Proceedings of the 3rd International Conference on TuBA.

4
Systems and Control, Algiers, Algeria,
October 29-31, 2013

Backstepping Control of Double Fed Induction Generator

Driven by Wind Turbine
Mourad Loucif, Abdelmadjid Boumediene and Abdelkader Mechernene

Abstract- This paper presents the nonlinear control different from the first. [15] Therefore, under the control of
strategy for high performance doubly fed induction generator nonlinear systems, the question of applicability is important
driven by wind turbine. In the DFIG topology the stator is and general method does not exist. All the efforts made in
connected direct to the grid while the rotor is connected to a recent years aim to expand as much as possible, all of the
back-to-back converter. A simple and general space vector
systems that the method is applicable [16].
PWM algorithm is proposed.
The Backstepping approach has been introduced in 1990 by
First, we propose a modeling of wind turbine and DFIG in the
dq reference frame. Next, a field oriented control for
Krstic, Kanellakopoulos and Kokotovic [3]-[4] and ensures
controlling independently the active and reactive power is overall stability control systems, usually multivariate and
implemented. This control strategy is developed and tested by higher order. It is a method for synthesis of recursive class
synthesizing two types of controllers: a classic controller having triangular nonlinear systems, regardless of their order.
Proportional and Integral (PI) and a non linear type controller The paper is structured as follows. In Section 1 describes the
backstepping. Their performances are evaluated and compared wind turbine modeling; Section 2 presents the mathematical
in terms of power set point tracking, sensitivity to disturbance, model of induction generator in d-q Park reference frame;
robustness with respect to sudden changes in speed and
In Section 3 the structure of the direct field oriented control
robustness with respect to parameters variation.
for controlling independently active and reactive power; the
Index Terms-Double fed induction generator, wind turbine,
section 4 gives the design of propose approach backstepping
power control, Space vector modulation, backstepping based on the active and reactive power, while section 5 deals
controller. with the designs of proposed approach, consisting of a
control active and reactive power, then in Section 6, some
I. INTRODUCTION
numerical simulation results are presented and discussed.
In recent years, the usage of wind energy has widely Finally, Section 7 provides some comments and a conclusion.
grown, and nowadays it is one of the most competitive forms
II. MODELING SYSTEM
of renewable energy. For economical and cleaner energy
characteristics, addition, variable speed have many A. Wind Turbine Model
advantages over fixed speed generation such as operation at The expression for aerodynamic power captured by the wind
maximum power point, higher energy yields, lower
turbine is given by the nonlinear expression [2]
component stress and fewer grid connection power peaks. [3-
4]. I
Pa = '2 .c,, ( A. ,/J) .p.7fR 2 V 3 (1)
At present, in tenns of the generators, several types of
electric generators are used such as Doubly Fed Induction The turbine torque is given by:
Generator (DFIG), Induction Generator (lG) and Permanent
Pa (2)
Magnet Synchronous Generator (PMSG) [3], [5-8]. Recently, Ta =
with the rapid development of the power semiconductor OJ,

devices, DFIG is an attractive choice for variable speed

The turbine is normally coupled to the generator shaft
application such as the electric vehicle and electrical energy
through a gearbox whose gear ratio G is chosen in order to
production [1].
set the generator shaft speed within a desired speed range:
Space-vector pulse width modulation (PWM) has recently T
grown as a very popular PWM method for voltage-fed T = a (3)
g G
converter ac drives because it offers the advantages of
improved PWM quality and extended voltage range in the OJ (4)
OJ,. =
under modulation region [1]. G

Nonlinear systems are defmed by negation, are not a A wind turbine can only convert a part of the total of the
homogenous group. A method that gives good results on a captured wind power. The power coefficient depends on the
class of systems can be bad on another class, even very little pitch angle of the turbine and the ratio A between the turbine
angular speed wand the linear wind speed V. The coefficient
in treated in some bibliographies [4]; the expression generally
M. Loucif, A. Boumediene and A. Mechemene are with the Department
of Electrical and Electronics Engineering, Faculty of Technology,
used is given by following:
University Abou Bekr Belkaid, Chetouane B.P 230 Tlemcen-Algeria, email:
Loucif mourad@live.fr, a I Oboumediene@vahoo.fr;
mechemene aek@hotmail.com. Manuscript received July 29, 2013.

