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Abstract—Today, variable speed operation of a permanent Fixed speed and variable speed wind turbine generator
magnet synchronous generator (PMSG) is becoming popular in systems (WTGSs) are emerging in the wind power industry,
the wind power industry (PI). A variable speed wind turbine
although the former is rarely considered for new installations.
(VSWT)-driven PMSG, in general, is connected to the grid
using a fully controlled frequency converter (FC). Along with One of the reasons is that a fixed speed WTGS cannot
the generator side converter, the FC necessitates the grid side capture maximum power from the wind. Another shortcoming
inverter system that has a great impact on the stability issue of is the inability to control terminal voltage using only its fixed
the VSWT-PMSG, especially in the case of network disturbance. capacitor bank. The use of a variable speed WTGS is pretty
The well-known cascaded-controlled inverter system has widely
alluring considering those viewpoints. Therefore, the present
been reported in much of the literature, where multiple PI
controllers are used in inner and outer loops. However, a fuzzy market share is dominated by the technology using variable
logic controller deals well with the nonlinearity of the power speed WTGS [2].
system, compared to a PI controller. This paper presents a simple A few types of variable speed wind turbine (VSWT)
fuzzy logic controlled inverter system for the control of a grid generator systems are commercially available today. A doubly
side inverter system, which suits well for VSWT-PMSG operation
fed induction generator (DFIG) is the most commonly used
in a wide operating range. This is one of the salient features
of this paper. Detailed modeling and control strategies of the wind generator and is abundantly reported in the literature an-
overall system are demonstrated. Both dynamic and transient alyzing its both dynamic and transient characteristics [3]–[7].
performances of VSWT-driven PMSG are analyzed to show the A DFIG needs a frequency converter (FC) with a partial
effectiveness of the control strategy, where simulation has been rating of its capacity for variable speed operation. In addition,
done using PSCAD/EMTDC.
the multipole conventional synchronous generator and the
Index Terms—Frequency converter (FC), fuzzy logic controller permanent magnet synchronous generator are also becoming
(FLC), permanent magnet synchronous generator (PMSG), tran- popular in the wind power industry, using a full capacity FC
sient stability, variable speed wind turbine (VSWT).
for grid interconnection. A permanent magnet synchronous
generator (PMSG) is recognized as a promising technology to
use as a wind generator in both the direct-drive system and the
I. Introduction system using a simple single-stage gearbox. One of the major
VER THE last decade, many renewable energy technolo- advantages is the high power density of this type of machine
O gies, such as solar, wind, bio-mass, wave, have advanced
significantly from the viewpoint of conversation efficiency and
[8], [9]. Its transverse flux design makes it possible to seek
out other benefits. The use of a PMSG currently seems to
unit cost production. Among those renewable energy sources, be more prospective in wind power applications because the
wind energy stands as a true alternative to conventional tech- price of rare-earth magnets has decreased remarkably in recent
nologies for electricity generation. Wind energy also has the years. Some authors have already reported on VSWT-PMSG
clean energy aspect which is especially important, considering technology, including dynamic and transient characteristics
the effects of global warming. In 2008, 27-GW wind power [10]–[16]. This paper also focuses on VSWT-driven PMSG,
has been installed all over the world, bringing the worldwide emphasizing the stability issue for secure grid connection.
installed capacity to 120.8 GW. This is an increase of 36% The VSWT-PMSG is, in general, connected to the power
compared with the 2007 market, and represents an overall grid, using a full-capacity, properly controlled FC technology.
increase in the global installed capacity of about 28.8% [1]. Two types of FC topologies are available today. In one
topology, the FC is composed of a generator side AC/DC
Manuscript received April 9, 2012; revised September 18, 2012; accepted converter, a DC link, and a DC/AC inverter. In the other
November 28, 2012. This work was partially supported by the National topology, the FC composed of a rectifier, a DC chopper, a
Natural Science Foundation of China under Grant 51107126.
The authors are with the Electrical Engineering Department, DC link, and a DC/AC inverter. Various control strategies can
Petroleum Institute, Abu Dhabi 2533, United Arab Emirates (e-mail: be adopted for the operation of the generator and grid side
s.m.muyeen@pi.ac.ae). converter/inverter, as reported in [10]–[16]. It is necessary
Color versions of one or more of the figures in this paper are available
online at http://ieeexplore.ieee.org. to mention that the control of the grid side inverter of the
Digital Object Identifier 10.1109/JSYST.2013.2239893 VSWT-PMSG is crucial as it is directly connected to the grid
1932-8184/$31.00
c 2013 IEEE
This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination.
