Rev. Roum. Sci. Techn.– Électrotechn. et Énerg.

Vol. 64, 3, pp. 199–204, Bucarest, 2019

VOLTAGE DIPS EFFECTS DETECTION AND COMPENSATION FOR

DOUBLY-FED INDUCTION GENERATOR BASED WIND ENERGY
CONVERSION SYSTEM
SAMIR ABDELMALEK1, SARAH REZAZI2, AZZEDDINE BAKDI3, MAAMAR BETTAYEB4

Key words: Fault tolerant control, Voltage dips, Fault detection, Doubly-fed induction generator (DFIG), Lyapunov theory,
Linear matrix inequalities (LMIs) conditions.
Doubly-fed induction generators (DFIGs) are the most widely used types in wind turbine (WT) systems due to their mechanical
reliability and control flexibility. Electrical faults however remain a major concern in DFIGS in which accurate fault detection
(FD) and fault-tolerant control (FTC) of their electrical parts play a crucial role to increase their reliability and availability and
those of the entire wind farms. More particularly, voltage dips (VDs) effects on both the stator and the rotor of a DFIG make it
vulnerable to frequent failures which are undesired in practice. This article therefore introduces a model-based design for
efficient and robust fault detection, identification, and estimation in addition to a compensation control scheme for VDs in
DFIGs. An adaptive proportional integral observer (APIO) is designed for detection and compensation of VDs with a robust
FTC that allows fault-ride-through capability and maintains the stability and smooth operation in DFIG-based wind power
generation. The proposed observer and the fault tolerant controller of the nonlinear DFIG are designed through Lyapunov
theory to ensure sufficient stability conditions described by a system of linear matrix inequalities (LMIs). These designs are then
analysed across various tests for their VDs detection, estimation, and compensation capabilities.

[4]. In general, FTC systems can be classified into two

1. INTRODUCTION different groups: active FTC and passive FTC approaches
Renewable energy sources, since they recently emerged, [5]. For these reasons, many researches in the field of fault
experienced rapidly growing demands and remarkably detection and accommodation of such systems with VDs
increasing installations with peak capacities during the last dips have been presented in the scientific literature in the
years. Among these, the wind energy power source is last years. It has been pointed out that there exist three
becoming the most widely used in various power plant different types of tasks in the field of FD and FTC of
applications such as water pumping systems for rural areas, nonlinear systems, such as (1) fault detection, (2) fault
charging batteries, public electricity, and many other identification and estimation, and (3) fault reconfiguration,
applications. In modern wind farms, the majority of wind as shown in Fig.1.
turbine systems rely on the DFIG-based design of wind
energy conversion system (WECS) to flexibly achieve a
variable rotor speed that allows for efficient and smooth
power generation over varying wind-speed conditions and
also to increase safety and avoid mechanical failures. Minor
advantages of DFIG-based design of WECS also include
flexible control of wind power generation with a high
power-size ratio and less mechanical maintenance as well
as lower costs [1]. These generators, however, during their
operation can be influenced by different kind of faults such
as, current sensor faults, voltage dips [2, 3]. Fig. 1 – Important steps for fault detection, identification and
reconfiguration.
Electrical faults however remain serious concern in those
designs. Voltage dips are severe faults that frequently cause The leading task consists of rapid detection of anomalous
serious failures due to the increased stator current which behaviors and potential faults at their very early stages. The
consequently evolves to increase the dc bus voltage. Such fault detection in this work is based on model-based
electrical failures rapidly spread and affect other system residual generation and evaluation. Given a true detection
components such as the wind turbine, converters, and the alarm, the following task aims at finding the fault location
generator which deteriorates the electrical power generation and causes as well as the determination of its type and
quality. To avoid such high costs and long down time impact followed by its magnitude estimation based on
periods due to repairs, it is important to design a robust and signal reconstruction. A fault tolerant controller is also
efficient FD and FTC systems those are capable for designed in this article for fault compensation using a
detecting and tolerating faults and permits to effective robust control law which tolerates faults effects and
improving the reliability and availability, while offers a maintains the closed-loop system stability during the
perfect performance. These types of control systems are presence of such faults.
well known fault-tolerant control systems, as they offer the The problem of FD and FTC in wind energy sector is a
capability to accommodate component faults automatically major is receiving an increasing attention in theoretical as
1
Faculty of Technology, Department of Electrical Engineering, University of Medea, Algeria; email: samir_aut@yahoo.fr
2
Institute of Science, Department of Process Engineering, Tipaza University Center, Ouade Merzouk 4200, Algeria.
3
Department of Mathematics, University of Oslo, 0851 Oslo, Norway.
4
Department of Electrical and Computer Engineering, University of Sharjah, United Arab Emirates, and Center of Excellence in
Intelligent Engineering Systems (CEIES), King Abdulaziz Univeristy, Jeddah, KSA.
200 Voltage dips effects detection and compensation 2