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Proceedings of the 3rd International Conference on TuBA.4

(5) and sleep angular frequency:

(13)
0.035 (6) The stator and rotor fluxes are related to the current by:
Ai A +O. OS.p 1 +p2
Cj (i=1,6) is given in Appendix
j f/J'd =L,.i,d + M".i,d
f/J,q = Ls.iSq + M,r.irq (14)
f/J,,, : L" : m + M"' : 'd
The tip-speed ratio is defmed as [2]:
R
A= OJ,. (7) f/Jrq - Lr·lrq + Msr·lsq
V
The electromagnetic torque Te can be expressed according to
0.5
./� ata=o·
the stator flux and rotor current by:
0.45
/� ,ta= .-
C
0.4
./" \. ...... M". ( f/Jsq·1. - sd.1. "I )
Te = P ---r: (15)
.!!! 0.35 ,,' f/J
I /� -.....\ .......
.g 0.3
beta= .,
�(.) 0.25 I r.. �
a=9 , The electromagnetic torque and the motor load system can be
� 0.2 I�� � "' described by the mechanical fundamental equation:
� I� ....... � beta" \ , . d OJ
0.15
..-.I,.
12, \ "" J = p.(Te -T, )-B.OJ, (16)
D.. 0.1 dt
0. 05 " \.\
The active and reactive powers at the stator and the rotor are
0 .-." "- �
0 2 4 6 8 10 12 1415 given, respectively, by eq. ( 17) and eq. (18):
Relative speed

Figure 1. Characteristic of the power coefficient based lambda (17)

To maximize wind power extraction, the blade pitch angle [3,

is fixed to the optimal value, WOpl' and the wind turbine
(18)
should continuously operate at the optimal tip-speed ratio,
Aopl' as shown in Fig. 1. For a given wind speed, V, in order to
maintain WOpl at its optimal value, the rotor mechanical
angular speed must be adjusted to track the reference WOpl' III. CONTROL SYSTEM
which is
A. Control Strategy
(8) To control the active and reactive power transmitted to the
grid, we proceed to control the direct and quadrature current.
The aerodynamic power can be expressed as: It is possible to control the load power by the action on
reference voltages of the PWM inverter. These reference
(9) voltages can be detenninate by the current PI controller.
where
'Vlnrl GRID

(10)

The aerodynamic torque can be expressed as:

(11)

B. Dynamique Model of a DFIG

The mathematical models of three phases DFIG in the Park
frame are written as follows [5] - [10]:
Figure 2. Wind system based on double fed induction generator

B. Stator Field Oriented Control

The theory of field orientation (FOC), commonly known as
(12)
Vector Control was introduced by Hasse and Blaschke [12]
and is the most popular class of electrical drives for induction
motor. Its principle is inspired from DC motor drives and
accomplished the decoupling of the electromagnetic torque
and flux with amplitude and phase control of AC excitation.

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Proceedings of the 3rd International Conference on TuBA.4

This technique allows independent controls of flux and of V nI =R·

dird .
,.l,d +0'.L'''dr-O''L,,,OJ,,,lrq
armature current at every instant. The condition of the stator (25)
flux orientation is expressed by the following equation: V . dirq .
rq =Rr·lrq +O'Lr.-+O'Lr.OJr.lrd -g.
M
--s,Vs
dt Ls
CPsd =0 (19)
where
Figure 3 show the principle of vector control in stator flux
orientation a=l- Ms; ,g =
(Os (26)
..
LsL, (0,

I
axis q
�lxis d
In the same conditions, it appears that the Vrd and Vrq
equations are coupled. A decoupling system is established, by
introducing the compensation terms (control indirect) or
rotol',lxis
_ .....
neglect terms (control direct) Femd and Femq in which

(27)

Figure 3. Principe of field control IV. CONTROL OF DFIG BY BACKSTEPPING

A. Principe Technique Backstepping

Under flux stator orientation the expression (15) may be The basic idea of the Backstepping design is the use of
written as: the so-called virtual control to systematically decompose a
complex nonlinear control design problem into simpler,
T =P
M" ( -qJs d·1. rq ) (20) smaller ones. Roughly speaking, Backstepping design is
T
e

divided into various design steps [13]-[7]. In each step we

essentially deal with an easier, single-input-single-output
The expressions of the stator currents may be given as:
design problem, and each step provides a reference for the
next design step. The overall stability and performance are
(21) achieved by a Lyapunov function for the whole system [14].
B. Application ofBackstepping to DFIG
The principal objective of the backstepping controller is
to regulate the power of the DFIG driven by wind turbine to
The stator flux orientation is proportional to the grid voltage, its reference value.
Vs. Neglecting the small drop in the stator resistance.
Recall the following state model:
{VSd = 0 (22)
V sq -V - OJs·(jJs
- s- jF MsrVs
S =---
(Vrq -R. r·lrq' + r emd)
L'

