International Journal of Power Electronics and Drive Systems (IJPEDS)

Vol. 13, No. 2, June 2022, pp. 1195~1208

ISSN: 2088-8694, DOI: 10.11591/ijpeds.v13.i2.pp1195-1208  1195

High-performance MPPT control of DFIG with optimized flux

reference in presence of nonlinear magnetic characteristic

Youssef Majdoub, Ahmed Abbou, Mohamed Akherraz

Mohammed V University in Rabat, Rabat, Moroco
Mohammadia School of Engineers, Agdal Rabat, Morocco

Article Info ABSTRACT

Article history: In recent years, an expansive research exertion has been devoted to the control
for aerogenerators conforming of a Doubly Fed Induction Generator (DFIG)
Received Oct 29, 2021 coupled to a wind turbine. Most preceding controllers based on standard
Revised April 20, 2022 models (whose magnetic induction characteristic is considered linear and iron
Accepted May 2, 2022 losses have not been taken into account). Since such a magnetic characteristic
is nonlinear in practice, this work develops a variable speed control strategy
on the basis of a DFIG model in presence of nonlinear magnetic characteristic
Keywords: and iron losses. The main contribution of this paper is to present a high-
performance maximum power point (MPPT) control of DFIG based on rotor
Backstepping control flux optimization, designed to reach an optimal operational condition. Of the
DFIG foregoing, the control goal is twofold: i) minimization of the stator and rotor
High-performance MPPT currents circulating by controlling the rotor flux for a maximum
Iron losses electromagnetic torque; and ii) captured the maximum wind power to insure
Magnetic saturation the attainment of MPPT. The performances of the proposed command has
Optimization been studied theoretically and validated by simulation studies with
MATLAB/Simulink.
This is an open access article under the CC BY-SA license.

Corresponding Author:
Youssef Majdoub
Mohammed V University in Rabat, Mohammadia School of Engineers
Agdal Rabat, Morocco
Email: [email protected]

1. INTRODUCTION
Global warming and lowering fossil reserves have pushed many countries to move towards the use of
renewable energies, which are considered clean energy [1]-[4]. In this context, the major areas of research in
the world have been focused on the problem of optimizing wind energy captured by the turbine. Admittedly,
the control of a wind turbine equipped with a fixed-speed alternator is very simple but can no longer ensure
optimization of the aerodynamic energy captured. [5]-[8]. Because of this, variable speed operation was
introduced. In this context, the MPPT control is called to maximize the wind energy extraction. Various MPPT
control models were based on the standard model [9], [10] which neglects the nonlinearity of the magnetic
characteristic as well as the iron losses [11]-[14].
For these reasons, this article develops the principles of the high performance MPPT control for DFIG
based on the optimization of the currents passed through the stator and rotor. Optimality is grasped in the
context of maximizing torque and decreasing circulating currents [15]-[19]. The theoretical results are justified
by the simulation which confirms that the developed controller has a certain robustness to disturbances. For
some authors, the reference rotor flux is given the nominal value (or by defluxing). In such a case, the
electromagnetic torque is close to its nominal value and the efficiency of the machine is maximum. But, in
reality, the electromagnetic torque is not always fixed in a precise value and can have strong variations
(depending on the mechanical torque applied) [20]-[23]. So, if the aerodynamic torque is small, there is

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1196  ISSN: 2088-8694

untapped stored energy in the stator and rotor inductances reducing the energy efficiency of the machine [24]-
[26]. The article is structured as follows: the model of the wind turbine taking into account the nonlinear
magnetic characteristic as well as the iron losses are described in section 2. The formulation of the problem, the
design of the reference signals, and the development of an improved MPPT controller based on backstepping
technique which exploited the magnetic characteristic nonlinearity are established in section 3. The robustness of
the control law is presented by simulation in section 4, a conclusion is illustrated in section 5. At the end of the
article, the list of references and the bibliography are presented.

2. WIND TURBINE MODEL IN PRESENCE OF NONLINEAR MAGNETIC CHARACTERISTIC

AND IRON LOOSES
2.1. Turbine model
The aerodynamic wind power available at the blades is given by [19]:
1
Paero= ρπR2 CP (λ, β)vw
3
(1)
2

with β is a blade pitch angle which will remain constant for our case study, CP (λ) is the coefficient of
performance (CP (λ, β) ≝ CP (λ)),R is the radius of the wind turbine rotor, ρ is the air density, vw is the wind
velocity and λ is the tip speed ratio, its expression is:
Rωt
λ= (2)
vw

