INTERNATIONAL JOURNAL of RENEWABLE ENERGY RESEARCH

Othman B.k Hasnaoui et al. ,Vol.4, No.2, 2014

PMSG Gear-Less Wind Turbine Equipped with an

Active and Reactive Power supervisory

Othman B.k Hasnaoui **‡, Mehdi Allagui**, Jamel Belhadj **

*University of Tunis El Manar, LSE-ENIT B.P 37 le Belvédère 1002 Tunis Tunisia

*University of Tunis, ENSIT-DGE, B.P 56 Montfleury 1008 Tunis Tunisia
([email protected], [email protected], [email protected])

‡
Corresponding Author; Othman B.k Hasnaoui, University of Tunis, ENSIT-DGE, B.P 56 Montfleury 1008, Tunis, Tunisia,
[email protected]

Received: 05.04.2014 Accepted: 12.05.2014

Abstract- In this paper, we present comparative studies related to some control techniques used to control high power
permanent Magnet Synchronous Generator (PMSG) Gear-less Wind Turbines. For the two back-to-back converter (generator
side and grid side), Field Oriented Control (FOC), Direct Torque Control (DTC), Voltage Oriented Control (VOC) and Direct
Power Control (DPC) are investigated and compared according to many criteria (implementation complexity, steady state and
transient performances). Control strategies are evaluated by simulation and are applied to a supervision scheme developed for a
2MW Direct Drive wind turbine. The scope is to verify the compliance of this system with E.On Netz german Grid Code
including LVRT performances and active and reactive power management.
Keywords- Direct Drive, FOC, DTC, VOC, DPC, Supervisory control.

1. Introduction Permanent Magnets Synchronous Generator torque and

the flux are intended to be controlled. On the other hand,
Wind energy is a promising alternative to traditional control strategies for the GSC intend to decouple the reactive
energy sources [1]. Due to the increasing wind power and active power supplied to the grid. To achieve these
penetration, the improvement of control strategies becomes a objectives, vector control techniques requires current control,
major challenge for manufacturers in order to comply with in the rotating reference frame, and decoupling between the
the grid connection requirements [2]. Consequently, new components so that the electromagnetic torque and power are
wind power plants are increasingly expected to provide indirectly controlled. In direct control strategies, the first step
ancillary services which maintain reliable operation of the is to estimate torque and power. These two variables are then
interconnected transmission systems [3-4]. Compared to controlled directly, resulting in less complex and faster
other wind turbine technologies, Direct Drive topology algorithms.
showed itself to be the most promising technique because it
Consequently, it is relevant to evaluate the performance
offers variable speed operation and fulfills GCR with high
of vector and direct control techniques, in order to identify
efficiency [5].
which is the most suitable control strategy. Therefore, in this
The power electronics subsystem is composed of two work, FOC and DTC control strategies for the generator-side
voltage source inverters (VSI) separately controlled. The converter and VOC and DPC for the grid-side converter are
generator-side converter controls the generator speed to considered.
maximize wind power extraction. On the other hand, grid-
The aim of this paper is to evaluate the performance of a
side converter (GSC) controls the dc-link voltage and the
PMSG-WT controlled by two different strategies for each
active and reactive power delivered to the grid connection
power converter. In the first section, the wind turbine model
point. For the two converters, direct control or vector control
is presented. The second section presents the control
techniques can be used.
strategies of the generator-side convertor. Performances of
INTERNATIONAL JOURNAL of RENEWABLE ENERGY RESEARCH
Othman B.k Hasnaoui et al. ,Vol.4, No.2, 2014
the two control techniques are simulated and analyzed. The 12.5
116 i
third section presents the control strategies of the GSC with a C p ( ,  )  0.22.(  0.4   5).e ) (3)
comparative study. Finally, in the last section presents the i
developed supervision algorithm used to control reactive
power. Transient stability of the wind system during grid Where:
faults are investigated for both control strategies.
1 (4)
i 
1 0.035
2. Wind Turbine Structure (  3 )
  0.08  1
The wind turbine consists of the following components:
A three-bladed rotor with the corresponding pitch angle
controller; the MPPT algorithm; a PMSG with two back-to-
back power converters, a DC-Link capacitor, and a grid LC-
filter. The control of the PMSG-WT consists of two parts,
the generator side control and the grid side control. The
scheme of the wind turbine system is shown in Fig. 1.

