Electrical Power and Energy Systems 140 (2022) 108091

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International Journal of Electrical Power and Energy Systems

journal homepage: www.elsevier.com/locate/ijepes

Voltage regulation-based sensorless position observer with high-frequency

signal injection topology for BDFIGs in ship power microgrid systems
Mohamed G. Hussien a, *, Yi Liu b, Wei Xu b, Moustafa Magdi Ismail c
a
Electrical Power and Machines Engineering Department, Faculty of Engineering, Tanta University, Tanta, Egypt
b
State Key Laboratory of Advanced Electromagnetic Engineering and Technology, School of Electrical and Electronic Engineering, Huazhong University of Science and
Technology, Wuhan, China
c
Electrical Engineering Department, Faculty of Engineering, Minia University, EL-Minya, Egypt

A R T I C L E I N F O A B S T R A C T

Keywords: The aim of this paper is to propose a new rotor position observer based on the approach of high-frequency signal
Brushless doubly-fed induction generator (HFS) injection for sensorless direct voltage control (DVC) strategy of the stand-alone brushless doubly-fed in­
(BDFIG) duction generators (BDFIGs). The proposed new observer is relied on the injection of HFS into the control
Rotor position observer
winding (CW) side, (CW-HFS), while the resulted induced signal detected from the power winding (PW) side will
Sensorless DVC strategy
CW high-frequency signal injection approach
observe the information of rotor position. The suggested new sensorless control method neither need any sa­
liencies in the rotor side nor require any flux computation process, which can ensure the simplicity and efficacy
of the proposed method. Comprehensive experimental results are obtained with a prototype wound-rotor BDFIG.
The corresponding results ensure the capability and efficacy of the suggested sensorless DVC strategy based on
the proposed rotor position observer using the CW-HFS injection approach with a good transient behavior under
different operating conditions for the stand-alone BDFIG systems.

1. Introduction
Recently, the adjustable drive application based on the brushless
doubly-fed induction generator (BDFIG) has impressed a good interest
for its reliable structure. The stator side of the promising BDFIG can be
represented with two separated windings with pole pairs different from
each other to avoid the direct coupling [1]. The windings of generator
are denoted as the side of power-winding (PW) and the other side of
control-winding (CW). On the other side, the rotor side of the BDFIG has
various configurations over the years. However, the type of wound-rotor
is preferred in this study due to its high efficiency of using the rotor
windings and the great reduction of the harmonics and leakage reac­
tance [2,3].
The shaft generator in the ship applications which is driven by the
main engine can achieve a great reduction of the consumed fuel and
consequently, attain the efficient operation [1]. Hence, the essential part
in the ship has been represented in the role of shaft generator for
generating electricity with a highly system efficiency and reliability.
Due to the high structural reliability of BDFIG, its superior behavior
has been increased day-by-day for various applications such as the wind
energy systems [4] and the ship power generation systems [5–7]. As a
result, involving the BDFIG in the ship applications has achieved a great
research area [1].
The connection mode of the ship power-generating systems is cate­
gorized into two states with both the grid and the isolated loads. In the
mode of grid cone connection, the desired control purpose is to regulate
the power flow in terms of the reactive/active power using different
topologies such as the vector-control method [4,8]. For the operating
mode of stand-alone, the essential purpose of control is to investigate the
load voltage regulation with the principles of direct voltage control
(DVC) strategy.
Over the years, the literatures have handled many control topologies
of the promising BDFIG [9–14]. These methodologies of control are
dependent on the signal of mechanical position/speed to obtain the
intended frame angle of the CW dq-axis quantities. Therefore, a me­
chanical encoder is needed to realize the speed/position signal which
would present a drawback for the control system due to the re­
quirements of maintenance, arranging the sensors, and the high system
cost. For increasing the reliability of control system and reducing the
overall cost, a sensorless position/speed estimation method is required
for a better behavior of the isolated system-based BDFIG [1,15–17].
Many various sensorless schemes to detect the speed signal have
been discussed in literatures with both principles of the model and

