10th National Conference on Technological Trends (NCTT09) 6-7 Nov 2009

Sliding Mode Control of a Wind Energy Conversion System Based on a Permanent Magnet Synchronous Generator
Riya Jacob
Department of Electrical Engineering College of Engineering, Trivandrum riyajb@yahoo.com

P.S Lal Priya

Senior Lecturer Department of Electrical Engineering College of Engineering, Trivandrum

Abstract This paper presents the output power control of a wind energy conversion system (WECS) based on a permanent magnet synchronous generator (PMSG). It is assumed that the considered wind module integrates a standalone hybrid generation system jointly with a battery bank, a variable ac load and other generation sub-systems. The operation strategy of the hybrid system determines two possible operation modes for the WECS-power regulation and optimum power point tracking, depending on the power requirements of the load and wind availability. The paper deals with design of sliding mode controllers for the power control of the WECS on both operational modes. The power regulation is achieved using robust pole placement technique and tracking is done using the integral action approach of sliding mode. The developed sliding mode controller is compared with the classical controller. The main features of the obtained controller are its better performance, good output response, fast settling time, finite reaching time, robustness with respect to external disturbances and unmodeled dynamics. The performance of the closed loop system is assessed through computer simulations. Keywords- Power generation control, sliding mode control, wind energy conversion systems.

Figure. 1. Hybrid generation system structure

in comparison with uneconomical [2].

renewable

energy

sources,

I.

INTRODUCTION

Estimates by the World Bank claim that as much as 40% of the worlds population still lives in villages not tied to utility grid. To supply these villages with electricity, it is often more feasible to give them an independent source of power, than invest in transmission lines to connect them to the utility grid. In this context, electric generation systems based on renewable energies represent a promising and cheaper alternative that can virtually reach on any site of the earth. It has been proved that small hybrid generation systems based on renewable sources can provide enough energy to feed isolated and small communities like country villages, rural schools and hospitals, etc. [1]. Stand-alone hybrid generation systems often employ several generation modules that exploit different renewable energy sources (wind, photovoltaic, biomass, etc.) in combination with appropriate long-time energy storage devices such as batteries. In this way, the system can cope with unpredictable changes in weather conditions, increasing the system reliability. The energy storage devices allow replacing a diesel backup generator, whose operation in isolated areas can be troublesome and

The present paper deals with the control design for the wind generation module of the stand-alone hybrid system depicted in Fig. 1. The structure of the considered hybrid system is developed around a central dc bus whose voltage is imposed by the battery bank. Using appropriate static converters, this dc bus allows linking all the modules that compose the system. The wind generation module is built around a fixed-pitch three-bladed turbine, coupled through a gear-box to a permanent magnet synchronous generator (PMSG). The PMSG is connected to the dc bus through the rectifier and a dc/dc converter, which permits to control the turbine operation point, and therefore its power generation [2] [3]. Together with improvements in materials, power electronics and blade design, the incorporation of advanced control systems into wind energy conversion system (WECS) is one of the major technological advances. In spite of the extra initial investments, the inclusion of electrical control on WECS permits a higher degree of control flexibility and fulfillment of more complex objectives [4]. With technological improvements, classical controllers for WECS can be updated by the development of more efficient strategies based on modern non-linear control techniques such as Fuzzy logic control, Robust control, Adaptive control etc. Among them sliding mode control emerges as a particularly suitable option to deal with electronically controlled variable-speed operating WECS [5]. The main features of this approach are its finite-time reaching phase, and its robustness with respect to external perturbations and unmodeled dynamics.

