Control of Permanent Magnet Synchronous
Generator for Large Wind Turbines
Cristian Busca, Ana-Irina Stan, Tiberiu Stanciu and Daniel Ioan Stroe
Departament of Energy Technology
Aalborg University, Denmark
Email: cbusca08@student.aau.dk, astan08@student.aau.dk,
tstanc08@student.aau.dk, dstroe08@student.aau.dk
Abstract—Direct Torque Control (DTC) and Field Oriented
Control (FOC) are the most dominant control strategies used
in generators for wind turbines. In this paper both control
methods were implemented on a Permanent Magnet Synchronous
Generator (PMSG). The variable speed wind turbine with full
scale power converter topology was chosen for design. Parameters
from a 2 MW wind turbine were used for system modeling.
All the components of the wind turbine system (WTS), except
the DC-link and the grid site converter were implemented in
MATLAB/Simulink. The pitch controller was used to limit the
output power produced by the turbine. DTC and FOC strategies,
using SVM were used to control the generator rotor speed. The
performance of the two control strategies were compared after
different tests have been carried out.
I. I NTRODUCTION
Nowadays, the extraction of power from wind at a large
scale became a well recognized industry. This fast develop-
ment of the wind power industry was possible due to several
reasons, like: the increasing resistance regarding the use of
coal, oil or uranium, the high price of oil and the climate
change problem. By the end of 2008, the world total installed
capacity of wind turbines reached 122 GW and it is predicted
that will exceed 300 GW by the year 2013 [1].
Because of the rapid development of power electronic de-
vices and thus decreasing equipment costs, the variable speed
wind turbine concept with full-scale frequency converter has
an increasing market share. The most common generators used
in this topology, the doubly fed induction generators (DFIGs)
and permanent magnet synchronous generators (PMSGs), al-
low the extraction of maximum power from a large wind speed
interval, for an optimum tip-speed ratio.
The PMSG has some valuable advantages over the DFIG
such as: better efficiency, easier controllability, no need for
reactive magnetizing current and they are smaller in size.
The paper focuses on a large scale 2 MW variable speed
wind turbine, using a surface mounted PMSG, together with
a full scale power converter, consisting of a back-to-back
voltage source converter and a DC link capacitor, together
allowing a bidirectional power flow in the system and fully
decoupled control between the generator side and the grid side
converters. The presented topology is subjected to a number
of control schemes: pitch angle control for limiting the output
power above rated values, generator control for maintaining
the desired rotor speed and grid side inverter control for
978-1-4244-6392-3/10/$26.00 ©2010 IEEE 3871
active, reactive power flow control, and constant DC link
control. A simple pitch control was implemented, while the
focus was put on the generator types of controls. Two of the
most used generator control strategies were implemented: field
oriented control (FOC) and direct torque control (DTC), both
using space vector modulation (SVM) technique. The grid side
inverter control is not treated in the paper.
II. S YSTEM D ESCRIPTION AND M ODELLING
The description and the modeling of the wind turbine
equipped with a PMSG are described throughout this section.
Because the paper is focused mainly on the control of the
generator side converter for large wind turbine applications,
only the wind turbine components until the DC-link will be
presented. Fig. 1 presents the basic topology of a PMSG driven
wind turbine connected to the utility grid.
Rotor
PMSG
DC Link
Wind G Utility
Grid
Drive Transformer
Train
Generator Side Grid Side
Converter Converter
Fig. 1. Block diagram of a wind turbine equipped with PMSG
Further on, the mechanical components of the Wind Turbine
System (WTS) that are the wind turbine rotor, drive train as
well as the pitch control and the electrical components that are
the synchronous generator and the Voltage Source Converter
(VSC) will be briefly presented.
A. Wind Turbine Rotor Model
The wind turbine rotor is designed to extract maximum
power from the wind. Thus, the extracted power from wind
can be expressed as in
1
ρπR2 Vw3 Cp
Pwt = (1)
2
where ρ represents the air density, Vw represents the wind
speed, R represents the blade radius and Cp represents the
power coefficient. The maximum value of Cp is between 0.4
and 0.5 which is less than Betz’s limit 0.59. This offset is
caused by the aerodynamics of the rotor which are not perfect
[2]. The Cp coefficient is usually expressed function of two
parameters, which are the tip-speed-ratio λ and the pitch angle
β, as in
Cp = f (λ, β) (2)
The development of the wind turbine rotor model is based
on (1), where the Cp may be found using a look-up table
as function of both tip-speed-ratio and pitch angle; the tip-
speed-ratio varies between 0 and 20 with 0.2 step size, while
the pitch angle varies between -90 and +90 with 1◦ step size
[3].
The rotor torque can be also expressed as function of the
power coefficient as presented in
1 ρπR2 Vw3 Cp
Twt = (3)
2 ωwt
where ωwt represents the angular speed of the rotor.
The power obtained from the wind turbine rotor is trans-
ferred to the generator using a single stage gearbox drive train.
B. Drive Train Model
The purpose of the drive train is to transfer the high
aerodynamic torque at the rotor side to the lower generator
side torque and to convert the low speed at the wind wheel
shaft into high speed at the generator shaft [4].
The drive train behavior can be modeled as a simple
kinematic converter for direct torque to torque conversion. The
drive train can be approximated as a second order system with
the following transfer function [4]:
Kωn2
G(s) = (4)
s2 + 2ζωn s + ωn2
The parameters that describe the time response for the drive
train system are: the damping ratio ζ, the natural frequency
ωn , and K, the gain of the drive train system, which in this
case is the gearbox ratio. The model of the drive train can be
implemented using the following two equations:
disq
usq = Rs isq + Lq + ωe ψP M + ωe Ld isd (8)
dt
3
Tem = npp (ψP M isq + (Ld − Lq )isd isq ) (9)
2
where usd and usq represent the voltages in the dq axis, isd
and isq represent the currents in the dq-axis, Rs represents the
stator resistance, Ld and Lq represent the dq-axis inductances,
ωe represents the electrical rotating speed of the generator
given by ωe = npp ωm (npp - the number of pole pairs) and
ψP M represents the permanent magnet flux linkage.
For simplicity the case of a SPMSG (surface mounted
PMSG) is analyzed. Thus, the inductance components in the
direct and quadrature axis are equal, Ld = Lq . Taking into
account this considered assumption, (9) becomes:
3
Tem =
npp ψP M isq (10)
2
The last equation which lies at the base of the PMSG model
is the mechanical equation given as in
dωm
Tem − TL = J (11)
dt
where TL represents the load torque and J represents the total
moment of inertia of the system.
D. Converter Model
Nowadays the back-to-back Voltage Source Converter
(VSC) is the most used converter topology in the wind
turbine industry, being state-of-the-art in large DFIG wind
turbine applications [6]. Both converters can operate in rectifier
or inverter mode, thus a bi-directional power flow can be
achieved. In the present paper, the generator side converter
works as a rectifier, being able to control the torque and speed,
while the grid side converter works as an inverter keeping
constant the voltage in the DC-link [4]. The equivalent circuit
of the VSC connected at the output terminals of a PMSG is
presented in Fig. 2.
IDC

