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Control Strategy for Harmonic Elimination in Stand-Alone DFIG Applications

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Article in IEEE Transactions on Power Electronics · September 2011

DOI: 10.1109/TPEL.2011.2123921

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2662
Control Strategy for Harmonic Elimination
in Stand-Alone DFIG Applications With
Nonlinear Loads
Van-Tung Phan, Member, IEEE, and Hong-Hee Lee, Member, IEEE
Abstract—This paper proposes a new control strategy of effective
fifth and seventh harmonic elimination in the stator output voltage
at the point of common coupling for a stand-alone doubly fed induc-
tion generator (DFIG) feeding a three-phase diode rectifier. This
load regularly causes such harmonic distortions, which harmfully
affect the performance of other loads connected to the DFIG. In
order to allow the DFIG to deliver a pure sinusoidal stator output
voltage, these harmonics must be rejected. The proposed elimina-
tion method is investigated based on the rotor current controller
employing a proportional integral and a resonant controller, which
is implemented in the fundamental reference frame. In this frame,
both positive seventh and negative fifth voltage harmonic can be
eliminated by using only single resonant compensator tuned at six
multiples of synchronous frequency in the rotor current controller.
The control scheme is developed in the rotor-side converter for the
control and operation of the DFIG. Simulations and experimental
results with 2.2-kW DFIG feeding a nonlinear load are shown to
verify prominent features of the proposed control method.
Index Terms—Doubly fed induction generator (DFIG), nonlin-
ear loads, resonant controller, stand-alone system, wind turbine
system.
NOMENCLATURE
vs , vr Induced stator voltage and rotor voltage.
vP Stator output voltage at the point of common
coupling.
vN S The nonlinear voltage drop on the internal
stator impedance.
Vdc DC-link voltage.
is , ir , im s Stator current, rotor current, and stator
magnetizing current.
λs , λr Stator and rotor fluxes.
Ls , Lr , Lm Stator, rotor, and mutual inductances.
R s , Rr Stator and rotor resistences.
ωs , ωr , ωsl Synchronous, rotational rotor, and slip speeds.
θs , θr , θsl Synchronous, rotational rotor, and slip angles.
σ Total leakage factor.
d/dt, Δ Differential operator and error value.
Manuscript received August 9, 2010; revised September 7, 2010 and
December 17, 2010; accepted February 28, 2011. Date of current version
September 16, 2011. Recommended for publication by Associate Editor
Z. Chen.
V.-T. Phan is with the School of Electrical and Electronics Engineer-
ing, Nanyang Technological University, 639–798 Singapore (e-mail: vtphan@
ntu.edu.sg).
H.-H. Lee is with the School of Electrical Engineering, University of Ulsan,
Ulsan 680-749, Korea (e-mail: hhlee@mail.ulsan.ac.kr).
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TPEL.2011.2123921
0885-8993/$26.00 © 2011 IEEE
IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 26, NO. 9, SEPTEMBER 2011
Superscripts
1, 5, 7 Fundamental synchronous, fifth, and seventh
reference frames.
∗ Reference values.
Subscripts
d, q Synchronous rotating d–q axes.
s, r Stator, rotor.
a, b, c Stationary three-phase axes.
1, 5, 7 Fundamental, fifth, and seventh sequence
components.
I. INTRODUCTION
HE doubly fed induction generator (DFIG) has been
T widely used in variable-speed wind energy conversion sys-
tems over the past decade. One of the most prominent advan-
tages of the DFIG is that the power converter to operate the
control scheme only handles a fraction of the machine nominal
power. The DFIG can be used in either the grid [1]–[11] or the
stand-alone mode [5], [12]–[19].
The majority of research interests related to DFIG systems
in the literature have concentrated on the grid-connected wind
power applications. In this case, the control scheme and opera-
tion of the DFIG are mainly focused on modeling of DFIG [20],
active and reactive power control [2], [7], [11], ride-through ca-
pability [3], [6], and compensation of unbalanced network [2],
[7], [11], [13]. However, in order to assess the full potential of
the DFIG, control strategies of the stand-alone operation mode
should be investigated because the control performance under
such condition is so sensitive to control schemes, unbalanced
or nonlinear loads, and harmonic distortions. Among them, un-
balanced and nonlinear loads have a strong influence on the
performance of stand-alone configurations. Taking into account
unbalanced loads in stand-alone mode of the DFIG, authors
in [13]–[15] proposed appropriate algorithms to compensate for
unbalanced output voltages. The control of a DFIG based on the
load-side converter (LSC) for unbalanced operation was intro-
duced for stand-alone applications in [13], but no modifications
were applied to the rotor-side converter (RSC). In [14] and [15],
an improved control strategy using a PI–resonant controller
(PI–R) in the RSC was proposed in the positive rotating ref-
erence frame to eliminate the stator voltage imbalance.
The nonlinear load under consideration is the three-phase
six-pulse diode rectifier that has been widely used in power
converters and ac machine drives with dc-link voltage. The typ-
ical characteristic of this load type is causing the nonlinear
PHAN AND LEE: CONTROL STRATEGY FOR HARMONIC ELIMINATION IN STAND-ALONE DFIG APPLICATIONS WITH NONLINEAR LOADS
current with high THD factor. Due to the effect of this
nonlinear current, the stator output voltage of the DFIG at
the point of common coupling (PCC) becomes a nonsinusoidal
waveform with odd harmonics 6n ± 1 (n = 1, 2,. . .) multi-