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The present paper is organized as follows: Section II is devoted to present the dynamic model of the WECS. Section III introduces the control objectives of the WECS, the design of the classical controllers and introduction to design of sliding mode controller, and finally in section IV and V, the performance of the closed loop system is analyzed through representative computer simulations and conclusions are presented. II. DYNAMIC MODEL OF THE PMSG-WECS
Figure 2. Output power vs. Wind speed characteristics

A. Turbine Model The turbine supplies the mechanical torque to the generator depending on the wind speed and the rotor speed. The mechanical input power to the generator or the power converted by a turbine that sweeps a cross sectional area A is

B. Generator Model Neglecting the friction terms in the mechanical equation, the dynamic model of the grid-connected PMSG with smooth air gap can be expressed in d-q rotor reference frame [1] [10]. The electromagnetic torque is obtained as

T G = p ( d i q q i d ) = p[ m i q + ( L d L q )i d i q ] (5)
Assuming that the PMSG supplies an isolated symmetric tri-phased resistive load, the system can be modeled [10]. The state model of the grid-connected PMSG, in additional to a new input, the wind speed v and a new state variable, the rotational speed h, which is also chosen as an output can be put as [10].
(Rx1 + p(Lq + Ls )x2 x3 1 (x1u1 ) L L + L L + d s a d 1 (Rx2 p(Ld + Ls )x1 x3 + pm x3 = x x u + ( ) L +L 2 1 Lq + Ls q s 2 (d3 x3 pm x2 ) 1 (d u 2 + d u x ) 1 2 2 2 3 J J

1 Pt = C p ( ) Av 2

(1)

where is the air density, v is the wind speed and C P is a power coefficient that determines the efficiency of the turbine[1][2]. This coefficient characterizes the conversion skill of every turbine and is usually given as a function called the tip-speed ratio ( ) r (2) = m v where m is the mechanical angular speed of the shaft and

(6)

r is the blade length [2][6]. The power coefficient represents a unique maximum placed at = opt , where the
turbine extracts the maximum power from the wind. Then the maximum energy capture is achieved by modifying the rotation speed as the wind speed varies, in order to maintain the tip speed ratio at opt [2][10]. The turbine torque can be obtained from (1) and (2) as

y = [0

1]x

(7)

with new notation of state and input vectors as

x = [ x1
u = [ Rl

x2
v]
T

x 3 ] T = [i d

iq

h ]T

(8) (9)

Tt =

Pt

2 1 = ArC t ( ) v 2

(3)

where Ct is the turbine torque coefficient. The turbine torque corresponding to every optimal conversion point is given by 2 2 (4) Ttopt = 2 r 5Ct (opt ) 2 e / P 2 = K opte The control objective aims at AC load being continuously supplied with energy. Depending on the operating regime, the turbine can be controlled either for optimum power point tracking or for power limiting [2]. The wind turbine operates at different dynamics, from a cut-in wind speed of 3-4m/s to a cut-out wind speed of 25m/s. This happens at the rated wind velocity which splits the wind turbine operating region into two: partial load regime and full-load regime [1]. During partial load regime, generator control is the only active control and aims at maximizing the energy captured from the wind or limiting rotational speed at rated value. This is possible by continuously accelerating or decelerating generator speed in such a way that the optimum tip-speed ratio is tracked. For a three-bladed fixed pitch turbine, opt is taken as 6 [3] [6].

The third order non-linear model is linearized around an arbitrarily chosen operating point. Letting x and u be the variations of state variables and of inputs around this point (Optimal Regime Characteristic) leads to
a1 + a2 Rl 0 a3x3 a3x2 a2 x1 0 x = b1x3 b2 + b3Rl b1x1 + b4 x + b3 x2 u 0 + + 0 c c v c x c v c x 4 2 3 3 3 3

(10)

III.

CONTROLLER DESIGN

The capability of the considered stand-alone hybrid system in Fig.1 to satisfy the load power demand basically depends on the atmospheric conditions and the state of charge of battery bank. Such conditions and the role of battery bank will define different operation modes of the system. These operation modes are determined by the energy balance between the total generation and total demand. According to the supervisor control directives, the wind sub-system must act either supplying the total demand, that is regulating its output power, or tracking the operation point of maximum power conversion [11]. The following sections deal with the control design in both modes of operation: optimum conversion and power regulation.

