A MPPT Vector Control of Electric Network

Connected Wind Energy Conversion System

Employing PM Synchronous Generator
Youssef Errami Mohamed Maarouf
Ecole Mohammadia d'Ingenieur, Mohammed V- Agdal
University, Department of Electrical Engineering, Rabat,
Morocco
errami.emi@gmail.com, maarouf@emi. ac.ma
.S/rdc/ In this paper, a control for variable speed Wind
Energy Conversion System (ECS) that incorporates a
Permanent Magnet Synchronous Generator (PMSG) is
described. The proposed approach is based on a Vector Control
theory (VC) for regulate of both grid-side and machine
converters of a PMSG wind turbine. Then, an optimal control
strategy is developed for integrated control of PMSG power
extraction. It combines Space Vector Modulation (SVM) and
Maximum Power Point Tracking (MPPT) control strategy to
maximize the generated power from Wind Turbine Generator
(TG). A pitch control scheme for variable speed WTG is
proposed to limit the output power produced by the turbine.
Therefore, WECS can not only capture the maximum wind
energy, however also can maintain the frequency and amplitude
of the output voltage with unity power factor. Finally, the
effectiveness of the novel control strategy is verifed by
simulation using Matlab/ Simulink environment. Simulation
results have shown the effectiveness of the proposed control
strategy for WECS based on the PMSG.
Kewords-WECS;PMSG;MPPT;Vector Control; Variable
speed control; Unit power Jactor.
I. INTRODUCTION
Over the last years, wind power systems are attracting
great interest and attention as safe, economical and clean
renewable sources. So, it has been the fastest growing form of
renewable energy sources with improving technologies of
reducing costs and higher wind energy capture [1-2]. On the
other hand, variable-speed Wind Energy Conversion System
(WECS) are the dominant technology in the present wind
power industry, as they possess several advantages over the
fxed velocity systems such as the ability to obtain Maximum
Power Point Tracking (MPPT) control strategy to extract
maximum power at different wind, increased power capture,
higher overall efciency, power quality and it can be
controlled to reduce aerodynamic noise and mechanical stress
on WECS by absorbing the wind-power fuctuations [3-5]. In
WECS, several types of electric generators are used such as
Synchronous Generator (SG) with exteral feld excitation,
Squired-Cage Induction Generator (SCIG), Doubly Fed
Induction Generator (DFIG) and Permanent Magnet
Synchronous Generator (PMSG) [6-11]. Lately, with the
advances of power electronic technology, PMSG based
Mohammed Ouassaid
Ecole Nationale des Sciences Appliquees- Saf, Cadi Ayyad
University, Department of Industrial Engineering, Saf,
Morocco
ouassaid@yahoo. f
variable speed WECS are becoming more popular due to the
elimination of exteral excitation current. Then, the PMSG
can provide highly effcient and reliable power generation.
Furthermore, PMSG is connected directly to the turbine
without gearbox, so it can operate at low speeds and reduce
again weight, losses, costs and maintenance requirements.
PMSG is an attractive choice for variable speed WECS. In
addition, the PMSG is connected to the grid via an AC-DC
AC converter system so as to extract the maximum power
fom the fuctuating wind. For this reason, variable speed
operation of the WECS is fndamental and control strategy for
the system is used [8-13].
In this context, this work proposes a PMSG based variable
speed WECS is modelled for grid connected variable speed
WECS. The system model includes a WTG, a PMSG, PWM
rectifer in generator side converter, intermediate DC linl
capacitor and PWM inverter in grid side converter.
Accordingly, it allows flly decoupled control between the
grid side converter and the rectifer. PMSG is coupled directly
to WTG without using gearbox. Under variable speed
operation, this confguration play an essential role tansferring
the PMSG extacted power in the form of variable voltage and
variable fequency to the fxed voltage and fxed fequency
grid. Considering the variation of wind velocity, both
converters used Vector Contol (VC) strategy and the WTG
can be operated as close as possible to its optimal speed so as
to realize MPPT. The grid side converter is used to deliver the
renewable power to the utility grid, to achieve unity power
factor and to regulate the DC-bus voltage. Whereas, a speed
contoller is designed to maximize the extracted energy fom
the wind which is below the rated power area. Besides, so as to
limit the output power extracted by wind turbine, a pitch
contol scheme for WTG is proposed.
The remainder of this paper is organized as follows. The
models of WTG and PMSG are given in Section II. In Section
III, contol of WECS will be given. Section IV presents and
discusses the simulation results. Finally, some conclusions are
given in Section V.
978-1-4673-6374-7/13/$31.00 2013 |LLL
[I. MODELING OF WECS
A. Wind turbine characteristic
A wind turbine (WT) can not flly capture wind energy.
Then, the outut power of the wind-turbine is described as [1]:
[
2 3
Prur
b
ine = 2 pt R C p (A, f)1 (1)
where,
p
is the air density ( kg/m
3
), R is the blade radius
(m), Cp is the performance coefcient of the turbine which is
a fnction of the pitch angle of rotor blades f ( in degrees )
and 1 is the wind speed (in m/s). The tip-speed ratio A is
given by:
(2)
where Rand
Om
are the blade length (in m) and the wind
turbine rotor speed (in rad/sec), respectively.
The wind turbine mechanical torque output T
m
given as:
[
3
[