ples of the fundamental frequency ωs , which directly deterio-
rates the performance of other loads connected to the generator.
Therefore, it is necessary to improve the quality of stator output
voltages of the DFIG by rejecting low order voltage harmonic
components, i.e., fifth and seventh harmonics that are the most
severe ones. In [16], the effect of harmonics of the auxiliary
diode rectifier load on the control system in a stand-alone DFIG
was investigated, but no compensation of harmonics and design
of an LC filter were shown. A control scheme with an LC output
filter was designed to remove harmonics due to the influence of
nonlinear load for the DFIG in aircraft applications [17]. How-
ever, the installation of an LC filter at the stator side had many
drawbacks such as resonance and parameters tuning problem in
which the latter disadvantage was depending on the impedance
of the generator. In [18], a proposed direct method to control
output voltage for a DFIG in stand-alone operation was intro-
duced. However, in tests with the nonlinear load, no specific
algorithm to compensate harmonic components was mentioned
in this paper. Meanwhile, a novel and simple sensorless control
scheme for a stand-alone DFIG generation system was intro-
duced in [19] where the active power filter theory was adopted in
the LSC to reduce harmonic components. Therefore, the control
algorithm had to be implemented in both the RSC and the LSC.
The controller structures of studies mentioned earlier have
been developed based on commonly used proportional-integral
(PI) controllers that are simple and effective in use. However, it
has disadvantages of steady-state errors in amplitude and phase
when regulating the ac quantities due to the negative sequence
or harmonic components. To overcome this drawback, the res-
onant controller is considered as a promising solution, and the
proportional plus resonant regulators have been proposed in the
literature for the current control at the fundamental frequency
for pulse-width modulation (PWM) inverters [21]–[23] and se-
lective harmonic frequencies for active power filter applica-
tions [24], [25]. With high gain at the resonant frequency, these
controllers are capable of completely eliminating the steady-
state control error at the selected frequency. Each specific com-
pensator is tuned at the selective harmonic frequency in its
reference frame to eliminate the respective harmonic. How-
ever, most of voltage or current controllers in [21]–[25] have
been realized in the stationary reference frame, requiring a large
number of resonant compensators. In addition, there have been
no researches that exploit the resonant compensator to eliminate
harmonics in DFIG applications.
Based on the aforementioned research motivations, this
paper develops a new control scheme implemented in the
fundamental reference frame to eliminate selective fifth and
seventh voltage harmonics at the PCC for a stand-alone DFIG
with nonlinear loads. In this frame, both these harmonics be-
come the same order sixth harmonics. These harmonic compo-
nents are then eliminated based on the rotor current controller
employing a proportional integral and a resonant controller
(PI–R). The novelty of the proposed development is that a single
2663
Fig. 1. Typical stand-alone DFIG configuration with a nonlinear load.
resonant compensator of the rotor current controller is capable
of eliminating one pair of both seventh positive and fifth neg-
ative harmonics in the stator voltage at the PCC. Therefore,
the number of resonant compensators is reduced to a half com-
pared with the case implemented in the stationary frame, which
considerably simplifies complexity for the control scheme. The
paper is organized as follows. Section II describes the harmonic
problem caused by the nonlinear load in the DFIG. Voltage
control loops realized in respective harmonics frames to elim-
inate fifth and seventh voltage harmonics and a rotor current
reference generation strategy are also shown in this section.
Section III discusses the proposed PI–R rotor current controller
in details whereas simulations and experimental results with
2.2-kW DFIG are presented in Section IV. Finally, Section V
draws the conclusion.
II. PROPOSED HARMONIC COMPENSATION METHOD
A. Harmonic Problem in Stand-Alone DFIG
Fig. 1 shows the general configuration of a stand-alone DFIG
with a nonlinear load, which is three-phase diode bridge rectifier
supplying a dc load. As mentioned earlier, under such nonlinear
load type, there have been voltage harmonic components that are
multiples 6n ± 1 (n = 1, 2, . . .) of the fundamental frequency
ωs of the stator voltage. These harmonics seriously deteriorate
the quality of stator voltage of the DFIG and directly affect
the performance of other loads connected to the DFIG. The
main reason to produce these harmonics is the effect of the
nonlinear current iN drawn by the nonlinear load. Therefore, the
elimination of these harmonics is an essential task to improve
the voltage quality at the PCC.
Fig. 2 shows the connection interface between the DFIG and
different load types connected to the PCC. Rs and Ls are the
stator resistance and the stator inductance of the DFIG and are
considered as the internal impedance of the DFIG. As seen, the
presence of nonlinear loads directly causes distortions for the
stator voltage vp at the PCC, which harmfully affect other loads
connected to this point of the DFIG. This can be explained that
the nonlinear load current iN leads to a nonlinear voltage drop
vN S on the internal stator impedance including the fundamen-
tal and harmonic components, and the voltage at the PCC is
2664 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 26, NO. 9, SEPTEMBER 2011