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A. Optimum Conversion When the wind power generation is insufficient to meet the power demand, the supervisor control determines that this module operates tracking the optimum conversion point. The objective of optimum conversion tracking can be attained by creating a power reference that relies only on a few turbine parameters. Here the generator shaft speed is controlled according to wind speed variations, inorder to maintain the tip speed ratio at optimum value. This power reference corresponds to the optimal generation locus in the powershaft speed plane [2] [9].

where s : R n R m be a linear function represented as

s ( x ) = Sx

(13)

for the uncertain linear time invariant system with m inputs represented by
( t ) = Ax ( t ) + Bu ( t ) x

(14)

where A R nxn ; B R nxm ;1 m < n (ii) Synthesis of a control law, discontinuous about the sliding surface, such that the trajectories of closed loop motion are directed towards the surface. The control action is represented by u (t). In general, the control law has two components:

u (t ) = ul (t ) + un (t )

(15)

Figure 3. WECS PI control structure: Power loop

The controller design is based on the parameterization of the system response at changes in generator power for a given wind speed. The PI controller is designed for the WECS [10]. The closed loop structure is as shown in Fig.3. The controller is tuned using Zeigler-Nichols method. The response of the system for optimum power conversion is given in Fig. 4. B. Power Regulation When the energy available in the wind is sufficient to satisfy the power requirements on the PMSG-WECS, this generation module works tracking a variable power reference determined by the supervisor control [11]. This reference power is obtained from (1) for variable values of wind velocity [11]. The main control objective in power regulation is, when the external input is zero, the system should give a zero output neglecting the internal disturbances as time approaches infinity [5]. The pole placement method is used for power regulation, where all the closed loop poles are placed at the desired locations. Two controllers with dominant closed-loop poles having different damping ratio and undamped natural frequency are compared. C. Introduction to Sliding Mode Control Variable structure systems (VSS) consist of a set of continuous subsystems with a proper switching logic and as a result control actions are discontinuous functions of system state, disturbances and reference inputs. Sliding mode phenomenon occurs in a dynamic system governed by ordinary differential equations with discontinuous state functions in the right-hand side. Sliding mode control design consists of two stages: (i)The design of a surface in state space so that the reduced order sliding motion satisfies the specifications imposed by the designer. This surface is defined as a hyper plane S, where S is of full rank [12]
S R mxn
S = x R n : s( x) = 0

ul(t) is the linear state feedback component or the nominal equivalent control. Linear component of control law is so chosen that states reach the sliding surface asymptotically or in a finite time. At time ts the switching surface is reached and ideal sliding motion takes place [12]. The sufficient condition for reaching the sliding surface is represented by the reachability condition

<0 ss

(16)

The state feedback control law or equivalent control can be represented as

u ( t ) = Kx ( t ); K = ( SB ) 1 SA
where the square matrix SB is non-singular.

(17)

un(t) is the nonlinear discontinuous or switched component. The discontinuous control law is written to maintain the states always on the sliding surface.

u n (t ) =

i =1

k i x i sgn( s )

(18)

The reachability condition here is known as the reachability condition which ensures the ideal sliding motion [5].

s ss

(19)

(11)

D. Power Regulation using Sliding Mode Control The control objective of the regulation problem is to drive the states to zero. The robust pole assignment technique is implemented for power regulation. When matched uncertainty alone is present, the nominal linear system representation is considered when designing the switching function [12].The system is transformed into a suitable canonical form, where the system is decomposed into two connected subsystems. The algorithm uses the QR decomposition method, which is useful for decomposition of input distribution matrix. It provides a state transformation for partitioning those states upon which the input acts directly from the remainder of the states and has the advantage that, no loss of numerical accuracy occurs when the inverse transformation is computed. Assuming the rank of B is m, and (A, B) is completely controllable, there exists an orthogonal matrix T r R nxn , such that

