1036 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 23, NO.

4, DECEMBER 2008
Ride-Through Control of a Doubly Fed Induction
Generator Under Unbalanced Voltage Sags
Oriol Gomis-Bellmunt, Member, IEEE, Adri` a Junyent-Ferr e, Andreas Sumper, Member, IEEE,
and Joan Bergas-Jan e, Member, IEEE
AbstractThis paper deals with the control of doubly fed in-
duction generators to ride through unbalanced voltage sags. A
control strategy is proposed by choosing certain current reference
values in the positive and negative sequences so that the torque
and the dc voltage are kept stable during such unbalanced sags.
Both rotor- and grid-side converters are considered, detailing the
control scheme of each converter while considering the effect of the
crowbar protection. The control strategy is validated by means of
simulations.
Index TermsDoubly fed induction generator (DFIG),
unbalanced voltage sags, wind power generation.
NOMENCLATURE
Vectors
i
x
Current vector i
xd
+ ji
xq
.
v
x
Voltage vector v
xd
+ jv
xq
.
S
x
Power vector P
x
+ jQ
x
.
Symbols
Flux linkage.
Torque.
E dc bus voltage.
t Time.

e
Electrical angular velocity.

r
Rotor electrical angular velocity.

m
Mechanical angular velocity.
Angle.
s Slip.
P Generator number of poles.
f Frequency.
R
r
Rotor resistance.
R
s
Stator resistance.
L
r
Rotor inductance.
L
s
Stator inductance.
M Mutual inductance.
Superscripts
s Stator.
r Rotor.
c Rotor-side converter.
l Grid-side converter.
z Grid.
Manuscript received September 27, 2007; revised November 5, 2007. Current
version published November 21, 2008. Paper no. TEC-00352-2007.
The authors are with the Centre dInnovaci o Tecnol` ogica en Convertidors
Est` atics i Accionaments (CITCEA-UPC), Departament dEnginyeria El` ectrica,
Universitat Polit` ecnica de Catalunya, ETS dEnginyeria Industrial de Barcelona,
and EU dEnginyeria T` ecnica Industrial de Barcelona, Barcelona 08028, Spain
(e-mail: oriol.gomis@upc.edu).
Color versions of one or more of the gures in this paper are available online
at http://ieeexplore.ieee.org.
Digital Object Identier 10.1109/TEC.2008.2001440
f Filter.
1st Subscript
d d-axis.
q q-axis.
0 Nonoscillating component.
sin sin oscillating component.
cos cos oscillating component
2nd Subscript
Set point.
p Positive sequence.
n Negative sequence.
Acronyms
IMC Internal mode control.
SVPWM Space vector pulse width modulation.
DFIG Doubly fed induction generator.
PLL Phase-locked loop.
DTC Direct torque control.
All the quantities are in SI units. Stator and rotor quantities
are referred to the stator.
I. INTRODUCTION
W
IND power is one of the most promising renewable
energy sources after the progress undergone during the
last decades. However, its integration into power systems has a
number of technical challenges concerning security of supply,
in terms of reliability, availability, and power quality. Many
relevant contributions have been recently done to face such
challenges, ranging fromthe control of active [1] and reactive [2]
power, to the modeling [3], [4] of different classes of wind
turbines.
The increasing penetration level of wind energy has motivated
the establishment of grid connection requirements. Among such
requirements, voltage dip ride-through capability stands as one
of the most relevant properties demanded by wind-turbine-based
generation systems.
Nowadays, doubly fed induction generators (DFIG) are the
most employed generators for wind energy applications. The
stator of such wound rotor machines is directly connected to
the electrical grid, and therefore, it is extremely sensitive to
voltage disturbances. For this reason, it is of crucial importance
to investigate the behavior and control of DFIG systems under
different classes of voltage sags.
Control of DFIG for wind turbine applications has been
deeply analyzed in the last decade considering balanced opera-
tion [5][11]. When unbalanced sags occur, the main problem
is that very high current, torque, and power oscillations appear
0885-8969/$25.00 2008 IEEE
GOMIS-BELLMUNT et al.: RIDE-THROUGH CONTROL OF A DOUBLY FED INDUCTION GENERATOR UNDER UNBALANCED VOLTAGE SAGS 1037
Fig. 1. General system scheme.
at double the electrical frequency, forcing a disconnection. Such
oscillations are provoked by the negative sequence components
injected by the unbalanced disturbance.
On the other hand, some authors [12], [13] have proposed
techniques to deal with different classes of unbalanced voltage
disturbances, applying them to dc/ac converters, taking into ac-
count the negative-sequence appearing with voltage unbalances.
Such techniques have been applied to the DFIGin [14], consider-
ing the rotor-side converter and small unbalances. Other authors
have proposed alternative methods to deal with such voltage un-
balances. A ride-through analysis of unbalanced voltage sags
is presented in [15], using active crowbar and DTC. A method
based on a disturbance rejection controller is proposed in [16]
to compensate the 2
e
oscillations produced by unbalances, by
adding a feedforward component to the current controllers. The
case of unbalanced load for stand-alone DFIG is studied in [17].
This paper describes a technique to control DFIG under un-
balanced voltage sags. In comparison with [15] and [16], it
uses the approach based on separating the positive and nega-
tive components of all the currents and voltages, as suggested
in [12] and [13] for dc/ac converters and applied to the DFIG
as in in [14]. This paper introduces the following contributions:
1) The whole system is analyzed, considering both the grid-side
and rotor-side converters. The grid-side converter control is not
considered in in [14] or [16]. 2) A technique to keep the dc bus
stable is proposed, based on compensating the rotor power deliv-
ered by the rotor-side converter in the grid-side converter. 3) The
objective of the technique is to ride through voltage sags; hence,
the main analyzed quantities are the generator torque and the dc
voltage bus. 4) Since this paper deals with ride through voltage
sags, the crowbar protection is considered (it is not considered
in [14] or in [16]).
This paper has been organized as follows. In Section II, the
control scheme under balanced conditions is discussed. The un-
balanced case is analyzed in Section III. The proposed technique
is validated by means of simulations in Section IV. The obtained
results are discussed in Section V, and nally, the conclusions
are summarized in Section VI.
II. CONTROL SCHEME UNDER BALANCED CONDITIONS
The general scheme under analysis can be seen in Fig. 1.
The DFIG is attached to the wind turbine by means of a gear-
box. The DFIG stator windings are connected directly to the
grid while the rotor windings are connected to a back-to-back
Fig. 2. Back-to-back converter.
converter (see Fig. 2). The converter is composed of the grid-
side converter connected to the grid and the rotor-side converter
connected to the wound rotor windings. The converter set points
are established by the so-called high-level controller. It uses the
knowledge of the wind speed and the grid active and reactive
power requirements to determine the optimum turbine pitch an-
gle and the torque and reactive power set points referenced to the
converter. The rotor-side converter controls torque and reactive
power, while the grid-side converter controls the dc voltage and
grid-side reactive power. Although the back-to-back converter
can control both the reactive power injected by the stator by
controlling the rotor currents and the reactive power injected
directly to the grid with the grid-side converter, it is a common
practice to deliver most of the referenced reactive power through
the stator while keeping a low or null reactive power set point
in the grid-side converter.
In this section, a balanced voltage supply is assumed. Such
a case has been deeply analyzed in [5][11], and hence, it is
briey described for the sake of completeness.
A. Grid-Side Converter
In the grid-side converter, the dc bus voltage and reactive
power references determine the current references, which deter-
mine the voltages to be applied in the grid side.
1) System Equations: In a synchronous reference frame, the
grid-side voltage equations can be written as
_
v
zq
v
zd
_

