DFIG-Based Wind Turbine Robust Control

Using High-Order Sliding Modes and a High Gain Observer

Brice Beltran
1
, Mohamed Benbouzid
1
, Tarek Ahmed-Ali
2
and Herv Mangel
1



AbstractThis paper deals with the power generation control in variable speed wind turbines. In
this context, a control strategy is proposed to ensure power extraction optimization of a DFIG-
based wind turbine. The proposed control strategy combines an MPPT using a high gain observer
and second-order sliding mode for the DFIG control. This strategy presents attractive features
such as chattering-free behavior, finite reaching time, robustness and unmodeled dynamics
(generator and turbine). The overall strategy has been validated on a 1.5-MW three-blade wind
turbine using the NREL wind turbine simulator FAST. Copyright 2011 Praise Worthy Prize
S.r.l. - All rights reserved.

Keywords: Wind turbine (WT), Doubly-Fed Induction Generator (DFIG), high gain observer,
high-order sliding mode.


Nomenclature
v = Wind speed;
= Air density;
R = Rotor radius (m);
P
a
= Aerodynamic power;
T
a
= Aerodynamic torque;
= Tip speed ratio;
C
p
= Power coefficient;
= WT rotor speed;

mg
= Generator speed;
T
g
= Generator electromagnetic torque;
J = Turbine total inertia;
K = Turbine total external damping;
s (r) = Stator (rotor) index;
d (q) = Synchronous reference frame index;
V (I) = Voltage (current);
P (Q) = Active (reactive) power;
| = Flux;
T
em
= Electromagnetic torque;
R = Resistance;
L (M) = Inductance (mutual inductance);
o = Leakage coefficient, o = 1 M
2
/L
s
L
r
;

r
= Rotor position;

r
(
s
) = Angular speed (synchronous speed);
s = Slip;
p = Pole pair number.
I. Introduction
Variable speed wind turbines are continuously
increasing their market share, since it is possible to track
the changes in wind speed by adapting shaft speed and
thus maintaining optimal power generation. The more
variable speed wind turbines are investigated, the more it
becomes obvious that their behavior is significantly
affected by the used control strategy. Typically, they use
aerodynamic controls in combination with power
electronics to regulate torque, speed, and power. The
aerodynamic control systems, usually variable-pitch
blades or trailing-edge devices, are expensive and
complex, especially when the turbines are larger. This
situation provides a motivation to consider alternative
control approaches and to introduce more intelligence [1].
Therefore, this paper deals with power generation
control in variable speed wind turbines. A control strategy
is proposed to ensure power extraction optimization and
reduce mechanical stresses in the drive train of a DFIG-
based wind turbine. The proposed control strategy
combines an MPPT using a high gain observer and
second-order sliding mode for the DFIG control. This
strategy presents attractive features such as chattering-free
behavior, finite reaching time, robustness and unmodeled
dynamics (generator and turbine).
The overall control strategy, illustrated by Fig. 1, has
been validated on a 1.5-MW three-blade wind turbine
using the NREL wind turbine simulator FAST.
II. Wind Turbine Modeling
The global scheme for a grid-connected wind turbine is
given in Fig. 2. The wind turbine modeling is inspired
from [2]. In the following, the wind turbine components
models are briefly described.
II.1. Turbine Model
In this case, the aerodynamic power P
a
captured by the
wind turbine is given by

( )
2 3
1
2
a p
P R C v = t (1)

where
R
v
e
= (2)
h
a
l
-
0
0
6
3
0
4
3
6
,

v
e
r
s
i
o
n

2

-

4

N
o
v

2
0
1
1
Author manuscript, published in "International Review on Modelling and Simulations 4, 3 (2011) 1148-1155"


DFIG
G
e
a
r
Grid 50 Hz
Stator power
Rotor
power
Rotor side
converter
Grid side
converter
Second-Order
Sliding Mode Controller
P
o
w
e
r
Speed
v
1
v
2
v
n MPPT
u v
I
r
e
r
T
em
DFIG
G
e
a
r
Grid 50 Hz
Stator power
Rotor
power
Rotor side
converter
Grid side
converter
Second-Order
Sliding Mode Controller
Second-Order
Sliding Mode Controller
P
o
w
e
r
Speed
v
1
v
2
v
n
P
o
w
e
r
Speed
v
1
v
2
v
n MPPT
u v
I
r
e
r
T
em


Fig. 1. The proposed control structure.

