IET Renewable Power Generation

Research Article

Robust active disturbance rejection

controller design to improve low-voltage
ride-through capability of doubly
fed induction generator wind farms

ISSN 1752-1416
Received on 23rd September 2014
Revised on 27th April 2015
Accepted on 19th May 2015
doi: 10.1049/iet-rpg.2014.0321
www.ietdl.org

Md Ayaz Chowdhury 1 , Abu Hena Md Sayem 2, Weixiang Shen 2, Kazi Shariful Islam 2
1

Faculty of Engineering, Computing and Science, Swinburne University of Technology, Sarawak Campus, Kuching 93350, Sarawak,
Malaysia
2
Faculty of Science, Engineering and Technology, Swinburne University of Technology, Hawthorn, Melbourne 3122, Victoria, Australia
E-mail: mchowdhury@swinburne.edu.my

Abstract: This study presents the design of a robust active disturbance rejection (ADR) controller in order to improve lowvoltage ride-through (LVRT) capability of wind farms connected with doubly fed induction generator (DFIG). The ADR
controller is particularly effective in real-time estimation and mitigation of the total effect of various uncertainties
against a wide range of parameter variations, model uncertainties and large disturbances. The performance evaluation
of the designed controller is performed on an IEEE system under different test cases. The simulation results show that
the proposed controller is robust against uncertainties in operating conditions and successfully improves the damping
and voltage stability and thus the LVRT capability of DFIGs.

Introduction

Integration of wind farms into power systems adds a new dynamic

event because of the variability and uncertainty inherent in
operating conditions. For the successful integration, a number of
technical challenges and connection requirements have been
addressed in the grid codes by many countries. The low-voltage
ride-through (LVRT) capability is one of the most important
requirements for wind farms connected with all possible types and
technologies of wind turbines [1]. The LVRT capability essentially
supports the post-fault system recovery from possible system
collapse because of the loss of generation. The requirement of
LVRT becomes more signicant with the increment of wind
power penetration levels [2]. LVRT is preserved if wind farms
remain connected to the grid for voltage levels as low as 5% of
the nominal voltage for up to 140 ms [3].
Doubly fed induction generators (DFIGs) are preferred as wind
energy generation options integrated into power systems since they
have variable speed operation and independent controllability of
active and reactive powers [4]. The DFIG system is very sensitive
to voltage dips during grid disturbances because of rapid loss of
internal magnetisation as compared with the lost voltage. In
addition, partial-scale power converters equipped with DFIG might
get damaged by the overcurrent in the rotor windings and
overvoltage in the dc buses because of demagnetisation process.
Voltage dips result in overspeeding of the wind turbine as well
and thus threat its safe operation.
A great deal of research has been carried out to secure the LVRT
capability of DFIGs in interconnected power systems. One stream
involves the LVRT schemes with hardware modications, such as
the single-phase converters [5], the crowbar [6], the virtual
resistance [7], the series dynamic resistor circuits [5], the dynamic
voltage restorers [8] and the fault ride through (FRT) compensator
[9]. The other stream involves the LVRT schemes with the
improvement of the controller performance of the DFIG
converters, such as the coordinated control [10], the indirect
matrix control [11], the sliding-mode control [12], the stator
voltage compensator control [13], the internal model control [14],
the predictive control [15] and the feedback linearisation control
[16]. Most of these control methods do not consider non-linear

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behaviour of power systems and dynamic interaction of wind

farms, which are very important aspects in DFIG converter control
design. These methods are also unable to provide systematic
robustness against uncertainties.
This paper presents the design and application of an active
disturbance rejection (ADR) controller, which considers non-linear
behaviour of power systems and dynamic interaction of wind farms
and is sufciently robust to accommodate the LVRT capability in
DFIG wind farms. The concept of the ADR controller is formed
through the technical and conceptual solutions of four fundamental
technical limitations in the existing proportionalintegralderivative
framework, which includes the following: (i) a simple differential
equation to be used as a transient prole generator, (ii) a
noise-tolerant tracking differentiator, (iii) the power of non-linear
control feedback and (iv) the total disturbance estimation and
rejection [17]. Moreover, the ADR-based controller has a simple
structure, does not require accurate model information and is easy to
implement [18, 19]. The rest of this paper is organised in the
following manner: Section 2 provides the mathematical modelling of
the DFIG wind turbine. The DFIG control tasks are discussed in
Section 3. Section 4 describes the design strategy of the ADR
controller. In Section 5, the test system is described and the
simulation results are analysed to evaluate the performance of the
controller. Conclusions are given in Section 6.