this frame, dynamic equations of the DFIG can be expressed as

dλ1sdq
1
vsdq = Rs i1sdq + + jωs λ1sdq (5)
dt

dλ1r dq
vr1dq = Rr i1r dq + + j(ωs − ωr )λ1r dq (6)
dt

λ1sdq = Ls i1sdq + Lm i1r dq (7)

Fig. 2. Connection interface between the DFIG and different load types. λ1r dq = Lr i1r dq + Lm i1sdq . (8)
From (5)–(8), the rotor voltage in the fundamental reference
determined as frame can be determined as
dis di1r dq Lm dλ1sdq
vP = vs − vN S = vs − Rs is − Ls . (1) vr1dq = Rr i1r dq + σLr +
dt dt Ls dt
 
Lm 1
Taking into account both the fundamental and harmonic com-
1
+ jωsl λsdq + σLr i1r dq (9)
Ls
ponents, (1) yields
⎛ ⎞ where σ = 1 − (L2m /Lr Ls ), ωsl 1
= ωs − ωr .
    In stand-alone DFIG applications, the magnetizing current
dis1 dish ⎠
vP = vs − Rs is1 −Ls − ⎝R s ish +Ls im s is supplied directly from the RSC by a d-axis rotor current.
dt dt
h= 1 h= 1 The equations used to express the dynamic response and the
(2) steady state of the magnetizing current are given as
where the fundamental voltage at the PCC is
dim s (1 + σs ) 1
τs + im s = i1r d1 + vsd1
dis1 dt Rs
vP 1 = vs − Rs is1 − Ls (3)
dt im s = i1r d1 + (1 + σs ) i1sd1 (10)
and the voltage distortion due to harmonic components is deter-
where τs = Ls /Rs and σs = Ls /Lm − 1 are the electrical time
mined as
constant of stator circuit and stator leakage factor, respectively.
⎛ ⎞
  dish As evidenced by (10), the induced stator voltage, which is
vP h = − ⎝ R s ish + Ls ⎠. (4) controlled by the stator magnetizing current, can be directly
dt regulated from the direct rotor current i1r d1 in the fundamen-
h= 1 h= 1
tal reference frame. The output of the PI controller for voltage
Accordingly, despite sinusoidal stator output voltage vs , the magnitude regulation is the d-axis fundamental sequence com-
voltage at the PCC is a distorted waveform due to the nonsinu- ponent of the reference rotor current. The reference q-axis rotor
soidal voltage component vN S . To produce a sinusoidal voltage current can be regulated according to the q-axis stator current
vP , a compensation method with an LC passive filter placed on as (11) in order to force the fundamental reference frame along
the stator side was developed in [17] and [18]. the vector of stator flux
Generally, a stand-alone DFIG system can be controlled by ∗ Ls 1
inverter systems in order to produce a desired output voltage to i1r q = − i . (11)
Lm sq
eliminate harmonics mentioned earlier. This paper deals with
harmonic elimination method for the DFIG, which is based on Once the control condition in (11) is satisfied, the stator flux
the PI–R controller in the RSC. The purpose of this proposed vector is aligned to the d-axis reference frame. Then, the fre-
controller is to generate a proper voltage waveform vs in order quency control loop of the DFIG can be obtained. In stand-alone
to compensate the nonlinear voltage drop vN S . As a result, a DFIG, the stator flux angle θs∗ of the reference frame can be
pure sinusoidal voltage waveform can be produced at the PCC obtained from a free-running integral of the stator frequency
without a passive filter. demand ωs∗ (60 Hz), given as

θs∗ = ωs∗ dt. (12)

B. DFIG Model in the Fundamental Rotating Frame
The control and operation of the DFIG under the nonlin-
ear load is developed based on the induction machine dynamic
model in the fundamental synchronous reference frame where
the stator flux-oriented vector control strategy is performed. In
This angle is combined with the rotational rotor angle to de-
termine the slip frequency of rotor current to be used for the
demodulation of the reference voltage between the fundamen-
tal and rotor reference frames. It means that the frequency of
PHAN AND LEE: CONTROL STRATEGY FOR HARMONIC ELIMINATION IN STAND-ALONE DFIG APPLICATIONS WITH NONLINEAR LOADS
Fig. 3. Vector diagram representing the relationship between different refer-
ence frames.
the rotor current is controlled according to the rotor speed, and
hence a constant frequency of the stator output voltage can be
obtained.
In order to investigate the DFIG under the nonlinear load,
a vector diagram for both the positive and negative reference
frame is used and shown in Fig. 3. This figure shows the relation-
ship between a stator stationary frame αs βs , a rotor frame αr βr
rotating with an angular speed ωr , the fundamental synchronous
reference frame dq 1 , a positive seventh harmonic frame dq 7 ro-
tating with an angular speed 7ωs , and a negative fifth harmonic
frame dq 5 rotating with an angular speed −5ωs . The vector F
stands for voltage, current, torque, and flux of the generator. Ac-
cording to this figure, the relationship of the vector F between
different frames is illustrated as follows:
5
Fdq = Fα s β s ej 5ω s t
7
Fdq = Fα s β s e−j 7ω s t . (13)
In addition, the vector F can be expressed in the fundamental
reference frame with their respective the fundamental, fifth, and
seventh sequence components, given as
1 1 1 1
Fdq = Fdq 1 + Fdq 5 + Fdq 7
1 5 −j 6ω s t 7 j 6ω s t
= Fdq 1 + Fdq 5 e + Fdq 7e . (14)
As seen in (14), a control variable in the fundamental rotating
frame under a nonlinear load condition consists of both dc and
ac components. If a control variable is the rotor current, it is
possible to use the PI–R controller to regulate the rotor current
to reject harmonics in the stator output voltage. This relation
was addressed in (10).
C. Proposed Method for Voltage Harmonic Rejection
and Reference Rotor Current Generation Strategy
As analyzed in Section II-A, the control scheme is respon-
sible for producing a proper induced voltage vs to compensate
the nonlinear voltage drop vN S . In order to do this task, the
positive seventh and the negative fifth harmonic sequence com-
ponents, i.e., vP7 dq 7 and vP5 dq 5 , in the stator voltage at the PCC
2665
Fig. 4. PI controllers used to eliminate the stator voltage harmonic components
at the PCC.
must be detected and compensated. First, four bandpass filters
are used to extract the fifth and seventh harmonic components
from the measured stator voltage vP . These filters have the
task to remove all different frequency voltage components but
the selective fifth and seventh ones. Second, these harmonic
voltages are transformed to their harmonic reference frames ro-
tating at the rotating frequency 7ωs and −5ωs to obtain their
dc quantities vP7 dq 7 and vP5 dq 5 , respectively. Finally, to elim-
inate these selective harmonics in vP totally, four PI voltage
controllers are adopted in which the reference values are set
zero, as seen in Fig. 4. The outputs of these controllers are the
reference harmonic sequence components of rotor currents, i.e.,
∗ ∗
i5r dq 5 and i7r dq 7 . Once these reference rotor currents are regulated
adequately by the proposed current controller, a corresponding
proper induced stator voltage vs will be generated to satisfy the
desired control target.
The proposed PI–R current controller is used to precisely
track the reference rotor currents, which are determined based
∗ ∗ ∗
on six dc rotor current components, i.e., i1r dq 1 , i5r dq 5 , and i7r dq 7 ,
and implemented in the RSC. In order to apply the PI–R current
controller in the fundamental rotating reference frame, these six
reference rotor current values are transformed into coordinates
the fundamental frame using six multiples of the synchronous
angle 6θs . As a result, the reference rotor currents for current
controller are the sum of three voltage controller outputs, deter-
mined as
∗ ∗ ∗ ∗
i1r dq = i1r dq 1 + i1r dq 5 + i1r dq 7
∗ ∗ ∗
= i1r dq 1 + i5r dq 5 e−j 6ω s t + i7r dq 7 ej 6ω s t (15)
where i1r dq 1 is the output of a PI controller for voltage ampli-
tude regulation and is the dc value, as shown in Fig. 5. The two
remaining components are the ac values with the same six mul-
tiples of the synchronous frequency of the generated voltage.
D. Proposed RSC Control Scheme
As mentioned before, the proposed harmonic elimination
method for the DFIG stator output voltage is developed solely in
the RSC. The main idea of the proposed harmonic elimination
method is to generate a pure sinusoidal voltage waveform at the
PCC of a stand-alone DFIG system. This task can be performed
by controlling the proper rotor current in the RSC as shown in
(15). Once high quality stator voltage at the PCC is obtained
with reduced harmonic contents, the performance of other loads
connected to the same PCC will not be affected. Since the pro-
posed control strategy is not dependent on and is not affected
by the control and operation of the LSC, developments on this
converter are out of the scope of this paper. In this case, the
LSC is used conventionally for dc-link voltage regulation only,
2666 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 26, NO. 9, SEPTEMBER 2011

