2017 IEEE PES-IAS PowerAfrica

Control of a Direct-driven Permanent Magnet

Synchronous Generator-based Wind Turbine to
Achieve Maximum Wind-Power Extraction
Ester Hamatwi Michael N. Gitau Innocent E. Davidson
Department of Electrical Department of Electrical Power
Discipline of Electrical, Electronic Engineering Engineering
and Computer Engineering University of Pretoria Durban University of Technology
University of KwaZulu-Natal Pretoria, 0002, South Africa Durban, 4001, South Africa
Durban, 4001, South Africa njoroge.gitau@up.ac.za innocentd@dut.ac.za
esterhamatwi@gmail.com

AbstractWind energy has recently become the most
cost-effective and environmentally friendly amongst other
renewable energy resources. However, since wind resource is
intermittent in nature, the wind power output is inconsistent.
Therefore, a control system needs to be implemented to
ensure that maximum power is extracted from the wind
resource at a wide range of wind speeds to optimize the
performance of the wind turbine. This paper deals with the
control of the rotor speed of a 2MW direct-driven permanent
magnet synchronous generator to perform maximum power
point tracking (MPPT). Vector-oriented control technique is
used to control the machine-side converter and the types of
controllers used are the phase-lead, phase-lag and lead-lag
compensators. The proposed wind energy conversion system
was implemented in PSIM software and the control system
modelling has been carried out in MATLAB using bode plots
and step-response curves. The overall systems performance
analysis and validation were carried out by simulation. The
results obtained show that the MPPT controller enabled the
power generated by the WT to closely track pre-determined
optimal power curves. This shows that MPPT was ensured
when the wind speed was less than the wind turbines rated
wind speed.
permanent magnet synchronous generators (PMSGs)[4, 11-
15]. The PMSG-based WECS have gained more popularity
and preference over DFIG-based WECSs owing to their
advantages such as high energy density, simple control
methodology, high reliability, low maintenance cost and the
self-excitation system[1, 16, 17]. Furthermore, direct-
driven multi-pole PMSGs have been adopted to exclude the
gearbox, which improves the efficiency of the WT, and cuts
down on the weight of the nacelle and the operation and
maintenance cost of the WT system[4, 17, 18]. Since wind
resource is intermittent, the wind power output is highly
variable or inconsistent. This reduces the system stability
and power quality of the electrical grid. Therefore, power
electronic converters are employed to act as an interface
between WECSs and the grid[19]. This assists in achieving
the grid compliance of the WECS in terms of the voltage
level, frequency, active power and reactive power [11, 20,
21]. In addition to the WT, a direct-driven PSMG-based
WECS comprises of a machine-side converter (MSC) and a
grid-side converter (GSC) interconnected via a DC-link
capacitor (See Fig. 1).

KeywordsWind Turbine; Direct-drive; Control Systems;

Permanent Magnet Synchronous Generator; Maximum Power
Point Tracking; Phase-lag compensator

I. INTRODUCTION
With the energy demand growing rapidly across the
world, there has been a growing and tremendous interest in
adopting the cost-competitive, environmental friendly and
reliable renewable energy (RE) technologies to complement
the conventional methods of generating electricity[1-3].
Among the various RE sources, wind energy is proving to
become technologically mature and fast-growing owing to
the growth in the size of commercial wind turbine (WT)
designs and an increase in their power ratings[4-6]. A
number of experimental and commercial wind projects are
being established in relatively new markets [7-10]. Modern
variable-speed wind energy conversion systems (WECSs)
are based on doubly fed induction generators and
Fig. 1. The direct-driven PMSG-based WECS[1]
The ability of a variable-speed WT to extract optimal
power at a wide range of wind speeds makes it possible to
be operated in the MPPT mode[1]. Over the past years,
various MPPT techniques have been developed, namely:
Optimal Relationship-Based (ORB) control, Tip-Speed
Ratio (TSR) control, Optimal Torque Control (OTC) and
Perturb and Observe (P-O)/ Hill-Climb Search (HCS)
control.