MUYEEN AND AL-DURRA: MODELING AND CONTROL STRATEGIES OF FUZZY LOGIC CONTROLLED INVERTER SYSTEM 3
III. Modeling and Control Strategies of inverter is connected to the grid through a step-up transformer,
Individual Components which can be expressed as a resistance, R, and reactance, X.
In this paper, the direct drive VSWT-PMSG concept is The phasor quantities V̄ , V̄c , and Ī represent the ac grid voltage
adopted with the utilization of a fully controlled FC. The on the high voltage side of the transformer, output ac voltage
FC consists of a generator side AC/DC converter, a DC link of the voltage source inverter, and the current following from
capacitor, and a grid side DC/AC inverter. Each converter or the ac grid to the voltage source inverter, respectively. The real
inverter is a standard three-phase two-level unit, composed of power, P, and reactive power, Q, flowing through the voltage
six IGBTs and antiparallel diodes. The PMSG model available source inverter can easily be derived as expressed in
in the package software PSCAD/EMTDC is used [19]. The P ∝ Id ∝ −Vcq
(4)
control strategy of the FC is demonstrated in the following. Q ∝ −Iq ∝ −Vcd
where I d and Iq are the d and q components of the current
A. Generator Side Converter phasor. V cd and Vcq are the d and q components of the voltage
A well-known vector control scheme is used as the control source inverter output ac voltage. The dq quantities and three-
methodology of a generator side converter. As this converter phase electrical quantities are related to each other by refer-
is directly connected to the PMSG, its q-axis current can ence frame transformation. The angle of the transformation is
control the active power. The active power reference, Popt , detected from the three-phase voltages (va , vb , vc ) on the high
is determined in such a way so as to provide maximum power voltage side of the transformer by using phase locked loop
to the grid. On the other hand, the d-axis stator current can (PLL), as shown in Fig. 3. The derivation of (4) is shown in
control the reactive power. The reactive power reference is the Appendix.
set to zero for unit power factor operation. The angle, θr , for Again, if we neglect the switching losses and harmonics,
the transformation between abc and d/q variables is calculated then the following expression can be obtained:
from the rotor speed of a PMSG. The detailed of the generator
side converter is available in [15]. P ∝ Vdc Idc (5)
where Vdc and I dc are the dc voltage and current of the voltage
B. Grid-Side Inverter source inverter, respectively.
Fuzzy logic, in general, is an innovative technology Based on this concept, the simple control strategy, as shown
that enhances conventional system design with engineering in Fig. 4, is developed in this paper for the operation of a grid
expertise. The use of fuzzy logic can help circumvent side voltage source inverter. The fuzzy controllers produce the
the need for rigorous mathematical modeling. Unlike the reference signals that consequently generate the interpolated
reasoning based on classical logic, fuzzy reasoning aims gate pulses after being compared with the triangular carrier
at the modeling of reasoning schemes based on uncertain, wave.
tolerant, or imprecise information. In addition, it has inherent In the control blocks, the proposed FLC systems find out the
abilities to deal with imprecise or noisy data; thus, it is reference signals from the error signals of AC grid and DC-link
able to extend its control capability even to those operating voltages (e1, e2), and the change of error signals (e1, e2).
conditions where linear control techniques fail (i.e., large The FLC is explained in the following.
parameter variations). Therefore, in this paper, the fuzzy logic 1) Fuzzification: To design the proposed FLCs, the error
controlled inverter system is proposed for grid interfacing of signals, e1(k) and e2(k), and change of error signals, e1(k)
VSWT-PMSG, which can deal well with the nonlinearity of and e2(k), are considered the controllers inputs. The d and
power system and can work in a wide operating range. q-axis reference voltages (Vdr and V qr ) are chosen as the
The schematic diagram of the FLC controlled grid side controller outputs, which is actually the reference signals
voltage source inverter is shown in Fig. 2. The voltage source to generate the switching pulses for the IGBT devices. For
This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination.
TABLE I
Fuzzy Rule Table for FLCs 1 and 2
en1 /en2
ZO PM PS PS ZO NS NS NM
PS PS PS ZO NS NS NM NM
PM PS ZO NS NS NM NM NB
PB ZO NS NS NM NM NB NB
Fig. 4. Control block diagrams for an FLC controlled inverter. 2) Rule Base: The fuzzy mapping of the input variables
to the output is represented by the IF-THEN rules of the
following forms.
IF < en1 is NB> and < en1 is NB> THEN < Vdrn is
PB>
IF < en1 is PB> and < en1 is PB> THEN < Vdrn is NB>
The entire rule base is given in Table I. In total, there are
49 rules to achieve the desired reference signals.
