electronics

Article
Design of Vector Control Strategies Based on Fuzzy Gain
Scheduling PID Controllers for a Grid-Connected Wind Energy
Conversion System: Hardware FPGA-in-the-Loop Verification
Mahdi Hermassi 1, * , Saber Krim 2,3 , Youssef Kraiem 4 , Mohamed Ali Hajjaji 1,5 , Badr M. Alshammari 6 ,
Haitham Alsaif 6 , Ahmed S. Alshammari 6 and Tawfik Guesmi 6

1 Electronic and Micro-Electronic Laboratory, LR99ES30, Faculty of Sciences, University of Monastir,

Monastir 5000, Tunisia
2 Laboratory of Automatic, Electrical Systems and Environment, National Engineering School of Monastir,
University of Monastir, Monastir 5000, Tunisia
3 Department of Technology, Higher Institute of Applied Sciences and Technology of Kasserine, University of
Kairouan, Kairouan 3100, Tunisia
4 Arts et Metiers Institute of Technology, University Lille, Centrale Lille, Junia, ULR 2697–L2EP,
F-59000 Lille, France
5 Higher Institute of Applied Sciences and Technology, University of Sousse, Sousse 4003, Tunisia
6 Department of Electrical Engineering, College of Engineering, University of Ha’il, Ha’il 2240, Saudi Arabia
* Correspondence: [email protected]

Abstract: This paper presents a hardware implementation upon a Field Programmable Gate Array
(FPGA) of improved Vector Control Strategies (VCSs) based on a Fuzzy Logic System (FLS) of a
grid-connected wind energy conversion system. Usually, the classical VCS is based on fixed-gain
Proportional Integral Derivative (PID) controllers, which are known to exhibit limited performance
against the nonlinear behavior of wind systems, such as rapid fluctuations of the wind speed and
Citation: Hermassi, M.; Krim, S.; uncertainties of the system parameters. In order to overcome this limitation, an improved VCS based
Kraiem, Y.; Hajjaji, M.A.; on Fuzzy Gain Scheduling PID controllers (VCS-FGS-PID) is suggested in this work to guarantee
Alshammari, B.M.; Alsaif, H.; good tracking, high accuracy and good robustness under system parameter variations. Indeed, the
Alshammari, A.S.; Guesmi, T. Design PID controller gains are tuned, in real-time, by the FLS. In addition, the proposed VCS-FGS-PID
of Vector Control Strategies Based on methods are implemented on the FPGA in order to reduce the delays and the period of the system
Fuzzy Gain Scheduling PID of the control loop, thanks to its parallel processing. In fact, the performance of the suggested
Controllers for a Grid-Connected
VCS-FGS-PID approaches are proved by digital simulation with the Xilinx system generator tool
Wind Energy Conversion System:
under Matlab/Simulink, in addition to an experimental hardware-in-the-loop implementation using
Hardware FPGA-in-the-Loop
the FPGA. The obtained results demonstrate that the proposed VCS-FGS-PID techniques offer better
Verification. Electronics 2023, 12, 1419.
https://doi.org/10.3390/
performance as regards good tracking and high accuracy and good robustness against stator resistance
electronics12061419 variability compared to VCS-PI.

Academic Editor: Ahmed Abu-Siada

Keywords: wind energy conversion system; fuzzy logic; Xilinx system generator; field programmable
Received: 12 February 2023 gate array; proportional integral derivative controller
Revised: 14 March 2023
Accepted: 14 March 2023
Published: 16 March 2023
1. Introduction
The rise in global electrical energy demand and the depletion of fossil energy sources
Copyright: © 2023 by the authors.
has led to an urgent need for renewable energy sources. The development and optimization
Licensee MDPI, Basel, Switzerland. of renewable energy technologies, such as solar, wind and hydropower, has emerged as
This article is an open access article a viable solution. In particular, several studies have focused on using remote sensing
distributed under the terms and data to assess land cover changes and their impact on ecosystem services [1–3]. Geospa-
conditions of the Creative Commons tial analysis has also been utilized to enhance precision agriculture and optimize animal
Attribution (CC BY) license (https:// husbandry practices [4,5]. Additionally, climate change impacts on various sectors, includ-
creativecommons.org/licenses/by/ ing agriculture and animal production, have been investigated through the integration
4.0/). of remote-sensing, geospatial and modeling approaches [6,7]. These efforts have led to

Electronics 2023, 12, 1419. https://doi.org/10.3390/electronics12061419 https://www.mdpi.com/journal/electronics

Electronics 2023, 12, 1419 2 of 36

improved understanding of environmental processes and informed decision-making for

sustainable resource management. Hence, integrating the power grid of renewable energy
sources such as Photovoltaic (PV) and wind energy has become a relevant solution [8].
To solve the issues of global warming as well as greenhouse gas emissions, the energetic
transition should pass through the multiplication of installations of PV and wind genera-
tors [9]. Today, the electricity flow produced by renewable energy sources, such as PV and
wind sources, is considered an important alternative solution to compensate the increase in
electricity demand [10].
For the last few years, wind turbine technologies have generally featured novel con-
struction, performance and operation aspects. Currently, the variable-speed Wind Energy
Conversion System (WECS) is the most used. It has been given significant consideration,
and its extent of cross-country energy has risen more quickly in the last few decades. In-
deed, compared to fixed-speed WECSs, the variable-speed WECS features some advantages
such as reduced mechanical stress, good quality of the produced electrical energy and
the existence of a maximum power point with a variable position that depends on wind
speed [11]. Despite the benefits of variable-speed WECSs that are based on a Permanent
Magnet Synchronous Generator (PMSG), the main problem of this wind system consists
of wind speed fluctuations. Power generated from the WECS is directly proportional to
the wind profile. As a result, a small variation in the wind speed has a big impact on the
extracted power. In fact, the latter is inconsistent with the power grid for the reason that the
grid voltage should have an acceptably stable amplitude and frequency. A wind turbine is
an intermittent power source that can cause fluctuations such as communication delays
and cyber-attacks in the power demand and frequency of the power system. Any change
in the power requirements of the grid can cause deviations from the nominal frequency,
leading to potential damage to the devices connected in the grid. However, in order to
improve the stability and reliability of power systems, much effort has been devoted to
studying them [12–14].
Recently, PMSGs have been progressively used for variable-speed wind turbines given
their good performance, high efficiency, high-power density, low heat generation and small
size. The wind turbine is connected to the power grid by the use of one power electronic
interface and one Resistor-Inductor (RL) filter. The power electronic interface is made up
of an Alternative Current (AC)/Direct Current (DC) rectifier, a DC/AC inverter and a
common DC bus, which are controlled by two vector control strategies. Thus, determining
adequate control strategies is a very important aspect of this system. Generally, the most
known control technique is the conventional Vector Control Strategy integrating a control
loop based on Proportional Integral (VCS-PI) controllers or Proportional Integral Derivate
(PID) controllers [15]. A PID controller can be used to control some aspects of a nonlinear
system, especially if the nonlinearity is small or can be approximated by a linear model over
a certain operating range [16,17]. In this case, a PID controller can be used to control the
system within that range, and the control performance will be acceptable. Indeed, PI and
PID controllers are more suitable for linear systems, but these controllers can be utilized
for controlling nonlinear systems such as electrical machines, wind turbines, etc. [18–21].
However, WECSs based on PI or PID controllers provide poor performance in terms of
tracking, accuracy and robustness since they are exposed to various internal and external
disturbances, such as fluctuations in the wind speed, changes in the turbine blade angle,
variations in the generator speed and changes in the stator resistance due to temperature
variations or other factors [22,23]. Consequently, the linearity of VCS-PI controllers is not
designed to withstand the complex nonlinear behavior of WECSs, since the inadequate
choice of the controller gains can lead to the instability of the system [24].
Therefore, the VCS of the WECS is usually based on a Proportional Integral (PI)
controller for controlling the generator currents, the grid currents and the DC voltage [25].
Furthermore, the linear PI controller cannot be adequate against parameter variations and
external disturbances [26], which consequently affect the tracking accuracy, stability and
Electronics 2023, 12, 1419 3 of 36

dynamics of the controlled system [27]. Thus, the negative effects of these disturbances
cannot be mitigated utilizing the VCS-PI controllers with fixed gains [27].
As the WECS is a non-linear system, a well-developed non-linear controller can over-
come the limitations of PI and PID controllers and achieve superior control performance in
the face of uncertainties and external disturbances [28]. Researchers have proposed various
advanced non-linear control techniques for the variable-speed WECSs in recent years,
including back-stepping-based control [29], adaptive control [30], predictive control [31],
intelligent control based on artificial neural networks and fuzzy logic systems [32–36] and
Sliding Mode Control (SMC) [25,37,38]. SMC has been deemed the most suitable control
method for the WECS because of its strong robustness. However, the primary drawback
of first-order SMC is the chattering phenomenon, which causes high oscillations around
the equilibrium point and vibrations in the electrical machines and mechanical parts of
the system due to the discontinuous nature of the control action [39,40]. This issue has
led to SMC’s rejection by designers for certain industrial applications. Therefore, various
improvement studies have focused on reducing chattering, which is considered the main
issue of SMC. Saturation or sigmoid functions can be used instead of the discontinuous
control action to attenuate chattering, ensuring continuous control. However, this control
law drives the system state trajectories towards the sliding surface’s vicinity rather than
towards the sliding surface itself, affecting control robustness under disturbances [41,42].
In addition, the higher-order sliding mode algorithm is deployed in order to reduce the
chattering phenomenon. However, this method requires higher-order real-time derivatives
of the outputs [43]. In [25], the authors put forward an SMC for a grid connected to a
WECS based on a PMSG. Indeed, the SMC was suggested to replace the PI controllers
used in the wind generator control strategies. The SMC would offer good performance
in terms of stability, good dynamic and fast response, but it would cause high oscilla-
tions in the electromagnetic torque, the quadratic stator current, the direct grid current
and the injected active and reactive power. In [30], the authors proposed a Classical Tip
Speed Ratio technique with PI (CTSR-PI) controller for a wind turbine generator. The
performance of the CTSR-PI controller was tested using simulation studies, and it offered
good performance in terms of dynamic response and under wind condition variations,
but it had limitations such as poor tracking accuracy. In the same context, the authors put
forward Adaptive Control Tip Speed Ratio Integral Backstepping (AC-TSR-IBS) in order to
overcome the limitations of the CTSR-PI controller, but its performance was not evaluated
under parameter variations. In [44], the authors suggested a Neuro Second-Order SMC
(SOSMC) technique based on artificial-neural-network controllers with Fuzzy Space Vector
Modulation (NSOSMC-FSVM) to control the reactive and active power of the doubly fed
induction generator. These controllers were compared with the SOSMC-control-based
traditional space vector technique, and the performances of the two controllers were tested
with simulation studies. The NSOSMC-FSVM offered good performance compared to
SOSMC in terms of robustness under wind condition variations and tracking accuracy,
but it had limitations such as the complexity of algorithm implementation. Moreover, the
implementation of large neural networks required an important processing time. In addi-
tion, the SOSMC needed information about the sliding surface and its derivate [45]. In [46],
the authors proposed two neural networks to automate the tuning of PID parameters;
the creation of the data took approximately 120 h to generate million samples of data. It
spent a significant amount of time training, which made the implementation in real-time
more complex.
Moreover, combining fuzzy logic technology with a PI controller can guarantee track-
ing quality even with high model uncertainties. In [47], the authors comparatively studied
PI linear and fuzzy logic controllers for an active grid-interfacing inverter in order to
compensate the harmonic produced by the nonlinear system. The harmonics induced by
the PI controller were high when compared to the FLC-based controller. In fact, fuzzifi-
cation can help mitigate the effect of nonlinearities and disturbances in several ways [48].
Firstly, it allows for the representation of complex nonlinear relationships between the
Electronics 2023, 12, 1419 4 of 36