WT Aerodynamics
Gearbox DFIG & Converters
Grid connection
Wind
WT Aerodynamics
Gearbox DFIG & Converters
Grid connection
Wind


Fig. 2. Wind turbine global scheme.

Normally, a variable speed wind turbine follows the
C
pmax
to capture the maximum power up to the rated
speed by varying the rotor speed to keep the system at

opt
. Then it operates at the rated power with power
regulation during high wind periods by active control of
the blade pitch angle or passive regulation based on
aerodynamic stall.
The rotor power (aerodynamic power) is also defined
by

a a
P T = e (3)

According to [2], the following simplified model is
adopted for the turbine (drive train) for control purposes.

a g
J T K T e = e (4)
II.2. Generator Model
The WT adopted generator is the DFIG. DFIG-based
WT will offer several advantages including variable
speed operation (33% around the synchronous speed),
and four-quadrant active and reactive power capabilities.
Such system also results in lower converter costs
(typically 25% of total system power) and lower power
losses compared to a system based on a fully fed
synchronous generator with full-rated converter.
Moreover, the generator is robust and requires little
maintenance [3-4].
The control system is usually defined in the
synchronous d-q frame fixed to either the stator voltage
or the stator flux. For the proposed control strategy, the
generator dynamic model written in a synchronously
rotating frame d-q is given by (5).

( )
sd
sd s sd s sq
sq
sq s sq s sd
rd
rd r rd r rq
rq
rq r rq r rd
sd s sd rd
sq s sq rq
rd r rd sd
rq r rq sq
em rd sq rq sd
d
V R I
dt
d
V R I
dt
d
V R I
dt
d
V R I
dt
L I MI
L I MI
L I MI
L I MI
T pM I I I I
|
= + e |

= + + e |

= + e |

|
= + + e |

| = +

| = +

| = +

| = +

(5)
h
a
l
-
0
0
6
3
0
4
3
6
,

v
e
r
s
i
o
n

2

-

4

N
o
v

2
0
1
1
For simplification purposes, the q-axis is aligned with
the stator voltage and the stator resistance is neglected
[4]. These will lead to (6).

1
1
rd sd
rd r rd s r rq
r s
rq
rq r rq s r rd s sd
r s
em sd rq
s
dI d M
v R I s L I
dt L L dt
dI
M
v R I s L I s
dt L L
M
T p I
L
| | |
= + e o
|
o
\ .

| |
= e o e |
|
o
\ .

= |

(6)
III. The MPPT Strategy
III.1. Problem Formulation
The reference torque of the MPPT block must address
two problems: the captured power maximization and be
driven according to the three fundamental operating
regions illustrated by Fig. 3.
In practice, there are two possible regions of turbine
operation, namely the high- and low-speed regions. High
speed operation (III) is frequently bounded by the speed
limit of the machine. Conversely, regulation in the low-
speed region (II) is usually not restricted by speed
constraints. However, the system has nonlinear
nonminimum phase dynamics in this region. This adverse
behavior is an obstacle to perform the regulation task [5].
In region II, the control objective is to optimize the
capture wind energy by tracking the optimal torque T
opt
.

2
opt
T k = e , with
max
5
3
1
2
p
opt
C
k R = t

(7)

The standard strategy neglect the dynamic of the drive
train, which means that the aerodynamic torque is
supposed to be equal to the generator torque. It is obvious
that in many cases, and especially for turbulent winds,
this assumption will not be realistic.

Wind speed (m/s)
P
o
w
e
r

(
M
W
)
Wind power
C
p
= 1
Available power
C
p
= 0.593
(Betz limit)
Nonidealturbine power
C
p
= 0.412
Region I
Region II
Region III
P
o
w
e
r

(
M
W
)
Wind power
C
p
= 1
Available power
C
p
= 0.593
(Betz limit)
Nonidealturbine power
C
p
= 0.412
Region I
Region II
Region III
Wind speed (m/s)
P
o
w
e
r

(
M
W
)
Wind power
C
p
= 1
Available power
C
p
= 0.593
(Betz limit)
Nonidealturbine power
C
p
= 0.412
Region I
Region II
Region III
P
o
w
e
r