Fig. 2. Wind turbine power-speed curves.

3.2. Permanent magnets synchronous generator

The state equations of the PMSG are given below [8]:

d sd
 rs .I sd   e . sq  Vsd (5)
dt
Fig.1. General Control scheme of PMSG-WT.
d sq
3. Direct Drive Wind Turbine Model   rs .I sq   e . sd  Vsq (6)
dt
3.1. Aerodynamic model
In the above equations, the stator flux components are
The mechanical power produced by the wind turbine is expressed by:
expressed by [6]:
sd  Lsd .I sd  v (7)
1
Pm  C p ( ,  ). .S .Vw
3
2 (1)  sq  Lsq .I sq (8)

In equation (1), C p is the power coefficient,  is Where I sd , I sq and Vsd , Vsq are currents/voltages d
the pitch angle in degrees;  is the air density (kg/m3), and q axes, Lsd and Lsq are the stator inductances in the dq-
S is the area swept by the blades (m²), Vw is the mean reference frame,  e is the fundamental stator currents
wind speed (m/s) and  is the tip-speed-ratio given frequency, rs is the stator windings resistance, and v is the
by: exciter flux of the PMSG. The electromagnetic torque of the
R. g generator is then given by:
  (2) 3
Vw Tem  p ( sd .I sq   sq .I sd ) (9)
2
g is the generator angular speed and is the turbine
p is the pairs pole number.
radius.
Fig. 2 shows the evolution mechanical power in 3.3. Voltage Source Inverter (VSI)
function of the rotor speed for different wind speeds. The
parabolic curve gives the optimal regime characteristic. The Back-to-Back converter is widely used in wind
In this paper, the characteristic of the power coefficient ( turbine applications [9-10]. It uses a force-commutated
rectifier and a force-commutated inverter each built of six
C p (,  ) ) is approximated by the analytical equation (3).
insulated gate bipolar transistor (IGBT). The two converters
Details and parameters of this model are given in [7].

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Othman B.k Hasnaoui et al. ,Vol.4, No.2, 2014
are connected through a common DC-link with a capacitor Fig.4. Block diagram of the Field Oriented Control
Cdc [9]. The DC-link capacitance C is chosen as [11], (FOC).

S 4.2. Direct Torque Control

Cdc  (10)
4f minVdc Vdc DTC principle consists of choosing a pre-defined
switching table to select proper voltage vectors [16]. Vectors
The generator side converter ensures variable speed selection is based on stator flux linkage and the torque
operation of the wind turbine. The grid side converter is hysteresis control. In which case, the stator flux and the
mainly used to control active and reactive powers delivered torque are controlled independently and directly. The torque
to the grid and to keep the DC-link voltage constant. The hysteresis comparator is a three valued comparator. Whereas
U ll , RMS that, the flux hysteresis comparator is a two valued
AC-side line-to-line RMS output voltage is a comparator. The control scheme of DTC is developed as
function of the DC-link voltage Vdc and of the amplitude shown in Fig. 5.
modulation ratio m [12],

3 Vdc
U ll , RMS  m (11)
2 2

With 0  m 1.
The decoupling between the generator and the grid
through power converters presents an important solution to
comply with the G.C.R [13]. Figure 3 depicts the power Fig.5. Direct Torque Control (DTC) block diagram.
electronics subsystem.
4.3. Comparative study of DTC and FOC control

In order to compare the dynamic behavior the above

control techniques, FOC and DTC responses are presented in
Fig. 6. Simulations have shown that the FOC has higher
torque ripple than DTC technique. Total Waveform
Fig.3. structure of Back-to-Back converter. Oscillation (Two) criteria is used to evaluate electromagnetic
torque oscillation given by:
4. Generator side converter Control strategies
 rms  Tem  dc
2 2
Tem
Two types of strategies exist for vector control, Field Two  *100% (12)
Oriented Control (FOC) and Direct Torque Control (DTC). Tem  dc

