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Neuro-Fuzzy Control of Grid Connected DFIG via Five-Level NPC Converter

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 2nd International Conference on Electrical Energy and Systems, October 28-30, 2014, Annaba, Algeria

Neuro-Fuzzy Control of Grid Connected DFIG via

Five-Level NPC Converter for WECS
Abdelhak Dida* and Djilani Benattous**

*Department of Electrical Engineering, Ferhat AbbasSetif-1 University, Email: abdelhakdida@yahoo.fr

** Department of Electrical Engineering, El Oued University, Email: dbenattous@yahoo.com

Abstract –This paper deals with the power generation
control in variable speed wind turbines. In this context,
the wind energy conversion system (WECS) is equipped
with a doubly-fed induction generator (DFIG) and five-
level NPC converter in the rotor circuit. The modeling
and the control of the five-level converter is presented. A
vector control of the rotor side converter (RSC) provides
an independent control of the generated active and
reactive power and optimal speed tracking for
maximum energy capture from the wind. In this paper,
an adaptive neural network system is proposed as
trainer of the TS-Fuzzy controller to improve the
dynamic response and reject any uncertainties or
disturbance; two neuro-fuzzy controllers (NFC) are used
in the RSC for the speed, stator active and reactive
power control. Performances have been tested on
1.5MW DFIG-WECS by using Matlab-Simulink
software environment.
Keywords –Wind turbine, MPPT, DFIG, Vector control,
NPC converter, TS-Fuzzy logic, ANFIS.
I. INTRODUCTION
Nowadays, multilevel converters have attracted
increasing attention in medium-voltage and high-
power applications such as static VAR compensators
and renewable energy sources [1,2], The term
multilevel starts with the three-level inverter
introduced by Nabae et al. [3].
Doubly-fed induction generators (DFIG) are
extendedly used in modern wind power generation
systems due to their variable speed operation, four
quadrants active and reactive power capability, low
converter cost, and reduced power losses compared
with other solutions such as fixed speed induction
generators or fully fed synchronous generators with
fully sized converters [4]. Classic control of grid-
connected DFIG is usually based on either stator
voltage oriented [5], [6] or stator-flux-oriented [7], [8]
vector control. The scheme decouples the rotor
current into active and reactive power components in
the synchronous reference frame. Control of
instantaneous stator active and reactive powers is then
achieved by regulating the decoupled rotor currents,
using proportional-integral (PI) controllers. One main
drawback for this control scheme is that the
performance highly relies on the tuning of the PI
parameters and accurate machine parameters such as
stator and rotor inductances and resistances and ideal
grid voltage condition. Thus, performance may
degrade when actual machine parameters deviate from
values used in the control system, or facing a transient
grid voltage disturbance [4].
The fuzzy controller was used to enhance the
dynamic response and the robustness of the DFIG-
WECS [9,10,11]. In [9], the fuzzy controller was
employed to control the rotating speed, in [10] a TS-
fuzzy controller was designed for controlling the
active power and DC capacitor voltage of the
intermediate filter, in [11] a new MPPT strategy and
bitch angel calculation using fuzzy logic controller is
presented.
However, the drawbacks of the fuzzy inference
system were completely based on the knowledge and
experience of the designer. Since both fuzzy logic
(FL) and artificial neural network (ANN) have their
relative advantages, a powerful processing tool with
both advantages can be obtained by combining them
together. The architecture and learning procedure
underlying adaptive-network-based fuzzy inference
system (ANFIS) was proposed in [12]. This ANFIS
incorporated the self-learning ability of ANN with the
linguistic expression function of fuzzy inference. By
using a hybrid learning procedure, i.e., least-square
estimation and back-propagation, the proposed
ANFIS can construct an input-output mapping based
on both human knowledge and stipulated input-output
data pairs [4].
The current paper presents the modeling and the
control of the DFIG-WECS via five-level NPC
converter, the neuro-fuzzy systems are designed and
trained to provide the best dynamic while tracking the
wind turbine’s maximum power point curve, the
performance is compared with other controller like PI
and fuzzy system under different operating mode.
II. THE WIND TURBINE MODELING
The global scheme for a grid-connected wind
turbine is given in Fig. 1.
Fig. 1 Configuration of DFIG- wind turbine

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 2nd International Conference on Electrical Energy and Systems, October 28-30, 2014, Annaba, Algeria

