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PID Controller Synthesis for Improved DFIG Transient Response

Kamran Iqbal, Senior Member, IEEE, Kumud S. Altmayer, and Anindo Roy, Senior Member, IEEE

Abstract Increased penetration of wind energy into the


electrical power grid over the last two decades has led to
renewed research emphasis on stability and the dynamic
behavior of power systems. In this paper, PID controller
synthesis for a DFIG model is considered. The design is based
on analytical characterization of the roots of closed-loop
characteristic polynomial via the Hermite-Biehler theorem.
The PID design provides improved transient response
compared to the traditional PI control of the current loop.
Computer simulations of the PID controller show a welldamped response to changes in power demand with no
oscillations.

I. INTRODUCTION
The increased penetration of wind energy into the power
systems over the last two decades has led to concerns about
its inuence on the dynamic behavior of the power systems.
The transients in power systems must be simulated and
analyzed for getting insight into what impacts these new
power generators have on the power systems [1]. Methods
and tools for simulation (fast or real-time) of wind turbines in
large power systems are therefore needed. Real-time
simulation is also required for field and in-plant testing in
order to evaluate performance of control and protection
systems. In response to these concerns power system
operators have developed grid codes for connecting
equipment to the electrical grid [2, 3]. These regulations are
extended to wind farms connected to the transmission grid,
including both onshore and offshore farms. The attention in
these requirements is drawn to both the wind turbine fault
ride-through capability and the wind turbine grid support
capability, i.e. their capability to assist the power system by
supplying ancillary services. The ancillary services represent
a number of services required by the power system operators,
such as voltage and frequency control, in order to secure safe
and reliable grid operation.
The effect of wind farm integration into the power grid
depends on both the design and implementation of power
system to which the wind farms are connected and the ability
of the wind farms to full the power grid requirements. This
ability depends of course on the technology used for
manufacturing wind turbine/wind farms. This fact has
challenged wind turbine manufactures and spurred research
activity concerning the ability of wind turbines to comply
with high-power system requirements. There is presently
much research activity world-wide involving model
K. Iqbal is with University of Arkansas at Little Rock, 2801 S.
University Ave, Little Rock, Arkansas 72204 (phone: 501-371-7617; fax:
501-569-8698; e-mail: kxiqbal@ualr.edu).
K.S. Altmayer is with University of Arkansas at Little Rock, 2801 S.
University
Ave,
Little
Rock,
Arkansas
72204
(e-mail:
ksaltmayer@ualr.edu).
Anindo Roy is with University of Maryland, College Park, Maryland (email: ARoy@som.umaryland.edu).

simulation studies to understand the impact of system


disturbances on wind turbines and consequently on the power
system itself [4]-[8].
Wound rotor induction machines of the type Doubly Fed
Induction Generators (DFIG) are commonly used with wind
turbines in wind power generation. The DFIG connected with
back to back converter at the rotor terminals provides a very
economic solution for variable speed applications [9]. In the
DFIG, three-phase alternating supply is fed directly to the
stator. The rotor is connected to the supply via ac-dc-ac
converter-inverter that uses power electronics devices. The
network side converter is controlled using Field Oriented
Control (FOC) that involves transformation of the currents
into a synchronously rotating d-q reference frame aligned
with the stator flux. The Direct Torque Control (DTC) is used
for the rotor side converter in order to achieve good dynamic
performance. The rotor-side converter is used to control the
wind turbine output power and the voltage (or reactive
power) measured at the grid terminals. The grid-side
converter is used to regulate the voltage of the DC bus
capacitor, also used to generate or absorb reactive power.
In this paper we address the problem of PID stabilization
of a DFIG model. We present a framework for PID control of
doubly-fed induction generator connected to wind turbine.
The PID control results in improved dynamic stability in the
face of voltage transients on the electrical grid.
II. MATHEMATICAL MODEL OF THE DFIG
This section starts with a description of the functional
aspects of DFIG. Then, a mathematical model of the DFIG is
developed that is used in later simulations.
A. DFIG Operation
The wind turbine connected to the DFIG is assumed to
operate in the variable speed mode, whereby the rotor speed
is controlled to operate within a variable speed range
(
) centered on the generator synchronous speed (Fig.
1). The variable speed mode requires a controller to vary the
pitch of the wind turbine based on the wind speed. The pitch
controller aims for maximum power efficiency by optimizing
the tip-speed ratio defined as:
. In the variable
speed configuration, stator windings of the induction
generator are connected to the grid via a step-up transformer.
The rotor windings are connected via slip rings to backto-back voltage source converters, and onward to the
transformer and the grid (Figure 1). The converter makes it
possible to supply or obtain power from the grid through the
rotor terminals. This prevents the generator from switching to
motor operation while driving at sub synchronous speed. The
rotor operates in the super-synchronous operation mode
(negative slip) at higher wind speeds whereby the power
flows to the grid from both the stator and the rotor. At lower