=

p
ACp (A, f)1 (3)
2
Om
A generic equation is used to model the coefcient of power
conversion C p (A, f) based on the modelling turbine
characteristics described in [10] as:
1 0.035
Ai A+O.OSf f
3
+[
(4)
The coeffcient of power conversion and so the power
extracted are maximum at a certain value of tip speed ratio
called optimum tip speed ratio A
opt
. For this reason, the
maximum value of Cp (A, f) , that is Cp
=
0.41, is achieved
d
for A
opt =
S. 1 and for f
=
0 . Moreover, any change in the
wind speed or the rotor velocity induces change in the tip
speed ratio leading to power coefcient vanatIOn.
Consequently, the output power of the WTG is affected. This
power is maximized at the particular rotational velocity for
various wind and it's obligatory to keep the rotor velocity at
an optimum value of the tip speed ratio, A
opt
' As a result, the
variable speed WECS can operate at the peak of the
P(O curve when the wind velocity changes and the
maximum power is extracted continuously fom the wind
(MPPT control) [5]. That's shown in Fig.l.
D. Modelling of P MSG
The mathematical model of a PMSG is usually defned in
the rotating reference fame d-q as follows [14]:
1
gd = (
R
g
+
p
L
d )
i
d -Oe
L
q
i
q
(5)
1__ = ( R_+
p.
L
q
)
.i
_+
Oe
L
_ i_+
Oel/ (6)
where 1__
and 1__ are the quadrature stator and direct stator
voltage, respectively. i
q
and i_ are the quadrature stator and
direct stator curent, respectively. R
g
is the stator
resistance,
L
q
and L
d
are the inductances of the generator on
the q and d axis,
I
f
is the permanent magnetic fux and Oe is
the electrical rotating speed of the generator, defned by:
(7)
where
Pn
is the number of pole pairs of the generator and
Om
is the mechanical angular speed.
The electomagnetic torque can be expressed as:
= %
Pn [
I
r
i
q - (
L
d -
L
q )
i
d
i
q ]
(S)
If i
d =
0 , the electomagnetic torque is described as:
(9)
The dynamic equation of the wind turbine is given as:
d
Om
J
=
T
e - l-
1
Om
(10)
dt
where is the mechanical torque developed by the wind
turbine, 1 is the viscous fiction coeffcient and J is the
moment of inertia.
III. CONTROL OF SYSTEM
A. Maimum Power Point Tracking (MPPT and Pitch
Control
The MPPT controller is used to generate the reference
speed command which will enable the WTG to extract
maximum power at different wind speeds. Thus, when the
wind velocity changes, the speed of PMSG is controlled to
follow the maximum power point trajectory and, the optimum
rotational speed of the generator can be simply estimated as
follows [5]:
1A
opt
Om-opt = -
R
-
(II)
The maximum extracted power of the WTG is given as :
( ]
3
1
R
Om-opt
(12)
P/urhine_max = 2 pA
Cp
max
A
opt
As a result, the MPPT controller computes the optimum speed
of PMSG
Om-opt
and by regulating the WTG speed in
different wind velocities the maximum power
PTur
b
ine max
is
extracted. Also, if the wind speed reached the nominal value