Tem = G(s) · Twt (5) PMSG Sa Sb Sc

Twt, wt Ia
A

ωm = kgear · ωwt (6) N

Ib
B VDC
Ic
C
where Tem represents the electromagnetic torque and ωm
represents the mechanical speed.
C. PMSG Model
Fig. 2. Star-connected PMSG with VSC
The model of the PMSG was developed in the dq syn-
chronous rotating reference frame, where the q-axis is 90◦ According to [7] for the connection presented in Fig. 2 the
ahead of the d-axis with respect to the direction of rotation applied voltages at the machine terminals, uan , ubn and ucn
[5]. The electrical model of the PMSG in the dq synchronous and the DC-link current IDC may be found as:
reference frame is given by the voltage equations (7) and (8)
and the torque equation presented in (9). ⎡ ⎤ ⎡ ⎤⎡ ⎤
uan 2 −1 −1 Sa
V
⎣ ubn ⎦ = DC ⎣ −1 2 −1 ⎦ ⎣ Sb ⎦
disd (12)
usd = Rs isd + Ld − ωe Lq isq (7) 3
dt ucn −1 −1 2 Sc

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 ⎡ ⎤ Variable Frequency Control

  ia
IDC = Sa Sb Sc ⎣ ib ⎦ (13)
ic Scalar based controllers Vector based controllers

where Sa , Sb and Sc represent the switching variables of the

VSC and ia , ib and ic represent the line currents. V/Hz Control
Field Oriented Control Direct Torque Control
(FOC) (DTC)

E. Pitch Control
The pitch control is an essential method for controlling the PM (rotor)
Flux Oriented
Stator Flux
Direct Torque
Control with Space Circular flux
Oriented Vector Modulation
amount of power generated by the variable speed wind turbine. (RFOC) (SFOC) (DTC-SVM)
trajectory

Its function is to limit the output power for winds above rated
values, by varying the pitch angle of the rotor blades. Fig. 5. Clasification of PMSG control methods
The chosen pitch control method is illustrated in Figure 3,
∗
where the difference between Prated and Pe gives the error
signal. The error signal is input to the P controller, here taken valid for dynamic states and not only the magnitude and
as a constant gain (a value k = 240 based on [8]). frequency, but also the position of the voltage, current and
flux space vectors are controlled. Vector control is a general
9Z concept that can be implemented in several control methods.
 3ODQW
The most popular vector control method has been developed
r   V

3UDWHG 3 E E 3RZHU 3H in early of 1970s, and is known as field oriented control (FOC).