978-1-5090-4746-8/17/$31.00 2017 IEEE 65

 2017 IEEE PES-IAS PowerAfrica
Their operation, strengths and weaknesses have been
discussed by authors [2, 4, 22, 23]. In this paper, the MPPT
operation is achieved through the use of optimal
relationship-based (ORB) control. This control technique
has gained interest because of its simplicity, quick
response, enhanced power smoothing capability and it is
independent of the wind speed measurement[4]. The ORB
control ensures optimal extraction of power from the wind
resource by using a pre-calculated look-up table, hence, the
knowledge of the WTs MPPT curve is a prerequisite[4].
The direct (power angle) control and vector-oriented
control (VOC) are the well-developed control techniques
used to perform the independent control of active and
reactive power in grid-connected WECS [24-26]. Freire
[24] compared the performance and effectiveness of the
direct and VOC strategies. It was concluded that, although
the direct control technique is associated with a fast
dynamic response and ease of implementation, the VOC
technique has a better performance due to lower current
distortions, higher grid power factor, and higher overall
efficiency. Moreover, the VOC technique makes it possible
to restrain the current stresses that the converter switches
may experience during AC faults by limiting the input
current to the rated maximum and minimum converter
currents[27]. It is for this reasons that the VOC control
techniques has been implemented in this study.
Controllers are mainly incorporated into a system to
improve the overall performance and stability of the
system. This is done to meet certain design specifications
such as percentage overshoot, phase-margin and a specified
bandwidth [28-32]. The well-developed controllers used for
the purpose of meeting the aforementioned design
specifications can be classified into two categories:
Proportional-derivative (PD), proportional-integral (PI)
and proportional-integral-derivative (PID)[31].
Phase-lag compensator, phase-lead compensator and the
phase lag-lead compensator[31].
Currently, PI, PD, and PID controllers are widely used
in experimental and in industrial control systems because
they have a simple structure, simple design procedure and
they are cost-effective[32, 33]. However, the design
procedure of PD, PI and PID controllers involves
determining the P, I and D gains which are usually tuned
using a trial-and-error procedure[1]. Therefore, poorly
tuned controller gains reduce the accuracy and dynamic
performance of the entire control system. Moreover, these
controllers are linear, with a constricted operating range,
prone to changes in machine parameters. Their design
procedure does not take into account the initial performance
of the uncompensated system[12]. Therefore, control
systems comprising of PI, PD and PID controllers are
ineffective when applied to nonlinear and uncertain
systems[34]. Phase-lead, phase-lag, and lag-lead
compensators are associated with a design procedure that is
well defined from fundamental principles as opposed to the
trial-and-error design procedure. The initial performance of
the uncompensated system is taken into consideration prior
to the controllers modelling and design. The compensators
are designed in the frequency domain to achieve the desired
design specifications using bode plots and step-response
curves. This makes the latter design procedure more
accurate.
A review of the literature shows that more focus has
been put on employing PI controllers in several MPPT
control studies. However, there is a scarcity of studies
focusing on the implementation of phase-lead, phase-lag
and lag-lead compensators in WECSs. This study
implements the ORB technique to control the rotor speed of
2MW direct-driven PMSG-based WECS to achieve MPPT.
Vector-oriented control technique has been used to control
the machine-side converter and the types of controllers used
are the phase-lead, phase-lag and lead-lag compensators;
while a three-level Neutral Point Clamped (NPC) Voltage
Source Converter (VSC) topology was used in the WECS.
II. MATHEMATICAL MODELLING OF A WIND ENERGY
CONVERSION SYSTEM
A. Wind Turbine and Drive-Train Mathematical
Modelling
The mechanical power extracted from the wind resource
by the wind turbine is given by (1) [4, 5]
1 3
Pm = AC p ( , )v w (1)
2
Where: is the air density, A is the area swept by the
rotor blades [m2] (A= r2, r being the radius of the rotor
blade in m), vw is the wind speed upstream of the rotor
[m/s] and Cp is the aerodynamic power coefficient
dependent on the blade-pitch-angle [deg] and tip speed
ratio given by (2)
r r
= (2)
vw
