This article has been accepted for publication in a future issue of this journal, but has not been

fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2017.2762644, IEEE
Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS

Mathematical Modelling and Control of

Standalone DFIG-DC system in rotor flux
reference frame
Himanshu Misra, Member, IEEE, Amit Kumar Jain, Member, IEEE


Abstract—The mathematical modelling of DFIG-DC I mr Magnetizing current
system, including dominant harmonic (fifth and seventh), ρ Rotor flux angle
along with its control in rotor flux reference frame is _
presented in this paper. Modelling of the system provides X Space phasor quantity
the feed-forward terms which consist of the fundamental s e Stator frequency, Prime mover frequency
and oscillatory components of the current. The use of
non-derivative feed forward terms with proportional Md Machine electromagnetic torque
integral can reduce the steady state current ripple, but for ab Rotor axis (rotating axis)
controlling the transient current ripple use of resonant dq Rotor flux axis (rotating axis)
controller is suggested such that the use of derivative αβ Stator axis (stationary axis)
feed-forward terms can be avoided. The resonant S, P, Q Apparent, active and reactive power respectively
controller is capable of controlling the current ripple by Superscript
itself, but its use with suitable feed-forward terms can
+,-5, +7 (dq)+, (dq)5- and (dq)7+ reference frames
enhance the performance of the system. DC voltage
regulation of standalone DFIG-dc system is obtained by * Reference quantity
four combinations of above mentioned controllers and Subscript
feed-forward terms. A comparison is made on +,-5, +7 Positive, negative components in respective
performance of these control structures. Feed-forward frames
terms used in the control structure require decoupled a, b Voltage or current in rotor reference frame (ab)
currents. Therefore, decoupling of various currents in 6 Sixth order ripple
different d-q axes are obtained with mathematical 1 Phase-1 voltage or current
understanding. The proposed control schemes are verified f , r, s Filtered quantity, Rotor quantity and Stator
on 5.5 KW slip ring induction machine for standalone
quantity respectively.
application.

Index Terms— AC-DC power converters, Voltage I. INTRODUCTION

control, Power generation control.

NOMENCLATURE
S LIP ring induction machine (SRIM) was generally used
for the high starting torque and variable speed motoring
applications, therefore, it is designed with higher turns ratio
Rs R r Stator resistance, Rotor resistance respectively between stator and rotor. Also, since the power to the machine
is generally supplied from stator side; it is designed to takes
Ls L r Stator inductance, Rotor inductance respectively
flux from stator side. All these properties can be utilized by
Lo Magnetizing inductance stator side control of SRIM in the standalone dc power
r Rotor leakage factor generation (DFIG-dc), where, the required flux is supplied
 Total leakage factor from stator side, while the diode rectifier is connected at the
P Number of Machine poles low voltage side (rotor side). To establish such a system
Vrd Vrq d-axis, q-axis rotor voltage respectively requires mathematical modelling of SRIM in rotor flux
reference frame. Modelling will help in understanding the
I rd I rq d-axis, q-axis rotor current respectively system and design of control strategy. Such a system will be
Vsd Vsq d-axis, q-axis stator voltage respectively useful in low voltage applications.
Variable speed constant frequency generation from SRIM
is widely reported for grid connected and standalone
Manuscript received Month 03, 2017; revised Month 07, 2017; applications which is summarized in [1]. The isolated ac
revised Month 08, 2017; accepted Month 09, 2017. power generation through SRIM is established in stator flux
Himanshu Misra and Amit Kumar Jain are with the Department of
reference frame [2]. Further a sensor less control with
Electrical Engineering, Indian Institute of Technology Delhi, New Delhi,
INDIA (e-mail: himanshu00129@gmail.com, amitjain@ee.iitd.ac.in) integrated active filter is presented in [3] for standalone
(contact phone: +91-1126591264).

0278-0046 (c) 2017 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2017.2762644, IEEE
Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS

applications. The overview of DFIG-ac generation system for b


wind energy application is given in [4]. Now, the focus is q

shifting from ac power generation to dc power generation due 

to the growth in dc power applications e.g. use of dc in d7 (s  e  e )

