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Energy Reports 9 (2023) 1803–1811

www.elsevier.com/locate/egyr

2022 International Conference on Frontiers of Energy and Environment Engineering, CFEEE

2022, 16–18 December, 2022, Beihai, China

Improved control of dynamic voltage restorer for compensation of

unbalanced and harmonic-distorted grid voltage
Runtao Zhang ∗, Xuekai Hu, Liang Meng, Wen Zhou, Peng Luo, Zifan Li
State Grid Hebei Electric Power Co., Ltd. Electric Power Research Institute, Shijiazhuang 050021, China
Received 29 March 2023; accepted 10 April 2023
Available online 26 April 2023

Abstract
Doubly fed induction generator (DFIG) are vulnerable to unbalanced voltage and harmonic distortion, which will lead to
the heating problem of stator/rotor windings and the damage of gearbox. This paper establishes the transient modeling of the
DFIG under composite unbalanced voltage and harmonic distortion condition, and elaborates the dynamic response of DFIG
from the perspectives of rotor voltage, active power and reactive power under voltage harmonics and unbalance. It also presents
an improved control strategy for a dynamic voltage restorer (DVR) to accurately track the specific voltage harmonics, with
targeted consideration of constraining unbalanced voltage and fifth- and seventh-order voltage harmonics. The extractions of
each voltage signals are presented in this paper via multiple notch filter (MNF), which has a good low-pass characteristic and
an excellent performance in trapping the specific AC signals. The presented notch-filter-based algorithm has the advantages of
simper control structure and faster response speed, and is more accurate in harmonic extraction. A 1.5-MW DFIG has been
employed to establish the object of protection in simulation analysis to verify the validity of the proposed control strategy. The
results show that the proposed control strategy is effective which is consistent with the theoretical model, and the oscillations
of each crucial parameter can be well-suppressed.
© 2023 The Author(s). Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license
(http://creativecommons.org/licenses/by-nc-nd/4.0/).
Peer-review under responsibility of the scientific committee of the 2022 International Conference on Frontiers of Energy and Environment
Engineering, CFEEE 2022.

Keywords: Doubly fed induction generator (DFIG); Dynamic voltage restorer (DVR); Harmonics; Voltage unbalance; Power quality

1. Introduction
Nowadays, various industry loads fed by power-electronic-based equipment make the power grid usually present
the non-ideal characteristics of voltage unbalance and harmonic distortion [1]. In accordance with the specific load
type in the power system, the grid voltage presents different harmonic characteristics, e.g., the grid voltage near the
electromotive traction substation always contains 5th and 7th harmonics, and the grid voltage near the electrolytic
aluminum always contains eleventh- and thirteenth-order harmonics.
∗ Corresponding author.
E-mail address: rtzhang9603@163.com (R. Zhang).

https://doi.org/10.1016/j.egyr.2023.04.113
2352-4847/© 2023 The Author(s). Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license (http:
//creativecommons.org/licenses/by-nc-nd/4.0/).
Peer-review under responsibility of the scientific committee of the 2022 International Conference on Frontiers of Energy and Environment
Engineering, CFEEE 2022.
R. Zhang, X. Hu, L. Meng et al. Energy Reports 9 (2023) 1803–1811