O'. LrLs (28)

This, when the orienting the direct axis with the stator flux, M"Vs
the voltage aligns with the quadrature axis. The stator active Qs=_O'L,,, L
(vrd-Rr.ird+Femq
)
s
and reactive power flow can then be written as:
The synthesis of this control can be achieved in two steps.
(23) 1) Control Active Power: The first step is defmed the
tracking errors:

Combining these equations with equation (21), we obtain: (29)

The derivative of (29) is:

(24)
(30)

Choosing V as a Lyapunov function candidate for (30), a

corresponding stabilizing function
These equations indicate that, having a constant stator
voltage magnitude, the stator active and reactive powers, Ps I
V (el ) = -.el 2 (31)
and Q" can be controlled by the appropriate action on the 2
rotor current components (irq) and (ird) respectively. Its derivative along the solution of (31), is given by:
The expressions of rotorique voltages as a function of
rotorique currents are given as follows: V l
(el ) =el·e 1 =el- ps mf -Ps J (32)

Combining these equations with equation (30), we obtain

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Proceedings of the 3rd International Conference on TuBA.4

v (el ) - lP
-ej, Ms,.Vs
s mf + ---
aL,.Ls
(v MSlys
rq -Rr·1' rq +0'.L /"O),.,I. ,.d +g. --
Ls
)J Pre!

(33) �l1es +�
with Vrd
Eq

a.LrLs
(
e, =psref + MsrVs Vrq -Rr.irq +aLr.OJr.ird +g. MsrVs
Ls
) (34)
(36) SVM
RSC
I-----.t (44)
Which are called stabilizing function in the backstepping )----t�_� Vrq
design tenninology as follows:
, . _g. M,,.V,
Vrq - MS,.V p;ef +R ,.,Irq
. _(J'L ,.,{j),.,lrd -k DC-bus
1£1 (35)
a.L,..Ls Ls
• s

Figure 4. Diagram of simulation and DPC of DFIG the by backstepping

with k/ is a positive constant
Substituting (7) in (6) the derivative of V(e/): V. SIMULATION RESULTS

(36) To evaluate the perfonnance of the proposed methods, the

implementation in the software MA TLAB/SIMULINK
2) Control Reactive Power: Defming now the second environment has been considered. The computation
error variable e2 : numerical method adopted is based on the Runge-Kutta
algorithm. Therefore, various simulation tests were
(37) conducted, their objectives are control of active and reactive
power for unity power factor apply to DFIG with the
The derivative of this new variable is given by: topology stator is connected direct to the grid while the rotor
is connected to a back to back converter using space vector
(38) PWM algorithm driven by wind turbine, the behavior
analysis of the system for different operating conditions, but
The Lyapunov function candidate for the system (30) is
also to verify the tracking performance, the disturbance
chosen to be:
rejection and the robustness of the suggested control strategy
(39) during variations of the rotor resistance.
A fIrst series of tests, shown in Fig 5 and 6, was
and its time derivative is given by: performed with a nominal values of the DFIG and powers
references corresponding zero at time t = 1 s applying a step -
{
V (e2 ) =e2.e2 =e2 Q,mf -Qs ) (40) 4000 W for active power reference and maintains the power
reactive reference zero for a unity power factor . A
disturbance is also introduced by the variation of wind speed
Combining these equations with equation (30), we obtain involving step rotor speed variation from 1440 rpm to 1600
rpm at t = 1.5 s. The analysis of the simulation results in
(
s + ---
V· (e2 )-e2• Q"ref
aLr·Ls
.)
MsrVs (vI'd -Rr·l' rd +a.Lr·OJr·lrq ) (41)
regulation shows a good set followed the active and reactive
power, very low sensitivity to speed variation disturbances,
with and rejection times extremely low which is a slight overshoot
for a PI controller. Unlike for a backstepping controller
e2 - s MS,.Vs (vnf -R,..l' rd +0'.L,.·(J)r,l. rq )
_Q;4' + --- (42) shows a good follow the reference powers, faster response
a.L,.Ls time, and disturbance rejection without overshoot.