electronic equipment and other power electronic applications.
In addition, use of partially rated converter in the control of
SRIM reduces the cost of dc power generation from variable
speed prime movers. Recently, the variable speed constant
voltage based dc power generation using SRIM is reported for
grid connected applications [5]-[10]. The operation and design
issue of DFIG in dc-net interface is reported in [5]. DC power
generation with stator frequency regulation is achieved
through stator flux based field oriented control [6]. In [6], a PI
controller is used for the frequency regulation in the flux loop.
Subsequently, power control is obtained by regulating the
amplitude of rotor flux linkage in a suitable fraction [7].
Torque ripple reduction is acquired by PI-R controller in [8],
but mathematical modelling of DFIG-dc system considering
the effect of harmonic is not presented in [8]. Grid connected
DFIG-dc system with active power filter based on predictive
current control is reported with harmonic compensation [9].
Optimizing the machine losses during the light loading
conditions by flux weakening is explored in [10]. Recently, dc
voltage regulation of standalone DFIG-dc system is reported
in [11]-[15]. But mathematical modelling of the stand-alone
DFIG-dc system in rotor flux reference frame and its control
form stator side is not yet reported in literature.
A resonant regulator based torque compensator added
with conventional rotor side control to mitigate torque ripple
in the DFIG-dc system [19]. Similarly, predictive delay based
torque ripple reduction is reported in [20]. Furthermore, a
twelve pulse diode bridge rectifier based DFIG-dc system is
presented in [21]. A coordinated control for DFIG system is
achieved via placing two VSCs at rotor and stator side for dc
power generation [22]. It is a costlier solution because stator
side converter is designed for rated stator power and it is extra
converter which can be replaced by diode rectifier.
In this paper, the mathematical model of DFIG-dc system
in rotor flux reference frame is derived for dc power
application and its benefits in the field oriented control of
SRIM are explored under the four control structures. These
control methods validate the importance of modelling. In the
DFIG-dc system, the diode rectifier with output dc capacitance
leads to dominance of fifth and seventh harmonics in the input
currents. The corresponding feed-forward terms are generated
Stator side
converter
m +
I dc1 Main
Vdc
SRIM Load
- Auxiliary
load
I dc2
+ regulation of the standalone DFIG-dc generation system.
DC-DC
Diode Buck
Rectifier
- Converter
Fig. 1. Block diagram of the stator side controlled standalone DFIG-
dc system.
 s 
(s  e ) (s  e )
d
7  7(  ) Observer at
 a Rotor
 Reference
 frame
e
q 5
7 (7(s  e )  e ) 5  5(  )
s 
7(s  e )
7(s  e ) s5  
(5(s  e )  e )
5(s  e )
q7 5(s  e )
d 5
Fig. 2. Spatial representation of various reference frames from rotor
reference frame point of view.
by transforming the variable frequency currents into constant
frequency frame and then to various dq-axes (fundamental,
fifth and seventh) for decoupling of various dq- axes current.
This paper highlights the incorporation of feed-forward
terms, obtained from detailed modelling, and different
controllers to observe its effectiveness in steady state and
dynamic conditions.
In the first method, proportional integral (PI) controller is
used for maintaining the constant voltage at output of diode
rectifier without feed-forward compensation. It is not able to
compensate the current harmonics.
In the second method, PI controllers are supported by
non-derivative feedforward terms. It is able to reduce the
current harmonics to some extent.
In the third method, R (resonant) controller is added to PI
controller to achieve larger reduction of current harmonics.
In the fourth method, PI-R controller is supported by
feed-forward terms. It compensates current harmonics to
larger extent. It also demonstrated better control dynamics.
The paper is organized as follows: The system description is
given in section II. Rotor flux based mathematical modelling
and current decoupling is explained in section III. Control
structures and respective dc-voltage regulation is explained in
section IV. Details of the setup and experimental results are
given in section V and section VI respectively. The paper is
concluded in section VII. The parameters of the system are
given in Appendix.
II. SYSTEM DESCRIPTION AND ROTOR FLUX REFERENCE
FRAME SELECTION
The block diagram of the system is shown in the Fig. 1
which is subjected to model and control. In the Fig. 1, the
rotor (low voltage side) of the SRIM is connected to the diode
rectifier and stator (high voltage side) of the SRIM is
connected to the voltage source converter (VSC). The output
of diode rectifier is made common with dc link of VSC and
load. Therefore, only one converter is required for dc voltage
SRIM used in this system have inbuilt turns ratio and have
higher stator current rating (includes active and reactive
component of current), since flux is supposed to be supplied
from stator side in conventional motor design. Therefore, the
control of this system from stator side provides full utilization

0278-0046 (c) 2017 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2017.2762644, IEEE
Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS

of SRIM in the dc power generation. Power rating of diode rotor side of the conventional SRIM in the proposed DFIG-dc
rectifier is one per unit (rotor KVA), while, stator side system. Then reactive power has to be supplied from the rotor
converter (SSC) is partially rated and its power rating is the side as there is no scope to supply it from stator side due to
slip times of stator KVA (active power, power loss due to diode rectifier on the stator side. It reduces the magnitude of
harmonics, and reactive power). In this system, load is divided active component of current on rotor side due to reactive
as main and auxiliary load. Main load is directly connected at current sharing. However, only active current of rotor side
dc-link and auxiliary load is added through dc-dc converter for reflects on the stator side due to the transformer action for
constant torque operation as shown in Fig. 1. Idc1 is the current unity power factor at stator side. Therefore, power rating at
of main load, which is constant for main load. However, I dc2 is stator side of SRIM is reduced from its rated KVA
the current of auxiliary load which varies with speed of prime
(underutilization). Now rotor side converter is designed for
mover.
slip time of rotor KVA. Therefore, KVA rating of converter
A. Stator side control of SRIM will be reduced compared to stator side converter as needed in
The idea behind dc power generation from the stator side stator side control of the proposed system but proper
control is derived for the conventional SRIM which is used in utilization of conventional SRIM is not obtained in the rotor
the motoring applications. Since, conventional SRIM is side control. Hence, rotor side control of conventional SRIM
powered from the stator side, therefore, it takes active and leads to reduction of overall power rating of conventional
reactive power from the stator side which leads to higher KVA SRIM.
rating (as it contains active and reactive components of In addition, these machines have inbuilt turn ratios which
current) of stator windings as compared to rotor windings. works as matching transformer between stator and rotor and
Hence, placing VSC at the stator side gives proper utilization develops low magnitude of voltage at the rotor terminals.
of the machine’s power rating. In the proposed system, size of Diode rectifier connected at the rotor side converts ac voltage
stator side converter (KVA rating) remains small as compared into dc voltage of small magnitude which is suitable for the
to converter used in squirrel cage induction generator because standalone applications [16].
size of converter is decided by the KVA handled by it. As B. Selection of rotor flux reference frame
standalone DFIG-dc system is a doubly fed configuration,
Stator flux based field oriented control of SRIM is
where, the total active power generated by the system is the
commonly reported [1] for rotor side control. In this
combination of the active power at rotor side and stator side.
configuration, frequency and voltage at the stator of SRIM is
In the proposed DFIG-dc configuration, rotor is operated at
TABLE I
constant voltage and frequency and it is connected with diode COMPARISON OF TRADITIONAL DFIG WITH PROPOSED DFIG-DC SYSTEM
rectifier, while the stator of the SRIM is operated at slip Property Traditional Traditional Proposed DFIG-
voltage and frequency and it is connected with VSC. In this standalone standalone DC system
DFIG DFIG-DC
configuration, the current ratings of rotor and stator side can
System
be utilized at full load. Maximum power handled by rotor side Type of ac power dc power dc power
will be rated apparent power of rotor side and maximum power generation generation generation
power handled by stator side will be slip times of rated generation
Type of Rotor side Rotor side Stator side
apparent power of stator side because stator side is operating control control control control
at slip frequency which leads to slip times of stator voltage for Number of Two (Partially One (Partially One (Partially
constant flux. However, rotor apparent power contain active VSC used rated) rated) rated)
power and harmonics power, whereas, stator apparent power Number of NIL One (Rating One (Rating
diode equal to the equal to the rotor
have the components of active, reactive and harmonics power. rectifier used stator KVA) KVA)
In this way, power rating of the diode rectifier is equal to Modelling Stator flux Stator flux Rotor flux
KVA rating of rotor side of SRIM as given by (2) and KVA equation reference frame reference frame reference frame
derived in
rating of VSC connected at stator side is decided by the slip Frequency Constant Constant Varies with the
time of rated active power and rated reactive power as and voltage (oscillatory due slip
described in (1) and (3). Conversely, maximum KVA rating of at stator side to diode
rectifier)
VSC in squirrel cage generator is the rated KVA of stator as
Frequency Varies with the Varies with the Constant
given by (1) and (4) which is larger than the KVA rating of and voltage slip slip (oscillatory due
VSC used in the proposed system. at rotor side to diode rectifier)
2   2 Torque Torque is Present Present
     