well as experimental research. The problem of online 2. MODELLING OF DFIG-BASED WECS

monitoring and supervision in power generation system was This section briefly describes the modelling of the
considered in [6] in which some mathematical logic doubly-fed induction generator based wind power
algorithms have been proposed. The same problem of FD generation, as depicted in Fig.2.
focusing on current sensor faults (CSFs) in the stator of a
generator was also considered in [1, 7] where an artificial 2.1. WIND-TURBINE MODEL
Takagi-Sugeno (T-S) fuzzy approach was adopted in [1,
10]. Whereas signal-based approaches, such as [8], are also The model of the wind turbine is described from the
common for the diagnosis of current and voltage sensor following system of equations [1, 3]:
faults, DFIG sensor faults have also been considered in [9].  1 2 3
FTC, on the other hands, is also under continuous  Pt  2 C p (λ,β)1  R V w
development to tolerate sensor faults and to ensure  , (1)
R t
maximization of the power extraction from the DFIG-based  
 Vw
WECs [11 – 13] and some FTC designs aimed for
stabilizing the nonlinear DFIG WT systems are proposed in where ρ1 is the air density, Vw is the wind speed (m/s), Cp
the literature [14, 15]. However, despite the many research (,) is the power coefficient of the turbine,  is the tip
focusing on the detection and the tolerance of sensor faults speed ratio and  is the pitch angle and R is the blade length
which are less severe, very few research items consider the of the turbine. The transmission losses are neglected; the
severe VDs in DFIG-based WECS and this research torque and shaft speeds of the WT referred to the generator
direction remains a challenge that has not been fully side of the gearbox are:
investigated yet. Based on that, the problem of VDs T 
Tg  a and t  mec , (2)
detection and reconfiguration using an APIO-based fault- G G
tolerant controller for a DFIG is introduced in this paper. where Tg is the driving torque of the generator, Ta
The dominant contributions of this work are primarily aerodynamic torque and the shaft speeds t of the wind
motivated by the last fact. The proposed design will turbine. The power coefficient (Cp) is modeled by the
consider voltage dips detection, identification, and following expressions [16–18]:
estimation through an observation of the system’s states  C 5
during normal and faulty situations (voltage dips). The C (, )  C (C 2  C   C )e  i  C 
postposed design permits the controlled system to tolerate  p 1
i
3 4 6
these kinds of faults based on their online estimates.  ,
1 1 0.035 (3)
Furthermore, the effects of the VDs are compensated      0.08  3
through an APIO-based FTC scheme developed for  i 1 
stabilizing the closed-loop system. The overall objective is
to ensure the nominal WT system performances in the where C1 to C6 are constant coefficients given respectively
presence of VDs. Consequently, precise and sufficient by C1 = 0.5176, C2 = 116, C3 = 0.4, C4 = 5, C5 = 21 and C6
stability and robustness conditions are drawn for the = 0.0068. Figure 2 indicates a typical relationship between
designed observer-based FTC. Using Lyapunov theory, Cp and λ in the WECS.
such conditions are formed in terms of linear matrix
inequalities (LMIs). The overall design is afterwards tested
and validated through simulation results which demonstrate
the robustness of the developed strategy and its ability to
ensure accurate VDs detection followed by a safe and
efficient compensation.