4.1. Field Oriented Control Where Tem  rms and Tem  dc are the electromagnetic
torque rms and average values, respectively.
FOC strategy is generally applied to the Generator-side
converter (Fig. 4). It allows controlling the rotor speed Steady-state simulations show that the best power
through the control of the electromagnetic torque [14]. quality features and the smaller power-tracking error are
Torque control is achieved by setting to zero the d given by the VOC technique. On the other hand, DTC
component of current and the torque is controlled through the technique offers the fastest transient behaviour without
q component. Details of this control strategy for variable overshoot (~9%). Table 1 shows a brief description of
pitch wind turbine and the MPPT algorithm are presented in simulation results along with the characteristics of each
[15]. control strategies.
5
x 10
10
Torque [N.m]

8
X: 5.322 X: 5.412
Y: 7.998e+05 Y: 7.998e+05
6

4
X: 5.022 X: 5.112 Electromagnetic Torque
Y: 3.987e+05 Y: 4.094e+05 Ref erence

2
4.8 5 5.2 5.4 5.6
Time [s]
a)

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5
x 10
10
Torque [N.m]

8
X: 5.317 X: 5.382
Y: 7.998e+05 Y: 7.998e+05
6

4 Electromagnetic Torque
X: 5.017 X: 5.082
Y: 3.984e+05 Y: 4.061e+05 Reference
2
4.8 5 5.2 5.4
Time [s]
b)
Fig.6. PMSG time-domain waveforms Simulation
results vs electromagnetic torque, during a load transient:
a) FOC technique; b) DTC technique.
Table.1. Control Features and Requirements for FOC
and DTC control. Fig.7. Block diagram of the Voltage Oriented Control
(VOC) technique.
Features FOC DTC
Switching Frequency f = 2 kHz f = 5 kHz 5.2. Direct Power Control (DPC
Modulation Technique PWM Hysteresis
Conventional direct power control allows to directly
Current THD 4.6% 11.2%
controlling active and reactive powers using a switching
Torque TWO 1.34% 1.03% table. It uses the same principle of DTC. Conventional DPC
Cross-coupling Effect Yes No is characterized by the high ripple in grid currents which
Setting time (<112 ms) Setting time (<82ms) gives a poor power quality [17]. In addition, the switching
Dynamic Performance frequency is not controlled, which increase the difficulty for
Rise time (<22 ms) Rise time (<17 ms)
correct harmonic filter design. Consequently, conventional
Overshoot (~24%) Overshoot (~9%) DPC is combined with SVM technique to obtain constant
switching frequency and low current distortion [18]. The
developed DPC for the grid-side converter is shown in Fig.
5. Grid Side Converter Control strategies 8. In this figure, the unity power factor is obtained by setting
the reactive power reference Q* to zero.
5.1. Voltage Oriented Control (VOC)

The grid side converter is mainly used to control active

and reactive powers delivered to the grid, in order to keep the
DC Link voltage constant, and to ensure the quality of the
injected power. Voltage Oriented Control requires internal
current control loops in the rotating dq frame and the
elimination of the current cross coupling between the d and q
components. The connection to the grid is achieved through
an LCL filter and a transformer. The Phased Locked Loop
(PLL) gives an estimation of  s , the angle of the grid
voltage. In this way, an accurate synchronization between the Fig.8. Block diagram of the Direct Power Control (DPC)
inverter voltage and the voltage at the PCC is obtained. The technique.
PLL technique is detailed in [15]. Grid synchronization, DC-
link voltage control, and reactive / active power supplied to 5.3. Comparative study of DPC and VOC control
the grid, are shown in Fig. 7.
The steady-state is evaluated by means of current THD
measurements, active and reactive power ripple values ( P ,
Q ) and some DC-link performance features as the voltage
ripple VDC . On the other hand, the cross-coupling effect
and the typical dynamic performance criterions as the settling
time, rise time and overshoot are considered in the transient-
state operation.

5.3.1. Steady-state Performance

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Fig. 9 and Fig. 10 show the per-phase switching signals, 2000
grid currents, spectrum analysis and power performance for

Grid Currents (A)

the grid side converter, using both the VOC-type control 1000

strategy and the DPC techniques. As can be observed the 0

VOC control shows the best power quality (THD=2.3%) and Ig1

the minimum power ripple ( P  8% , Q  9.2% ).

