Nonlinear Controller for Doubly Fed Induction Motor

with Bi-Directional AC/DC/AC Converter

Abderrahim Elfadili, Fouad Giri, Abdelmounime El Magri, Luc Dugard

To cite this version:

Abderrahim Elfadili, Fouad Giri, Abdelmounime El Magri, Luc Dugard. Nonlinear Controller
for Doubly Fed Induction Motor with Bi-Directional AC/DC/AC Converter. 11th IFAC Inter-
national Workshop on Adaptation and Learning in Control and Signal Processing (ALCOSP
2013), Jul 2013, Caen, France. pp.n/c, 2013. <hal-00818419>

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 CONFIDENTIAL. Limited circulation. For review only.

Backstepping controller for Doubly Fed

Induction Motor with bi-directional
AC/DC/AC converter
Abderrahim El Fadili1 ; Fouad Giri1 ;
Abdelmounime El Magri1 . Luc Dugard2 .
1
University of Caen Basse-Normandie, CNRS UMR 6072, Caen,
France.
2
University of Grenoble, GIPSA Lab, UMR CNRS, Grenoble-INP,
France.

Corresponding authors: elfadili abderrahim@yahoo.fr

Abstract: This paper deals with the problem of controlling doubly-fed induction machines
(DFIM). A nonlinear model of the whole controlled system, including the DFIM and the
associated AC/DC rectifier and DC/AC inverter, is developed within the Park coordinates.
A multi-loop nonlinear controller is developed, using the backstepping design technique. The
controller is formally shown to meet its objectives i.e. accurate motor speed-reference tracking,
tight regulation of the DC Link voltage, power factor correction. The theoretical results are
validated by simulation.

Keywords: Doubly-fed induction machines (DFIM); AC/DC rectifier; DC/AC inverter;

Backstepping design technique; Speed regulation; Power factor correction.

1. INTRODUCTION fault tolerant control of the DFIM under time-varying

Nowadays, the Doubly Fed Induction Motor (DFIM)
drives are becoming popular in industry applications due
to its high power handling capability without increasing
the power rating of the converters. It presents good per-
formances stability either in very low speed and in high
speed operation Khojet El Khil et al. [2004].
Despite that several studies focused in the study of wind
energy conversion systems using doubly fed induction
generator (DFIG) (Boukhezzar and Siguerdidjane [2009],
Abo-Khalil [2012], Poitiers et al. [2009], Song et al. [2012]),
many others propose the use of DFIM in motor application
(Metwally et al. [2002], Salloum et al. [2007], Bonnet
et al. [2007], Peresadaa et al. [2004], Vidal et al. [2008],
Xiying and Jian [2010]), as an interesting alternative,
for high power applications such as railway traction, ma-
rine propulsion, metallurgy, rolling mills or hydro-electric
stations and in very low speed applications like coiler-
uncoiler.
The DFIM drive is a wound rotor AC induction motor
can be controlled from the stator or rotor by various
possible combinations. Several papers presented various
control strategies of DFIM. In Hopfensperger et al. [2000],
authors studies a field oriented control without position
sensor of DFIM in motor application with one converter
in the rotor side where the stator side is connected to the
network.
A field oriented control with and without speed sensor
of DFIM with tow inverters configuration is presented in
(Metwally et al. [2002], Khojet El Khil et al. [2004]). In
Gritli et al. [2011] autors present an original study on
conditions. Other control strategies were presented such
us direct torque control Bonnet et al. [2007], sliding
mode control Vidal et al. [2008], output feedback control
Peresadaa et al. [2004] and loop-shaping H control
Salloum et al. [2007].
This paper presents a theoretical framework for a global
control strategy of the doubly fed induction motor and
related power equipments. The DFIM stator windings are
directly connected to the line grid, while windings of the
wound rotor are controlled by means of a bi-directional
power converter. The proposed adaptive backstepping
technique control involves a multi-loop nonlinear adaptive
controller designed to meet the tow main control objectives
i.e. tight speed regulation for a wide range speed-reference
variation despite the load torque uncertainly and power
factor correction (PFC) for overall DFIM converters. Tools
from the averaging theory are resorted to formally describe
the control performances.
The paper is organized as follows: in Section 2, the whole
association including the AC/DC/AC power conversion
and doubly fed induction motor is modeled; the multi-
objective controller is designed and analyzed in Section 3;
the control performances are illustrated through numerical
simulations in Section 4.
2. MODELLING AC/DC/AC CONVERTER-DOUBLY
FED INDUCTION MOTOR ASSOCIATION
The controlled system is illustrated by Fig. 1. It includes
a combination doubly fed induction motor-inverter , on
one hand, and a tri-phase AC/DC rectifier, on the other