* Corresponding author.
E-mail address: mohamed.hussien3@f-eng.tanta.edu.eg (M.G. Hussien).

https://doi.org/10.1016/j.ijepes.2022.108091
Received 5 August 2021; Received in revised form 21 November 2021; Accepted 19 February 2022
Available online 11 March 2022
0142-0615/© 2022 Elsevier Ltd. All rights reserved.
M.G. Hussien et al. International Journal of Electrical Power and Energy Systems 140 (2022) 108091

saliences [27–29]. In these systems, the rotor position can be realized

Nomenclature from the processed current of high frequency resulted from the modu­
lation between the accessible rotor and stator windings by injecting the
L1, L2, Lr Self-inductance of the PW, CW and rotor side, H HFS into either the rotor side or the stator side.
L1r Inductance of coupling between the PW and the rotor According to the knowledge of author, the application of sensorless
side, H observer based on the HFS injection approach is not handled and
L2r Inductance of coupling between the CW and the rotor investigated for the promising BDFIG till now. Aided with the indirect
side, H relationship between the CW and PW sides of BDFIG through the mod­
R1, R2, Rr Resistances of the PW, CW and rotor side, Ω ulation effect of mechanical position for the flux, the concept of sen­
u1dq, u2dq dq-axis voltages of the PW and CW, V sorless strategies depending on the HFS injections approach can be
i1dq, i2dq, irdq dq-axis currents of the PW, CW and rotor side, A implemented without any need for the rotor saliency information.
Ψ1dq, Ψ2dq, Ψrdq Flux linkages of the dq-axis for the PW, CW and The proposed study in this paper aims at suggesting a novel sensor­
rotor side, V.s/rad. less position-observer based on CW-HFS injection approach for voltage
p1, p2 Pole-pair number of PW and CW regulation of the BDFIGs in ship systems. The new methodology is
ω1, ω2 Frequency in angular form for both the stator windings realized through the injection of HFS into the CW side while the resulted
(PW and CW, respectively) induced signal detected from the PW side will observe the information of
s Operator of the differentiation, d/dt rotor position.
The proposed new position observer offers a high-performance
operation with a better tracking for the measured position of gener­
ator during various states of operation. This confirms the effectiveness of
the suggested position-estimation algorithm aided with CW-HFS injec­
tion approach for sensorless control of voltage profile for the stand-alone
BDFIG systems.

2. Structure and modeling of BDFIG

2.1. Construction and operation

The BDFIG system configuration in the stand-alone applications is

illustrated in Fig. 1 considering the mechanical prime-mover as the main
ship engine [2,19].
The speed formula of the promising BDFIG is given as [1]
Fig. 1. Structure of the BDBIG based ship shaft system.
ω1 + ω2
ωrm = (1)
p1 + p2
According to (1), the PW controlled-frequency is realized, with the
changes of rotational speed, by varying the frequency of CW, ω2 using
the following expression
ω2 = (p1 + p2 )ωrm − ω1 (2)