Sensitive loads, such as semiconductor manufacture or doubly fed induction generator (DFIG), are easily affected
by voltage unbalance and harmonic distortion [2,3]. As for the DFIG, the unbalanced voltage and harmonics will
result in huge pulsations of electromagnetic (EM) torque, imbalanced heating of stator and rotor windings, and
aggravation of the mechanical stress impact of DFIG mechanical drive system [4]. It becomes worse when the
existence of the torque, voltage, and current pulsations in DFIG trigger the protection scheme, cutting the DFIG-
based wind energy conversion system (WECS) off the grid and resulting in the damage of the DFIG mechanical drive
system, even power interruption. To prevent the DFIGs being off the grid, standards for harmonics and unbalanced
voltages such as IEEE 519-2014 [5] and IEC 61000-2-2 [6] have specified the minimum withstanding requirements
for DFIG.
From the perspectives of the DFIG, transient responses under unbalanced voltages and harmonics have been
analyzed, and several solutions have been proposed based on modified control strategies and regulators of DFIG
grid- and rotor-side converter (GSC, RSC). Whereas, those proposed solutions are only suitable for moderate voltage
unbalance and harmonic distortion. Meanwhile, the multiple complex-coefficient filter (MCCF)-based strategies
complicate the whole control system [7,8].
With the rapid development of the power electronics [9], dynamic voltage restorer (DVR) [10] and dual control
strategy [11] provide an effective hardware-based way to enhance the low voltage ride-through capability of
DFIG. Although protection designs of the DVR for DFIGs under unbalanced voltage have been studied in the
literature [12,13], harmonic voltages were not adequately considered in the control of DVR. Furthermore, extreme
cases of both unbalanced grid voltage and harmonic distortion have not been considered in the literature. Aiming at
pointedly eliminating the influence of unbalanced voltage, 5th and 7th harmonics, this paper presents an improved
control strategy for DVR, with consideration of a sequence component decomposition method for extraction of
harmonic and unbalanced signals. The harmonic-extracting method is mainly made up via multiple notch filters,
for proposition of directly obtaining the DC components of positive-, negative-,5th-, and 7th-order components
of the grid voltages. Compared with the existing typical method such as low-pass-filter-based control [14],
high-pass-filter-based control [15] or MCCF [7,16], the proposed method has the advantages of simper control
structure, faster response speed and higher compensation accuracy. Finally, a simulation is carried out based on a
DFIG-interfaced-to-infinite-grid system, to verify the effectiveness of the control strategy under distortion voltage
condition.

2. DFIG behaviors under voltage

The studied system with integration of the DVR is shown in Fig. 1. DFIG is actually an induction generator,
and its stator windings are directly interfaced to the power grid. Therefore, the DFIG is vulnerable to the voltage
disturbances. Considering the strong coupling relationship between the stator and rotor flux, the occurrence of
the voltage unbalance or harmonic distortion will lead to the huge oscillations of EM torque, stator/rotor current,
DC-link voltage, and output power.

Fig. 1. Structure of the DFIG-WECS with protection of DVR.