DFIG model

A DFIG wind turbine comprises of an induction generator and a

wind turbine connected through two shafts with a gearbox in
between with the generator stator directly connected to the grid
and the generator rotor connected to the grid through two
back-to-back insulated gate bipolar transistors pulse width
modulator converters with an intermediate dc-link capacitor.
The dynamic model of the DFIG wind turbine is presented in this
section. The dynamic DFIG model comprises of a static model of the
aerodynamics static model, a two-mass drivetrain model, a
third-order generator model, a grid side converter (GSC) with a
dc-link capacitor, a pitch controller and a rotor side converter
(RSC) as shown in Fig. 1.

Fig. 1 Conguration of a DFIG wind turbine system

The wind turbine rotor that extracts the kinetic energy from the
wind is a complex aerodynamic system. The aerodynamic torque,
which is the input torque to the wind turbine is given as

r
A c (l, u)v3w
Tae =
2vm wt p


1

v m =
T K s g Dm v m
2Hm ae

1

K g Te DG vG
2HG s


1
g = 2pf vm
v
Ng G

v G =


1

T Tm
2HG e


1 

vs vdr
E qr = E qr (X X )ids svs Edr
To

(9)
(10)
(11)

where


X = Xs + Xm Xr Xm + Xr

(12)

X = Xs + Xm

(13)

Lr + Lm
Rr

(14)

To =

(15)

(2)

v X
vdr =
dr m 
Xm + Xr

(16)

(3)

vqr Xm

vqr =

Xm + Xr

(17)

(4)

(5)

Following equations give the transient model of a DFIG [21]

s =

vds = Rs ids Xqs + Edr

Te = Edr ids + Eqr iqs

where H is the inertia constant, Ks is the torsion stiffness, is the

torsion angle, D is the torsion damping, Te is the electrical torque,
f is the grid frequency and Ng is the gear ratio.
The induction generator receives the power from the stiff
high-speed shaft. The relationship between the mechanical torque
(Tm) and torsion angle can be written as
Tm = Ks g

(8)

vqs = Rs ids + Xqs + Eqr


vt = v2ds + v2qs

(1)

where is the air density, is the rotor speed, Awt is the swept area,
cp is the pitch angle, is the pitch angle and l is the tip speed ratio.
Two-stage conversion of the aerodynamic torque Tae takes place
through the drivetrain attached to the wind turbine. The drivetrain
is conventionally treated as two lumped masses, that is, turbine
mass and generator mass, which are connected together by a shaft
with a certain damping and stiffness coefcient values. Turbine
mass includes lumped inertia of the turbine, part of the gearbox
and the low-speed shaft and generator mass includes generator
rotor mass, high-speed shaft along with its disk brake and the rest
part of the gearbox. The shaft dynamics can be expressed as [20]


1 

+ vs vqr
E dr = E dr + (X X )iqs + svs Eqr
To

(6)

In (6)(17), E is the transient voltage, X is the transient reactance, X

is the rotor open-circuit reactance and Te is the electromagnetic
torque.
The dc-link voltage dynamics can be written as
Cvdc v dc =

v2dc
Pr (t) Pg (t)
Rloss

(18)

where C is the dc-link capacitance, vdc is the voltage of the dc-link

capacitor and Rloss is the total conducting and switching losses of
the converter, Pr(t) is the instantaneous input rotor power and
Pg(t) is the instantaneous output power of the GSC. Pr and Pg are
given by Chowdhury et al. [22]
Pr = vrd ird + vrq irq

(19)

Pg = vgd igd + vgq igq

(20)

(7)
This paper proposes a control strategy based on the above-described

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DFIG model for a single machine innite bus test system in the
following section.