input and output variables. This means that the control system can handle nonlinearities
that may be difficult to model using traditional control methods. Secondly, fuzzification
allows handling uncertainties and imprecise information. In traditional control systems,
uncertainties and disturbances can cause the system to behave unpredictably. Fuzzy logic
can handle uncertainties by representing the input and output variables as fuzzy sets,
which allows for reasoning with degrees of membership. Finally, the FLC can adjust the
controller parameters dynamically based on the changes in the input signals. Fuzzy rules
can be designed to modify the control output based on the magnitude and direction of the
disturbance, which can reduce the sensitivity of the control system to external disturbances.
Fuzzy Gain Scheduling (FGS) combined with PID control is a powerful method for control-
ling complex and nonlinear systems such as the WECS. Fuzzy logic allows the controller
to adapt in real-time to changing operating conditions, which is critical for ensuring the
optimal performance and stability of the system [48].
In this context, the first contribution of this paper consists of combining Vector Control
Strategies with FGS based on a PID (VCS-FGS-PID) to control higher performance of a
grid-connected WECS. The control system is divided into three parts: (i) VCS-FGS-PID for
the PMSG-side converter, (ii) VCS-FGS-PID for the grid-side converter and (iii) a FGS-PID
for regulating the DC bus voltage. The VCS-FGS-PID for the PMSG-side converter consists
of controlling the electromagnetic torque, the PMSG speed, the quadratic stator current
and the direct stator current. It uses the electromagnetic torque reference as an input,
which is generated by a Maximum Power Point Tracking (MPPT) algorithm. Moreover,
the VCS-FGS-PID of the grid-side converter is used for controlling the active and reactive
power injected to the grid. It is also used to adjust the voltage and frequency in order to
achieve a satisfactory level of security of the power system. The FGS-PID is suggested
in this paper thanks to its robustness under external disturbances such as sudden wind
speed variations and internal disturbances. As an advanced approach, the VCS-FGS-PID
approach is distinguished by its good performance under the aforementioned disturbances.
This is done in real-time by tuning gains of PID controllers [47]. The aforementioned three
parts of the control system, which are designed and implemented in hardware using a
Field-Programmable Gate Array (FPGA), differ from other published work.
Currently, the control algorithms of electrical systems are implemented usually on two
programmable-technology types: FPGAs and Digital Signal Processing (DSP). The DSP
has a limiting factor of short execution time, and this is because of the control algorithm’s
serial processing. In order to overcome the limitations of DSP, FPGAs can be considered a
preferred solution. The benefits of using hardware FPGAs are multiple: (i) rapid prototyp-
ing, (ii) reduced execution time due to parallel processing and (iii) ability to use too-heavy
control methods as regards computing time [49]. Thus, FPGAs have been used in varied
research work [49–52]. Two main methods have been used to implement control algorithms
on FPGAs, namely the Xilinx System Generator (XSG) and programming Very-high-speed
integrated circuit Hardware Description Language (VHDL) [53–56]. For the suggested
control algorithm, a VHDL code is generated by the XSG tool. The XSG tool is chosen
because it is flexible, simple and rapid.
Within this framework, the second contribution of this paper is to design, with the
XSG, and implement, on an FPGA board of the suggested VCS-FGS-PID algorithm for
the PMSG-side converter, the suggested VCS-FGS-PID of the grid-side converter and the
FGS-PID for regulating the DC bus voltage. Concerning the WECS, it is composed of a
wind turbine that derives a PMSG and is connected to the power grid via an RL filter and a
power electronics interface containing two converters interconnected by one common DC
bus. The novelty and the main contributions of this paper theoretically, by simulation and
by hardware in the loop co-simulation, are as follows:
Electronics 2023, 12, x FOR PEER REVIEW 5 of 39
Electronics 2023, 12, 1419 5 of 36

(i) Robust VCS-FGS-PID approaches are proposed for controlling the electromagnetic
(i) torque,
Robustthe VCS-FGS-PID
stator current’s approaches
quadratic arecomponent,
proposed for thecontrolling
DC injected theinto
electromagnetic
the grid, the
torque,
active andthethestator current’s
reactive powerquadratic component,
injected into the grid and the DC injected
the DC into theThe
bus voltage. grid, the
sug-
activeapproach
gested and the reactive
can ensure powergoodinjected into the
performance in grid
termsand the DC bus
of tracking and voltage.
accuracy,The as
suggested approach can ensure good performance in terms of
well as high robustness under stator resistance variations. The proposed control strat- tracking and accuracy,
as well
egies willasguarantee
high robustness
excellent under stator under
robustness resistance
statorvariations.
resistanceThe proposed
variations andcontrol
good
tracking accuracy of the controlled variables even under high fluctuations of and
strategies will guarantee excellent robustness under stator resistance variations the
goodspeed;
wind tracking accuracy of the controlled variables even under high fluctuations of the
(ii) The wind speed; of the suggested VCS-FGS-PID and the FGS-PID of DC bus voltage
algorithms
(ii) areThedesigned
algorithms of the suggested
utilizing the XSG toolVCS-FGS-PID
in order to and verifythetheFGS-PID
WECS of DC bus voltage
behaviors via simu-are
designed utilizing the XSG tool in
lation and to automatically generate a VHDL code; order to verify the WECS behaviors via simulation
(iii) Aand realtoHardware
automatically generate aof
co-simulation VHDL code;
the suggested VCS-FGS-PID algorithms using an
(iii) FPGA
A realZed-Board
HardwareAES-Z7EV-7Z020-G
co-simulation of theissuggested
carried outVCS-FGS-PID
before the final algorithms using
experimental an
val-
FPGA Zed-Board AES-Z7EV-7Z020-G is carried out before the
idation step in order to avoid damage risks and guarantee the experimental operation. final experimental vali-
Itdation step in the
also reduces order to avoid
overall timedamage
allowedrisks andexperimentation,
for the guarantee the experimental operation.
the prototyping time,
It also reduces the overall time allowed
the time to market and the designed system cost. for the experimentation, the prototyping time,
the time to market and the designed system cost.
The rest of the article is organized as follows. The various system elements are mod-
eled in The rest of 2.
Section theInarticle
Sectionis organized as follows. The
3, the conventional various
VCS-PI andsystem elements are modeled
the VCS-FGS-PID are dis-
in Section 2. In Section 3, the conventional VCS-PI and
cussed to ensure robust control of the WECS. The FPGA hardware architecture the VCS-FGS-PID are discussed
of the VCS- to
ensure robust control of the WECS. The FPGA hardware architecture
PI and the proposed VCS-FGS-PID, as well as their synthesis and implementation, are of the VCS-PI and the
proposed in
described VCS-FGS-PID, as well 5,
Section 4. In Section asthe
their
twosynthesis
control and implementation,
methods are implemented are described
and simu- in
Section 4. In Section 5, the two control methods are implemented
lated under the XSG, and a comparison between both controllers with and without pa- and simulated under the
XSG, and
rameter a comparison
variations betweenfollowed
is presented, both controllers with andwith
by a comparison without
otherparameter variations
studies. Finally, Sec-is
presented, followed by a comparison with other studies. Finally, Section 6 concludes this
tion 6 concludes this work and opens new perspectives.
work and opens new perspectives.
2. Description and Modeling of the WECS
2. Description and Modeling of the WECS
In
Inthis
thisstudy,
study,aavariable-speed
variable-speedgrid-connected
grid-connectedWECS WECS is is
presented.
presented.It isItcomposed
is composed of
aofwind
a windturbine as as
turbine a main
a mainsource
sourcethat derives
that a aPMSG.
derives PMSG.The Thepower
powergrid
gridisislinked
linkedtotothe
the
WECS through an RL filter and a power electronic interface. The power electronic
WECS through an RL filter and a power electronic interface. The power electronic interface inter-
face is made
is made up up
of aofthree-phase
a three-phase rectifier
rectifier (converter1 1AC/DC)
(converter AC/DC) and and an
an inverter
inverter (converter
(converter
22DC/AC)
DC/AC) interconnected by a common DC bus, as depicted in Figure1.1.The
interconnected by a common DC bus, as depicted in Figure TheRL RLfilter
filterisis
utilized for reducing the inverter harmonics in its output
utilized for reducing the inverter harmonics in its output power. power.

Wind turbine
AC/DC converter 1 DC/AC converter 2 Transformer Grid
RL filter
PMSG

β PWM PWM

MPPT + Control strategy for PMSG-side Control strategy for grid-side converter
Pitch angle converter

Figure
Figure1.1.WECS
WECSarchitecture.
architecture.
 Electronics 2023, 12, 1419 6 of 36

2.1. Wind Turbine Modeling

The wind turbine captures the aerodynamic power Paer , as described in (1) [57]:

1
Paer = C p Pw = C p (λ, β)ρAVv3 , (1)
2

where ρ denotes air density (kg/m3 ), A = πR2 represents that area swept by the blades of
the wind turbine (m2 ), Vv is the wind speed (m/s), β denotes the blades’ pitch angle (◦ ), λ
represents the speed ratio and C p is the power coefficient.
As a function of the aerodynamic power, Taer is the wind turbine’s aerodynamic torque
expressed as follows [23]:
Paer
Taer = , (2)
Ωmec
where Ωmec is the wind turbine’s rotational speed (rad/s).
The C p power coefficient indicates the wind turbine’s characteristics, and its effec-
tiveness can be expressed in terms of orientation angle and λ speed ratio of blades β as
follows [23]:   18.4
151 2.14 −
C p = 0.5 − 0.58β − 0.002β − 10 e λi , (3)
λi
1
λi = 1 0.003
. (4)
λ−0.02β − β3 +1

The ratio between the wind speed and the blade speed defines the tip speed ratio λ
as follows:
Ωmec R
λ= . (5)
Vv
The wind turbine is controlled with the aim of extracting the maximal available wind
power. Based on Betz theory, the power coefficient should not exceed 0.593 (Experimen-
tally) [57].
Electronics 2023, 12, x FOR PEER REVIEW
Finally, the diagram in Figure 2 summarizes the wind turbine model. The inputs are
7 of 39
the pitch angle β, the wind speed V and the electromagnetic torque. The output is the
mechanical speed.

Figure
Figure 2. Diagram
2. Diagram of of wind
wind turbine
turbine model.
model.

Figure 3 depicts the C p variation concerning λ and β, which presents the optimal
value of the opt = 8.15 speed ratio, corresponding the maximal value of the C p max =
0.4794 power coefficient, with β = 0. In view of this fact, Equation (6) gives the maximum
power that we can obtain through the MPPT algorithm [25]:

1  C pmax R  mec
5 3
 Figure 2. Diagram of wind turbine model.

Figure 3 depicts the C p variation concerning λ and β, which presents the optimal
Electronics 2023, 12, 1419 7 of 36
value of the opt = 8.15 speed ratio, corresponding the maximal value of the C p max =
0.4794 power coefficient, with β = 0. In view of this fact, Equation (6) gives the maximum
power that 3we
Figure can obtain
depicts the C pthrough the
variation MPPT algorithm
concerning λ and β,[25]:
which presents the optimal value
of the λopt = 8.15 speed ratio, corresponding the maximal value of the C pmax = 0.4794 power
 C pmax R 5  3mec
1Equation
coefficient, with β = 0. In view of P =
this fact, (6) gives the maximum power that we
MPPT
can obtain through the MPPT algorithm [25]: 2 opt
3

(6)
11ρCCpmax  mec
5 2
pmaxR5RΩ3mec
MPPT== 2
TPem λ3opt3
MPPT
2 ρC Ropt 5 Ω2 (6)
Tem MPPT = 1 pmax mec
. .
2 λ3opt

Figure 3.
Figure 3. Cp
Cp versus
versus λ.
λ.