The equations of the DFIG stator/rotor voltage and flux linkage under stationary αβ reference frame are
respectively shown as follows [17]:
U sαβ = Rs I sαβ + dψ sαβ /dt
{
(1)
U r αβ = Rr I r αβ + dψ r αβ /dt − jωr ψ r αβ
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ψ sαβ = L s I sαβ + L m I r αβ
{
(2)
ψ r αβ = L m I sαβ + L r I r αβ
where U, I, ψ, L and R represent voltage, current, flux linkage, inductance, and resistance, respectively. Subscripts
“s” and “r” are used to differentiate the stator- and rotor-side variates. L m is the mutual inductance. The dynamic
equation of the DFIG rotor voltage can be expressed in accordance with Eqs. (1) and (2) as [11]:
U r αβ = (Rr − jωr σ L r )I r αβ + σ L r d I r αβ /dt + L m (U sαβ − Rs I sαβ − jωr ψ sαβ )/L s (3)
where σ = 1− L 2m /L s L r . Without DVR, the grid voltage is equal to the DFIG terminal voltage, i.e., Ug = Us . Since
the DFIG is always interfaced to the power grid via three-phase three-wire system, there is almost no zero-sequence
component. To simplify the theoretical analysis, the initial phase of the DFIG terminal voltage is considered as zero,
and the occurrence time of all the fault are assumed as zero. Considering that an asymmetrical fault and a distortion
with 5th- and 7th-order harmonic components occur in the grid voltage at t = 0, the dynamic response of the grid
voltage before and after t = 0 can be expressed as:
t <0
{
Us e jωs t
Ug = Us = (4)
Us+ e jωs t + Us− e− jωs t + Us5− e− j5ωs t + Us7+ e j7ωs t t ≥ 0
where Us is the amplitude of the rated voltage; Us+ , Us− , Us5− , and Us7+ are the amplitudes of the positive-,
negative-, 5th- and 7th-sequence voltage components. Note that the rotating direction of the negative- and 5th-
sequence voltage components is inverse of the positive- and 7th-sequence voltage components [18]. According to
Eq. (2), the steady-state space vector of the stator flux linkage before and after t = 0 can be expressed under
stationary αβ reference frame neglecting stator resistance Rs as [19]:
{ U
s
e jωs t t <0
∫
ψ sαβ,steady = U sαβ dt = jωs
Us+ jωs t Us− − jωs t Us5− − j5ωs t Us7+ j7ωs t (5)
jωs
e + − jωs e + − j5ωs e + j7ωs e t ≥0
Assuming that the rotor windings are open-circuited, the dynamic equation of the stator flux can be derived from
Eqs. (1) and (2):
dψ sαβ /dt = U sαβ − Rs ψ sαβ /L s (6)
From Eq. (6), the positive, negative, 5th, and 7th components of the rotor voltage can be derived as:
Lm Lm
U r αβ+ = (U sαβ+ − jωr ψ sαβ+ ) = [sUs+ e jωs t − (1 − s)(Us − Us+ )e−t/τs ] (7)
Ls Ls
Lm
U r αβ− = [(2 − s)Us− e− jωs t − (1 − s)Us− e−t/τs ] (8)
Ls
Lm 6 − s 1−s
U r αβ5− = [( )Us5− e− j5ωs t − ( )Us5− e−t/τs ] (9)
Ls 5 5
Lm 6 + s s−1
U r αβ7+ = [( )Us7+ e j7ωs t − ( )Us7+ e−t/τs ] (10)
Ls 7 7
where τs = L s /Rs . Converting Ur αβ to the rotor reference frame, the rotor voltage can be expressed as:
Lm
U rr αβ = [A1 e jωsli p t + A2 e− j(2−s)ωs t + A3 e− j(6−s)ωs t + A4 e j(6+s)ωs t + A5 e− jωr t e−t/τs ] (11)
Ls
where A1 = sU s+ , A2 =(2−s)Us− , A2 =(2−s)Us− , A3 =[(6−s)/5]Us5− , A4 =[(6+s)/7]Us7+ , A5 = B1 + B2 + B3 ,
B1 =−(1−s)(Us − Us+ ), B2 =−[(1−s)/5]Us5− , B3 =−[s−1)/7]Us7+ , ωsli p = ωs −ωr . s=(ωs −ωr )/ ωs represents the
slip.
Eq. (11) claims that under normal operation with neglection of stator and rotor current, the amplitude of the
rotor voltage is in positive proportion to the component A1 . Since the slip s is always operated in the range of
(−0.2, 0.2), the steady-state amplitude of the rotor voltage is small. Under unbalanced voltage condition with 5th
and 7th harmonic voltage distortion, there are five rotor voltage components, including four continuously-oscillating
AC components with the amplitudes of A1 , A2 , A3 , and A4 respectively, and rotating with the angular speed of
ωsli p , −(2−s) ωs , −(6−s)ωs and (6+s)ωs , respectively; and an AC component that decays regularly with the stator
time constant τs , with the amplitude of A5 and angular speed of ωr . Since the coefficients of each distorted AC
components [(2−s), (6−s)/5 and (6+s)/7] are much larger than the coefficient of fundamental component (s), even
small unbalance or harmonic voltages can cause high rotor voltage oscillations.
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3. Improved control strategy of DVR

The structure of the DVR is shown in Fig. 1. DVR is essentially a series-type active power filter interfaced
between the DFIG and the power grid, and is installed in front of the terminal of the DFIG. A fast-response energy
storage can be supplied in the DC side of the DVR, such as supercapacitor or superconducting magnetic energy
storage [20]. The relationship among grid voltage Vg , DFIG terminal voltage Vs and DVR injecting voltage V DV R
can be expressed as:
V DV R = V g − V s (12)
To make DVR controller precisely track the unbalanced voltage and harmonic distortion, it is necessary to
accurately extract the DC components of each reference frame for signal tracking.
The relationship among (dq+ ), (dq− ), (dq5− ), and (dq7+ ) reference frames is shown in Fig. 2(a). According to
Fig. 2(a), the DFIG terminal voltage can be expressed as follows:
+ + + + + + − 5− 7+
Vgdq = Vgdq+ + Vgdq− + Vgdq5− + Vgdq7+ = Vgdq+ + Vgdq− e− j2ωg t + Vgdq5− e− j6ωg t + Vgdq7+ e j6ωg t (13)
− − − − − + − 5− 7+
Vgdq = Vgdq+ + Vgdq− + Vgdq5− + Vgdq7+ = Vgdq+ e j2ωg t + Vgdq− + Vgdq5− e− j4ωg t + Vgdq7+ e j8ωg t (14)
5− 5− 5− 5− 5− + − 5− 7+
Vgdq = Vgdq+ + Vgdq− + Vgdq5− + Vgdq7+ = Vgdq+ e j6ωg t + Vgdq− e j4ωg t + Vgdq5− + Vgdq7+ e j12ωg t (15)
7+ 7+ 7+ 7+ 7+ + − 5− 7+
Vgdq = Vgdq+ + Vgdq− + Vgdq5− + Vgdq7+ = Vgdq+ e− j6ωg t + Vgdq− e− j8ωg t + Vgdq5− e− j12ωg t + Vgdq7+ (16)