wind speed, the sub-synchronous mode is activated and the


rotor absorbs active power from the grid for rotor winding
excitation. The power output from the DFIG to the grid is the
sum of both stator power and the rotor power (
) as
realized by the stator and the grid side converter power
(
). Neglecting losses, the total output power equals
the mechanical power ( ) extracted from wind by the wind
turbine.

where
are stator and rotor flux linkages,
are
stator and rotor voltages,
are the synchronous
frequency and the rotor electrical frequency,
are stator
and rotor resistances, and
are the stator, rotor, and
magnetizing inductances. The transformer ratios are assumed
to be 1:1. The above equations include the stator and rotor
voltages as inputs.
Let
be a transformation variable for the rotor
. Further,
circuit, and define:
let
then, a equivalent model is obtained as described by the following
equations [6]:

where
Fig.1: The DFIG with wind turbine (from [4])
B. DFIG Model
The model of the DFIG is based on the governing
electrical equations for the stator and rotor windings that can
be found in any power systems text book. The governing
equations are described in the synchronous (d-q) coordinates
with the d-axis aligned with the stator field (air gap flux) and
q-axis aligned with the stator voltage (Figure 2, [10]).
Orienting machine equations to stator field has two
advantages [7]: 1) the alternating current, voltage, and flux
become stationary and can be treated as dc variables; and, 2)
it is possible to decouple the control of active and reactive
power.

For an induction machine model, the choice of state


] , where
variables includes [7]: [ ] [
represent the magnetizing current and flux,
respectively. As there are four governing electrical equations,
two variables can serve as state variables and can be used to
define four state equations in both d- and q-coordinates. A
common choice of the state variables for control of the DFIG
is the stator flux and the rotor current:
. Then, from the
-equivalent model, we obtain the governing equations in
terms of these variables as [6]:
(

The last term on the LHS of the


where
second equation is defined as the back EMF of the machine
( . The state equations for the machine model are obtained
by separating the above equations into their respective d and
q components and are given in the appendix. A simplification
of the model is obtained by assuming that the air gap flux
remains constant as the stator voltages are constant in
amplitude, frequency, and phase. Further, the d-axis of the
so that:
rotating frame is aligned with
Fig. 2: Rotor and stator flux orientation (from [10])
The basic stator and rotor equations are described as
follows, where the variables are represented by complex
vectors and include direct (d) and quadrature (q) components:

Then,

C. Power Calculations
The mechanical power extracted by the turbine from the
wind is given as:
, where
is the mechanical
power,
is the available wind power (a
function of wind speed and blade diameter) and
is the
turbine efficiency. Assuming gear ratio 1:1, The mechanical
power and the stator electric power output are defined by:

where
are the mechanical and electromechanical
torques and
are the turbine and the synchronous
speeds. The turbine speed is related to the rotor frequency by
where denotes the electrical poles on the rotor.
The ideal stationary power distribution through the
generator depends on the slip of the generator defined as:
. In the steady state
, where
the stator power is given as:
and the rotor
power is:
. Generally, is only a
fraction of (
).

