame. In order to transfer the = C1ψ qs − ω eψ ds + C 2ψ qr + ωb v qs
quantities fa, fb, and fc, from the abc frame to a new frequency dt
frame αβγ , one can write [5],[6]: dψ ds
= ω eψ qs + C1ψ ds + C 2ψ dr + ω b v ds
dt
dψ qr
D
fαβγ = Dfabc (16) = C3ψ qs + C 4ψ qr − (ω e − ω r )ψ dr (19)
dt
D
= [ fαD f βD f γD ]T , and f abc = [ f a f c ]T . To dψ dr
where fαβγ fb = C 3ψ ds + (ω e − ω r )ψ qr + C 4ψ dr
dt
obtain a state-space model for the system, the first step is to where
develop the voltage and current equations in the input-frame r x * ml r x * ml , r x * ml ,
frequency, and then, transfer them to the output frame. In the C1 = ωb s ( − 1) , C 2 = ωb s C3 = ωb r
xls xls xls xlr xlr xls
second step, in order to convert time-varying abc quantities to
rr x * ml −1 −1 −1 −1
− 1) , xml = ( xm + xls + xlr )
*
quantities with time-invariant steady-state values, the C 4 = ωb (
equations obtained in the first step should be transferred to a xlr xlr
dqo reference frame rotating at the angular frequency ω o of The quantities ψ ds , ψ qs , ψ dr and ψ qr are d-axis and q-axis
the system on the output side. Using the abc-dqo stator and rotor flux linkages, rr and rs rotor and stator
transformation matrix [5],[6], the voltage and current resistances, Xls ( = ω e Lls ) and Xlr (= ω e Llr ) stator and rotor
equations in the dqo, obtained using a symbolic algebra leakage reactances, Xm (= ω e Lm ) magnetization reactance, ωe
program, can be written as follows: and ωb stator and base electrical angular speeds, and ω r
 5

rotor electrical angular speed. In
electromechanical torque of the machine is:
Tgen = C5 (ψ drψ qs −ψ qrψ ds )
* responses to step changes in some input variables, i.e.,
where C = 3 P 1 x ml .
5
2 2 ωb xls xlr
VI. COMPLETE DYNAMIC MODEL
The complete dynamic model of the wind turbine system
contains eleven nonlinear equations (excluding wind model):
three, given by (6)-(8), for the turbine and shafts, four, given
by (17) and (18), for the matrix converter in balanced three-
phase operation, and four, given by (19), for the induction
machine. The model is characterized by six inputs u , two
outputs y , and eleven state variables x , as shown in Fig. 5.
addition, the uncontrollable disturbance input, and the pitch angle is taken
to be a stall control against wind gusts.
The dynamic behavior of the model can be investigated by
(20) simulating its step responses. In the following, dynamic
frequency (with V/f= const.) and parameter a, are presented.
In each set of results, the responses of the nonlinear model,
linear model, and the reduced-order model are presented.
Fig. 6 shows the response of the three models of the
system to a step decrease of 1 Hz (6.28 rad./sec) in the output
frequency and a step decrease of 0.0083 in the voltage gain of
the matrix converter. Also, system responses to a step change
in a are illustrated in Fig. 7. In all cases, the output closely
follows the changes in the reference values. Furthermore, the
results show strong coupling between the inputs ωe and a and
the outputs P and Q, respectively.

D
iqG Step Response of the Active Power for ∆ w =-6.28 & ∆ q=-0.0083
e
200
ωe D
idG
v qo 0
q

P [KWat]
v do PGrid
a ψ qs Nonlinear-SYS
ψ ds -200
αo Linear-SYS
ψ qr Reduced-SYS
VW ψ dr QGrid -400
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7
ωG t[Sec]
β
δθ Step Response of the Reactive Power for ∆ w =-6.28 & ∆ q=-0.0083
e
ωT -50
Q [KVar]

Inputs u States x Outputs y

-100

Fig. 5 Inputs, state variables and outputs of the model.