Ps  (Vsd Isd  Vsq Isq ) , Qs  (Vsd Isq  Vsq Isd ) (1) ripple smooth
3 3 Voltage level Higher voltage Lower voltage Lower voltage
2 level level level
Pr  (Vrd Ird

 Vrq Irq

) , Qr  0 (2) Utilization of Poor utilization Poor utilization Better utilization
3 kVA ratings of stator and of stator and of stator and
S s(KVA)  slip * P s(KW)  jQs (KVAR) (3) of tradition rotor sides rotor sides rotor sides KVA
SRIM KVA ratings KVA ratings ratings
Ss (KVA)  Ps (KW)  jQs (KVAR) (4) Harmonics Switching Switching and Switching and
Similar to tradition DFIG [1] system, if VSC is placed at the lower order lower order

0278-0046 (c) 2017 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2017.2762644, IEEE
Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS

kept constant which lead to constant stator flux. Additionally, Generally, DFIG-ac and DFIG-dc systems are modeled
modelling equations are simple in stator flux reference frame according to fundamental frequency in stator flux reference
for the rotor side control of SRIM. frame [1]-[14]. Since, the output dc voltage of DFIG-dc
Similarly, when SRIM is controlled from the stator side, the system considered in this paper (Fig. 1) is regulated through
frequency and voltage at the rotor side needs to be kept stator side converter and dc voltage is directly related to rotor
constant, and it also needs simple modelling equations which voltage as diode rectifier is used at rotor side. The rotor flux
can provide simpler stator side control. Hence, rotor flux reference frame based modelling of DFIG-dc system will be
based modelling is used. The concept of rotor flux based stator more appropriate for the simple control of the proposed
side control is well established for squirrel cage induction system. As DFIG-dc system contains dominant harmonics
machine (SQIM) [17]. The modelling equations of SRIM currents along with fundamental currents, its mathematical
controlled from rotor side can be derived from SQIM by not modelling should include lower order (fifth and seventh order)
equating rotor voltage to zero. However, the meaning of harmonics. In this modelling, frequency of the stator quantities
frequency in the modeling equations has been changed for (ωs) is variable and frequency of rotor quantities (ω s-ωe) is
proposed system where the ω s represents variable (slip) stator made constant by keeping negative rotor frequency reference
frequency and (ωs-ωe) represents the constant rotor frequency. (ωs-ωe)*. The negative sign is required for achieving slip
frequency in stator circuit without changing the conventional
C.Comparison of proposed standalone DFIG-DC system
direction of rotation of the prime mover.
with tradition DFIG
A brief comparison between traditional DFIG and proposed A. Stator currents
scheme is given in Table-I. Proposed standalone DFIG-dc system is controlled from the
stator side. Therefore, the nature of stator current including the
III. MATHEMATICAL MODELLING IN ROTOR FLUX dominant lower order harmonics in the modelling are given as
REFERENCE FRAME AND CURRENT DECOUPLING (5) and (6). In these equations, decoupled terms of current are
shown, and its derivation from actual current is illustrated in
   
   
   
  sd  
  I   I5  I7 cos 6(   )t 
sd5 sd7  s e
 


  
 5 7

  Isq   Isq5  Isq7 cos 6(s  e )t   

 Rs    Rs   
5 7

   Isq5  Isq7 sin 6(s  e )t


     I5sd5
   7

  Isd7  sin 6(s  e )t



   
  dIsd

 dI 5
dI 7      dI   dI 5
dI 7   
    sd5  sd7  cos 6(s  e )t     sq    sq5  sq7  cos 6(s  e )t  
  dt  dt dt      dt  dt dt   
 Ls     Ls     
  
  dIsq5 dIsq7 
5 7
      dI5sd5  7   
 
  dt   sin 6(    )t   dIsd7 
 dt  s e        sin 6(s  e )t
  
         dt dt   
   
   1    s
L     1    Ls   
     
     
  dI mrd    dI mrd5  dI mrd7  cos 6(   )t     dI mrq   dI mrq5 dI mrq7  
5 7  5 7
 
  dt         cos 6(s  e )t   
Vsd    dt 
s e
 dt     
Vsq    dt  dt dt   
      
   dI5mrq5  7      
     dI mrd5  dI mrd7  sin 6(   )t
5 7 
     dI mrq7
  sin 6(s  e )t   
   dt dt    
   dt 
 s e   
     
dt   
 Ls (s  e )     L (   )   
    s s e
 
  s  Isq
 

  
5s 5 5
I sq5  7s 7 7
I 
sq7  cos 6(  s   e )t  
  
  
 
  s  
I sd   
5s 5 5
I sd5  7s 7 7
I sd7  cos 6(  s   e )t  
  


  
   5s5 I5  7s7 I7 sin 6(   )t
sd5 sd7  s e
 



 
 5 5 7 7
   5s Isq5  7s Isq7 sin 6(s  e )t   



   

