Sensorless Multiscalar Control of Double Fed Machine for Wind

Power Generators
Zbigniew Krzeminski
Technical University of Gdarisk, Electrical and Control Engineering Faculty
ul. Narutowicza 11/12, 80-952 Gdansk, POLAND
Phone (048)(058) 3472348, Fax. (048)(058) 3410880
E-Mail: zkrzem@,sparcI0.elv.Dn.gda.d

Abstract and 3kHz. The delay is introduced to the control system

The control system based on the multiscalar model of
the double fed machine is presented in the paper.
Nonlinear feedback transforms the system into two
independent linear subsystem. Estimation of variables
including the rotor position has been applied to the
system. The active and reactive powers of the stator are
controlled using PI controllers. Oscillations in an
uncontrolled part of the machine are well damped.
Delay caused by digital realization of control algorithm
is compensated for in the system. No mutual dependence
of transients of the active power on reactive power are
observed and the system is stable. Fast oscillations of the
rotor speed cased by variable torque produced by the
wind does not influence the active power of generator.
Results of simulations are presented.
from this reason and has to be compensated for.
The new variables for the induction motor were
proposed in [SI and applied to the DFM in [9].
Simplified assumptions have been made in [9] 'to show
properties of the control system. Exact model including
inverter is presented in this paper.
The variables used in the control system are measured
on stator and rotor side of the machine but the control is
applied on the rotor side. The rotor position is used to
transform the variables from the stator-oriented frame of
references to the rotor oriented frame of references. The
control system has to be equipped with rotor position
sensor but application of estimation algorithm for the
rotor angle is more preferred.
2 Vector model of DFM

2 Introduction A general space vector theory is used to derive

differential equations of the induction machine fed from
The slip-ring induction machine working as a double both stator and rotor terminals. The equations for
fed machine (DFM) becomes the most interesting variables determined in the same frame of references are
solution for the high power wind generators if compared as follows:
with synchronous machine and squirrel cage induction
dv
us = R s i , +2+jo,ips,
machine [l]. The stator of the machine is connected to
the grid and the inverter supplies the rotor as shown in dT
Fig. 1. The rotor speed may vary in a limited range and
only a part of energy is transformed by the inverter that
may be designed for the reduced power. These
conditions make the wind power generator with DFM
very efficient and economic.
where vS,\v, are the stator and rotor flux vectors, i s , i,
Different schemes of control systems for the DFM
were proposed. Stable systems presented in [2]-[3] are are the stator and rotor current vectors, us,u, are the
based on forcing the current in the rotor winding. The stator and rotor voltage vectors, R,, R r are the stator
space vector theory may be used to design the structure and rotor resistances, mois the torque, J is moment of
of the control system for variables in different frames of
inertia, or is the rotor angular velocity, w, is the
references [4]. Common problems for all systems are
oscillations of the stator flux in the DFM. These angular velocity of frame of references and T is the
oscillations appear in the uncontrolled part of the
machine resulting from the direct connection of the
stator to the grid and makes the setting of controller very
difficult. Nonlinear feedback was proposed in [5] and [6]
to damp the oscillations in the system with forced
current. An additional inverter was proposed in [7] to
damp the flux oscillations appearing in the DFM.
The other difficulty results from the low switching
frequency of the inverter. The power of the inverter may
be greater than 1 MW and carrier frequency is between 2 Fig. 1. Wind power generation system with DFM

0-7803-7 156-9102/$10.0002002 IEEE - 334 - PCC-Osaka 2002

 Grid
m2 ur 1
Controller +
b

Decoupling
'r2
' Transfor-
mation
ofgrid side
inverter
c
C
-b

L\ \ I I I I
II

'raR
Transfor-
mation

A
UrPR
PWM
controller
2 40 I

aPSK

P Correction Estimation of
rotor position
and
I 'sfl, 'SQ, 'si13 Us12
multiscalar
model
Zll, 2129 221JZ21 variables

Fig. 2. The scheme of multiscalar control system for the DFM

relative time. All variables are expressed in p.u. system.

The equations (1) - (3) were derived with assumption
that the frame of reference rotates in relation to the
stator. In a control system of the DFM presented in
Fig. 2 the rotor variables are defined and measured in the
kame of references tied to the rotor and the stator
variables are defined and measured in the fame of
references tied to the stator. Using the known
dependencies:
where
(4)

(5) L,, L,, L, are the stator, rotor and mutual inductances,
and the additional index S denotes the variables defined
the following differential equations are received for the in the stator oriented frame of references and R denotes
vector components: the variables defined in the rotor oriented frame of
references.
The stator oriented variables are transformed to the
frame of references tied to the rotor as follows:
WsxR = VsxS cosqRS -VsyS sin(PRS > (12)
WsyR = VsxS Sin'PRS +VsyS Cos(PRS (13)
where (PRS is the angle between the rotor and stator.
The variables measured in the rotor are transformed to
the frame of references tied to the stator in the similar
way.

