Feedback Linearization Control Based Power Control of Grid Connected DFIG with Grid Synchronization

A.Karthikeyan, Nagasekhara Reddy Naguru, C.Nagamani, G.Saravana Ilango EEE, National Institute of Technology
Tiruchirappalli, India jakarthik@yahoo.com, cnmani@nitt.edu,

Abstract This paper presents implementation of Feedback Linearization based control (FBLC) for the smooth connection of the doubly fed induction generator to the power grid and for the power control of the grid connected doubly fed induction generator. The induced stator voltage vector of the DFIG is synchronized with the grid voltage irrespective of the accuracy of signal from position encoder. Computer simulation results for the test set up show excellent response in starting up the generator on the fly and also in achieving decoupled power control thereby validating the effectiveness of the proposed control approach.
Figure. 1. Block diagram for FBLC of front end converter

Keywords - DFIG, FBLC, Grid synchronization, Power control, decoupled control.

II. MATHEMATICAL MODELING OF FRONTEND CONVERTER A. Modeling of Front-end Converter

I. INTRODUCTION Doubly fed induction generators (DFIGs) are widely adopted for high-power applications because only a fraction of the generated energy needs to be processed by the power electronics converters in order to maximize the output power of the DFIG. The task of the front end converter is to convey the slip power from/to the rotor to/from the grid by maintaining dc link voltage constant at unity power factor with respect to the grid. While the rotor-side converter regulates the active and reactive powers at the generator stator terminals [1]-[4]. Further the synchronization of the DFIG to the power grids is one of the important issues to be addressed carefully. However only a few researchers [5-6] have considered the task of smooth connection of DFIGs to the grid. Conventional Proportional-Integral (PI) controllers usually consist of inner current control loops and an outer voltage control loop in a cascade structure, which is not effective for the system control where the dynamics of both the loops are interactive. The essence of feedback linearization is that the dynamics of the non-linear system are modeled and are algebraically transformed into a set of linear equations. Henceforth, linear control techniques can be applied to the transformed systems [7]. The linearization process involves precise state transformation and feedback and does not involve any approximations for linearization. This paper proposes Feedback linearization based control approach for the both grid synchronization and decoupled power control of the grid connected DFIG.

For the front end converter control, the q-axis is chosen along the stator voltage vector while the d-axis (and stator flux) lags the q-axis by 90. The mathematical equations governing the front end converter are given as
R fe 1 i fed + i feq L fe L fe i fed R fe + 0 i feq i fed i feq = L fe v dc 3 iL 0 vacd i fed + vacqi feq C 2Cvdc 0 1 vacd v fed L fe vacq v feq 0

(1)

f(x)

g(x)

where vacq is the total supply voltage and vacd is zero. Further,

x is the state vector, u is the array of control inputs, y is the array of outputs, f, g are smooth vector fields and h is a smooth scalar function.
Here the two state variables ifed (=x1= y1) and vdc (=y2=x3) are used to regulate the front end converter line current and the dc link capacitor voltage (Fig.1). If the system is required to operate at unity power factor, the reactive component ifed of the line current should be made zero. For the process of feedback linearization the expressions for the output are differentiated with respect to time until a control input appears explicitly. Differentiating y1 and y2 gives

978-1-4244-8782-0/11/$26.00 2011 IEEE

u fed y1 = A1 ( x) + E1 ( x ) u y2 feq where

(2)

lags the q-axis by 90. The mathematical equations governing the front end converter are given as
R 1 r ird + 2irq ird Lr + Lr = 2 2 Loims 0 irq Rr irq 2ird LsLr Lr 0 u rd 1 urq Lr

f1 g1 3 f3 i L E1 ( x) = A1 ( x) = 3 Ef 2 Ex 2 + 0 2 C 2Cx 3 2Cv dc

0 3Eg 2 2Cx 3

(11)

f(x)

g(x)

Since E1(x) is nonsingular in the operating range of vdc, the control law is given from (2) as

u fed v f 1 1 u = E1 ( x) A1 ( x ) + v feq f 2 For tracking control, the new control inputs are given by y1ref k11 e1 v f 1 v = y k 21 e 2 k 22 e 2 f 2 2 ref errors are governed by

Similar to the front end converter, for rotor side converter the two control inputs are used to regulate the rotor d-q axes currents.
y1=h1(x)=x1=ird and y2=h2(x)=x2=irq

(3)