 &RQWUROOHU &DOFXODWLRQ This type of control gives the PMSG high performance. In this
3H  method the motor equations are transformed into a coordinate
system that rotates in synchronism with the permanent magnet
Fig. 3. Scheme of the implemented pitch control method flux [9]. The FOC uses the shaft speed, obtained by an encoder
as a feedback in the control strategy. Beside this speed loop,
The pitch controller can have up to three states. It can be FOC allows separately and indirectly control of the flux and of
in one of them at a given time depending on the wind speed the torque using a current control loop. This type of control
intensity. The pitch mechanism was built based on the power presents several advantages such as: good torque response,
profile for a typical large wind turbine presented in Fig. 4. accurate speed control and achieves full torque at zero speed.
In the search of a simpler and more robust high performance
Betz limit
control system a new vector control method called direct
Power in Cp = 0.593 torque control (DTC) was developed in the mid 1980s. DTC
Wind
allows direct control of torque and flux without inner con-
Rated power
trol loops, because this method uses the instantaneous bang-
Power

bang controller, which corresponds very well to the on/off

Non-ideal turbine
power profile operation of VSI semiconductor power devices. The main
features of DTC are its simple structure and a very good
Wind speed
dynamic behavior. However, the main disadvantages of DTC
Cut-in
speed
Rated
speed
Cut-out
speed
are: variable switching frequency, high torque pulsation and
Region I Region II Region III Region IV fast sampling time requirements. Therefore, to eliminate the
above presented disadvantages, at the begining of 1990s a new
Fig. 4. Power profile for a wind turbine [3] control method called direct torque control with space vector
modulation (DTC-SVM) was developed. In this new method,
All the presented models have been implemented and indi- the disadvantages of DTC are eliminated.
vidually tested in MATLAB/Simulink.
A. Field Oriented Control
III. C ONTROL S TRATEGIES OF PMSG FOC strategy is implemented in the synchronous rotating
PMSG control methods can be divided into scalar and vec- reference frame for an easier control. In this strategy the spatial
tor control. The general clasification of the variable frequency orientation of the PM flux inside the machine is controlled.
control is presented in Fig. 5. The scalar control methods The control strategy requires three controllers, two for the
are based on a valid relation in steady state, where only the currents in the inner loop and one for the rotor speed in
magnitude and frequency of voltage, currents and flux linkage the outer loop. An important requirement is that the current
space vectors are controlled. The most popular scalar control controllers must react faster on the input variations than the
method of PMSM is Volt/Hertz (V/Hz) control. V/Hz control speed controller.
is among the simplest method, but it does not provide high- The Field Oriented Control schematic block is presented in
performances. Contrary, vector control is based on a relation Fig. 6.

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 VDC
VDC
Z e <q Park-1 t.
*
isd* eid - vsd vD* |s* | es Usd* Us* SA
0 + PI +
dq SVM VSI PI Reference
- - Space SB
isd Ze <d Voltage PWM
* * Vector
Vector
Zm
*
eZm i *
sq
eiq + v sq vE m* e Tem* eT Usq* Us* Modulation SC Inverter
+ PI + PI +  PI PI Calculation
- Zm - isq - -
Tm
isd iD ia s
 abc | s |
ib Generator Is
Tm isq iE ic Tem Model
dq 
1
s Park t. Clarke t. PMSG m m
d/dt PMSG
Zm
encoder

Fig. 7. Block scheme of DTC-SVM with parallel structure [12]