(
M
W
)
Wind power
C
p
= 1
Available power
C
p
= 0.593
(Betz limit)
Nonidealturbine power
C
p
= 0.412
Region I
Region II
Region III


Fig. 3. Steady-state power curves.
The proposed control strategy relies then on the
aerodynamic torque estimation using a high gain observer
[6-7]. This estimate is then used to derive a high-order
sliding mode controller that ensures T
opt
tracking in finite
time.
III.2. High Gain Observer
A high gain observer will therefore be used to estimate
the aerodynamic torque. A key feature of a high gain
observer is that it will reduce the chattering induced by a
sliding mode observer [6].
From (4), we have

a em
T T K
J J J
e
e = (8)

The following notations are introduced.

1
2
a
x
T
x
J
= e

(9)

Thus we have
1 2 1
2
( )
em
T K
x x x
x J J
x f t

(10)

or in matrix form
( , ) ( ) x Ax x u t
y Cx
= + + c

where
| |
1
0 1
0 0
1 0
( , )
0
0
( )
( )
A
C
Kx u
x u
J
t
f t
(
=
(

(
=

(
c =
(

.

A candidate observer could be [6]

1 1
( , ) ( )
T
x Ax x u S C C x x

u
= + uA

(11)

where
1 0
1 1
,
1
1 2 0
S
u
(
(
(
A = =
(
(


(
u


Let S be the unique solution of the algebraic Lyapunov
equation

0
T T
S A S SA C C + + = (12)

Let us define ( ) x x x
u
= A
h
a
l
-
0
0
6
3
0
4
3
6
,

v
e
r
s
i
o
n

2

-

4

N
o
v

2
0
1
1
then ( )
1
( ) ( ) ( ) ( )
T
x A S C C x x x t

u u
= u + A A c

(13)

Consider the quadratic function

T
V x Sx = (14)

then ( )
2
2 ( ) ( )
2 ( )
T T T
T
V xSx
V V x C Cx x S x x
x S t
u
u
=

= u + A

A c

Therefore

( )
max
( ) ( )
2 ( )
( )
x x
V V x S
t
u
u
| | A
| s u +
|
+ A c
\ .

(15)

We can assume that (triangular structure and the
Lipschitz assumption on )

( )
( ) ( )
( )
x x x
f t
u
A s

s o

with
K
J
=

It comes that
2
max max
2 ( ) 2 ( ) V V x S x S
o
s u + +
u

then
1 2
V V c V c V
o
s u + +
u

with
max
1
min
max
2
min
( )
2
( )
( )
2
( )
S
c
S
S
c
S

=

Now taking
{ }
( )
0 1
max
min
1
max
min 1
max 1,
( )
( )
2
( )
2
( )
c
S
S
c
S
M
S c
u
u
u =

u
=

and u > u
0
, we obtain

( ) exp( ) (0) e t t e M
u u
s u + o (16)

With
2

a
T Jx = , it comes that

exp( ) (0)
a a a
T T T J t e M
u u
= s u + o(

(17)

A practical estimate of the aerodynamic torque is then
obtained as M

decreases when increases. The

asymptotic estimation error can be made as small as
desired by choosing high enough values of . However,
very large values of are to be avoided in practice since
the estimator may become noise sensitive.
Now, the control objective can be formulated by the
following tracking errors

T opt a
e T T = (18)

where T
a
is observed. Then we will have

( )
2
T opt a t g a
e k T K T T = e e

(19)

If we define the following functions

( )
2
2
opt
opt a t a
F k
G k T K T
= e

= e e

(20)

then
T g
e FT G = +

(21)

Let us consider the following observer based on the
supertwisting algorithm [2], [8].

( )
( )
1
2
1
2
sgn
sgn
g T T
T
T y B e e
y B e

= +

= +

(22)

The gains B
1
and B
2
are chosen as

( )
( )
2
1
2 1 1 2
2
2
1 1
2
4
0
m
M
m
m M
B
A
B
A
G
F
u
>

u I + u

>

I u

< u

< I s < I

(23)

Thus we will guaranty the convergence of e
T
to 0 in a
finite time t
c
. The aerodynamic torque estimation is then
deduced.