Fig. 5. Block diagram of rotor current control scheme using PI–R controller in the RSC for the DFIG under the nonlinear load.

Fig. 6. Block diagram of conventional vector control scheme for the LSC of the stand-alone DFIG.

which is described in the next section. The proposed block dia-
gram of the RSC in the stand-alone DFIG with the stator voltage
harmonic compensation method is presented in Fig. 5. The con-
trol system consists of a stator voltage control loop and a series
of fundamental and selective harmonic rotor current controllers
in the fundamental reference frame rotating at the synchronous
frequency of the stator voltage. The stator voltage control loop
is implemented by using a PI controller in order to regulate the
voltage magnitude in a stable manner. This control loop mainly
aims to reject the voltage variations due to the effect of elec-
tric loads or speed changes. The fundamental magnitude of the
stator voltage is controlled directly with a given specific com-
mand value vP∗ by adding an external voltage control loop. The
specific magnitude of the measured stator voltage is obtained
from the fundamental sequence components of the measured
voltage signals, given as
vP 1 = (vP1 d1 )2 + (vP1 q 1 )2 . (16)
To determine stator voltage components vP1 dq 1 , a low-pass filter
is used to remove all high frequency harmonics in the measured
stator voltage vP .
PHAN AND LEE: CONTROL STRATEGY FOR HARMONIC ELIMINATION IN STAND-ALONE DFIG APPLICATIONS WITH NONLINEAR LOADS
The reference rotor currents determined in (15) are com-
pared with the respective measured rotor currents, and their
errors are inputs of the PI–R controllers. The outputs of the
PI–R controllers are the reference rotor voltages to control the
RSC. These reference rotor voltages are nonsinusoidal wave-
forms and are compared with a triangular waveform to generate
PWM signals. Simultaneously, the stator voltage vs also be-
comes a proper waveform that compensates the nonlinear volt-
age drop vN S and hence enables the DFIG to deliver a pure
sinusoidal voltage at the PCC. It can be seen in the Fig. 5 that no
decomposition for the positive and negative sequence harmon-
ics of the measured rotor currents is required in the closed-loop
current control. This significantly reduces the control time delay
and improves the performance of control system. The detailed
description of rotor current controller is presented in the follow-
ing sections.
E. LSC Control Scheme
The LSC control scheme in this paper is responsible for the
dc-link voltage regulation. In [19], a proposed control method
developed in the LSC to compensate harmonic of the stator
current was already presented comprehensively. In this paper, a
new development for voltage harmonic rejection has been de-
veloped based on the RSC. Therefore, this section just briefly
describes the control scheme of the LSC without special con-
trol efforts employed for harmonics compensation. For more
detailed description of control and operation of the LSC, it can
be referred to [13], [19]. The vector control scheme adopts the
rotating reference frame aligned along the stator voltage vec-
tor. Fig. 6 shows the block diagram of the conventional LSC
for a stand-alone DFIG system. The active and reactive power
between the PCC and the LSC can be independently controlled
by controlling the line current iL . The d-axis current iL d is used
to control the dc-link voltage irrespective of the power flow di-
rection through the rotor side whereas the q-axis iL q is used to
control the reactive power. The reference voltage for the LSC
can be expressed by
 