Fig. 3 –A typical Cp versus λ.

Figure 3 illustrates that there is an optimal value of λ for

which Cp is maximum (Cp_max= 0.48, λopt= 8.1 for β = 0o)
Fig. 2 – Topology of the system under study.
which corresponds to the maximum power extraction for a
The remaining of this article is structured as follows; The given wind speed.
under-study DFIG is first modelled in Section 2;
followingly, the problem is formulated in Section 3 which 2.2. DFIG DYNAMIC STATE SPACE MODEL
also introduces some preliminaries about the proposed The model of the generator in state space is given as
design for FD and FTC: The last is fully described with follows:
applications in Section 4 followed by analysis for stability  dX (t)
and its conditions in terms of LMIs; Tests and their   A  Ω mec  X (t)  B U (t ) (4)
 dt ,
obtained results are then reported in Section 5 which Y (t )  C X (t )
investigates the key improvements introduced by the
presented design; and finally, concluding remarks are where the system states, measured system inputs and output
drawn in Section 6 with proposals for future works. responses are given respectively as:
 3 Samir Abdelmalek et al. 201

 X   i i i i T as measurement noise and other kinds of uncertainties. In

  αs βs αr βr  this work’s notation, residuals (ri) measure the lack of fit
 T between an actual measured quantity and its respective
U  v αs v βs v αr v βr  . (5) estimate in real time, this generally take the following form:
 r (t )  y (t )  yˆ f (t ). (10)
 Y   i αs i βs  T
   In order to discriminate the true VDs faults from
accounted noise and uncertainties, the evaluation of the
The matrices A(mec) and B are expressed as follows:
residuals is mapped into a hypothesis test problem which is
  RI L2
P  L R I L P  J  based on some thresholds (thi) to allow for the acceptance
 ( s 2 (s  m mec )J ) ( m r 2  m mec )  of noise effects and avoid false alarms. Those thresholds
A   Ls Ls Lr Ls Lr Ls , are properly tuned during fault-free operations. A robust
  L R I L P J I2 P mec 
  ( m s 2  m mec ) ( (s  )J ) alarm is then signaled if and only if a true detection of a VD
(6)
  Ls Lr Lr Lr  
.
fault is flagged. In other words, if the deviation across the
 residuals (ri) is noticeably away from zero above the
  Lm I  1 I 
 L L established threshold (thi).
Ls 
2 2
,C  
1 0 0 0 0 1
B   s r ,J   if r i (t )  thi : nofault
  1 Lm   0 1 0 0 1 0   , (11)
    L I2 L L I 2  if r i (t )  thi : alarm fault
  r s r 
where
3. PROBLEM FORMULATION  r1  i s  iˆs

Under voltage dips, the reference model (4) can be  r2  i s  iˆ s
modeled in the following form:  . (12)
 dX f (t)  r3  i r  iˆr
  A ( mec ) X f (t)  B (U af (t)+f(t)) (7)  ˆ
 dt .  r4  i r  i r
Y f (t)  C X f (t)

where x f (t ) n , y f (t )   p ,u f (t )  p , represent the
faulty state, faulty output vector and the FTC vector,
respectively, f (t )  q represents the VDs.
3.1 ADAPTIVE PROPORTIONAL OBSERVER (APOD)
DESIGN
The first step consists to choose the structure of the
observer based-model, in our case, the observer considered
is of the following form:
3.3 THE PROPOSED SCHEME FOR FD AND FTC
The goal in this work consists to design an FTC capable
to ensure the state convergence of the faulty system xf(t) to
reference state x(t) given in model (4). The proposed
structure for designing FTC law using an APIO is depicted
in Fig. 4.