.
_

Malnunpowerpolnt
.
_
I
O
.
_

..

.
_
vlnugeneratorspeeu(ru/s)
Fi
g
. l. Wind
g
enerator power curves at various wind speed
of WTG, the system of Pitch Angle controller enters in
operation to prevent WT damage fom excessive wind speed.
Accordingly, by reducing the coeffcient C
]
both the power
and rotor speed are maintained for above rated wind velocities.
So, the blade pitch angle f , will increase until the wind turbine
is at the rated speed. The implemented pitch angle system is
shown in Fig. 2 where P
g
is the generated power.
D. Control of the PMSG side converter with MPPT and
Vector Control
The generator-side converter is used to regulate the wind
WTG, which enables optimal velocity tacking for the optimal
power capture fom any particular wind speed. The proposed
MPPT controller generates u__
]
, the reference velocity of the
PMSG, which when applied to the speed control loop of the
generator side converter control system, maximum power will
be produced by the WECS. Consequently, Vector Contol
(VC) is adopted and the contol scheme shown in FigA is used
as the contol methodology for the generator side rectifer with
double closed loop regulate. In the inside loop, the current
contollers are used to regulate q-axis and d-axis stator curent
to follow the command, while a speed contoller is used in the
outside loop to regulate the generator speed so as to follow the
command value u__
]
and produces coresponding q-axis
curent command |

. Also, u

is obtained by the eror of |

and |

where |

is the reference cur ent. This eror is delivered

to a P[ contoller. [n order to reduce the copper loss, the d-axis
curent component | is set to zero. Besides, voltage feed
forward compensations, Au

and Au

are added into the

contol methodology so as to improve the dynamic response.
Finally, we use PWM to produce the contol signal to
implement the vector contol for the PMSG.
L Grid Side Controller methodolog
The grid side converter is used to deliver the energy fom
the WTG side to the grid, to regulate the DC bus voltage, to
adjust the quantity of the reactive and active powers delivered
to the grid during wind variation in order to achieve Unity
Power Factor (UPF) [12-16]. So, the Vector Control with two
contol loops is used. The implemented contoller is depicted in
Fig. 3. and FigA. Then, B the inner control loops, P[
contollers are used in order to regulate direct and quadrature
curent components, respectively. Although, in the second
loop, the DC-voltage controller stabilize, the DC voltage, by
contolling the d-axis

T

_-

Fi
g
, 2, WECS Pitch an
g
le controller
curent with P[ controller. The voltage balance across the
inductor
_
is given, in the rotating dq reference fame, by
[10]:
d|

. .
_

= e

I
,

,
+ u
_
t
_
t
v

'

d|

. .
_
,

'

=e
,
_
,

,
_
,

'
dt

(13)
(14)
where
_

and I
,
are the flter inductance and resistance
respectively; ed and e
q
are the inverter d-axis q-axis voltage
components respectively; |
)
and |

)
are the d-axis curent
and q- axis curent of Grid. vd and v

are the grid voltage

components in the d-axis q-axis voltage components
respectively. The DC-side equation can be given by:
1(

3
(
v
.
v

. .
C~=
-
;

;
}

dt 2
'

'