-1000 Ig2
Ig3
The DPC control leads to a dispersed harmonic spectrum -2000
0.2 0.205 0.21 0.215 0.22 0.225 0.23 0.235 0.24 0.245 0.25
with a large THD of around 9% with considerable power Time (s)

ripple values ( P  17.6% , Q  19.4% ). b)

According to the IEEE standards 519-1992 Fig.9. Phase switching signals, grid currents and
recommendation, the limit of harmonic distortions for spectrum analysis: a) VOC Techniques b) DPC Techniques.
distributed power systems connected to the grid should not 6
exceed 5% [19]. In this way, only VOC meets the grid 2.5
x 10

connection requirements (GCR). On the other hand, the VOC Active Power
Reference
strategy shows a small tracking error of around 0.32%, while

P(W)
the absolute tracking error reaches 4% in the DPC case. 2

Furthermore, the voltage ripple in the DC-link capacitor is

clearly smaller in the VOC ( VDC  5% ) than the DPC
1.5
strategy ( VDC  14% ), see figure 11. 0.2 0.205 0.21 0.215 0.22 0.225
Time(s)
0.23 0.235 0.24 0.245 0.25

5
x 10
1 5
Switching Signals

Rective Power
Reference
Q (VAr)

0.5
0

0
0.2 0.205 0.21 0.215 0.22 0.225 0.23 0.235 0.24 0.245 0.25
Time (s) -5
0.2 0.205 0.21 0.215 0.22 0.225 0.23 0.235 0.24 0.245 0.25
Time (s)

a)
6
x 10
2.6

2.4 Active Power

Reference
2.2
P (W)

1.8

1.6
2000
0.2 0.205 0.21 0.215 0.22 0.225 0.23 0.235 0.24 0.245 0.25
Grid Currents [A]

Time [s]
1000
5
x 10
0 2

Ig1 Reactive Power

Reference
-1000 Ig2 1

Ig3
Q (VAr)

0
-2000
0.2 0.21 0.22 0.23 0.24 0.25
Time [s] -1

a) -2
0.2 0.205 0.21 0.215 0.22 0.225 0.23 0.235 0.24 0.245 0.25
Time [s]

1 b)
Switching Signals

Fig.10. Active and reactive power behaviors: a) VOC

0.5

Techniques b) DPC Techniques.

0
0.2 0.205 0.21 0.215 0.22 0.225 0.23 0.235 0.24 0.245 0.25
Time (s)

1.02
DC-link voltage (V)

1.01

0.99

0.98

0.97
0.2 0.205 0.21 0.215 0.22 0.225 0.23 0.235 0.24 0.245 0.25
Time(s)

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a) 2000

1000

Grid currents[A]
1.02
DC-link Voltage[pu]

0
1

-1000

0.98

-2000
0.2 0.205 0.21 0.215 0.22 0.225 0.23 0.235 0.24 0.245 0.25 0.2 0.3 0.4 0.5 0.6 0.7 0.8
t [s] Time [S]

b) a)
Fig.11. DC-link voltage: a) VOC Techniques b) DPC x 10
6

Techniques. 2.5

P (W)
1.5
5.3.2. Transient Performances 1 Active Power
Reference
0.5
Several simulations have been carried out in order to 0.2 0.3 0.4 0.5
Time (s)
0.6 0.7 0.8

verify the behavior of the proposed control algorithms during

transients operation. These simulations involve the grid side 6
x 10
converter configurations with the VOC and DPC-based 5
control strategies. Active-power reference steps from 1.4MW
to 2MW have been applied (30% of nominal power). Note
Q (VAr)

that reactive power steps will produce similar results in 0

transients, so these cases are not evaluated. Figure 12 shows Reactive Power
the instantaneous active and reactive power behavior during Reference
-5
active reference steps. As shown, the DPC technique is 0.2 0.3 0.4 0.5 0.6 0.7 0.8
clearly faster than the VOC techniques in power tracking Time (s)

task. The transient performance shows the expected behavior 2000

in the VOC-based strategy (Fig. 13).
1000
Grid Currents

To quantify the transient behavior, a power band near 0

5% of the rated power is established. In this way, a setting
-1000
time close to 60.6ms, a rise time below 17.2 ms and a small
overshoot of around 25% can be observed in the VOC-based -2000

configuration. Yet, the DPC needs a setting time below -3000

0.2 0.3 0.4 0.5 0.6 0.7 0.8
44.8ms with a rise time of around 13ms without overshoot Time (s)
(~5%) in power tracking requirements. Furthermore, there is
no cross-coupling effect between active and reactive power b)
in the DPC, whereas the VOC shows a substantial Fig.12. Instantaneous active and reactive power behaviors
perturbation in the reactive power behavior when active during active reference steps: a) VOC Techniques b) DPC
power changes are applied.to the IEEE standards 519-1992 Techniques.
recommendation
6
6
x 10
x 10 3
3
2.5
2.5
2
P(W)