Preprint submitted to 11th IFAC International Workshop on Adaptation and

Learning in Control and Signal Processing. Received January 11, 2013.
 CONFIDENTIAL. Limited circulation. For review only.

hand. The rectifier is a AC/DC converter operating, like 2.2 Modeling of the combination DFIM DC/AC inverter
the DC/AC inverter, according to the known Pulse Wide
Modulation (PWM) principle. The inverter is featured by the fact that the rotor d- and q-
ig1 ire1 voltage can be controlled independently. To this end, these
ig2 ire2
voltages are expressed in function of the corresponding
ig3 ire3
control action see e.g. Michael et al. [1998]:
vs1 vs2 vs3
is3 is2 is1 DC/AC inverter iin iot AC/DC rectifier
vrd = vdc u1 vrq = vdc u2 iin = u1 ird + u2 irq (6)
S1 K1
N
S2 S3 K2 K3
where u1 , u2 represent the average d- and q-axis (Parks
ir1 Lo
transformation) of the triphase duty ratio system (s1 ,s2 ,s3 ),
ir2 Lo
DFIM
3~ ir3
vdc C
Lo
iin designates the input current inverter and vdc denotes
S'1 S'2 S'3 K'1 K'2 K'3 the voltage in capacitor C.
 0
1 if Si On and Si Of f
With si = 0 i = 1, 2, 3 (7)
0 if Si Of f and Si On
u1 u2 u3 u4 Now, let us introduce the state variables m = x1 , sd =
x2 , sq = x3 , ird = x4 , irq = x5 , v dc = x6 , v rd = u1 x6 ,
Fig. 1. The AC/DC/AC converter-doubly fed induction
v rq = u2 x6 . where () denote the average value on the
motor association
modulation (MLI) period of () . Then, substituting (6)
in (1-5) yields the following state space representation of
2.1 Doubly fed induction motor model the association DFIM-inverter:
F Msr TL
Using the flux sd , sq and current ird , irq as state x 1 = x1 + p (x3 x4 x2 x5 ) (8)
J JLs J
variables and under assumption of linear magnetic circuit, 1 Msr
the equivalent two-phase model of the doubly fed induction x 2 = x2 + s x3 + x4 + V s (9)
s s
motor, represented in a rotating reference frame (d, q)
linked to the stator voltage is: 1 Msr
x 3 = x3 s x2 + x5 (10)
Msr TL F s s
m = p (sq ird sd irq ) m (1) 2
JLs J J x 4 = 1 x4 + (s px1 )x5 + x2
s
1 Msr
sd = sd + s sq + ird + Vs (2) p2 x1 x3 2 Vs + 3 x6 u1 (11)
s s 2
1 Msr x 5 = 1 x5 (s px1 )x4 + x3
sq = sq s sd + irq (3) s
s s + p2 x1 x2 + 3 x6 u2 (12)
2
i rd = 1 ird + (s pm )irq + sd
s
2.3 AC/DC rectifier modeling
pm 2 sq 2 Vs + 3 vrd (4)
2
i rq = 1 irq (s pm )ird + sq The rectifier circuit (AC/DC) is presented in Fig. 2. The
s power supply net is connected to a converter which consists
+ pm 2 sd + 3 vrq (5) of a three phase converter has 6 semiconductors insulated
where ird , irq , sd , sq , m and s are the components gate bipolar transistors (IGBTs) with anti-parallel diodes
of rotor currents, stator fluxes, angular speed and Park for bidirectional current flow mode displayed in three
transformation speed, respectively. Wherever they come legs 1, 2 and 3. The 6 semiconductors are considered as
in, the subscripts s and r refer to the stator and rotor, ideal switches. Only one switch on the same leg can be
respectively. That is, Rs and Rr are the stator and conducting at the same time.
rotor resistances; Ls and Lr are the self-inductances; Msr
Applying Kirchhoffs laws, this subsystem is described by
denotes the mutual inductance between the stator and
the following set of differential equations:
rotor windings; p designates the number of pole-pair, J
is the inertia of the motor-load set, F is the friction d[ire ]123
Lo = [vs ]123 vdc [k]123 (13)
coefficient and TL is the load torque. dt
dvdc 1
The remaining parameters are defined as follows: = (iot iin ) (14)
dt C
Rr L2s + Rs Msr
2
Msr2
Ls iin = [k]T123 [ire ]123 (15)
1 = , = 1 , s = ,
Lr L2s Ls Lr Rs T
Msr 1 where [ire ]123 = [ ire1 ire2 ire3 ] is the input currents in
2 = , 3 = T
the electric grid (rectifier side), [vs ]123 = [ vs1 vs2 vs3 ] is
Ls Lr Lr
the sinusoidal triphase net voltages (with known constant
when the stator voltage is linked to the d-axis of the frequency s ), iot is the output current rectifier and ki is
frame we have vsd = Vs and vsq = 0, the stator and the switch position function taking values in the discrete
networks currents will be related directly to the active and set {0,1}. Specifically:
reactive power. An adapted control of these currents will  0
1 if Ki On and Ki Of f
thus permit to control the power exchanged between the ki = 0 i = 1, 2, 3 (16)
motor and the grid. 0 if Ki Of f and Ki On