DFIG control tasks

The GSC and RSC control strategies for the DFIGs are shown in
Fig. 2. The RSC operates to control active and reactive powers
once a voltage dip is detected and thus helps limiting the rotor
fault current and increasing the damping of stator ux and,
consequently, improving the LVRT capability of the DFIGs. The
main objective of the GSC is to regulate the dc-link voltage and
reactive power irrespective of the magnitude and direction of the
slip power. It is important to maintain relatively constant voltage
through supplying the real-power demand for the RSC to perform
its control tasks although the GSC handles only 25% of the total
power of the DFIG [23]. The control task of the RSC includes
independent regulation of active and reactive powers with the help
of iqr and idr, which are achieved from vdc and vt by PI
controllers. The priority belongs to the active power, so the
Checker block checks the available capacity for idg with respect to
iqg while the rating of GSC is 25% of the DFIG. The dc-link
voltage dynamics prevent a conventional linear controller from
properly limiting the dc-voltage under severe disturbances. Thus
the proposed control method considers the non-linearity of the
DFIGs.
The reference signals for the dc and terminal voltages vdcref and
vtref are set to a constant value (1 pu). These values depend on
three main factors: (i) the size of the converter, (ii) the ratio
between stator voltage and rotor voltage and (iii) the modulation
factor of the power converters [24]. The reference point for
reactive power Qgref is set as zero (during normal condition) or a
certain non-zero value (during disturbances). The reference point
for active power Pgref is set through maximum power point
tracking control (during normal operation) or the damping control
(during disturbances).

The next section describes the procedures for designing a robust

ADR controller for RSC and GSC. ADR controller is not designed
for dc-link capacitor since the dc-link voltage control can be
achieved with the proper control of RSC and GSC. Only a simple
PI controller is used for dc-link capacitor to set active current
setting value for the GSC.

Procedures for ADR controller design

Conguration of an ADR controller is shown in Fig. 3.

4.1

Derivation of transfer function (TF) for DFIG system

The GSC or RSC with post-fault disturbance can be represented by

Y (s) = G(s)U (s) + W (s)

(21)

where U(s) and Y(s) are the input and output, respectively, G(s) is the
TF and W(s) is the total disturbance including unknown internal
dynamics and external disturbances, which are presented in the
output to facilitate simplicity in the control structure and eliminate
computation burden. Now, G(s) can be described as
G(s) =

Y (s) bm sm + bm1 sm1 + + b1 s + b0

=
,
U (s)
an sn + an1 sn1 + + a1 s + a0

nm

(22)

where ai and bj (i = 1, , n, j = 1, , m) are the coefcients of G(s).

Dividing both sides of (21) by G(s), we will have
(1/G(s))Y (s) = U (s) + W (s)

(23)

Fig. 2 Conguration of
a RSC controller
b GSC controller

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Fig. 3 Conguration of an ADR controller

where W(s) = W(s)/G(s). 1/G(s) can be conducted as

1
a sn + an1 sn1 + + a1 s + a0
= nm
,
G(s) bm s + bm1 sm1 + + b1 s + b0

nm

= cnm snm + bcnm1 snm1 + + c1 s + c0 + Gleft (s)

(24)

developed that plays a crucial role towards development of the

ADR control. The design of the ESO is based on the constant
high-gain parameter tuning to estimate the disturbance in real time
by augmenting the state variables of the system to include D(s). A
number of conditions have to be met for convergence of the ESO
used in this paper for non-linear closed-loop DFIG system, which
can be found in [25].
To construct the ESO, the system model is rewritten as

where ci (i = 0, , n m) are coefcients of the polynomial division

result and the remainder Gleft (s) is
dm1 s
+ dm2 s
+ + d1 s + d0
m
m1
bm s + bm1 s
+ + b1 s + b0
m1