Where: r is the rotor angular speed [rad/s].
B. Permanent Magnet Synchronous Generator
Mathematical Model
The dynamic modeling of a PMSG is normally carried
out in the direct-quadrature (dq) synchronous reference
frame with the q-axis 90 ahead of the d-axis with respect
to the direction of rotation[35]. The dynamic equations of
the PMSG in the d-q synchronous reference frame are
given by (3) [35, 36]
disd
Vsd = Rs i sd + Lsd e Lsq i sq
dt
(3)
di sq
Vsq = Rs i sq + Lsq + e ( Lsd i sd + f )
dt
Where; usd and usq are the d-axis and q-axis stator
voltages [V], respectively; isd and isq are the d-axis and q-
axis stator currents [A], respectively; Lsd and Lsq are the q-
axis and q-axis inductances [H], respectively; Rs is the
stator winding resistance []; f is the permanent magnetic
flux [Wb], and eg is the electrical rotating speed [rad/s] of
the generator.
III. CONTROL SYSTEM MODELLING
A. Fundamentals of Control Systems
1) Gain and Phase Margin
In the frequency domain, the gain and phase margins
are the important indicators of system robustness,
performance and stability and hence, they are widely used
for controller designs.
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 2017 IEEE PES-IAS PowerAfrica
Phase and gain margins are determined by using Bode
plots of the systems open-loop transfer functions. A gain
margin is referred to as the amount of additional open-loop
gain, expressed in decibels (dB) that is needed to make the
closed-loop system unstable. The phase margin is referred
to as the additional open-loop phase shift that is needed at
unity gain to make the closed-loop system unstable [37,
38].
Fig. 2 shows the gain and phase margin and their
corresponding cross-over frequencies.
Fig. 2. Graphical representation of the gain and phase margin and their
corresponding crossover frequencies
2) Phase-lead, Phase-lag and Lead-Lag compensators
The phase-lead compensator improves the performance
of the open-loop system by adding a phase-boost to the
phase curve to obtain the desired phase margin at the
desired gain crossover frequency [28]. Whereas, the phase-
lag compensator improves the performance of the open-
loop system by adding a phase-attenuation to the phase
curve to obtain the desired phase margin at the desired gain
crossover frequency [30]. The lag-lead compensator
combines the features and functions of the phase-lead and
phase-lag compensators. Therefore, it is just a series
connection of the two compensators.
3) Design Specifications
Controllers are mainly incorporated into a system to
improve the overall performance and stability of the
system. This is done to meet certain design specifications
such as percentage overshoot, phase-margin and a specified
bandwidth [28-32]. The percentage overshoot refers to the
amount that the waveform overshoots the steady-state value
at peak time. It is related to the damping ratio by (4)[38]
1 2
os = e
The phase margin is related to the damping ratio by (5)
2 (5)
PM = tan 1
2
1 + 4 2
2
B. Machine-side Converter Controller
1) Controller Objective
In this research investigation, the optimal relationship-
based (ORB) maximum power point tracking (MPPT)
technique is carried out by the machine-side converter
(MSC) controller. The ORB MPPT technique is achieved
by adjusting the rotor speed r relative to the change in the
wind speed vw to ensure that the generated power P tracks
the pre-calculated optimal power Popt. Fig. 3 shows the
schematic diagram of the proposed WECS with the ORB
MPPT controller and generator-side converter controller.
Fig. 3. Schematic diagram of the ORB MPPT controller for a PMSG-
based WECSs
The vector-oriented control (VOC) technique has been
implemented in this paper to design the proposed
controllers. The VOC comprises of a dual-loop structure: a
slow outer control loop and a fast inner current control
loop. The output signals from the outer control loops serve
as reference currents for the inner current control loops.
Designing the inner current loops and the outer loops
separately enables the control system to ensure that the
desired specifications of the system have been met to
improve the performance of the entire system.
2) Inner Current Control Loop Modelling
a) Derivation of the Transfer Functions
Fig. 4 (a) and (b) shows the initial and final inner
current control loops for the generator-side converter,
respectively.
(a)
(4) (b)
Fig. 4. Inner current control loop for the generator-side converter, (a)
Initial control loop; (b) Final control loop
A converter is considered to be an ideal transformer
with a time delay caused by the switching of the converter
switches. The delay time is equal to the half of the
switching time.