Preprint submitted to 11th IFAC International Workshop on Adaptation and

Learning in Control and Signal Processing. Received January 11, 2013.
 CONFIDENTIAL. Limited circulation. For review only.

iin iot AC/DC rectifier F Msr TL

x 1 = x1 + p (x3 x4 x2 x5 ) (23)
J JLs J
K1 K2 K3 1 Msr
x 2 = x2 + s x3 + x4 + Vs (24)
s s
Lo
ire3 1 Msr
Lo
x 3 = x3 s x2 + x5 (25)
ire2 vs3 s s
C AC grid 2
Lo vs2
vdc ire1 x 4 = 1 x4 + (s px1 )x5 + x2 p2 x1 x3
K'1 vs1 s
K'2 K'3
2 Vs + 3 x6 u1 (26)
2
N x 5 = 1 x5 (s px1 )x4 + x3 + p2 x1 x2 + 3 x6 u2
s
(27)
1
x 6 = (x7 u3 + x8 u4 iin ) (28)
C
u3 u4 Vs x6 u3
x 7 = s x8 + (29)
Lo Lo
Fig. 2. The AC/DC converter power circuit with a tri- x6 u4
phase input x 8 = s x7 (30)
Lo

3. CONTROLLER DESIGN

3.1 Control objectives

There are two operational control objectives:

To simplify the triphase representation (13 -14) for the
synthesis of control laws, the Park transformation, where (i) Speed regulation: the machine speed m must
the d-axis of the frame is linked to the stator voltage, is track, as closely as possible, a given reference signal
invoked again. x1 , despite the load torque TL uncertainty.
(ii) PFC requirement: the whole system input current
(ig1 , ig2 , ig3 ) must be sinusoidal with the same
dired Vs vdc u3 frequency as the supplied power grid, the reactive
= s ireq + (17) power absorbed by DFIM well be all time null.
dt Lo Lo
direq vdc u4 As there are four control inputs at hand, namely u1 , u2 ,
= s ired (18)
dt Lo u3 and u4 , two more control objectives are added:
dvdc 1
= (iot iin ) (19) (iii) Controlling the continuous voltage vdc making it
dt C track a given reference signal x6 = vdc

. This generally
is set to a constant value equal to the nominal voltage
where (ired , ireq ) denotes the rectifier side network current entering the converter and machine. p
in dq-coordinates and u3 , u4 represent the average d- and (iv) Regulating the stator flux norm s = x22 + x23
q- axis components of the triphase duty ratio system (k1 , to a reference value s , preferably equal to its nomi-
k2 , k3 ). nal value.
Let us introduce the state variables x7 = ired , x8 = ireq ,
3.2 Motor speed and stator flux norm regulation
and replacing iot by iot = u3 x7 + u4 x8 . The considered
rectifier control design will be based upon the following
equations: The problem of controlling the rotor speed and stator flux
norm is presently addressed for the doubly fed induction
motor described by (23-27). The speed reference x1 = m