FFD1
  FFQ1

 1    Ls (s  e )    1    Ls (s  e )  
   
 
 
  s I mrq   5s I mrq5  7s I mrq7 cos 6(s  e )t   
  5 5 7 7
   

  s  I mrd   5s5 I5mrd5 
  7s 7 I7mrd7

 
cos 6(s  e )t   
 

 

   5s5 I5mrd5  7 7

  7s I mrd7  sin 6(s  e )t
  
  
  
  5  5  7  7 

   5s I mrq5  7s I mrq7  sin 6(s  e )t
  
  
  
 FFD2   FFQ2 
(7) (8)

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further sections.
 Isd
 5 7  Fd , Fq Ffd  , Ffq 
   (Isd5   Isd7  ) cos 6(s  e )t
Isd   5  (5) Equations 5 5 LPF 5 5
 (Isq5   Isq7  ) sin 6(s  e )t
  Ffd5  , Ffq5 
(15) to (20) Fd5  , Fq5 
7
   7  7
Fd7  , Fq7  Ffd7  , Ffq7 
 Isq
 5 7
  (Isq5   Isq7  ) cos 6(s  e )t


Isq   (6) Fig. 3. Block diagram of the decoupling method
 (I5   I7  ) sin 6(   )t 
 sd5  sd7  s e    I
 Lo  mrq 

 I5mrq5 7

  I mrq7  cos 6(s  e )t




T 
   
B. Stator voltages 5 7
Stator voltage equation is the main part of stator side  r   I mrd5   I mrd7  sin 6(s  e )t 
 
 
control scheme. It [(7) and (8)] gives the gist and clarity to the
control. The stator side control is operated on combined
 L  Isq
 o 
 5
 7

  Isq5   Isq7  cos 6(s  e )t




fundamental slip frequency, fifth and seventh order slip
  
 Tr   I5   I7  sin 6(   )t
sd5  sd7   s e




frequency. Slip mentioned in (7) and (8) are given below.
  dI mrq   dI mrq5  dImrq7  
 5  7   
Effect of these equations on control schemes is explained in a    cos 6(s  e )t  
Vrq    
further section.  dt  dt dt  
 L  
(  e  e ) 5  (5(s  e )  e ) 
Where, s  s , s  and  o
  dI5mrd5  7  
(s  e ) 5(s  e )    
 dI
 mrd7   sin 6(s  e )t  
 dt dt 
(7(s  e )  e )     
s7  
7(s  e )  (s  e )Lo *  
   
C.Rotor voltages
 

   I mrd   5I5mrd5
 7

  7I mrd7  cos 6(s  e )t 




The rotor voltages are given in (9) and (10), where, the
behavior of dq-axes rotor voltages are expressed in terms of dc  

   5I5   7I7 
mrq5  mrq7  
sin 6(s  e )t
 



component of (dq)+-axes current with sixth order ripple. The (10)
ripple is the results of multiplication of sixth frequency sine
D.Torque equation
and cosine function with algebraic sum of dc component of
(dq)5- and (dq)7+ axes currents. Electromagnetic torque of the machine is result of the
interaction of flux and MMF. The interaction of fifth and
  I
 Lo  mrd  

 I5mrd5 7

  I mrd7  cos 6(s  e )t



 seventh order harmonics, in the current and flux, results the
T  5
 7

 r   I mrq5   I mrq7  sin 6(s  e )t





oscillations in torque at sixth times of fundamental frequency.
Nature of torque is given in (11). The dc component and
 
 o 
5
 7

 L  Isd   Isd5   Isd7  cos 6(s  e )t 
  



coefficient of other higher order ripple of electromagnetic
torque are given in (12). It can be observed from (12) that, the

  sq5
 Tr   I5   I7  sin 6(   )t
 sq7   s e




interaction of same frequency dq-axes stator current with
orthogonally placed magnetizing current components creates
  dI mrd   dI mrd5  dI mrd7  
 5  7    the dc component of torque as given in (11).
      

Vrd   
 dt  cos 6( e 
)t
dt   M d,dc  M d,cos 6 cos 6(s  e )t 
s
 dt    
 L   2P L2o  M d,sin 6 sin 6(s  e )t  (11)
 o   dI5  7   M d6 
 mrq5  dI mrq7  3 2 L r   M d,cos12 cos12(s  e )t 
 
  dt 
dt 
 sin 6(  s   e )t    
    M
d,sin12 sin12(s  e )t

    
 (s  e )Lo *   However, interaction of different frequency dq-axes current
    with flux results the oscillatory torque components of (12).
   I mrq   5I5mrq5
 

 7

  7I mrq7  cos 6(s  e )t  

  Two type of torque ripple is produced by the interaction of


   5I5   7I7 
    fifth and seventh order harmonics which is sixth and twelfth.
mrd5  mrd7  sin 6(s  e )t   
  But the resultant frequency of the torque oscillation will be the
(9) dominantly sixth times of fundamental frequency because its
  5 5 7
 