Fig. 2. (a) Spatial relationship between αβ, (dq+ ), (dq− ), (dq5− ), and (dq7+ ) frames. (b) MNFC for DC component extraction of each
sequence. (c) Control strategy of the DVR based on MNFC.

According to [17], the DC components of each sequence in the grid voltage can be extracted. The DC components
+
of the positive sequence voltage signals Vgdq+ under (dq+ ) frame can be obtained by filtering the 2nd and 6th AC
−
waves; the negative DC components Vgdq− can be obtained by trapping the 2nd, 4th and 8th AC signals; the 5th-order
5−
DC components Vgdq5 can be obtained by trapping the 4th, 6th and 12th AC signals; the 7th-order DC components
7+
Vgdq7+ can be obtained by trapping the 6th, 8th and 12th AC signals. To trap the unwanted signals from each
reference frame, a multiple-notch-filter-based control (MNFC) is proposed. MNFC combines several notch filters
+ − 5− 7+
in serial with specific cut-off frequency to extract the eight DC components Vgdq+ , Vgdq− , Vgdq5− , and Vgdq7+ from
+ − 5− 7+
Vgdq , Vgdq , Vgdq , and Vgdq . The detailed designs of the notch filters are described as follows:
(1) The transfer function of the adopted notch filter with the gain of 0 dB is expressed as:
s 2 + ωs2
G N F (s) = (17)
s2 + 2ωc ωs + ωs2
where ωc is the notch frequency for adjusting the bandwidth of the filter. From (17), the transfer functions for 2nd,
4th, 6th, 8th, and 12th AC signals are shown as follows:
s 2 +(nωs )2
G n (s) = s 2 +2nωc ωs +(nωs )2
n = 2, 4, 6, 8, 12 (18)
(2) According to Eqs. (13) ∼ (16), the diagram of the designed multiple notch filters is depicted in Fig. 2(b).
The full transfer functions of the multiple notch filters for DC component extractions of (dq+ ), (dq− ), (dq5− ), and
(dq7+ ) reference frames are derived as follows:
G dq + (s) = G 2 (s)G 6 (s) (19)
G dq − (s) = G 2 (s)G 4 (s)G 8 (s) (20)
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G dq 5− (s) = G 4 (s)G 6 (s)G 12 (s) (21)

G dq 7+ (s) = G 6 (s)G 8 (s)G 12 (s) (22)

The bode diagrams of the G dq+ (s), G dq− (s), G dq5− (s), and G dq7+ (s) are shown in Fig. 3. The Fig. 3 illustrates
that the multiple notch filter of each sequence has a good low-pass characteristic and an excellent performance
in trapping the specific AC signals. Taking G dq+ (s) as an example [Fig. 3(a)], it presents no gain (0 dB) to the
DC signal but decays the components with 2nd and 6th frequency to extremely-low levels. According to (13), the
+ +
control signal Vgdq+ can be obtained by processing the Vgdq via the transfer function G dq+ (s). In this way, the other
− 5− 7+
DC components Vgdq− , Vgdq5− , and Vgdq7+ can be also obtained for accurately control by PI controllers.

Fig. 3. Bode diagrams of the G dq+ (s) (a), G dq− (s) (b), G dq5− (s) (c), and G dq7+ (s) (d).