d  Xˆ f   A ( mec ) B   Xˆ f   K p 
      (Y f -Yˆf )
 dt ˆ
 f   0 0   fˆ   K d  , (9)

Y f = C Xˆ f
Fig. 4 – Fault detection (FD) within a compensation control scheme of
voltage dips based on an APIO.
where xˆ f (t ) n is the estimation of faulty state vector,
The proposed FTC-based APIO law has the following
fˆ (t )  q is the estimated VDs, yˆ (t ) n represents the
f structure:
estimated output. Kp and Kd are, respectively the gain u FTC (t )  u (t )  uc (t )
matrices to be designed for the estimation of the system  , (13)
ˆ
states and faults (VDs). uc (t )  H  ( x (t )  xˆ f (t ))  f (t )
where u(t) the input in nominal function and uc(t) is used to
3.2 RESIDUALS GENERATION FOR FD compensate the fauts (VDs) effects, Hμ(t) is a constant
The deviation of the DFIG-based WECS operation from matrix to be computed.
nominal conditions during disturbances and malfunctions is
effectively measure through some proposed residuals to be 4. MAIN LMIs FOR STABILITY CONDITIONS
presented here. This main focus of this work is the VDs in Let us define the following errors as:
which residual generators are introduced for their detection.
 et (t )   x (t )  x f (t ) 
From a theoretical standpoint, the residuals evaluate to zero  e (t )    x (t )  xˆ (t )  .
during nominal conditions while the larger the deviations of  e   f f  (14)
the system operation from the design conditions are, the  e (t )   ˆ 
 f   f (t )  f (t ) 
larger is deviation of the residuals from zero. However in
Applying (4), (7), (9) and (13), and after some
practice, residual deviations can also be attributed during
simplifications, the dynamics of et(t), ee(t) and ef(t) are
normal conditions to the inaccurate reference model as well
202 Voltage dips effects detection and compensation 4

described respectively by the following equations: 5. SIMULATION RESULTS

det (t) The detection effectiveness and the compensation
 ( A  B H  )et (t )  B H ee (t )  B e f (t ). (15)
dt capability of the proposed APIO-based FTC against VD in
dee (t) DFIG-based WECS are investigated in this section. For fair
 ( A  K pC )ee (t )  B e f (t ). (16) comparison, a DFIG is adopted for the tests using the same
dt
parameters as given by Rothenhagen et al., 2009. For a
de f (t) df (t)
  L i C e f (t ). (17) broader analysis, both of the stator voltages (us) and rotor
dt dt
(uαr) voltages are assumed to be affected by VDs.
The augmented error vector of the closed-loop system is: Consequently, the stator fault fa1 and the rotor fault fa2 have
dE f (t) their respective amplitudes of 0.4 and 0.2. These tests are
 ACL E F (t )  BCL G F . (18)
dt respectively introduced in (us) and (uαr) at the intervals of
and also the augmented state vector of the closed-loop time 0.1s < t < 0.5s and t > 0.55s, respectively.
system takes the following form: reference model faulty system
T
 etT eeT e fT  ,
30
E FT (t ) (19)
  20

with 10

state, I (A)
s
A  B H  B H  B 
0
0 0 0 
  -10

ACL  0 (A  K pC ) B  , BCL  0 0 ,GF

   df (t) 
    -20

 0 Kd C 0  0 I   dt 
 -30
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time (s)
.
At this point, solving for the APIO-based FT controller 20

gains Hμ, Kp and Kd, is crucial to ensure an asymptotic 15

convergence of Ef(t) towards zero given that Gf(t)=0. The 10

state, I (A)