The transfer function of the converter block is therefore
given by (6) [39];
1
Y ( s) = (6)
Ta s + 1
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 2017 IEEE PES-IAS PowerAfrica
Where Ta = Tswitch 2 = 1 2 f switch represents the time
delay.
The systems behavior is governed by the equations that
represent the PMSGs stator voltages in d-q synchronous
reference frame given in (3). The d- and q-components of
the stator voltage have a speed or frequency induced term
seLsqisq and a speed or frequency and a flux induced term
se(Lsdisd+f) respectively. This ensures the cross-coupling
of the two axes. To obtain a good control performance, it is
required to de-couple the d- and q- axis. This is normally
done by employing a dual-closed-loop direct current
controller comprising of decoupled current compensation
and voltage feed- forward compensation [39, 40].
Therefore, after decoupling the d- and q-axis, the equation
representing the systems transfer function in Fig. 4(a) is
given by (7):
di sd
V sd = R s i sd + L sd
dt
di sq
V sq = R s i sq + Lsq
dt
Taking the Laplace transformation of (7) gives (8)
relating the output stator current to the stator voltage
i sd ( s ) i sq ( s ) 1
= =
V sd ( s ) V sq ( s ) sLsdq + R s
From Fig. 4(b), the open-loop transfer function of the
inner current control loop is given by (9)
G C ,i ( s )
G i , ol ( s ) =
( sTa + 1)( sL sdq + R s )
b) Design specifications of the Inner Current
Control Loop
To prevent the ripple generated during the switching of
the pulse width modulation (PWM) converter switches
from affecting the controller's performance, it is
recommended that the inner current controller's bandwidth
should be as wide as possible and at least be less than or
equal to one-fourth of PWM converters switching
frequency[3]. The choice of the PWM converters
switching frequency mainly depends on the switches
blocking voltage (collector-emitter voltage) and the current
carrying capacity. According to[41, 42], the IGBTs are
preferred over MOSFETs for blocking voltages above
250V and they usually operate at low frequencies less than
20kHz for motor drive/control. In this study, the PWM
converter is rated at 3MVA, above the apparent power
rating of the WT given in Table II in the Appendix section.
Considering the wind turbines rated line-to-line voltage
of 690V as given in Table II, the switching frequency is
taken to be 10 kHz. Therefore, the bandwidth of the inner
current control loop is taken to be 2.5 kHz which is one-
fourth of the PWM converters switching frequency.
The percentage overshoot of the inner current control
loop is taken to be 25% since the inner loop is fast, and
hence the system can recover from the overshoot faster.
Therefore, the damping ratio and phase margin calculated
using (4) and (5) are equal to 0.404 and 39.52,
respectively.
c) The uncompensated inner current control loop
The bode plot used for the systems stability analysis is
plotted using (9) by substituting in the delay time, the
synchronous inductance and stator winding resistance given
in Table II. The delay time calculated using (6) is equal to
50s. Therefore, the open-loop transfer function is given by
(10)
GC ,i ( s )
GI , OL _ uncompen ( s) =
78 10 9 s 2 + 1.573 10 3 s + 0.821 10 3
(10)
Fig. 5 shows the bode plot of the open-loop transfer
function of the inner current control without a compensator,
that is GC,i(s)=1.
(7)
(8)
(9)
Fig. 5. Bode plot of the uncompensated open-loop transfer function
It is observed that the phase margin and bandwidth of
the uncompensated system are 88.2 and 635 rad/s,
respectively. The bandwidth is too low as compared to the
desired value of 1.57x104 rad/s (2500Hz) and hence the
system response will be too slow. Furthermore, the phase
margin is too high and much closer to 90.
To obtain the desired bandwidth, the systems open-
loop transfer function needs to be multiplied by a gain K to
raise the magnitude curve up. The gain is determined in
such a way that the magnitude curve crosses the 0dB line at
the desired bandwidth. The gain is computed using (11) as
follow
K
GI , OL _ uncompen ( j ) =
78 10 9 j 2 + 1.573 10 3 j + 0.821 10 3
K (11)
15707.96 = 9 2 3 3
(78 10 j + 1.573 10 j + 0.821 10 )
K = 31.12
Multiplying (10) with the gain K gives (12) which is
used for plotting the phase and magnitude curves of the
gain-compensated open-loop transfer function.
31.12
G I , OL _ compen _ gain ( s) = (12)
78 10 9 s 2 + 1.573 10 3 s + 0.82110 3
Fig. 6 shows the magnitude and phase curves of the
gain-compensated open-loop transfer function of the inner
current control loop.
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 2017 IEEE PES-IAS PowerAfrica