2.2. Nonlinear dynamic DFIG model

2.2.1. Iron losses
Generally, the iron losses of DFIG are most frequently modeled by of the equivalent iron loss
resistance R m associated in parallel with the magnetizing inductance Ӽ. although, in this paper, the proposed
equivalent circuit of DFIG is inspired from [19], where the iron losses of DFIG are modeled by an equivalent
resistance R m associated at the same time in parallel with the stator cyclic leakage inductance Lσs and mutual
cyclic inductance Ӽ. In fact, the simplicity and precision of the calculations of this technique justifies this choice
[13], because, if we use the theorem of thevenin, we will obtain an equivalent circuit like that of the standard
model (without iron losses). Figures 1(a) and (b) show the proposed equivalent circuit of the DFIG in the
reference frame α and β respectively using concordia transformation. So, the iron resistance is a variable
parameter which was identified experimentally on a 4 kW DFIG driven by a DC motor. The procedure
described in [19] was used to determine the values of the iron loss resistance as well as the magnetizing
reactance [22]. The iron resistance characteristic is shown in Figure 2.
From the Figure 1, the parameters Rs, Rm and Vsαβ will be replaced by an equivalent voltage source
VsTαβ in series with an equivalent resistance RsT, from this, we are calculated in the stationary α- β reference
frame the thevenin’s equivalents parameters as [23]:
Rs Rm Rm Rm
R sT = ; vsTα = vsα ; vsTβ = vsβ ;
Rs +Rm Rs +Rm Rs +Rm
Rs +Rm vsα Rs +Rm vsβ
isTα = isα + ; isTβ = isβ + (3)
Rm Rm Rm Rm

(a) (b)

Figure 1. Proposed DFIG model in the (αβ) reference frame: (a) α −axis and (b) β −axis (iron loss
resistance associated in parallel with the stator cyclic leakage inductance and mutual cyclic inductance)

Int J Pow Elec & Dri Syst, Vol. 13, No. 2, June 2022: 1195-1208
Int J Pow Elec & Dri Syst ISSN: 2088-8694  1197

Figure 2. Experimental measurement of iron loss resistance equivalent characteristic

2.2.2. Nonlinear magnetic characteristic

We considered that the grid is stable and the stator flux aligned with the d axis. This gives:
Vs
vsq = vs , φsq = 0 , and φsd = φs ≈ (4)
ѡs

Therefore, the stator and rotor flux can be rewritten as:

𝜑𝑠𝑑 = 𝜑𝑠 = 𝐿𝑠 𝑖𝑠𝑇𝑑 + Ӽ𝑖𝑟𝑑 (5)

𝜑𝑠𝑞 = 0 = 𝐿𝑠 𝑖𝑠𝑇𝑞 + Ӽ𝑖𝑟𝑞 (6)

𝜑𝑠
𝜑𝑟𝑑 = 𝐿𝑟 𝑖𝑟𝑑 + Ӽ𝑖𝑠𝑇𝑑 = 𝐿𝑟 𝜎𝑖𝑟𝑑 + Ӽ (7)
𝐿𝑠

𝜑𝑟𝑞 = 𝐿𝑟 𝑖𝑟𝑞 + Ӽ𝑖𝑠𝑇𝑞 = 𝐿𝑟 𝜎𝑖𝑟𝑞 (8)

On the other hand, the stator and rotor currents contribute to the generation of the magnetizing flux along with
the magnetizing current, denoted by:

iμ : iμd = 𝑖𝑠𝑇𝑑 + 𝑖𝑟𝑑 , iμq = 𝑖𝑠𝑇𝑞 + 𝑖𝑟𝑞 (9)

and we have 𝜑μd = Ӽiμd , 𝜑μq = Ӽiμq (10)

Where φμ is the magnetizing air-gap fluxes. In that case, the flux in (5), (6), (7) and (8) are given in the dq
reference as [13]:

𝜑𝑠 = 𝑙𝑠σ 𝑖𝑠𝑇𝑑 + φμd (11)

𝜑𝑠𝑞 = 0 = 𝑙𝑠σ 𝑖𝑠𝑇𝑞 + φμq (12)

𝜑𝑟𝑑 = 𝑙𝑟σ 𝑖𝑟𝑑 + φμd (13)

𝜑𝑟𝑞 = 𝑙𝑟σ 𝑖𝑟𝑞 + φμq (14)

The leakage inductances are grouped in the stator side, we pose 𝑙𝑠𝑒𝑞 is the equivalent inductance to the stator
side of both the stator and the rotor leakage brought, that gives 𝑙𝑟σ = 0 and 𝑙𝑠σ = 𝑙𝑠𝑒𝑞 . Next, the inductances
𝐿𝑠 and 𝐿𝑟 can be rewritten like that:

𝐿𝑠 = 𝑙𝑠𝑒𝑞 + Ӽ and 𝐿𝑟 = 𝑙𝑟σ + Ӽ = Ӽ (15)

Figure 3(a) give the variations of mutual inductance as a function of the corresponding magnetizing
current. We suppose that the magnetizing flux direction remains unchanged and that it saturates only in
amplitude, which allowed us to admit that φμ and iμ are in phase. Figure 3(b) shows the magnetic characteristic
Φμ = λ(Iμ ) where Φμ and Iμ are the norms values. Of the above, the instantaneous values φμ and iμ are given
by:

High-performance MPPT control of DFIG with optimized flux reference … (Youssef Majdoub)
1198  ISSN: 2088-8694

Φμ
φμ = i (16)
Iμ μ

In the following, we pronounce the static magnetization parameter Ӽ, defined as [23]:

Φμ
Ӽ= (17)
Iμ

First, we note some experimental points of the DFIG magnetic characteristic to make the approximation of the
mutual inductance Ӽ(Iμ ). Then, we can easily deduce the magnetizing flux norm Φμ (with Φμ = Φr ) in function
of the magnetizing current Iμ .