Which are called stabilizing function in the backstepping The robustness of the control to changes for variations
design terminology as follows: nominal values of generator parameters. Fig 7 and 8 shows
the effect of the robustness of the control with respect to
a.L,.Ls Q'vf R ' k
V I'd =--- . s + . /,.lrd +-L /"OJ,..l. Ir/ - 2£2 (43) parametric variations, and in particular the rotor resistance for
M,,.Vs the two controllers. The test is performed with an increase of
variations from 1 to 1.4 Rrn compared to its nominal value.
with k2 is a positive constant Despite this variation, the two controllers response are
Substituting (7) in (6) the derivative of VI: identical with and without variation.
The comparison of two methods of control clearly shows
(44)
the superiority of the control based on backstepping structure
proposed by this work not only in terms of tracking, but also
for disturbance rejection and robustness against the generator
parameters variation.

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Proceedings of the 3rd International Conference on TuBA.4

2000 .-----�----�--_, 2000 �----�----�

1000 1000

O �------------�--�--�----� �
----------------
O �--------�--------�� --

-1000 -1000

-2000 -2000

-3000 -3000

-4000 -4000

-5000 -5000
0 0.5 1 1.5 2 0 0.5 1 1.5 2
time (5) time (5)
Figure 5. Active and reactive power regulation (PI) Figure 8. Effect of rotor resistance variations with speed variation

VI. CONCLUSION

2000 .-----�----�--_, In this paper, a new approach is presented for a DFIG driven
by wind turbine to extract the maximum power from the
1000 wind to the grid, combined with field oriented control.
O �------------�--------------�
The proposed method is a non linear control stabilizing
called backstepping based on the Lyapunov method. The
-1000 backstepping control synthesis has been the subject of
analysis; simulation results are presented and discussed,
-2000 showing excellent dynamic perfonnance and superiority of
-3000
this technique compared to implementing conventional PI
controllers usually used. The results show that this technique
-4000 can be successfully applied to design control algorithms
nonlinear ensuring excellent perfonnance in tenns of
-5000 tracking trajectories, with excellent ability of disturbance
0 0.5 1 1.5 2
time (5) rejection and excellent robustness to variation parametric

Figure 6. Active and reactive power regulation (backstepping)

ApPENDIX A

GENERATOR PARAMETERS

2000 �----�----, TABLE I.

1000 RATED VALUE

O �----------��-.--�----� Parameters Value Units

Number of pole pairs p 2 -
-1000 Rated power Pn 4 kW
Nominal speed Nn 1440 rpm
-2000 1.2 Q
Stator resistance Rs
Rotor resistance Rr 1.8 Q
-3000
Stator inductance Ls 0.1554 mH

-4000 Rotor inductance Lr 0.1568 mH

Stator-rotor mutual inductance Msr 0.15 mH
-5000 Moment of inertia J 0.2 kg:m2
0 0.5 1 1.5 2 Friction coefficient B 0.01 kg.m!s
time (5)
TABLE II.

Figure 7. Effect of rotor resistance variations with speed variation

COEFFICIENT VALUE

Cs

0.5176 116 0.4 5 21 0.0068

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Proceedings of the 3rd International Conference on TuBA.4

ApPENDIX B [12] F. Blaschke, The principle of field oriented as applied to the new
transvector closed-loop control system for rotating-field machine.
voltage Siemens Review XXXIX, vol.5, no.4, 1972, pp.2I7-220.
current [13] A. Laoufi, A. Hazzab, I.K. Bousserhane and M. Rahli Direct Field­
flux linkage Oriented control using Backstepping technique for Induction Motor
nominal value of angular rotor speed speed control, International Journal of Applied Engineering Research
stator resistance , vol. 1, nl,pp. 37-50, 2006.
rotor resistance [14] Karim Belmokhtar, Mamadou Lamine Doumbia Commande d'un
mutual inductance system eolienne a base de machine asynchrone double alimentation
stator inductances pour la fourniture aux reseaux electrique Quatrieme Conference
rotor inductances Intemationale sur Ie Genie Electrique CIGEIO, 03-04 Novembre
total leakage factor 2010, Universite de Bechar, Algerie
moment of inertia [15] 1.C.Gille, Systemes asservis non linaires, Edition Dunod, 1988.
friction coefficient [16] A. Boumediene, Recherche et Developpement de Nouvelles
number of pole pairs Approches de Commandes d'une Machine Synchrone Autopilote
electromagnetic torque
Alimente en Tension, These de Doctorat Ecole polytechnique
load torque Algeria. I5 Decembre, 2007.
rotor flux position
electrical angular rotor speed
synchronously rotating angular speed
air density
radius of turbine
power coefficient
speed ratio
pitch angle
wind speed
error
reference value of x
p active power
Q reactive power
MPPT maximum power point tracking
DFIG double fed induction generator
RSC rotor side converter
PWM pulse width modulation
SVM space vector modulation
FOC field oriented control

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