GI , OL _ compen_ lag ( s) = GI , OL _ compen_ gain ( s) Glag (s )

1.97 10 3 s + 38.68
= 12 3
6.25 10 s + 2.036 10 7 s 2 + 1.573 10 3 s + 0.821 10 3
(15)
Fig. 7 shows the magnitude and phase curves of the
phase-lag compensated open-loop transfer function of the
inner current control loop.

Fig. 6. Bode plot of the gain-compensated transfer function

It is observed that the bandwidth requirement has been

met. The phase margin at the desired bandwidth is 52.1.
To obtain the desired phase margin of 39.52, a phase-lag
compensator is needed to shift the phase curve down.
d) Phase-lag compensator design
The first step of designing a phase-lag compensator is to
compute the phase-attenuation needed to obtain the desired Fig. 7. Bode plot of the phase-lag compensated transfer function
phase margin. This is achieved by subtracting the current
phase margin from the desired phase margin: It is observed that the phase-lag compensator shifted the
Phase-attenuation=PMdesired-PMcurrent=-12.58 phase curve down to yield the phase-margin of 39.5. The
bandwidth is maintained at 1.57x104 rad/s (2500Hz).
The phase-attenuation is used to locate the pole pc and Therefore, the phase-margin and bandwidth design
zero zc of the phase-lag compensator by calculating the specifications have been met.
frequency [Hz] where the pole and zero will be located Fig. 8 shows the step response curves indicating the
using (13) [30] peak response (percentage overshoot) of the
uncompensated, gain-compensated and phase-lag
1 sin( phase attenuatio n ) compensated closed-loop transfer function of the inner
f z = f BW
1 + sin( phase attenuatio n ) (13) stator current control loop.
1 + sin( phase attenuatio n )
f p = f BW
1 sin( phase attenuatio n )
Where fBW is the bandwidth frequency, which in this
study is equal to 2500Hz.
Therefore, fp and fz are equal to 3119.39Hz and
2003.59Hz, respectively. The angular frequencies p and z
where the pole and zero of the phase-lag compensator are
located are equal to 19599.7rad/s and 12588.9rad/s,
respectively. Therefore, the transfer function of the phase-
lag compensator is given by (14) [30]
lag s + 1 6.366 10 5 s + 1.248
G lag (s) = G co ( )=
lag s + 1 7.943 10 5 s + 1
where;
(14)
= z / p = 19599.71 / 12588.93 = 1.557
Fig. 8. Peak response of the inner current controller's closed-loop
G co = = 1.557 = 1.248 transfer function
lag = 1 / z = 1 / 19599.71 = 0.05 10 3
It is observed that the overshoot of the gain-
The phase-lag compensator is applied to the gain- compensated system is 16%, while the overshoot of the
compensated system. Multiplying (13) by (14) gives (15) phase-lag compensated system is 29.5%. Therefore, the
which represents the transfer function of the phase-lag percentage overshoot of the gain-compensated system falls
compensated system for the inner current control loop. within the desired overshoot of 25%.
3) Outer Control Loop Modelling
a) Design Specifications of the outer control loop