To recuperate
To recuperate the
the maximum
maximum amount
amount of of the
the available
available kinetic wind power, the the blade
blade
pitch angle
pitch angle is
is zero,
zero, which
which corresponds
corresponds to to optimal
optimal CCpp and λλ values for the operation in an
MPPT mode. However, it is important to limit the turbine’s rotational speed in case the the
wind speed
wind speedexceeds
exceedsthe
thenominal
nominalspeed
speedtotoprotect
protect the
the system
system from
from mechanical
mechanical problems.
problems. In
In this
this work,
work, thethe control
control system,
system, called
called “pitch
“pitch control”,
control”, should
should be added
be added to jointly
to jointly control
control the
Electronics 2023, 12, x FOR PEER REVIEW 8 of 39
speed as well
the speed as the
as well aspower of theofwind
the power turbine
the wind and necessarily
turbine limit them
and necessarily limit once
themthe rated
once the
value
rated of the wind
value of thespeed
windisspeed
exceeded. Figure 4 Figure
is exceeded. describes the pitch control
4 describes the pitchsystem operation.
control system
operation.

Figure4.4. Evolution
Figure Evolutionof
ofdifferent
differentwind
windturbine
turbinecharacteristics.
characteristics.

2.2.
2.2. Interest
Interest of
of Variable
Variable Speed
Speed
The
The WECS’s variablespeed
WECS’s variable speed is is
plausible because
plausible of the
because interface
of the of power
interface electronic
of power con-
electronic
verters, which allows for the partial or complete decoupling—with the power
converters, which allows for the partial or complete decoupling—with the power grid—
grid—of wind generators. The available power is given by all characteristics that concern
of wind generators. The available power is given by all characteristics that concern the
the generator’s rotational speed. Figure 5 illustrates the varied wind speed. Accordingly,
generator’s rotational speed. Figure 5 illustrates the varied wind speed. Accordingly,
when we drove the generator at a fixed speed, we could not exploit any theoretical maxi-
when we drove the generator at a fixed speed, we could not exploit any theoretical maxi-
mum power curve. That is why, for optimizing the operating point, the generator shaft’s
mum power curve. That is why, for optimizing the operating point, the generator shaft’s
rotation speed must be adjusted by the extracted power depending on the wind speed.
rotation speed must be adjusted by the extracted power depending on the wind speed.
Let point A for wind speed V2 correspond to the aerodynamic power peak of coordinates
Let point A for wind speed V2 correspond to the aerodynamic power peak of coordinates
(P1, 1). If the turbine speed is not basically altered and if the wind speed changes from V2
(P1, 1). If the turbine speed is not basically altered and if the wind speed changes from V2
to V3, power P2 becomes in another point B other than the peak of the second characteristic.
to V3, power P2 becomes in another point B other than the peak of the second character-
To extract the maximum power, the generator speed needs to be different from the other
istic. To speed
rotation extractwhich
the maximum power, thetogenerator
is larger compared speed
the previous needs
one, thustorequiring
be different fromthis
varying the
other rotation speed which is larger compared to the previous one, thus requiring
rotation speed as a function of the wind in order to reach the maximum power (point C). varying
this rotation speed as a function of the wind in order to reach the maximum power (point
C).
 (P1, 1). If the turbine speed is not basically altered and if the wind speed changes from V2
to V3, power P2 becomes in another point B other than the peak of the second character-
istic. To extract the maximum power, the generator speed needs to be different from the
other rotation speed which is larger compared to the previous one, thus requiring varying
Electronics 2023, 12, 1419 this rotation speed as a function of the wind in order to reach the maximum power (point8 of 36
C).

Figure 5. Aerodynamic
Figure 5. Aerodynamic power
power for
for different
different wind
wind speed
speed values
values as
as aa function
function of
of mechanical
mechanicalspeed.
speed.

2.3. Modeling of PMSG and Connection with Power Grid

2.3. Modeling of PMSG and Connection with Power Grid
We connected the wind turbine to the PMSG to transform mechanical energy into
We connected the wind turbine to the PMSG to transform mechanical energy into
electrical energy. This PMSG is modeled in the d–q frame as follows [58]:
electrical energy. This PMSG is modeled in the d–q frame as follows [58]:
d

Vsd = Rs isd + Lsd dt
  disd − ωLsd isq
V  R i  Lsqsddt sq i+
d ( Lisdsdisq+ ϕm ) ,
  sqsd
V = R i
s ssqsd+ L i sd ω Lsq (7)
dt
 em
T = pϕ i
m sq
 d
Vsq  RLsissqisthe
where Rs is the stator resistance,  ( Lsqisd  p mrepresents
isq inductance,
Lsq stator ) (7)
the pole pair
 dt
number, ϕm denotes the permanent magnet flux (Wb) and ω is the electrical speed.
Tem  ptomithe
To connect the wind generator sq power grid, a three-phase RL was used before a
 in the d–q frame model are (8) [23]:
transformer. The expressions ,
(
d
Lr dt ird = Vid − Rr ird + Lr ω R irq − Vrd
d , (8)
Lr dt irq = Viq − Rr irq − Lr ω R ird − Vrq

where ω R is the grid frequency, Rr is the grid resistance, and Lr is the grid inductance.

3. Control Strategy of the WECS

This work aims to present VCS-FGS-PID controllers for the power-grid-connected
variable-speed WECS. The VCS-FGS-PID control design basically focuses upon tuning the
gains of the PID controllers using fuzzy logic technology as a solution to overcome the
issues of uncertainties of the system parameters.

3.1. Conventional Vector Control Technique of the WECS

Conventional VCS-PIs are proposed in this part for controlling the WECS. The main
objective of these controllers is to prove their sensitivity versus highly enormous ranges
of wind speed variations and internal system non-linearities. Indeed, the classical vector
control technique is developed to evaluate the main contribution of this work.
The reference currents of this vector control strategy applied to the PMSG, are deter-
mined as [25]: (
isd−re f = 0
Cem MPPT . (9)
isq−re f = ωφ
Electronics 2023, 12, 1419 9 of 36

The wind turbine is controlled by the conventional control technique applied for
the PMSG to extract the maximal available power. We master the controller on the DC
bus voltage to keep its voltage to a fixed value that is totally irrespective of the wind
speed variations.
A control vector strategy is applied to converter 2 (DC/AC) as a function of the control
of the active power and the reactive one, where both are exchanged with the production
system and the power grid. Two control loops are constructed for controlling both elements
Electronics 2023, 12, x FOR PEER REVIEW 10 of 39
of currents ird−re f and irq−re f . As a consequence, they can regulate the grid connection’s
active power and reactive power, respectively. Currents ird−re f and irq−re f are given by the
active and reactive power of references Pr∗ and Qr∗ as:
Qr will be functioning based on the power grid current’s direct and quadratic compo-
Pr∗ Vrd + Qr∗ Vrq

nents. The problem in this case is to ihow
rd−reto
f =control active and reactive power in a separate
2 + V ∗2
Vrd rq
way. For this, orienting reference(d, q) is enough ∗
P V +Q V ∗ for. repealing the quadratic ( Vrq (10)
= 0)
irq−re f = r Vrq2 +V ∗r 2 rd
voltage’s component. According to this, Vr  V rd . Therefore, the connection model with
rd rq

To ensure
the power gridthe operation
given of the WECS’s
by Equation (9) and the unity power factor,
references of thethe reactive
power gridpower reference
current’s direct
can
andbe zero (Qr ∗ =become
fixed tocomponents
quadratic result, both active power Pr and reactive power Qr
0). As a[25]:
will be functioning based on the power grid current’s direct and quadratic components.
The problem in this case is L d to control active and reactive power in a separate
Rrird  Lrrirq  Vr
 r dt ird(d,q)Vodis enough
to how
way. For this, orienting reference for repealing the quadratic (Vrq = 0)

voltage’s component. Accordingd to this, Vr = Vrd . Therefore, the connection model with (11)

the power grid given by Equation Lr (9)  Voqthe
irq and R r irq  Lrof
references r irdthe power grid current’s direct
 dt [25]:
and quadratic components become ,
d

Lr dt ird = Vod − Rr ird + L*r ωr irq − Vr
 Pr , (11)
ird R r irq+ Lr ωr ird
d
Lr dt irq = Voq−  ref
 Vrd (12)
 Pr∗
(
irdi− f =V0
 rqre ref rd .
. (12)
irq−re f = 0
The same
The same characteristic
characteristic variables
variables for
for every
every phase
phase must
must be
be possessed
possessed by by the
the converter
converter
output voltage to guarantee that renewable energy generators are properly
output voltage to guarantee that renewable energy generators are properly connected to connected to
the power grid. If the voltage phase angle is appropriately adjusted, this effect is
the power grid. If the voltage phase angle is appropriately adjusted, this effect is attained.attained.
The Phase
The Phase Locked
Locked LoopLoop (PLL)
(PLL) is
is the
the most
most typical
typical approach
approach utilized
utilized for
for synchronizing
synchronizing the the
main energy supply with the grid-side converter outputs. Thus, it is important
main energy supply with the grid-side converter outputs. Thus, it is important in this study in this
study
to to construct
construct one PLLone PLL (Figure
(Figure 6)correctly
6) able to able to correctly
analyze aanalyze
voltageaphase
voltage phase
angle angle
of one of
ideal
one ideal
power grid.power grid.

Figure 6.
Figure 6. PLL
PLL algorithm.
algorithm.

The
The conventional
conventional vector
vector technique
technique control
control laws
laws of
of the
the PI
PI have
have better
better results
results for
for linear
linear
systems having constant parameters. On the other hand, these laws for nonlinear
systems having constant parameters. On the other hand, these laws for nonlinear systems systems
such
such asaswind
windsystems areare
systems not not
adequate enough,
adequate especially
enough, when system
especially accuracyaccuracy
when system is needed,is
and otherand
needed, dynamic characteristics
other dynamic will be hard
characteristics tobe
will obtain
hardduring wind
to obtain speedwind
during variability
speed [59].
var-
To overcome
iability [59]. this drawback, this
To overcome the VCS-FGS-PID
drawback, thecontroller
VCS-FGS-PIDapproach is proposed
controller in thisispaper.
approach pro-
posed in this paper.

3.2. Fuzzy Gain Scheduling-PID Controller

The conventional VCS-PI cannot determine the variation in increasing and decreas-
Electronics 2023, 12, 1419 10 of 36