1 is any bounded and derivable function of time and its two

x 6 = (u3 x7 + u4 x8 iin ) (20) first derivatives are available and bounded. These proper-
C
Vs x6 u3 ties can always be achieved filtering the reference through
x 7 = s x8 + (21) second-order linear filters. The stator flux reference s
Lo Lo
x6 u4 is fixed to its nominal value. The controller design will
x 8 = s x7 (22) now be performed in two steps using the tuning-functions
Lo
adaptive backstepping technique Krstic et al. [1995].
First, introduce the tracking errors:
The state space equations obtained up to now are put z1 = x1 x1 (31)
together to get a state-space model of the whole system
including the AC/DC/AC converters combined with the z2 = s 2 2
(x2 + x3 ) 2
(32)
doubly-fed induction motor (DFIM). For convenience, the Step 1. It follows from (23) and (24-25) that the errors
whole model is rewritten here for future reference: z1 and z2 undergo the differential equations:

Preprint submitted to 11th IFAC International Workshop on Adaptation and

Learning in Control and Signal Processing. Received January 11, 2013.
 CONFIDENTIAL. Limited circulation. For review only.

F Msr TL with
z1 = x 1 + x1 p (x3 x4 x2 x5 ) + (33)
J JLs J  2
F
z2 = 2s s 2(x 2 x2 + x 3 x3 ) 2x2 Vs 1
2 = c21 z1 + c1 z3 + x x1
J
2 2Msr
= 2s s + (x2 2 + x3 2 ) F TL
 
(x2 x4 + x3 x5 ) (34) Msr F 1
s s +p + 1 + (x3 x4 x2 x5 )
JLs J s J J
In (33) and (34), the quantities p M JLs (x3 x4 x2 x5 ) and
sr
Msr 
px1 (x3 x5 + x2 x4 )p2 x1 2s + (2 x3 + x5 )Vs

2Msr +p
s (x2 x4 + x3 x5 ) stand up as virtual control signals. If JLs
these were the actual control signals, the error system (33)- (45)
(34) could be globally asymptotically stabilized letting Similarly, it follows from (39) that, z4 undergoes the
pMJLs (x3 x4 x2 x5 ) = 1 and
sr 2Msr
s (x2 x4 + x3 x5 ) = 1 following differential equation:
with: 2Msr
def F TL z4 = 1 (x 2 x4 + x2 x 4 + x 3 x5 + x3 x 5 ) (46)
1 = c1 z1 + x 1 + x1 + (35) s
J J
def 2 Using (23-27) and (36), it follows from (46):
1 = c2 z2 + 2s s + (x22 + x23 ) 2x2 Vs (36) 2Msr
s z4 = 2 3 x6 (x2 u1 + x3 u2 ) (47)
On the other hand, the load torque TL is unknown suggests s
the certainty equivalence from of equations (35). with
def F TL 2 = c2 (c2 z2 + z4 ) + 2( s )2 + 2s s
1 = c1 z1 + x 1 + x1 + (37) Msr 3 4 1
J J +2 ( + 1 )(x2 x4 + x3 x5 ) + ( 2s + Vs x2 )
where c1 and c2 are any positive design parameters and s s s s
TL is the estimate of TL . 1
2Vs ( x2 + s x3 +
Msr
x4 + Vs ) 2(
Msr 2 2
) (x4 + x25 )

As the quantities p M 2Msr
JLs (x3 x4 x2 x5 ) = 1 and s (x2 x4 +
sr  s s s 
Msr 2 2
x3 x5 ) = 1 are not the actual control signals, they cannot 2 s + px1 (x3 x4 x2 x5 ) + x4 Vs 2 x2 Vs
be let equal to 1 and 1 , respectively. Nevertheless, we s s
retain the expressions of 1 and 1 as first stabilizing (48)
functions and introduce the new errors: To analyze the error system, composed of equations (40-
Msr 41), (44) and (47), let us consider the following augmented
z3 = 1 p (x3 x4 x2 x5 ) (38)
JLs Lyapunov function candidate:
2Msr 1 1 1 1 1 TL2
z4 = 1 (x2 x4 + x3 x5 ) (39) V = z12 + z22 + z32 + z42 + (49)
s 2 2 2 2 2 J
Then, using the notations (37) to (39), the dynamics of Its time-derivative along the trajectory of the state vector
the errors z1 and z2 , initially described by (33) - (34), can (z1 ,z2 ,z3 ,z4 ) is:
be rewritten as follows:
TL TL
TL V = z1 z1 + z2 z2 + z3 z3 + z4 z4 + (50)
z1 = c1 z1 + z3 + (40) J
J
z2 = c2 z2 + z4 (41) Using (40-41), (44) and (47), equation (50) implies:
where TL
V = z1 (c1 z1 + z3 + ) + z2 (c2 z2 + z4 )
TL = TL TL (42) J
Step 2. The second design step consists in choosing the F TL TL Msr
+ z3 (2 + (c1 ) p 3 x6 (x3 u1 x2 u2 ))
actual control signals, u1 and u2 , so that all errors (z1 , z2 , J J J JLs
z3 , z4 ) converge to zero. To this end, we should make how 2Msr TL TL
these errors depend on the actual control signals (u1 , u2 ). + z4 (2 3 x6 (x2 u1 + x3 u2 )) +
We start focusing on z3 ; it follows from (38) that: s J
(51)
Msr
z3 = 1 p (x 3 x4 + x3 x 4 x 2 x5 x2 x 5 ) (43) adding c3 z32 c3 z32 + c4 z42 c4 z42 to the right side of (51)
JLs
and rearranging terms, yields:
Assume that the load torque TL is constant or slowly time-
varying and using (23- 27), (42) and (37), one gets from V = c1 z12 c2 z22 c3 z32 c4 z42
(43):
TL
" #
Msr
+ z3 2 + c3 z3 + z1 p 3 x6 (x3 u1 x2 u2 )
F TL TL Msr J JLs
z3 = 2 + (c1 ) p 3 x6 (x3 u1 x2 u2 )
J J J JLs 
2Msr