_
v
lq
v
ld
_
=
_
R
l
L
l

e
L
l

e
R
l
_ _
i
lq
i
ld
_
+
_
L
l
0
0 L
l
_
d
dt
_
i
lq
i
ld
_
. (1)
Active and reactive power provided by the grid-side con-
verter can be written as P
z
= 3/2(v
zq
i
lq
+ v
zd
i
ld
) and Q
z
=
3/2(v
zq
i
ld
v
zd
i
lq
).
The dc bus voltage can be expressed as
E = E
0
+
1
C
_
t
0
(i
DCl
i
DCr
) dt. (2)
2) Reference Quantities: The grid-side converter controls
the reactive power and dc bus voltage. The q-axis may be aligned
to the grid voltage allowing active and reactive decoupled con-
trol. To control the reactive power, a i
ld
reference is computed
as
i

ld
=
2Q

z
3v
zq
. (3)
1038 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 23, NO. 4, DECEMBER 2008
The active power, which is responsible for the evolution of
the dc bus voltage is controlled by the i
lq
component. A linear
controller is usually designed to control the dc bus voltage.
3) Current Loops Implementation: The current control is
done by the following state linearization feedback [18]:
_
v
lq
v
ld
_
=
_
v
lq
+ v
zq
L
l

e
i
ld
v
ld
+ L
l

e
i
lq
_
(4)
where the v
lq
and v
ld
are the output voltages of the current
controller. The decoupling leads to
d
dt
_
i
lq
i
ld
_
=
_

R
l
L
l
0
0
R
l
L
l
_
_
i
lq
i
ld
_
+
_
1
L
l
0
0
1
L
l
_
_
v
lq
v
qd
_
.
(5)
B. Rotor-Side Converter
In the rotor-side converter, the referenced torque and reactive
power determine the current references, which determine the
voltages to be applied in the rotor side.
1) Machine Equations: It is usually assumed that when the
stator and rotor windings are placed sinusoidally and symmet-
rically, the magnetical saturation effects and the capacitance of
all the windings are negligible. The relation between voltages
and currents on a synchronous reference qd can be written as
_

