2022 IEEE 21st international Conference on Sciences and Techniques of Automatic STA2022_Paper_105_RESG

Control and Computer Engineering (STA). Sousse, Tunisia 19-21 December 2022

Sliding Mode Control In A Wind Turbine System

ϮϬϮϮ/ϮϭƐƚ/ŶƚĞƌŶĂƚŝŽŶĂůŽŶĨĞƌĞŶĐĞŽŶ^ĐŝĞŶĐĞƐĂŶĚdĞĐŚŶŝƋƵĞƐŽĨƵƚŽŵĂƚŝĐŽŶƚƌŽůĂŶĚŽŵƉƵƚĞƌŶŐŝŶĞĞƌŝŶŐ;^dͿͮϵϳϴͲϭͲϲϲϱϰͲϴϮϲϭͲϱͬϮϮͬΨϯϭ͘ϬϬΞϮϬϮϮ/ͮK/͗ϭϬ͘ϭϭϬϵͬ^dϱϲϭϮϬ͘ϮϬϮϮ͘ϭϬϬϭϵϭϱϰ

Khaled Elleuch
Atef Jemmali Hafedh Abid
National School of Engineering
National School of Engineering
of Sfax National School of Engineering
of Sfax
Laboratory of Sciences and of Sfax
Laboratory of Sciences and
Techniques of Automatic control Laboratory of Sciences and
Techniques of Automatic control
& computer engineering (Lab- Techniques of Automatic control
& computer engineering (Lab-
STA) Sfax, Tunisia & computer engineering (Lab-
STA) Sfax, Tunisia
[email protected] STA) Sfax, Tunisia
[email protected]
[email protected]

Ahmed Toumi
National School of Engineering
of Sfax
Laboratory of Sciences and
Techniques of Automatic control
& computer engineering (Lab-
STA) Sfax, Tunisia
[email protected]

Abstract— This paper is interested in the control of a DFIG organized as follows: Section 2, presents the aerodynamic
by a sliding mode controller, used in a wind system. The and mechanical modeling of the wind turbine. In section 3,
conversion chain comprises a three-blade turbine, the DFIG, a we will represent the DFIG model. In Section 4, a reminder
rotor-side converter, a capacitor, grid-side converter and a on SMC is presented. In Section 5, we are interested in
line-side filter. The sliding mode control is used to control the controlling DFIG using SMC. Finally, section 6, shows the
direct and quadratic current of the rotor; this type of regulator simulation results and their interpretation.
was used especially for its robustness against the parametric
variations of the generator.
II. TURBINE MODEL:
Keywords— Double-Fed Induction-Generator (DFIG), The variation in the speed of DFIG depends on the
Sliding Mode Control (SMC). mechanical torque applied to the rotor Tg, the
electromagnetic torque Ta, the inertia of the turbine j and the
I. INTRODUCTION coefficient of friction f [11].
Wind systems provide clean energy, for this reason dW
several research works have been published in recent years to j + f W = Ta - Tg (1)
increase the performance of wind turbine systems. dt
The most used generators are DFIG which have several Wind turbine transforms wind energy into mechanical
advantages such as operation over a wide speed range. power and then into electrical power which varies according
The vector control of stator flux allows decoupling to the speed of the wind. The power absorbed by the machine
between active and reactive power. The control chain allows is given by the following formula:
controlling the quadratic and direct current as inner loop and 1
the speed of DFIG as outer loop [2]. Several types of Pa = pr v 3 R 2C (l , b ) (2)
regulators have been developed in the literature and which 2
are robust to different disturbances of the system. A classic With :
method by PI regulator is developed in [3], this type of r : Air density, v : Wind speed, R : Turbine radius, C :
control has disadvantages with respect to the nonlinearity of
wind system. The fuzzy logic method was developed by Power coefficient, l : Specific speed, b : The pitch angle.
[12], this method is robust and simple, the Takagi-Sugeno
method is used. In [4] and [6], a higher order sliding mode The Power Coefficient is given by the following equation :
controller is designed as an observer in a wind turbine -21
116
system by DFIG. In [1] and [13], Sliding Mode Control C (l , b ) = 0.51( - 0.4b - 5)e l i + 0.0068l (3)
technique with fuzzy logic is used to increase SMC li
performance and minimize the chattering. In [9], [8] and [5],
the authors propose SMC control for DFIG for wind system The equation of the specific speed is:
in both rotor-side and grid-side control. [7], proposed a
RWt
controller based on Adaptive-Super-Twisting (ASTW) l= (4)
algorithm for DFIG control, to improve convergence and v
precision without the need for a time derivative.
The control strategy for DFIG uses SMC to control and
currents. The speed controller by PI regulator. This paper is

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 1 1 0.035 Stator voltages:
= - 3 (5)
li l + 0.08b b + 1 ì d
The following block diagram explains the wind turbine ïïVds = Rs I ds + dt fds - wsfqs
model [10]: í (6)
ïV = R I + d f + w f
b l Wt ïî qs s qs
dt
qs s ds

C = f (b , l ) RWt 1 W
v G Rotor voltages:

C (b , l ) ì d
Tg ïïVdr = Rr I dr + dt fdr - (ws - wr )fqs
v W (7)
Pa Tt
1 - 1 í
Wt + jp + f ïV = R I + d f + (w - w )f
G ïî qr r qr qr s r ds
dt
Ta
Stator fluxes:

Fig. 1. Wind turbine model. ìïfds = Ls I ds + MI dr

í (8)
The previous figure shows the aerodynamic and ïîfqs = Ls I qs + MI qr
mechanical modeling of the wind turbine, this modeling
shows that we can act on the mechanical speed of DFIG by The rotor fluxes:
two actions, the first β and the other Ta , the speed of wind
corresponds to a disturbance input. ìïfdr = Lr I dr + MI ds
í (9)
The maximum power extraction control range is divided into ïîfqr = Lr I qr + MI qs
four zones [13].
P The active and reactive stator powers are expressed by:

zone 1 zone 2 zone 3 zone 4 ìï Ps = Vds I ds + Vqs I qs

í (10)
ïîQs = Vqs I ds - Vds I qs
The electromagnetic couple:
M
Ta = n p ( I drfqs - I qrfds ) (11)
Speed wind
Ls
With: Rs the stator resistance is neglected during the
Fig. 2. Characteristic power, wind speed.
synthesis of DFIG model under the assumption of orientation
Zone 1: This zone corresponds to a low wind speed, the wind of the stator flux
turbine is at rest, to cross this zone the wind speed exceeds
its minimum value and consequently the mechanical speed of ìïfds = fs = Ls I ds + MI dr
DFIG is greater than its minimum value. í (12)
ïîfqs = 0 = Ls I qs + MI qr
Zone 2: In this zone, the wind speed exceeds its minimum
value and an MPPT algorithm is triggered for maximum
power extraction. The maximum limit of this zone ïìVds = 0
í (13)
ïîVqs = wsfds
corresponds to a nominal mechanical power.
Zone 3: The rotational speed of the wind turbine and the
power extracted are kept constant by a corresponding From equation (12), the stator currents are expressed by:
regulation system.
ì fds M
ï I ds = L - L I dr
Zone 4: In this zone, the wind speed is very high so an
emergency and braking system is activated to avoid the ï s s
destruction of equipment; the blades are offset by an í (14
angle b = 90
°
ïI = - M I
ïî qs Ls
dr

III. DFIG MODEL

The DFIG model is represented from the following
equations established in a frame of reference linked to the
rotating field as follows:

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 M2 The control law of SMC is, thus, presented by the following
with s denote the slip speed and s = 1- is the
equation:
Lr Ls
dispersion coefficient. u = ueq + un (22)

By replacing the equation of the stator currents by their with ueq is the equivalent command proposed and un is the
values of the equation (14) in the equation (10) we find the
new expression : discontinuous command described by the following form:
ì M un = k × sign(S ) (23)
ï Ps = -Vs L I qr
ï s
k 0
í (15)
ïQ = -V M I + V fs
ïî s s
Ls
dr s
Ls V. CURRENT CONTROLLER
The sliding surface of direct current:
Similarly, by replacing the stator flux equation (12) in the
t
torque equation (11), we find the new expression for the
GADA torque: S ( I dr ) = I dr - ref - I dr + c1 ò ( I dr - ref - I dr )dt (24)
0
M
Ta = -n p I qrfs (16) With c1 constant positive.
Ls
The derivative of this surface is:
We can have the next equations by substituting the
expression of the flux in (8) S ( I dr ) = -I dr + c1 ( I dr -ref - I dr )
S( (25)

ì dI dr
ïVdr = Rr I dr + Lrs - sws Lrs I qr by replacing I dr with its expression of equation (17) we can
ï dt
í (17) write the following equation:
dI qr MVs
ïVqr = Rr I qr + Lrs + sws Lrs I dr + s
ïî Rr V
dt Ls S ( I dr ) = I dr - dr - sws I qr + c1 ( I dr -ref - I dr ) (26)
Lrs Lrs

IV. SLIDING MODE CONTROL THEORY Vdr -eq is calculated from the equation S ( I dr ) = 0 which
The control by sliding mode consists in bringing the gives:
system towards the chosen sliding surface then forcing the
system to remain in the vicinity of this surface by a switching Vdr -eq = Rr I dr - sws Lrs I qr + c1Lrs ( I dr -ref - I dr ) (27)
law.
In general, for a system defined by: The direct rotor command voltage is the sum of two
x = f ( x) + g ( x)u (18) voltages, the first is the equivalent command Vdr -eq and the
with x Î R and u Î R , the sliding surface:
the second the discontinuous command Vdr -n ; it can be
t
S ( x) = e( x) + c ò e( x)dt (19) writed as:
0
Vdr = Vdr -eq + Vdr -n = Rr I dr - sws Lrs I qr
e(x): error between the control variable and its reference (28)
+c1 Lrs ( I dr -ref - I dr ) + kd × sign(S ( I dr ))
c : positive coefficient
The convergence condition of the system towards the With kd 0 positive constant.
sliding surface is the existence of a Lyapunov function The sliding surface of quadratic current is in the following
V ( x) 0: form:
t
1 S ( I qr ) = I qr - ref - I qr + c2 ò ( I qr - ref - I qr )dt
V ( x) = S 2 ( x) (20) (29)
2 0

And the derivative of this equation is negative: The derivative of this surface is:
V ( x) = S ( x) S ( x) 0 (21) S ( I qr ) = - I qr + c2 ( I qr -ref - I qr )
S( (30)

with c2 is a positive constant

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