3.2. Fuzzy Gain Scheduling-PID Controller

The conventional VCS-PI cannot determine the variation in increasing and decreasing
errors
Electronics 2023, 12, x FOR PEER REVIEW while only being capable of responding to the immediate error value. Consequently,
11 of 39
it is not appropriate for nonlinear systems such as wind generators. The VCS-FGS-PID
Electronics 2023, 12, x FOR PEER REVIEW 11 of 39
controllers are proposed to overcome this problem. The structure of this control strategy is
detailed in Figure 7.
Wind turbine AC/DC converter 1 DC/AC converter 2 Transformer Grid
RL filter
Wind turbine PMSG AC/DC converter 1 DC/AC converter 2 Transformer Grid
RL filter
PMSG

abc abc abc

dq PWM PWM dq dq PLL
abc abc abc
dq PWM PWM dq dq PLL

FGS-PID + FGS-PID
+− +
− -+ FGS-PID
−+
+− FGS-PID + +
− abc +
−
dq
-+ 𝐿𝑤𝑟
−+
dq abc
−
abc + dq 𝐿𝑤𝑟
dq abc
− FGS- + −
MPPT + FGS-PID ++ PID + FGS-PID +
+ +
− FGS- Part 3 + −
MPPT + FGS-PID ++ PID + FGS-PID +
+ +
Part 3
−
+
− P −
+
+
− P
+ Part 1 Part 2
Part 1 Part 2
Figure 7. Schematic of WECS VCS-FGS-PID controller.
Figure7.7. Schematic
Figure Schematicof
ofWECS
WECSVCS-FGS-PID
VCS-FGS-PIDcontroller.
controller.
As shown in Figure 8, the VCS-FGS-PID is based on three steps: fuzzification, infer-
enceAsand
As defuzzification
shown
shown Figure8,[60].
ininFigure 8,
thetheFuzzification
VCS-FGS-PID
VCS-FGS-PID is an important
is based
based on on aspect
three
three of
steps:
steps: FGS-PID controllers,
fuzzification,
fuzzification, infer-
inference
as
and itdefuzzification
ence allows them to[60].
and defuzzification handle
[60].nonlinearities
is an and
Fuzzification
Fuzzification is anuncertainties
important
important in FGS-PID
aspectaspect
of theofsystem.
FGS-PID Fuzzification
controllers,
controllers, as it
involves
as it allows
allows themrepresenting
them
to handle the system
to handle inputs and
nonlinearities
nonlinearities outputs
and asthe
fuzzy
uncertainties
and uncertainties in insets,
system. which allows
theFuzzification
system. the con-
Fuzzification
involves
troller
involves to representing
representing reason aboutthe
the system the system
inputs
system andinoutputs
a more
inputs andasflexible
fuzzyand
outputs sets,robust
which
as fuzzy way.
allows
sets, However,
which the FGS-PID
controller
allows to
the con-
controllers
reason
troller about can
theadjust
to reason abouttheir
system parameters
in asystem
the more flexiblein and
in a morereal-time
robustbased
flexible on
way.robust
and theway.
However, current statecontrollers
FGS-PID
However, ofFGS-PID
the sys-
tem,
can whichtheir
adjust
controllers allows
can them
parameters
adjust to handle
their thesein
in real-time
parameters nonlinearities
based on the
real-time andon
current
based uncertainties
state
the of themore
current effectively
system,
state of which
the sys-
[48].
allows them allows
tem, which to handle these
them nonlinearities
to handle and uncertainties
these nonlinearities more effectively
and uncertainties more [48].
effectively
[48].

Figure8.8. Fuzzy
Figure Fuzzylogic
logiccontroller
controllerblock
blockdiagram.
diagram.
Figure 8. Fuzzy logic controller block diagram.
In comparison with conventional tuning techniques, fuzzy logic tuning does not de-
pendInoncomparison
well-defined or conventional
with precise mathematical formulas. However,
tuning techniques, fuzzy logicittuning
manipulates
does not infer-
de-
ences
pend onthrough the use of
well-defined or several
precise fuzzy rules based
mathematical on fuzzy
formulas. operators:
However, AND, OR, THEN,
it manipulates infer-
etc.,
encesapplied
throughtothe
linguistic variables.
use of several Thisrules
fuzzy VCS-FGS-PID controller
based on fuzzy is made
operators: up of
AND, a conven-
OR, THEN,
tional PID control system, a fuzzy reasoning mechanism and a set of fuzzy rules, as
etc., applied to linguistic variables. This VCS-FGS-PID controller is made up of a conven- sum-
Electronics 2023, 12, 1419 11 of 36

In comparison with conventional tuning techniques, fuzzy logic tuning does not
depend on well-defined or precise mathematical formulas. However, it manipulates
inferences through the use of several fuzzy rules based on fuzzy operators: AND, OR,
THEN, etc., applied to linguistic variables. This VCS-FGS-PID controller is made up of a
Electronics 2023, 12, x FOR PEER REVIEW 12 of 39
conventional PID control system, a fuzzy reasoning mechanism and a set of fuzzy rules, as
summarized in Figure 9.

Figure 9. PID control system with fuzzy logic controller.

controller.

The PID
PIDgains
gainsareare
tuned in real-time
tuned as regards
in real-time the fuzzy
as regards inference
the fuzzy and the knowledge
inference and the
base. After that, the control signal is generated by the PID controller.
knowledge base. After that, the control signal is generated by the PID controller. The VCS-FGS-PID
The VCS-
controller is characterized
FGS-PID controller by three corrective
is characterized by threeactions, which
corrective are Kpwhich
actions, , Kd andareKiK[56].
p, Kd We
andcan
Ki
[56]. WeKcan
assume p and Kd to Kbe
assume always
p and Kd toinbe
thealways , Kthe
[Kpminin ] and
pmax[K [Kpmax
pmin, K dmin , Kdmax
] and ] range,
[Kdmin , Kdmaxso that the
] range, so
following equations
that the following will be defined
equations will be as:
defined as:
0 K p −
((K K p)min )
K pmin
KKp' p = p
(K pmax −K pmin )
(13)
Kd = ((K p max  K p .min )
0 (Kd −Kdmin )
Kdmax −Kdmin ) (13)
( K d  K d min )
The PID parameters are K  by the
'
determined
d proposed scheme according to the current
error and its derivate. In fact, the integral( K
time  K d minis) determined
d maxconstant . as a function of the
derivative time constant:
The PID parameters are determinedTby=the proposed scheme according to the current
αTd . (14)
i
error and its derivate. In fact, the integral time constant is determined as a function of the
Therefore,
derivative time we can obtain the integral gain as follows:
constant:

KTpi  Td K2p (14)

Ki = = . . (15)
(αTd ) (αKd )
Therefore, we can obtain the integral gain as follows:
0 0
Once K p , Kd and Ki , α have been determined, the PID controller parameters are
determined through the use of Equations (13) K p2
K p and (15):
Ki   (15)
( Td ) (0 K d ) .
K p = (K p.max − K p.min )K p + K p.min , (16)
Once K p ,
'
Kd' and Ki, K =have
(K been
− determined,
K )K 0 + Kthe PID
, controller parameters(17)
are
d d.max d.min d d.min
determined through the use of Equations (13) and (15):
K2p
Ki = . (18)
Kp  (Kp.max (KαKp.dmin) )Kp'  Kp.min (16)
,
A basic rule to determine the Kp and Kd range is based on extensive simulation research
that is performed on various processes, as follows:
K d  ( K d .max  K d .min ) K d'  K d .min , (17)
K pmin = 0.32Ku , K pmax = 0.6Ku
, (19)
Kdmin = 0.08Ku Tu , KdmaxK 2 = 0.15Ku Tu
p
Ki  (18)
where Ku and Tu denote, at the stability limit,( Kthe
d) .
gain and period of the oscillation,
respectively. Figure 10 and Tables 1–3 show the fuzzy controller’s membership functions
A basic
designed withrule to determine
E and the K
dE inputs. The p and Kof
outputs d range set areonK0extensive
is based
the fuzzy 0
p , K d and simulation re-
α. In this case,
search that is performed on various processes, as follows:

K p min  0.32 Ku , K p max  0.6Ku

(19)
Kd min  0.08KuTu , Kd max  0.15KuTu ,
Electronics 2023, 12, x FOR PEER REVIEW 13 of 39

Electronics 2023, 12, 1419 12 of 36

where Ku and Tu denote, at the stability limit, the gain and period of the oscillation, respec-
tively. Figure 10 and Tables 1–3 show the fuzzy controller’s membership functions de-
signed with E and dE inputs. The outputs of the fuzzy set are K′p, K′d and α. In this case,
wewehave:
have:PB:
PB:Positive
PositiveBig,
Big,PM:
PM:Positive
PositiveMedium,
Medium,PS: PS:Positive
PositiveSmall,
Small,ZO:
ZO:Zero
Zero(zero),
(zero),NS:
NS:
Negative
NegativeSmall,
Small,NM:
NM:Negative
NegativeMedium
Mediumand andNB:NB:Negative
NegativeBig.
Big.

Figure10.
Figure (a) Membership
10.(a)Membership function
function ofof
EE and
and dE.
dE. (b)
(b) Membership functionofofKK
Membershipfunction p and KdK. d(c)
p and . (c) Member-
Member-
ship
shipfunction
functionofofααTable.
Table.

Table
Table1.1.Fuzzy
Fuzzytunning
tunningrules forK′Kp.0 p .
rulesfor

dE
dE
NB NBNM NM NS NS ZO ZO PSPS PM
PM PB
PB
NB NB
S SS S S S S S SS S
S SS
NM B
NM BB B S S S S SS B
B BB
NS B
NS BB B B B S S BB B
B BB
E ZO B B B B B B B
E PS ZO
B BB B B B S B BB B
B BB
PM PS
B BB B S B S S SB B
B BB
PB PM
S BS B S S S S SS B
S BS
PB S S S S S S S
Table 2. Fuzzy tunning rules for d . K0
Table 2. Fuzzy tunning rules for K′d.
dE
dE
NB NM NS ZO PS PM PB
NB B NBB NM B NS B ZO BPS PM
B PBB
NM NB
S BB B B B B B BB BB BS
NS NM
S SS B B B B B BB SB SS
E ZO S
NS SS S S B B B SB SS SS
PS S S B B B S S
PM S B B B B B S
PB B B B B B B B
Electronics 2023, 12, 1419 13 of 36

Table 3. Fuzzy tunning rules for α.

dE
NB NM NS ZO PS PM PB
NB 2 2 2 2 2 2 2
NM 3 3 2 2 2 3 3
NS 4 3 3 2 3 3 4
E ZO 5 4 3 3 3 4 5
PS 4 3 3 2 3 3 4
PM 3 3 2 2 2 3 3
PB 2 2 2 2 2 2 2

4. Materials and Methods

4.1. XSG Architectures of Control Techniques
Xilinx always provides its designers with tools for the simplification of the digital
systems’ description phase. In fact, the XSG is a developed and excellent graphics tool for
the creation, simulation, verification, implementation and validation of highly performant
systems on Xilinx FPGA targets [61]. It is also a modeling tool for designing FPGA-based
systems. It features a library of different blocks that may be compiled into an FPGA
automatically [62]. The XSG was utilized in this work to design and implement the
vector control strategies based on the suggested VCS-FGS-PID of the variable-speed WECS
connected to the grid on an FPGA. First, we used the XSG blocks from the Simulink package
to implement the recommended architectures. If the designed architecture was verified by
digital simulation and achieved the desired results, the VHDL code was generated in an
automatic way using the XSG tool [63].
Moreover, the XSG is a system-level modeling tool which smooths the way for the
FPGA hardware design. Matlab/Simulink was used for providing a high-level flexible
modeling environment well-suited for hardware designs. This tool provides high-level
abstractions which can be systematically compiled into an FPGA through the simple use
of commands. We created such a system in a Simulink modeling environment using a
specific library given by Xilinx. As a matter of fact, the XSG designs data control and data-
paths well. To simulate FPGAs, Xilinx provides a “hardware co-simulation” technique for
the verification of the system on an FPGA board utilizing the PC. The routing, placement,
synthesis and programming file generation steps were performed in a systematic way by the
Xilinx Vivado tool. It is shown in Figure 11 that the hardware design flow opted for the XSG.
We used in this work a Vivado/XSG 2018.1 version, which works on a Matlab/Simulink
2017b version, our computer GF63 thin 9RCX intel I7-9750H and an FPGA ZedBoard AES-
Z7EV-7Z020-G. After designing the system and obtaining necessary simulation results, the
bitstream file could be generated following the generation of the VHDL code and synthesis.
The configuration files were then used to program the FPGA [63,64].

4.1.1. Designed Architecture of VCS-PI Using XSG

The PI control used is mathematically expressed by (20) [60]:

1
Gc (s) = K p (1 + ), (20)
Ti s
Kp
where Ti = Ki , and K p and Ki are the proportional and integral gains, respectively.
Electronics 2023, 12, 1419 14 of 36

Figures 12–14 present the hardware design of the VCS-PI controllers for the PMSG-side
Electronics 2023, 12, x FOR PEER REVIEW 15 of 39
converter, the VCS-PI controller hardware design for the DC bus voltage and the hardware
design of the VCS-PI controllers for the grid-side converter, respectively.

Figure 11. XSG-based design flow.