_
v
sq
v
sd
v
rq
v
rd
_

_
=
_

_
L
s
0 M 0
0 L
s
0 M
M 0 L
r
0
0 M 0 L
r
_

_
d
dt
_

_
i
sq
i
sd
i
rq
i
rd
_

_
+
+
_

_
R
s
L
s

e
0 M
e
L
s

e
R
s
M
e
0
0 sM
e
R
r
sL
r

e
sM
e
0 sL
r

e
R
r
_

_
_

_
i
sq
i
sd
i
rq
i
rd
_

_
(6)
Linkage uxes can be written as
_

sq

sd

rq

rd
_

_
=
_

_
L
s
0 M 0
0 L
s
0 M
M 0 L
r
0
0 M 0 L
r
_

_
_

_
i
sq
i
sd
i
rq
i
rd
_

_
. (7)
The torque can expressed as

m
=
3
2
PM (i
sq
i
rd
i
sd
i
rq
). (8)
The reactive power yields
Q
s
=
3
2
(v
sq
i
sd
v
sd
i
sq
) . (9)
2) Reference Quantities: Orientating the synchronous refer-
ence qd with the stator ux vector so that
sd
= 0, the rotor
current references can be computed as
_
i

rq
i

rd
_
=
_
_
_
2
3
L
s
Q

s
+M v
s q
i
r d
+v
s d

s q
M v
s d
2L
s

m
3P M
s q
_
_
_
. (10)
3) Current Loops Implementation: The control of the cur-
rent is done by linearizing the current dynamics using the fol-
lowing state feedback.
_
v
rq
v
rd
_
=
_
v
rq
+ M (
e

r
) i
sd
+ L
r
(
e

r
) i
rd
v
rd
M (
e

r
) i
sq
L
r
(
e

r
) i
rq
.
_
(11)
By neglecting stator current transients, the decoupling leads to
d
dt
_
i
rq
i
rd
_
=
_
R
r
L
r
0
0
R
r
L
r
_
_
i
rq
i
rd
_
+
_
1
L
r
0
0
1
L
r
_
_
v
rq
v
rd
_
.
(12)
C. Current Controllers Tuning
Controllers have been designed using the so-called internal
mode control (IMC) methodology detailed in [19]. The param-
eters of a PI controller to obtain a desired time constant are
obtained as
K
p
=
L

, K
i
=
R

. (13)
The currents and voltages have been limited according to the
converter operating limits. PI controllers have been designed
with antiwindup in order to prevent control instabilities when
the controller exceed the limit values.
D. Crowbar Protection
The so-called crowbar is connected to avoid overvoltages in
the dc bus due to excessive power owing fromthe rotor inverter
to the grid-side converter, guaranteeing ride through operation
of the generator when voltage sags or other disturbances occur.
The crowbar is triggered when the dc voltage reaches a thresh-
old v
crowc
and disconnects when it goes below another thresh-
old v
crowd
.
During its operation, the rotor-side converter may be discon-
nected, as described in [20], or be kept connected [9] to avoid
losing control over the machine. In this paper, the rotor-side
converter is kept connected.
III. CONTROL SCHEME UNDER UNBALANCED CONDITIONS
In this section, nonsymmetrical voltage sags are considered.
Such unbalanced sags imply negative sequence components in
all the relevant quantities. Therefore, important oscillations ap-
pear in torque, active and reactive power. Such oscillations have
a pulsation of 2
e
. In order to mitigate such oscillations, an ap-
proach taking into account the negative sequence quantities is
required. Such an approach has been discussed in [12] and [13],
and has been applied to the rotor-side converter of a DFIG in
[14]. This section analyzes a whole back-to-back converter tak-
ing into account both the positive and negative sequence compo-
nents, and proposes a technique to control optimally both the dc
bus voltage and the torque when unbalanced voltage sags occur.
As far as unbalanced systems are concerned, it is useful to
express three-phase quantities x
abc
= {x
a
, x
b
, x
c
}
T
in direct
and inverse components as
x = e
j
e
t+j
0
x
p
+ e
j
e
tj
0
x
n
(14)
GOMIS-BELLMUNT et al.: RIDE-THROUGH CONTROL OF A DOUBLY FED INDUCTION GENERATOR UNDER UNBALANCED VOLTAGE SAGS 1039
where x = 2/3
_
x
a
+ ax
b
+ a
2
x
c
_
, a = e
j2/3
, x
p
= x
p
d
+
jx
p
q
, and x
n
= x
n
d
+ jx
n
q
. In this section, voltages, currents,
and uxes are regarded as a composition of such positive and
negative sequences.
A. Grid-Side Converter Analysis
1) Voltage Equations: Considering two rotating reference
frames at +
e
and
e
, the voltage equations for the positive
and negative sequences yield
v
p
zqd
v
p
lqd
= (R
l
+ j
e
L
l
) i
p
lqd
+ L
l
di
p
lqd
dt
(15)
v
n
zqd
v
n
lqd
= (R
l
j
e
L
l
) i
n
lqd
+ L
l
di
n
lqd
dt
(16)
2) Active and Reactive Power: Active and reactive power
can be written as [13]
P
l
=
3
2
[P
l0
+ P
lcos
cos (2
e
t) + P
lsin
sin (2
e
t)] (17)
Q
l
=
3
2
[Q
l0
+ Q
lcos
cos (2
e
t) + Q
lsin
sin (2
e
t)] (18)
where
_