3) Inference and Defuzzification: In this paper, for the
inference mechanism, Mamdani’s max–min (or sum–product)
[21] method is used. The center of the gravity method [21] is
used for defuzzification to obtain Vdrn /Vqrn , which is given by
the following equation:
N
N
Vdrn /V qrn = μi Ci / μi (7)
i=1 i=1
MUYEEN AND AL-DURRA: MODELING AND CONTROL STRATEGIES OF FUZZY LOGIC CONTROLLED INVERTER SYSTEM 5
TABLE II
Generator Parameters
Rated power 5 [MW] Stator resistance 0.01 [pu] Fig. 7. Wind speed data.
Rated voltage 1.0 [kV] d-axis reactance 1.0 [pu]
Frequency 20 [Hz] q-axis reactance 0.7 [pu]
Number of poles 150 Field flux 1.4 [pu]
H 3.0 [s]
V. Simulation Results
The system, as shown in Fig. 6, is simulated using a
laboratory standard power system simulator PSCAD/EMTDC
[19]. The FORTRAN program is incorporated with PSCAD
to implement FLC, and the subroutine is called at every time
step from PSCAD. The time step is chosen 0.00002 s. The
simulation time is chosen 300 s and 5 s for the dynamic and
Fig. 8. Real power supplied to the grid.
transient stability analyses, respectively.
Fig. 10. Wind turbine blade pitch angle. Fig. 13. Terminal voltage at the high voltage side of transformer.
The wind farm grid code is fairly important to analyze Fig. 15. Terminal voltage on the high-voltage side of a transformer.
the transient characteristics of WTGS. The wind farm grid
codes are more or less similar. In this paper, the simulation
results are described in light of the recent grid code, set in However, FLC offers low overvoltage, reduced oscillations,
[23]. The fault ride-through requirement is imposed on a wind and a small steady-state error, compared to the cascaded
power generator so that it remains stable and connected to the controlled inverter. The PMSG rotor becomes stable in both
network during network faults. Disconnection from the grid cases as shown in Fig. 16; the FLC controlled inverter helps
may worsen a critical grid situation and can threaten security quickly to reach the speed to the pre-fault level. The real
standards when wind penetration is high. In Germany, wind power response of the grid side inverter is shown in Fig. 17.
generating plants are expected to acquit themselves during a The FLC controlled inverter gives low oscillations and better
low-voltage disturbance, as summarized in a voltage versus performance, especially during the time of reclosing the CB.
time curve shown in Fig. 14. Wind turbines are required to The DC-link voltage response of FC is shown in Fig. 18.
stay on the grid within areas 1 and 2 [23], [24]. It is noticeable that the FLC controlled inverter gives a much
Both the FLC and cascaded controlled grid side inverters better response in the case of DC-link voltage and keeps the
can provide necessary reactive power during the network voltage variation in an acceptable range.
disturbance. Therefore, the terminal voltage can return to its There exist different types of nonlinearity and uncertainty
pre-fault level as shown in Fig. 15, using both inverter systems. in the power system. The controllers used in power system
This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination.
MUYEEN AND AL-DURRA: MODELING AND CONTROL STRATEGIES OF FUZZY LOGIC CONTROLLED INVERTER SYSTEM 7
APPENDIX
The derivation of (4) is as follows.
The grid side voltage phasor, V̄ , is synchronized with the
controller reference frame by using the PLL. Therefore, if we
see from the controller side, then the angle of the grid side
voltage phasor seems to be zero. In this case, the following
expressions can be made:
V − (V cd + jV cq )
Ī = (A)
Fig. 17. Real power of the grid side inverter. R + jX
1
Id = 2 [R(V − Vcd ) − XV cq ] (B)
R + X2
−1
Iq = 2 [X(V − Vcd ) + RV cq ] (C)
R + X2
¯ ∗ ) = VI d
P = Re(VI (D)
∗
¯ ) = −VI q .
Q = Im(VI (E)
From (D) and (E), the following relationship can be
obtained:
P ∝ Id
Fig. 18. DC-link circuit voltage. Q ∝ −Iq .
If R<<X (as a winding resistance of the transformer is
applications should require adopting these nonlinearities. It is much smaller than the leakage reactance), then from (B) and
found that the FLC controlled inverter can deal with the system (C), we can get the following relationship:
nonlinearity very well and give better performance, compared Id ∝ −Vcq
to the conventional cascaded controlled inverter system where Iq ∝ Vcd .
we have four PI controllers. The design of the FLC controlled
Finally
inverter is straightforward and cost might even be comparable.
The terminal voltage response indicates that the proposed P ∝ Id ∝ −Vcq
system augments the LVRT capability of VSWT-PMSG during Q ∝ −Iq ∝ −Vcd .
the severe 3LG fault and achieves the requirements of the
wind farm grid code. From Figs. 15 to 18, it is also found
that the FLC controlled inverter gives low oscillation, faster References
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S. M. Muyeen (S’03–M’08–SM’12) received the
[9] T. J. E. Miller, Brushless Permanent-Magnet and Reluctance Motor
B.Sc.Eng. degree from the Rajshahi University of
Drives. New York, USA: Oxford Univ. Press, 1989.