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 2017 IEEE PES-IAS PowerAfrica

The outer control loops are expected to be slower than
the inner current control loops. Therefore, the bandwidth of
the outer control loops is taken to be 625Hz (3926.99rad/s),
which is one-fourth of the inner current control loops
switching frequency. Moreover, the slower outer loop
needs to have a smaller overshoot as compared to the fast
inner current controllers loop to get rid of as many
oscillations in the controller as possible thereby enhancing
the stability of the entire system. Therefore, the percentage
overshoot is taken to be 5%. Therefore, the damping ratio
and phase margin calculated using (4) and (5) are equal to
0.69 and 57.85, respectively.
b) Derivation of the Transfer functions: Maximum
Power Point Tracking (MPPT) Control Loop
MPPT is achieved when the WT operates at optimal Cp
(Cp_opt) and optimal tip speed ratio opt. The equation
relating the optimal power to the optimal rotor speed r_opt ,
Cp_opt and opt. is derived by substituting (2) into (1) as
illustrated by (16)[4]:
The open-loop transfer function used to plot the
magnitude and phase curves of the outer MPPT control
loop is given by (21). It is derived by substituting the
converters voltage of 620.62V and the closed-loop transfer
function GI,cl(s) of the phase-lag compensated inner current
loop given by (20) into (19)
2.23 103 s + 43.52 (20)
GI , CL ( s ) =
6.96 10 12 s 3 + 2.27 10 7 s 2 + 3.99 10 3 s + 43.52
GP, OL _ uncompen (s) = GP , ol ( s) GI , CL ( s)
(21)
(4.149s + 8.102 104 ) GC , P ( s)
=
1.393 1011 s 3 + 4.55 10 7 s 2 + 7.98 103 s + 87.03
Fig. 10 shows the Bode plot of the uncompensated
open-loop transfer function of the MPPT control loop, that
is, GC, P(s) =1.

1 r r 3
Popt = AC Popt ( opt ) (16)
2 opt
The output power Popt from the MPPT stage serves as
an input into the outer active power control loop. The
output of the outer controller block is the d-component of
the reference current fed into the inner current control loop.
Fig. 9 (a) and (b) shows the initial and final active power
control loops.

Fig. 10. Bode plot of the uncompensated transfer function

(a)
It is observed that the phase-margin and bandwidth of
the uncompensated system are 1.38 and 5.46x105 rad/s,
respectively. The bandwidth is much higher than the
desired value and the phase-margin is very small. To reduce
the bandwidth, a phase-lag compensator needs to drop the
magnitude curve so that it crosses the 0dB line at the
(b) desired bandwidth of 3926.99rad/s (625Hz).
d) Phase-lag compensator design
Fig. 9. MPPT control loop, (a) Initial control loop; (b) Final control loop
The first step is to identify the gain magnitude
Using the d-q axis theory, the instantaneous real and corresponding to the desired bandwidth on the magnitude
reactive power of the PMSG are described by (17) [40] curve. The gain magnitude at the desired bandwidth is
59.7dB as shown in Fig. 11
3 3
Pgen = (Vsd isd + Vsqisq ); Qgen = (Vsqisd Vsd isq ) (17)
2 2
In stator voltage reference frame, the d-axis of the
synchronous reference frame is aligned with the stator
voltage vector. Therefore, the stator voltage only has the d-
axis component Vsd, while the q-axis component Vsq is set
to zero. Therefore, (17) becomes (18)
3 3 (18)
Pgen = Vsd isd ; Q gen = Vsd isq
2 2
From Fig. 9(b), the open-loop transfer function of the
MPPT control loop is given by (19)
3 (19)
G P ,ol ( s) = GC , p ( s) G C ,cl ( s ) V sd
2
c) The uncompensated MPPT control loop Fig. 11. Gain magnitude at the desired bandwidth