7   I mrd 

  Isq Isd  Isq5 Isd5  Isq7 Isd7    
 M d,dc       
  I mrq  
   5 7 5 7    
 
 M d,cos 6   sq5  Isq7 
I Isd5   Isd7   Isq  Isd   Isq  Isd    
  I5   (12)
M   5 7 5 7      mrd5 
 d,sin 6    Isd5   Isd7  Isq5   Isq7   Isd   Isq  Isd  Isq   5  
 I
 M d,cos12   7 7 5 5   mrq5 

   0 0  Isq7  Isd7   Isq5  Isd5   7 
 I 
 M d,sin12   7 7  5   mrd7 
 0 0  Isd7   Isq7  I5sd5  Isq5    7  
 I mrq7  

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This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2017.2762644, IEEE
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  Auxiliary
 Ir load
DC-link voltage control Ird 2-3/
through Rotor flux based
 α-β/ 1-2-3/
Field oriented control Irq d-q Ir a-b/ DC-DC
R α-β Duty Buck
+
2K r cs I*sq _ const -  PI
ratio Converter

Isq I dc2
Isq s 2  2cs  o2 +
-
* I*sq I dc1
Vdc - + + - +
+- + ++ +
+
d-q/ Vdc
Vdc FFQ1 FFQ2 α-β/ Main
PI SRIM Load
 FFD1 FFD2 1-2-3
I*mr -
+ + +
+- + + Diode
+ + Converter
Vrq _ est  encoder Bridge
 PI
Tr   1-2/
Isd Isd
Lo 2K r cs 1-2-3/
 α-β/
s 2  2cs  o2 Isq
d-q Rotor flux angle
R estimation
s P d 
 
+
e 2
+
dt

(s  e )*

Fig. 4. Control block diagram of the proposed control including all controllers and feedforward terms.
magnitude is higher than twelfth order terms (which are the Initially, all the quantities of various frequencies are
result of higher harmonics component of small magnitudes). transferred from αβ to ab plane using (13) thereafter; these are
transformed to respective planes by the help of (14).
E. Decoupling of stator and magnetizing currents Decoupling between different harmonics components is
It can be observed from the Fig. 2 that, the constant obtained by (15) to (20) for respective dq quantities. Where, F
frequency of dq-planes is appearing from the rotor reference shows the space phasor of stator current, and magnetizing
frame (ab) and it is the combination of prime mover speed current. Block diagram shown in Fig. 3 demonstrate that all
(ωe) and stator frequency (ωs). Therefore, all the quantities are relations shown in (15) to (20) are passed through low pass
treated in the rotor reference frame for decoupling of various filter (LPF) for getting the decoupled quantities. Cutoff
dq axes quantities. frequency of LPF can be selected from the large range of
  je t frequencies available due to removal of high frequency ripple
Fab  F e
(13) i.e. sixth times of fundamental frequency. Since, these
 Fdq
   j( s e )t
 Fab e 5
, Fdq  j5( s e )t 
 Fab e quantities are dc in nature, therefore, LPF leads to zero phase
  (14) delay with no attenuation.
 and Fdq
7
 F   j7( s e )t
e 
 ab 
IV. CONTROL WITH DIFFERENT COMBINATION OF
 Fd  Ffd5
5 5
 cos 6(s  e )t  Ffq5  sin 6(s  e )t
 CONTROLLERS AND FEED-FORWARD COMPENSATION
Fd   (15)
 Ffd7  cos 6(s  e )t  Ffq7  sin 6(s  e )t
7  7   Main objective of control is to regulate the dc voltage
 
magnitude of the standalone DFIG-dc system in rotor flux
 Fq  Ffd5
5 5
 sin 6(s  e )t  Ffq5  cos 6(s  e )t

  (16) reference frame. Importance of feed-forward compensation,
Fq 
 Ffd7
7
sin 6(    )t  F 7
cos 6(    )t  obtained by detailed modelling, is tested with different current
  s e fq7  s e 
controllers to understand their effectiveness in control and,
 Fd5   Ffd  cos 6(s  e )t  Ffq  sin 6(s  e )t 
5
Fd5     (17)
 Ffd7
7
cos12(    )t  F 7
sin12(    )t 
  s e fq7  s e 
 Fq5   Ffd  sin 6(s  e )t  Ffq  cos 6(s  e )t 
5
Fq5  
  (18)
 Ffd7
7
sin12(    )t  F 7
cos12(    )t 
  s e fq7  s e 
 Fd  Ffd  cos 6(s  e )t  Ffq  sin 6(s  e )t 
7   
7
Fd7  
  (19)
 Ffd5
5
cos12(    )t  F 5
sin12(    )t 
  s e fq5  s e 
 F7   Ffd  sin 6(s  e )t  Ffq  cos 6(s  e )t 
7
Fq7  
 fq  (20)
  Ffd5
5
sin12(    )t  F 5
cos12(    )t 
  s e fq5  s e  Fig. 5. Bode plot of the resonant (R) controller

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these will be discussed in the following subsections. Constant