Ki
vL∗ d = − Kp + (i∗L d − iL d ) + ωs LiL q + vP d (17)
s
 
∗ Ki
vL q = − K p + i∗L q − iL q − ωs LiL d (18)
s
where Kp and Ki are the proportional and integral gain of PI
current controllers. L is the line inductance.
III. IMPROVED ROTOR CURRENT CONROL
USING PI–R CONTROLLER
A. PI–R Controller in the Fundamental Reference Frame
Once obtaining the reference rotor currents in the funda-
mental reference frame in (15), they are controlled to achieve
the control target, i.e., eliminating fifth and seventh harmon-
ics in the stator voltage. It should be noted that decompos-
ing the positive and the negative sequence components of the
control variables with a filter causes more time delays due to
2667
Fig. 7. Proposed PI–R rotor current controller.
computational complexity and hence degrades the performance
of control system. The decomposition process of measured rotor
currents can be practically implemented by digital bandpass or
low-pass filters. Under the nonlinear load condition, the con-
trol system for a DFIG must be precisely controlled in either
the transient process or the steady state. Therefore, the fact that
decomposes control signals in inner current control loops sig-
nificantly degrades the system stability and overall efficiency.
To improve the accuracy of the control system, the PI–R con-
troller applied to the RSC of the DFIG is employed in this paper.
A closed-loop current control scheme in the RSC is described
in Fig. 7. In the fundamental reference frame, the fundamental
components become dc quantities, whereas the positive seventh
and negative fifth sequence harmonics become ac quantities,
which have the same six multiples of the synchronous frequency.
By adopting the PI–R controller in this frame, it is possible to
regulate both of components in which the dc value is controlled
by the PI controller and the ac value is controlled by the resonant
compensator. One of the most important features of the reso-
nant compensator is that it is capable of sufficiently tracking the
ac reference current and, therefore, can eliminate steady-state
control variable errors at the chosen (resonant) frequencies. The
open-loop transfer function of the proposed PI–R current con-
troller is expressed in both the ideal (19a) and nonideal (19b)
cases
Ki Kr s
Go (s) = Kp + + 2 (19a)
s s + (±6ωs )2
Go (s) = Kp +
Ki
+ 2
Kr ω c s
(19b)
s s + 2ωc s + (±6ωs )2
where Kp is the proportional gain that has the same function
in the PI controller, Kr denotes the resonant gain that provides
the infinite gain for ac component tracking, ωc is the cutoff
frequency, and ωs = 2.π.60 (rd/s) is the synchronous frequency
of the stator output voltage. The ideal resonant transfer function
with infinite gain sometimes causes instability due to limited
accuracy in the digital implementation. Therefore, the nonideal
transfer function (19b) can be used instead of (19a) in practical
cases. According to [22], the gain of the nonideal PI–R controller
becomes finite, but it is still relatively high to guarantee zero
steady- state errors. This characteristic will be described by the
Bode plot in Section III-C.
According to Fig. 7, the closed-loop transfer function of
the control scheme based on the nonideal open-loop transfer
2668 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 26, NO. 9, SEPTEMBER 2011

function and the load model is determined as shown (20), at the transfer function of the control scheme can be expressed in
bottom of this page. relation to the rotor current input and output as follows:

B. Choosing Current Controller Gains i1r dq (s) Go (s)L(s)

Gc (s) = 1 ∗ =
ir dq (s) 1 + Go (s)L(s)
Designing the controller gains for the PI–R is not straightfor-
ward task when the order of compensators is high. As mentioned M (s)
earlier, the current controller design is implemented based on the = (24)
(σLr s + Rr ) s (s2 + ω02 ) + M (s)
Naslin polynomial technique and is used to determine the con-
troller gains, which was introduced in [26]. The characteristic where
polynomial of the closed-loop transfer function in (20) is 1
2
L(s) =
P (s) = (σLr s + Rr ) s s + 2ωc s + ω02 (σLr s + Rr )

+ Kp s s2 + 2ωc s + ω02 M (s) = Kp s s2 + ω02 + Ki s2 + ω02 + Kr s2 .

+ Ki s2 + 2ωc s + ω02 + Kr s2 (21) Substituting s = ±j6ωs into (24), we can see that the fre-
quency response of the closed-loop transfer function at the posi-
where ω0 = 6ωs is the resonant frequency of the PI–R
tive resonant frequency 6ωs and the negative resonant frequency
controller.
−6ωs are equal to 1, and similarly the phase errors at such fre-
The parameters of the controller are computed based on the
quencies are also equal to 0 as computed in (25). This means
fourth-order Naslin polynomial
  that good performance of the control system can be obtained
s s2 s3 s4 with unity gains and zero-phase errors at different resonant
N (s) = a0 1 + + + 3 3 + 6 4 (22)
ωn αωn2 α ωn α ωn frequencies.

where α = 4ξ 2 is the characteristic ratio where ξ is the damping Gc (s)|s=±j 6ω s

factor, a0 is the coefficient, and ωn is the Naslin frequency.
From these quantities, matching the coefficients for (21) and M (±j6ωs )
= =1
(22) gives controller gains to be used in the proposed current (±j6ωs σLr + Rr ) × (±j6ωs ) × 0 + M (±j6ωs )
controller (25a)
α6 ωn4 α6 ωn3 − α3 ω02 ωn + 2ωc ω02  Gc (s)|s=±j 6ω s = 0. (25b)
2 =
ω0 2ωc
It is concluded that the proposed controller can precisely reg-
Kp = σLr α3 ωn − Rr − 2ωc σLr
ulate the rotor current with zero steady-state error at a specific
σLr α6 ωn4 resonant frequency ±6ωs regardless of the effect of the genera-
Ki =
ω02 tor parameters Rr and σLr .
To evaluate the possibility of rejecting the effect of load dis-
σLr
Kr = ω 2 α5 ωn2 − ω02 − α6 ωn4 turbances, the transfer function from Er1dq to the controlled rotor
ωc ω02 0
 current i1r dq is determined as (26). The value Er1dq represents
−2ωc ω02 α3 ωn − 2ωc . (23) unknown quantities equivalent to the disturbances caused by the
rotor back-electromagnetic force (EMF).
According to [18], the characteristic ratio of the Naslin poly-
nomial is generally chosen to be α = 2 with respect to the i1r dq (s) L(s)
damping factor ξ = 0.7. Thus, the appropriate gains of the pro- Qc (s) = =
1
Er dq (s) 1 − L(s)Go (s)
posed current controller can be calculated as (23) where the
cutoff frequency ωc value of 7 rad/s is chosen in practical im- s s2 + ω02
plementation according to [22]. = . (26)
(σLr s + Rr ) s (s2 + ω02 ) − M (s)

