2016 7th International Renewable Energy Congress (IREC)

Nonlinear Control for a Grid Connected Wind

Turbine Based on Double Fed Induction Generator
WALID OULED AMOR
Electric Vehicle and Power Electronics Group
Laboratory of Electronics and Information Technology
National School of Engineers of Sfax
University of sfax
B.P. 1173, 3038 Sfax, Tunisia

MOEZ GHARIANI
Electric Vehicle and Power Electronics Group
Laboratory of Electronics and Information Technology
National School of Engineers of Sfax
University of sfax
B.P. 1173, 3038 Sfax, Tunisia

oa.walid@gmail.com

moez.ghariani@isecs.rnu.tn

converter. Figure 1 presents the conversion systems to be

studied.

Abstractthe aim of this work is to make a nonlinear

control for a grid connected wind turbine based on double
fed induction generator. The stator of the DFIG is directly
connected to the grid while its rotor is connected to it via a
cascade (Rectifier, Inverter and Filter). Thus, the current
control and the continuous bus of the wind turbine is
carried out by the adjustment of the DFIG rotor sizes
based on the maximum power point tracking (MPPT)
technique. The results of simulation obtained under the
MATLAB/SIMULINK
environment
present
the
performance of the sliding mode controller due to its
robustness face to the wind speed variation of thus its
simplicity of implementation and the robustness even in
the presence of internal and external disturbances. By
conclusion, it enabled us to justify the reliability of the
suggested model and the elaborated command.

Fig.1. Configuration of studied system

This paper evolves through three parts. The first focuses on

the mathematical modelling of the studied wind power
conversion system. The second part highlights the system
command with the sliding mode controller along with the
setting parameters. The simulations and interpretation results
are presented in the last part.

Keywords Wind Turbine, Double Fed Induction

Generator (DFIG), sliding mode controller (SMC),
Maximum power point tracking (MPPT).
I. INTRODUCTION
The wind power conversion systems have gained a key role
in the feeding of electric power generation systems. The great
power type of this system (1.5MW) is primarily based on a
Double Fed Induction Generator (DFIG), which has been the
object of many research works [1].
Our power system, operates at a variable speed, consists of a
wind turbine, a DFIG, a continuous bus, two static power
inverters and a three-phase current filter. Several command
strategies have been developed to ensure the control of the
energy transferred between the machine and the grid to which
is connected. Indeed, the stator is directly connected to the
grid while the rotor is connected to it via two bidirectional
static inverters cascaded through a continuous bus [2].
The aim of this work is to ensure the control of our power
system through the Sliding Mode Controller (SMC). Our study
is based on the performance analysis in terms of tracking,
stability face to the disturbances and robustness. Indeed, our
controller is used for the vectorial command of the DFIG, the
control of the continuous bus and the control of the grid

II. WIND TURBINE MODEL

A. Wind model
In order to evaluate the potential wind, determining the
speed frequency distribution of the wind is a significant factor
in our study. In this context, we adopt the Weibull distribution
law where the probability density is presented as follows [3]:
f(x) =
With:

exp (

(01)

K: is the form factor. It characterizes the form of the

wind frequency distribution
C: is the scale factor. It determines the wind quality
In our case, we apply to our turbine a variable wind speed
between 7 and 14 m/s during 30s presented by figure 2. This
choice of the wind model helps us to determine the DFIG
operating modes and the static inverters reversibility.

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C =C

(12)

C. DFIG model
The modelling of the DFIG, presented by figure 3, is
described in the PARK referential.

Fig. 2. Wind speed profile

B. Turbine model
The aero-generator converts kinetic energy of the wind into
mechanical energy. Indeed, the kinetic power collected by the
blades of the wind turbine is given by the following
expression [4]:

Fig.3. Block diagram of DFIG model

. .

