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Sequence Component Extraction Based on Recursive Least Squares for Wind

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Article · November 2017

DOI: 10.1007/s40313-017-0348-5

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J Control Autom Electr Syst
DOI 10.1007/s40313-017-0348-5

Sequence Component Extraction Based on Recursive Least

Squares for Wind Energy Applications
C. M. Rocha-Osorio1 · J. S. Solís-Chaves1 · Fabiano F. Costa2 ·
Darlan A. Fernandes3 · A. J. Sguarezi Filho1

Received: 7 June 2017 / Revised: 30 August 2017 / Accepted: 13 October 2017

© Brazilian Society for Automatics–SBA 2017

Abstract In this paper, a sequence component extractor List of Symbols

based on a recursive least square is used in a wind genera-
tion application. The deadbeat controller computes the rotor Acronyms
voltage to be applied to the doubly fed induction generator
during the voltage sag condition. The control is designed by DFIG Doubly fed induction generator
the discretized rotor equations and makes use of the stator DSOGI–QSG Double Secondary General Order
field-oriented control technique. The SCE–RLS calculates Integrator–Quadrature Signal Generator
each sequence component of stator voltages or currents that DSP Digital signal processor
allow the right position of the mentioned vectors. Compar- PLL Phase-locked loop
isons made by MATLAB/Simulink and by experimental tests SCE–RLS Sequence component extractor based on
corroborate the advantageous of the proposed recursive least recursive least squares
squares extractor over the one based on the Secondary Gen- SFOC Stator field-oriented control
eral Order Integrator.
Symbols
Keywords Doubly fed induction generator · Positive
sequence extraction · Sequence components · Recursive Rs , Rr Stator and rotor resistances
least squares · Voltage sags L s, L r , L m Stator, rotor, and mutual inductances
σ Total leakage factor
ωs , ωr , ωm Synchronous, slip, and rotor angular fre-
quency
θs , θr , θm Stator flux, slip, and rotor angles
B C. M. Rocha-Osorio P, Q Active and reactive power
rocha.carlos@ufabc.edu.br v, i, ψ Voltage, current, and flux space vectors
J. S. Solís-Chaves v, i, ψ Voltage, current, and flux components
sebastian.chaves@ufabc.edu.br Vp , Vn Positive and negative sequence vector
Fabiano F. Costa p Number of poles
fabiano.costa@ufba.br ts Setting time
Darlan A. Fernandes tr Rise time
darlan@cear.ufpb.br T Sampling period
A. J. Sguarezi Filho k Sampling time
alfeu.sguarezi@ufabc.edu.br
1 Federal University of ABC, Santo André, São Paulo, Brazil Subscripts
2 Federal University of Bahia, Salvador, Bahia, Brazil s, r Stator, rotor
3 Federal University of Paraíba, João Pessoa, Paraíba, Brazil α, β Stationary α–β axis