(a) (b)

Figure 3. Experimental measurement of DFIG: (a) magnetizing inductance and

(b) nonlinear magnetic characteristic

2.2.3. Improved model of DFIG

From the above and taking into account the iron losses and the nonlinearity of the magnetic saturation,
the improved model of DFIG can be rewritten in the dq reference frame as follows:
𝑇
𝑥̇ = 𝑓(𝑥, 𝑢, 𝑦) ≝ [𝑓1 (𝑥, 𝑢, 𝑦) 𝑓2 (𝑥, 𝑢, 𝑦) … 𝑓5 (𝑥, 𝑢, y)]
{ (18)
ℎ (x) ≝ [h1 (x) h2 (x) h3 (x)]T

with

x= [𝑥1 𝑥2 𝑥3 𝑥4 𝑥5 ]𝑇 = [𝑖𝑠𝑇𝑑 𝑖𝑠𝑇𝑞 𝜑𝑟𝑑 𝜑𝑟𝑞 𝛺]𝑇

𝑢 = [𝑣𝑠𝑇𝑑 𝑣𝑠𝑇𝑞 ]𝑇 ; 𝑦 = [𝑣𝑟𝑑 𝑣𝑟𝑞 ]𝑇

1 1 1
−𝜂𝑖𝑠𝑇𝑑 + 𝜔𝑠 𝑖𝑠𝑇𝑞 + 𝛤𝜑𝑟𝑞 + 𝜔𝜑𝑟𝑞 + 𝑣 − 𝑣
𝑙𝑠𝑒𝑞 𝑙𝑠𝑒𝑞 𝑠𝑇𝑑 𝑙𝑠𝑒𝑞 𝑟𝑑
𝑓1 1 1 1
𝑓2 −𝜔𝑠 𝑖𝑠𝑇𝑑 − 𝜂𝑖𝑠𝑇𝑞 − 𝜔𝜑𝑟𝑑 + 𝛤𝜑𝑟𝑞 + 𝑣 − 𝑣
𝑙𝑠𝑒𝑞 𝑙𝑠𝑒𝑞 𝑠𝑇𝑞 𝑙𝑠𝑒𝑞 𝑟𝑞
𝑓3 = 𝑅𝑟 𝑖𝑠𝑇𝑑 − 𝑙𝑠𝑒𝑞 𝛤𝜑𝑟𝑑 + 𝑔𝜔𝑠 𝜑𝑟𝑞 + 𝑣𝑟𝑑 (19)
𝑓4 𝑅𝑟 𝑖𝑠𝑇𝑞 − 𝑔𝜔𝑠 𝜑𝑟𝑑 − 𝑙𝑠𝑒𝑞 𝛤𝜑𝑟𝑞 + 𝑣𝑟𝑞
[𝑓5 ] 𝜇 𝑓 𝑇
[ (𝜑𝑠𝑞 𝑖𝑟𝑑 − 𝜑𝑠𝑑 𝑖𝑟𝑞 )– 𝛺 + 𝑚𝑒𝑐 ]
𝐽 𝐽 𝐽

Ӽ2 𝑅𝑟 +𝑅𝑠𝑇 𝑅𝑟 𝜎𝑃𝑅𝑟
Where: 𝑙𝑠𝑒𝑞 = 𝜎𝐿𝑠 ; 𝜎 = 1 −
𝐿𝑟 𝐿𝑠
;𝜂=
𝑙𝑠𝑒𝑞
; 𝛤=𝑙 ;𝜇=
𝑙𝑠𝑒𝑞 2 𝛤
. With: 𝐽 : total inertia constant ;
𝑠𝑒𝑞 Ӽ
𝑓: viscous friction coefficient; (𝜑𝑠 , 𝜑𝑟 ): stator , rotor flux components; 𝛺: DFIG rotor speed;(𝑅𝑠 , 𝑅𝑟 ): stator
and rotor resistances.