-150
Out of the six inputs, four are adjustable control variables 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7
t[Sec]
of the matrix converter, one is pitch angle of the turbine
blades, and one is the wind velocity disturbance. The active Fig. 6. System response to a step change in frequency and voltage gain.

and reactive powers injected into the grid are treated as output
Step Response of the Active Power for ∆ a=-0.02
variables for the model. -50

VII. SMALL-SIGNAL ANALYSIS

P [KWat]

-100
Nonlinear-SYS
For small-signal analysis, the nonlinear dynamic equations
Linear-SYS
of the model must be linearized at an operating point. The Reduced-SYS
parameters of the system under study are given in the -150
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7
appendix. This linear model can then be employed for small- t[Sec]
signal analysis and controller design. The gramian method Step Response of the Reactive Power for ∆ a=-0.02
-80
with enforced DC gain matching method [15] has been used
-90
to reduce the order of the model from eleven to nine.
Q [KVar]

-100
VIII. SIMULATION RESULTS FOR THE DYNAMIC SYSTEM -110

The objective here is to study the behavior of the output -120

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7
variables of the system, i.e., active and reactive powers t[Sec]
injected into the utility grid, in response to variations of the Fig. 7. System responses to a step change in a.
input variables of both the linear and nonlinear models.
Among the input variables, we concentrate on the electrical IX. STATE-FEEDBACK CONTROLLER WITH INTEGRAL CONTROL
input variables of the model related to the set-points of the
matrix converter, i.e., output angular speed (ωe), voltage gain
This section presents the design of a closed-loop control
system based on the state-space equations of the wind turbine
(q), parameter a related to input DPF, and phase angle of the
system. The model has the input vector u = [ωe a ]T , output
output voltage (αo). The wind velocity (Vw) is an
 6

vector y = [ PGrid QGrid ]T , and eleven state variables. Note that where K = [ K1 K 2 ] .
due to implementing a constant V/f strategy for the induction
generator the voltage gain (q) is a function of the input ωe. X. OPTIMAL CONTROL
The objective of the controller is to track an output power Linear quadratic (LQ) method is a well-known design
reference signal. In this analysis, the desired active and technique that provides state-feedback gains [15]-[17]. The
reactive powers delivered to the grid are selected as the main benefit of the LQ approach is that the decision about
references, i.e., y ref = [ Pref Qref ]T . The tracking error is desired pole locations is replaced by a more intuitive decision
defined as e = y − yref . In order to guarantee zero steady- involving the choice of two matrices R and Q.
The cost function leading to design of an LQ controller is
state error, integral action must be present in the controller. defined based on the states and inputs as follows:
A state-feedback integral controller includes both the ∞
integrator (I/s) and feedback matrices K1 and K2, as illustrated J (u ) = ∫ x(t )T Q x(t ) + u T (t ) R u (t ) dt (24)
in Fig. 8. In the figure, the matrices A, B, C, and D are the 0
Jacobian matrices that have been calculated for the linearized where Q and R are symmetrical matrices satisfying Q ≥ 0
model. The variable z is the integral of the tracking error. The and R > 0 . The state x(t) and input signal (control signal)
matrix K =[K1, K2] is to be designed. As long as a controller u(t) are penalized by the cost function.
can be designed to make the system stable, tracking of step Designing an LQ optimal controller for the system of Fig. 8
reference signals y ref (t ) by the output signal y (t ) is means determining the gain matrix K in (23), to result in an
optimal stabilizing controller. The K matrix can be calculated
guaranteed, with no steady-state error.
from the following formula:
O utput R efe rence
State-S pace M odel y ref ~
o f the S ystem K = R −1 B T P (25)
where P is a unique symmetrical positive semi-definite
u x = Ax + Bu y
& - z& I solution of the algebraic Riccati equation:
z
y =C x +Du s
~ ~ ~ ~
x A T P + PA T − PB R −1 B T P + Q = 0 (26)
- K1 By tuning Q and R, one can specify the penalization of each
element of the state vector and each input signal, and change
- K2
the value of the closed-loop eigenvalues.
Fig. 8. The state-space model of the system with an integrator and the state- A. An LQ Controller Design for the Wind Turbine System
feedback controller.
The common practice is to choose diagonal Q and R
matrices. With a diagonal Q matrix, the ith element of the
A state-space model for the plant augmented with the
matrix Q can be assigned as a weight to penalize the ith
integrator is given as follows:
component of the state matrix. Meanwhile, if it is desired to
d ~ ~~ ~ ~
x = A x + B u + Br yref (21) have a small input signal, the diagonal terms of the R matrix
dt must be increased.
⎡ x ⎤ ~ ⎡ A 0⎤ ~ ⎡ B ⎤ ~ ⎡ 0 ⎤ The open-loop system is asymptotically stable, while the
where, ~
x = ⎢ ⎥, A=⎢ ⎥ , B = ⎢ ⎥ , Br = ⎢ ⎥ , and augmented system has two poles at the origin. The augmented
⎣z ⎦ ⎣C 0⎦ ⎣ D⎦ ⎣− I ⎦ system is completely controllable and is therefore stabilizable
I is an identity matrix. as required for an optimal solution. The elements of the Q
Adding the state-feedback equation to the augmented plant matrix should be chosen so that the matrices A and Q are
equations, the closed-loop state-space model is described as detectable pair as required for an optimal solution, after which
follows: the entries of Q and R can be adjusted to obtain satisfactory
d ~ ~ ~ ~ transients. It may also be convenient to transform the system
x = AC x + BC yref
dt (22) to Real Schur form [15],[16] by a change of basis x = U x ′
~ ~ ~
y = CC ~
x so that A′ = U −1 AU is block upper-triangular. This
where transformation simplifies the choice of entries of Q to obtain
the desired transients, and results in a state feedback matrix K'
~ ⎡ A − BK1 − BK 2 ⎤ ~ ⎡ 0 ⎤
AC = ⎢ ⎥ , BC = ⎢ ⎥, (Fig. 9).
⎣C − DK1 − DK 2 ⎦ ⎣− I ⎦ u ~ ~
A′ B′ y
~
CC = [C − DK1 − DK 2 ]
~ ~
C ′ D′
The input signal u is: x′
u = −K ~
x (23) K′ z
 7