T
a
= T
opt
, t > t
c
. (24)

The above proposed high gain observer principal is
illustrated by the block diagram in Fig. 4.
IV. Control of the DFIG-Based Wind Turbine
The DFIG-based WT control objective is to optimize
the extracted power by tracking the optimal torque T
opt

(7). The control is a compromise between conversion
efficiency and torque oscillation smoothing [9-11].
The reactive power is expressed as follows.

s sq sd sd sq
Q V I V I = (25)
h
a
l
-
0
0
6
3
0
4
3
6
,

v
e
r
s
i
o
n

2

-

4

N
o
v

2
0
1
1


2
nd
Order Sliding
Mode Controller
Wind Turbine
T
opt
c
T
P
g
T
g
+
_
e
r
Wind
2
opt opt r
T k = e
2
nd
Order Sliding
Mode Observer
T
a
^
2
nd
Order Sliding
Mode Controller
Wind Turbine
T
opt
c
T
P
g
T
g
+
_
e
r
Wind
2
opt opt r
T k = e
2
nd
Order Sliding
Mode Observer
2
nd
Order Sliding
Mode Observer
T
a
^
High Gain Observer
2
nd
Order Sliding
Mode Controller
Wind Turbine
T
opt
c
T
P
g
T
g
+
_
e
r
Wind
2
opt opt r
T k = e
2
nd
Order Sliding
Mode Observer
T
a
^
2
nd
Order Sliding
Mode Controller
Wind Turbine
T
opt
c
T
P
g
T
g
+
_
e
r
Wind
2
opt opt r
T k = e
2
nd
Order Sliding
Mode Observer
2
nd
Order Sliding
Mode Observer
T
a
^
High Gain Observer


Fig. 4. High gain observer principle.

Adapting (25) to our hypotheses, it comes then

s s s
s rd
s s
V V M
Q I
L L
|
= (26)

As the stator reactive power reference is zero, then

_
s s
s rd ref
s s
V V
I
M
| = =
e e
(27)

Let us consider the following tracking errors.

_
rd
em
I rd rd ref
T em ref
e I I
e T T
=

(28)

Then we will have

_
1
rd
em
sd
I rd r rd s r rq rd ref
r s
rq r rq s r rd
T s ref
s sd s r
s
d M
e V R I g L I I
L L dt
V R I g L i
M
e p T
M
g L L
L
| | |
= + e o
|
o
\ .

e o | |
|
= |
|
e | o
|

\ .

(29)

If we define the functions G
1
and G
2
as follows.

1 _
2
1
sd
s r rq rd ref
r s
s s r rd s sd ref
s r s
d M
G g L I I
L L dt
M M
G p g L I g T
L L L
| | |
= e o
|
o
\ .

| |

= | e o e |
|

o
\ .

Thus we have
1
2
1 1
rd
em
I rd r rd
r r
s rq s r rq
s r s r
e V G R I
L L
M M
e p V G p R I
L L L L
I

= +

o o

= | + + |

o o

(30)

Now, lets us consider the following high-order sliding
mode controller based on the supertwisting algorithm [2],
[10].

1
2
1 1
1 2
1
2
2 3
2 4
1
( )
( )
( )
( )
em em
em
rd rd
rd
rq T T r rd
r
T
rd I I s r rq
s r
I
V y B e Sgn e R I
L
y B Sgn e
M
V y B e Sgn e p R I
L L
y B Sgn e

= + +
o

= +

= |

(31)

Where the constants B
1
, B
2
, B
3
, B
4
, u
1
, and u
2
satisfy
(32).
Thus, we can assert that there exist finite times t
Tem
and
t
Ird
leading to (33).
This means that the control objective is achieved.

( )
( )
( )
( )
1 1
1 1 1 2
1 1 2
2 2
1 1
2 2
2 3 2 2 2
3 4
2 2
3 2
4
,
4
,
s
s r
r
r
r
G
B
M
B p B
L L
L B
G
B
B B
L
L B

< u

u + u
> | u >

o
o u

< u

u + u u

> >

o
o u

(32)