- 335 -
3 Multiscalar model based control of the
DFM

Most of the known up to now control systems of the

DFM are based on the vector model of the machine and
simplification are assumed for the control system design.
The control system presented in this paper is based on an
multiscalar model of the induction machine proposed by
the author in [8] for the induction motor and in [9] for
the DFM. The following variables are defined to develop
the multiscalar model of the DFM: where

All vector components are expressed in the same transform the DFM into two linear subsystems of the
frame of references and the index R or S is omitted. The following:
variables defined by (14) - (17) do not depend on the - mechanical subsystem
fiame of references. The variables zI2 and 222 are
scalar and vector products of the stator flux vector and
the rotor flux vector. On the other hand these variables
may be interpreted as the stator flux and rotor current (33)
vector components defined in the frame of references
tied to the stator flux vector and scaled by \vs . - electromagnetic subsystem
The differential equations of the multiscalar model of
the DFM are derived for the variables (14) - (1 7) are as
follows:
(35)

where ml, m2 are new inputs to the plant.

4 Control of active and reactive power

The DFM considered in this paper is used as a
generator connected to the grid. The active power is
generated in dependence on the actual wind power and
the reactive power usually have to be equal to zero. The
full control system of the DFM is presented in Fig. 2.
The grid side inverter is used to provide flow of the
power in two directions. Usually the control system of
both inverters generate the reactive power equal to zero
to the grid and a filter is used to eliminate high
where
harmonics from the current. The active and reactive
powers of the stator side are controlled using PI
controllers.
The instantaneous active and reactive powers are
defined as follows:
P = usxisx + usyisy
3 (36)
q = -usxiSy + usyiSx. (37)

Using the steady state equations for the stator current

vector components expressed in the frame of references

- 336 -

Fig. 3. Position of the stator current vector in the
frames of references tied to the stator and the rotor
tied to the stator voltage vector the following
dependences may be received:
The variables uSfl and usf2 may be interpreted as
vector and scalar products of the stator voltage and the
stator flux vectors. The angle between these vectors is
equal near to n I 2 in steady state and in consequence
usf2 is equal near to 0 and usfl is equal to 1. It means
that the active power depends mainly on the variable
z12 and the reactive power depends on the variable 222.
The simplified expressions for the active and reactive
powers received from (38) and (39) taking the above
dependences are as follows:
In accordance with (40) and (41) the signals on
outputs of the controllers of the active and reactive
power may define the set values for the variables 212
and ~ 2 ~ .
The variable z21 is uncontrolled in the system with
controllers of the active and reactive power what may be
a reason of oscillations.
5 Estimation of variables
The angle between the stator and the rotor is needed
to transform the variables to the same frame of
references. The simplest way is application of the
encoder to measure the rotor position but it is
- 337 -
inconvenient for the wind power generators of high
power. A long distance between the machine and the
cubicle for control system together with tower
configuration form mechanical difficulties. To avoid
these difficulties a sensorless system is preferred where
the angle of rotor position is calculated.
The rotor position is determined by the angle between
two frames of references presented in Fig. 3. The stator
current vector is determined in two kames of references.
In the rotor oriented coordinates the rotor current vector
is directly measured. In the stator oriented coordinates
the rotor current is calculated from the following
equation:
irS = ims -is,, (42)
where i,s is the magnetizing current vector.
(431
where vmSis the main magnetic:
Vms = V ~ -Losis~
S 9 (44)
where LoS is the stator leakage inductance.
The stator current vector in (44) is directly measured
and the stator flux vector may be estimated on the basis
of the following steady state equations received by
assumption that the stator resistance is omitted:
Wsps = 7,
where w is the angular velocity of the stator voltage
vector.
The position of the stator current vector in two frames
of references is connected with rotor position as follows:
(Pis = (PiR + (PRS 9 (47)
The rotor oriented frame of references may be rotated
in clock opposite direction together with the rotor current
vector. Two vectors in the same frame of references are
received in this way. The angle between the rotor current
vectors in the same frame of references is equal to the
angle between the rotor and stator. The trigonometric
functions of the rotor position may be expressed as
follows:
(49)
The rotor position is calculated from the functions
(48) and (49). The estimated angle (PRS is used to
transform the variables to the required frame of
references.
 1 1k 1
TeWMD
U.Yb 0

f \
212 L Y 7
-1 . . . . . . . . . . .i ................ :...... ........... : ..
... .............

1. . . . . . . . . . . . L .............. :........... :................ :. ........... :

I : \ i
9 \ ' r ! 1
-1- ............. i ............... !...... . . . . . . ;.... ............ i ............ 1 - 1 -

---I
-1
Time [As] 100 200 300 400

Fig. 4. Transients in the multiscalar model based Fig. 6. Transients in the multiscalar model based
control system for actual variables control system for variable wind torque

1.1
z2 1
- in dependence on the sampling time and actual value of
0.9 rotor speed.
1 ................ k ............ ~............... . . ~ . - ................... The full system presented in Fig. 2 was digitally
t
P -1
\
................ :....
f ............ :. ................................
1 model. The grid side inverter was controlled by PI
controllers working in the frame of references tied to
grid voltage vector.
The PI controllers were applied in the cascade
connection to control the active and reactive power and
the variables zI2 and z22.
............................. : ................................ ;.. ...........:

Time [ i s ] 160 200
Fig. 5. Transients in the multiscalar model based
control system for estimated variables
6 Digital realization of the control system
In the high power generators the carrier frequency of
pulse with modulation is in the range bemeen 2 kHz and
HZ because of limitation of switching losses in the
~ h period appears from this
inverter. ~ i sampling
in the control system that have to be compensated for. It
was investigated by simulations that the delay caused by
sampling period does not influence the nonlinear
feedback. The variables appearing in the nonlinear
feedback are constant in steady states, change slowly in
transients and controllers compensate for the delay. On
the other hand the delay have to be corrected in the
transformations of rotation.
Two corrections of the transformation angle have to
be applied. The first one is applied for transformations of
output variables. The estimated stator flux used for
calculation of the rotor voltage vector have to be rotated
by the angle resulting from its rotation in sampling time.
The second rotation is needed for transformation of the
variables defined in the stator oriented system to the
rotor oriented system. This rotation have to be corrected
7 Results of simulations
300 400
The control system was investigated using digital
simulations to check influence of simplified assumption.
The results of simulation of the ideal system with all
variables directly available from the machine are
presented in Fig. 4. Constant rotor angular velocity and
step changes of the active and reactive powers were
applied. Full decoupling of the variables z12 and 222
may be observed on transients although oscillations of
very amplitude appear after step change Of set
values for the powers. It is impossible to damp these
oscillations by controllers tuning. The reason of
oscillations lies in inner properties of the DFM as it has
been Pointed out in [51 and 161. The most evident
oscillations are observed in transients of the variable
221 that appear in the uncontrolled part of the system.
Eventually additional damping feedbacks may be applied
to damp the oscillations.
The transients in the multiscalar model based control
system with estimated flux, rotor position and rotor
angular speed are presented in Fig. 5. The rotor speed
was estimated in a phase locked loop with estimated
rotor angle as an input. The oscillations of the variable
221 are damped more efficient than in the system with
actual values. This future is of general nature and is very
important for experimental application. Good damping
of variable z21 is connected with very small damped

- 338 -
oscillation appearing in transients of 212 and 222. The
active and reactive powers are fully decoupled.
Transients in the system with variable rotor speed
caused by changes of the wind are presented in Fig. 6,
where TeWMDdenotes the wind torque. The transient of
the torque caused by the wind contains fundamental
harmonic and short decreasing known as tower effect.
The active power generated to the grid from the stator is
not influenced by the variable rotor speed.
Conclusions
Dynamical properties of the multiscalar model based
control system for the DFM are suitable for wind power
generators. Oscillations appearing in the uncontrolled
part of the machine are well damped in the system with
estimated variables. The system may work with fast
changes of the rotor speed caused by mechanical
oscillations of the wind engine. There is no influence of
fast wind power fluctuations on the active and reactive
power generated to the grid.
The system is under development with floating point
signal processor applied to perform the control
algorithm.
Acknowledgements
The paper was supported by The Polish Scientific
Committee in project Nr 8 TlOA 05521.
References
[l] Radel U., Navarro D., Berger G., Berg S.: Sensorless
field-oriented control of a slipring induction
generator for a 2.5 MW wind power plant from
Nordex Energy GmbH, 9th Europ. Conf. on Power
Electronics and Appl. EPE2001, Graz, 2001.
- 339 -
[2] Bogalecka E., Krzeminski Z., Wierzejski M.:
Control System of Double-Fed Machine Working as
a Generator. Int. Conf. ,,Power Conversion and
Intelligent Motion, Nwemberg, June 25-27, 1991.
[3] Bogalecka E., Krzeminski Z.: Control system of
doubly-fed induction machine supplied by current
controlled voltage source inverter. Sixth
Intenationale Conference on Electrical Machines and
Drives, University of Oxford, 1993.
[4] Walczyna A. M.: Comparison of dynamics of
doubly-fed induction machine controlled in field-
and rotor-oriented axes. EPE91, Firenze, Italy,
1991.
[5] Krzeminski Z., Popenda A.: Damping systems for
doubly-fed induction machine. Int. Conf. on Power
Electronics, Motion Control, PEMC94, Warsaw,
1994.
[6] Popenda A., Krzeminski Z.: Damping of flux and
current oscillations in double fed asynchronous
machine. 7th International Power Electronics &
Motion Control Conference, PEMC96, Budapest,
Hungary, 1996.
[7] Kelber C., Schumacher UT.: Active damping of flux
oscillations in doubly fed AC machines using
dynamic variations of the systems structure. 9th
Europ. Conf. on Power Electronics and Appl.
EPE200 1, Graz, 200 1.
[SI Krzeminski Z.: Nonlinear Control of Induction
Motor. IFAC 10th World Congress on Automatic
Control, Munich 1987.
[9] Krzeminski Z.: Control Systems of Doubly Fed
Induction Machine Based on Multiscalar Model.
IFAC 1Ith World Congress on Automatic Control,
Vo1.8, Tallin, 1990.