Engineering and Technology (formerly, Rajshahi
[10] N. A. Cutululis, E. Ceanga, A. D. Hansen, and P. Sørensen, “Robust
Institute of Technology), Rajshahi, Bangladesh, in
multi-model control of an autonomous wind power system,” Wind
2000, and the M.Sc.Eng. and Dr.Eng. degrees from
Energy, vol. 9, no. 5, pp. 399–419, 2006.
the Kitami Institute of Technology, Kitami, Japan,
[11] K. Tan and S. Islam, “Optimum control strategies in energy conversion
in 2005 and 2008, respectively, all in electrical and
of PMSG wind turbine system without mechanical sensors,” IEEE Trans.
electronic engineering. His Ph.D. research was fo-
Energy Convers., vol. 19, no. 2, pp. 392–399, Jun. 2004.
cused on wind farm stabilization from the viewpoint
[12] M. Chinchilla, S. Arnaltes, and J. C. Busgos, “Control of permanent-
of LVRT and frequency fluctuation.
magnet synchronous generators applied to variable-speed wind-energy
After completing the Ph.D. program, he was a
systems connected to the grid,” IEEE Trans. Energy Convers., vol. 21,
Post-Doctoral Research Fellow with the Kitami Institute of Technology, under
no. 1, pp. 130–135, Mar. 2006.
the versatile banner of the Japan Society for the Promotion of Science from
[13] J. Zhang, M. Cheng, and Z. Chen, “Nonlinear control for variable-speed
2008 to 2010. He is currently an Assistant Professor with the Electrical Engi-
wind turbines with permanent magnet generators,” in Proc. ICEMS,
neering Department, Petroleum Institute, Abu Dhabi, United Arab Emirates.
Seoul, Korea, Oct. 2007, pp. 324–326.
He has published over 100 international papers. He has published four books
[14] S. Morimoto, T. Nakamura, and Y. Takeda, “Power maximization control
as an author or editor. His current research interests include power system
of variable-speed wind generation system using permanent magnet
stability and control, electrical machine, FACTS, energy storage systems,
synchronous generator,” IEEJ Trans. Power Energy, vol. 123, no. 12,
renewable energy, and HVDC systems.
pp. 1573–1579, 2003.
Dr. Muyeen is a member of IEEJ.
[15] S. M. Muyeen, R. Takahashi, T. Murata, J. Tamura, and M. H. Ali,
“Transient stability analysis of permanent magnet variable speed syn-
chronous wind generator,” in Proc. ICEMS, Seoul, Korea, Oct. 2007,
pp. 288–293. Ahmed Al-Durra (S’07–M’10) received the B.S.,
[16] S. M. Muyeen, R. Takahashi, T. Murata, and J. Tamura, “Transient M.S., and Ph.D. degrees in electrical and computer
stability enhancement of variable speed wind turbine driven PMSG engineering from Ohio State University, Columbus,
with rectifier-boost converter-inverter,” in Proc. 18th ICEM, Sep. 2008, USA, in 2005, 2007, and 2010, respectively. During
pp. 1–6. the M.Sc. degree, he investigated applications of
[17] S. Heier, Grid Integration of Wind Energy Conversion System. Chicester, several nonlinear control techniques to automotive
U.K.: Wiley, 1998. traction PEM fuel cell systems. He conducted his
[18] J. G. Slootweg, S. W. H. De Hann, H. Polinder, and W. L. Kling, Ph.D. research at the Center for Automotive Re-
“General model for representing variable speed wind turbines in power search, Ohio State University. His Ph.D. research
system dynamic simulations,” IEEE Trans. Power Syst., vol. 18, no. 1, was on applications of modern estimation and con-
pp. 144–151, Feb. 2003. trol theories to automotive propulsion systems.
[19] PSCAD/EMTDC Manual, Manitoba HVDC Research Center, Winnipeg, He is currently an Assistant Professor with the Electrical Engineering
MB, Canada, 1994. Department, Petroleum Institute, Abu Dhabi, United Arab Emirates. His
[20] M. Akamatsu, M. Tsukada, and D. Itoh, “A novel PLL and frequency current research interests include applications of estimation and control theory
detecting method suited for the abnormal voltages under fault conditions to power system stability and control, energy storage systems, and renewable
in the power system,” IEEJ Trans. Power Energy B, vol. 118, no. 9, energy.
pp. 955–961, 1998. Dr. Al-Durra is a member of ASME.