Int J Pow Elec & Dri Syst, Vol. 13, No. 2, June 2022: 1195-1208
Int J Pow Elec & Dri Syst ISSN: 2088-8694  1199

(a) (b)

Figure 4. Proposed DFIG equivalent circuit accounting the iron losses and the nonlinearity of the
magnetic saturation: (a) d axis and (b) q axis

Figures 4(a) and 4(b) show the proposed circuit of the DFIG taking into account the iron losses and
the nonlinearity of the magnetic saturation in the reference frame d and q respectively using Parck
transformation. In the above model, the parameter Γ is the unique parameter that varies in function of magnetic
state of the DFIG, this relation has been given a polynomial approximation [24]-[26], i.e.:

Γ=K(Φr ) , with : K(Φr )=a0+ a1Φr +a2Φr 2 +....+ anΦr 𝑛

The ai’s are constant coefficients, identified with polyfit MATLAB function. So, the magnetic
characteristic of the DFIG is denoted Φr = γ(Iμ ) where Iμ denotes the norm of the magnetizing current and
Φr = Φμ . From the experimental points (Iμ , Φμ ), we deduce a polynomial function approximation of the
characteristic (Φr , Γ) as depicted Figure 5. The parameter values of DFIG used in experimental tests are given
in Table 1.

Figure 5. The characteristic (Φr , Γ)

Table 1. Parameters of DFIG 4 kW

Characteristic Value
Stator resistance 1.25 
Rotor resistance 0.17
Mutual inductance 0.0772 H
Rotor leakage inductance 0.0018 H
Stator leakage inductance 0.00096 H
Generator inertia 0.33 kg m2
Viscous friction coefficient 0.001 m/s

3. REFERENCE ROTOR FLUX CONSTRUCTION AND THE ENHANCED OPTIMAL

CONTROL
The present section presents a new and optimal approach that properly accounts for the nonlinear
magnetic characteristic to control DFIG. Notice that in previous works, the standard model can be referred to
linear model (LM), from the nonlinear model (NLM), and this while keeping the parameter Γ constant. Thus,
we describe a new control strategy based on a method for optimizing the rotor flux reference to minimize stator

High-performance MPPT control of DFIG with optimized flux reference … (Youssef Majdoub)
1200  ISSN: 2088-8694

and rotor current absorbed [23]-[26]. the performance of this optimization law is validated by means of
simulation.

3.1. Problem formulation

The problem of controlling variable speed wind turbines is addressed. The majority of previous works
considered that the reference of the reactive power of the stator was null and the magnetic characteristic was
linear. However, the machine operation mode is not optimal of the large electromagnetic torque with Qs=0.In
the present section, we will develop a new optimal MPPT control strategy taking into account the nonlinearities
of the machine (in order to lower the total currents consumption in both the stator and rotor).
The control objective is to follow the maximum of the wind power captured and to minimize the
currents transited by generating an optimal rotor flux in line. In this context, the rotor flux norm Φr must track
perfectly the flux reference Φr−ref = H (Ir , Is ) , where (Ir , Is ) are the rotor and stator currents norms and the
function H will be resolute in order that Φr = Φr−ref involve the minimization of the stator and rotor currents
circulated in the induction machine for getting a maximum electromagnetic torque [23]-[26].

3.2. Optimal rotor flux reference

Firstly, we find a relation between the rotor flux, stator and rotor currents norms. In this respect, one
considers the DFIG model developed in (19); thus, the stator and rotor currents can be rewritten by:
Ls φrd −Ӽφs φrd φs φrq
ird = = − , irq = (20)
σLs Lr σӼ lseq Ӽσ

φs −φrd Ӽ
isTd = , isTq = − i (21)
lseq Ls rq

On the other hand, the rotor flux can be rewritten as:

φ2rd =Ӽ2 (i2sTd + i2rd + 2isTd ird ) , φ2rq =Ӽ2 (i2sTq + i2rq + 2isTq irq ) (22)

Then, using (20) and (21), we'll have:

φs φrd φ2
rd φ2
s φs φrd 1 1 φ2
r φ2
rq φ2
sd
isTd ird = − − + = φs φrd ( 2 + )− + − (23)
σLr lseq σLr lseq l2
seq l2
seq lseq σLr lseq σLr lseq σLr lseq l2
seq

φ2
rq
isTq irq = − (24)
σLr lseq

Accordingly, one has:

Φr2 = Ӽ2 (Is2 + Ir2 + 2(isTd ird + isTq irq ) (25)

We replace isd ird , and isq irq by their expressions according to (23)-(24), we are the expressions of rotor flux
norm in function to the stator and rotor currents norms:

1 1 φ2 φ2
φ2r = Ӽ2 (Is2 + Ir2 ) + 2Ӽ2 ( 2 + ) (φsd φrd + φsq φrq ) − 2Ӽ2 r
− 2Ӽ2 s
(26)
lseq σLr lseq σLr lseq l2
seq

The electromagnetic torque Tem can be written by:

p(φsd φrq −φsq φrd )

Tem = (27)
lseq

Then, (26) can be simplified to:

2 2
1 2 2φ2s lseq Vsq
( 2+ ) φ2r − (Is2 + Ir2 ) + − (φ2s − √φ2s − [RsTem + ws φs ] ) ( 22 + 2
)=0 (28)
Ӽ σӼlseq l2seq Rs PVsq Vs lseq σLr lseq