Gleft (s) =

sX (s) = AX (s) + BU (s) + EsD(s)

Y (s) = CX (s)

m2

(25)

where


X (s) = X1 (s)

In (25), dj ( j = 0, , m 1) are coefcients of the numerator of the

remainder. Substituting (24) into (23), we have


cnm snm + bcnm1 snm1 + + c1 s + c0 + Gleft (s) Y (s)
= U (s) + W (s)

0
0

A=
...
...
0

(26)

where
cnm =

an
bm

cnm snm Y (s)


= U (s) cnm1 snm1 + + c1 s + c0 + Gleft (s) Y (s) + W (s)

Dividing both sides of (28) by cn m, we will have

(29)

where b = 1/cnm, and a modied generalised disturbance is

D(s) =
+


1

c
snm1 + + c1 s + c0 + Gleft (s) Y (s)
cnm nm1
1
W (s)
cnm

C= 1

Accurate estimation of D(s) governs the effectiveness of the ADR

controller. Consequently, an extended state observer (ESO) is

(nm)

0
...

1
0 (nm)(nm)

0 b 1

0 0 ... 0

T
(nm)


(nm)



^
sZ(s) = AZ(s) + BU (s)L Y (s) Y (s)

(30)

Design of extended state observer

...
...
...
...
...

T

We assume that D(s) has the local Lipschitz continuity and sD(S) is
bounded within domain of interests. With quantitative concept of
Lipschitz continuity, a number of differential equations can be
solved so that effective convergence of numerical simulation is
reached. Moreover, assumption of Lipschitz continuity allows ESO
to be simple, low-dimensional and singular structured and
eliminates the problem of chattering phenomena which is
associated with difculty in practical implementation of controllers
in hardware because of disorientation of switching signals.
Now the ESO can be expressed as [2628]

(32)

Equation (29) will be taken as the system model for controller

design.
4.2

1
0
... 1
... 0
... ...
0 ...

E = 0 ...

Equation (26) can be rewritten as

snm Y (s) = bU(s) + D(s)

. . . . . . Xnm (s)

X2 (s)

T
B = 0 . . . 0 b 0 (nm)

(27)

(28)

(31)

Y (s) = CZ(s)
where


Z(s) = Z1 (s)

Z2 (s)

Znm (s)

T
(nm)

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Table 1 Parameters of the proposed ADR controller

Table 2 Performance comparison between proposed ADR controller

and PI controller

Order of ESO

20

70

ADR controller
CV, pu
0.81

PI controller

CS, pu

CCT, s

CV, pu

CS, pu

CCT, s

1.436

0.425

0.873

1.347

0.342

and


L = b1

b2

bnm

T

(s) is a reference input [2932]

(nm)

For stability purpose, all the eigenvalues of the ESO should be

located in the o. Therefore the observer gains are chosen as


bi =

nm
i

Uo (s) = kP1 R(s)

i = 1, 2, . . . , n m

Znm (s) = D (s) D(s)

(33)

The unique parameter o that is also the bandwidth of the observer

can be tuned to achieve the desired or required observer gains. With a
well-tuned ESO, Zi (s) will be able to estimate the value of Xi (s)
closely (i = 1, , n m). Then, we have
(34)

where D (s) represents estimated D(s).

KPi Zi (s) + skD1 R(s)

i=1

vio ,

nm1


nmi


sKDi Zi (s)

(36)

i=1

where kP is the proportional gain and kD is the derivative gain of the

PD controller.
To further simplify the tuning process, all the closed-loop poles of
the PD controller are set to c. Then the controller gains have to be
selected as


kPi
kDi


=

nm1
nmi


vcnmi , i = 1, 2, . . . , n m 1 (37)

In practice, the gains of the controller are tuned by trial-and-error

4.3

Design of ADR controller

For the control input of U(s) = (Uo(s) Zn m(s))/b, the original

system will be reduced to a pure integral form. This process can
be demonstrated by (35), where U0(s) is the control law for
regulating Y(s)
snm Y (s) = b