_
P
l0
P
lcos
P
lsin
Q
l0
Q
lcos
Q
lsin
_

_
=
_

_
v
p
zd
v
p
zq
v
n
zd
v
n
zq
v
n
zd
v
n
zq
v
p
zd
v
p
zq
v
n
zq
v
n
zd
v
p
zq
v
p
zd
v
p
zq
v
p
zd
v
n
zq
v
n
zd
v
n
zq
v
n
zd
v
p
zq
v
p
zd
v
n
zd
v
n
zq
v
p
zd
v
p
zq
_

_
_

_
i
p
ld
i
p
lq
i
n
ld
i
n
lq
_

_
.
(19)
It can be noted that both active and reactive power have three
different components each, and hence with the four regulatable
currents i
p
ld
, i
p
lq
, i
n
ld
, and i
n
lq
, only four of such six powers can be
controlled.
B. Machine-Side Converter Analysis
1) Voltage Equations: Considering two rotating reference
frames at +
e
and
e
, the voltage equations for the positive
and negative sequences can be obtained as
_
v
p
s
v
p
r
_
=
_
L
s
M
M L
r
_
d
dt
_
i
p
s
i
p
r
_
+
_
R
s
+ jL
s

e
jM
e
jM(
e

r
) R
r
+ jL
r
(
e

r
)
_ _
i
p
s
i
p
r
_
(20)
_
v
n
s
v
n
r
_
=
_
L
s
M
M L
r
_
d
dt
_
i
n
s
i
n
r
_
+
_
R
s
j
e
L
s
j
e
M
+jM(
e

r
) R
r
+ jL
r
(
e

r
)
_

_
i
n
s
i
n
r
_
. (21)
2) Stator Power Expression: The apparent stator power can
be expressed as
S
s
= P
s
+ jQ
s
=
3
2
v
s
i

s
. (22)
Using (14), we have
S
s
=
_
e
j
e
t+j
0
v
p
s
+ e
j
e
tj
0
v
n
s
_

_ _
e
j
e
t+j
0
_

i
p
s
+
_
e
j
e
tj
0
_

i
n
s
_
(23)
S
s
= v
p
s
i
p
s
+v
n
s
i
n
s
+ e
j2
e
t+j2
0
v
p
s
i
n
s
+ e
j2
e
tj2
0
v
n
s
i
p
s
. (24)
Taking into account x
i
s
= x
i
sd
+ jx
i
sq
, and rearranging it gives
S
s
= P
s
+ jQ
s
, with
P
s
=
3
2
[P
s0
+ P
scos
cos (2
e
t + 2
0
)
+P
ssin
sin (2
e
t + 2
0
)] (25)
Q
s
=
3
2
[Q
s0
+ Q
scos
cos (2
e
t + 2
0
)
+Q
ssin
sin (2
e
t + 2
0
)] (26)
where
_

_
P
s0
P
scos
P
ssin
Q
s0
Q
scos
Q
ssin
_

_
=
_

_
v
p
sd
v
p
sq
v
n
sd
v
n
sq
v
n
sd
v
n
sq
v
p
sd
v
p
sq
v
n
sq
v
n
sd
v
p
sq
v
p
sd
v
p
sq
v
p
sd
v
n
sq
v
n
sd
v
n
sq
v
n
sd
v
p
sq
v
p
sd
v
n
sd
v
n
sq
v
p
sd
v
p
sq
_

_
_

_
i
p
sd
i
p
sq
i
n
sd
i
n
sq
_

_
.
(27)
Substituting stator currents in (27)
_

_
P
s0
P
scos
P
ssin
Q
s0
Q
scos
Q
ssin
_

_
=
1
L
s
_

_
v
p
sd
v
p
sq
v
n
sd
v
n
sq
v
n
sd
v
n
sq
v
p
sd
v
p
sq
v
n
sq
v
n
sd
v
p
sq
v
p
sd
v
p
sq
v
p
sd
v
n
sq
v
n
sd
v
n
sq
v
n
sd
v
p
sq
v
p
sd
v
n
sd
v
n
sq
v
p
sd
v
p
sq
_

p
sd
Mi
p
rd

p
sq
Mi
p
rq

n
sd
Mi
n
rd

n
sq
Mi
n
rq
_

_
(28)
it can be noted that both active and reactive power quantitities
have three different components each, and therefore, with the
four regulable currents i
p
rd
, i
p
rq
, i
n
rd
, and i
n
rq
, only four of the six
power quantities can be controlled.
3) Rotor Power Expression: The apparent rotor power can
be expressed as
S
r
= P
r
+ jQ
r
=
3
2
v
r
i