123

d, q Synchronous direct and quadrature axis
−, + Negative and positive sequence
ref Reference value
1 Introduction
The DFIG is widely applied in wind energy systems con-
nected to the grid. In this application, the rotor of DFIG is
connected by a back-to-back converter, and its stator is con-
nected to the grid (Abad et al. 2011; Zhu and Chen 2016). In
this way, when a voltage sag occurs, it causes high-current
transients in the stator and rotor windings, and the power
converter can be damaged. Initially, the crowbar circuit lim-
its the high currents providing a bypass in the rotor circuit
via a set of resistors that links to the rotor windings (Mor-
ren and de Haan 2005). However, this solution is undesired
because the DFIG and the power converter must to be con-
nected to the power grid during these events due to the new
grid code requirements (Huang et al. 2016). Alternatively to
the use of crowbar circuit, several control strategies that limit
the rotor current during voltage dips or control the injected
power to the grid have been proposed in Mohseni et al.
2011; Shen et al. 2015 and Mendes et al. 2015. These strate-
gies allow the DFIG operation during a voltage sag. In this
type of application some methods such as the DSOGI–QSG
(Rodriguez et al. 2006b; Rodrguez et al. 2012; Rodriguez
et al. 2006a), multi-resonant frequency-locked loop (Xu et al.
2012) are solutions to positive and negative sequence com-
ponent extraction that could be applied to guarantee correct
estimation of the stator angle and adequate generator con-
trol during the voltage sag. Another PLL technique for grid
synchronization strategy, unbalance and harmonic distortion
conditions is shown in Chaoui et al. 2016. Instantaneous
power theory is used in Zhou 2009 to separate positive
and negative sequence components in real time and their
responses to unsymmetrical voltage dip and delaying sig-
nals T /4 of its period, for both grid and rotor controllers.
In (Patrício de Santana et al. 2017) a fault identification for
DFIG using fast Fourier transform and neural networks is
presented, but any control action for solving the fault condi-
tions is proposed.
On the other hand, there are several extraction techniques
for positive sequence components like instant symmetri-
cal components (Karimi-Ghartemani and Iravani 2004), the
adaptive notch filters (Yazdani et al. 2009; Mojiri et al. 2007),
the delayed-signal cancelation (Svensson et al. 2007; Wang
and Li 2011) that have been used successfully in appli-
cations for distributed generation in PLL circuits. Some
techniques are applied to the DFIG control as improved
PLL using a resonant controller (Zhou et al. 2009) or
PLL plus notch filter (Yao et al. 2013) with satisfac-
tory results. However, the SCE–RLS (Fernandes et al.
123
J Control Autom Electr Syst
2009) was not yet applied in the DFIG power control
during a voltage sag and its comparison with DSOGI–
QSG.
This paper proposes the application of the SCE–RLS in
the DFIG control during a voltage sag. The DFIG power
control is made by using a deadbeat controller (Filho and
Ruppert 2010). The SCE–RLS was originally proposed in
(Fernandes et al. 2009) for being employed in a dynamic
voltage restorer. It has a quick response for calculating fun-
damental phasor voltage of the grid. The technique was
further improved by the use of the weighted least squares,
enhancing the speed of response and its settling time (Nasci-
mento et al. 2013). An application of SCE–RLS to wind
generation was reported in (Liu et al. 2009) to control a per-
manent magnet synchronous generator, with a system that
depends on the synchronization of PLL under synchronous
reference frame to estimate the parameters of the genera-
tor refining the dq magnitudes. Simulation and experimental
results illustrate the proposed system operation and how it
can improve the dynamic performance of the DFIG con-
troller.
This paper is organized as follows. In Sect. 2 the SCE–
RLS is fully described. In Sect. 3 the sequence detector based
on DSOGI–QSG is reviewed. Subsequently, in Sect. 4, the
DFIG power control during the occurrence of voltage sag
and the use of the deadbeat controller is explained. For
comparison purposes between extractors, a simulation exe-
cuted in MATLAB/Simulink is developed in Sect. 5, and
then, the dynamic response for the two extractors is shown.
Finally, experimental results are presented in Sect. 6 com-
paring the SCE–RLS and DSOGI–QSG results when a
balanced voltage sag occurs. Finally, conclusions are drawn
in Sect. 7.
2 Positive and Negative Sequence Component
Extractor Based on RLS-SCE-RLS
According to the sequence estimation technique proposed in
(Silva et al. 2015), a way to extract the positive and negative
sequences of the three-phase voltage vabc during a fault in
the power grid, can be made from Clarke transform (Clarke
1943). The abc voltage is associated with a vector Vs , which
has a stationary reference angular position θ = ωt. When
the system is in normal operating conditions, the vector Vs
and ω are positive constants and the vector rotates in a coun-
terclockwise direction. In the case of a system failure, the
vector Vs is defined as the sum of two vectors (see Fig. 1).
A positive sequence vector Vp is rotating in a counterclock-
wise direction, with angular velocity ω, and other negative
sequence vector Vn is rotating in a clockwise direction, with
angular velocity − ω.
J Control Autom Electr Syst

where vp is the positive sequence magnitude and vn is the

negative sequence magnitude. These are equal to:

vp = vpα0
2 + v2
pβ0 (9)

vn = vnα0
2 + v2
nβ0 (10)

and the angles φp and φn can be calculated by:

Fig. 1 Sequence components on the αβ plane vpα0

φp = cos−1 (11)
Considering Fig. 1, the components vα and vβ can be writ- vp

ten as follows: v
φn = sin−1
nβ0
(12)
vpα
vn
vnα
     
vα = vp cos(θ + φ p ) + vn cos(θ + φn ) (1)
vpβ vnβ
The SCE–RLS method previously presented is summa-
      rized in Fig. 2.
vβ = vp sin(θ + φ p ) − vn cos(θ + φn ) (2)

And making an expansion of sines and cosines of (1) and 3 Positive and Negative Sequence Detector Based
(2): on DSOGI–QSG

vα = (vpα0 + vnα0 ) cos ωt + (−vpβ0 + vnβ0 ) sin ωt (3) The performance of the proposed RLS algorithm will be
vβ = (vpβ0 − vnβ0 ) cos ωt + (vpα0 − vnα0 ) sin ωt (4) compared with DSOGI–QSG that is one of the most used
sequence extractor (Rodriguez et al. 2006b; Reza et al. 2014).
where vpα0 = vp cos φp , vpβ0 = vp sin φp , vnα0 = vn cos φn The DSOGI–QSG is based on the traditional SOGI (Sec-
and vnβ0 = vn sin φn . Compacting (3) and (4) : ondary General Order Integrator) and its transfer function
is given by (Rodriguez et al. 2006b; Rodrguez et al. 2012;
Rodriguez et al. 2006a).
vα = X 1c cos ωt + X 1s sin ωt (5)
vβ = Y1c cos ωt + Y1s sin ωt (6) v kω s
D(s) = (s) = 2 (13)
v s + kω + ω2
by which qv  kω2
Q(s) = (s) = 2 . (14)
v s + kω + ω2
X 1c = vp cos φp + vn cos φn = vpα0 + vnα0
Both expressions are the transfer functions for direct
X 1s = −vp sin φp + vn sin φn = −vpβ0 + vnβ0 and quadrature voltage signals defined in (Rodriguez et al.
Y1c = vp sin φp − vn sin φn = vpβ0 − vnβ0 2006b), where ω is the frequency and k the damping fac-
Y1s = vp cos φp − vn cos φn = vpα0 − vnα0 . (7) tor. The DSOGI–QSG block diagram is shown in Fig. 3.
Thus, DSOGI–QSG allows the sequence component extrac-
Analyzing (5) and (6), it can be concluded that the X 1c , X 1s , tion of the voltage or current. In this figure the outputs are the
Y1c ,Y1s parameters are linear with respect to vα and vβ , and positive (α+ and β+) and negative (α− and β−) sequence
according to was proposed in (Silva et al. 2015), applying the signals from the stationary reference frame or αβ frame.
RLS is possible to calculate these linear parameters presented
in (7) where:
4 Power Control of DFIG During Voltage Sags
1 c 
vpα0 = vp cos φp = X 1 + Y1s According to (Abad et al. 2011; Filho and Ruppert 2010) the
2
1 c  active and reactive power using SFOC can be expressed as:
vpβ0 = vp sin φp = Y1 − X 1s
2
1 c  3 Lm
vnα0 = vp cos φn = X 1 − Y1s Ps = − vs i rq (15)
2 Ls
2

1  3 ψs Lm
vnβ0 = vn sin φn = − Y1c + X 1s (8) Q s = vs − i rd (16)
2 2 Ls Ls

123
 J Control Autom Electr Syst

Fig. 2 Positive and negative sequence component extraction based on RLS (Silva et al. 2015)

Fig. 4 Inputs/outputs deadbeat controller

i rq,ref − i rq (k)
vrq (k) = σ L r
T
+ Rr i rq (k)
+ L r ωr i rd (k) + L m ωr i sd (k) (18)

Fig. 3 Positive and negative sequence detector based on DSOGI–QSG And the current vector components of the rotor are pre-
(Rodriguez et al. 2006b) sented in (19) and (20):