(3) The control strategy of the DVR based on MNFC is shown in Fig. 2(c). The controller contains four regulators,
+ − 5− 7+
and there are 8 voltage signals that are available for controlling, i.e., Vgdq+ , Vgdq− , Vgdq5− , and Vgdq7+ . The reference
+ − 5−
signals of the Vgdq+ refers to the amplitude of the rated grid voltage, whereas the reference signals of Vgdq− , Vgdq5− ,
7+
and Vgdq7+ are equal to zero.

4. Simulations and analyses

A simulation model is established in accordance with Fig. 1. The DFIG adopts traditional vector control strategies
in rotor- and grid-side converters, and the DVR uses the proposed MNFC to guarantee a premium voltage supply
of the DFIG. The rated voltage and power of the DFIG is 690 V and 1.5 MW, respectively, and the operating
frequency of the power grid is 60 Hz. Other parameters of the DFIG are shown in Appendix.
The parameters of the unbalanced fault and the harmonic injection are set as follows:
(1) At t = 0.2 s, the 5th- (300-Hz) and 7th- (420-Hz) order harmonic voltages are injected with the amplitude
of 0.20 pu and 0.14 pu, respectively.
(2) At t = 1.5 s, an 80% depth of single-phase-to-ground (1LG) fault occurs at the power source side.
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4.1. DFIG behaviors without protection

Parameter responses (grid voltage, EM torque, DC-link voltage, rotor voltage and rotor current) under the adopted
compound fault without protection scheme are shown in Fig. 4. Further, to clearly illustrate the oscillation of each
crucial parameter, the harmonic spectrums are shown in Fig. 5.

Fig. 4. Responses of the grid voltage, EM torque, DC-link voltage, rotor voltage & current, and active & reactive power under voltage
disturbance without protection.

Fig. 5. Harmonic spectrum of the crucial parameters without protection. (a) Harmonic spectrum of the grid voltage at t = 0.5 s. (b, c)
Harmonic spectrum of the active & reactive power at t = 2.5 s. (d∼f) Harmonic spectrum of the rotor current at t = 0.5 s, 1.5 s and 2.5 s.

As illustrated, under 5th and 7th voltage harmonic distortion, the active and reactive power mainly contain 6th
harmonic component, and there are mainly harmonic components of 348-Hz and 372-Hz frequency in DFIG rotor
voltage. When the asymmetrical fault occurs at t = 1.5 s, the unbalance factor reaches to 34.97%, where the
unbalance factor is the ratio of the negative sequence component to the positive sequence component of the voltage.
From Fig. 5(a), the interaction of the unbalanced voltage and the voltage harmonic components of 300-Hz and
420-Hz frequency mainly generates the 120-Hz (2nd-order), 240-Hz (4th-order), 360-Hz (6th-order) and 480-Hz
(8th-order) harmonic components in active & reactive power. As the 720-Hz (12th-order) harmonic component
in active and reactive power are generated by the relatively small 5th and 7th voltage harmonic components, its
amplitude is much smaller than the 2nd, 4th, 6th, and 8th harmonics and can be ignored in the harmonic spectrum.
As illustrated in Fig. 5(b), when the asymmetrical fault occurs under 5th- and 7th-order voltage harmonic condition,
a 72-Hz component will appear in the DFIG rotor voltage. Besides, there are 132-Hz [−(2−s) ωs ], 348-Hz [(6+s)
ωs ], and 372-Hz [−(6−s) ωs ] components in the DFIG rotor voltage. As time goes on, the amplitude of the 72-Hz
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component decays and the attenuating speed depends on the stator time constant τs . The variation regularity of the
amplitude and frequency is consistent with the Eq. (11).
Furthermore, under asymmetrical fault, the peak values of rotor current, DC-bus voltage, and EM torque are
beyond the maximum permitted values (2.0 pu, 1.2 pu and 2.0 pu, respectively). These over-limit parameters will
result in the damage of gearbox and the disconnection of the WECS, and the high-frequency harmonic oscillation
will lead to the heating problem of stator and rotor, affecting the service life of the DFIG.

4.2. DFIG behaviors with DVR and MNFC

Parameter responses of the DFIG with the protection of DVR and improved MNFC is shown in Fig. 6, and the
analysis of harmonic spectrum is shown in Fig. 7.

Fig. 6. Responses of the DVR injecting voltage, EM torque, DC-link voltage, rotor voltage & current, DFIG output active & reactive power
and DVR absorption active & reactive power under voltage disturbance with the protection of DVR.