4.1.1. Designed Architecture of VCS-PI Using XSG

4.1.2. Implementation of VCS-FGSPID Controllers Using XSG
The PI control used is mathematically expressed by (20) [60]:
Figures 15–17 present the VCS-FGS-PID controllers’ hardware design for the PMSG-
side converter (part 1 of Figure 7), the VCS-FGS-PID 1 controllers’ hardware design for the
s) VCS-FGS-PID
Gc (the
Vdc bus voltage (part 2 of Figure 7) and K p (1  ) controllers’ hardware design(20)
for
Ti s ,
the grid-side converter (part 3 of Figure 7), respectively.

4.1.3. DesignK ofp Membership Functions Using XSG

where Ti  , and Kp and K i are the proportional and integral gains, respectively.
Ki an inference
Fuzzification, engine and defuzzification are described in this section as
part Figures
of the XSG design, in order to implement
12–14 present the hardware designthe VCS-FGS-PID
of the controller
VCS-PI controllers forarchitecture
the PMSG-
side converter, the VCS-PI controller hardware design for the DC bus voltage for
on FPGAs. The XSG tools, representing in general the graphical interface library andMat-
the
lab/Simulink that can be utilized to design and simulate a dynamic system process,
hardware design of the VCS-PI controllers for the grid-side converter, respectively. allow
for highly implementing digital algorithms on FPGA boards. Figure 18 shows the hardware
design of the FGS-PID controllers where the inputs include the error and its derivative. In
addition to that, the outputs are the optimal values K p , Ki and Ki . As previously stated,
fuzzy sets are represented in triangular and trapezoidal shapes. Predefined blocks manipu-
lated by fuzzy logic are not included in the XSG library. As a result, several VCS-FGS-PID
controller sections were mathematically developed and described. The first step consisted
of determining all membership functions through the use of the equation systems that
relate to them. In the following part, using the XSG for each input, designing an example
of membership functions is presented.
 Electronics 2023, 12, x FOR PEER REVIEW 16 of 39
Electronics 2023,
Electronics 2023, 12,
12, 1419
x FOR PEER REVIEW 1615of
of 39
36

Figure 12. Hardware design of VCS-PI controllers for PMSG-side converter. Where (*) is added to
Figure 12.distinguish
Figure 12. Hardwarebetween
Hardware design the
design of
of actualcontrollers
VCS-PI
VCS-PI and the references
controllersfor variables.
forPMSG-side
PMSG-side converter.Where
converter. Where(*)
(*)isisadded
addedtoto
distinguish between the actual and the references variables.

Figure 13. Hardware design of VCS-PI controllers for DC bus voltage. Where (*) is added to distin-
13. Hardware
Figurebetween
guish design of references
VCS-PI controllers for DC bus voltage. Where (*) is added to
Figurethe
13.actual and the
Hardware design variables.
of VCS-PI controllers for DC bus voltage.
distinguish between the actual and the references variables.
Electronics2023,
Electronics 2023,12,
12,1419
x FOR PEER REVIEW 17
16 of 39
of 36

Figure 14.
Figure 14. Hardware
Hardware design
designof
ofVCS-PI
VCS-PIcontrollers
controllersfor
forgrid-side
grid-sideconverter. Where
converter. (*) (*)
Where is added to to
is added
distinguish between the actual and the references variables.
distinguish between the actual and the references variables.

•4.1.2.Fuzzy
Implementation
membership offunction
VCS-FGSPID Controllers Using XSG
of error
Figures 15–17anpresent
Accordingly, error wasthe given
VCS-FGS-PID
by sevencontrollers’ hardware
fuzzy sets, which design for
are actually the PMSG-
presented by
side converter
seven (part functions,
mathematical 1 of Figurenamed:
7), the VCS-FGS-PID
PB, PM, PS, ZE,controllers’
NS, NM and hardware
NB. Fordesign for the
example, the
𝑉 bus voltage
membership (partNS
named 2 of
is Figure
given by7) Equation
and the VCS-FGS-PID
(21), and it is controllers’ hardware
illustrated using design
the XSG in
for the19.
Figure grid-side converter (part 3 of Figure 7), respectively.
 
 i f e(t) > 0 or e(t) > − x2e then y(t) = 0 
i f e(t) > − x1e then y(t) = −3 × e(t) (21)
else y(t) = 3 × e(t) + 2
 

• Fuzzy membership
The ZE-membership error derivative function is given by (22) and it is depicted using
the XSG in Figure 20.
 
 i f de(t) < − x1e or de(t) > x1e then y(t) = 0 
i f de(t) < 0 then y(t) = 3 × de(t) + 1 (22)
else y(t) = −3 × de(t) + 1
 
Electronics Electronics 2023, 12, x FOR PEER REVIEW
Electronicsȱ2023,ȱ12,ȱxȱFORȱPEERȱREVIEWȱ
2023, 12, 1419 18ȱ
17 ofȱ 39ȱ 18 of 39
of 36
ȱ

ȱ
15.Figure 15. Hardware design of VCS-FGS-PID
controllerscontrollers for PMSG-side converter.
Figureȱ15.ȱHardwareȱdesignȱofȱVCS-FGS-PIDȱcontrollersȱforȱPMSG-sideȱconverter.ȱWhereȱ(*)ȱisȱ
Figure Hardware design of VCS-FGS-PID for PMSG-side converter. Where (*) isWhere
added (*) is
added to distinguish between the actual and the references
addedȱtoȱdistinguishȱbetweenȱtheȱactualȱandȱtheȱreferencesȱvariables.ȱ
to distinguish between the actual and the references variables. variables.

ȱ
Figureȱ16.ȱHardwareȱdesignȱofȱVCS-FGS-PIDȱcontrollersȱforȱDCȱbusȱvoltage.ȱWhereȱ(*)ȱisȱaddedȱtoȱ
distinguishȱbetweenȱtheȱactualȱandȱtheȱreferencesȱvariables.ȱ
Figure 16. Hardware design of VCS-FGS-PID controllers for DC bus voltage. Where (*) is added to
Figure 16. Hardware design of VCS-FGS-PID controllers for DC bus voltage.
distinguish between the actual and the references variables.

ȱ
 Electronicsȱ2023,ȱ12,ȱxȱFORȱPEERȱREVIEWȱ 19ȱ ofȱ 39ȱ
ȱ
Electronics 2023, 12, 1419 18 of 36

ȱ
Figureȱ17.ȱHardwareȱdesignȱofȱVCS-FGS-PIDȱcontrollersȱforȱgrid-sideȱconverter.ȱWhereȱ(*)ȱisȱ
Figure 17. Hardware design of VCS-FGS-PID controllers for grid-side converter. Where (*) is added
addedȱtoȱdistinguishȱbetweenȱtheȱactualȱandȱtheȱreferencesȱvariables.ȱ
to distinguish between the actual and the references variables.

4.1.4. Design of Rules

4.1.3.ȱDesignȱofȱMembershipȱFunctionsȱUsingȱXSGȱ ȱ
Sugeno developed such a fuzzy logic controller, which was a MIN function, used to
Fuzzięcation,ȱanȱinferenceȱengineȱandȱdefuzzięcationȱareȱdescribedȱinȱthisȱsectionȱasȱ
find the minimal value in our research work between the membership functions of the two
partȱofȱtheȱXSGȱdesign,ȱinȱorderȱtoȱimplementȱtheȱVCS-FGS-PIDȱcontrollerȱarchitectureȱonȱ
inputs,
FPGAs.ȱ which
Theȱ are
XSGȱthetools,ȱ
errorrepresentingȱ
and its derivative. This controller
inȱ generalȱ reflects
theȱ graphicalȱ the AND
interfaceȱ operator
libraryȱ forȱ
that links between various fuzzy functions. A rule example is provided in
Matlab/Simulinkȱthatȱcanȱbeȱutilizedȱtoȱdesignȱandȱsimulateȱaȱdynamicȱsystemȱprocess,ȱFigure 21:
allowȱforȱhighlyȱimplementingȱdigitalȱalgorithmsȱonȱFPGAȱboards.ȱFigureȱ18ȱshowsȱtheȱ
 0 
hardwareȱ designȱ ofȱ theȱ FGS-PIDȱ controllersȱ whereȱ K p inputsȱincludeȱ
theȱ is S  theȱ errorȱ andȱitsȱ
0
if (e is NS) and (deisPB) then Kd is B .
derivative.ȱInȱadditionȱtoȱthat,ȱtheȱoutputsȱareȱtheȱoptimalȱvaluesȱ (23)
 K p K i ȱ andȱ K i .ȱAsȱ
,ȱ
α is 4

previouslyȱstated,ȱfuzzyȱsetsȱareȱrepresentedȱinȱtriangularȱandȱtrapezoidalȱshapes.ȱPrede-
ęnedȱblocksȱmanipulatedȱbyȱfuzzyȱlogicȱareȱnotȱincludedȱinȱtheȱXSGȱlibrary.ȱAsȱaȱresult,ȱ
severalȱVCS-FGS-PIDȱcontrollerȱsectionsȱwereȱmathematicallyȱdevelopedȱandȱdescribed.ȱ
Theȱęrstȱstepȱconsistedȱofȱdeterminingȱallȱmembershipȱfunctionsȱthroughȱtheȱuseȱofȱtheȱ

ȱ
 Electronics 2023, 12, x FOR PEER REVIEW 20 of 39

Electronics 2023, 12, 1419 19 of 36

equation systems that relate to them. In the following part, using the XSG for each input,
designing an example of membership functions is presented.

Figure 18. Hardware design of FGS-PID.

 Fuzzy membership function of error

Accordingly, an error was given by seven fuzzy sets, which are actually presented by
seven mathematical functions, named: PB, PM, PS, ZE, NS, NM and NB. For example, the
membership named NS is given by Equation (21), and it is illustrated using the XSG in
Figure 19.

if e(t )  0 or e(t )   x2 e then y (t )  0 

 
if e(t )   x1e then y (t )  3  e(t )  (21)
else y ( t )  3  e( t )  2 
Figure 18. Hardware 
design of FGS-PID.
Figure 18. Hardware design of FGS-PID.


 Fuzzy membership function of error

Accordingly, an error was given by seven fuzzy sets, which are actually presented by
seven mathematical functions, named: PB, PM, PS, ZE, NS, NM and NB. For example, the
membership named NS is given by Equation (21), and it is illustrated using the XSG in
Figure 19.

Electronics 2023, 12, x FOR PEER REVIEW if e(t )  0 or e(t )   x2 e then y (t )  0  21 of 39
 
if e(t )   x1e then y (t )  3  e(t )  (21)
else y ( t )  3  e( t )  2 
 
if de(t )   x1e or de(t )  x1e then y (t )  0 
 
if de(t )  0 then y (t )  3  de(t )  1  (22)
 function
3  de )  1XSG. 
Figure 19.
Figure 19. Design else
Designof
of y (t ) function
membership
membership (tfrom
NS
NS from XSG. 
 Fuzzy membership
The ZE-membership error derivative function is given by (22) and it is depicted using
the XSG in Figure 20.

Figure 19. Design of membership function NS from XSG.

 Fuzzy membership
The ZE-membership error derivative function is given by (22) and it is depicted using
the XSG in Figure 20.

Figure 20.
Figure Design of
20. Design of ZE
ZE membership
membership function
function from
from XSG.
XSG.

4.1.4. Design of Rules

Sugeno developed such a fuzzy logic controller, which was a MIN function, used to
find the minimal value in our research work between the membership functions of the
two inputs, which are the error and its derivative. This controller reflects the AND opera-
 tor that links between various fuzzy functions. A rule example is provided in Figure 21:

 K 'p is S 
 
if (e is NS ) and (de is PB) then  Kd' is B  (23)
Electronics 2023, 12, 1419   is 4  20 of 36
 .

Figure 21.
Figure 21. Rule design example
example from
from XSG.
XSG.