This work is based on the following simplifying assumptions:

The air-gap is constant and the nick effect is
negligible
The flow distribution is sinusoidal
The saturation of the magnetic circuit is negligible
The influences of the heating and the skin effect on
the characteristics of the DFIG are not taken into
account.
The following equation system makes it possible to establish
the total modelling
(04) of the generator [5]:
Stator:
V = R .i + .W
(13)
(05)
V = R .i + + .W
(14)
= L . i + M. i
(15)
= L . i + M. i
(16)
Rotor:
V = R .i + .W
(17) V =

P =
(02)
With:
S= R
.
(03)
=
The coefficient Cp characterizes the aerodynamic
performance of the turbine. It defines the power which can be
extracted during the kinetic energy transformation into
mechanical energy described by the following expression:
C (, ) = C

C C e

With :

=(

+C

(04)
(05)

=0.5176; =116; =0.4; =5; =21; =0.0068

The aerodynamic power on the level of the turbine tree is
given by the following expression:
(). . .

=
(06)
In order to extract the maximum capacity generated by the
turbine, it is necessary to fix
= _ which corresponds to C _ . Indeed, the reference
magnetic torque C _
is presented by the following
expression:
P

=C .

. .
_

.
. .

R .i + + .W
(18)
= L . i + M. i
(19)
= L . i + M. i
(20)
W = W p. W
(21)
Electromagnetic torque is presented by the following equation:
C = p. ( . i . i )
(22)

(07)

For reasons of simplification, the reference magnetic torque

can be defined as follows:
C _ = A.
(08)
With :
A=C .

. .
_

. .

D. Power Converters model

The studied wind power conversion system is based on the
electronic power converters. Indeed, the same modelling is
valid for the rectifier and the inverter. They comprise three
IGBT arms. They consist of two commutation cells assembled
in series that do not function simultaneously.
In the ideal case, each cell can be comparable with a switch
command at the opening and closing. Indeed, we associate a
connection function f for each switch "(i 1,2 ; j
1,2,3 )".
If f = 0 : The Switch is open
If f = 1 : The switch is closed

(09)

Based on the assumption that the wind speed varies very little
in permament mode, we obtain the static equation from the
turbine equation:

J. = C C f. = C
=0
(10)
The effect of the viscous friction torque is neglected:
(11)
C 0
We obtained:

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At the output of the inverter, the two modulated voltages are

determined according to the conversion functions m and
m and the continuous bus voltage by the following equations
[6]:
=
U
(23)
f
1 0 1 f
=
(24)
0 1 1
f
In the same way the simple voltages, V , V and V are
presented by the following matrix:
V
2 1 1 f
V
=
(25)
1 2 1 f
V
f
1 1 2
With:
(26)
I = m .I + m .I

i
i

=
=

.i

(32)

= L . . i
With:

(33)

=1

(34)

For simplicity we reached the following expressions:

V = V + e
V = V + e + e
With:
V = R . i + L . . I
V = R . i + L . .
e = W . L . . I
e = W . L . . I
e =

.W .

From the V and V

transfer function:
=
=

.Q

.C

and
(46)
(47)

(51)

(54)
(55)

(38)
(39)
(40)
(41)

(35)
(36)
(37)

(61)
V. SLIDING MODE CONTROLLER

The sliding mode command technique consists in bringing

the state trajectory of a system towards the sliding surface and
to commutate it using suitable commutation logic around it
until reaching a balance point.
This technique has several advantages: high precision,
stability, simplicity, a very weak response time and especially
the robustness [15, 16].

voltage, we have the following

. .

(45)

Like any generator connected to the grid, the power factor can
be set to 1 as Q =0. Neglecting losses in the filter, it leads to
the following expressions [11, 12, 13, 14].
(56)
V =V =V
V =V =0
(57)
So we get:
P =V i
(58)
(59)
Q = V i
We deduce:
_
I
=
(60)

The electromagnetic torque is expressed by the following

expression:
C = p. . . i
(42)

. M. I

Similarly, the active and reactive powers are expressed by the

following expressions:
P = V .I + V .I
(52)
Q = V .I V .I
(53)
From these two equations, we determined the I _
and
I _ currents:

(31)
+M

(30)

= L . . i

V = R . I + L . I
From the V and V voltage we have obtained the
following transfer function:

(29)

Q = V .I

(44)

To guarantee the interconnection between the rotor and the

grid, an RL filter is installed to eliminate the harmonics
communication from the converter operation [8, 9, 10].
V = V W .L .I + V
(48)
V = V + W .L .I + V
(49)
With:
V = R .I + L . I
(50)

(27)
(28)