A. Wind turbine model The stator and rotor flux can be expressed as:

There is only a fraction of the wind power that can  ϕ sd = L s i sd + Mi rd

be extracted by the turbine, it is called the ϕ = L s i sq + Mi
 sq rq
(8)
aerodynamic power of the turbine and denoted by Pt. 
Its expression is given as follows:  ϕ rd = L r i rd + Mi sd
 ϕ rq = L r i rq + Mi
1 sq
Pt = T t .ω t = πρ R balde
2
v w3 C p ( λ TSR , β ) (1)
2 Where Rs, Rr, Ls and Lr are respectively the
resistances and inductances of the stator and rotor
Where Tt is the turbine torque and ωt is the shaft
windings, M is the mutual inductance. Vsd, Vsq, Vrd,
speed in the turbine side. The efficiency coefficient
Vrq, isd, isq, ird, irq, φsd, φsq, φrd and φrq are the direct and
CP(λTSR,β) is a function of the blade angle called the
quadratic components of the space phasors of the
pitch angle, denoted by β, and the tip speed ratio
stator and rotor voltages, currents and flux
(TSR) denoted by λTSR. The TSR is given as:
respectively. ωe=pωm is the electrical generator
R blade ω t speed. The electromagnetic torque can be expressed
λ TSR = (2) as:
vw
p M
The efficiency coefficient is approximated by using T em = (ϕ rd ϕ sq − ϕ rq ϕ sd ) (9)
a non-linear function, because it gives more accurate 2 σLs Lr
results and it is faster in simulation [13]: The stator active and reactive power yields:
− 12 .5
 116
C p ( λ TSR , β ) = 0 . 2404 

− 0 .4 β − 5  e λi (3) Ps = Vsd isd + Vsqisq (10.a)
 λi 
Qs = Vsqisd − Vsd isq (10.b)
1  1   0 . 035   (4)
=    −  3   III. FIVE–LEVEL NPC CONVERTER MODEL (RSC)
λi   λ TSR + 0 . 08 β   β + 1  
The topology of the five-level NPC converter is
B. Drive train model shown in Fig. 2. Seven configurations are used [18].
Some authors consider two mass models [14]. Our Table 1 presents the electrical magnitudes that
problem is oriented to the design of a model for characterize each configuration (with M as the origin
power control analysis. Hence the typical one-mass of the potentials and VKM (K = A, B or C) as the
model appears sufficient [15]. potential of node K of arm k (k = 1, 2 or 3)). The
continuous voltage Uc1, Uc2, Uc3, and Uc4 are provided
d 1 by the GSC, which is also a five-level NPC rectifier.
ωm = (Tm − Tem − f eq ω m ) (5)
dt J eq
A. Connection functions
The torque and shaft speeds of the wind turbine
referred to the generator side are given by: Each switch TDks introduces a connection function
Fks that describes its state, such as the following: Fks =
 Tt
T m = 1 if the switch is closed Fks = 0 if the switch is open
 G (6) [19].
ω m = ω t G

C. Induction machine model

Assuming that the stator and rotor windings are

sinusoidal and symmetrical, the model in the
synchronous reference d-q coordinate is expressed as
[16,17]:
 d
 ϕ sd = V sd − R s i sd + ω s ϕ sq
dt

 d
ϕ = V sq − R s i sq − ω s ϕ (7)
 dt
sq sd

 Fig. 2 Topology of the five-level NPC converter.

 d
ϕ rd = V rd − R r i rd + ( ω − ω e )ϕ
 dt
s rq

 TABLE I
d
 ϕ rq = V rq − R r i rq − ( ω − ω e )ϕ ELECTRICAL MAGNITUDE OF EACH CONFIGURATION OF ARM K.

s rd
dt

Second International Conference on Electrical Energy and Systems ICEES'14

 2nd International Conference on Electrical Energy and Systems, October 28-30, 2014, Annaba, Algeria

five-level NPC converter [21,20]. In this study, the

triangulo-sinusoidal PWM with four triangular bipolar
carriers is employed.