(15)
where |

and
'

are the grid side transmission line curent

and DC- bus voltage respectively.
The instantaneous powers are given by:
Q=

v
|

|,
}
(16)
2
'
(17)
[f the grid voltage space vector H
v

= V
is oriented on d-axis, then:
v

= 0
So, equations ([3-[4) may be expressed as:
1|
) . .
_

= e

I
,,
+

_
,

_
, -
V
dt
" "
d|

_
,
. .
_
,--;
= e

I
)

_
)
,
(18)
(19)
(20)
(21)
Then, the reactive power and active power can be expressed as:
Q='V| _
,
(22)
2

P = 'V|
_
,

2
'
(23)
Consequently, it's fndamental to contol quadrature and direct
curent components to regulate reactive power and active
power, respectively. Then
(24)
(25)
where |
)
and |

)
are the reference signal of d-axis and q
axis curent, respectively. Q and P are the reference of
reactive and active power, respectively. In addition, the inverter
is used to tansfer all the active power coming fom the rectifer
to the utility grid and also to produce no reactive power so that
UPF is obtained. Consequently, the DC-link voltage must be
contolled to a constant value. It's fndamental to use two
closed-loop contols to regulate the DC bus voltage and the
required tansmission line current. Fig. 3 and FigA show the
contol scheme of DC-bus voltage and schematic of contol
strategy for WECS based on the PMSG, respectively.
P
g
t
is the
active power delivered fom the PMSG. So, an outer DC-link
voltage contol loop is used to set the d-axis curent reference
for active power control. So, all the power coming fom the
rectifer is instantaneously transferred to the grid by the grid
side converter, while the second channel is used to control the
reactive power Q , according to (25), by setting a q-axis
curent reference to a curent control loop similar to the
previous one. Furthermore, the fast dynamic is associated with
the line current control in the inner loop with the Vector
control, whereas in the outer loop slow dynamic is associated
with the DC voltage control. In order to compensate the cross
coupling effect due to the output flter, in the rotating
synchronously reference fame, the decoupling voltages are
added to the current controller outputs.
Accordingly, we use: e et e as:
.
1|
I
+ L = e

1|
.
1|

)
I

,+ L
,
= c

1|
(26)
(27)
So, the inverter q-axis d-axis voltage components can be given
by:
c

= e

Lu|

+ V
c

= e + L

u|
Consequently, e and e; are calculated as follows:
e =
K
p ||
|} +
KJ f ||
| }1|
r
Pitch
CohtroI
PMBG
(28)
(29)
(30)
MachihcBidc
Cohcrtcr
Fi
g
, 4, Schematic of control strate
g
y for WECS based on the PMSG,
e =
K
p ||

) +
KJ f ||

}1| (31)
Fig. 4 depicts the control block diagram of grid-side PWM
inverter based on the above strategy. PWM is used so as to
produce the contol signal to regulate the grid-side converter.
Furthermore, the decoupling voltages, A+

et A+

g are added
to the current contoller oututs to compensate the cross
coupling effect.
IV. SIMULATIONS RESULTS
This paragraph presents the simulated responses of the total
WECS under variable wind velocity. The parameters of
PMSGs used are given in Table I. During the simulation, the
q axis command curent of the grid side inverter, |

. is set
to zero; although, for the PMSG side converter contol
systems, the d axis command curent, |. is set to zero. Fig. 5
illustrates the profles of wind velocity, considered in the
simulation, and the rated wind speed
|
+_ =12A m/s). Fig. 6 to
Fig. 9 show the simulation results of pitch angle, tip speed
ration, coeffcient of power conversion, active power, rotor
angular velocity and optimum speed u
_o
pt
.
If the wind speed
increases, the rotor angular velocity of WTG and the power
converted fom the turbine increase proportionally too, with a
limitation.
'

^X H
Fi
g
. 3, Control of DC-bus voltage,
GridBidc
cohcrtcr
=. A
J

This speed limit will be obtained by the pitch angle variations.