2.2. High-frequency model of BDFIG

This part gives the modelling of BDFIG in dq-axis quantities of its PW

synchronous frame with the fundamental excitation [11].
The intended dq-axis voltages of the generator windings can be
represented, in the PW synchronous frame ω1, as
Fig. 2. High frequency model of BDFIG based T-type equivalent circuit. ⎧
⎪
⎪ u1d = R1 i1d + sΨ1d − ω1 Ψ1q
⎪
⎪ u1 = R1 i1 + sΨ1 + ω1 Ψ1
⎪
⎪
⎨ u = R i q + sΨ q− (ω − q (p + p d )ω )Ψ
signal-injection methods. The scheme of model reference adaptive sys­ 2d 2 2d 2d 1 1 2 rm 2q
(3)
tem (MRAS) has assured a better dynamic behavior under both mid/ ⎪
⎪
⎪
u2q = R2 i2q + sΨ2q + (ω1 − (p1 + p2 )ωrm )Ψ2d
⎪
high-speed operation [18–19]. However, the sensorless MRAS ob­ ⎪
⎪
⎩
0 = Rr ird + sΨrd − (ω1 − p1 ωrm )Ψrq
servers have some accuracy defects under the low-speed operation and 0 = Rr irq + sΨrq + (ω1 − p1 ωrm )Ψrd
also its full dependence on the machine parameters [20–22]. Moreover, the dq-axis flux linkages are represented as
In order to eliminate these issues, the injection methodologies of ⎧
high-frequency signal (HFS) have been reported over the years for in­ ⎪
⎪
⎪
Ψ1d = L1 i1d + L1r ird
⎪ Ψ1q = L1 i1q + L1r irq
duction machine (IMs) and permanent-magnet synchronous machines ⎪
⎪
⎨ Ψ2d = L2 i2d + L2r ird
(PMSMs) [23–26]. However, the implementation of this method for IMs (4)
⎪ Ψ2q = L2 i2q + L2r irq
and PMSMs are fully dependent on the saliencies of the rotor side. In ⎪
⎪
⎪
⎪ Ψrd = Lr ird + L1r i1d + L2r i2d
other words, the modulation between the injected HFS and the rotor ⎪
⎩
Ψrq = Lr irq + L1r i1q + L2r i2q
saliencies produces a high-frequency current which can be processed to
obtain the signal of generator position. If the CW side of BDFIG is fed with HFS and considering that the
On the other hand, the application of sensorless control based on HFS frequency of the injected signal is mostly higher than the generator
injection approach for doubly-fed induction generators (DFIGs) have speed (i.e., ωhf ≻ ωr , where ωr = (P1 + P2 )ωrm ), the terms in (3) related
been outlined with a different concept without the need for rotor to the rotor speed can be approximately neglected. From which, the high
frequency dq model of BDFIG in the stationary frame of PW side can be

2
M.G. Hussien et al. International Journal of Electrical Power and Energy Systems 140 (2022) 108091

represented as illustrated in Fig. 2 aided with the equivalent T-type

circuit of BDFIG [14] and expressed as
⎧
⎪
⎪ ( ) ( )
⎪ ust1d = R1 ist1d + L1eq + Lmeq sist1d + Lmeq sist2d
⎪
⎪
⎪ ( ) ( )
⎪
⎨ ust1 = R1 ist1 + L1eq + Lmeq sist1 + Lmeq sist2
(5)
q q q q
( ) ( )
⎪
⎪
⎪ ust2d = R2 ist2d + L2eq + Lmeq sist2d + Lmeq sist1d
⎪
⎪ ( ) ( )
⎪
⎪ st st st st
⎩ u2q = R2 i2q + L2eq + Lmeq si2q + Lmeq si1q

where,
( )
L21r + L1r L2r L1r L2r
L1eq = L1 − , Lmeq =
Lr Lr
( )
L22r + L1r L2r
L2eq = L2 −
Lr

3. Design of the proposed rotor position observer based CW

high-frequency signal injection

The essential purpose of an efficient sensorless voltage-control sys­

Fig. 3. Conceptual diagram of the proposed rotor position observer based on
the CW-HFS injection approach.
tem of BDFIGs is to effectively attain its predicted rotational position.
Hence, a detailed theoretical procedure of a novel position observer is
proposed in this paper based on the CW-HFS injection approach.
3.1. New strategy for sensorless position observer

As a result of the indirect relation between the PW and CW sides of

BDFIG through the flux modulation by the rotor position, the concept of
sensorless control strategies based on the HFS injections approach can
be implemented without any need for the rotor saliency information. In
this paper, a predefined HFS is injected into the CW side while the ob­
tained induced signal detected from the PW side will observe the rotor
position information. Different types of the injected HFS have been re­
ported in the literatures [23–29]. Among these types, the rotating signal
is preferred for its simplicity which will be investigated in this study as
follows.
The injected CW high-frequency signal can be given as

u2dqhf = U2hf ejωhf t (6)