Fig.9 Realization of the system using the Schur form.
The required state feedback in the oriental coordinates is
then
factor at the interface with the grid. A comprehensive model
of the matrix converter has been developed to control the
Step Response of the Active Pow er for ∆ P=1[KW]
2
1

u = K ′x ′ = K ′U x −1
(27)
0
P out
Pr ef

As an example, Fig. 10 shows the displacement of the two

P [KWat]
poles at the origin as a function of the last two elements of the -1

matrix Q, labeled Q1 and Q2. In the following simulations the

-2
matrix R is as follows:
⎡0.01 0 ⎤ -3

R=⎢
⎣ 0 1000⎥⎦ -4
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
a)
and the poles at the origin have been moved to -9.438 and -
77.985. 0

∆ω [rad/sec]
-5

e
-10
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8

-5
x 10
1

∆a
0.5

0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
b) t[Sec]

Fig.11 Step response to 1 kW step change in a) active power b) control signals.

Step Response of the Re active Pow er for ∆ Q=-5[KVar]
5

0 Qout
Qr ef

Fig.10 Displacement of unstable poles versus the last elements of Q matrix. -5

Q[KVar]

B. Step response of the closed-loop system

-10
In this section, the response to step changes in the power
reference signals are shown. Fig. 11 and Fig.12 show the -15
responses of the system to 1 kW and 5 kVar step changes in
the active and reactive power references, respectively. The -20
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
corresponding input control signals are also illustrated. As a)

seen in Figs. 11 and 12, the system outputs follow the 0

references with zero steady-state errors. The control signals in
∆ω [rad/sec]