Uo (s) Znm (s)

+ D(s)
b
^

= Uo (s) D (s) + D(s) Uo (s)

(35)

A traditional proportional-differential (PD) controller is used that can

help to reach the goal of minimising the effect of disturbance in
output. Therefore the control law U0(s) is chosen as (36), where R

Fig. 5 Wind farm responses for a three-phase short-circuit fault of duration

150 ms
Fig. 4 Single line diagram of IEEE New England power system

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a Real power
b PCC voltage

approaches by changing c, o and b. Table 1 gives the design

parameters of the ADR controller.
The reason behind using a third-order ESO is that a rst-order
ESO can only estimate only constant-type disturbance, whereas a
third-order ESO can estimate a wide range of disturbances with
more complex nature and in a more accurate manner.

Controller performance evaluation

The performance of the proposed ADR controller is evaluated on a

modied IEEE New England power system as shown in Fig. 4
through large disturbances under different operating conditions.
The modication is carried out by replacing four conventional
generators with four wind farms (WF1WF4) at buses 3134.
Power generation from the synchronous generators (SGs) and the
DFIGs are 3423.86 and 2163.38 MW, respectively, with 98.74%
load operation in the system. Synchronous generators [33] and
aggregated DFIGs [34] have been used in the system as
conventional generation and wind generation, respectively. Converter
controllers are employed for the wind farms and power system
stabilisers (PSSs) are connected with the synchronous generators
[35]. The detail procedures of PSS design can be found in [36].
The simulation results are discussed in the next sections.
5.1

specied fault duration and the critical speed of the generator

[24, 35].
The transient and voltage stability limits are assessed with the
proposed and conventional PI controller by simulating a
three-phase fault. The CV, the CS and the critical clearing time
(CCT) are shown in Table 2. This shows the prevalence of the
proposed ADR controller in performance as compared with a
properly tuned PI controller.

Voltage and transient stability margins

The voltage stability margin is dened as the difference between the

operating voltage and the critical voltage (CV). The transient
stability margin is given as the difference between the speed after

5.2

LVRT capability

To evaluate the performance of the ADR controller in improving the

LVRT capability of DFIGs, fault responses of WF1 for a three-phase
short-circuit fault at bus 6 are simulated.
5.2.1 Three-phase short-circuit fault:
Fig. 5 shows the
simulation results of the real-power and terminal voltage responses
of WF1 for a fault at 1 s, which is subsequently cleared after
150 ms. It is observed from Fig. 5a that the real power followed
by fault shows a high-frequency oscillatory response that cannot
be damped by using a PI controller. Higher-order ESO in the
proposed controller helps to estimate this disturbed parameter with
complex nature like high-frequency oscillatory and an improved
post-fault response is recovered with lower settling time and better
damping through the use of the proposed ADR controller. The
proposed controller also helps point of common coupling (PCC)
voltage to restore its pre-fault value and thus improves the DFIG
voltage dip behaviour as shown in Fig. 5b.