Because the membership functions are singletons, we applied a weighted-height technique

for defuzzification, where the variation in the output variable is specified as follows [60]:

∑ Wij × Zij
y= (24)
∑ Wij

5. Results and Discussion

5.1. Simulation and Implementation Results
The WECS and its control algorithms were developed and simulated with MAT-
LAB/Simulink through the use of the XSG tool. The system parameters are summarized in
Tables 4–6, which are used to validate the control schemes suggested in this work. Under
10 s of simulation time, the wind profile shown in Figure 22a was applied to the wind
turbine model.

Table 4. Parameters of power grid.

Parameters Value
Grid-side filter resistance Rr 0.2 Ω
Grid voltage Vr 380 V
Grid-side filter inductance Lr 25 mH
DC capacitance Cbus 2200 µF
U* bus reference voltage 400 V

Table 5. Parameters of PMSG.

Parameters Value
Resistance of stator Rs 0.82 Ω
Inductance of stator Ls 0.0151 mH
Number of pole pairs p 2
Flux of permanent magnet ϕm 0.4832 Wb
Resistance of stator Rs 0.82 Ω

Table 6. Wind-turbine parameters.

Parameters Value
Number of blades 3
Air density ρ 1.22 kg/m3
Rated power Peol 3.5 kW
Blade radius R 2m
Rated wind speed Vvn 13 m/s
Electronics 2023, 12, 1419 21 of 36

A wind turbine was constructed to revolve at a particular speed and produce a certain
energy amount. A control mechanism named “pitch angle” was used to control the power
output of the wind turbine, being increased if the wind speed is high. Figure 22b presents
the PMSG mechanical speed, while Figure 22c indicates the pitch angle variation. The
following is a summary of the control systems’ performance: the orientation angle increased
if the wind speed’s nominal value was surpassed. As a result, the Cp power coefficient
dropped, as represented in Figure 22d. Thus, the generated power was limited, as depicted
Electronics 2023, 12, x FOR PEER REVIEW 23 of 39
in Figure 23. A comparison study between the VCS-FGS-PID controller and the VCS-PI
controller is presented to prove the superior VCS-FGS-PID performance.

Figure 22.
Figure 22. (a)
(a) Wind speed, (b)
Wind speed, (b) mechanical
mechanical speed,
speed, (c)
(c) pitch
pitch angle
angle ββ and
and (d)
(d) power
power coefficient.
coefficient.
Electronics 2023, 12, x FOR PEER REVIEW 24 of 39
Electronics 2023, 12,
Electronics 2023, 12, 1419
x FOR PEER REVIEW 2422of
of 39
36

Figure 23. Electromagnetic torque.

Figure
Figure 23.
23. Electromagnetic
Electromagnetic torque.
torque.
Performance Comparison between VCS-PI and VCS-FGS-PID Controllers
Performance Comparison
Performance Comparison between between VCS-PI VCS-PI and and VCS-FGS-PID
VCS-FGS-PID Controllers
Controllers
To prove our VCS-FGS-PID controller performance, two tests are presented, without
To prove
To prove our
our VCS-FGS-PID
VCS-FGS-PID controller performance, two tests
tests are
are presented,
presented, without
without
and with parameter variations. Incontroller
the latterperformance,
case, due to the two heating-up of the generator,
and with parameter variations. In the latter case, due to the heating-up
and with parameter variations. In the latter case, due to the heating-up of the generator, of the generator,
the
thevalues
valuesof resistorRRssgradually
ofresistor graduallyincreased,
increased,becausebecauseof ofthe
thesaturation
saturationassumption,
assumption,as aswell
well
the
as values
those of of
the resistor Rs gradually
inductances specific increased,
to the because of the saturation assumption, as well
PMSG.
as those of the inductances specific to the PMSG.
as those of the inductances specific to the PMSG.
(a) System performance without parameter variation
(a) System
(a) System performance
performance withoutwithout parameter
parameter variation
variation
This test was carried out for proving the system control robustness in response to
This test
This test was carried
carried out out for
for proving
proving the the system
system control
control robustness
robustness in in response
response to to
changes in thewas wind speed. The responses obtained with both control kinds basically
changes
changesthat in the
in the wind speed. The responses obtained with both control kinds basically
showed the wind
systemspeed. The responses
controlled obtained with
by the VCS-FGS-PID both control
controller was more kinds basically
robust than
showed that
showed that the
the system
system controlled
controlled by by the
the VCS-FGS-PID
VCS-FGS-PID controller
controller waswas more
more robust
robust than
than
the classical VCS-PI.
the classical
the classical VCS-PI.
VCS-PI.
The errors of the electromagnetic torque, which is depicted in Figure 23 and the quad-
The errors
errorsofofthe the electromagnetic torque, which is depicted in Figure 23the
and the
ratic component of theelectromagnetic
The stator current, which torque, is which
shownisindepicted
Figure 24,in Figure
and which23 and quad-
is produced
quadratic
ratic component of the current,
stator current, iswhich isinshown in24,Figure 24, and which is
by thecomponent
speed change, of the stator
were very high for which shown
the classical VCS-PIFigure and wherein
controller, which is there
producedwas
produced
by the speed by the speed
change, change,
were very were
high very
for thehigh for
classical the classical
VCS-PI VCS-PI
controller, controller,
wherein wherein
there was
no instantaneous
there
response from
was no instantaneous
the torque
response from the
and the current.
torque
To
and the To
address
current.
this problem,
To address
the
this prob-
no instantaneous
VCS-FGS-PID response
controller is from the
suggested, torque
which and is the current.
characterized address
by good this problem,
performance the
in
lem, the VCS-FGS-PID
VCS-FGS-PID controller controller
is is suggested,
suggested, which which
is is characterized
characterized by by good
good performance
performance in
terms of tracking error and response
in terms of tracking error and response time. time.
terms of tracking error and response time.

Figure24.
Figure Statorcurrent’s
24.Stator current’squadratic
quadraticcomponent.
component.
Figure 24. Stator current’s quadratic component.
The direct
The direct component
component of of the
the current,
current,which
whichisisparticularly
particularlyinjected
injectedtotothe grid,
the grid,and
andits
evolution are
The direct
its evolution illustrated
arecomponent in
illustrated inFigure
of Figure 25.
the current,The response
25. Thewhich of these curves
is particularly
response demonstrates
injected
of these curves the fact
to the grid, and
demonstrates the
that
its the VCS-FGS-PID
evolution are controller
illustrated in is
Figure better
25. than
The the VCS-PI
response of in terms
these of
curves
fact that the VCS-FGS-PID controller is better than the VCS-PI in terms of response time response time
demonstrates and
the
the
fact disturbance
that the rejection.
VCS-FGS-PID Compared
controller to
is the proposed
better than the VCS-FGS-PID
VCS-PI
and the disturbance rejection. Compared to the proposed VCS-FGS-PID control method, in control
terms of method,
response the
time
high
and wind
the speed
disturbance change had
rejection. an effect
Compared on the
to conventional
the proposed vector control.
VCS-FGS-PID
the high wind speed change had an effect on the conventional vector control. The profile The profile
control of
method,the
active
the power
high wind injected
speed to the grid
change had isanshown
effect in
on Figure
the 26.
conventional vector control. The profile
of the active power injected to the grid is shown in Figure 26.
of the active power injected to the grid is shown in Figure 26.
Electronics 2023, 12, x FOR PEER REVIEW 25 of 39
Electronics 2023,
Electronics 12,12,
2023, 1419
Electronics 2023,REVIEW
x FOR PEER 12, x FOR PEER REVIEW 23
25 of
of3639 2

Figure 25. DC component injected into grid.

Figure
Figure 25.25.
DC DC Figure 25.injected
component
component DC component
injected injected into grid.
intogrid.
into grid.

Figure
Figure 26.
26. Active
Active power
power injected
injected into
into grid.
grid.
Figure
Figure 26. Active power26.injected
Active power injected into grid.
into grid.
Figure 27 generally presents the simulation result of the reactive power, which was
Figure
Figure2727generally
Figure
generally presents the
thesimulation
27 generally
presents presents the
simulation result ofofthe
thereactive
simulation
result power,
result of
reactive which
whichwas
the reactive
power, power,
was whic
injected to the grid as well. The system functioned at a unity power factor. VCS-FGS-PID
injected
injectedtoto
the
thegrid
gridasaswell.
injected The
to the
well. system
grid
The functioned
as well.
system The system
functioned atatafunctioned
aunity
unitypower at factor.
power unityVCS-FGS-PID
afactor. power factor. VCS-FG
VCS-FGS-PID
controllers clearly ignored the error while maintaining robustness qualities and finite-time
controllers
controllersclearly
clearlyignored
controllers
ignored thetheerror
clearly while
whilemaintaining
ignored
error the error while
maintaining robustness
maintaining
robustness qualities and
andfinite-time
robustness
qualities qualities and finit
finite-time
convergence. Figure 28 shows the DC bus voltage simulation results. It is remarkable that
convergence. Figure
convergence. Figure 28 shows
convergence.
28 shows the
Figure DC
the DC bus
28 showsvoltage
the DC
bus voltage simulation
bus voltage
simulation results. It is
simulation
results. remarkable
results. Itthat
It is remarkable is remarkab
that
the
the VCS-FGS-PID
VCS-FGS-PID controller minimized the error compared to
totothe VCS-PI controller while
the VCS-FGS-PID thecontroller
controllerminimized
VCS-FGS-PID minimized the
controllertheerror
errorcompared
minimized
comparedthe error the VCS-PI
VCS-PIcontroller
compared
the to while
the VCS-PI
controller whilecontroller
maintaining
maintaining robustness.
robustness.
maintaining maintaining robustness.
robustness.

Figure 27. Reactive

Reactive power
power injected into grid.
Figure
Figure 27. Figure
Reactive 27.injected
power injectedinto
Reactive intogrid.
power injected into grid.
grid.
 Electronics 2023, 12, x FOR PEER REVIEW 26 of 39
Electronics2023,
Electronics 2023,12,
12,1419
x FOR PEER REVIEW 26 of 24
39 of 36

Figure 28. DC bus voltage.

Figure
Figure28.
28.DC
DCbus
busvoltage.
voltage.
(b) Performance of control system under parameter variation
(b) Performance
(b) Performanceofofcontrol control system
system under
under parameter
parameter variation
variation
To test the proposed control strategy performance as regards parameter variation,
To
To test the proposed control strategy performance
teststarted performance as regards parameter variation,
variation, the
the PMSG with the nominal stator resistance. Afterwards, it displayed variations
the
PMSGPMSG started
started with
with the nominal statorresistance.
resistance.Afterwards,
Afterwards, it displayed
displayedvariations
in resistance values asthe nominal
follows: stator variations in
in resistance
resistance valuesasasfollows:
values follows:
 A t = 2 s, resistance increases by 50%;
• A Attt===242s, resistance
resistanceincreases byby50%;
 A s,s,resistance increases
rises by 100%; 50%;
• A A tt==44s,s,resistance
resistance rises byby
rises 100%;
100%;
 A t = 8 s, resistance goes up by 200%.
• A Att==88s,s,resistance
resistancegoesgoesupupbyby
200%.
200%.
The variation in the stator resistance is summarized in Figure 29.
The variation in the stator resistance
The variation in the stator resistance is is
summarized
summarized in Figure 29.29.
in Figure