Resistor
torque operation of standalone DFIG-dc system is also Auto-
T3PWM
Bank
transformer T4PWM
acquired by adding auxiliary load through dc-dc converter as TMS320F2407A DSP DC-DC
3 phase I r3 Controller Vdc converter
shown in Fig. 4. The control of auxiliary load is obtained by utility grid
DC-DC I r2 Is3 Is2 I dc2
converte
PI controller which generates the duty cycle for dc-dc r
SVPWM
I dc1
converter. The error to the PI controller is the combination of DC Resistor
SRIM
Bank
constant Isq reference and actual Isq. Since, buck converter is Machine
Stator
the first order system therefore auxiliary load can be easily Side
Converter
controlled by PI controller. Encoder
C Virtual
battery
A. Current control with only PI Controller
The control block diagram of the standalone DFIG-dc Fig. 6. Block diagram of experimental setup
system is shown in Fig. 4. If the dc voltage is regulated by ripple. If arrangement, shown in Fig. 4, is controlled by PI
only current PI controller without feed-forward compensation, controller together with feed forward terms, then some
then it will not be able to mitigate the current ripple of the reduction in the current ripple can be achieved. Although, it
system. The current ripple gets reflected in the form of torque leads to increase the ripple content of stator voltage
ripple which is dangerous for the health of the machine. references, which is finally fed to the converter in the form of
space vector pulse width modulated (SVPWM) voltage.
B. Current Control with PI Controller including
feedforward compensation C.Current Control with only PI-R Controller
Feed forward terms are derived from the dq-axes stator The modelling equations (5) to (12) of the system contains
voltage (7) and (8), where, FFD1 and FFQ1 are cross coupling sixth order ripple components. Therefore, resonant (R)
terms, while FFD2 and FFQ2 are the back EMF terms. Due to controller tuned at sixth order ripple and it is used for
the presence of diode rectifier, back EMF contains voltage reduction of the current ripple. Reduction of current ripple

(a) (b) (c) (d)

(e) (f) (g) (h)

(i) (j) (k) (l)

(m) (n) (o) (p)

Fig. 7. Control performance of proposed control including all controllers and feedforward terms. Scale: Vdc=170 V/div, Vsd*; Vsq*;= 85 V/div, Isd; Isq =
10.39 A/div, ωe=62.83 elec-rad/s, Md = 11.5 Nm/div Ps, Pr = 2.5 KW/div Time = 5.0 sec/div.