As depicted, with the proposed MNFC, the DVR has a fast response to the unbalanced voltage and the specific
5th- and 7th-order voltage harmonics. The maximum unbalance factor can be limited from 34.97% to 4.09%, which
appears at the occurrence of the asymmetrical fault under the whole transient condition. All the crucial parameters
(EM torque, DC-bus voltage, rotor current & voltage) of the DFIG can be constrained within their maximum
available values, and there are only small fluctuations generated when the 1LG fault occurs. The oscillations of
the DFIG output active & reactive power can be also suppressed via the adjustment of the DVR with MNFC.
Compared with Fig. 5, all the THD values of different parameters are sharply decreased. The 5th- and 7th-order
voltage harmonics in DFIG terminal voltage can be almost eliminated and the THD value is restrained from 24.33%
to 0.17%, which meets the requirement of the standard [5]. At t = 0.2 s, the DVR injects the 4th, 6th and 8th
active & reactive power components to offset the power oscillation of the DFIG terminal side. At t=1.5 s, the DVR
additionally injects a certain 2nd active & reactive power to suppress the influence of asymmetrical voltage sag to
the DFIG output power. As a result, the 120-Hz, 240-Hz, 360-Hz, and 480-Hz oscillations in DFIG active & reactive
power can be obviously suppressed from the observation of Fig. 7(b) and (c). According to Fig. 7(d), only 72-Hz
and 132-Hz harmonics are introduced in the rotor voltage at the occurrence of the asymmetrical fault (t = 1.5 s),
and the content of the harmonic is much lower than that in the no-protection case. From Fig. 7(e) and (f), under
steady states of the harmonic distortion and voltage unbalance condition, the 132-Hz [−(2−s) ωs ], 348-Hz [(6+s)
ωs ] and 372-Hz [−(6−s) ωs ] harmonic components can be well-mitigated.
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Fig. 7. Harmonic spectrum of the crucial parameters with protection of DVR. (a) Harmonic spectrum of the grid voltage at t = 0.5 s. (b,
c) Harmonic spectrum of the active & reactive power at t = 2.5 s. (d∼f) Harmonic spectrum of the rotor current at t = 0.5 s, 1.5 s and
2.5 s.

5. Conclusion

The transient modeling of the DFIG under composite unbalanced voltage and harmonic distortion condition
has been established, from the perspectives of the dynamic equation of the machine, the magnitude and harmonic
component analysis of the rotor voltage, and the harmonic analysis of the active and reactive power.
As a solution, a multiple notch-filter-based control method is proposed for dynamic voltage restorer to accurately
track the specific voltage harmonics. The configuration of the DVR, the principle of the MNFC, and the control
diagram of the DVR are elaborated in detail.
A DFIG wind energy conversion system is implemented as a tested system to verify the performance of the
proposed MNFC. Simulations have been carried out and analyzed under unbalanced and harmonic-distortion voltage
condition. The results of the voltage signals and the THD spectrum show that with the presented protection scheme,
the unbalanced component and the 5th and 7th harmonic voltages can be well-suppressed.
Compared with other existing method for dynamic voltage restorer, the proposed MNFC has the advantages
of faster response, simpler control strategy and the accurate tracking capability of specific-frequency harmonics.
Besides the protection of DFIG, the proposed MNFC can be also adopted in other situations for applications, such
as in AC/DC microgrids.

Declaration of competing interest

The authors declare that they have no known competing financial interests or personal relationships that could
have appeared to influence the work reported in this paper.

Data availability

No data was used for the research described in the article.

Acknowledgment

This work was supported by “Science and Technology Project of Hebei Electric Power Company (kj2021-004)”.

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Appendix. Parameters of DFIG

Parameter Value Parameter Value

Rated power 1.5 MW Rotor resistance 0.005 pu
Rated stator voltage 690 V Stator leakage inductance 0.171 pu
Rated rotor voltage 1725 V Rotor leakage inductance 0.156 pu
Rated wind speed 8 m/s Mutual inductance 2.9 pu
Cut-in wind speed 2.5 m/s Rated DC-link voltage 1200 V
Stator resistance 0.007 pu DC-link capacitor 10000 µF

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