Fig. 6. Field Oriented Control Schematic Block

flux |ψs | which is obtained from the generator model. The

For implementing this strategy the aquisition of the three same principle is followed-up in the case of the torque PI
phase stator currents, the DC link voltage and the rotor position controller, where the torque reference value Tem∗
is compared
are required. It is not necesary to monitor all three stator with the estimated value Tem . Thus, the torque error eT is
currents isa , isb , isc . It is sufficient to use only two current obtained.
sensors because the sum of the three phase currents is always Furthermore, delivering eψs and eT at the input of the PI
zero. controllers, the reference voltage components in dq reference
The flux of the permanent magnet is frozen onto the direct frame, Usd∗
and Usq∗
, are obtained. These voltage signals are
axis of the rotor, therefore the position of ΨP M is easily transformed to stationary αβ reference frame using the stator
otained by measuring the rotor speed ωm with a digital flux angle eθs . These new obtain voltages, Usα ∗ ∗
and Usβ , are
encoder. The rotor position is obtained by integrating the rotor delivered to the space vector modulator and thus the switching
speed. signals Sa , Sb and Sc used to control the PWM converter are
Knowing the rotor position θm the Park coordinate trans- obtained.
formation is applied to the stator currents, thus obtaining the The tuning of the PI controllers for both DCT-SVM and
feedback loop currents isd and isq . FOC control strategies was developed using the SISOtool
The stator current reference in d-axis i∗sd is maintained at package provided by MATLAB/Simulink.
zero, for producing maximum torque, due to the non-saliency
of the generator. The stator current reference in q-axis i∗sq is IV. S IMULATION R ESULTS
calculated from the reference torque using Constant Torque A. Pitch Control
Angle control property (CTA), obtained at the output of the The pitch control is used to limit the aerodynamic power
speed PI controller. generated by the rotor above rated wind speeds. In this section
The outputs of the two PI current controllers are the dq-axis the behavior of the pitch control is analyzed. This dynamic
∗ ∗
reference voltages vsα and vsβ . These voltages together with analysis is performed with the pitch controller implemented
the measured DC link voltage VDC are the command values in the wind turbine control system.
used for generating the PWM signals in the Space Vector The pitch controller is active for the interval between rated
Modulator (SVM) block. and cut-out wind speeds. The behavior of the pitch controller
B. Direct Torque Control has been analyzed for the case when a positive step in the wind
speed is applied. The results of the simulation are shown in
The Direct Torque Control (DTC) strategy was proposed in Fig. 8.
the mid 80’s by Takahashi and Noguchi [10] and since then As it can be observed in Fig. 8 the results of the pitch
it was continuously developed and improved [11]. The name control analysis are very similar for both the FOC and DTC
direct torque control comes from the fact that, based on the control strategies.
torque and flux errors it is possible to control the inverter states The pitch angle can vary with a rate of maximum 10
without using inner current control loops as in the case of field [deg/s]. Due to the positive step applied in the wind speed, the
oriented control strategy [11], [12], [13]. output power reaches 1.3 [p.u.] during the transient period. As
There are two alternatives to implement the DTC-SVM expected, after the pitch angle settles, the power returns to its
strategy, either by using a cascade structure or by using a nominal value.
parallel structure. In this report only the development of the
parallel structure will be discussed. B. Speed Control
The block scheme of the parallel control structure is pre- The aim of the speed controller is to maintain the PMSG’s
sented in Fig. 7. speed at a constant value regardless of fluctuations in the wind
In order to obtain the flux error eψs which represents the speed.
input of the flux PI controller, the reference value of the stator The presented case studies the system’s behavior when
flux |ψs∗ | is compared with the estimated value of the stator successive steps in the wind speed are applied.

3874
 Reference and Measured Speed
16 1.1

Wind speed [m/s]

Wind speed [m/s]
16
Reference Speed
15.5 15.5 1.05 Measured Speed DTC
Measured Speed FOC
15 15
1
3 3.5 4 4.5 5 5.5 6 6.5 7
3 3.5 4 4.5 5 5.5 6 6.5 7
Time [s]
Time [s]
0.95
15
15
0.9

Pitch [deg]
10
Pitch [deg]

Speed [p.u.]
10

5 5 0.85

0
0
3 3.5 4 4.5 5 5.5 6 6.5 7 0.8
3 3.5 4 4.5 5 5.5 6 6.5 7
Time [s]
Time [s]
0.75

Power [p.u.]
Power [p.u.]

1.2 1.2 0.7

1 1
0.65
0.8
3 3.5 4 4.5 5 5.5 6 6.5 7 0.8
3 3.5 4 4.5 5 5.5 6 6.5 7 0.6
Time [s]
Time [s] 0 5 10 15 20 25
Time [s]

(a) DTC control strategy (b) FOC control strategy

Fig. 10. Reference and measured speeds for the FOC and DTC strategies
Fig. 8. Pitch angle and active power response for a positive step change in
the wind
speed. Fig. 11 shows the mechanical and electromagnetic
torques during the successive wind speed steps.
The wind speed shape presented in Fig. 9 was used to Load and Electromagnetic Torque
test the whole wind turbine simulation. As it may be seen, 1.2
Load Torque
Electromagnetic Torque DTC
successive steps in the wind speed are applied from 5 to 15 1
Electromagnetic Torque FOC

[m/s] and vice versa.