(12)

0 TrB = B 2

(20)

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where B 2 R mxm and is non-singular. By using the coordinate transformation, z T r x , if the states are partitioned so that,

x ~ x = r x
And partition the augmented states

(29)

z z = 1 z2

; z1 R

nm

; z2 R

(21)

z ~ x = 1 ; z1 R n ; z 2 R m z2
The augmented nominal system can be written

(30)

Then the nominal linear system is written in regular form

1 ( t ) = A 11 z 1 ( t ) + A 12 z 2 ( t ) z 2 ( t ) = A 21 z 1 ( t ) + A 22 z 2 ( t ) + B 2 u ( t ) z
The elements of the switching function should satisfy

(22)

~ ~ 1 (t ) = A11 z1 (t ) + A12 z2 (t ) + Br r (t ) x ~ ~ 2 (t ) = A21 z1 (t ) + A22 z2 (t ) + B2 u (t ) x

~

(31)

ST r

= [S 1

S2]

(23)

11 where A ~

During sliding switching function will be identically equal to zero. S will be selected so that the matrix [SB] is nonsingular .So (24)

A21

0 C1 C2 ~ A12 A12 ~ = 0 A11 = Aeq A22 A22 0 A21

(32)

S 1 z 1 (t ) + S 2 z 2 (t ) = 0
1

The proposed controller seeks to induce a sliding motion on the surface

z 2 (t ) = S 2 S1 ; z 2 (t ) = Mz1 (t ); M = S 2 S1

(25)

S = ~ x R n + p : S~ x = Srr

(33)

The sliding mode is governed by the following equation

1 ( t ) = A11 z 1 ( t ) + A12 z 2 ( t ) z z 2 ( t ) = Mz 1 ( t )

(26)

where S R mx ( n + p ) ; S r R pxp are design parameters which govern reduced order motion. Partition the hyper plane system matrix so that

This is an (n-m)th order system in which z2 has the role of a linear full state feedback control signal.Closing the loop in (26)

S = [S 1

S 2 ]; S 2 = B 2

(34)

1 ( t ) = ( A 11 A 12 M ) z 1 ( t ) z

(27)

If a controller exists so that the ideal sliding motion is given by

The minimum design requirement is that asymptotically stable dynamics must be ensured during sliding so that z10 as t . Here z2 is the linear feedback control signal which represents the x2 and x3 of the original system. For the system under consideration, n=3 and m=2 and so there is only one degree of freedom (z1 represents x1). The existence problem is fixing M to give (n-m) negative poles to the closed loop system. So there is only a single pole which is placed at (-2.48), which shows that the system is stable. The robust pole assignment approach is used here and the hyperplane matrix S will be determined from M by letting S2=Im [12]. The control law is written according to (17) and simulated results shown in Fig. 8 and Fig. 9 reveals that regulation is achieved, driving all the states to zero from any initial displacement neglecting all the uncertainties occurring in the system. E. Tracking using Sliding Mode Control The control objective of the tracking problem is that the system should be able to track a specified reference value. The direct axis currents and shaft rotational speed are taken as the additional states since the active power depends on these two parameters. Consider the system given in (14). The control law implemented here utilizes the integral action approach of sliding mode. Additional reference states are added to obtain a new system so that x r R p satisfying, (28) Augmenting the states with the integral action and define

~ ~ ~ 1 (t ) = ( A11 A12 M ) x1 (t ) + ( A12 S2 1Sr + Br )r (t ) x

The overall control law is

(35)

u = uL ( x1 , s, r ) + u N ( s, r )