where ωhf and U2hf define the frequency and magnitude of the injected
HFS, respectively.
Aided with the concept that the excitation of fundamental frequency
and the rotor speed are relatively changed in a slowly manner with
respect to the frequency of the injected HFS, therefore the steady-state
Fig. 4. Schematic diagram of the proposed control system for voltage regula­ operation of BDFIG can be assumed and then the resulted high-
tion of BDFIGs with the new observer for position estimation.
frequency CW current can be expressed as in (7) with the equivalent
high-frequency CW impedance, as given in (8) and from which, the
induced high-frequency PW voltage can be realized as in (9).
Table 1
Complete Parameters for BDFIG based Wound-Rotor [1]. ( )
U2 j ωhf t− φZ2
Parameter Value i2dqhf = ⃒⃒ hf ⃒⃒e hf
(7)
Z2 hf
Capacity 30 kVA
Range of speed 600–1200 rpm ( ) ⃒ ⃒
Z2hf = R2 + jωhf L2eq + ZE = ⃒Z2hf ⃒∠φZ2 (8)
p1, p2 1, 3 hf

PW voltage and current 380 V, 45 A

Range of CW voltage 0–350 V where,
Range of CW current 0–40 A ( ) [ ( )( )]
R1, R2, Rr 0.4034 Ω, 0.2680 Ω, 0.3339 Ω j ωhf ± ωr Lmeq (R1 + Rload ) + j ωhf ± ωr L1eq + Lload
L1, L2, Lr 0.4749H, 0.03216H, 0.2252H ZE = ( )( )
(R1 + Rload ) + j ωhf ± ωr L1eq + Lload + Lmeq
L1r, L2r 0.3069H, 0.02584H
Then,
( )
U2hf [ ( ) ] j ωhf t±θr − φZ2
u1dqhf = ⃒⃒ ⃒⃒ Rload + j ωhf ± ωr Lload ZM e hf
Z2hf

3
M.G. Hussien et al. International Journal of Electrical Power and Energy Systems 140 (2022) 108091

Fig. 5. Performance test under the start-up operation and speed changes from 600 to 900 rpm.

Fig. 6. Analysis under the load variation from 11.6 to 9.7 kW.

where, ( )
( ) U2 ( ) Lmeq j ωhf t±θr − φZ2 +π2
j ωhf ± ωr Lmeq u1dqhf = ⃒⃒ hf ⃒⃒ ωhf ± ωr × Lload ( ) e hf

ZM = ( )( ) Z2hf L1eq + Lload + Lmeq

(R1 + Rload ) + j ωhf ± ωr L1eq + Lload + Lmeq
( )
With the assumption that Rload ≺ ωhf ± ωr Lload and (R1 + Rload ) ≺
( )( )
ωhf ± ωr L1eq + Lload + Lmeq due to the large value of ωhf , hence the
induced high-frequency PW voltage can be rewritten as
(10)
It is noticed from (7) and (10) that the phase angle between the
resulted high-frequency CW current, i2dqhf and the induced high-
frequency PW voltage, u1dqhf is determined by (2π ± θr ). Therefore, the
desired rotor-position, θrest can be estimated with the aid of these two
quantities.
The main conceptual diagram of the proposed rotor position

4
M.G. Hussien et al. International Journal of Electrical Power and Energy Systems 140 (2022) 108091

( )
U2hf j − φZ
ihf
2dqhf = ⃒
⃒Z2 ⃒
⃒e 2hf
(11)
hf

( )
U ( ) Lmeq j ±θr − φZ2 +π2
uhf ⃒ 2hf ⃒ ωhf ± ωr × Lload (
1dqhf = ⃒
) e hf
(12)
Z2hf ⃒ L1eq + Lload + Lmeq

Then, the resulted high-frequency current and voltage quantities are

rotated to its corresponding synchronous frame of the HFS. From which,
the error signal of a complex phase-locked-loop (PLL) can be determined
as in (PLL_1 in Fig. 3) for the PW voltage and (PLL_2 in Fig. 3) for the CW
current. Then, the regulation of the resulted error is realized aided with
a PI-controller to obtain the estimated phase angle of both the CW
current, (̂φ ihf ) and the corresponding PW voltage, (̂ φ uhf ) as illus­
2dq 1dq
hf hf

trated in Fig. 3. In this paper, the estimated rotor speed in electrical

Fig. 7. A photograph of the test platform. quantity, ωrest is directed to the PI-controller output of the complex PLL_1
for the PW voltage, ( ω ̂ uhf ), as shown in Fig. 3.
1dq
observer-based CW-HFS injection approach is illustrated in Fig. 3. hf