The system operates under MPPT contol. Consequently, the
performance coeffcient C p is maintained to its maximum
value ( C
1
_ = 0.41 ) and the pitch angle is j = 0 . But, if the
wind velocity reaches the rated wind speed of the turbine
(v
n
=12.4 m!s), Cp is decreasing because the operation of the
pitch angle control is actuated. So, j increases and the tip
speed ratio / is decreasing. Thus, rotor angular velocity and
power generated are kept constant. The limitation of the power
captured and so of the turbine velocity is carried out using the
pitch contol. Besides, the rotational speed of WTG is
effectively limited to 2.57rd/s. The generating power reaches
the rated power of WECS.
17

16
15
14
13
12
11
10

1.5
0.5
[f the wind velocity continues to rise, the extacted power and
rotational speed remains constant at the design limits. Fig.9
illustrates the optimum speed and the speed of PMSG. As it's
clearly shown, the turbine speed follows the reference speed
very closely. Fig.10 illustrates the simulation result of DC-bus
voltage that remains a constant value. Fig.11 shows the
variation and a closer observation of three phase voltage and
curent of utility GRD. The fequency imposed by the grid is
50 Hz and we see that unity power factor is achieved
approximatively. Then, the effectiveness of the implanted
regulators is confrmed. The simulation results demonstrate
that the control methodology shows very good dynamic and
steady state performance and works very well for WECS based
on the PMSG.
2000
Oceot
vo|taqe
1000
-1000
-2000

0- 0
1|me(s)
0015 20 0 5 10 15 20
Fi
g
. 5. Instantaneous wind speeds (m/s)
12
10
===
6
4
2
0
10 15 20
1|me(s)
Fi
g
. 6. Pitch an
g
les f (in de
g
ree) and Tip
speed ratio .
0.4
0.35
0.3
0.25
0.2
0.15
.1
0.05
00
1|me(s)
Fi
g
. 7. Coeffcients of power
conversion Cp .
1lme(s)
Fi
g
. 8. Power
g
enerated.
4

~ ~ Geoeatospeed
3.5
Opt|ma|speed
2.5
1.5
0.5
0 0
1lme(s)
Fi
g
. 9. Speed of PMSG.
1550
udc-
udc
1500
1450
0 0 15 20
1lme(s)
Fi
g
. 10. DC link voltage.
2000
-2000
Oceot
vo|taqe
6 6.02
1|me(s)
C
a)
6.04
1|me(s)
(b)

6.06
Fi
g
. ll. The waveforms of three phase
current and volta
g
e of GRID.
'
6.08
V. CONCLUSIONS
A new maximum power point tracking contoller for a
variable speed WECS, based on the PMSG, has been proposed.
The model, used in the simulation, includes WTG, the PMSG
with rectifer, intermediate DC-bus and PWM inverter in grid
side. The performance of WECS has been demonstrated under
varying wind conditions. The proposed approach is based on a
Vector Contol theory for regulate of both grid-side and
machine converter of a PMSG wind turbine. Detailed conol
strategies of rectifer and inverter have been discussed. For
generator side converter, a MPPT controller is developed so as
to generate the reference velocity speed command which will
enable the system to increase the energy generated fom
variable speed WTG under any wind conditions, while the
inverter can deliver the energy fom the PMSG to the utility
grid with unity power factor. It is fmally shown that the results
proved the effectiveness of the employed contol stategies.
Then, WECS can not only capture the maximum wind energy,
however also can maintain the fequency and amplitude of the
outut voltage with unity power factor.
Appendix
TABLE I. IAkAMlllkSOllllPMSG
Parameter
!, rated power
o_ rated mechaical speed
!stator resistace
1_, 1_ stator d-ais ad q-axis inductace
permanent ma
g
net Bux
!p
pole pairs
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Value
2 (Mw)
2. 57 (rd/s)
0.008( Q)
0.0003 (H)
3.86 (wb)
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