224

08 w2 POWER CONTROL OF A DOUBLE FED INDUCTION GENERATOR WITHOUT

SPEED OR POSITION SENSOR

Merchant Marine Academy, Poland

Abstract. T w o control systems of the double fed induction generator and simulation results
are presented in the paper. Control system controls the active and the reactive powers by
means of the rotor currents. The control system produces directly the rotor currents frequency
without rotor position measurement and coordinate transformations. An angle controller is
introduced instead. This controlls the angle between two vectors. Possibilities of the angle real
value calculations are presented.

Kmords. double fed induction machine, power control, angle controller, angle estimation

INTRODUCTION estimation has been presented. An angle controller is

Some proposals of a double fed induction machine
control system are presented in the paper. The
induction machine works as a generator with a stator
connected to the grid and a rotor fed by a current
regulated voltage source inverter (Fig. 1). The machine
rotor speed changes in a l i t e d range. A machine
control system controls two quantities: active and
reactive powers. These both quantities are controlled by
the rotor currents of such a magnitude and frequency
that makes it possible to maintain the reference values
of powers. The required rotor currents are forced by the
CRPWM voltage source inverter.
A proper coordinate system should be chosen to
control the powers. There are some possibilities to
chose the coordinate system. This may be connected
with a stator flux vector, a stator voltage vector or with
a rotor. There is a different control strategy in each
case and the other variable transformations from one to
another coordinate system are necessary.
Some proposals of the induction generator control
strategies have been presented by Walczyna [l],
Arsudis [3] and Krzeminski [Z]. Comparison of the
power control dynamics in the field and rotor
coordinate system have been made in [l]. In [Z) an idea
of a control system with a very good dynamic
performances has been presented. A non-linear
feedback based on a original scalar model of the
induction machine has been used. In both systems
variable transformations to the rotor coordinate had to
be made and a rotor position had to be known. This
may be or measured or estimated. A control system
with an estimate of the transformation angle has been
proposed by Arsudis [3]. There is no rotor position
sensor in this proposal. In 141 an idea of the DFM
control strategy without rotor position measurement or
used instead of the rotor position sensor. A rotor
currents frequency is not calculated but generated by
the control system. In [5] comparison of the power
-
control properties in the system with the non 1'inear
feedback and a system with the angle controller is
presented.
In the paper two DFM control strategies with the angle
controller are presented. In the first one the control
system is based on the coordinate system c ~ ~ e c t e d
with the stator voltage. The second one is based on the
coordinate system connected with the stator flux. The
angle between the x-axes of the coordinate system and
a rotor current vector is controlled by the angle
controller. The angle controller is used to synchronise
the rotor current vector with the x-axes of the
coordinate system. The main problem is to obtain a real
value of the angle between the rotor current vector and
the stator voltagdflux vector. Possibilities of the angle
acquisition are presented. The angle can be calculated
from the measured active and reactive powers and
steady state relationships. The quality of this
simplification has been investigated. Proposed system
guaranties a good static and satisfactory dynamic
perfOlllUUlCe.
PRINCIPLE OF TEE CONTROL METHOD
The double fed induction machine can be described by
the following differential equations (with the stator flux
and rotor current chosen as a state variables) in the
coordinate system rotating with the angular speed as:

0 1993 The European Power ElectronicsAssociation

 225

system should generate the rotor currents of such a

value that makes it possible to maintain the powers
reference values'. The active and reactive powers are
expressed as

I"1 I I -
P = Re(u,i:) = u,i, + uVi,
- ..
Q = Im(u,t,) = u,i, -uu,iy

1
I I . and taking into account

Figure.1. The control system with the angle controller

Q=-(u,Y,
1 -u,Y,)--(uryin
Lm -U&)
Ls L,
The equations (7),(8) are too complicated for direct
using in the control system. It is possible to chose the
coordinate system in such a way that the active power
depends on one rotor current vector component and the
reactive power depends on the other rotor current
vector component. To obtain more convenient
relationships the machine steady state has been taken
into account. In the stator flux coordinates and in the
steady state the P and Q powers can be expressed as (if
dim - 1 i, + RLL ,Y , +(a, -ar)iv+ Rs=o):
dt Td LsW6
(3)
- -Lwm , Y v + ~ uL~ - - u I ,Lm
, P = --Y,ivTaT,
Lm
(9)
w6 w6 w6 L"

w
Q = ' ( Y , ' - LmixYYa) (10)
L,
In the coordinate system c o ~ e c t e dwith the stator
voltage vector the P and Q powers may be expressed as
(ifRs=o) :