Fig. 11 show that the frequency control signal strongly affects -2

the active power, while the input power factor signal is almost
e

-4

constant during real power change. On the other hand, the

-6
output reactive power variation, illustrated in Fig. 12, is more 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8

sensitive to the variations of input power factor control signal. 0

The large overshoot in the active power variation is due to -0.005

fact that the variations of frequency signal has been made -0.01
∆a

-0.015
proportional to variations in voltage gain in the constant V/f -0.02
control strategy. -0.025
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
b) t[Sec]

XI. CONCLUSIONS
The modeling and preliminary control design for a wind
energy conversion scheme with an induction generator and a
matrix converter are presented. The matrix converter controls
the terminal voltage (magnitude and angle) and frequency of
the induction generator, as well as the displacement power
Fig.12 Step response to 5 kVar step change in a) reactive power b) input signals.
output voltage, output frequency, and input displacement
power factor. The overall model is realized by eleven
nonlinear equations. A reduced-order linear model is
developed and examined by evaluating the response to the
input variations. The simulation results reveal that this model
 8

is an accurate approximation to the nonlinear model. A XIII. APPENDIX

closed-loop controller based on the state-space linear model is Wind Model
designed. The controller implements state feedback with
integral control. The LQ proves to be simple and effective for Amplitude formula: Ai (ωi ) = 2 1 [S(ωi ) + S(ωi+1)][ωi+1 − ωi ]
adjusting the parameters of the closed-loop controller. The π 2
simulation results verify that the system outputs follow the where S (ωi ) is the spectral density function
references with zero steady-state errors. In addition, the L ωL 5
S (ω i ) = (0.475σ 2 ) /[1 + ( i ) 2 ] 6
injected active and reactive powers are made more sensitive to VW VW
frequency control signal and input displacement power factor VW=10 [m/s], L=180 [m], σ = 2.
control signal, respectively. Implementing constant V/f Parameters of the System
strategy for the induction generator results in more Wind Turbine: JT=100 [kg.m2], Ks=2×106 [Nm/rad],
complexity in the dynamic responses of the system. B=5×103 [Nm/rad/s], ngear=20, ρair =1.25[kg/m3], R=10 [m].
Matrix Converter and Grid: Ri=Ro=0.1[Ω], li=llo=1 [mH],
XII. REFERENCES C=0.1[mF], VG=4[kV], fe=60[Hz], q=0.5, a=0.6, α0=0, VW=
10[m/s], β=0.
[1] P.Bauer, S.W.H. de Haan, and M.R.Dubois, "Windenergy and Offshore Induction Generator: rs=0.262, Xls=1.206, XM=54.02,
Windparks: State of the Art and Trend", EPE-PEMC Dubrovnik & Xlr=1.206, rr=0.187 all in ohms, J=11.87[Kg.m2], P=4[Poles].
Cavat, 2002, pp ??.
[2] S.M. Barakati, M. Kazerani, and X. Chen “A New Wind Turbine
Generation System Based on Matrix Converter”, in Proc. IEEE PES
XIV. BIOGRAPHIES
General Meeting, June 2005, pp.2083-2089.
[3] E. S. Adin and W. Xu, " Contol Design and Dynamic Performance S. Masoud Barakati (S’2004) received the
Analysis of a Wind Turbine-Induction Genrator Unit", IEEE Trans. On B.Eng. and M. Eng. degrees from
Energy Conversion, Vol. 15, NO. 1, MARCH 2000,pp 91-96. Mashhad University, Mashhad, and
[4] T. Petru and T. Thiringer, " Modeling of Wind Turbines for Power Tabriz University, Tabiz, Iran, in
System Studies ", IEEE Trans. On Power System, Vol. 17, NO. 4, NOV. 1993 and 1996, respectively. From
2002,pp 1132-1139. 1996 to 2003, he was with the
[5] B. T. Ooi, M. Kazerani, "Application of dyadic matrix converter theory Department of Electrical Engineering
at S&B University, Iran, as a
in conceptual design of dual field vector and displacement factor lecturer. He is presently a PhD