. M. I

IV. GRID SIDE CONVERTER COMMAND MODEL

III. DFIG VECTORIAL COMMAND MODEL

From these two equations, we determined the I

I _ currents:

The vectorial DFIG command law is based on the stator flow

orientation according to the axis d. We obtain the following
results [7, 8]:
If we take = 0 So =
V = R .i +
V = R .i + .W
In the steady state we have:
=0

P = V .I

(43)

The statoric active and reactive power is expressed by the

following expression:

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C. Command law setting

In the case of the electric system command, two structure
types are very widespread: the discontinuous command U
and the equivalent command. Under these conditions, the
command algorithm is presented as follows [21, 22]:
U=U +U

In the phase plan presented by figure 4, the trajectory

comprises three distinct modes: convergence mode, sliding
mode and permanent operation mode. The study of this
technique can be divided into three principal steps:
The choice of the sliding surface
Setting of the convergence conditions
Setting of the command law

S
S
B(x)
A(x)
x
x
U: command magnitude
U : Equivalent command magnitude
U : Commutation command Term

The basic discontinuous command is defined during

the convergence mode and must satisfy the condition S. S < 0.

The U command is given by the base form

represented by the function "sign": U = K sign(S(x)) with K
is a positive gain
+1 si S (x) > 0
sign S(x) =
1 si S (x) < 0
U

Fig.4. Phase plan of Sliding mode controller

A. Choice of the sliding surfaces
We consider the following state model:
x = A x + B U

present the state vector,

U
present the command vector with n > m.
Generally, the choice of the number of the sliding surfaces is
equal to the dimension of the command vector U .
To ensure the convergence of a state variable X towards its
reference value x , several works suggested the following
general form [16, 17, 18]:
( )=

Nonlinear command for a grid connected wind turbine

Command side to the DFIG
Our study interested on the SMC, starting with the DFIG
command illustrated by figure 5.

( )

With:
: Gain positif
( )=
x
r: relative degree, it is the smallest positive entity representing
the necessary number of derivations to obtain the command,
0 ensuring controllability.
with:

Fig.5. DFIG sliding mode command strategies

To control the rotor current, we take r=1. Indeed, the Idr

and Iqr control surface expressions are presented as follows
[23, 24]:
S I
=I _ I
(66)
S(I ) = I _ I
(67)
The derivative of the surface is:
S I
=I _ I
(68)
(69)
S(I ) = I _ I
We Considerate the following system:
V = R .i + .W
(70)

B. Convergence condition setting

To allow the dynamic system to converge towards the
sliding surface, we consider the following condition which
corresponds to the convergence mode:
S(x). S(x) < 0
Based on the Lyapunov function presented by the positive
scalar function V(x) > 0 for the state variables of the system,
with, V(x) > 0.
Generally, this function is used to guarantee the stability of the
nonlinear systems. We define the Lyapunov function by [19,
20]:
1
V(x) = S(x)
2
To ensure the convergence of the Lyapunov function, it is
sufficient to guarantee that:
S(x). S(x) < 0

V = R .i + + .W
= L . i + M. i
= . i + M. i
With:

.
i =
i

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(71)
(72)
(73)
(74)
(75)

2016 7th International Renewable Energy Congress (IREC)

W = g. W

(76)

Control of d-axes rotor current

= R .i

(L . i

+ M. i ) (L . i

+ M. i ). W

(77)

V = R .i

.V

S I

+ . L . i . L . . W

=I

With:
V =
S I

=I

+ i .W

.V +

i .W

. (V

+V

)+

.i

(93)

.i

g. W . L . . i

(94)

In this part, we are interested in modelling of the command
strategy by the sliding mode of the grid presented by figure 6
[25, 26].

(81)

i .W

g. W . L . . i

= cte

>

SMC of the grid Converter

(80)

.i

.i

(79)

.i

> L . . I

Either: I

(78)

With:
=1

If : S I
> 0
<0
So: S I
V . = K sign(S I

(82)
(83)

At the steady state and during the sliding mode, we

considerate:
S(I ) = 0
S(I ) = 0
So :
. =0
V . = L . . I _ + . i i . g. W . L .
(84)
During the convergence mode:
S(I ). S(I ) < 0
According to the Lyapunov theorem
If : S(I ) < 0
So: S(I ) > 0
V . = K sign(S(I ))
K

> . L .