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Transactions on Industrial Electronics
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leads to increase in the ripple of stator reference voltage. The
transfer function of resonant controller is shown in Fig. 4,
where, the gain Kr is set according to ripple magnitude, ω c
(10Hz) is selected for getting range of gain at nearby point of
ripple frequency (300Hz) and ωn is ripple frequency which is
subjected to compensate. Bode plot of resonant controller is
shown in Fig. 5.
D. Current control with PI-R Controller including
feedforward compensation
Use of feedforward terms with PI-R controller provides
the better control of dq axes current ripple as well as better
dynamics. Complete control block diagram is shown in Fig. 4
where, feed forward terms (FFD1, FFD2, FFQ1 and FFQ2)
are taken from equation (7) and (8).
V. EXPERIMENTAL SETUP
Experimental setup of stator side control of standalone
DFIG-dc system is shown in Fig. 6, where, the speed control
of dc machine is achieved by dc-dc converter. Voltage Source
Converter (VSC) is connected at the stator side of SRIM and
three phase diode rectifier is connected at the rotor side. DC
link voltage is made common between load and VSC. Virtual
battery arrangement (created by separate diode rectifier) with
series connected power diode is connected in parallel of dc-
link, for voltage build-up, in the beginning of control. The
series connection of power diode provides smooth removal of
battery when dc link voltage built up. Two stator current
sensors, two rotor current sensors, one dc link voltage sensor,
and an encoder are used for verification of control scheme of
standalone DFIG-dc system. Two rotor voltage sensors are
used for observing the rotor voltage and are not a part of
control scheme. The rotor side current sensor is used for
deriving the feed forward terms, and these are not needed
Fig. 8. Steady state voltage and currents of rotor and stator in various control methods with their harmonic spectrum Scale: Vr1=170 V/div, Ir1 = 22
A/div, Time (rotor)=0.02s/div: Vs1= 85 V/div , Isa = 10.39 A/div, Time (Stator)=0.1s/div
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wherever feed forward terms are not applied in the control. TI
TMS320F2407A DSP is used for digital implementation of
control algorithm. It is running at the clock frequency of 40
MHz with sampling time of 204.35µs
Auxiliary loading arrangement is made by the help of dc-dc
buck converter. It helps to extract the maximum available
power at every speed by controlling the duty cycle of dc-dc
converter. A variable duty cycle is generated by comparing a
desired Isq* with actual Isq through a separate PI controller
[Fig. 4.]. Since Isq is torque producing component therefore, it
provides constant torque operation even at variable speeds.
VI. EXPERIMENTAL RESULTS
Standalone DFIG-dc system is modelled in rotor flux
reference frame and it is controlled from stator side through a
voltage source converter. The performance of the system is
tested for four combinations of control structures, as discussed
earlier, and it is given in the following subsections.
A. Effect of various controllers on system performance
and their effect on torque ripple
Testing condition for all the control structures is kept the
same for comparison. SRIM is initially rotated in sub
synchronous mode by speed controlled dc machine. The
control is started in ramp fashion for smooth voltage and flux
buildup which maintains the voltage by flux ratio constant
during starting. Thereafter, the speed is taken to super
synchronous mode. In addition to this, step load is applied and
removed during each mode of operation only with main load
and constant torque is maintained by auxiliary load with fixed
main load.
The performance of system for the control scheme based on
only PI controller is shown in Fig. 7 (a), (e), (i) and (m). In the
Fig. 7(a), Vdc is tracking the Vdc* and, the Isq is also tracking
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the Isq* which is the output of Vdc-PI controller. The flux (Isd) To compensate sixth order current ripples e.g. derivative,
is built smoothly using a ramp reference (Isd*=Imr*). When it non-derivative with better dynamic response and harmonic
reaches the rated value, the load dependent part of flux is compensation, it is required to use of feedforwards i.e. cross
added in the flux reference (21), as visible in Fig. 7(e). The coupling and back EMF. Fig.7 (d), (h) (l) and (p) show the
flux reference becomes negative, due to negative (s  e )* , performance of standalone DFIG-dc system using PI-R
controller with feedforward terms. The ripple compensation in
which is the constant frequency of rotor quantities. It is
current and torque is better compared to all other control
selected negative for obtaining fractional value of slip under
structures discussed above, but the ripple content of stator
positive (anticlockwise) prime mover speed.
reference voltage is increased compared to PI-R controller. In
Vrq _ est I*sq this structure, the system is more sensitive to dynamics
I*mr   (21)
Ls (s  e )* Ts (s  e )* condition, and it is reflected in the form of overshoot during
load change in sub-synchronous mode. The magnitude of
Vrq_est is the dc value of (10). The variation of dq-axes stator ripple in Pr is lowest in this method whereas, it is highest in P s
reference voltage is shown in Fig. 7(e). Ripple torque of (11) as shown in Fig. 7 (p).
with sixth order dominant ripple frequency is shown in
channel-2 of Fig. 7 (i), whereas the dc component of torque is B. Effect of various control structures on steady state
depicted in channel-3. However, the actual torque without voltage and current
neglecting higher order harmonics is estimated by (22) and, is Steady state per phase ac quantities of SRIM in different
plotted in channel-4. Therefore, magnitude of ripple is higher control structures are plotted in the Fig. 8. Data of all control
in Md compare to Md6. Constant torque mode is achieved by structures are taken from oscilloscope and, then plotted
controlling auxiliary load via dc-dc converter. In this control, together in MATLAB for the purpose of comparison. Effect of
actual Isq is maintained almost constant for constant Isq ac quantities based on only PI-controller on rotor voltage,
reference as shown in Fig. 7 (m). Active power of rotor and rotor current, stator reference voltage and stator current are
stator are calculated by the help of (1) and (2).This leads to shown in Fig. 8 (a), (f), (k), and (p). Distortion of rotor voltage
constant Md and constant Pr, but nature of Ps changes with and current can be observed from the Fig. 8 (a) and (f) due to
speed as stator takes power in sub-synchronous speed and the diode rectifier at the rotor side. Rotor voltage and current
generates power in super-synchronous speed as shown in Fig. distortion reflects on the stator reference voltage and current,
7 (m). in the form of ripple frequency, which is super imposed on the
Md 
2P
32
 Ir Is  IrIs  (22) fundamental of slip frequency, and it is shown in Fig. 8 (k)
and (p).
Performance of standalone DFIG-dc system is shown in The standalone DFIG-dc system controlled using PI
Fig.7 (b), (f) (j) and (n) when feedforward terms FFD1, FFD2, controller and feed forward terms are plotted for analyzing the
FFQ1 and FFQ2 are used with PI-controller. The performance behavior of ac quantities in Fig. 8 (b), (g), (l), and (q). Use of
is same, but the ripple content of Isq is reduced compare to feedforward terms in control leads to reduction of harmonics
previous control, it can be observed in Fig. 7(b). This ripple TABLE II
reduction is achieved on the cost of increased stator reference COMPARISON OF HARMONIC SPECTRUMS OF ALL CONTROL SCHEMES
voltage ripple, since it now includes feedforward terms [Fig 7 Magnitude of Various PI PI - FF PI-R PI-R - FF
AC quantities
(f)]. The reduction of current ripple leads to reduction in
Fundamental (50Hz) lowest higher lower highest
torque ripple (Md) magnitude [Fig 7 (j)]. The PI with feed component in rotor
forward components provides the limited compensation voltage
because derivative and resistive component of ripple Fifth (250Hz) lowest lower higher highest
components in (7) and (8) are not included for simplicity of harmonic component
control. The magnitude of ripple in P r and Ps also affects by in rotor voltage
the feed-forward compensation. It can be seen from the Fig 7 Fundamental (50Hz) lower lowest highest higher
(n) that magnitude of ripple in P s is increased drastically but it component in rotor
reduces the ripple content in Pr. current
To compensate all kind of sixth order ripples i.e. derivative, Fifth (250Hz) highest higher lower lowest
and non-derivative ripples (resistive drop, cross coupling and harmonic component
in rotor current
back EMF) resonant controller is used with PI controller, but
cross coupling and back EMF type feedforward terms are not Fundamental (4Hz) lowest higher lower highest
component of stator
used initially for testing the ripple compensation. Fig.7 (c), reference voltage
(g), (k) and (o) are demonstrating the performance of 296Hz ripple lowest highest lower higher
standalone DFIG-dc system using PI-R controller. From these component in stator
plots, it can be concluded that, although the ripple content in reference voltage
current is reduced, the ripple in stator reference voltage is not Fundamental (4Hz) lower lowest highest higher
increased much as compared to previous control scheme. It component of stator
gives better torque ripple reduction. Compared to feed forward current
compensation, PI-R controller based compensation reduces the 296Hz ripple highest higher lower lowest
magnitude of ripple in Ps, but it increases in Pr as shown in Fig component in stator
current
7 (o).

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This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2017.2762644, IEEE
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in rotor current, and ripple in stator current. As the