0.8

Wind speed

Torque [p.u.]
16

15 0.6

14

13 0.4

12

11 0.2
Wind [m/s]

10

9
0
5 10 15 20 25
8 Time [s]

6 Fig. 11. Mechanical and electromagnetic torques for FOC and DTC strategies
5

0 5
Fig. 9. Successive steps in the wind speed, used as input for the wind turbine
system
Fig. 10 shows the PMSG reference speed and the measured
speed for the two control strategies. As it may be seed the
measured speed is very close to the reference speed. When
the wind speed is changed from 5 to 10 [m/s], the PMSG
reference speed is increased from 0.7 [p.u.] to 1 [p.u.]. The
reference speed is changed as a ramp because it cannot be
changed instantly (as a step) due to the physical limitations
of the WTS. As the PMSG, rotor and drive train have a high
total moment of inertia; it takes time and energy to change the
speed.
When the wind speed of 7 [m/s] is reached, the PMSG
reference speed reaches 1 [p.u.]. This means that a further
increase in wind speed will not result in an increase in
reference speed. As the wind speed increases so the torque and
power increases while the reference speed is kept constant. At
the time instants of 10 and 15 [s], the wind speed is changed.
As a result of this wind speed change, the measured speed of
the PMSG changes from the reference value but stays within
admissible limits. Both FOC and DTC control strategies have
similar performances when it comes to maintain the reference
10
Time [s]
15 20 25 When the wind speed steps are applied, an overshoot
and small oscillation in the mechanical and electromagnetic
torques may be observed. These overshoots and oscillations
are mainly due to the drive train. As it may be seen at the
instant of 5 [s] when the wind speed increases from 5 to 10
[m/s], the mechanical torque increases slowly to about 0.6
[p.u.]. However the electro-magnetic torque is much smaller
during this transient period. This is due to the fact that the
reference speed is changed from about 0.7 [p.u.] to 1 [p.u.]
and a part of the energy coming from the rotor is used to
accelerate the PMSG’s rotor.
A similar phenomenon may be observed when the reference
speed is decreased from 1 [p.u.] to 0.7 [p.u.], the mechanical
energy stored in form of kinetic energy in the moving parts
of the WTS is converted into electrical energy. As a result
of decreasing the reference speed during the transient actually
the electrical power is higher than the mechanical power.
As Fig. 11 shows that the FOC and DTC control strategies
have similar performances. Fig. 12 shows the mechanical and
electrical power for FOC and DTC strategies.
The mechanical power is greater than the electrical power
similarly as for the torque curves discussed previously. The
reason behind this is the efficiency of the system. At the instant
when the reference speed is changed, spikes in the electrical
power may be observed.

3875
 Mechanical and Electrical Power
1.2
Mechanical Power V. C ONCLUSION
Electrical Power DTC

1
Electrical Power FOC
The main focus of this paper has been the control of a 2
MW PMSG for a large wind turbine. Only the generator side
0.8
converter has been considered and two control strategies were
Power [p.u.]

0.6
analyzed respectively DTC-SVM and FOC.
Detailed simulation models of the whole WTS were used
0.4 to carry out the study cases presented in the paper. The
mathematical models for all the parts of the WTS used in
0.2
the simulation were presented and discussed.
0
5 10 15 20 25
The rotor model is based on the Cp look-up table and power
Time [s]
equation. The drive-train model is quite simple and is modeled
Fig. 12. Mechanical and electrical powers for FOC and DTC strategies
by a second order transfer function. The PMSG was modeled
in the dq reference frame. The power limitation over the rated
wind speed was achieved using pitch control. The design of the
speed, current, flux and torque controllers was done respecting
The reason behind these spikes is the mechanical inertia of similar design requirements.
the WTS as explained at the torque curves. Fig. 13 shows the Results of the WTS simulation were shown for both FOC
dq-axis currents. As expected the d-axis current is almost zero and DTC-SVM control strategies. As expected, very similar
for both FOC and DTC strategies, while the q-axis current is results were obtained with both control strategies as they use
directly proportional with the electromagnetic torque. the same modulation technique (SVM) and the controllers
were designed considering similar design requirements.
dq axis currents
1.2
Id DTC
Iq DTC
ACKNOWLEDGMENT
Id FOC
1
Iq FOC The authors are especially greatfull to Remus Teodorescu,
0.8
Mihai Ciobotaru and Lars Helle which with their patiance and
generosity devoted valuable time provided great help to the
Currents [p.u.]

0.6
development of this work.
0.4
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