_
,
,
rd
em
rd ref rd I
ref em T
I I t t
T T t t
= >

= >

(33)
h
a
l
-
0
0
6
3
0
4
3
6
,

v
e
r
s
i
o
n

2

-

4

N
o
v

2
0
1
1
V. Validation Results with FAST
The proposed SOSM control strategy has been tested
for validation using the NREL FAST code [13]. An
interface has been developed between FAST and Matlab-
Simulink

enabling users to implement advanced turbine

controls in Simulink convenient block diagram form.
Numerical validations, using FAST with Matlab-
Simulink

have been carried out on the NREL WP 1.5-

MW (Fig. 5) wind turbine using turbulent FAST wind
data shown by Fig. 6 [14]. The wind turbine, the DFIG
ratings, and control parameters are given in the
Appendix.
The observer validation is clearly illustrated by Fig. 7.
Indeed, the aerodynamic torque tracks efficiently the
optimal torque. As shown in Figs. 8 and 9, very good
tracking performances are achieved in terms of DFIG
rotor current and WT torque with respect to wind
fluctuations. The proposed control strategy does not
induce increased mechanical stress as there are no strong
torque variations.



Fig. 5. 1.5-MW wind turbine illustration.

Time (s)
W
i
n
d
(
m
/
s
)
Time (s)
W
i
n
d
(
m
/
s
)


Fig. 6. Wind speed profile.

Time (s)
T
o
r
q
u
e

(
K
N
m
)
Time (s)
T
o
r
q
u
e

(
K
N
m
)


Fig. 7. Aerodynamic torque:
Topt (blue), Ta real (red), Ta observed (green).
Time (s)
T
o
r
q
u
e

(
K
N
m
)
Time (s)
T
o
r
q
u
e

(
K
N
m
)


Fig. 8. Torque tracking performance: Reference (blue) and real (green).

Time (s)
C
u
r
r
e
n
t
(
A
)
Time (s)
C
u
r
r
e
n
t
(
A
)


Fig. 9. Current Ird tracking performance:
Reference (blue) and real (green).

The proposed control strategy that combines a high
gain observer-based MPPT and a second-order sliding
mode has been compared to classical techniques used in
wind power industry. The first one is that using the active
power as reference and leading to the following control
reference [15].

_
s
rq ref ref
s
L
I P
V M
= (34)

This approach supposes that the active power is equal
to the generator power. This approximation drives a
difference between the desired torque and the generated
one (Fig. 10).
The second classical approach is the one using the
following reference [16].

_
s
rq ref ref
s
L
I T
pM
=
|
(35)

In this case, bad tracking performances are also
achieved (Fig. 11).

Time (s)
T
o
r
q
u
e

(
K
N
m
)
Time (s)
T
o
r
q
u
e

(
K
N
m
)


Fig. 10. Torque: Reference (blue) and real (green).
h
a
l
-
0
0
6
3
0
4
3
6
,

v
e
r
s
i
o
n

2

-

4

N
o
v

2
0
1
1
Time (s)
T
o
r
q
u
e

(
K
N
m
)
Time (s)
T
o
r
q
u
e

(
K
N
m
)


Fig. 11. Torque: Reference (blue) and real (green).
VI. Conclusion
This paper dealt with a second-order sliding mode
control of a doubly-fed induction-based wind turbine
combined with a high gain observer-based MPPT. The
proposed control strategy has been tested and validated
using the NREL FAST simulator on a 1.5-MW wind
turbine.
Appendix
CHARACTERISTICS OF THE SIMULATED WIND TURBINE
Number of blades 3
Rotor diameter 70 m
Hub height 84.3 m
Rated power 1.5 MW
Turbine total inertia 4.453210
5
kg m
2

PARAMETERS OF THE SIMULATED DFIG

Rs = 0.005 , Ls = 0.407 mH, Rr = 0.0089 , Lr = 0.299 mH
M = 0.0016 mH, p = 2

CONTROL PARAMETERS

=30, A1 = 510
3
, A2 = 110
5
, B1 = 1.5, B2 = 50, B3 = 200, B3 = 1000
kopt = 1.612410
5


References
[1] F.D. Bianchi, H. de Battista and R.J. Mantz, Wind Turbine Control
Systems. Principles, Modelling and Gain Scheduling Design.
London: Springer 2007.
[2] B. Beltran, T. Ahmed-Ali and M.E.H. Benbouzid, High-order
sliding mode control of variable speed wind turbines, IEEE
Trans. Industrial Electronics, vol. 56, n9, pp. 3314-3321,
September 2009.
[3] Y. Amirat, M.E.H. Benbouzid, B. Bensaker and R. Wamkeue,
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1
University of Brest, EA 4325 LBMS, Rue de Kergoat, CS 93837, 29238
Brest Cedex 03, France (e-mail: [email protected],
[email protected], [email protected]).
2
University of Caen, UMR CNRS 6072 GREYC, Campus Cte de
Nacre, Boulevard du Marchal Juin, BP 5186, 14032 Caen Cedex,
France ([email protected]).