(44) + z4 2 + c4 z4 + z2 3 x6 (x2 u1 + x3 u2 )
s

TL

F

+ (c1 )z3 + z1 + TL
J J
(52)

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Learning in Control and Signal Processing. Received January 11, 2013.
 CONFIDENTIAL. Limited circulation. For review only.

suggest the following parameter adaptation law: TL

F z1 = c1 z1 + z3 + (59)
TL = (c1 )z3 z1 (53) J
J z2 = c2 z2 + z4 (60)
from (42) and (53), the expression of TL can be calculated F TL
with the following equation: z3 = c3 z3 z1 + (c1 ) (61)
J J
F z4 = c4 z4 z2
TL = (c1 )z3 + z1 (54) (62)
J 2) The above linear system is globally asymptotically
Substituting the parameter adaptation law (53) to T in L stable with respect to the Lyapunov function V =
1 TL
2
the right side of (52) yields: 1 2 1 2 1 2 1 2
2 z1 + 2 z2 + 2 z3 + 2 z4 + 2 J . Consequently, the errors
V = c1 z12 c2 z22 c3 z32 c4 z42 (z1 , z2 , z3 , z4 ) vanish exponentially fast, whatever the

1 F 1
 initial conditions.
+ z3 2 + (c3 + (c1 ))z3 + (1 + )z1
J J J Proof. Equations (59-60) are immediately obtained from
 
Msr (40-41). Equation (61) is obtained substituting the control
z3 p 3 x6 (x3 u1 x2 u2 )
JLs law (56) and the parameter update law (54) to (u1 ,u2 ) on