The expressions for the active and reactive powers are given
below:
{

Power calculations can be simplified under reasonable


so that
assumptions
the active power is controlled by the q-component of the
stator current and the reactive power is controlled by the dcomponent of the stator current. Thus,

This transfer function is used as the basis for internal model


control (IMC) of rotor current as suggested by [6] and other
researchers. The current reference for the control of RSC is
based on the power demand and is obtained as follows:

Two additional control loops are used to regulate the active


and reactive power:
based on
and
where
is obtained from the speed-mechanical power curve of
the turbine. The
is normally zero, but can be imposed in
the case of voltage sag following a grid fault.
E. DFIG Transient Response
The fourth order state-space model of the induction
machine presented in the appendix can be used to analyze the
transient response of the DFIG. The synchronous model (at
zero slip) includes a pair of eigenvalues with low damping
ratio (
). This lightly damped mode results in
current fluctuations in the event of power exchanges. Use of
active damping to overcome the oscillations is proposed [6].
As an alternative, in the following we propose a PID
controller for the model. The analytical design of the
proposed PID controller is based on the Hermite-Biehler
framework.
III. HERMITE-BIEHLER FRAMEWORK FOR PID CONTROLLER
SYNTHESIS

Finally, the rotor speed dynamics are described as:

where
are the combined rotor-turbine inertia and
damping, is the number of machine poles, and
are
the electrodynamic (motor) and load (wind turbine) torques,
respectively. The former is given as:
{

D. Control of the DFIG


Traditionally, proportional integral (PI) control of
electrical machines and DFIG is employed [11]-[13]. The
integral term is needed because of the approximations used in
obtaining a simplified model of the machine. The basic
control loop involves the control the rotor current based on
the machine side converter (MSC) voltage. The rotor side
voltage and current are related as:
(

The last term in the above equation may be treated as


feedforward compensation, so that the following first-order
transfer function from to is obtained:

The Hermite-Biehler (HB) theorem [14] and its


generalizations [15]-[16] have been used in mathematical
analysis to study stability of polynomials. The HB theorem
divides the polynomial into even and odd parts, and provides
stability characterization in terms of interlacing property of
the real, non-negative, and distinct zeros of the even and odd
parts of a polynomial. The generalized Hermite-Biehler
theorem additionally provides information on the signature of
the polynomial, defined in terms of the difference between
the number of LHP and RHP zeros of the polynomial. These
theorems are given below:
Definition: Let
, be a real polynomial of degree . Let
where
are the
components of
made up of even and odd powers of s.
Let
Let
denote the nonnegative real zeros of
and let
denote the nonnegative real
zeros of
, both arranged in ascending order of
magnitude. Then,
Theorem 1 (The Hermite-Biehler theorem) [15]:
is
Hurwitz stable if and only if all the zeros of
are real and distinct,
and
are of
the same sign, and the non-negative real zeros satisfy the
following interlacing property:

Theorem 2 (The Generalized Hermite-Biehler Theorem)

[15]: Let
with a root at the origin
of multiplicity . Let
. Let
be the zeros of
that are real, distinct and nonnegative and define
[

]
[

. Then,

where [ ]
polynomial.

]]

]]

is the signature of the

The generalized Hermite-Biehler theorem is used to


synthesize PID controllers for stable and unstable plants [17][18]: the problem involves PID controller design for a unity
gain feedback system, where the plant and controller transfer
functions are given as:

even

odd

The ranges of
satisfying this condition are called
allowable and denoted as ( ). Next, for some
( ), let
where
are the real nonnegative
distinct roots of (
) of odd multiplicity, and define
[
]
and
[ ( )]
], then the
[
Let
stability condition reduces to [19]:

even

odd

The string of integers


that satisfy the above
conditions are called admissible and denoted at . For each
( ) the set of stabilizing PID controllers:
][
]} is found from a set of inequalities
{ [
developed as [Ho97]:
[ (

)]

These inequalities are combined into matrix form as [20]:


[ ]

where
The closed-loop characteristic polynomial of the unitygain feedback system is formed as:
(

Let
define a set of PID gains; then, the
design problem can be stated as follows: given the process
model, find PID controller parameters such that
is
Hurwitz stable, i.e., has its roots in the open lhp. To proceed
further, let
and define:

], i.e.,
]
[
]
[
is
Then [
Hurwitz if and only if
and
have the same
number of rhp roots [18]. Further,
entertains a
separation of controller parameters, where the even part of
contains
, the odd part contains
. This
separation can be exploited for PID controller design as
follows, where
denote the degrees of
and
,
respectively.
(
) where
and (
)
. Then, a necessary condition for stability
is that (
) has at least the number of real, nonnegative
distinct roots of odd multiplicity given as:
Let

[ ]

[ ]

[ ]

[ ][ ]
]
]
]

A. PID Controller with Guaranteed Stability Margins:


The Hermite-Biehler framework allows the design of a
PID controller to achieve pre-specified gain and phase
[17]. Let
margins for a given plant
and
denote the desired gain and phase margins
respectively. Then the PID controller gains that allow the
closed-loop system to achieve those margins must satisfy the
following conditions:
1.
2.

(
stable for all
stable for all

is
)

is

Hurwitz
Hurwitz

IV. PID CONTROLLER SYNTHESIS FOR THE DFIG MODEL


The Hermite-Biehler framework presented above is
applied to the DFIG model to synthesize a PID controller. By
taking the Laplace transform of the DFIG equations we get
(
):

][

The above equation is solved for the rotor currents:


]

][

])

] ([

Following the procedure for HB synthesis outlined above


[18][19], we compute the stabilizing controller as follows: for
the first interval for
, an admissible string of integers is
, which results in the
given as:
following linear inequalities:

][

For the second interval for


, an admissible string of
, which
integers is given as:
results in the following linear inequalities:

. Following [13], an
where
approximation to the terms involving the stator currents is
assumed:
]

][

][

For PID controller design, the following transfer function


from
to
is assumed:

The design involves the following closed-loop (CL)


characteristic polynomial:
(

To illustrate the design aspects, we take two values of


] Then,
stabilizing gains. First, let
[
] [
for the DFIG model parameters (Appendix), the resulting
characteristic
polynomial
has
roots
at:
, with a very low phase
] Then, the resulting
margin. Next, let [
] [
characteristic polynomial has roots at:
, with a nice 50 phase margin.
The above PID controller design was based on the second
order model of the DFIG. In order to test the controller, we
simulated the fourth order machine model given in the
appendix with the PID controller. The DFIG was simulated at
rated power (
). The PID controller
]
gains used for the simulation were [
] [
The response for the rotor currents is shown in Figure 2. As
seen from the figure, the PID controller damps out the
oscillations seen when using only the PI controller.

In order to achieve controller gain separation, we form the


product
and substitute
to get:
(

The even and odd parts of this polynomial are given as:
(a)
(

Next, we would like to examine the roots of


to find the
allowable ranges of stabilizing gain . To do that, we write
in the rootlocus form:
)

and plot the rootlocus for both positive and negative values of
. By examining the rootlocus properties,
has a single
nonnegative distinct root at
for the following range of
} and it has two
:
{
nonnegative distinct roots for the range of
. Since

given as:

(even), and

(
)
, hence, for a given fixed
, a necessary
condition for the existence of
and
is that
has at
least one real distinct nonnegative root.

(b)
Fig. 2: The step response of 4th order model to rated
power (
):
.
V. CONCLUSION
Traditional PI controllers for DFIG result in lightly
damped modes that produce oscillations during power
transients. We presented a scheme for PID control of DFIG
based on Hermite-Biehler framework from systems theory.
The design was shown to provide good dynamic stability.

APPENDIX
The state equations of the induction machine are given as:
[
]

[10]

[11]

[12]

[13]

[14]
[15]

[16]

[17]

The parameters for the DFIG model are taken from the
DFIG simulation model in Matlab SimPowerSystems toolbox
[Mat], and are given in p.u. quantities:
rs=.00706;
rr=.005;
ls=.171;
lr=.156;
lm=2.9;
ws=1;

K. Iqbal would like to thank University of Arkansas at


Little Rock for their support.
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[20]

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[1]

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