Brice Beltran was born in Arles, France, in
1981. He received the Engineer Degree in
Electrical Engineering, from Ecole Nationale
Suprieure d'Ingnieurs des Etudes et
Techniques d'Armement (ENSIETA), Brest,
France 2006, and the Ph.D. degree in
Electrical Engineering in 2010 from the
University of Brest, Brest, France.
In 2006, he joined the DGA (Dlgation
Gnrale pour l'Armenent) as an Engineer and
Technical Expert in information systems. In
January 2010, he joined the LBMS Lab (EA
4325) as an Associate Member. His current research interests include
modeling and control of renewable energy applications.
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Mohamed El Hachemi Benbouzid was born
in Batna, Algeria, in 1968. He received the
B.Sc. degree in electrical engineering from the
University of Batna, Batna, Algeria, in 1990,
the M.Sc. and Ph.D. degrees in electrical and
computer engineering from the National
Polytechnic Institute of Grenoble, Grenoble,
France, in 1991 and 1994, respectively, and the
Habilitation Diriger des Recherches degree
from the University of Picardie Jules Verne,
Amiens, France, in 2000.
After receiving the Ph.D. degree, he joined
the Professional Institute of Amiens, University of Picardie Jules
Verne, where he was an Associate Professor of electrical and computer
engineering. Since September 2004, he has been with the Institut
Universitaire de Technologie of Brest, University of Brest, Brest,
France, where he is a Professor of electrical engineering. His main
research interests and experience include analysis, design, and control
of electric machines, variable-speed drives for traction, propulsion, and
renewable energy applications, and fault diagnosis of electric machines.
Prof. Benbouzid is a Senior Member of the IEEE Power
Engineering, Industrial Electronics, Industry Applications, Power
Electronics, and Vehicular Technology Societies. He is an Associate
Editor of the IEEE TRANSACTIONS ON ENERGY CONVERSION, the IEEE
TRANSACTIONS ON INDUSTRIAL ELECTRONICS, the IEEE
TRANSACTIONS ON VEHICULAR TECHNOLOGY, and the IEEE/ASME
TRANSACTIONS ON MECHATRONICS.

Tarek Ahmed-Ali was born in Algiers,
Algeria, in 1972. He received the B.Sc. degree
in electrical engineering from the Ecole
Nationale Polytechnique of Algiers, Algiers,
Algeria, in 1994. He received the M.Sc. and
Ph.D. degrees both in Electrical and Computer
Engineering, from the University of Paris VI
and the University of Paris Sud, Paris, France,
in 1995 and 1998 respectively.
In 1998, he joined the University of Paris
XIII, Paris, France as a Teaching and Research
Assistant.

























In 1998, he moves then to the Ecole Centrale de Lille, Lille, France also
as a Teaching and Research Assistant. In 2000, he was appointed
Research and Development Engineer at SNCF (the French Railway
Corporation). In 2002, he was appointed to a lectureship in Control
Engineering at Ecole Nationale des Ingnieurs des Etudes et Techniques
de lArmement of Brest (ENSIETA), Brest, France. In 2008, he was
appointed Associate Professor of automatic control at the University of
Caen, Caen, France. His main research interests are sliding mode
control, nonlinear observers and fault-tolerant control and diagnosis in
the field of ac drives.














Herv Mangel was born in Remiremont,
France in 1969. He received the Ph.D. degree
in electrical engineering from the University of
Franche-Comte, Belfort, France in 1995.
From 1995 to 1997, he worked as a lecturer
at the University of Franche-Comte, Belfort,
France. From December 1997 to August 1998,
he worked as Research Engineer for the
European project High Voltage Booster in
Railways (CEGELEC). Since 1998, he joined the University Institute of
Technology (IUT) of Brest, University of Brest, Brest, France, as an
Associate Professor of electrical engineering and a member of the
LBMS Lab (EA 4325). His main research interests are in the field
permanent magnet applications and electrical power generation applied
in particular to renewable energies.
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