2 Active Power
1.5
P(W)

Reference
1.5 1

1 Active Power 0.5

Reference 0.2 0.25 0.3 0.35 0.4 0.45 0.5
0.5 Time (s)
0.2 0.3 0.4 0.5 0.6 0.7 0.8
Time (s) 5
x 10
5
x 10 2
5
Q (VAr)

0
Q (VAr)

-2
0 Rective Power
Reference
-4
0.2 0.25 0.3 0.35 0.4 0.45 0.5
Reactive Power Time (s)
Reference
-5
0.2 0.3 0.4 0.5
Time (s)
0.6 0.7 0.8
a)

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3
6
x 10 consequently, power system instability [3-21]. Grid
connection requirements used in this paper are those defined
2.5
by the TSO E.ON and presented in Fig. 14 [3].
2
P (w)

1.5
Active Power
1 Reference

0.5
0.2 0.25 0.3 0.35 0.4 0.45 0.5
Time (s)

6
x 10

2 Reactive Power
Reference
Q (VAr)

-2

-4
Fig. 14. LVRT Voltage profile according to [3].
0.2 0.25 0.3 0.35 0.4 0.45 0.5
Time (s) Reactive power supervisory control presented below is
to regulate the specified PCC voltage (Fig. 15). According to
b) the GCR of the German operator E. ON Netz, wind farms
Fig.13. Active and reactive power transient behaviors: should support the grid voltage during faults. To achieve this
target, Grid side converter must supply reactive current
a) VOC Techniques b) DPC Techniques equivalent to 2% In per 1% Un voltage dip. Thus,
The steady-state simulations show the best power quality supervisory control block contains two control levels which
features and the smaller power-tracking error are obtained are activated according to the dip magnitude:
with VOC techniques. On the other hand, DPC -based
strategies offer the fastest transient behavior without
overshoot and cross-coupling effect. Table 2 shows a brief
description of the simulation results along with the
characteristics and requirements of each control strategy.
Consequently, It is concluded that combination of vector and
direct control represent the best choice, depending on the
desired performance tradeoff.

Table.2. Control Features and Requirements for VOC

and DPC techniques

Features VOC DPC

Switching Frequency f = 2 kHz f = 5 kHz
Modulation Technique PWM SVM
Fig.15. Schematic diagram of the reactive power
supervisory.
Current THD 2.3% 8.77%
Power Ripple P (8%) P (17.6%)  Level 1: Vgrid  50%Vn : In this condition, the
Q (9.2%) Q (19.4%) normal operating mode is activated. The torque
reference Tem _ ref is given by the MPPT algorithm
DC-link Ripple VDC VDC
(5%) (14%)
Cross-coupling Effect Yes No and power production is optimized. Reactive power
Setting time (<60.6ms) Setting time (<44.8ms)
reference is fixed by the TSOs.
Dynamic Performance
Rise time (<17.2ms) Rise time (<13.3ms)  Level 2: Vgrid  50%Vn : During faults, the wind
Overshoot (~25%) Overshoot (~5%) turbine should supply reactive currents to the grid.
Therefore, reactive power reference Qgrid is
6. Reactive power control supervisory calculated by:

6.1. Low Voltage Ride Through (LVRT) capabilities and  Vgrid 

voltage grid support Qgrid  6 Vgrid I n 1   (13)
 Vn 
 
Currently, wind turbines should stay connected to the
grid in the case of voltage dips [20]. This is of particular Then, Qgrid is used to calculate active power reference
importance to the TSOs, since wind farms disconnection
Pgrid given by (14):
could cause major loss of power generation and

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
   Q  
5
2 2 x 10
Pgrid   3 Vgrid I n grid  (14) 8