(36)

where uL and uN represents linear and non-linear components respectively [12]. The variation of the states with respect to the control inputs, the load resistance and wind speed are obtained. The response of the system by the proposed method is shown in Fig.11, which shows that ideal tracking of power is obtained using integral action approach. IV. SIMULATION RESULTS

r (t ) = r ( t ) y (t ) x

Computer simulations were conducted to evaluate the performance of the proposed controller. Fig. 4 shows the optimum power tracking using the classical PI controller, in which the system shows an overshoot of 45%, which can be troublesome and the settling time is 13.8 seconds i.e. using the PI controller, tracking is achieved only within a time of approximately 14 seconds. For various values of wind velocity, the maximum power changes, maintaining the tip speed ratio at an optimum value. The reference powers were taken as 1kW for a time period of 100 sec and 4kW for the rest 200 seconds. Fig.11 shows simulation result for the tracking of maximum power by the WECS system. Comparing the result with the controller developed using the sliding mode control

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integral action, the system responded very fast by reducing the settling time to 4.3 seconds without any overshoot and better tracking was achieved. Fig. 10 shows simulation result of tracking of the outputs-the direct axis current and shaft rotational speed for a step command. Here also tracking is achieved smoothly without any steady state errors. Simulation result for regulation problem using classical controller, is shown in Fig. 5, where an overshoot of 16.3% was observed and the settling time was found to be 5.35 seconds. The main requirement of a regulation problem is the rejection of any internal disturbances. For analyzing the disturbance rejection property of the controller, a disturbance signal of delayed step type with magnitude of 0.1 second was given to the system after a time period of 50 seconds shown in Fig. 6. The simulation result in Fig. 7 shows that the system responded to the disturbance and was rejected within 54.04 seconds. The simulation result for regulation using sliding mode pole placement method is shown in Fig. 8 and Fig. 9. Our requirement was to drive all the states to zero by suitably designing the hyperplane and placing the poles at suitable location. Response of the system for various initial conditions was checked and simulation results show the faster settling time which was greatly reduced to 1.75 seconds rather than by using a classical controller. In this way, finite-reaching time is achieved. For a wind subsystem, the wind velocity changes continuously and therefore the system is very much bound to parametric uncertainties. By using the sliding mode controller, very good response was obtained. The better system performance, the robustness control features were assessed through simulations. V. CONCLUSION

Load Pow er Tracking 8 7 6 5 Power(k W) 4 3 2 1 0

controller 1 controller 2 0 10 20 30 40 50 Time (sec) 60 70 80 90 100

Figure. 5. Load power tracking using classical controller

Disturbance signal 0.12

0.1

0.08 Power(kW)

0.06

0.04

0.02

20

40

60 Time(sec)

80

100

120

Figure. 6. Disturbance signal

Power(kW)

This paper dealt with the control of power generation in variable speed, wind turbines. For that purpose, a sliding mode control strategy was proposed to ensure stability in both operation regions and to impose the ideal feedback control solution despite model uncertainties. The proposed sliding mode control strategy presents attractive features such as robustness to parametric uncertainties of the turbine and the generator. Simulation results show that the proposed control strategy is effective in terms of power conversion and regulation.

Disturbance signal rejection 1.4

1.2

0.8

0.6

0.4
Optimum Pow er Tracking 4.5 tracking pow er 4 3.5 3 Power(kW) 2.5

0.2

20

40

60 Time(sec)

80

100

120

Figure. 7. Disturbance rejection using classical controller

2 1.5 1 0.5 0

10

20

30

40

50 Time (sec)

60

70

80

90

100

Figure. 4. Response of the system for optimum power conversion (tracking) using PI Controller

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Optimum Power Tracking 4.5

Response to Initial Conditions 5 id(Amp)

4 3.5

3 Power(kW)
-5 6

2.5 2 1.5 1 0.5

iq(Amp)

4 2 0 5

Tracking power Reference power

shaft speed(rad/s)

0
-5 0 0.5 1 Time (sec) 1.5 2 2.5

50

100

150 Time(sec)

200

250

300

Figure. 8 Response of the system where all states converging to zero for initial values (5, 4.5, 4.1)
Response to Initial Conditions 10 id(Amp) 5 0 -5 10 iq(Amp)