5
proper tuning is then achieved in this work by solving a
s

0
following LMIs using Theorem 1 as follows: -5
Theorem : Given the augmented system in (18). This -10
system is stable with bounded L2 gains for Gf(t) to Ef(t) -15
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
mapping if and only if there exist two matrices P1  n n Time (s)

and P2  ( n  r )( n  r ) satisfying the following LMIs

( m n )
Fig. 5 – The stator currents without and with the presence of VDs.
conditions for the matrices Y  and X 2   n ( n  r )
.
M a A T  A M a  ( B Y )T  ( B Y )  0. (20) reference model faulty system
T T
Aa P2  P2 Aa  ( X 2 C a )  ( X 2 C a )  0. (21) 30

20
Remark: both of P1 and P2 are symmetric and positive
I (A)

definite, such that 10

state, r

M a  P11. (22) 0

H   M a1Y  P1Y ,
-10
(23)
-20
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
K  P21X 2 , (24) Time (s)

where 30

 A E  K p  0 0 
20

 Aa    ,K  ,Ia    10
 0 0  L 0 I 
I (A)

  I 
state, r

 T
. (25) 0
T T
 C  D  B H   -10
C a   0  , Da   0  , E a   
    B
-20
 
-30
The resulting LMIs of eq.(20) and eq.(21) are then solved 0 0.1 0.2 0.3 0.4 0.5
Time (s)
0.6 0.7 0.8 0.9 1

for Ma, Y, P2, and X1 gain matrices through the following

procedure; The Ma gain matrix is first computed using
eq.(22) while the matrix of the FT controller gains Hμ is
computed through eq.(23); K which stands for the APIO
gains is obtained by eq.(24). The state vector xˆf can then be
estimated based on the proposed APIO structure as given in
eq.(7); and consequently, the voltage dips fˆ (t ) are
estimated.
Fig. 6 – The rotor currents without and with the presence of VDs.
The tests are demonstrated in Figs. 5 and 6 which also
show the simulation of the system response. The results of
the stator and the rotor currents during nominal and faulty
situations are depicted. The generated residuals and their
established thresholds are respectively demonstrated in
Figs. 7 and 8 for the two tests.
5 Samir Abdelmalek et al. 203

1.5
Stator residuals stator and rotor currents during the two tests are
1
demonstrated in Figs. 9 and 10. These figures compare the
0.5
r1 th1 compensated system responses during faulty situations to
0
the nominal response of the original uncompensated
-0.5
system. Figures 9 and 10 clearly demonstrate the accuracy
-1
of the observer in estimating the system states under all
0 0.1 0.2 0.3 0.4 0.5
Time (s)
0.6 0.7 0.8 0.9 1
conditions and the effectiveness of the APIO-based VDs
1
detection and FT controller to protect the of the overall
0.5
r2 th2 system with very satisfactory and promising capabilities to
0 ensure a smooth operation of the DFIG system even during
-0.5
stator and rotor VDs.
-1

-1.5
State of reference system State of faulty system with FTC
-2 20
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time (s)

10
Fig. 7 – The residuals (r1 and r2) for fault detection.

state, I (A)
s
0
Rotor residuals
5
r3 th3
4 -10
3

2 -20
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
1 Time (s)

0
30
-1
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time (s) 20

10
state, I (A)

1
r

0
0.5
-10

0 -20

-30
-0.5 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
r4 th4 Time (s)
-1
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time (s)
Fig. 10 – The rotor currents in the nominal case without FTC and faulty
Fig. 8 – The residuals (r3 and r4) for fault detection. case with FTC.

State of reference system State of faulty system with FTC

0.6
30 fault Fault estimation
magnitudes of f (t)

20 0.4
a1

10 0.2
state, Is (A)

0 0

-10
-0.2
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-20 Time (s)

-30 0.5
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 fault Fault estimation
0.4
Time (s)
magnitudes of f (t)

0.3
a2

0.2
15
0.1

10 0

-0.1
5
I (A)

-0.2
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
state, s

0 Time (s)

-5

-10
Fig. 11 – Original voltage dips with their estimations.