r
(29)
S
r
=
3
2
_
e
j(
e

r
)t+j
r 0
v
p
r
+ e
j(
e
+
r
)tj
r 0
v
n
r
_

_
e
j(
e

r
)t+j
r 0
i
p
r
+ e
j(
e
+
r
)tj
r 0
i
n
r
_

. (30)
1040 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 23, NO. 4, DECEMBER 2008
Fig. 3. General control scheme.
Using (14), we have
S
r
=
3
2
[v
p
r
i
p
r
+v
n
r
i
n
r
+e
j2
e
t+2j
r 0
v
p
r
i
n
r
+ e
j2
e
tj2
r 0
v
n
r
i
p
r

. (31)
Taking into account x
i
s
= x
i
sd
+ jx
i
sq
, and rearranging and an-
alyzing the active rotor power
P
r
=
3
2
[P
r0
+ P
rcos
cos (2
e
t + 2
r0
)
+P
rsin
sin (2
e
t + 2
r0
)] (32)
where
_

_
P
r0
P
rcos
P
rsin
_

_
=
_

_
v
p
cd
v
p
cq
v
n
cd
v
n
cq
v
n
cd
v
n
cq
v
p
cd
v
p
cq
v
n
cq
v
n
cd
v
p
cq
v
p
cd
_

_
_

_
i
p
rd
i
p
rq
i
n
rd
i
n
rq
_

_
. (33)
4) Torque Expression: Analogously, electrical torque can be
expressed as
=
P
2
3
2
[
0
+
sin
sin (2
e
t) +
cos
cos (2
e
t)] (34)
where
_

cos

sin
_

_
=
M
L
s
_

p
sq

p
sd

n
sq

n
sd

n
sd

n
sq

p
sd

p
sq

n
sq

n
sd

p
sq

p
sd
_

_
_

_
i
p
rd
i
p
rq
i
n
rd
i
n
rq
_

_
.
(35)
C. Reference Current Calculation
Since there are eight degrees of freedom (the rotor-side cur-
rents i
p
rd
, i
p
rq
, i
n
rd
, and i
n
rq
, and the grid-side currents i
p
ld
, i
p
lq
,
i
n
ld
, and i
n
lq
), eight control objectives may be chosen. This im-
plies that it is not possible to eliminate all the oscillations pro-
voked by the unbalance. In this paper, the main objective is
to ride through voltage dips. Hence, it is important to keep
the torque and dc bus voltage as constant as possible and to
keep reasonable values of reactive power. To this end, it has
been chosen to determine the currents to keep certain values
of

0
,

cos
,

sin
, and Q

s0
for the rotor-side converter and
P

l0
, P

lcos
, P

lsin
and Q

l0
for the grid-side converter. It can be
noted that P

l0
, P

lcos
, and P

lsin
are directly linked to the dc bus
voltage.
The dc voltage E is regulated by means of a linear controller
whose output is the power demanded by the grid-side converter.
Considering the power terms P
r0
, P
rcos
, and P
rsin
in the rotor
side converter, P
r0
can be regarded as the average power deliv-
ered, while P
rcos
and P
rsin
are the rotor power oscillating terms.
Such terms will cause dc voltage oscillations, and hence they
can be canceled by choosing
P

lcos
= P
rcos
P

lsin
= P
rsin
. (36)
P
l0
can be computed as
P

l0
= P
r0
+ P

E
(37)
where P

E
is the output of the dc voltage linear controller.
GOMIS-BELLMUNT et al.: RIDE-THROUGH CONTROL OF A DOUBLY FED INDUCTION GENERATOR UNDER UNBALANCED VOLTAGE SAGS 1041
Fig. 4. Positive and negative components calculation.
The grid reference currents can be computed from (19), (33),
(36), and (37) as
_

_
i
p
ld
i
p
lq
i
n
ld
i
n
lq
_

_
=
_

_
v
p
zd
v
p
zq
v
n
zd
v
n
zq
v
n
zd
v
n
zq
v
p
zd
v
p
zq
v
n
zq
v
n
zd
v
p
zq
v
p
zd
v
p
zq
v
p
zd
v
n
zq
v
n
zd
_

_
1 _
_
_
_
_
_

_
P
E
0
0
Q

l0
_

_
+
_

_
v
p
cd
v
p
cq
v
n
cd
v
n
cq
v
n
cd
v
n
cq
v
p
cd
v
p
cq
v
n
cq
v
n
cd
v
p
cq
v
p
cd
0 0 0 0
_

_
_

_
i
p
rd
i
p
rq
i
n
rd
i
n
rq
_

_
.
_
_
_
_
_
(38)
The rotor reference currents can be computed from (28) and
(35) as
_