Either: I
K

= cte

>

To control the converter side grid, we take r=1. Indeed, the

Idf and Iqf control surface expressions are presented as follows:

L .i

. .

L .i

Fig.6. Sliding mode controllers for grid converter

+ . L . g. W . i

+ . L . g. W . i

The equation of current side filter control surface is presented

by the following expression:
S I =I _ I
(95)
The surface derivative is presented by the following
expression:
S I =I _ I
(96)
Either the equation:

(85)
(86)

Control of q-axes rotor current

V = R .i

(L . i

V = L . . + R .i

S( ) =

V
( +
_

) + (L . i

+ M.

+ W . L . i . + W . M.

.i

.
.

g. W . i
)+
+

. .

) . W

(87)

(89)

V g. W . i

(90)

(91)

V =R I +L
Likewise:
I =
V V

(88)

V + g. W . i

Control of q-axes filtered current

+ L I + V

(97)

(98)

I I

This study is based on the vector control of q-axis filtered

current, this implies that:
V = V and V = 0

At the steady state and during the sliding mode, we

considerate:
S I
=0
S I
=0
So:V . = 0
V . = . L . _ +
+
L . i + . L . g. W . i
(92)
. .

I =

I I

S I

=I

(100)

S I

=I

(101)

S I

=I

V +

(99)

I + I

(102)

At the steady state and during the sliding mode, we

considerate:
S I =0
S I =0
V . =V . +V .
(103)

During the convergence mode:

<0
S I .S I
According to the Lyapunov theorem
S I
< 0
So: S I
>0

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2016 7th International Renewable Energy Congress (IREC)

So:
V . =0
V , = L .I _ + R .I + L . I
During the convergence mode:
S I .S I < 0
According to the Lyapunov theorem, we set:
If: S I < 0 donc S I > 0
V . = K sign(S I )
K
> L .I _ + R .I + L . I
Either:
I _ = cte
K
> R .I + L . I

VI. SIMULATION RESULTS

Figure 7 presents the optimal point which corresponds to
the Beta angle = 0. This value is called the Betz limit. It is the
point at the maximum power coefficient. We note that the
wind turbine operation at these points makes it possible to
maximize power extraction [10].

(104)

(105)

Control of d-axes filtered current

S(I ) = I _ I
(106)
The surface derivative is presented by the following
expression:
S(I ) = I _ I
(107)
We consider the following system:
V =R I +L
L I + V
(108)
Likewise:
(109)
I = (V V ) I + I

Fig.7. Power coefficient curve Cp

Figure 8 illustrates the mechanical speed which follows the

wind curve.

This study is based on the vector control of d-axis filtered

current, this implies that:
V = |V | and V = 0
I =

(V V )

S (I ) = I
S (I ) = I
S (I ) = I

_
_
_

I + I

I
I
(V V ) +

(110)

I I

(111)
(112)
(113)

Fig.8. Mechanical speed

Figure 9 corresponds to the mechanical speed with a

limitation. This limitation is due to the variation of the blade
orientation angle. Due to this variation, the power coeficient
decreases [10].

At the steady state and during the sliding mode, we

considerate:
S(I ) = 0
S(I ) = 0
(114)
V . =V . +V .
So:
. =0
V , = L .I _ + R .I L . I + V
(115)
During the convergence mode:
S(I ). S(I ) < 0
According to the Lyapunov theorem, we set:
If: S I > 0 So S I < 0
V . = K sign(S(I ))
> L .I _ + R .I L . I + V
(116)
K
Either:
= cte
I
K
> R .I L . I + V
(117)

Fig.9. mechanical speed limitations by pitch control

Figure 11 describes the correct operation of the DFIG in

both operating modes and the reversibility of both power
converters. Indeed, during operation in hyposynchronous
mode (mechanical speed lower than the speed of
synchronism), the rotor absorbs the power of the grid.

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In the contrary case (hypersynchronous mode) where

mechanical speed is higher than the speed of synchronism, the
rotor injects power to the grid [10].

Fig.14. Harmonic spectrums before the filter

Fig.10. Mechanical speed

The result obtained by the spectrum reveals the cause of the

noises in the voltage curve. In fact, the odd harmonics (k=2
until k=19) disturbs the voltage curve.
This equation illustrates the voltage signals forming the curve
presented previously.