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 2017 IEEE PES-IAS PowerAfrica
The magnitude at the desired crossover frequency is
then used to calculate the attenuation needed to shift the
magnitude curve down. The attenuation is used to locate the
pole and zero of the phase-lag compensator and it is
calculated using (22) [30]
gain 59.7
= 10 10
= 10 10
= 933254 .30
The frequencies where the pole pc and zero zc will be
located are calculated using (23).
zc
z c = bandwidth ; p c =
Therefore the pole pc and zero zc of the phase-lag
compensator with a bandwidth bandwidth of 3926.99 rad/s
and attenuation of 933254.30 are located at 3.79106
rad/s and 4.065 rad/s, respectively. The transfer function of
the phase-lag compensator is given by (24) [30]
( s / z c + 1) 2.636 10 7 s + 1
Glag ( s) = =
( s / p c + 1) 0.246s + 1
Multiplying (21) by (24) gives (25) which represent the
open-loop transfer function of the phase-lag compensated
system.
GP, OL _ compen _ lag ( s) = GP, OL _ uncompen ( s) Glag ( s)
1.09 10 6 s 2 + 4.17 s + 8.102 104
= 12
3.427 10 s + 1.118 10 7 s 3 + 1.96 10 3 s 2 + 21.42s + 87.03
4
Fig. 12 shows the magnitude and phase curves of the
phase-lag compensated open-loop transfer function of the
MPPT control loop.
Fig. 12. Bode plot of the phase-lag compensated transfer function
It is observed that phase-lag compensator shifted the
magnitude curve down by 60.6dB at the bandwidth of
3.93x103 rad/s, and hence, the bandwidth design
specification has been met. The phase-margin at the desired
bandwidth is 80.6. Therefore, a second phase-lag
compensator is needed to shift the phase curve down to
obtain the desired phase margin of 57.85.
e) The second phase-lag compensator design
The first step is to compute the phase-attenuation
needed to obtain the desired phase margin by subtracting
the current phase margin from the desired phase margin as
follow,
Phase-attenuation=PMdesired-PMcurrent=-22.75.
Therefore, the frequency [Hz] where the pole pc and
zero zc calculated using (13) and the phase-attenuation are
equal to 415.64Hz and 939.81Hz, respectively. Moreover,
the angular frequencies p and z where the pole and zero
of the phase-lag compensator will be located are equal to
(22) 2611.54rad/s and 5905rad/s, respectively.
The transfer function of the phase-lag compensator is
given by (26)
lag s + 1 0.255 10 3 s + 1.504 (26)
G lag 2 (s) = G co ( )=
(23) lag s + 1 0.383 10 3 s + 1
The second phase-lag compensator is applied to the
phase-lag compensated system, and hence, multiplying (25)
by (26) gives the transfer function of the phase-lag-lag
compensated system as follow
GP, OL _ compen _ 2lag ( s ) = GP, OL _ compen _ lag ( s) Glag 2 ( s)
2.784 1010 s 3 + 1.063 103 s 2 + 26.9 s + 1.218 105
(24)
=
1.312 1015 s 5 + 4.625 1011 s 4 + 8.633 107 s 3 + 0.0102 s 2 + 21.45s + 87.03
(27)
Fig. 13 shows the bode plot of the MPPT controllers
open-loop transfer function compensated with the two
phase-lag compensators.
(25)
Fig. 13. Bode plot of the transfer function compensated with the two
phase-lag compensators
It is observed that the second phase-lag compensator
shifted the phase curve down to yield the phase-margin of
57.9. The bandwidth is maintained at 3.92x103 rad/s
(625Hz). Therefore, the phase-margin and bandwidth
design specifications of the outer controller have been met.
Fig. 14 shows the step response curve indicating the
peak response (percentage overshoot) of the
uncompensated, the phase-lag compensated and phase-lag-
lag compensated closed-loop transfer function of the outer
MPPT control loop, respectively. From Fig. 14, it is
observed that the phase-lag compensators significantly
reduced the percentage overshoot of the uncompensated
system from 96.5% to 12.1%. This reduces the
harmonics/vibrations in the overall system leading to a
much stable and effective control system.