consequence of it, ripple content of stator reference voltage is
increased. Basically, the information of ripple is fed through
feedforward term which gets added in the stator reference
voltage.
Nature of ac quantities of standalone DFIG-dc system for
the control scheme based on PI-R controller is shown in Fig. 8
(c), (h), (m) and (r). In this case, distortion of rotor current
reduces; therefore, it decreases the current ripple in stator
current compared to previous control schemes. But stator (a)
reference current has lower magnitude of ripples compared to
control structure with feedforward terms, and higher ripple
magnitude compared to control structure based on only PI
controller.
Nature of ac quantities for control scheme based on PI-R
controller and feedforward terms are given in Fig. 8 (d), (i),
(n), and (s). It improves the rotor current highly and reduces
the ripple of stator current in comparison of other control
scheme. Ripple content in stator reference voltage is highest
(b)
among others. Fig. 9. Frequency and reactive power profile of stator and rotor with
speed variation, ωe, ωe-ωs, ωs =125.66 (a), ωe = 62.83 elec-rad/s (b)
C.Harmonic spectrum of voltage and current elec-rad/s, Qs, Qr, Pd = 2.5 KVAR Time = 5.0 sec/div.
The harmonic spectrum of all control structures during
By simulating dc machine as wind turbine, maximum power
sub-synchronous speed are plotted together in the Fig. 8 (e), point tracking for wind turbine can be also obtained by adding
(j), (o) and (t) for rotor voltage, rotor current, stator reference auxiliary load through DC-DC converter for battery charging,
voltage and stator current respectively. Based on magnitude of resistive heating, and irrigation purposes. This control had
the fundamental and fifth harmonic frequency of these been established in [2].
quantities, a comparison is made in Table II. However,
harmonic spectrum of rotor voltage as given in Fig. 8 (e) has E. Voltage and current variation across main and
very small variation of fundamental voltage and harmonic auxiliary load under the constant torque operation
voltages. Therefore, rotor voltage can be considered as The variation of voltage (Vdc) and current (Idc1) across
constant since the rotor voltage is directly related to dc link main load is constant in both sub and super synchronous speed
voltage, and it is maintained constant by the control structures. however, voltage and current across auxiliary load varies
according to the speed as shown in Fig. 10, where, it is more
D.Variation of stator and rotor frequency with reactive in super synchronous speed because both rotor and stator
and developed powers under the constant torque generates the power.
operation
In the proposed system, reference frequency (ω s-ωe)* at the
rotor terminal is taken constant and negative. Therefore, the
actual rotor frequency oscillates around the constant frequency
reference as shown in Fig. 9(a). It ((ω s-ωe)est) is estimated by
the (21). The oscillation in the rotor frequency appears due to
the presence of harmonic frequency component in the DFIG-
dc system. The stator operates at slip frequency and it
variation with speed is shown in Fig. 9(a). Since, reactive
power demand is fulfilled from stator side, therefore reactive Fig. 10. Voltage and current variation across main and auxiliary load
Vdc, Vdc_aux=170 V/div Idc1, Idc2=5 A/div, T=5 s/div
power (Qr) at rotor side remains zero. The variation Qs and Qr
are plotted with speed variation from sub to super synchronous
VII. CONCLUSION
as displayed in Fig. 9(b). The developed active power (P d) is
also plotted in the same figure. It is directly obtained by Mathematical modelling of DFIG-dc system considering
multiplying constant torque with speed. dominant harmonics, in rotor flux reference frame, provides
Proposed system can be used for IC engine based prime the better understanding of stator side control. DC voltage
mover where, maximum efficiency of an IC engine can be regulation of standalone DFIG-dc system was achieved in this
easily obtained with variable speed operation of IC engine paper. Proposed system was controlled in four control
because it can produce more power at higher speed. While, conditions for explaining the importance of modelling. It was
fixed speed operation of IC engine requires dummy load shown that, if system was controlled only through PI
during light load condition. Variable speed operation helps in controller without knowing the nature of system, then it have
reduction of the size of IC engine. It is reported in [18]. large magnitude of current harmonics and torque ripple. And
addition of feed forward compensation leads to reduced

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This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2017.2762644, IEEE
Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
current harmonics and torque ripple. Consequently, if system [9]
was controlled by PI-R controller, without knowing
mathematical characteristic, the dynamics of the system would
be slower. However, use of feed forward compensation with [10]
PI-R improves dynamic stability with better current harmonics
and torque ripple reduction. Reduction of current harmonics
also increases the ripple in the stator reference voltage.
Comparison based on the magnitude of voltage and current [11]
was made for focusing the property of each control structure.
Detailed harmonic spectrum analysis was also presented to [12]
understand and demonstrate effectiveness of control structure.
A dq axes current decoupling method was developed for the
decoupling of a variable frequency current (stator current). [13]
Additionally, ac voltage sensing was not needed in the
presented control. Stator side control leads to better utilization [14]
of conventionally designed slip ring induction machine in the
low voltage dc power generation based standalone
applications. [15]
A control for constant torque operation was obtained by
the help of q-axis stator current; consequently, auxiliary
[16]
loading was achieved via dc-dc converter during the excess
power generation.
APPENDIX [17]
SRIM Specification: 5.5 KW, 415 V, 4-pole, 3-phase, [18]
Rs=0.91 Ω, Rr=1.52 Ω, Ls=Lr=154.6 mH & Lo=145.9 mH
STATOR: 415V, star connected, 15 A, ROTOR: 120 V, star
connected, 42 A [19]
Power Converter and Diode Rectifier: 1200 V, 100 A
SEMIKRON IGBT (SKM100GB123D), SEMIKRON Bridge
Rectifier Modules (MD8TU6016), DC-link capacitor =2000 [20]
μF
DC Machine: 2.2 KW, 1650 rpm, Separately Excited
[21]
Machine
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Himanshu Misra (S’15-M’16) received the B.
Tech. degree in electrical and electronics
engineering from Uttar Pradesh Technical
University, Lucknow, India, in 2009 and M.
Tech. degree in power electronics and drives
from Madan Mohan Malaviya Engineering
College, Gorakhpur, India, in 2011. Since 2013,
he is working toward the Ph.D. degree in the
Department of Electrical Engineering, Indian
Institute of Technology Delhi, India. His areas of
research interests include power electronics,
Amit Kumar Jain (S’04-M’12) received his B.E
from SGSITS, Indore, in 1999; and M.Sc
(Engg.) and Ph.D. from Department of Electrical
Engineering, I.I.Sc., Bengaluru, in 2004 and
2010 respectively. He worked as Research
Engineer in General Electric Global Research
Center from 2010-2012, before joining as
Assistant Professor in Department of Electrical
Engineering, IIT Delhi. His areas of interest are
AC drives, Automotive Electronics, Renewable
Energy etc.