-15
0 0.1 0.2 0.3
Fig. 9 – The stator currents in the nominal case without FTC and faulty
case with FTC.
The system response in Figs. 5 and 6 demonstrates that
the stator and the rotor faults in the DFIG system exhibit
changes in both Is and Iαr currents. Consequently, their
corresponding residuals r2 and r3 deviate largely from zero
as shown in Figs. 7 and 8 and exceed their established
thresholds th2 and th3, respectively. These results
demonstrate the effectiveness of the generated residuals and
their evaluation strategy to detect both types of VDs.
The APIO compensated DFIG system responses of the
0.4 0.5
Time (s)
0.6 0.7 0.8 0.9 1
6. CONCLUSION
This article considered robust fault detection,
identification estimation, and fault tolerant control in
DFIGs focusing mainly on electrical faults. In particular,
stator and rotor voltage dips are investigated for DFIG-
based WECS designs. A model-based approach is
developed in this article, the dynamic DFIG system is
modelled to have a reference model for residuals
generation. The proposed design consists of an adaptive
proportional integral observer-based fault detector and fault
tolerant tracking controller. The observer and the controller
designs are tuned solving Lyapunov theory conditions in
204 Voltage dips effects detection and compensation
form of LMIs. The presented design ensures accurate
online estimation of the system states and faults. This
enables fast detection and estimation of various voltage
dips, followed by system reconfiguration to restore the
stability of the DFIG-based WEC and ensure smooth
operation.
The developed APIO was proved effective in
compensating the effects of single and multiple voltage
dips. Those potential applications are demonstrated across
two tests through simulations with benchmark settings.
Extensions of the current design and objectives to sensor
and mechanical faults in wind turbines will be considered in
future works.
APPENDIX A. THEOREM PROOF
In order to prove that augmented system (18) is
quadratically stable, the following Lyapunov function
(V(Ef(t)) is considered for the augmented system (18):
V ( E F (t ))  E F (t )T P E F (t ), P  P T  0. (A.1)
where P is structured as follows:
P 0
P 1 . (A.2)
P2 
0
By differentiating (A.1), one can obtain:
dV (t)
 E F (t )T ( A 0T P  PA 0 ) E F (t )  0. (A.4)
dt
The inequality in (A.4) is satisfied if:
A 0T P  PA 0  0. (A.5)
Therefore, the inequality (A.5) will become:
( A  B H  ) T P1  P1 ( A  B H  )  0. (A.6)
( Aa  K C a )T P2  P2 ( Aa  K C a )  0. (A.7)
By pre- and post-multiplying (A.6) by P11 and with
M a  P11 one can obtain:
M a A T  A M a  ( B H  )T P1  P1 ( B H  )  0. (A.8)
Aa T P2  P2 Aa  ( K C a )T P2  P2 ( K C a )  0. (A.9)
Equations (A.8) and (A.9) are a set of nonlinear matrix
inequalities and for the convenience of design should be
transformed into pure LMIs applying the change of
variables Y = B Hμ and X2 = P2K, the following LMIs are
obtained.
M a A T  A M a  ( B Y )T  ( B Y )  0. (A10)
Aa T P2  P2 Aa  ( X 2 C a )T  ( X 2 C a )  0. (A11)
Solving the LMIs (A.10) and (A.11) yields to find the
matrices values Ma, P2 , Y and X2. Then, the matrices Hμ
and K are computed as follows:
 H   M a1Y  P1Y
(A.12)
 .
1
 K  P2 X 2
APPENDIX B
Rs = 0.12 Ω ,Ls = 49.1 mH, Rr = 0.25 Ω , Lr = 49
mH, Lm = 48 mH; R = 2.5 m.
6
LIST OF ACRONYMS
FD: fault detection;
FTC : fault-tolerant control;
VDs: voltage dips;
T-S : Takagi-Sugeno;
APIO: adaptive proportional integral observer;
DFIG: doubly-fed induction generators;
WECS: wind energy conversion system;
LMIs: linear matrix inequalities;
CSFs: current sensor faults.
Received on May 7, 2017
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