Int J Pow Elec & Dri Syst, Vol. 13, No. 2, June 2022: 1195-1208
Int J Pow Elec & Dri Syst ISSN: 2088-8694  1201

Figure 6 shows the curves representing the sum of the squares of the current modules (Is2 + Ir2 ) versus
the flux Φr , for various values of the electromagnetic torque Tem . At present, it is easy to observe that, for
each value of the sum (Is2 + Ir2 ), there are several different operating points by the value of rotor flux norm Φr
and Tem . For example, a torque Tem = 5Nm can be produced, for the generator 4kw (Table 1), with:
− A current Is2 + Ir2 = 490 A and a flux Φr = 0.2 Wb;
− A current Is2 + Ir2 = 20 A and a flux Φr = 0.40 Wb;
The best operation point from an energetic viewpoint, is the one which corresponds to the minimum
of currents circulations. From Figure 6, it is usually seen that there is a unique couple (Φr ,(Is2 + Ir2 )) for any
Tem , which engages the least possible values of the stator and rotor currents. For our case study Φr−ref =
0.4Wb.
The stator active and reactive powers are given by:

Ps = 𝑣𝑠𝑇𝑑 𝑖𝑠𝑇𝑑 + 𝑣𝑠𝑇𝑞 𝑖𝑠𝑇𝑞 (29)

and

Q s = 𝑣𝑠𝑇𝑞 𝑖𝑠𝑇𝑑 − 𝑣𝑠𝑇𝑑 𝑖𝑠𝑇𝑞 (30)

For 𝑣𝑠𝑇𝑞 = Vs and 𝑣𝑠𝑇𝑑 = 0, (29) and (30) become:

𝑃𝑠 = 𝑉𝑠 𝑖𝑠𝑇𝑞 (31)

and

𝑄𝑠 = 𝑉𝑠 𝑖𝑠𝑇𝑑 (32)

Introducing (20) and (21) into (31) and (32), we obtain:

𝑉𝑠 Ӽ
𝑃𝑠 = − 𝑖 (33)
𝐿𝑠 𝑟𝑞

and
𝜑 Ӽ
𝑄𝑠 = 𝑉𝑠 𝐿 𝑠 − 𝑉𝑠 𝐿 𝑖𝑟𝑑 (34)
𝑠 𝑠

Indeed using (33)-(34) and (20)-(21), we can deduce the expression of the rotor flux magnitude reference
(∅ref = √𝜑2𝑟𝑑 + 𝜑2𝑟𝑞 ) according to 𝑄𝑠_𝑟𝑒𝑓 (stator reactive power reference)

𝑙𝑠𝑒𝑞 2 𝑙 2
∅2𝑟𝑒𝑓 = [𝜑𝑠 − 𝑉𝑠
𝑄𝑠_𝑟𝑒𝑓 ] + [ 𝑠𝑒𝑞
𝑉
𝑃𝑠 ] (35)
𝑠

The stator flux φs is assumed constant (the grid is considered stable).

Figure 6. Sum of the squares of the current modules (Is2 + Ir2 ) as versus rotor flux Φr for different Tem values
High-performance MPPT control of DFIG with optimized flux reference … (Youssef Majdoub)
1202  ISSN: 2088-8694

3.3. Improved MPPT control

The main objective of the control strategy is to develop an optimal control law in order to optimize
the different operations points of the wind turbine [13]. For this, an enhanced backstepping controller has been
designed to force the system to track their references ( Ωref , Φr−ref ) where Ωref is the optimal rotor speed
reference illustrated in Figure 7 and Φr−ref is the rotor flux reference (35).

Figure 7. Optimal rotor speed reference in function the speed wind [13]

For reasons of simplification (backstepping control of the rotor flux in only one step), the control of
the rotor flux will be assured by controlling the stator reactive power described by (34). Firstly, we consider
the following errors:

𝑒1 = Ωref − Ω (36)

e3 = 𝑄𝑠_𝑟𝑒𝑓 − 𝑄𝑠 (37)

Step 1. It follows from (19), (33), (34), (36) and (37) that the dynamics errors 𝑒1 and 𝑒3 are:
𝜇 𝑓 𝑇𝑚𝑒𝑐
𝑒̇1 = Ω̇𝑟𝑒𝑓 − Ω̇ = Ω̇𝑟𝑒𝑓 + 𝜑𝑠𝑑 𝑖𝑟𝑞 + 𝛺 − (38)
𝐽 𝐽 𝐽