Figure 29.
Figure Variationsininresistance
29.Variations resistanceasasa afunction
function
ofof time
time (s).(s).
Figure 29. Variations in resistance as a function of time (s).
Figure30
Figure 30presents
presentsthe
theelectromagnetic
electromagnetic torque
torque simulation
simulation results
results with
with thethe variation
variation
Figure
the stator30 presents the
resistance. electromagnetic
Asshown
showninin this torquea simulation
figure, variation inresults
the with the of
resistance variation
50%, 100%
in the stator resistance. As this figure, a variation in the resistance of 50%, 100%
in the stator resistance. As shown in this figure, a variation in the resistance of 50%, 100%
and 200%
and 200%resulted
resultedininthe
thedeviation
deviationofof
thethe conventional
conventional VCS-PI
VCS-PI controller,
controller, while
while the VCS-
the VCS-
and 200% resulted in the deviation of the conventional VCS-PI controller, while the VCS-
FGS-PIDcontroller
FGS-PID controllermaintained
maintaineda astable
stablebehavior.
behavior.AsAs a consequence,
a consequence, thethe stator
stator resistance
resistance
FGS-PID controller maintained a stable behavior. As a consequence, the stator resistance
variation test proves that the VCS-FGS-PID controller is more robust
variation test proves that the VCS-FGS-PID controller is more robust and more efficient and more efficient
variation test proves that the VCS-FGS-PID controller is more robust and more efficient
compared to
compared tothe
theVCS-PI
VCS-PIcontroller.
controller.
compared to the VCS-PI controller.
5.2. Comparative Study between Suggested FGS-PID and a Nonlinear Controller
In order to highlight the effectiveness of the proposed FGS-PID, a comparative study
with a SMC controller was carried out. As shown in Figure 31, the electromagnetic torque
response when the WECS is controlled using the VCS-FGS-PID approaches offered better
performance in terms of tracking accuracy and oscillation around the reference value.
However, the electromagnetic torque presented a chattering phenomenon followed by
high oscillation, which can lead to several undesirable effects on the quality of electrical
energy produced and the overall system. Moreover, Figures 32 and 33 show the evolution
of the quadratic component of stator current and the direct current component injected
into the grid, respectively. These figures show that the advantage of VCS-FGS-PID is that
it allows for excluding any phenomenon of chattering that may be caused by SMC while
Electronics 2023, 12, 1419 25 of 36

maintaining the robustness properties. This suggests that VCS-FGS-PID algorithms may
be more suitable control methods for industrial energy systems thanks to their ability to
provide excellent accuracy and robustness without the issues of chattering that may be
present in the SMC control technique. Figure 34 shows the simulation result of active
power injected into the grid. It can be seen that the VCS-FGS-PID approaches allowed
Electronics 2023, 12, x FOR PEER REVIEW 27 of for
39
the reduction or even the elimination of the chattering phenomenon while keeping the
robustness properties and convergence in finite time.

At=2s

At=4s

At=8s

Figure
Figure30.
30.Electromagnetic
Electromagnetictorque
torqueresponse
responseunder
underparameter
parametervariations.
variations.

5.2. Comparative Study between Suggested FGS-PID and a Nonlinear Controller

In order to highlight the effectiveness of the proposed FGS-PID, a comparative study
with a SMC controller was carried out. As shown in Figure 31, the electromagnetic torque
response when the WECS is controlled using the VCS-FGS-PID approaches offered better
 maintaining the
maintaining the robustness
robustness properties.
properties. ThisThis suggests
suggests that
that VCS-FGS-PID
VCS-FGS-PID algorithms
algorithms maymay
be more suitable control methods for industrial energy systems thanks to
be more suitable control methods for industrial energy systems thanks to their ability to their ability to
provide excellent
provide excellent accuracy
accuracy and
and robustness
robustness without
without thethe issues
issues of
of chattering
chattering that
that may
may be be
present in the SMC control technique. Figure 34 shows the simulation
present in the SMC control technique. Figure 34 shows the simulation result of active result of active
power injected
power injected into
into the
thegrid.
grid. ItIt can
can be
beseen
seen that
that the
theVCS-FGS-PID
VCS-FGS-PIDapproaches
approaches allowed
allowedfor for
Electronics 2023, 12, 1419 26 of 36
the reduction or even the elimination of the chattering phenomenon
the reduction or even the elimination of the chattering phenomenon while keeping the while keeping the
robustness properties
robustness properties and
and convergence
convergence in in finite
finite time.
time.

Figure31.
Figure
Figure 31.Electromagnetic
31. Electromagnetictorque.
Electromagnetic torque.
torque.

Electronics 2023, 12, x FOR PEER REVIEW 29 of 39

Figure32.
Figure 32. Directgrid
gridcurrent.
current.
Figure 32. Direct
Direct grid current.

Figure 33.
Figure 33. Quadratic
Quadratic stator
stator current.
current.
Electronics 2023, 12, 1419 27 of 36

Figure 33. Quadratic stator current.

Figure
Figure 34.
34. Active
Active power
power injected
injected into
into the
the grid.
grid.

The proposedcontroller
The proposed controllerperformance
performance waswas
alsoalso evaluated
evaluated through
through various
various perfor-
performance
mance
indicesindices using
using the MeantheAbsolute
Mean Absolute Error (MAE),
Error (MAE), the Mean the MeanError
Square Square Error
(MSE) (MSE)
and and
the Root
the
MeanRoot MeanError
Square Square Error The
(RMSE). (RMSE).
errorsThe errors of electromagnetic
of electromagnetic torque, quadratic
torque, quadratic sta-
stator current,
tor current,
direct direct grid
grid current and current and active
active power power
injected intoinjected
the gridinto
are the grid as:
defined are defined as:

eTemeTem= Tem
Tem re fref
−TTememactual
actual
 e = i


isqe sqire f −isq

 isq i sqref− i isqactual
eird =
actual
, (25)
 e e= 
 rdre f rd actual , (25)
Pr ird Prreirdf ref−  Priactual


rd actual

 ePr  Prref torque,
where Temre f is the reference electromagnetic  Practual T
em actual is the actual electromagnetic
torque, isqre f is the reference stator current, isqactual is the actual stator current, irdre f is the
where
referenceTemdirect
ref
is grid
the reference electromagnetic
current, ird is the actual torque,
direct gridTemactualcurrent,
is thePactual electromag-
rre f is the reference
actual
activetorque,
netic power iinjected into
is the reference and Pcurrent,
the gridstator isqactual
r actual is the actual active
is the power
actual stator injected intoi the
current,
sq rd ref
grid. The MAE,refMSE and RMSE are defined as follows [65]:
is the reference direct grid current, ird actual is the actual direct grid current, Prref is the
n
1
reference active power injected intoMAE ∑ |eP
= nand
the grid i |r is the actual active power injected
actual i =1
into the grid. The MAE, MSE and RMSE are1defined
n as follows [65]:
MSE = n ∑ ei 2 (26)
i =1
s
n
1
RMSE = n ∑ ei 2
i =1

where n is the number of data points.

To summarize while making reference to Table 7, it can be seen that the suggested VCS-
FGS-PID offers better performance utilizing the MAE, MSE and RMSE, which demonstrates
that the latter controller can be considered a contribution for controlling the industrial
grid-connected WECS.
Electronics 2023, 12, 1419 28 of 36

Table 7. Comparison between studied controllers.

Controllable Variable Criteria VCS-PI SMC VCS-FGS-PID

MAE 0.6007 0.0320 4.5179 × 10−4
Electromagnetic torque MSE 0.8641 0.0013 5.7214 × 10−6
RMSE 0.9296 0.0364 0.0024
MAE 0.2072 0.0110 1.5583 × 10−4
Quadratic stator current MSE 0.1028 1.5725 × 10−4 6.8069 × 10−7
RMSE 0.3206 0.0125 8.2504 × 10−4
MAE 0.7756 0.1476 0.0574
Direct grid current MSE 40.1864 0.0417 0.5022
RMSE 6.3393 0.2043 0.7086
MAE 294.7217 56.0731 21.8005
Active power injected
MSE 5.8029 × 106 6.0249 × 103 2.7075 × 103
into the grid
RMSE 2.4089 × 103 77.6199 52.0336

5.3. Comparison between Proposed Approach and Other Existing Schemes

In order to highlight the effectiveness of the proposed control method, it is important
to compare it with other techniques presented in the literature. However, it should be noted
that the comparison is limited by the fact that it is rare to find similar work performed
under the same conditions. Table 8 clearly shows that the suggested control method yields a
significantly neglected state error compared to other techniques. Furthermore, the proposed
method exhibits favorable performance in terms of accuracy, robustness, dynamics, etc.,
compared to other methods. To summarize, the obtained results emphasize the superiority
of the suggested control method in mitigating harmonic distortions and achieving accurate
and fast control.

Table 8. Comparison between studied controllers.

[25] [66] Our VCS-FGS-

Comparison
SMC [67] FOC [68] NSOSMC [44] CTSR-PI [30] VCS-PI PID
Criteria PI FOSM PI RST Proposed
Complexity of
tuning and im- Low High Low - Low High Medium Simple Low Low
plementation
Dynamic Limited Good Low - Good Medium - Fast Limited Very good
Stability
Low Good Low - Good - - - Low Excellent
features
Response time High Low 0.03 0.028 Low - Medium - High Very low
Steady state
- - 1.25% 0.06% 0.15% - - High High Neglected
error
Robustness
under Not Not Not Not Not Not Not Excellent
Not processed Very low
parameter processed processed processed processed processed processed processed robustness
variation
Tracking and
+ ++ + ++ +++ ++ ++ ++ + ++++
performance
Perturbations High Chattering - - - - - - High Neglected
Simulation
Simulation
and
and
Study Nature Simulation Simulation Simulation Simulation Simulation Simulation Simulation Simulation Hard-
Hardware
ware in
in the loop
the loop
With (+): Low, (++): Medium, (+++): Good, and (++++), Excellent.

5.4. Implementation of Vector Control Strategy on FPGA

Hardware Co-Simulation
The XSG architecture description language provides important features that allow for
communication with Simulink. As a result, a virtual operation scenario can be created for
approximating and making a quick validation to the hardware implementation method,
Electronics 2023, 12, 1419 29 of 36

which is known as the co-simulation test, and which has a significant role in validating the
synthesized control strategy. In addition to this, it reduces the overall time that is required
for accomplishing the experimental tests as well as improves the implementation efficiency.
As a consequence, the hardware co-simulation of the suggested VCS-FGS-PID controller
can be based on:
• Simulation step: The numerical simulation performed in the Matlab/Simulink en-
vironment is used for validating as well as confirming the implementation of the
VCS-FGS-PID control algorithm;
• XSG simulation step: This step verifies that the results provided by the XSG simulation
are similar to those obtained using Matlab/Simulink;
• Hardware co-simulation step: We implement the XSG model on an FPGA board. In
fact, simulation is also called hardware-in-the-loop simulation. Therefore, the designed
XSG architecture should be compatible with the characteristics of the FPGA board to
be implemented.
It should be noted that a Joint Test Action Group (JTAG) co-simulation module, known
as “JTAG co-sim”, is automatically generated between the gateway-in and gateway-out of
Electronicsȱ2023,ȱ12,ȱxȱFORȱPEERȱREVIEWȱ 32ȱ ofȱ 39ȱ
ȱ the XSG blocks during the hardware co-simulation process. Figure 35 displays a broad block
schematic of the implementation architecture of the suggested co-simulation procedure.