Aided with measured CW current and PW voltage quantities, the The main defects of the presented sensorless methods based HFS
hf injection approach reported in the literatures [28,29] for ac machines
high-frequency components of the CW current, (i2dq ) as given in (11),
hf and for DFIGs are the saturation effects and the requirements of the
hf
and the corresponding PW voltage, (u1dq ) as expressed in (12), can be high-frequency impedance phase angle, φZ2 and the equivalent of the
hf
load impedance, respectively. These issues are completely eliminated in
hf

given after a filtering process (band-rejection filters), by removing the

this paper with the proposed rotor position observer based on the CW-
fundamental components, as shown in Fig. 3.
HFS injection approach.

Fig. 8. Experimental results of the proposed observer under the start-up operation.

5
M.G. Hussien et al. International Journal of Electrical Power and Energy Systems 140 (2022) 108091

Fig. 9. Experimental results of the proposed observer under the speed change state (700 rpm to 600 rpm).

Fig. 10. Experimental results of the proposed observer under the load change condition (50% reduction).

6
M.G. Hussien et al.
3.2. Selection criteria for the high frequency of the injected signal
As a result of the high-frequency current resulted from the induced
high-frequency PW voltage, the total harmonic distortion might be
increased and negatively affects the quality of power. Hence, the
magnitude, U2hf and frequency, ωhf of the injected CW-HFS should be
carefully selected in such a manner to eliminate this issue. In other
words, the injected high-frequency signal should be allocated without
any interference with the locations of the resulted harmonics. It is
preferred to maintain the magnitude of the injected HFS at a small level
(i.e., 5% of the line-to-line voltage [28,29]). Furthermore, the frequency
of the injected HFS is suggested to be chosen as much high as possible to
support enough spectral separation from the fundamental frequency
component for an easy filtering process (i.e., the level of the maximum
frequency that can be selected should be bounded by the Nyquist fre­
quency which can be considered as half of the operational switching
frequency [28]).
4. Implementation of the new observer-based HFS injection for
sensorless voltage-control system of BDFIG
The essential control target for the stand-alone BDFIGs is to effec­
tively regulate the load voltage with the principles of direct voltage
control (DVC) scheme including a sensorless position detection pro­
cedure for a high performance [8]. The main structure of the proposed
control system for voltage regulation of BDFIGs aided with the new
observer for rotational-position estimation using the concept of CW-HFS
injection approach is given in Fig. 4.
The procedure of DVC method shown in Fig. 4 includes various loops
of control such as the current-control loop of CW side, the voltage-
control loop of PW side, and the realization loop of CW current
frequency.
By adjusting the CW d-axis current, i*2d through a PI controller, the
amplitude of PW voltage is to be kept constant at the reference set level.
Furthermore, the CW q-axis current, i*2q is directed to zero value through
the loop of current control for a better performance, as given in Fig. 4.
At final stage, the current angle of CW can be realized aided with the
detected rotational position, θrest (given from the proposed new observer-
based CW-HFS injection methodology) and the angle, θ1* (obtained by
integrating the reference set level of PW frequency). From which, the
required gating signals of the machine-side converter is attained.
5. Simulation results
To verify the efficient behavior of the proposed new strategy,
comprehensive simulation results are presented with a prototype of 30-
kVA BDFIG whose detailed parameters specified in Table 1. The injected
signal has a magnitude of 5% of the line-to-line voltage with a frequency
of 500 Hz. Moreover, the operational switching frequency of the con­
verter is selected to be 5 kHz.
The obtained analysis and discussion are given to assure the effective
performance of the proposed rotor position observer under different
operating conditions including the start-up, speed change condition, and
the load variation state. The main target of the presented voltage control
system is to attain a reference profile of PW voltage set at 311 V and 50
Hz.
The operation of BDFIG is initiated with a resistive load of 11.6 kW