Figure. 11 Optimum power tracking using sliding mode

PMSG-WECSparameters
p = 6, Rs = 3.3, Ls = 58.77mH , J = 0.5042kg .m 2 Ld = 41.56mH , Lq = 41.56mH , BladelengthR = 2.5m Rl = 80,Vs = 380V , = 0.4382Wb , cut inspeed = 4m / s , cutoutspee d = 25m / s

VI. REFERENCES
[1] Brice Beltran,Tarek Ahmed Ali and Mohamed El Hachemi Benbouzid, Sliding Mode Power Control of Variable Speed Wind Energy Conversion Systems, IEEE Trans. on Energy Conversiion ,vol.23, no.2, pp.551-558 June 2008. F. Valenciaga and P.F. Puleston, High-Order Sliding Control for a Wind Energy Conversion System Based on a Permanent Magnet Synchronous Generator, IEEE Trans. on Energy Conversion, vol.23 ,no.3, pp.860-867 September 2008. P. Novak,T .Ekelund,Y. Jovik and B. Schmidtbauer, Modeling and Control of a variable speed wind turbine drive system dynamics , IEEE Control System Mag., vol.15, no.4, pp.28-37 August 1997. F. Valenciaga ,P.F Puleston and Pedro.E .Battaiotto, Power Control of Solar/Wind Generation System without wind measurement: A Passivity /Sliding mode Approach, IEEE Trans. on Energy Conversion,vol.18,no.4,pp.501-507 December 2003. Vadim.I. Utkin, Sliding Mode Control Design Principles and Applications to Electric Drives, IEEE Trans. on Industrial Electronics, vol.40, no.1, pp.23-36 February 1993. R. Dutta and V.T Ranganathan, A Method of tracking the peak power points for a variable speed wind energy conversion system, IEEE Trans. on Energy Conversion, vol.18, no.1, pp 163-168, March 2003. K.D Young ,V.I Utkin and U.Ozguner ,A Control Engineers guide to sliding mode control, IEE Trans. on Control System Technology , vol.7, No. 3, pp.328-342 May 1999. K .Tan and S. Islam ,Optimum Control Strategies in Energy Conversion of PMSG wind turbine system without mechanical sensors , IEEE Trans. on Energy Conversion, vol.19,no.2, pp. 392-399 June 2004. S.M Saveresi, Exact Feedback linearization of a fifth order model of synchronous generators, IEEE Proc.of Control Theory and Applications, vol. 20, No.1, January 2005, pp.234-241. Iulean Munteanu, Antoneta IuleanaBratcu , Nicolas Antonio Cutululis and Ceanga, Optimal Control of Wind Energy systems: Towards a Global Approach .Springer 2007. F. Valenciaga and P.F Puleston ,Supervisor control for a stand alone hybrid generation system using wind and photovoltaic energy, IEEE Trans. on Energy Conversion, vol.30,no.2, pp.398-405,June 2005. Christopher Edwards and Sarah Spurgeon,Sliding mode control :Theory and Applications . Taylor and Francis 2003.

0 10 shaft speed(rad/s) 5 0 -5

[2]
0 0.5 1 Time (sec) 1.5 2 2.5

Figure. 9 Response of the system where all states converging to zero for initial values (8.5, 7.7, 7.1)
Tracking of Step Command 1.2

[3]

[4]

0.8 id , rotational speed

[5]
0.6 o/p1 w rt i/p1 o/p2 w rt i/p1 o/p1 w rt i/p2 o/p2 w rt i/p2

0.4

[6]

0.2

[7]
0 1 2 3 4 Time (sec) 5 6 7 8

-0.2

[8]

Figure. 10. Tracking the step command signal by outputs id and h using sliding mode [9]

[10]

[11]

[12]

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