_
i
p
rd
i
p
rq
i
n
rd
i
n
rq
_

_
=
_

p
sq

p
sd

n
sq

n
sd

n
sd

n
sq

p
sd

p
sq

n
sq

n
sd

p
sq

p
sd
v
p
sq
v
p
sd
v
n
sq
v
n
sd
_

_
1
_

_
2
P
2
3
L
s
M

0
2
P
2
3
L
s
M

cos
2
P
2
3
L
s
M

sin
1
M
_
L
s
Q

s0

p
sd
v
p
sq
+
p
sq
v
p
sd

n
sd
v
n
sq
+
n
sq
v
n
sd

_
.
(39)
D. Control Implementation
1) Positive and Negative Components Calculation: The pos-
itive and negative sequence components calculation is done by
using the Clarke transformation, rotating either e
j
e
t
or e
j
e
t
,
and nally, applying a notch-lter at 2
e
to eliminate the op-
posite sequence. The technique is exemplied in Fig. 4. For
the rotor voltages and currents, the rotation applied is either
e
j(
e

r
)t
or e
j(
e

r
)t
.
2) Reference Orientation: The rotating references have been
aligned with the stator voltage so that v
p
sq
= 0. Nevertheless, v
p
sq
has not been substituted in previous expressions for the sake of
describing general results. Orientation may be done computing
the required
0
assuming a constant
e
or using a PLL [21] to
determine both
e
and
0
.
Fig. 5. Output voltage calculation: rotor-side converter example.
E. Controllers Linearization and Tuning
a) Grid-Side: Similarly to the balanced case developed in
Section II-A3, the control of the current is done by linearizing
the current dynamics using
v
p
zqd
= v
p
zqd
v
p
lqd
j
e
L
l
i
p
lqd
(40)
v
n
zqd
= v
n
zqd
v
n
lqd
+ j
e
L
l
i
n
lqd
. (41)
The decoupled system yields
di
p
lqd
dt
=
v
p
zqd
R
l
i
p
lqd
L
l
(42)
di
n
lqd
dt
=
v
n
zqd
R
l
i
n
lqd
L
l
. (43)
b) Rotor-Side: Analogously to Section II-B3
v
p
r
= v
p
r
jM(
e

r
)i
p
s
jL
r
(
e

r
)i
p
r
(44)
v
n
r
= v
n
r
jM(
e

r
)i
n
s
jL
r
(
e

r
)i
n
r
. (45)
Neglecting the derivative of stator currents, the decoupled sys-
tem yields
di
p
r
dt
=
v
p
r
R
r
i
p
r
L
r
(46)
di
n
r
dt
=
v
n
r
R
r
i
n
r
L
r
. (47)
c) Controller Tuning: The controllers can be designed using
classical linear control techniques. As in Section II-C, a PI
controller is used, tuned according to IMC [19]. For a time
constant , the parameters obtained yield K
p
=
L

and K
i
=
R

.
F. Output Voltage Calculation
The output voltages calculation is done by summing the re-
sulting positive and negative sequence voltages in the stationary
reference frame. For the line side
v
l
= e
j
e
t
v
p
l
+ e
j
e
t
v
n
l
. (48)
For the rotor side
v
r
= e
j(
e