IV. NEURO-FUZZY VECTOR CONTROL OF DFIG

The conventional indirect vector control of the

DFIG contains two loops and four controllers, the
inner loop is current control, and the outer loop is
B. Complimentary control stator power control. The active power reference is
brought from the MPPT strategy and the reactive
To avoid short circuit of the voltage sources and the power is kept nil to maintain unity power factor in
converter become completely controlled, several stator side.
complementary controls are possible for arm k of the
converter. For an optimal operation, the connection A. MPPT strategy based on fuzzy logic speed control
functions of the switches on the arm are given by the
following system of equations [20]: At a given wind speed, the maximum turbine
energy conversion efficiency occurs at an optimal
 Fk 4 = 1 − Fk 2 TSR. Therefore, as wind speed changes, the turbine’s
F = 1 − Fk 1 rotor speed needs to change accordingly in order to
 k 5
maintain the optimal TSR [25]. The wind speed is
 Fk 6 = 1 − Fk 3 (11)
measured in order to determine the optimal generator
F = Fk 1 Fk 2 (1 − Fk 3 )
 k7 speed and the corresponding electromagnetic torque
 Fk 8 = Fk 4 Fk 5 (1 − Fk 6 ) in order to track the maximum power curve as shown
in Fig. 3. A cascade control structure can be used with
For the arm k, the connection functions of the half- speed closed loop being the outer loop providing
arm are expressed by the switch connection functions reference to the inner power or current loop [23,24].
as follows: By maintaining the TSR at its optimum value, the
captured power can be maximized and calculated as
 Fkb1 = Fk 1 Fk 2 Fk 3 follows:
 b (12)
 Fk 0 = Fk 4 Fk 5 Fk 6 1
Pt. max = πρRbalde
2
vw3 C p. max (λTSR.opt , β ) = Koptvw3 (16)
The voltages across the load are given by the 2
following system: Pt.max will be set as the reference of the active
Va   2 − 1 − 1  F17 + F  F  power control loop for the RSC control, and the speed
b b
11 11
V  = 1 − 1 2 − 1  F + F    control loop for the MPPT is represented in the Fig.4.
U c1 +  F
b b
 b 3   27 21 21 U c 2 The conventional PI controller is replaced by a fuzzy
Vc  − 1 − 1 2   F37 + F b 

F

b 

logic controller.
 31 31
5

 F18 + F10 
b
 F10 
b
 20
x 10


Active power [W]

 b   b
−  F28 + F20 U c 3 −  F20 U c 4 
15
(13)
10
 F38 + F30b   F30b  
    
5
0
Using the connection functions of the half-arm -5
15
yields the inverter input currents according to load 300
10
currents i1, i2, and i3 as follows: Wind speed [m/s] 5 100
200
Generator speed [rpm]
 i dc 1 = F17 i1 + F 27 i 2 + F 37 i 3 0 0

 Fig. 3 Wind turbine power for different wind and generator

 i dc 2 = F11b i1 + F 21b i 2 + F 31b i 3 (14) speed

 i dc 3 = F18 i1 + F 28 i 2 + F 38 i 3
i = F10b i1 + F 20b i 2 + F 30b i 3
 dc 4
id0 is expressed according to the load currents by
the relation:
id 0 = (i1 + i2 + i3 ) − (F17 + F18 + F11b + F10b )i1
(15)
− (F27 + F28 + F21b + F20b )i2 − (F37 + F38 + F31b + F30b )i3
Fig. 4 MPPT Strategy Based on fuzzy speed Control
Several control strategies are applicable for the

Second International Conference on Electrical Energy and Systems ICEES'14

 2nd International Conference on Electrical Energy and Systems, October 28-30, 2014, Annaba, Algeria

B. Vector control of DFIG reactive power, the output is the normalized

derivative of the command signal witch is the d or q-
It is normally assumed that the voltage drop on the axis rotor current components.
stator resistance is negligible due to its small value The training is performed using the hybrid back-
[25]. For an ideal grid, the stator flux dynamics can be propagation algorithm. The training data used are
neglected since the stator is directly connected to the collected from extensive simulations of the vector
grid and the stator flux is almost constant [26]. controller system with TS-fuzzy in various operating
Through aligning the direct axis of the reference conditions. The number of training epochs is set to 40
frame along the stator flux vector position, the with an error tolerance of 10-6. The number of epochs
following relationships can be derived from the is chosen to be the highest number after which there is
equation (7): no significant reduction in the training error. The
inputs MFs for the NFC of the active power before
Vsq Vs
ϕ sd = ϕ s = − =− = const (17) and after the training process are shown in Fig. 7 and
ωs ωs the output MFs are chosen to be linear. Fig. 8 shows
the training and the checking RMSE (Root mean
Vsd squared error) while training at each epoch for the
ϕ sq = =0 (18)
ωs NFC of the active power controller.
TABLE II
Where Vs and φs are respectively the RMS voltage RULE MATRIX FOR POWER FUZZY CONTROL.
and the rated stator flux. Active power Ps and the
reactive power Qs will be proportional to iqr and idr
respectively and can be expressed as follow [11,27]:
Vs M
Ps = − irq = K ps irq (19.a)
Ls
Vs2 VM
Qs = − s ird (19.b)
ω s Ls Ls
The control loop structure for the stator active
power is given in Fig.5.