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Fig. 14. Peak response of the MPPT controller's closed-loop transfer
function
IV. RESULTS AND DISCUSSIONS
The proposed WECS has been implemented using the
PSIM engineering software tool. The design and stability
analysis of the machine-side converter controller was
carried out in MATLAB using bode plots and step response
curves. The MPPT controller was designed for a range of
wind velocities falling within the range of the cut-in and
cut-off wind speeds of the wind turbine under investigation.
The wind speed is made to vary to analyse how the system
reacts to the change in wind speed. Fig. 15 shows the
variation in wind speed from the wind turbines cut-in wind
speed (4m/s) to the rated wind speed (13m/s) at 0.6s up
until 18m/s, approaching the WTs cut-out wind speed.
Fig. 15. Wind Speed Model
Fig. 16 (a), (b), and (c) shows the rotor angular speed,
the aerodynamic power, and aerodynamic torque,
respectively. These curves were obtained from the PSIM
engineering tool after the proposed controllers have been
incorporated into the proposed WECS.
(a)
(b)
(c)
Fig. 16. MPPT Control (a) Rotor Angular Speed; (b) Aerodynamic
power; (c) Aerodynamic Torque
Fig. 16 (a) shows that the rotor angular speed increases
as the wind speed increases. Moreover, at the rated wind
speed (13m/s), the measured rotor speed is equal to the
rated rotor speed, which is 2.356rad/s. Fig. 16 (b) shows
that when the wind speed is below the WTs rated wind
speed (13m/s), the power generated from the WT tracks the
optimal power curve to ensure MPPT. When the wind
speed is equal to the WTs rated wind speed, the power
generated is equal to 2MW which is the WTs rated power.
Moreover, as the wind speed increases further above the
WTs rated wind speed, the generated power remains equal
to the rated power. From Fig. 16 (c), it is observed that
during the MPPT stage, the generated torque closely tracks
the optimal torque curve until the rated WTs rated torque.
At the rated power (2MW), the torque is equal to the WT
generators rated torque of 849kNm.
V. CONCLUSIONS
The system components and the MPPT controller were
successfully implemented using PSIM software tool. The
design and stability analysis of the generator-side converter
controller was carried out in MATLAB using Bode plots
and step response curves. Based on the simulation results, it
was observed that the MPPT controller enabled the power
generated from the WT to closely track the optimal power
curve to ensure maximum power generation when the wind
speed is less than the WT's rated wind speed (13m/s). It was
also observed that when the wind speed is equal to the
WT's rated wind speed, the aerodynamic power generated
is equal to 2MW which is the WT's rated power. The
MPPT controller also enabled the generated torque to
closely track the optimal torque curve when the wind speed
was lower than the WTs rated wind speed. Subsequent
work will focus on hardware implementation and testing.
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APPENDICES

TABLE I. WIND TURBINE PARAMETERS

Parameters Values
Rated Power (MW) 2
Cut-In wind speed (m/s) 4
Rated wind speed (m/s) 13
Cut-out wind speed (m/s) 25
Number of rotor blades 3
Rotor area (m2) 4587
Rotor diameter (m) 76.42
Air density (kg/m2) 1.225
Maximum Cp 0.4

TABLE II. PMSG PARAMETERS

Parameters Value

Generator type PMSG

Rated mechanical power, P (MW) 2
Rated apparent power, S (MVA) 2.24
Rated L-L voltage, VL-L (V) 690 (rms)
Rated power factor, pf 0.89
Rated rotor speed, rated(rpm) 22.5
Pole pairs, np 26
Rated Mechanical Torque (kNm) 848.83
Flux linkage, f (Wb) 4.971
Stator winding resistance, Rs (m) 0.821
Stator d-axis inductance, Lds (mH) 1.573
Stator q-axis inductance, Lqs (mH) 1.573

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