2Msr
 the right side of (44). Equation (62) is obtained substitut-
+ z4 2 + c4 z4 + z2 3 x6 (x2 u1 + x3 u2 ) ing the control law (56) to (u1 ,u2 ) on the right side of (47).
s This proves Part 1. On the other hand, it is readily seen
(55) T 2
from (49) and (53) that V = 12 z12 + 12 z22 + 12 z32 + 21 z42 + 12 JL
where c3 and c4 are new positive real design parameters.
is a Lyapunov function of the error system (59-62). As V is
Equation (55) suggests that the control signals u1 , u2 must
a negative definite function of the state vector (z1 , z2 , z3 ,
be chosen so that the two quantities between curly brackets
z4 ), the error system is globally asymptotically stable. But
(on the right side of (55) are set to zero. Letting these
asymptotic stability implies exponential stability due to
quantities equal to zero and solving the resulting second-
system linearity Khalil [2003]. Proposition 1 is established.
order linear equation system with respect to (u1 , u2 ), gives
the following control law: Remark 1. . Note that the exponential nature of stability
   1 F 1
 guarantees stability robustness with respect to modelling
u1 1 2 + (c3 + J (c1 J ))z3 + (1 + J )z1
= and measurements errors Khalil [2003].
u2 2 + z2 + c4 z4
(56) 3.3 Power factor correction and DC voltage controller
with:  
0 1 Msr Controlling rectifier input current to meet PFC: The
= ; 0 = p 3 x6 x3 ,
2 3 JLs PFC objective means that the input current overall system
Msr should be sinusoidal and in phase with the AC supply
1 = p 3 x6 x2 voltage.
JLs
2Msr 2Msr Therefore, one seeks a regulator that enforces the current
2 = 3 x6 x2 , 3 = 3 x6 x3
s s igq = isq + ireq to tack a reference signal equal to zero to
(57) impose a ig in phase with the voltage supply vs .
It worths noting that the matrix is nonsingular. Indeed,
As the reference signal igq is null, it follows that the
it is easily checked that its determinant is D = 0 3
M2
p tracking error z5 = igq igq undergoes the equation:
2 4 = 2p JLssrs 32 x26 (x22 + x23 ) and s = (x22 + x23 ) never
vanish in practice because of the machine nonzero remnant z5 = isq x8 (63)
flux. as x3 = Ls isq + Msr x5 , equation (63) becomes :
Substituting the control law (56) to (u1 , u2 ) on the right x3 Msr
z5 = + x5 x8 (64)
side of (55) yields: Ls Ls
V = c1 z12 c2 z22 c3 z32 c4 z42 (58) In view of (25), (27) and (30), the above error undergoes
the following equation:
As the right side of (58) is a negative definite function
of the state vector (z1 , z2 , z3 , z4 ), the closed-loop system x 3 Msr
z5 = + x 5 x 8
is globally asymptotically stable Khalil [2003]. The result Ls Ls
thus established is more precisely formulated in the follow- 1 1 Msr
= ( x3 s x2 + ( + Msr 1 )x5 )
ing proposition: Ls s s
Proposition 1. (Speed regulation). Consider the closed- x6 u4
+ s x7 +
loop system composed of the doubly fed induction motor- Lo
DC/AC inverter, described by model (23-27), the non- Msr 2
linear controller defined by the control law (56) and the + ((s px1 )x4 + x3 + p2 x1 x2 + 3 x6 u2 )
Ls s
parameter update law (54). Then, one has the following (65)
properties: To get a stabilizing control law for this first-order system,
1) The closed-loop error system undergoes, in the (z1 , consider the quadratic Lyapunov function V5 = 0.5z52 .
z2 , z3 , z4 ) coordinates, the following equations: It can be easily checked that the time-derivative V 5 is a

Preprint submitted to 11th IFAC International Workshop on Adaptation and

Learning in Control and Signal Processing. Received January 11, 2013.
 CONFIDENTIAL. Limited circulation. For review only.

negative definite function of z5 if the control input u4 x6 is is3

is2
is1
chosen as follows:
u4 x6 = c5 Lo z5 Lo s x7 + h1 (x) (66) ir1 AC iin iot
DC ire1 Lo ig1
Lo
with c5 > 0 is a design parameter and DFIM ir2
vdc C
ire2 ig2

  3~ ir3 ire3 Lo ig3

Lo 1 Msr DC AC
h1 (x) = x3 s x2 + ( + Msr 1 )x5 S1 S'3 K1 K'3 vs1 vs2 vs3
Ls s s N

Lo Msr 2 u1 u2 u3 u4
+ ((s px1 )x4 x3 p2 x1 x2 3 x6 u2 ) x1 x7
Ls s x2 Speed and DC- Link x8

123 / dq
Sensors

Sensors
123/dq
x6
(67) x3
x4
Flux voltage &PFC Vs
ws
x5 Controller Controller igq
DC link voltage regulation: The aim is now to design a
control law u3 so that the rectifier output voltage x6 = v dc 2s=x22+x23
-
x1
-
x6
- - igq
is steered to a given reference value x6 = vdc