Fig. 6 NFC structure for active power

NB NM NS Z PS PM PB NB NMNSZ PS PM PB
1 1
D e g re e o f m e m b e rs h ip (p u )
D e g re e o f m e m b e rs h ip (p u )

0.8 0.8
Fig. 5 Cascade control structure for the RSC 0.6 0.6

0.4 0.4

C. Adopted neuro-fuzzy controller 0.2 0.2

0 0

-1 -0.5 0 0.5 1 -1 -0.5 0 0.5 1

The design and choice of the MFs parameters Error ' e ' Error ' e '

(a) Before training (b) After training

require an extensive knowledge and experience of the
NB NM NS Z PS PM PB NB NM NS Z PS PM PB

control system designer. It also requires the existence 1 1

D e g r e e o f m e m b e rs h ip ( p u )
D e g re e o f m e m b e rs h ip (p u )

0.8 0.8
of a detailed mathematical model of the system which 0.6 0.6

is not always available. In such cases, a set of 0.4 0.4

input/output data can be obtained. In the neuro-fuzzy 0.2 0.2

system, a learning method similar to that of neural 0 0

-1 -0.5 0 0.5 1 -1 -0.5 0 0.5 1

networks is used to train and adjust the parameters of Error derivative ' de ' Error derivative ' de '

(a) Before training (b) After training

the membership functions. [28].
Fig. 7 Membership functions of power fuzzy controller
The developed neuro-fuzzy system is a first-order
-4

Takagi-Sugeno type which has two inputs with seven 12

x 10
0.01

11
gaussmf (Gaussian curve membership function). It 10
0.008
C h e c k in g R M S E
T ra in in g R M S E

has 49 “if-and-then” rules; Table 2 shows the 9

8
0.006

corresponding rule table for the TS-fuzzy controllers. 7 0.004

6
A simple structure of the developed neuro-fuzzy 5
0.002

system is shown in Fig. 6 where the inputs are the 4

0 5 10 15 20
Epoch
25 30 35 40
0
0 5 10 15 20
Epoch
25 30 35 40

normalized error and its normalized derivative signals (a) Training RMSE (b) checking RMSE
(e, de) of the controlled variable of the active or Fig. 8 RMSE of the active power NFC

Second International Conference on Electrical Energy and Systems ICEES'14

 2nd International Conference on Electrical Energy and Systems, October 28-30, 2014, Annaba, Algeria

The Fig. 7 presents the inputs MFs for the TS-fuzzy reference brought from the speed control loop, it
controller before and after the training process. In Fig. depends on the turbine aerodynamic power, the
8, the training and the checking data errors presents stator reactive power follows its reference that
significant reduction after 40 epochs. kept at zero. The proposed TS-fuzzy logic
controller is faster and superior in the oscillation
V. SIMULATION RESULTS damping compared to the PI controller. The
ripple in the generated power is damped
Investigation has been performed on a 1.5MW significantly by using five-level NPC converter.
DFIG-WECS system incorporating the proposed TS-
• The Fig. 9.d shows the d and q-axis component of
fuzzy controllers. The parameters of the DFIG are
the rotor current, they have the same image of the
inspired from [15]. The simulation objective is to
stator reactive and active power respectively.
apply a random wind speed with average value about
12m/s, the normal operation is presented in Fig. 9. • The Fig. 9.e shows the sinusoidal waveform of
The robustness tests against the parameters variation the stator currents and voltages, the stator
is presented in Fig. 10. currents frequensy is 50Hz and undergoes the
same variation as the wind speed.
A. Normal operation of the WECS-DFIG • The Fig. 9.f shows sinusoidal waveform of the
currents and the estimated voltages in the rotor
250 0.5
circuit, theirs magnitude and frequency change
200 0.4
according to the slip or the generator speed. The
W m [ra d /s ]