2Q s,ref L s ψs
where Ps and Q s represent the stator active power and sta- i rd (k + 1) = i rd,ref = − + (19)
tor reactive power, respectively; vs represents the magnitude 3vs L m Lm
of the stator voltage; L m and L s are the mutual inductance 2Ps,ref L s
i rq (k + 1) = i rq,ref =− (20)
and the stator inductance of windings, respectively; ψs is the 3vs L m
magnitude of the stator flux. Finally, i rd and i rq are the rotor
currents. The deadbeat controller is adjusted according to the gen-
Thus, the power control is achieved by controlling the erator parameters (Table 2) so that the controller does not
rotor currents. exceed the nominal rotor voltage and it is not saturated. Its
behavior under parameter variation was previously studied
4.1 Deadbeat Controller in (Filho and Ruppert 2010), and it was experimentally vali-
dated that a 20% increase in rotor resistance does not affect
In this paper, a deadbeat (Filho and Ruppert 2010, 2011) its control action.
control strategy is applied to the active and the reactive power
control of DFIG connected to the power grid. The structure 4.2 Control System for DFIG Under Three-Phase
of the deadbeat controller is presented in Fig. 4 according to Voltage Sag
(Filho and Ruppert 2010, 2011).
The voltage vector components of the rotor are shown in The control scheme presented in Fig. 5 shows two options
(17) and (18): to estimate the stator voltage and current positive sequence
vectors in normal operation and in a fault condition. The first
i rd,ref − i rd (k) option uses SCE–RLS, and the second one uses the extractor
vrd (k) = σ L r + Rr i rd (k)
T based on DSOGI–QSG; for both options is used the deadbeat
−L r ωr i rq (k)) − L m ωr i sq (k) (17) controller discussed in Sect. 4.1.

123
J Control Autom Electr Syst

The operation of the generator during the occurrence of

the fault varies from one country to another depending on
network standards that apply (Ferreira et al. 2008; Franco
et al. 2014). In this paper the generator control system has
been configured to permit reactive power injection limiting
the stator current to its nominal value Is,n . Hence, the appar-
ent power and reactive power are given by:

3
Ss,max (k) = vsq (k)Is,n (28)
2
vs
 

vsq (k)
Q ref (k) = −3vsq (k)Is,n 1− (29)
Vs,n

where Vs,n is the nominal stator voltage. The stator reac-

Fig. 5 Control system diagram for DFIG under a voltage sag
tive power reference maximum value injected to the electric
network is limited if Q ref (k) ≥ Ss,max (k) then Q ref (k) =
−Ss,max (k).
Thus, during voltage sag the active power is null and (28)
presents the value of the reactive power. These values will
be applied in (19) and (20) that allow to calculate the current
reference. The control scheme is displayed in Fig. 5.

The estimation of active and reactive power was per-

formed using the voltage and positive sequence current stator
5 Simulated Results
vs,αβ+ and i s,αβ+ , where:
To compare the performance of the proposed SCE–RLS
3
Ps,αβ = (vsα+ i sα+ + vsβ+ i sβ+ ) (21) (Silva et al. 2015) with the extractor based on DSOGI–QSG
2
(Rodriguez et al. 2006b; Rodrguez et al. 2012; Rodriguez
3
Q s,αβ = (vsβ+ i sα+ − vsα+ i sβ+ ) (22) et al. 2006a) for a wind generation system using DFIG, a type
2
A fault was simulated according to Fig. 4.70 and Table 4.9
Additionally, position (23) and angular stator frequency from (Bollen 2000) and with a depth of 50% and a duration
(24) were estimated by the components of the stator flux, of 0.4 s (starting time: 1.3 s, final time 1.7 s). Typically, a type
represented by (25). A fault consists in a balanced sag like in Fig. 12. During the
occurrence of the fault, the control system shown in Fig. 5