𝑅𝑠 𝑑 Ӽ 𝑑
𝑒̇3 = 𝑄̇𝑠_𝑟𝑒𝑓 − 𝑄𝑠̇ = 𝑄̇𝑠_𝑟𝑒𝑓 + 𝑉𝑠 i + 𝑉𝑠 i (39)
𝐿𝑠 𝜔𝑠 𝑑𝑡 sTq 𝐿𝑠 𝑑𝑡 rd

Ӽ𝑅𝑠 𝑑 Ӽ 𝑑
𝑒̇3 = 𝑄̇𝑠_𝑟𝑒𝑓 − 𝑉𝑠 i + 𝑉𝑠 i (40)
𝐿𝑠 2 𝜔𝑠 𝑑𝑡 rq 𝐿𝑠 𝑑𝑡 rd

Indeed, considering the function Lyapunov candidate:

1 1
𝑉1 = e12 + e23 (41)
2 2

We deduce that:

𝑉1̇ =e1 ė 1 + e3 ė 3 = −k1 e12 − k 3 e23 (42)

Where k1 and k 3 are positive real parameters to be chosen as described in [13]. On the other hand, in (38),
𝜑𝑠𝑑 𝑖𝑟𝑞 is considered as a virtual control signal which will temporarily be like the real control signal, the error
in (38) assures the global asymptotic stability, letting:
𝐽 𝑓 𝑇
(𝜑𝑠𝑑 𝑖𝑟𝑞 )ref = µ1 with: µ1 ≝ (−Ω̇𝑟𝑒𝑓 − 𝛺 + 𝑚𝑒𝑐 − 𝑘1 𝑒1 ) (43)
𝜇 𝐽 𝐽

As the quantity 𝜑𝑠𝑑 𝑖𝑟𝑞 can’t be equal to µ1 because isn't actual control signal. Indeed, we take the stabilizing
function µ1 in the first. Step 2. Now introduce the new error:

𝑒2 = µ1 − 𝜑𝑠𝑑 𝑖𝑟𝑞 (44)

Then, the dynamic of the error 𝑒1 are given as:

𝜇
𝑒̇1 = −k1 𝑒1 − 𝑒2 (45)
𝐽

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So, the time derivative of the function 𝑉1 is:

𝜇
𝑉1̇ = −k1 e12 − k 3 e23 − 𝑒1 𝑒2 (46)
𝐽

The actual control signals 𝑉𝑟𝑑 and 𝑉𝑟𝑞 are choosing so that all errors (𝑒1 , 𝑒2 , 𝑒3 ) converge to zero:

𝑑
𝑒̇2 = µ̇ 1 − 𝜑𝑠𝑑 𝑖 (47)
𝑑𝑡 𝑟𝑞

𝐽 𝑓 𝑇 ̇ 𝑑
and 𝑒̇2 = (−Ω̈ref − 𝛺̇ + 𝑚𝑒𝑐 − 𝑘1 𝑒̇1 ) − 𝜑𝑠𝑑 𝑖 (48)
𝜇 𝐽 𝐽 𝑑𝑡 𝑟𝑞

From (3) and (4), we can write:

𝑑 1 Ӽ 𝑑𝜑𝑠
𝑖 = (𝑉𝑟𝑑 − 𝑅𝑟 𝑖𝑟𝑑 − + 𝐿𝑟 𝜎𝜔𝑟 𝑖𝑟𝑞 ) (49)
𝑑𝑡 𝑟𝑑 𝐿𝑟 𝜎 𝐿𝑠 𝑑𝑡

𝑑 1 Ӽ
𝑖 = (𝑉𝑟𝑞 − 𝑅𝑟 𝑖𝑟𝑞 − 𝐿𝑟 𝜎𝜔𝑟 𝑖𝑟𝑑 − 𝜔𝑟 𝜑𝑠 ) (50)
𝑑𝑡 𝑟𝑞 𝐿𝑟 𝜎 𝐿𝑠

Introducing (25) and (26) in (27) and (24), we obtain:

𝐽 𝑓 𝑇 𝜑 ̇ Ӽ
𝑒̇2 = (−Ω̈ref − 𝛺̇ + 𝑚𝑒𝑐 + k12 e1 ) + k1 e2 − 𝑠𝑑 (𝑉𝑟𝑞 − 𝑅𝑟 𝑖𝑟𝑞 − 𝐿𝑟 𝜎𝜔𝑟 𝑖𝑟𝑑 − 𝜔𝑟 𝜑𝑠 )
𝜇 𝐽 𝐽 𝐿𝑟 𝜎 𝐿𝑠

This can be condensed as:

𝜑𝑠𝑑 𝑉𝑟𝑞
𝑒̇2 = µ2 − (51)
𝐿𝑟 𝜎

𝐽 𝑓 𝑇 𝜑 ̇ Ӽ
With µ2 = (−Ω̈ref − 𝛺̇ + 𝑚𝑒𝑐 + k12 e1 ) + k1 e2 − 𝑠𝑑 (−𝑅𝑟 𝑖𝑟𝑞 − 𝐿𝑟 𝜎𝜔𝑟 𝑖𝑟𝑑 − 𝜔𝑟 𝜑𝑠 )
𝜇 𝐽 𝐽 𝐿𝑟 𝜎 𝐿𝑠
Ӽ𝑅𝑠 𝑉𝑟𝑞 Ӽ𝑅𝑠 𝑉𝑠 Ӽ Ӽ𝑉𝑠
and 𝑒̇3 = 𝑄̇𝑠_𝑟𝑒𝑓 − 𝑉𝑠 + (𝑅𝑟 𝑖𝑟𝑞 + Lr σ𝜔𝑟 ird + 𝜔𝑟 𝜑𝑠 ) + 𝑉 +
𝐿𝑠 2 Lr σ𝜔𝑠 𝐿𝑠 2 Lr σ𝜔𝑠 Ls 𝐿𝑠 Lr σ 𝑟𝑑
Ӽ𝑉𝑠 Ӽ 𝑑𝜑𝑠
(−𝑅𝑟 𝑖𝑟𝑑 − + Lr σ𝜔𝑟 irq ) (52)
𝐿𝑠 Lr σ Ls 𝑑𝑡

Then, let us consider the Lyapunov function candidate as:

1 1 1
𝑉2 = e12 + e22 + e23 (53)
2 2 2

The control signals 𝑉𝑟𝑞 and 𝑉𝑟𝑑 can be deduced from (51) and (52) satisfying 𝑉2̇ <0:

Lr σ
𝑉𝑟𝑞 = (𝑘2 𝑒2 +µ2 ) (54)
𝜑𝑠

𝐿𝑠 𝐿𝑟 𝜎 Ӽ𝑅𝑠 𝑉𝑟𝑞 Ӽ Ӽ 𝑑𝜑𝑠

𝑉𝑟𝑑 = [−𝑘3 𝑒3 − 𝑄̇𝑠_𝑟𝑒𝑓 + 𝑉𝑠 − 𝜎𝜔𝑟 𝑖𝑟𝑑 + 𝜔𝑟 𝜑𝑠 )] + 𝑅𝑟 𝑖𝑟𝑑 + − 𝐿𝑟 𝜎𝜔𝑟 𝑖𝑟𝑞 (55)
𝑉𝑠 Ӽ 𝐿𝑠 2 𝐿𝑟 𝜎𝜔𝑠 𝐿𝑠 𝐿𝑠 𝑑𝑡

Where k 2 is a new positive constant. In fact by substituting (54) and (55) in (53), the time derivative of (53):

𝑉̇ = −𝑘1 𝑒12 − 𝑘2 𝑒22 − 𝑘2 𝑒32 <0 (56)

Which ensures the global asymptotic stability of the system.

4. SIMULATIONS RESULTS
In this section, we will present the importance of the new control strategy (non-linear model with
optimal flux NLMOF), introducing the optimal rotor flux reference illustrated by Figure 8, compared to the
control strategies using the constant rotor flux reference (case of the linear model with constant flux LMCF or
nonlinear model with constant flux NLMCF). The comparison is performed using DFIG and Turbine
parameters considered in Tables 1 and 2.

High-performance MPPT control of DFIG with optimized flux reference … (Youssef Majdoub)
1204  ISSN: 2088-8694

Figure 8. Characteristic of the rotor flux reference obtained by interpolating the points (Tem , Φr−ref )

Table 2. Turbine parameters

Characteristic Value
Turbine radius, R 3m
Gear box ratio 1:8.5
Rated wind speed 10.5 m/s
Number of blades 3
Power 5 kW
Rotor inertia 0.05 kg m2
Cut-in wind speed 4.25 m/s

4.1. Hegemony of the NLMOF strategy over the LMCF strategy

The simulation protocol is designed in order to test the performance of the HP-MPPT controller (used
the NLMOF) operating under different conditions by considering two steps of the wind speed (Figure 9) and load
torque (Figure 10). Recall that the NLMOF regulator involves the optimal flux reference depicted in Figure 8. The
HP-MPPT control laws defined by (54) and (55) receives the following design parameter values, which have
proven to be practical: k1 = 1000, k 2 = 300 and k 3 = 50.
The optimal specific speed 8,1 with MPPT control are presented in Figure 11. The dynamic responses
of the optimal flux NLMOF and constant flux LMCF regulator are presented in Figure 12. The control of rotor
flux with the NLMOF and LMCF strategies are presented in Figures 13 and 14 respectively. According to the
results obtained in Figure 15, it is confirmed that under all operating conditions, the NLMOF regulator requires
smaller current than the constant flux reference regulator LMCF. Figure 16 confirms the performance of our
regulator by the pace of joule effect losses for LMCF and NLMOF strategies. The active stator and rotor power
are presented in Figures 17 and 18 respectively for LMCF and NLMOF regulators. The dynamic and the
performance under different operating parameter changes of the proposed regulator have been affirmed further
by Figures 19 and 20 which presented the reactive stator and rotor power respectively for LMCF and NLMOF
controllers.