C. Analysis of the PI–R Controller Performance
In order to determine if the proposed controller effectively
guarantees zero steady-state error, an analytical investigation
regarding its frequency response in a closed-loop system is
employed. For the sake of simplification, the ideal open-loop
transfer function (19a) is adopted in this case. The closed-loop
Likewise, substituting s = ±j6ωs into (26), yielding
Qc (±j6ωs ) = 0.
At all resonant frequencies, the value of transfer function Qc (s)
is always zero regardless of the generator parameters. This in-
dicates that the proposed control scheme is capable of rejecting

Kp s s2 + 2ωc s + ω02 + Ki s2 + 2ωc s + ω02 + Kr s2

Gc (s) = . (20)
(σLr s + Rr ) s (s2 + 2ωc s + ω02 ) + Kp s (s2 + 2ωc s + ω02 ) + Ki (s2 + 2ωc s + ω02 ) + Kr s2
PHAN AND LEE: CONTROL STRATEGY FOR HARMONIC ELIMINATION IN STAND-ALONE DFIG APPLICATIONS WITH NONLINEAR LOADS 2669

Fig. 8. Bode plot of the open-loop transfer functions of PI and PI–R.

Fig. 9. Bode plot of the closed-loop transfer functions of PI and PI–R.

completely the influence of disturbances from rotor side. Con-
sequently, the effectiveness and stability of the proposed PI–R 
where the voltages vr1dq are the outputs of the PI–R controller
controller in the fundamental reference frame are proved com-
and are determined as
prehensively.
 ∗
To further analyze the performance of PI–R controller graph- vr1dq = Go (s)(i1r dq − i1r dq )
ically, the Bode plots of the open-loop and closed-loop transfer  
functions in (19b) and (20) are shown. The controller gains used Ki Kr ω c s ∗
= Kp + + 2 (i1r dq − i1r dq ).
for the Bode plots are calculated according to (23). For the pur- s s + 2ωc s + (±6ωs )2
pose of comparing, Fig. 8 describes the magnitude and phase (28)
characteristics of the open loop transfer functions for both the
PI controller and the PI–R with respect to different values of the In order to improve the decoupling effect between the dq
resonant gain Kr . Among them, the value Kr = 12 000, which components of the rotor currents, the disturbances of rotor back-
is calculated from (23), is used in the control system. The large EMF Er1dq are added in (28), and hence the rotor control voltages
gain obtained at the resonant frequency of the PI–R controller of (27) become (29) and (30), respectively.
ensures that the steady-state errors in the rotor currents can be ∗ 
vr1d = σLr vr1d + Rr i1r d − ωsl
1
σLr i1r q (29)
completely eliminated. It can be seen that the selection of differ-  
ent resonant gain values affects the gain and phase margins, and ∗  Lm 1
vr1q = σLr vr1q + Rr i1r q + ωsl
1
σLr i1r d + λsd . (30)
the dynamic response of the control system with the resonant Ls
compensator is totally robust. As illustrated in Fig. 8, a low Kr
gives a very narrow bandwidth, whereas a high Kr leads to larger Because the modulation index of the doubly fed induction ma-
bandwidth. Fig. 9 shows the Bode diagram of the closed-loop chine must be performed in the rotor reference frame, these rotor
transfer functions of the PI–R current controller compared with control voltages have to be transformed from the fundamental
the conventional PI controller. As shown in Fig. 9, the proposed reference frame to the rotor reference frame. This transformation
1
current controller with the resonant controller provides more ac- is performed using the positive angle slip θsl in the fundamental
curate control with the characteristics of unity gain (0 dB) and reference frame.
zero-phase error at the resonant frequency. This result strongly
confirms the theoretical analysis in (25). In contrast, the control IV. SIMULATION RESULTS
bandwidth of the PI controller is not sufficient to regulate at the In order to verify the performance and effectiveness of the
same resonant frequencies. Consequently, the PI–R controller is proposed control method, both simulations and experiments are
the best solution to effectively regulate the rotor current of the carried out with a DFIG under nonlinear load conditions. The
DFIG that contains the harmonic rejection components. simulation is performed using PSIM software. The machine pa-
rameters are shown in Appendix. The rotor speed of the DFIG
is adjusted by a dc motor that has a role of the prime mover. The
D. Calculation of Reference Rotor Voltage for the RSC
∗
controller gains defined in (23) are used in both simulations and
According to Fig. 7, the rotor control voltages vr1dq for the experimental implementation. The stator-phase voltage magni-
RSC are calculated by tude is controlled at 300 V.
First, to investigate the harmonic problem on the DFIG
∗ 
vr1dq = σLr vr1dq + Er1dq (27) system, a test without harmonic compensation method is
2670 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 26, NO. 9, SEPTEMBER 2011

Fig. 10. Distorted voltages at the PCC without harmonic compensation method and the nonlinear load currents.