r
)t
v
p
r
+ e
j(
e

r
)t
v
n
r
. (49)
The resulting voltages are limited according to the converter
rating. The nal voltages can be applied using standard space
vector pulse width modulation (SVPWM) techniques. The
technique is exemplied for the rotor-side converter case in
Fig. 5.
1042 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 23, NO. 4, DECEMBER 2008
TABLE I
SIMULATED SYSTEM DATA
IV. SIMULATION RESULTS
In order to evaluate the ride-through capability of the pro-
posed scheme, the system has been simulated with severe volt-
age sags, making the control work at the maximum output volt-
age and dealing with the triggering of the crowbar protection.
The system under study is a 2- MW DFIG-based wind turbine,
where a two-phase 50% type E [22] voltage sag of 2 s has been
applied. The data of the simulated systemmay be seen in Table I.
In order to compare the presented control scheme and some
existing techniques, the following three cases have been studied.
T1 Balanced control case: It is the classical control approach,
which does not take into account the possibility of unbal-
anced voltage disturbances. It is described in a number of
references [5][11]. In this case, the synchronous refer-
ence frame is aligned with the stator ux and the control
is implemented, as described in Section II.
T2 Unbalanced control 1: The technique described in Sec-
tion III is applied, with the exception that it does not use
the rotor power compensation.
T3 Unbalanced control 2: The technique described in Sec-
tion III is applied, also considering the rotor power com-
pensation.
In order to guarantee the ride through over voltage sags, it
is extremely important to keep both the dc voltage bus and
the machine torque as constant as possible while operating the
converter in the safety operation area.
As far as the torque is concerned, the comparison of the pro-
posed technique T3 and the classical approach T1 (Fig. 6) shows
that torque oscillations have been eliminated. It can be observed
that for the technique T1 there is an important permanent torque
oscillation between 9800 and 1700 Nm. It is known that such
torque sign changes can provoke serious damage to the turbine
mechanics. For the technique T3, the torque remains stable close
to 4000 Nm. Furthermore, the speed is clearly more stable
for the T3 case, as illustrated in Fig. 7.
Regarding dc voltage bus evolution, it is shown in Fig. 8(a)
that the proposed technique T3 shows important advantages
over technique T2, which does not compensate the rotor power.
The dc voltage oscillation for T1 is of 106 V while for T3 is
of 21 V, meaning an oscillation reduction of more than 80%.
This can be clearly seen in Fig. 8(b). Furthermore, as shown
in Fig. 8(c), the voltage oscillation may provoke overtriggering
of the crowbar. For technique T3, there is only one connection
while for technique T2, there are 14 connections. Concerning
the restoration of the dc peak voltage produced when the grid
Fig. 6. Torque response comparison of a two-phase voltage sag of 50% using
the standard control technique T1 without considering unbalanced conditions
and the technique T3 proposed in this paper. (a) Torque response for the whole
voltage sag time. (b) Torque evolution in the center of the sag.
Fig. 7. Rotor speed comparison of a two-phase voltage sag of 50% using the
standard control technique T1 without considering unbalanced conditions and
the technique T3 proposed in this paper.
GOMIS-BELLMUNT et al.: RIDE-THROUGH CONTROL OF A DOUBLY FED INDUCTION GENERATOR UNDER UNBALANCED VOLTAGE SAGS 1043
Fig. 8. Comparison of the dc voltage response to a 50% two-phase voltage-sag
using T3 or T2. (a) DC voltage response for the whole voltage sag time. (b) DC
voltage evolution in the center of the sag. (c) DC voltage response in the initial
time of the sag.
voltage returns to normal values, it can be seen that the dc
voltage peak of T3 is signicantly smaller than for T2, being of
1321 V for T3 and of 1412 V for T2.
The evolution of different voltages for the technique T3 dur-
ing the sag are shown in Fig. 9. It can be noted that the grid
Fig. 9. Voltage response to a two-phase voltage sag of 50 %. (a) Voltages
evolution for the whole voltage sag time. (b) Voltages evolution in the center of
the sag.
voltage unbalance suffered as a consequence of the two-phase
sag is compensated by also applying unbalanced voltages both
to the rotor- and grid-side converters. Such unbalances allow
the control to suppress almost completely the torque oscilla-
tions keeping the rotor speed stable along with a reasonably low
level of dc voltage oscillations.
V. RESULTS AND IMPLEMENTATION DISCUSSION
The technique T3 has proven to provide the most optimum
results. Such results are achieved by implementing eight current
control loops, whose reference values are computed as described
in (38) and (39). The increased complexity of the control scheme
in comparison with classical balanced control techniques al-
low to have more degrees of freedom in the control and to apply
unbalanced voltage both in the DFIG rotor and the grid-side
converters.
Since there are eight degrees of freedom, eight reference
quantities have been chosen, taking into account that each ac-
tive and reactive power implies three different quantities (dc
1044 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 23, NO. 4, DECEMBER 2008
component, sin (2
e
t) dependent and cos (2
e
t) dependent).
The chosen reference quantities are the DFIG torques (

0
,

cos
,

sin
), the average DFIGreactive power Q

s0
, the grid-side active
power (P

l0
, P

lcos
, and P

lsin
implying dc bus voltage control),
and the grid-side average reactive power Q

l0
.
Since there are actually 12 objective reference quantities, 3
components (dc,sin,cos) 4 powers (2 active and 2 reactive
powers), the decision of which eight quantities are chosen is an
engineering tradeoff. In this case, it can be noted that the reactive
powers are xed as per average value, but their oscillating terms
(Q