150 0.3
ripple in rotor currents is damped significantly by
Cp

100 0.2
using five-level NPC converter.
50 0.1

0
Wm-ref
Wm-meas
0
• The Fig. 9.g shows the modulated output voltages
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
time [s] time [s]
of the RSC, theirs frequency and magnitude
(a) Generator speed (b) Efficiency coefficient
x 10
5 change according to the generator speed, the
5 2500
number of levels vary according to the RMS
2000
value of the rotor voltage reference.
P s [W ] a n d Q s [V A R ]

0
irq [A ] a n d ird [A ]

Ps:Reference
Ps:PI control 1500

•
Ps:TS-fuzzy control
-5 irq: PI control
Qs:Reference
Qs:PI control 1000 irq: TS-Fuzzy control
ird: PI control
The Fig. 9.h shows the spectrum of output
Qs:TS-fuzzy control
-10
500
ird: TS-Fuzzy control
voltage of RSC, by using a multi-level converter
-15
0 0.2 0.4 0.6 0.8 1
0
0 0.2 0.4 0.6 0.8 1
and an adequate PWM strategy, a low THD is
time [s] time [s]

(c) Stator active reactive power (d) d-q-axis rotor currents obtained.
2000 2000

1500 1500 B. Robustness of the NFC against the parameters

V s -a b c [V ] a n d is -a b c [A ]

V r-a b c [V ] a n d ir-a b c [A ]

1000 1000

500 500 variations

0 0

-500 -500

-1000 -1000 After long time of exploiting, the induction

-1500

-2000
-1500

-2000
machine can lose its electrical characteristics, we try
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
time [s] time [s]
to verify our proposed NFC controller against these
(e) Stator voltages and currents (f) Rotor currents and voltages
1500 Fundamental = 545.1V , THD= 23.89%
faults, an increase by 500% in the stator and the rotor
100 resistances and a decrease by 50% in the mutual
M ag (% of Fundam ental)

1000

500 80 inductance are introduced simultaneously, the results

V r-a b c [V ]

0 60
are shown in Fig. 10.
-500 40

-1000 20 x 10
6
x 10
6
-0.2 1
Ps reference
-1500 0 -0.4 PI control
0.09 0.1 0.11 0.12 0.13 0.14 0.15 0 5 10 15 20
time [s] Harmonic order Mamdani-Fuzzy control
-0.6 0.5
TS-Fuzzy control
(g) Output voltages of RSC (h) Spectrum of RSC voltage. -0.8
E P s [W ]
P s [W ]

-1 0

Fig. 9. Reference tracking characteristics of the DFIG. -1.2

-1.4 -0.5
PI control
-1.6 Mamdani-Fuzzy control
The grid connection phase is considered done. -1.8
0.3 0.4 0.5 0.6 0.7 0.8 0.9
-1
0.3
TS-Fuzzy control
0.4 0.5 0.6 0.7 0.8 0.9

• The wind speed changes arbitrarily, the generator

time [s] time [s]

(a) Stator active power b) Stator active power error

speed has the same image of the wind speed as Fig. 10 parameters variation rejection by using NFC.
presented in Fig. 9.a, this because of the constant
TSR in the equation (2). The fuzzy speed control According to the Fig.10, a degradation in the
is fast and efficient. performance is appeared with the conventional PI
• The Fig. 9.b shows the efficiency coefficient, it is control, a huge error is performed, and the system
maintained at its maximum, this means that the became unstable, also the Mamdani fuzzy controller
MPPT algorithm is working perfectly. Like we presents significant disturbance. On the contrary, the
said before. TS-fuzzy controller after training with data set
contains information about the parameters variations
• The Fig. 9.c shows the measured stator active and problem is kept its good performance.
reactive power, the active power follows its

Second International Conference on Electrical Energy and Systems ICEES'14

 2nd International Conference on Electrical Energy and Systems, October 28-30, 2014, Annaba, Algeria
VI. CONCLUSION
This paper performed a study on the vector control
technique of DFIG through five-level NPC
converters. A random wind speed is applied to the
system and triangulo-sinusoidal PWM is used in the
five level NPC converters. A TS-Fuzzy controller is
adopted in the speed, stator active and reactive power
control loops. To improve the robustness of the TS-
fuzzy controller against the parameters variation, an
adequate data set collection is used for the training,
and the results show the superiority of the trained
NFC controller compared to the Mamdani fuzzy
controller and the classic PI controller. We can say
that by using a TS-fuzzy controller and a suitable data
collection of the controlled system, we can build an
adaptive and robust controller for any operation
condition.
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