where :w6= L,L, - L,:
,Y
, Yry, h ~IY, uar, ury, m, uly are the x-y components
of the stator flux, rotor current, stator voltage and rotor
voltage respectively, R,RI, La, Lr,L m a r e the stator and
rotor resistance, inductance and magnetising
inductance.
The double fed induction machine working as a
generator produces the active P and the reactive Q
powers. Machine is controlled from the rotor side. To
control both active and reactive powers the control
L m
P = --usl,, .
L,
where ou and O W are the angular speeds of the stator
voltage and flux vectors, U and Y indexes denote
voltage and flux coordinates. Two controllers of the
active and the reactive powers should be introduced in
the control system (see Fig. 1). The active and reactive
power controllers produce reference values of the rotor
 226
current components. These components are expressed
in the frame of references COMW with the stator flux
or voltage. To force required rotor current vector
components in the rotor windings (LxR~YR), variable
transformation that depends on the rotor actual position
should be made.
In the paper the other method to obtain the rotor
current vector components in the rotor wordinates is
proposed. The control system structure is PreSented in
Fig.1. A method is based on the relations between the
vectors. The power controllers output values’ are
assumed to be orthogonal and are the base for the angle
reference value calculation. This angle is assumed to be
the angle between the rotor current vector and x-axes of
the chosen frame of references. Coordinate system is
connected with the rotating vector. The reference
values of the a angle and the rotor current magnitude
are expressed as
i, = ,/ii +i,!,,
(13)
a = atg(i,/i,)
where iX and iry variables exist at the power controllers
outputs and can be treated like two components of the
rotor current vector. The real value of the a angle is
obtained from measurements and calculations. The
angle controller introduced into the control system
compares the angle reference and the real values and
generates an angular speed of the rotor current vector
0 2 (in relation to the coordinate system). w his speed is
Of the value that makes it possible to maintain the
angle reference value. The output Value of the angle
controller can be used to calculate the set dues for the
rotor current vector components in the rotor
coordinates LXR, L ~ R :
i, = i, cos(p,)
(14)
i, = i, sin@,) ’
where
P 2 =Ja 2dt (15)
In this way the set values for the rotor currents can be
calculated without transformations from the chosen
(stator) coordinates to the rotor coordinate system.
Measurement of the rotor position is not necessary. An
additional angle controller introduced into the control
system exists instead.
CONTROL SYSTEM IN T E E FRAME OF
REFERENCES CONNECTED WITH THE
STATOR VOLTAGE
From (9, 10) results that in the steady state the P and
Q powers depend only on Lxu and Lyu components
(respectively) of the rotor current vector in the
coordinate system c o ~ e c t e dwith the stator voltage.
During transients and if Rs+o both the current
components influence both powers. .
The active and reactive powers are calculated from ( 5 )
in the unmoving a# coordinates on the base of the
stator voltages and currents’ measurements.
Calculation oftbe angle
The simplest way to calculate the angle between the
stator voltage vector and the rotor current vector is to
use the machine equations in steady state (and M).
The following relationships are obtained:
.
I, = -I’1,
L
(16)
Lm
From measurements the w, ulg, L4 Lg values in the
unmoving frame of references are obtained. By
transformation LXU and C components can be
calculated as:
i, = +Us6iap
U,
(W,
(19)
. - U& -us& ’
l~ -
U.
From (16.17) the approximated actual values of the
rotor current vector components can be calculated. As
the DFM works as a generator with the nearly constant
magnetisingindue" L, the UJ(CU&) may
be treated as a constant value. The real value of the QU
angle can be calculated as
a, =atg(iw/i,) (20)
To obtain this value only the stator currents and
voltages’ measurementsare needed.
To improve the angle calculation accuracy the other
method has been proposed below. The intluence of the
stator resistance Rs is taken into account. In the system
the stator active and reactive powers are measured. To
estimate the angle real value or the other values that
are used in the control system the power measurements
can be used. The machine steady state is taken into
8ccount. In (I, 2 ,7 3) and (21) six variables uur,
ury,Y=, Yw,L,ly exist.
U: =.:+U; (21)
If the wordinate system is c o ~ e c t e dwith one of these
variables (YSXor k)one variable is equal to zero (Yw,
ury) and odd variables can be calculated. All the
variables are in the same frame of references and
 227

relations between variables can be found (and angle machine equations integration but this method is not
too). From (1,2), (7,8) and with dY/dt=0 we obtain precise. From (l), (2), (7), (8) and (21) all the variables
can be calculated but the relationships too long.
Instead of the calculations of the components of each
vector the other method is proposed. Machine state
u2 0 depends not on the position of each vector in relation to
P = -?-+>(Yp, - Y=uv)
R, Rs the stator but depends on the relations between vectors.
(22,231 In (7), (8), (22), (23) relationships a scalar and a vector
products of two vectors appear. They are independent
Q = "0( Y V u , +Y,u=) on the frame of references. In [2] a mathematical model
Rs
the frame of references connected with the stator of the induction machine that uses the z-variables of
voltage the stator flux and the rotor current vector the form Of the scalar and vector products has been
components and the au angle can be calculated as: proposed. The following equations show relations
between the powers and the 2-variables in the steady
state:

1 w2
(24,25) P=-u2-'yz 21 -LO
z Ly 12,
Rs Rs L,

i, = -(P--usYw)--
1 Ls 1
T
L, II

1
i, = (Q+-u,
Ls --m -s

A choice of the angle calculation method depends on zI2= Y= liy -Yvim

the required accuracy. For the flux and current z22= Y,i, +Yvily'
components calculations' machine parameters should
be known.
The ZZI variable can be calculated from:

CONTROL SYSTEM BASED ON THE FRAME

OF REFERENCES CONNECTED WITH THE U,I = <U: - R,P)/o ~y

STATOR FLUX VECTOR

us2 = R,Q/a Ly

From (9),(10) results that in the steady state the active

power depends on the ly component and the reactive
power depends on the iX component of the rotor current 4 1 +4 2 ,
z2, = -
vector. The structure of the proposed control system is
U*
like in the System connected with the stator flux but
calculations and variables are another' The power
From (29), (30) relationships the approximations of the
Output may be assumed as the 212 and 222 real values can be calculated and next the
reference values of the im and iv components. After a
coordinate system change (13) the reference values of rotor current vector magnitude and the aw angle can be
expressed as:
the rotor current vector magnitude an the angle
between the rotor current vector-and a stator flux vector
are obtained. The angle controller produces such a is = (& +&)/Z2,
rotor current frequency that makes it possible to (331434)
a
L y = atg(z,, /z22 1 '
maintain the angle reference value.

The acquisition of the ayr angle is not so simple like in To use the (29), (30) relations the machine parameters
the previous system. The stator voltage vector position should be In state = and this
is known from measurements but the stator flux vector value can be used for
position is unknown. This may be obtained by the
PP - 228

I I , I I I I I

V
Figure.2. Transients in the system connected with the
-s
stator voltage Figure.3. Transients in the system connected with the
stator flux

RESULTS OF SIMULATIONS

Simulations have been made to compare the presented REFERENCES

control systems. The following parameters of the
1.2MW machine have been used: Rs=0.0105,
R~0.0067, Lm=3.15, Ls=3.217, L ~ 3 . 2 3 6(in p.u).
Transients in the system connected with the stator
voltage are presented in Fig.2, transients in the system
connected with the stator voltage are presented in
Fig.3. The set value for the active power has been
changed from 0 to 0.8 of the nominal value and next to
0.1 value. The set value of the reactive power was
constant Qz=O.6 (in P.u.). The instantaneous values of
the active and reactive powers have been calculated
using stator currents and voltages next filtered (Qf, and
used for the angle calculations. The angle between
vectors and the angular speed of the rotor current
vector is shown in Fig.2,3. A small interaction between
the active and reactive power control appears. A steady
state dependencies used for the control system synthesis
are the reason of the this coupling. In both systems
transients are very fast.
1. Walczyna, A. M. 1991, "Comparison of the
dynamics of the DFM in field and rotor-axes",
EPE Conference, Firenze, Italy
2. Krzeminski,Z. , 1990, "Control system of the
DFM based on the multiscalar model", IFAC
11-th Congres on Automatic Control,
Tallin, SU
3. Arsudis, D. and Vollstedt ,W,, 1990, "Sensor
less power control of the DFM AC machine
with nearly sinusoidal line currwent", EPE
Conference, Aachen, Germany
4. Bogalecka, E., and Krzeminski,Z., and
Wierzejski,M., 1991, "Control system of the
DFM working as a generator", PCIM
Conference, Numberg, Germany

CONCLUSIONS 5. Krzeminski,Z., and Bogalecka,E., 1993, "

Control system of DFM supplied by the CR
The proposed control systems with the angle controllers voltage source inverter",Oxford, UK
make it possible to control induction generator without
speed or position sensor. To estimate rotor current
vector components in the stator coordinates the active
and reactive powers have been used. Any special filters
are not needed in the control system. A good dynamic
properties of the active and reactive power control have
been obtained. To verify such a control strategy the
experiments have to be made. Because of a large
number of the calculations a signal processor should be
used.