Differentiating y1 and y2 until a control input appears gives

(4)

u rd y1 = A2 ( x) + E 2 ( x) u y2 rq where
R r x1 + 2 x 2 Lr A2 ( x) = L2 i Rr x 2 2 x1 2 o ms L L s L r r 1 E 2 ( x) = L r 0

(12)

where e1 = y1 y1ref and e1 = y1 y1ref .Then, the output

e1 + k11e1 = 0 and e2 + k 21e2 + k 22 e2 = 0

(5)

By locating the desired poles on the left-half plane, the gains kij are calculated and asymptotic tracking control to the reference is achieved. To eliminate tracking error in the presence of parameter variations the integral controls are added to (4)
y1ref k11 e1 k12 e1 dt v f 1 v = f 2 y 2 ref k 21 e 2 k 22 e 2 k 23 e 2 dt

0 1 L r

Since E2(x) is nonsingular in the operating range of currents, the control law is given from (12) as u rd v r1 1 u = E 2 ( x) A2 ( x) + v r 2 rq For tracking control, the new control inputs are given by v1 y1ref k 31 e1 = y v 2 2 ref k 41 e 2 (14) (13)

(6)

From (6), the error dynamics are obtained as

e1 + k11e1 + k12 e1 = 0 and e2 + k 21e2 + k 22 e2 + k 23 e2 = 0

(7)

where e1 = y1 y1ref and e1 = y1 y1ref . Then, the output errors are governed by e1 + k 31 e1 = 0 and e 2 + k 41e 2 = 0 (15)

The gain parameters are determined from assigned pole locations. Substituting (6) into (4),
u fed = R fe i fed e L fe i feq + L fe v f 1

(8)
vf2 + 2 L fe v dc 3E iL (9)

u feq = R fe i feq + e L fe i fed + + L fe v dc

2CL fe v dc 3E i L C

3 i feq Ei feq 2Cv dc

By locating the desired poles on the left-half plane, the gains kij are calculated and asymptotic tracking control to the reference is achieved. To eliminate tracking error in the presence of parameter variations the integral controls are added to (14). v1 y1ref k31e1 k32 e1 dt = v2 y2 ref k41e1 k42 e2 dt

Since ufed=vacd-vfed and ufeq=vacq-vfeq the front end converter injecting voltages ufed and ufeq are given by
v * = v acd u fed = u fed and v * = v acq u feq fed feq B. Modeling of Rotor Side Converter

(16)

(10)

From (14), the error dynamics obtained as e1 + k 31 e1 + k 32 e1 = 0 and e 2 + k 41 e1 + k 42 e 2 = 0 (17)

For the rotor side converter control, the q-axis is chosen along the stator voltage vector while the d-axis (and the stator flux)

The gain parameters are determined from assigned pole locations. Substituting (16) into (14)

urd = Rr ird 2Lr irq + Lr v1

u rq = R r i rq + 2L r i rd +

(18)
+ L r v 2

III. RESULTS AND DISCUSSIONS The transient response of the laboratory DFIG system [parameters are given in appendix] based on FBLC strategy is shown in Fig. 4 & 5. During start-up the machine is started up with stator open circuited (i.e. not connected to the grid) at the speed of 1420 rpm and then at t=0.04s the rotor side controller is switched on with the rotor current references set for grid synchronization as shown in Fig. 4(b) and 4(c). The stator induced voltage is varied to track the grid voltage (the amplitude, frequency and phase same as the grid voltage) in about 0.02s (0.04-0.06s). This is shown in Fig. 4(a). The corresponding d-q components of rotor current are shown in Fig. 4(b) and 4(c). At t=1s, the machine is synchronized with the grid at zero power (Fig 5(a)) and zero stator current (Fig 5(c)). The rotor d-axis current ird is maintained at 4A while the q-axis current is nearly zero to facilitate induction of desired stator voltage at zero power (and zero stator current) so as to ensure the smooth synchronization. Then at t=2s, the transition from the synchronization mode to the power control loop is made to compute the rotor current (a)
V

2 L2 i ms o

Ls The voltages urd and urq are the required injecting voltages and these are compared with actual values vrd and vrq respectively and according to that the pulses are generated so as to reduce the error between the actual and reference values.
* * v rd = v rd u rd and v rq = v rq u rq

(19)

(20)

The rotor side converter control and the calculation of rotor current references for the grid synchronization and power control loops are shown in Fig.2 and Fig. 3. The reference values for rotor d-q currents to induce the desired stator voltage for synchronization are calculated from the d-q components of the measured grid voltage as shown in Fig. 2(a) Further the slip angle (sl) at which injected voltage is calculated as in Fig.2(a). Similarly the rotor current references for the power control loop are calculated from the desired stator active and reactive powers as in Fig.2 (b).