  6

Torque [N.m]
The calculated power Pgrid should be available at the 4

output of the generator side converter. Therefore, when a 2 Tem

Tem-ref
voltage dip is detected, torque reference switches to another 0
0.6 0.8 1 1.2 1.4 1.6 1.8 2 2.2
value given by (15): Time [s]

Pgrid Fig. 16. Wind turbine behavior during a symmetrical fault

Temref  (15)
g (type A), with the VOC Techniques.
4
x 10
6
4

Grid Voltages [V]

6.2. Comparative study of DPC and VOC control 2
0
Fig. 16 and 17 show the response of the both control -2
strategy to a symmetrical voltage dip. The dip magnitude is -4
divided in two part; 45% then 70% of the rated voltage, as -6
illustrated in Figure 15. 0.6 0.8 1 1.2 1.4 1.6 1.8 2 2.2
Time [s]
4
x 10
4 3000

2000
Grid voltages [V]

2
Grid Currents [s]

1000

0 0

-1000
-2
-2000

-4 -3000
0.6 0.8 1 1.2 1.4 1.6 1.8 2 2.2 0.6 0.8 1 1.2 1.4 1.6 1.8 2 2.2
Time [s] Time [s]

3000 3100
DC-lin Voltage [V]

2000 3050
Grid Currents [A]

1000
3000
0

-1000 2950

-2000
2900
0.6 0.8 1 1.2 1.4 1.6 1.8 2 2.2
-3000
0.6 0.8 1 1.2 1.4 1.6 1.8 2 2.2 Time [s]
Time [s]
6
x 10
3100 2
Power [W&VAr]
DC-link Voltage [V]

3050
1
3000
0 Active Power
2950 Reactive Power
-1
2900 0.6 0.8 1 1.2 1.4 1.6 1.8 2 2.2
0.6 0.8 1 1.2 1.4 1.6 1.8 2 2.2 Time [s]
Time [s]
5
6 x 10
x 10
2 6
Power [W&VAr]

Torque [N.m]

1 4

0 2
Active Pow er Tem
Reactive Pow er Tem-ref
-1 0
0.6 0.8 1 1.2 1.4 1.6 1.8 2 2.2 0.6 0.8 1 1.2 1.4 1.6 1.8 2 2.2
Time [s] Time [s]

Fig. 17. Wind turbine behavior during a symmetrical fault

(type A), with the DPC Techniques.

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Othman B.k Hasnaoui et al. ,Vol.4, No.2, 2014
This result shows that DC-link voltage is weakly [3] F. Lov, A. Daniela Hansen, P. Sørensen and N.
affected and remains within 10% of allowed limits. For both Antonio Cutululis, “Mapping of grid faults and grid
control techniques, PMSG doesn’t disconnect from the grid codes”, Technical University of Denmark, Vol:
but continue to inject reactive power in order to support the Risø-R-1617(EN), Publisher: Risø National
grid with control of reactive current value in order to save the Laboratory, Roskilde Denmark, July 2007.
back-to-back converters; while the active power is decreased
[4] S. Heier, “Grid integration of wind energy
with a gradient of 20% per second of rated power to comply
conversion systems”, John Wiley & Sons Ltd, 2nd
with Grid Connection Requirements. It is noticed that rotor
ed.,Chichester, UK, 2006.
speed is no longer controlled during the fault since torque
reference is not taken from the MPPT algorithm. Finally, [5] V. Akhmatov, “Modelling and Ride-through
vector control technique (VOC) is characterized by a lower Capabilities of Variable Speed Wind Turbines With
harmonic distortion THD and higher efficiency. On the other Permanent Magnet Generators”, Wiley Interscience,
hand, DTC is less computational demanding and it gives a Vol 1, pp1-14 ,2005.
better dynamic response.
[6] F. D. Bianchi, H. De Battista, R. J. Mantz, “Wind
Turbine Control Systems”, Springer, England, 2007.
7. Conclusion
[7] S. Heier, “Grid integration of wind energy
The synthesis and analysis of two different control conversion systems”, Chichester: John Wiley &
strategies for PMSG-WT have been carried out. The results Sons Ltd, pp.35-302, 1998.
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[8] H. Woo Kim, Sung-Soo Kim, Hee-Sang Ko,
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