Fig. 11. Voltage waveforms at the PCC after compensation and their harmonic spectrum. (a) Stator voltages after compensation. (b) Harmonics spectrum of the
voltage.

performed. Fig. 10 shows the performance of the stator output
voltages and load currents under the nonlinear load condition
without the compensation method. Due to the effect of the non-
linear load current, the stator voltages at the PCC are distorted
with presence of fifth and seventh harmonics as analyzed before.
With the proposed compensation method using the PI–R con-
troller, the DFIG effectively produces a pure sinusoidal stator
output voltage as seen in Fig. 11(a). It can be observed from the
harmonic spectrum of induced stator voltage vP in Fig. 11(b)
that fifth and seventh harmonic components are totally removed.
Fig. 12(a) shows the steady-state tracking performance of the
rotor current with the proposed PI–R controller. According to
(15), the reference rotor current in the fundamental frame is
composed of both dc and ac components. The frequency of this
ac component is 360 Hz. As seen, the measured rotor current
i1r d is well regulated to follow the reference value in order to
PHAN AND LEE: CONTROL STRATEGY FOR HARMONIC ELIMINATION IN STAND-ALONE DFIG APPLICATIONS WITH NONLINEAR LOADS 2671

Fig. 12. Rotor current regulating performance with the PI–R controller. (a) Reference and measured direct rotor current, the compensated stator voltage vP a ,
and nonlinear load current v N a . (b) Frequency spectrum of dq rotor current in the fundamental frame.

compensate the stator voltage harmonics. The zero steady-state

error of the rotor current can be obtained with the proposed PI–R
current controller. As mentioned earlier, the resonant frequency
of PI–R controller is tuned at the six multiples of synchronous
frequency, which can be seen in Fig. 12(b). The sinusoidal volt-
age at the PCC after compensation and the nonlinear load current
are also shown in this figure.
Fig. 13 shows the measured rotor-phase current with the pro-
posed control algorithm. Because the rotor current i1r dq includes
the harmonic injection components, the measured rotor-phase
currents become distorted waveforms. These currents will in-
duce a proper stator output voltage vs in the DFIG in order to
compensate the effect of nonlinear voltage drop vN S . As a re-
sult, a sinusoidal voltage waveform can be produced at the PCC
as seen in Fig. 11.
Fig. 13. Steady state performance of three-phase rotor currents and voltage at
the PCC.