. As mentioned + + + +

above, vdc is generally (not mandatory) set to the nominal *2s x*1 x*6 i*gq=0
value of the rotor voltage amplitude.
Fig. 3. Control system including AC/DC/AC converters
Therefore, one seeks a regulator that enforces the current
and a doubly- fed induction motor
x7 to tack a reference signal x7 . Introduce the current
tracking error z7 : Deriving V6 along the trajectory of (74) yields:
z7 = x7 x7 (68) V 6 = z6 z6 (76)
the z7 -dynamics undergoes the following equation: This suggests for x7
the following control law:
Vs x6 u3 x8 C
z7 = x 7 s x8 + (69) x 7 = c7 x7 c5 z5 + (c6 z6 y + h2 (x))
Lo Lo x7 2Lo x7
To get a stabilizing control signal for this first-order sys- (77)
tem, consider the following quadratic Lyapunov function: with c6 > 0 a design parameter. Indeed, substituting x7
1 to (76) gives V 6 = c6 z62 which clearly is negative definite
V7 = z72 (70)
2 in z6 .
It is easily checked that the time-derivative V 7 can be made Proposition 2. Consider the control system consisting of
negative definite in the state z7 by letting the quantity the subsystem (28-30) and the control laws (66), (71) and
x6 u3 as follows: (77). The resulting closed-loop system undergoes, in the
x6 u3 = c7 Lo x7 + c7 Lo x7 Lo x 7 + Lo s x8 + Vs (71) (z5 , z6 , z7 , x7 )-coordinates, the following equation:
Z = AZ + g(x) (78)
with c7 > 0 is a design parameter.
with
Multiply both sides of the equation (28) by 2x6 and z5

c5 0 0 0

replace the quantities x6 u3 and x6 u4 by their equivalents, z 0 c6 0 0
described by the equations (71) and (66) respectively, in Z = 6 ,A = 0 0 c7 0
z7
the equation (28). The squared voltage (y = x26 ) varies, in x7 c5 xx87 2L
c6 C
0 c7
response to the tuning x7 , according to the equation: o x7

0

2
y = (x7 x6 u3 + x8 x6 u4 x6 iin ) 0
C g(x) = (79)

0
2 C
= (c7 Lo x7 x7 + Lo x7 x 7 + c5 Lo x8 z5 ) + h2 (x) (72) 2Lo x7 (h2 (x) y )
C
where Equation (78) defines a stable system and the vector
2 (z5 , z6 , z7 ,x7 ) converges exponentially fast to (0, 0,
h2 (x) = (c7 Lo x27 + Vs x7 + x8 h1 (x) x6 iin ) (73)
C C
0, 2c7 L h2 (x)), whatever the initial conditions.
o x7
2
As previously mentioned, the reference signal y = vdc Proof. Equation (78) is obtained substituting the control
(of the squared DC-link voltage x6 = vdc ) is chosen to law (66), (71) and (77) to x6 u3 , x6 u4 and x7 on the right
be constant (i.e. y = 0), it is given the nominal value of side of (65), and (76). It is clear that the matrix A is
rotor voltage amplitude. Then, it follows from (72) that Hurwitz, this implying that the closed loop system (78) is
the tracking error z6 = y y undergoes the following globally exponentially stable. This completes the proof of
equation: Proposition 2.
2
z6 = y + (c7 Lo x7 x7 + Lo x7 x 7 + c5 Lo x8 z5 ) h2 (x)
C 4. SIMULATION RESULTS
(74)
To get a stabilizing control law for the system (74), The experimental setup is described by Fig. 3 and the
consider the following quadratic Lyapunov function: nonlinear adaptive controller, developed in Section 3, in-
1 cluding the control laws (54, 66, 71, 77) and the parameter
V6 = z62 (75)
2 adaptive law (53), will now be evaluated by simulation.

Preprint submitted to 11th IFAC International Workshop on Adaptation and

Learning in Control and Signal Processing. Received January 11, 2013.
 CONFIDENTIAL. Limited circulation. For review only.

Characteristic Symbol Value Unity are profiled so that the machine is enforced to operate,
Nominal power PN 1.5 Kw successively, both at high and low speeds. Specifically, the

Nominal stator voltage Usn 380 V machine operates in high speed (m = 150rd/s) over the
Nominal stator current Isn 4.3 A
interval [0, 6s] and at low speed (m = 10rd/s) over [6, 8s].
Nominal flux sn 0.56 wb
Stator resistance Rs 1.75 The DC-link voltage reference is set to the constant value