controls", in Proc. IEEE Industry Applications Society Annual Meeting student in the Department of
Vol. 2, Oct. 1994, pp 903-910 Electrical and Computer Engineering at the University
[6] H. Nikkhajoei, A. Tabesh, R. Iravani, "Dynamic model of a matrix of Waterloo, Waterloo, Ontario, Canada. His research
converter for controller design and system studies", IEEE Trans. on interests are in the areas of control systems and
Power Delivery, Vol. 21, Issue 2, Apr. 2006, pp. 744 – 754. applications of power electronics.
[7] S. Bhowmik and R.Spee, “Wind speed estimation based variable speed
wind power generation,” Industrial Electronics Society, 1998. IECON Dwight Aplevich received the B.E. Degree
'98, Proc. of the 24th Annual Conf. of the IEEE , vol. 2, 31 Aug.-4 Sept. from the University of Saskatchewan
in 1964, and the Ph.D. from Imperial
1998 pp.596 – 601. College, London in1968. He has a
[8] Q. Wang and L. Chang, “An intelligent maximum power extraction member of the University of Chicago
algorithm for inverter-based variable speed wind turbine systems,” IEEE Committee on Mathematical Biology,
Trans. Power Electronics, vol. 19, Issue: 5, pp. 1242 – 1249, Sept. 2004. and then moved to the University of
[9] W. Lu and B. T. Ooi, "Multiterminal LVDC system for optimal Waterloo,where he is Professor of
acquisition of power in wind-farm using induction generators," IEEE Electrical and Computer Engineering
Trans. On Power Electronics, vol. 17, NO. 4, pp. 558-563, JULY 2002. and Associate Dean of Co-operative
[10] S.M. Barakati, M. Kazerani, and J.D. Aplevich “A Dynamic Model for Education and Professional Affairs.
He has had extended visiting positions at Imperial
a Wind Turbine System Including a Matrix Converter” Accepted at College London, Université Paul Sabatier Toulouse,
IASTED, PES2007, January 2006. Lund University, Ecole Polytechnique de Montréal, the
[11] C. Nichita, D. Luca, B. Dakyo, and E. Ceanga, "Large band simulation University of Texas, Arlington, and the NRC Vancouver
of the wind speed for real time wind turbine simulators," IEEE Trans. on Innovation Centre. His research interests include the
Energy Conversion, Vol. 17, No. 4, Dec. 2002, pp 523 – 529. theory of implicit system models, identification,
[12] J.G. Slootweg, H. Polinder, and W.L. Kling, "Representing Wind computational aspects of control theory, and
Turbine Electrical Generating Systems in Fundamental Frequency applications.
Simulations" IEEE Trans. on Energy Conversion, Vol. 18, No.4, Dec.
2003, pp 516-524. Mehrdad Kazerani (S’88, M’96, SM’02)
received the B.Sc. degree from Shiraz
[13] A. Alesina, M. Venturini, "Solid-state power conversion: A Fourier University, Iran, M. Eng. degree from
analysis approach to generalized transformer synthesis", IEEE Trans. on Concordia University, Montreal,
Circuits and Systems, Vol. 28, Issue 4, Apr 1981, pp 319 – 330. Canada, and Ph.D. degree from McGill
[14] B. Ozpineci, L.M. Tolbert, "Simulink implementation of induction University, Montreal, Canada, in
machine model- a modular approach", in Proc. Electric Machines and 1980, 1990, and 1995, respectively.
Drives Conference, IEMDC'03, Vol. 2, Jun. 2003, pp. 728-734. From 1982 to 1987, he was with the
[15] Control System Toolbox for Use with Matlab, Reference Version 6, Energy Ministry, Iran. He is
www.mathworks.com. presently Associate Professor with
the Department of Electrical and
[16] J. D. Aplevich, "The Essentials of Linear State-Space Systems", New Computer Engineering, University of Waterloo,
York: Wiley, Book company, 1999. Waterloo, Ontario, Canada. His research interests are
[17] D. Davison, "Multivariable Control Systems", Course Notes-Part B, in the areas of power electronic circuits and systems
Published by University of Waterloo, 2005. design, active power filters, matrix converters,
distributed generation, and FACTS.