V. EXPERIMENTAL VERIFICATIONS
To confirm the simulated results, the experimental imple- DFIG system and Fig. 15 shows the configuration of the experi-
mentation was carried out with the DFIG using the same con- mental setup in laboratory. The system is composed of a 2.2-kW
trol strategies. Fig. 14 shows the detailed structure of proposed DFIG, rotated by a dc motor that is emulated as a prime mover
2672
Fig. 14. Block diagram of proposed DFIG system.
Fig. 15. Configuration of the experimental setup.
with the speed control. The stator output voltage is connected
to the three-phase diode rectifier to supply a resistance load
with rated power of 1.5 kW and is controlled at 125 V which is
smaller than the control value in simulations due to limited load
rating used. The rotor speed is maintained at the constant value
for tests. The RSC and LSC are fed by an insulated gate bipolar
transistor (IGBT)-based PWM inverter in which the switching
frequency is 10 kHz. The system is controlled by two individual
controller boards of DSP TMS320F28335 of Texas Instruments.
As seen in Fig. 14, the proposed control scheme is composed
of the RSC and the LSC. Here, the LSC is connected to the
stator terminals via a transformer to match two voltage levels
between the PCC and dc-link voltage. The LSC is responsible
for supplying a desired dc-link voltage to feed the RSC while
the RSC is capable of rejecting harmonic components of the
stator voltage at the PCC. In addition, a Y-connected filtering
capacitor C (50 μF each phase) is equipped with the stator
terminals for the following functions: 1) reducing stator output
voltage ripples; 2) providing a part of excitation current for
the DFIG; 3) filtering high frequency components produced by
the rotor PWM inverter due to the commutation noise. Three
inductors L (2 mH each phase) are connected between the LSC
and the PCC.
Fig. 16 shows the same results with simulations to evaluate
the effect of the nonlinear load on the quality of the stator
IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 26, NO. 9, SEPTEMBER 2011
Fig. 16. Stator voltage at the PCC and load current without harmonic com-
pensation method.
Fig. 17. Stator voltage at the PCC and load current with the proposed harmonic
compensation method.
voltage at the PCC. Without the compensation method, these
voltage waveforms become nonsinusoidal due to the presence
of harmonics. It can be observed that very good agreement with
respect to voltage waveform can be achieved with the simulated
and experimental results. Fig. 17 shows the sinusoidal stator
voltage at the PCC after rejecting fifth and seventh harmonic
components totally. Therefore, the nonlinear load connected to
the DFIG with the proposed PI–R controller has no effect on the
performance of other loads at the PCC. The quality of the supply
voltage is significantly improved. In Figs. 16 and 17, the fast
Fourier transform analysis of the PCC voltage with and without
compensation method is also shown to verify good performance
of the PI–R controller.
The performance of the PI–R controller when regulating the
rotor current to achieve the control target is shown in Fig. 18.
This figure displays the d-axis rotor current tracking perfor-
mance, the nonlinear load current, and the output voltage. The
performance of the q-axis rotor current in the fundamental frame
is also the same but is not shown here due to space limitation.
The frequency of d-axis rotor current is six multiples of the
synchronous stator voltage frequency as analyzed previously.
Considering error between the reference and measured rotor
direct current Δi1r d , it is seen that the adequate and accurate
control for the current controller can be achieved with the PI–R
PHAN AND LEE: CONTROL STRATEGY FOR HARMONIC ELIMINATION IN STAND-ALONE DFIG APPLICATIONS WITH NONLINEAR LOADS
Fig. 18. Steady state performance of the proposed PI–R controller with the
∗
harmonic compensation strategy: reference i1r d and measured d-axis rotor cur-
rent (25 A), stator voltage at the PCC after compensation v P a , and the nonlinear
load current iN a .
Fig. 19. Steady state performance of the conventional PI controller with the
∗
harmonic compensation strategy: reference i1r d and measured d-axis rotor cur-
rent (25 A), stator voltage at the PCC after compensation v P a , and the nonlinear
load current iN a .
compensator. Once the rotor current is well regulated, the out-
put voltage at the PCC becomes sinusoidal without harmonics
as indicated. The same test is performed with the conventional
PI controller without the resonant regulator to regulate the same
reference rotor current in Fig. 19. Based on the nonzero steady-
state error of the rotor current, it is concluded that the conven-
tional PI controller is not able to result precise and adequate
control, and high performance due to its insufficient bandwidth
at the selected frequency. As a result, the corresponding voltage
at the PCC is not fully compensated, as seen in Fig. 19. There-
fore, the proposed PI–R controller offers the better performance
for the DFIG system under such load conditions.
Fig. 20 shows the steady-state performance of three-phase
rotor currents with the use of the proposed control algorithm.
These measured rotor currents have ripples due to the harmonic
rejection components, which are detected from the stator volt-
2673
Fig. 20. Three-phase rotor current response with the proposed control algo-
rithm and the voltage v P a .
Fig. 21. Dynamic performance of the rotor current with the rotor speed
variations.
age harmonic controllers and are injected into the reference
rotor current values. The sinusoidal voltage after compensation,
which is measured at the PCC, is also shown in this figure. In
addition, the proposed method is also applicable to variable-
speed DFIG wind turbines. Fig. 21 shows dynamic response of
the three-phase rotor current when the rotor speed of the DFIG
changes from 1100 r/min (subsynchronous speed) to 1300 r/min
(supersynchronous speed). This result shows that the proposed
control scheme is totally robust to the rotor speed variations even
through the synchronous speed point. In all cases, the experi-
mental results match with the simulated results using the same
control strategy. Consequently, the feasibility of the proposed
control scheme in harmonic rejection for the DFIG systems is
clearly verified.
Fig. 22 shows the experimental waveforms of relationship be-
tween the stator current, the load current, and the line current of
the LSC. As seen, with a conventional vector control scheme for
the LSC without harmonic compensation for the nonlinear load
current, the phase line current iL a is the sinusoidal waveform.
Meanwhile, the stator current isa becomes distorted due to the
nonlinear load current iN a caused by the nonlinear load. The
nonsinusoidal stator current can be compensated by injecting a
proper line current in the LSC as presented in [13] and [19].
2674
Fig. 22. Experimental waveforms of the stator current is a , load current iN a ,
and line current iL a of the LSC.
However, this paper has not concentrated on this control target
as mentioned before.
VI. CONCLUSION
The effect of nonlinear loads on the quality of the stator out-
put voltage at the PCC in the stand-alone DFIG is investigated
clearly in this paper. To improve the PCC voltage quality, a
new fundamental reference frame control scheme for fifth and
seventh voltage harmonics elimination is proposed. The pro-
posed harmonics elimination method is developed based on the
PI–R rotor current controller implemented in the fundamental
frame. The PI–R controller in this frame has the possibility of
eliminating both seventh positive and fifth negative harmonic
components of the stator voltage at the PCC without decompos-
ing the measured rotor current. Both simulations and experimen-
tal results are shown to confirm the feasibility and effectiveness
of the proposed control algorithm. In addition, experimental
tests are also performed with the conventional PI regulator to
compare with the proposed PI–R controller. The obtained re-
sults demonstrate that the proposed control scheme has more
satisfactory performance in harmonic elimination. The control
principle of proposed method can be applied to eliminate 11th,
13th, 17th, 19th. . . voltage harmonic components on the fun-
damental reference frame using the proposed PI–R controller
tuned at 12 and 18 multiples of synchronous frequency.
APPENDIX
DFIG parameters:
Rated power: 2.2 kW
Number of poles: 6
Stator voltage: 440 V/6.5A–60 Hz
Rotor voltage: 40 V/34 A
Rotor resistance: Rr = 0.56 Ω
Stator resistance: Rs = 2.14 Ω
Rotor inductance: Lr = 0.052953 H
IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 26, NO. 9, SEPTEMBER 2011
Stator inductance: Ls = 0.052953 H
Mutual inductance: Lm = 0.04847 H
Nonlinear diode rectifier:
Resistance load: 1.5 kW, 5 A
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Hong-Hee Lee (S’88–M’91) received the B.S., M.S.,
and Ph.D. degrees in electrical engineering from
Seoul National University, Seoul, Korea, in 1980,
1982, and 1990, respectively.
From 1994 to 1995, he was a Visiting Professor
with Texas A&M University. Since 1985, he has been
with the Department of Electrical Engineering, Uni-
versity of Ulsan, Ulsan, Korea, where he is currently
a Professor of School of Electrical Engineering. He is
also the Director of the Network-based Automation
Research Center (NARC), which is sponsored by the
Ministry of Knowledge Economy (MKE). His research interests are power elec-
tronics, network-based motor control, and control networks.
Dr. Lee is the member of Korean Institute of Power Electronics (KIPE), the
Korean Institute of Electrical Engineers (KIEE), and the Institute of Control,
Robotics and Systems (ICROS).

Van-Tung Phan (S’07–M’11) received the M.S. and

Ph.D. degrees in electrical engineering from Univer-
sity of Ulsan, Ulsan, Korea, in 2007 and 2010, re-
spectively.
He is currently a Research Fellow at the School
of Electrical and Electronics Engineering, Nanyang
Technological University, Singapore. He has been in-
volved in industrial projects of Rolls-Royces related
to cooling systems of electric machine used in marine
applications. His current research interests include
magnetocaloric effect, electric machine cooling sys-
tem, and power electronics in the area of renewable energy resources.

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