Stator inductance Ls 0.295 H vdc = 220V . The reference value s for the stator flux
Nominal rotor voltage Urn 225 V norm is set to its nominal value (0.7wb).
Nominal rotor current Irn 4.5 A
Rotor resistance Rr 1.68
The indicated values of design parameters (c1 , c2 , c3 ,
Leakeage inductance M sr 0.195 H c4 , c5 , c6 ,c7 ) have been selected using a try-and-error
Rotor inductance Lr 0.165 H search method and proved to be suitable. The experi-
Inertia moment J 0.35 Kg.m2 mental setup is simulated within the Matlab/Simulink
Friction coefficient F 0.026 N.m.s.rd1 environment with a calculation step of 5s. This value is
Number of pole pairs p 2 motivated by the fact that the inverter frequency commu-
Table 1. Numerical values of considered doubly tation is 10kHz. In the light of the closed-loop responses
fed induction motor characteristics (see Figs 5 - 9), it is seen that the multiloop nonlinear
adaptive controller meets all its objectives and enjoy quite
The simulated system is given the following characteristics: satisfactory transient performances.
. Supply network: is triphase 220V /50Hz
. AC/DC/AC converters: Lo = 15mH; C = 1.5mF ;
modulation frequency 10KHz. 0.7
. Doubly fed induction machine: it is a 1.5KW motor
whose characteristics are summarized in Table 1. Stator flux norm (wb) 0.6
0.5
10 *s
0.4
s
8 0.3
Load torque(Nm)

0.2
6
0.1
4
0
0 2 4 6 8
2 Time(s)

0 Fig. 6. Stator flux norm (wb)

0 2 4 6 8
Time (s)

Fig. 4. Load torque TL (N.m) 200

DClink voltage(V)

Vdc
150
150 V*dc

100
Rotor speed (rd/s)

m
100
*m 50

50 0
0 2 4 6 8
Time(s)

0 Fig. 7. DC-link voltage vdc (V )

0 2 4 6 8
Time(s)
5. CONCLUSIONS
Fig. 5. Speed m (rd/s)
In this paper, the problem of controlling associations in-
The simulation protocol is described by Figs. 4 and 5 cluding AC/DC rectifier, DC/AC inverter and doubly fed
which show that the reference signals and load torque, induction motor has been addressed. The system dynamics

Preprint submitted to 11th IFAC International Workshop on Adaptation and

Learning in Control and Signal Processing. Received January 11, 2013.
 CONFIDENTIAL. Limited circulation. For review only.

chine. IEEE Transactions on Industrial Electronics,

2 volume 54, pages 24822490, 2007.
P.E. Vidal, M. Pietrzak-David and F. Bonnet. Mixed con-
1.5 trol strategy of doubly fed induction machine. Elsevier
-Verlag, Electrical Engineering, Archiv fur Electrotech-
Grid current igq(A)

1 nik, volume 90, pages 337346, 2008.

G. Salloum ,R. Mbayed, M. Pietrzak-David and B. De For-
0.5 nel. Loopshaping H control for doubly fed induction
motor. In Eurpean Power Electronics and Applications
EPE.pages 19, 2007.
0
B. Hopfensperger, D.J. Atkinson and R.A. Lakin. Stator-
flux-oriented control of a Doubly-Fed Induction Machine
0.5 with and without position encoder. IEEE Proc.-Electr.
Power Appl, volume 147, 2000.
1 Y. Gritli, A. Stefanib, C. Rossib, F. Filippetti and A.
0 2 4 6 8
Chattia. Experimental validation of doubly fed in-
Time (s)
duction machine electrical faults diagnosis under time-
varying conditions. Electric Power Systems Research,
Fig. 8. Grid current igq (A) volume 81, pages 751766, 2011.
H.B.M. Metwally, F.E. Abdel-kader, H.M. El-Shewy and
M.M. El-Kholy. Optimum performance characteristics
Grid current ig1& grid voltage vs1

4 of doubly fed inductions motors oriented control. Energy

2 A.G. Abo-Khalil. Synchronization of DFIG output voltage
0
2 energy conversion. Electric Power Systems Research,
0.01 vs1
4 ig1
4.7 4.72 4.74 4.76 4.78
Time (s)
Fig. 9. Unitary power factor checking in presence of a
varying speed reference and load torque
have been described by the averaged eighth order nonlinear
state-space model (23-30). Based on such a model, an
adaptive nonlinear controller defined by (54, 66, 71, 77,
53), has been introduced for DFIM-AC/DC/AC converters
association drives. The proposed controller is designed
based on adaptive backstepping control approach and is
capable of making the system states trajectories follow the
speed reference signal with unity power factor condition
inspite of external load torque disturbance. The proposed
control approach has been tested for the motoring mode.
Furthermore the DC link voltage is maintained constant
also based backstepping control, using a rotating syn-
chronous reference frame with d-axis coincide with the
direction of space voltage vector of the main AC supply.
Computer simulation results obtained, confirm the validity
and effectiveness of the proposed control approach.
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Preprint submitted to 11th IFAC International Workshop on Adaptation and

Learning in Control and Signal Processing. Received January 11, 2013.