scos
, Q

ssin
, Q

lcos
, and Q

lsin
) are not referenced, and therefore,
they oscillate at 2
e
. This can be prevented by choosing such
reactive power oscillating terms as reference quantities at the
cost of permitting the oscillation of the active power.
Concerning the obtained results, the most relevant observed
improvements can be summarized as
1) An optimum torque control is achieved. After a transient,
the desired torque is obtained. This is remarkable in com-
parison to the behavior of the balanced technique T1,
where the torque has important oscillations that may result
in serious damage to the mechanics of the wind turbine.
The difference can be clearly seen in Fig. 6. This advan-
tage is important not only in severe sags but in small un-
balances, where the proposed control technique provides
constant torque assuring a longer life of the gearbox and
the mechanical components of the turbine.
2) The dc voltage oscillations are minimized as shown in
Fig. 8. This is obtained by compensating the rotor power
transients in the dc bus voltage control. It is important
to note that the stability of such dc voltage implies less
connections of the crowbar protection, and hence, guaran-
tees an improved stability of the system. Instability of the
dc voltage may lead to repetitive limit cycles, where the
crowbar is permanently connecting and disconnecting.
3) Under balanced operation, the system operates equally to
the balanced techniques, not introducing any unbalance
in the power grid.
The improved results are obtained at the cost of higher compu-
tation complexity. Although this paper presents only simulation
results, some guidelines are given on how to implement the
proposed technique in real DFIG systems.
The use of digital signal processors (DSPs) is appropriate for
this application; for example, the TMS320C2812 from Texas
Instruments Incorporated [23]. The DSP has to develop the
following tasks in each switching cycle:
1) Performing of the analog to digital conversion of the mea-
sured voltages and currents shown in Fig. 3.
2) Acquisition of the position from an encoder or resolver
signal and computation of the rotor speed.
3) Determination of the grid electrical angle and pulsation
either assuming that the frequency is xed and known or
using a phase-locked loop (PLL) to determine both angle
and frequency.
4) Computation of the qd components in the positive and
negative sequences, according to Fig. 4. The notch
lters may be implemented using Butterworth digital
lters.
5) Computation of the reference currents according to (38)
and (39). The main difculty is the inverse computation of
two 4 4 matrices. Equations (38) and (39) are expressed
without specic orientation. If the rotating references are
chosen so that one of the voltages is zero, the inverse of
the matrix can be more easily computed.
6) Execution of the PI current loops and computation of the
output voltage taking into account the feedforward decou-
pling terms.
7) Determination of the states of the PWMoutputs according
to SVPWM, as illustrated in Fig. 5.
Although a single DSP could deal with all such tasks using the
two available event managers, it may be interesting to use two
different DSPs, one for the rotor-side converter and another for
the grid-side converter. The information they need to exchange
can be stored in a shared memory that both controllers can
access.
VI. CONCLUSION
This paper has presented a control technique to deal with
DFIG operation under unbalanced voltage sags, taking into ac-
count the presence of positive and negative sequence compo-
nents in voltages and currents. Both rotor- and grid-side convert-
ers are considered, which detail the control scheme to be used
in each converter while considering the effect of the crowbar
protection. The proposed technique achieves an almost constant
torque during the unbalanced sag and compensates the rotor
power oscillations by dening appropriate grid-side converter
reference currents so that the dc voltage is kept stable. The
control strategy has been validated by means of simulations.
ACKNOWLEDGMENT
The authors would like to thank Montserrat Mata and Marc
Sala from Ecot` ecnia for their support and collaboration.
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Oriol Gomis-Bellmunt (S05M07) received the
Degree in industrial engineering from the School
of Industrial Engineering of Barcelona (ETSEIB),
Technical University of Catalonia (UPC), Barcelona,
Spain, in 2001, and the Ph.D. degree in electrical en-
gineering from the UPC in 2007.
In 1999, he joined Engitrol S.L., where he was a
Project Engineer in the automation and control indus-
try implementing control and supervision systems in
several cement, chemical, paper, and transportation
industries. In 2003, he developed part of his Ph.D.
thesis at the DLR (German Aerospace Center), Braunschweig, Germany. Since
2004, he is with the Electrical Engineering Department (DEE), UPC, where
he is currently lecturer, and participates in the Centre for Technological In-
novation in Static Converters and Drives (CITCEA)-UPC research group. His
current research interests include the elds linked with smart actuators, electrical
machines, power electronics, renewable energy integration in power systems,
industrial automation, and engineering education.
Adri` a Junyent-Ferr e was born in Barcelona, Spain,
in 1982. He received the degree in industrial engineer-
ing from the Universitat Polit` ecnica de Catalunya,
Barcelona, Spain, in 2007.
His current research interests include the modeling
and control of electrical machines and power convert-
ers and its use in renewable generation systems.
Andreas Sumper (S05M08) was born in Villach,
Austria. He received the Dipl.-Ing. in electrical en-
gineering from Technical University of Graz, Graz,
Austria, in 2000, and the Ph.D. degree in electri-
cal engineering from the Universitat Polit` ecnica de
Catalunya (UPC), Barcelona, Spain, in 2008.
From 2001 to 2002, he was a Project Manager
for innovation projects in private industry. In 2002,
he jointed the Centre for Technological Innovation in
Static Converters and Drives (CITCEA), UPC. Since
2006, he has been an Assistant Professor in the De-
partment of Electrical Engineering, Escola Universit` aria dEnginyeria T` ecnica
Industrial de Barcelona (EUETIB), UPC. In the CITCEA-UPC, he was engaged
in technology transfer with the local industry due to research and innovation
projects in the eld of power quality, renewable energies, and power systems.
His current research interests include power quality, electrical machines, power
system studies, and distributed generation.
Joan Bergas-Jan e (M97) was born in Manresa,
Spain, in 1970. He received the B.S. degree in indus-
trial engineering and the Ph.D. degree in engineer-
ing from the Universitat Polit` ecnica de Catalunya,
Barcelona, Spain, in 1992 and 2000, respectively.
Since 2002, he has been an Assistant Professor in
the Department of Electrical Engineering, Universitat
Polit` ecnica de Catalunya. His current research inter-
est include the areas of power system quality, power
electronics, and digital motor control.