(b)
A
Figure.2 (a). Current references for grid synchronization

(c)
A
Figure.2 (b). Current references for power control loop

(d)
rpm

(e)
V
Figure. 3. Current control loop for rotor side converter

Figure 4. Transient response of the grid synchronization.

references in accordance with the desired stator power commands. The stator real power Ps is set to -1000 W while stator reactive power Qs is set at zero var in order to get unity power factor at the generator terminals. The stator reactive power is set to -500 var (leading) at t =5s while the stator active power is maintained at -1000 W. The trends in stator and rotor currents are shown in Figs. 5(c) and 5(d). Perfect decoupled control of the stator active and reactive power is observed even during step changes in rotor d,q current references. The front end converter control is switched on at t=0.001s in order to facilitate the dc link voltage build up to achieve the desired rotor side control as shown in fig 5(b). The dynamic response of front end converter d-axis current and dc link voltage are shown in Figs 5 (e) and 4 (e). The d-axis current (ifed) reference of the front end converter is fixed at zero, so as to maintain unity power factor at the grid. Similarly the dc link voltage (Fig. 4(e)) is maintained constant for better control. It can be observed that the two control loops viz., dc link voltage and front end converter d-axis current are totally decoupled and response of each one is unaffected by the changes in the other.
W & var

IV. CONCLUSIONS The feedback linearization based control approach for the smooth connection of DFIG to the grid and for the power control of grid connected DFIG is presented. The proposed controller facilitates negligible (zero) current flow at the moment of DFIG synchronization to the grid. Also, effective decoupling of the d-q current controls is achieved due to the elimination of nonlinearity in the system. Simulation results demonstrate the effectiveness of the proposed control approach. REFERENCES [1] S. Muller, M. Deicke, and R. W. De Doncker, Doubly fed induction generator systems for wind turbines, IEEE Ind. Appl. Mag., vol. 8, no.3, pp. 2633, May/Jun. 2002. [2] R. Pena, J. C. Clare, and G. M. Asher, A doubly fed induction generator using back-to-back PWM converters and its application to variable-speed wind-energy generation, Proc. Inst. Electr. Eng. B, Electr. Power Appl., vol. 143, no. 5, pp. 231241, May 1996. [3] R. Datta and V. T. Ranganathan, Decoupled control of active and reactive power for a grid-connected doubly-fed wound rotor induction machine without position sensors, in Proc. Conf. Rec. 1999 IEEE/IAS Anu. Meeting, pp. 2623-2630, 1999. [4] Jun Yao, Hui Li, Yong Liao, and Zhe Chen, An Improved Control Strategy of Limiting the DC-Link Voltage Fluctuation for a Doubly Fed Induction Wind Generator, IEEE Trans. on Power Electronics, vol. 23, no. 3, pp.1205-1213, May 2008. [5] Jung-Woo Park, Ki-Wook Lee, Dong-Wook Kim KwangSoo Lee and Jin-Soon Park, Control Method of a Doubly-fed Induction Generator with a Grid Synchronization against Parameter Variation and Encoder Position, IEEE 2007, 0197-2618. [6] Gerardo Tapia, Giovanna Santamara, Mikel Telleria, and Ana Susperregui, Methodology for Smooth Connection of Doubly Fed Induction Generators to the Grid, IEEE transactions on energy conversion, vol. 24, no. 4, december 2009. [7] Dong-Choon Lee, G-Myoung Lee and Ki-Do Lee, DCBus Voltage Control of Three-Phase AC/DC PWM Converters Using Feedback Linearization, IEEE transactions on industry applications, vol. 36, no. 3, may/june 2000. APPENDIX Induction machine specifications. 3 Hp, 415V, 50Hz, 3 phase; Stator: 415V, Y connected, 4.7A; Rotor: 185V, Y connected, 7.5A. Stator Resistance Rs=3.678 Inductance Ls=306.82 mH Rotor Resistance Rr=5.26 Inductance Lr=306.82 mH
Lls=Llr=24.87 mH

(a)

(b)
A

(c)
A

(d)
A

(e)
A

Figure 5. Transient response of the decoupled Power control.

Leakage Inductance

Magnetizing Inductance Lo=281.95 mH