ψsβ was configured to generate a reactive power equal to − 1600

θs = tan−1 (23) var and an active power equal to 0 W. The simulations were
ψsα
dθs made in MATLAB Simulink–SimPowerSystems toolbox.
ωs = (24) In Figs. 6 and 7 the generator power control response is
dt illustrated. It can be seen that the RLS (red legend) has a
ψ s,αβ = (vs,αβ+ − Rs is,αβ+ )dt (25) faster response than when using DSOGI–QSG (Rodriguez
et al. 2006b) (green legend). The numerical comparison of
The rotor angle θm can be obtained from: the two sequence component extractors for different tests is
shown in Table 1. Hence, the superior performance of RLS

p can be observed because its steady-state error is minor than
θm = ωm dt (26)
2 DSOGI–QSG as shown in Fig. 6.
The stator and rotor current behavior during the voltage
And the slip angle θr can be obtained from (23) and (26). sag is displayed in Figs. 8, 9 and 10. The superior perfor-
mance of the SCE–RLS with major detail in Fig. 10 can be
θr = θs − θm (27) observed.

123
 J Control Autom Electr Syst

Fig. 6 Stator active power response under a balanced voltage sag

Fig. 8 Stator d component current response under a balanced voltage
sag

Fig. 7 Stator reactive power response under a balanced voltage sag

Table 1 Response of the SCE–RLS and DSOGI–QSG

Parameter tr (s) ts (s) Fig. 9 Stator q component current response under a balanced voltage
sag
Simulation: balanced voltage sag
DSOGI–QSG 0.08 0.08
SCE–RLS 0.005 0.025 voltage source and resistive load. The algorithm was imple-
Experiment: balanced voltage sag mented by using a sampling frequency of 3 kHz. The setup
DSOGI–QSG 0.03 0.03 is displayed in Fig. 11.
SCE–RLS 0.005 0.005
Experiment: unbalanced voltage sag
DSOGI–QSG 0.03 0.03 6.1 Balanced Voltage Sag Results
SCE–RLS 0.012 0.012
This test is a three-phase voltage sag. During 0.5 s the three-
phase voltages decrease 50%. Are shown in Fig. 12 the
6 Experimental Results voltages during the test. In Fig. 13 is demonstrated the per-
formance of the SCE–RLS and the DSOGI–QSG (Rodriguez
An experimental setup was built to evaluate the proposed et al. 2006b). The superior performance of the SCE–RLS due
SCE-RLS. The setup is composed by electronic boards, digi- to this fast response can be evidenced. The SCE–RLS time
tal signal processor (DSP) TMS320F28335, a programmable response is less than one cycle.

123
J Control Autom Electr Syst

0.5

Voltage [V]
−0.5
1
−1
0.5

−1.5 0
RLS
DSOGI −0.5
−2 v −1
s,α+
1.8 1.82 1.84 1.86 1.88
−2.5
1.7 1.8 1.9 2 2.1 2.2 2.3 2.4 2.5
Time [s]

Fig. 13 SCE–RLS and DSOGI–QSG (Rodriguez et al. 2006b)

behavior during a balanced voltage sag

1.5

Fig. 10 Stator α component current response under a balanced voltage 1

sag
0.5

Voltage [V]
0

−0.5

−1

−1.5
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Time [s]

Fig. 14 Unbalanced voltage sag test

0.5

0
Voltage [V]

−0.5

−1 1

Fig. 11 Experimental setup −1.5 0

vs,α+

−2 RLS
DSOGI −1
0.12 0.14 0.16 0.18 0.2
1.5 −2.5
0.1 0.15 0.2 0.25 0.3 0.35 0.4
Time [s]
1

Fig. 15 SCE–RLS and DSOGI–QSG behavior during a unbalanced

0.5 voltage sag
Voltage [V]

6.2 Unbalanced Voltage Sag Results

−0.5

−1 The test is a two-phase voltage sag. During 0.19 s, the two-

phase voltages decreases 50% and Fig. 14 shows the voltages
−1.5
1.7 1.8 1.9 2 2.1 2.2 2.3 2.4 2.5 during the test. The performance of the proposed RLS algo-
Time [s]
rithm is presented in Fig. 15. It can be seen the superior
Fig. 12 Balanced voltage sag test (type A fault)

123
 J Control Autom Electr Syst

performance of SCE–RLS against DSOGI-QSG (Rodriguez References

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