ȱ
Figure 35. Hardware co-simulation.
Figureȱ35.ȱHardwareȱco-simulation.ȱ

A library of logic cores that is designed specifically for FPGA implementation can
AȱlibraryȱofȱlogicȱcoresȱthatȱisȱdesignedȱspecięcallyȱforȱFPGAȱimplementationȱcanȱbeȱ
be obtained, which is ready to be configured and utilized as a function of the designer’s
obtained,ȱwhichȱisȱreadyȱtoȱbeȱconęguredȱandȱutilizedȱasȱaȱfunctionȱofȱtheȱdesigner’sȱspec-
specifications. Following that, the Xilinx Integrated Software Environment (VIVADO) is
ięcations.ȱFollowingȱthat,ȱtheȱXilinxȱIntegratedȱSoftwareȱEnvironmentȱ(VIVADO)ȱisȱuti-
utilized for generating “netlist” files for the implementation of system generator blocks.
lizedȱ forȱ generatingȱ “netlist”ȱ ęlesȱ forȱ theȱ implementationȱ ofȱ systemȱ generatorȱ blocks.ȱ
These files are responsible for the conversion of the logic design to a physical file. They also
Theseȱęlesȱareȱresponsibleȱforȱtheȱconversionȱofȱtheȱlogicȱdesignȱtoȱaȱphysicalȱęle.ȱTheyȱ
generate a bitstream to be transferred to a target tool using the typical JTAG connection.
alsoȱgenerateȱaȱbitstreamȱtoȱbeȱtransferredȱtoȱaȱtargetȱtoolȱusingȱtheȱtypicalȱJTAGȱconnec-
Simulation in MATLAB XSG allows the FPGA application to be tested under the same
tion.ȱ Simulationȱ inȱ MATLABȱ XSGȱ allowsȱ theȱ FPGAȱ applicationȱ toȱ beȱ testedȱ underȱ theȱ
conditions as physical devices while having a similar variable and operator data width.
sameȱ conditionsȱ asȱ physicalȱ devicesȱ whileȱ havingȱ aȱ similarȱ variableȱ andȱ operatorȱ dataȱ
Following the simulation and timing analysis of the proposed control algorithm
width.ȱ ȱ
architecture, the hardware co-simulation phase is used in order to confirm the design
Followingȱtheȱsimulationȱandȱtimingȱanalysisȱofȱtheȱproposedȱcontrolȱalgorithmȱar-
performance on an FPGA ZedBoard. As shown in Figure 35, the bitstream file is generated
chitecture,ȱtheȱhardwareȱco-simulationȱphaseȱisȱusedȱinȱorderȱtoȱconęrmȱtheȱdesignȱper-
formanceȱonȱanȱFPGAȱZedBoard.ȱAsȱshownȱinȱFigureȱ35,ȱtheȱbitstreamȱęleȱisȱgeneratedȱ
andȱsynthesizedȱthroughȱhardwareȱco-simulation,ȱwhichȱisȱutilizedȱforȱprogrammingȱanȱ
FPGAȱandȱgeneratingȱaȱnovelȱJTAGȱblock.ȱTheȱlaĴerȱwillȱreplaceȱtheȱXSGȱdesignȱofȱtheȱ
VCS-FGS-PIDȱ controller.ȱ Throughȱ theȱJTAGȱ cable,ȱ theȱ FPGAȱ boardȱ canȱ readȱ theȱ statorȱ
Electronics 2023, 12, 1419 30 of 36

and synthesized through hardware co-simulation, which is utilized for programming an

FPGA and generating a novel JTAG block. The latter will replace the XSG design of the
VCS-FGS-PID controller. Through the JTAG cable, the FPGA board can read the stator
current, the electromagnetic torque, the mechanical speed, the grid current and the grid
voltage. Finally, the generated JTAG block will be linked to the three-phase rectifier, the
bus voltage and the inverter. In addition, the hardware co-simulation phase is initiated
when the FPGA board is connected to the PC using a JTAG programming cable (USB-II
cable). As depicted in Figure 36, the JTAG cable will be used to execute the bitstream
download phase. After that, all Matlab tools are used to simulate and visualize the results.
As shown in Figures 37–42, the hardware co-simulation results have the same precision as
the results obtained from Simulink Matlab, which proves the efficiency of the proposed
approach. Indeed, Figure 37 presents the evolution of the electromagnetic torque when
the WECS is controlled by both control techniques, namely the VCS-FGS-PID and the
VCS-PI. It can be seen that the suggested VCS-FGS-PID provides better performance
Electronics 2023, 12, x FOR PEER REVIEW 33 ofin39
terms of tracking accuracy. Figure 38 demonstrates that the ideal quadratic stator current
converges towards its reference value with excellent tracking and accuracy in the case
of the suggested VCS-FGS-PID. However, when the WECS is controlled with the VCS-
ideal
PI, thequadratic stator current
ideal quadratic followsfollows
stator current its reference values with
its reference valuesremarkable error. Figures
with remarkable error.
39 and 40 present the evolutions of the direct grid current and the DC bus
Figures 39 and 40 present the evolutions of the direct grid current and the DC bus voltage.voltage. It can
Itbe
canseen thatthat
be seen the the
suggested controller
suggested controllerprovides
providesbetter
betterperformance
performancein in terms
terms of ofaccuracy
accuracy
relativetotothe
relative theVCS-PI.
VCS-PI.TheTheactive
activeand
andreactive
reactivepower
powerinjected
injectedtotothe
thegrid
gridisisillustrated
illustratedinin
Figures4141and
Figures and42,42, which
which demonstrate
demonstrate that
that thethe actual
actual power
power converges
converges towards
towards its refer-
its reference
ence with high
with high accuracy. accuracy.

Figure36.
Figure 36.Hardware
Hardwareco-simulation
co-simulationfor
forVCS-FGS-PID
VCS-FGS-PIDcontrollers.
controllers.

Figure 37. Hardware co-simulation for electromagnetic torque.

Electronics 2023, 12, 1419 31 of 36

Figure 36. Hardware co-simulation for VCS-FGS-PID controllers.

Electronics 2023, 12, x FOR PEER REVIEW 34 of 39

Electronics 2023, 12, x FOR PEER REVIEW 34 of 39
Figure 37. Hardware co-simulation for electromagnetic torque.
torque.

Figure 38. Hardware co-simulation for quadratic stator current.

current.
Figure 38. Hardware co-simulation for quadratic stator current.

Figure
Figure 39.Hardware
Figure39.
39. Hardware
Hardware
co-simulation for direct
co-simulation
co-simulation for
grid current.
for direct
direct grid current.
grid current.

Figure 40. Hardware co-simulation for DC bus voltage.

Electronics 2023, 12, 1419 32 of 36
Figure 39. Hardware co-simulation for direct grid current.

Electronics 2023, 12, x FOR PEER REVIEW 35 of 39

Electronics 2023, 12, x FOR PEER REVIEW 35 of 39
Figure 40.
Figure 40. Hardware co-simulation
co-simulation for
for DC
DC bus
bus voltage.
voltage.

Figure41.
Figure Hardwareco-simulation
41.Hardware co-simulationfor
foractive
activegrid-injected
grid-injectedpower.
power.
Figure 41. Hardware co-simulation for active grid-injected power.

Figure42.
Figure Hardwareco-simulation
42.Hardware co-simulationfor
forreactive
reactivegrid-injected
grid-injected power.
power.
Figure 42. Hardware co-simulation for reactive grid-injected power.
Table99details
Table details the
the FPGA
FPGA resource
resource utilization
utilization of
of the
the proposed
proposed design.
design. The
The suggested
suggested
Table 9 details
implementation uses the FPGA0.2%resource 59%
utilization of the proposed thedesign. The suggested
implementation uses between
between 0.2%and and 59%resources.
resources. Moreover,
Moreover, results
the show
results showthe low-
the
implementation
cost benefits uses
through between
the FPGA 0.2% and 59%
implementation. resources.
Indeed, Moreover,
the the
architecture results
of the show the
proposed
low-cost benefits through the FPGA implementation. Indeed, the architecture of the pro-
low-cost
design benefitsa through
occupies reduced the
areaFPGA
while implementation.
providing Indeed,
favorable the architecture
performance. of
In fact,Inthethe pro-
FPGA
posed design occupies a reduced area while providing favorable performance. fact, the
posed design
real-time occupies
implementation a reduced area
can be utilizedwhile providing
in various favorable performance. In fact, the
FPGA real-time implementation can be utilized in industrial processesprocesses
various industrial for the WECS.for the
FPGA real-time implementation can be utilized in various industrial processes for the
WECS.
WECS.
Table 9. Hardware resource consumption synthesis.
Table 9. Hardware resource consumption synthesis.
Resources Utilization Available Utilization %
Resources Utilization Available Utilization %
LUT 31,774 53,200 59.725563
Electronics 2023, 12, 1419 33 of 36

Table 9. Hardware resource consumption synthesis.

Resources Utilization Available Utilization %

LUT 31,774 53,200 59.725563
LUTRAM 48 17,400 0.27586207
FF 22,139 106,400 20.807331

6. Conclusions
In this article, the development and hardware implementation of two control schemes
(VCS-FGS-PID and VCS-PI) applied to a grid-connected variable-speed WECS have been
discussed. There are two major aims for the control of the WECS. The first one is the
PMSG-side converter control, which allows the wind turbine to extract the maximal power.
The second one is the grid-side control, which aims to maintain the operation in a unity
power factor by controlling the reactive and active power transferred into the power grid.
This controller also regulates the DC bus voltage. The first control scheme based on the
FGS-PID controller has been compared to the second one based on the conventional PI
controller. For a better evaluation of varied control technique performance, a comparative
study has been extended under varied stator resistance. The VCS-FGS-PID controller has
been developed for solving any limit of the conventional VCS-PI controller as regards
performance and stability under the nonlinearity behavior of the WECS.
For the hardware implementation, the XSG has been utilized for implementing the sug-
gested control technique on the FPGA. The proposed approach hardware implementation
is simple and quick thanks to a novel method based on the XSG. The various simulation
results show the superior performance of the VCS-FGS-PID controller when compared to
the conventional VCS-PI controller in terms of response time, stability properties, dynamics,
tracking and accuracy under the high fluctuation of the wind speed and the varied stator
resistance. The implementation result shows the FPGA efficiency in terms of execution
time. Indeed, it has been quite short when compared to the dSPACE execution time, owing
to parallel processing. The short execution time increases the machine performance and
reduces the torque, as well as stator current disturbance, allowing more complicated algo-
rithms to be implemented. Finally, the XSG implementation approach may be thought of
as an important tool for implementing real-time hardware FPGAs as well as complicated
and preferred WECS control algorithms.
Nevertheless, there are other challenges remaining to be solved in our future work
such as the verification of the suggested VCS-FGS-PID method performance according to
real experimental results. Moreover, the authors will focus on the integration of a battery
energy storage system for the WECS. This could involve developing new control strategies
and power management systems to optimize the output power, and subsequently obtain a
perfect wind system able of ensuring a continuous load supply without fluctuations.

Author Contributions: Conceptualization, M.H., S.K. and Y.K.; methodology, M.H., S.K., Y.K. and
M.A.H.; software, M.H.; validation, M.H., S.K., Y.K. and M.A.H.; formal analysis, S.K., Y.K. and
M.A.H.; investigation, M.H., S.K., Y.K. and M.A.H.; resources, S.K., Y.K., M.A.H. and H.A.; data
curation, M.H.; writing—original draft preparation, M.H., S.K. and Y.K.; writing—review and editing,
M.H., S.K., Y.K. and M.A.H.; visualization, M.H., S.K., Y.K., M.A.H. and A.S.A.; supervision, S.K., Y.K.
and M.A.H.; project administration, B.M.A. and T.G.; funding acquisition, T.G. All authors have read
and agreed to the published version of the manuscript.
Funding: This research has been funded by the Scientific Research Deanship at University of
Ha’il—Saudi Arabia through project number RG-21 137.
Data Availability Statement: Not applicable.
Conflicts of Interest: The authors declare no conflict of interest.
Electronics 2023, 12, 1419 34 of 36

Nomenclature

Paer aerodynamic power (W)

Taer aerodynamic torque
ρ density of air (kg/m3 )
Vv wind speed (m/s)
β pitch angle (◦ )
λ the speed ratio
Cp power coefficient
Ωmec mechanical speed (rad/s)
Rs , Ls inductance (mH) and resistance of the stator (Ω)
Rr , Lr grid inductance (mH) and resistance (Ω)
p pole pair number
ϕm permanent magnet flux (Wb)
ω electrical speed
ωR grid frequency (Hz)
Vsd , Vsq direct and quadratic of the stator voltages (V)
isd , isq direct and quadratic of the stator currents (A)
Vrd , Vrq direct and quadrature voltages of the grid (V)
ird , irq direct and quadratic currents of the grid (A)

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