Figure 9. Wind speed Figure 10. Load torque applied

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Int J Pow Elec & Dri Syst ISSN: 2088-8694  1205

Figure 11. Optimal specific speed with MPPT Figure 12. The Speed reference (to ensure MPPT),
control the responses of the optimal flux NLMOF and
constant flux LMCF regulator

Figure 13. Regulation of rotor flux with the Figure 14. Regulating the rotor flux with the
NLMOF strategy (The online flow reference LMCF control strategy (which imposes a constant
generated (Tem , Φr−ref )). flux reference)

Figure 15. Sum of squares of norm (Is2 + Ir2 ) for Figure 16. Joule effect losses for LMCF and
LMCF and NLMOF regulators NLMOF regulators

Figure 17. Active stator power (W) for LMCF and Figure 18. Active rotor power (W) for LMCF and
NLMOF regulators NLMOF regulators

High-performance MPPT control of DFIG with optimized flux reference … (Youssef Majdoub)
1206  ISSN: 2088-8694

Figure 19. Reactive stator power (VAR) for LMCF Figure 20. Reactive rotor power (VAR) for LMCF
and NLMOF regulators and NLMOF regulators

4.2. Hegemony of the NLMOF strategy over the LMOF strategy

The simulation protocol is similar to part 4.1 (Figures 9 and 10). Recall that the NLMOF regulator is
defined for (19) in combination with the optimal flux generator (shown in Figure 8). So to have the LMOF
regulator, it is sufficient to make the following changes in (19):
− The parameter Γ in (19) is held constant, equal to à 𝛤 ≈ 460 Ω𝐻 −1 .
− The rotor flux reference is given by the signal depicted in Figure 8.
− The controller parameters are set to the following values: k1 = 1000, k 2 = 300 and k 3 = 50 .
Figure 21 shows that the Sum of squares norm (Is2 + Ir2 ) is lower with the NLMOF regulator. Figure 22 shows
the quality of flux tracking obtained with the NLMOF and LMOF control strategies. So, Figure 23 presents the
active stator power for LMOF and NLMOF regulators. Also, from the energy point of view, is also illustrated
by Figure 24 when the rotor power produced by NLMOF regulator is more than LMOF regulator.

Figure 21. Sum of squares norm (Is2 + Ir2 ) for Figure 22. Regulating of rotor flux for LMFO and
LMOF and NLMOF regulators NLMOF regulators

Figure 23. Active stator power (W) for LMOF and Figure 24. Active rotor power (W) for LMOF and
NLMOF regulators NLMOF regulators

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5. CONCLUSION
The problem of controlling the DFIG in the presence of nonlinear saturation magnetic state are
evoked. A new speed and rotor flux regulator has been developed using the optimal backstepping approach to
optimize the currents circulated in the machine. Also, the proposed regulator comprises a reference rotor flux
generator dependent on the nonlinear magnetic state. In addition, it is demonstrated by simulation that, under
all operating conditions, that the current transited is really lower with the regulator NLMOF. The performance
of the proposed control laws has been demonstrated by simulation studies performed in the
MATLAB/Simulink® environment.

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BIOGRAPHIES OF AUTHORS

Youssef Majdoub received with honors the Ph.D. degree in electrical

engineering and advanced controls from Mohammadia School’s of Engineers, Rabat,
Morocco in 2021. He is currently working as an electrical engineering manager at ONEE-BE
(Office National de l'Électricité et de l'Eau Potable-Branche Electricité) in Morroco. He
published many papers in international journals and conferences (indexed in SCOPUS). His
major areas of interest are: modeling, design and control of the electrical machines,
application of power electronics to power systems, and advanced control techniques applied
to renewable energy. He can be contacted at email: [email protected].

Ahmed Abbou received with honors the Ph.D. degree in industrial electronics
and electrical machines from Mohammadia School’s of Engineers, Rabat, Morocco in 2009.
Since 2010, he has been a Professor of Power Electronics and Electric drives at Mohammadia
School’s of Engineers, Rabat, Morocco. He published more than 170 research papers
(indexed in SCOPUS) in international journals, conferences and book chapters on the
Electrical machines, Power Electronics and Electrical drives. His current area of interest is
related to the innovative control strategies for AC machine, Drives and Renewable Energy.
He can be contacted at email: [email protected].

Mohamed Akherraz graduated from the Mohammadia School’s of Engineers,

Rabat, Morocco in 1980. In 1983 he was granted a Fulbright scholarship to pursue his post-
graduate studies. He earned the Ph.D degree in 1987 from UW, Seattle. He joined the EE
department of the Mohammadia School’s of Engineers, Rabat, Morocco, where he’s
presently a professor of Power Electronics and Electric drives. He published numerous papers
in international journals and conferences. His areas of interests are: Power Electronics,
Electric drives, Computer Modeling of Power Electronics circuits, systems and drives. He
can be contacted at email: [email protected].

Int J Pow Elec & Dri Syst, Vol. 13, No. 2, June 2022: 1195-1208