Fig. 6 Wind farm responses for a three-phase short-circuit fault of duration

300 ms

Fig. 7 Wind farm responses for a low-impedance fault

a dc-Link voltage
b Rotor current

a Speed
b Stator current

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Fig. 6 shows the simulation results of the dc-link voltage and rotor
current responses of WF1 for a fault at 1 s, which is subsequently
cleared after 300 ms. It is inspected from Fig. 6a that the dc-link
voltage followed by fault shows a high-frequency oscillatory
response that cannot be damped by using a PI controller.
Higher-order ESO in the proposed controller helps to estimate this
disturbed parameter and a better smoothing to dc-link voltage
uctuations is achieved by using the proposed ADR controller.
The dc-link voltage reaches its peak at 1.06 pu with the proposed
controller while it is 1.96 pu with the PI controller. Thus the
dc-link capacitor is exposed to lower voltage stress with the
proposed controller as compared with the conventional one. It is
clear from Fig. 6b that a similar damping for complex rotor fault
current is achieved through the use of the proposed ADR
controller, which demonstrates effectiveness of using a
higher-order ESO for the controller. The peak rotor fault currents
exceed the RSC tolerable threshold, that is, 2 pu, with the PI
controller during the fault. Meanwhile, the proposed controller
effectively scales the peak rotor fault current down to 1.25 pu,
which is well below the RSC tolerable limit. The proposed method
also minimises the rotor current uctuations. Again, the supremacy
of the proposed ADR controller to the conventional PI controller
is manifested during these symmetrical three-phase faults. Thus,
the performance comparison between two controllers will not be
considered in the following sections.
5.2.2 Low-impedance fault: Fig. 7 shows the simulation results
of the rotor speed and positive sequence magnitude of stator current
responses of WF1 for a low-impedance (0.5 ) fault at 1 s. When a
disturbance or a fault occurs, the terminal voltage drop causes the
corresponding generator rotor and stator ux to decrease, resulting

in generator demagnetising process. Consequently, the

electromagnetic torque as well as the active power of the generator
is reduced. At a point, the mechanical input torque being constant
during this process exceeds the electromagnetic torque. This
results in acceleration of machine rotor. Fig. 7a shows that the
speed acceleration followed by the fault slows down and pre-fault
value is reached within 0.4 s. The same happens to the stator
current, which returns to the previous value within 0.6 s as shown
in Fig. 7b. These simulation results demonstrate that the designed
controller can quickly force the speed and stator current to retain
its pre-fault value without causing instability.
5.3

Robust performance

To evaluate the robust performance from the proposed ADR

controller, responses of WF1 are simulated under sudden abrupt
change in wind speed and load uncertainty.
5.3.1 Sudden abrupt change in wind speed: To visualise the
effectiveness of the proposed controller to sudden abrupt changes in
wind speed, a wind speed is considered in time domain that is 14 m/s
with a step down to 10 m/s for duration of 0.1 s. Fig. 8 shows the real
and reactive power responses of WF1 to this wind speed variation. It
is observed that the proposed controller of the DFIG performs well
against abrupt change of input wind speed by assisting to increase
in the reactive power supply to offset the drop of the active power
while maintaining the voltage constant.
5.3.2 Load uncertainty: To evaluate the effectiveness of the
controller under load uncertainty, load is increased by 10% at bus

Fig. 8 Wind farm responses because of sudden change in wind speed

Fig. 9 Wind farm responses because of 10% increase in load

a Real power
b Reactive power

a Real power
b Reactive power

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of the proposed ADR controller will be repeated on real-power

system, such as Borneo Trans Grid Power System and real-time
hardware-in-the-loop implementation of the controller.

Fig. 10 Wind farm responses of aggregated and detailed wind farm models
for a three-phase short-circuit fault of duration 100 ms
a Real power
b PCC voltage

31 at 1 s. Fig. 9 shows the real and reactive power outputs of WF1.

From this gure, it is evident that the controller stabilises the system
at different equilibrium points although it is designed for rated
operating conditions.
5.4

Dynamic interaction among controllers

A comparative study is carried out for aggregated model of wind

farms and a detailed model of each DFIG embedded with the
designed controller in order to inquire the interactions among
several DFIG controllers,. A severe three-phase short-circuit fault
is simulated at bus 7 at 1 s which is subsequently cleared after
100 ms. Fig. 10 shows the terminal voltages and real-power
outputs of WF1, which afrms that the dynamic performance of
the system is preserved in spite of existing interactions among the
DFIG units with the designed controllers.

Conclusions

An ADR control is proposed in this paper in order to improve LVRT

capability of DFIG connected wind farms. The systematic design
procedure of the controller is presented followed by discussion on
dynamic model of DFIG and its control objectives. Simulations
are carried out on an IEEE test system and the results show that
the proposed controller is robust against uncertainties in operating
conditions and successfully improves the LVRT capability of
DFIG wind farms. Future works include the performance analysis

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