and a rotational speed of 600 rpm. Then, at t = 1.5 s, the generator speed
is increased with a ramp change to 900 rpm at t = 2 s as shown in Fig. 5.
Finally, at t = 3.5 s, the balanced load is suddenly reduced to 9.7 kW as
illustrated in Fig. 6.
The obtained results in Figs. 5 and 6 assure the close coloration be­
tween the detected position signal and its real value with a good tracking
behavior and a better realization for the desired voltage profiles of PW
side with the presented sensorless DVC scheme under different operating
7
International Journal of Electrical Power and Energy Systems 140 (2022) 108091
conditions.
This would confirm the effectiveness of the proposed new observer-
based HFS injection procedure to effectively estimate the rotor-position
signal. Moreover, the response of CW q-axis current, illustrated in Fig. 5
(e), validates the capability of the presented current-control loop of CW
side to maintain the q-axis current at its intended value (i2q* = 0).
6. Experimental work
The main purpose of the analysis given in this section is to confirm
the effective performance of the new suggested sensorless observer with
the CW-HFS injection method for the applications of BDFIG systems.
The obtained results are attained with an experimental prototype of
30-kVA BDFIG shown in Fig. 7 with its detailed parameters specified in
Table I. The presented generating system is based on a 37-kW induction
motor as a prime mover and derived with a Siemens MM430 inverter.
Moreover, the voltage and current sensors are included in the whole
system for the measurements purpose with the types of LEM LV 100 and
LEM LT 208-S7/SP1, respectively.
To verify the efficient behavior of the proposed new strategy,
comprehensive experimental results are presented under different
operating conditions including the speed change condition and the load
variation state. The main target of the presented voltage control system
is to attain a reference profile of PW voltage set at 150 V (rms) and 50
Hz.
The operation of BDFIG is initiated with a resistive load of 25 Ω per
phase and a rotational speed of 700 rpm. Then, at t = 18.3 s, the rotor
speed decelerates to 600 rpm with the same load and finally at t = 32 s,
the balanced load is suddenly reduced to its half power in each phase
followed by an increasing in the total load with its half power again at t
= 35.5 s, as illustrated in Figs. 8, 9, and 10, respectively.
The obtained results in Figs. 8, 9, and 10 assure the close coloration
between the detected position signal and its real value with a good
tracking behavior and a better realization for the desired voltage profiles
of PW side with the presented sensorless DVC scheme under different
states of operation.
This would confirm the effectiveness of the proposed new observer-
based CW-HFS injection procedure to effectively estimate the rotor-
position signal. Moreover, the response of CW q-axis current, illus­
trated in Fig. 8, validates the capability of the presented current-control
loop of CW side to maintain the q-axis current at its intended value (i2q*
= 0).
All the introduced experimental results validate the capability and
efficacy of the proposed sensorless DVC system based a suggested new
rotor position observer with the concept of CW-HFS injection for the
promising BDFIG in stand-alone applications.
7. Conclusion
This paper has aimed at proposing a sensorless DVC methodology
based on the injection approach of a high-frequency signal (HFS) for a
promising wound-rotor BDFIG in the ship shaft stand-alone systems. The
proposed new observer has relied on the injection of HFS into the CW
side while the induced signal detected from the PW side will observe the
information of rotor position. The suggested new sensorless control
method has not needed any saliencies in the rotor side to estimate the
rotor position, which has ensured the simplicity and efficacy of the
proposed method. The obtained simulation and experimental results
have verified the efficiency of the proposed new observer-based HFS
injection approach for the desired sensorless scheme for voltage control
considering various states of operation such as the load and speed
changes.
Declaration of Competing Interest
The authors declare that they have no known competing financial
M.G. Hussien et al.
interests or personal relationships that could have appeared to influence
the work reported in this paper.
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