( )=
sin(2 + 1)
With
=2 +1
To minimize the effect of the harmonics, a filter must be
placed on the installation whose role is to eliminate the
undesirable frequencies and to confine the useful frequency
bands in a complex system. In our case, we use a passive filter
of type RL. According to the spectrum of harmonics on the
output of the filter, the totality of the frequencies beyond the
fundamental frequency F = 50Hz are eliminated (figure 16).
The voltage curve on the output of the filter is presented by
figure 15 [10]:

Fig.11. DFIG rotoric current

Figure 12 presents the aerodynamic power generated by

the wind turbine. According to the the curve of the stator
power we notice that it is limited to the nominal value and the
power excess is transferred by the rotor. The total power
injected into the grid corresponds to the sum of the Ps and Pr
[10].

Figure 12 Electric power generated

Fig.15. Voltage curve filtered

Figure 13, shows that the presence of a disturbed signal

formed by a fundamental signal of frequency (f=50 Hz) and
other signals. Indeed, figure 14 presents the range of the
harmonics which disturb the voltage on the output of the
inverter, located on a harmonic spectrum on the output of the
inverter to evaluate the quality of voltage wave [10].

Fig.16. Harmonic spectrums after filter

In order to evaluate the performance of the suggested

command strategy for the conversion system of wind turbine
based on a DFIG, a study performance of the first order SMC.
Fig.13. voltages no filtered curve

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VII. CONCLUSION
Our study is interested in modelling and commanding a
wind turbine based on DFIG. Indeed, the extraction of
maximum power by the MPPT strategy makes it possible to
provide the totality of the active power produced to the grid
with a unitary power-factor. We are used a SMC for DFIG
command, the continuous bus voltage regulation and the grid
converter command. The obtained simulation results show that
the SMC controller thanks to its robustness face to the wind
speed variation. The strength of SMC is the simplicity of
implementation and the robustness even in the presence of the
internal and external disturbances.

Fig.17. continuous bus voltages by SMC

Figures 17 presents the continuous bus voltage by SMC

regulated to the standard reference voltage fixed at1000 V.
Indeed, in spite of the fluctuation of wind, V cd remains quasi
stationary. The analysis of the dynamic aspect of the power
systems shows that the system using SMC eliminates the
overtaking and minimizes the effects of disturbance.

NOMENCLATURE
P

Kinetic power (KW)

Tip speed ratio
Pitch angle ()
Power coefficient
S
Area blade (m2)
R
Blade radius (m)
Air density ( = 1.22 kg/ ).
V
Wind speed (m/s)
Aerodynamic torque
C

Mechanical turbine speed (rad/s)
G
Multiplication ratio
Electromagnetic torque
C
Viscous friction torque
Mechanical torque

Rotational speed (rad/s)

Speed multiplication torque
C
f
Viscous friction coefficient
j
Inertia (kg.m2)
V
d and q components stator voltages (V)
d and q components of the rotor voltages (V)
V
i
d and q components stator currents (A)
d and q components rotor currents (A)
i

d and q components stator flux (Wb)

d and q components rotor flux (Wb)

R , R Stator and rotor winding resistance ()
W , W Stator and rotor pulse (rad/s)
L , L Stator and rotor winding inductance (H)
M
Mutual inductance (H)
p
Number of poles
d and q grid voltage (V)
, Stator and rotor active power (KW)
,
Stator and rotor reactive power (KVAR)

Fig.18. Irdq current before filter by SMC

Figures 18 shows the rotor currents curves Ir dq before the
filter in the power systems. These curves show that the static
error with the SMC is significantly lower. Indeed, in
permanent mode, the static error with SMC is weaker. We
infer that the SMC corrector is more performing.

Figure 19 Irdq current after filter by SMC

Figures 19 illustrate the performance of the nonlinear

command which is characterized by its robustness towards the
disturbances. However, the results of simulation show that the
control device in sliding mode realizes a better dynamic
behaviour of the system with a fast stabilization and boarding
time and a better performance in terms of the reduction of the
static error in steady operation and minimizes the disturbance
effects.

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2016 7th International Renewable Energy Congress (IREC)

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