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Fault-Tolerant Back-to-Back Converter for Direct-Drive PMSG Wind Turbines

Using Direct Torque and Power Control Techniques

Article in IEEE Transactions on Power Electronics · September 2019

DOI: 10.1109/TPEL.2019.2897541

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IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 34, NO. 11, NOVEMBER 2019 11215

Fault-Tolerant Back-to-Back Converter for

Direct-Drive PMSG Wind Turbines Using
Direct Torque and Power Control Techniques
Imed Jlassi and Antonio J. Marques Cardoso , Senior Member, IEEE

Abstract—Fault tolerance in wind turbines is considered cru- ig α , ig β Grid αβ-axes current components.
cial to increase their reliability and availability levels. This pa- Rs , Rf PMSG stator resistance, grid filter resistance.
per presents a fault-tolerant direct-drive permanent magnet syn- Ls , Lf PMSG stator inductance, grid filter induc-
chronous generator (PMSG) using new direct control techniques,
with the ability to handle power semiconductor open-circuit faults tance.
in the full-scale back-to-back converter. The fault-tolerant topol- ωr , ωg PMSG rotor speed, grid electrical frequency.
ogy consists of a five-leg converter, with a shared leg connected to a ψs , ψP M Stator flux linkage, permanent magnet flux
generator phase and to its corresponding grid phase, through a tri- linkage.
ode for alternating current (TRIAC). The main contribution of this Te , Te Electromagnetic torque, load torque.
paper consists of the development of an alternative direct torque
control and direct power control schemes for both machine-side usα , usα PMSG αβ-axes voltage components.
converter and grid-side converter, respectively. Moreover, a reliable ucα , ucβ Converter αβ-axes voltage components
fault diagnostics algorithm without requiring additional sensors is (GSC).
also integrated, providing the information required to instanta- usabc , ucA B C MSC, GSC output fundamental phase-to-
neously trigger fault-tolerant remedial strategies. Simulation and neutral voltages.
experimental results are presented to validate the effectiveness of
the proposed fault-tolerant PMSG drive. ug α , ug β Grid αβ-axes voltage components.
Vs MSC voltage space vectors.
Index Terms—Direct power control (DPC), direct torque control
(DTC), fault-tolerant back-to-back converter, permanent magnet
uan , ubn , ucn MSC phase-to-neutral voltages.
machines, power switch open-circuit (O-C) faults, wind turbine ua0 , ub0 , uc0 MSC phase-to-zero voltages.
systems. un 0 MSC neutral-to-zero voltage.
udc DC bus voltage.
NOMENCLATURE
Sabc , SA B C MSC switching states, GSC switching states.
MSC Machine-side converter. p g , qg Active, reactive grid instantaneous powers.
GSC Grid-side converter. θ ψ s , θg Rotor flux electrical position, grid electrical
SLC Six-leg converter. position.
FLC-SL Five-leg converter with shared leg. δ Angel between stator and rotor flux vectors.
∗ Reference value superscript. Bx Hysteresis band of variable x.
αβ Stationary reference frame axes. p Number of pole pairs.
abc, ABC MSC, GSC three-phase subscripts.
iabc , iA B C Permanent magnet synchronous generator I. INTRODUCTION
(PMSG) grid three-phase currents.
S THE wind power starts to have significant impacts to
isα , isβ PMSG αβ-axes current components.

Manuscript received May 31, 2018; revised September 21, 2018 and De-
A the power grid system, there is the need for efficient,
reliable, and cost-effective wind energy conversion systems.
cember 3, 2018; accepted January 21, 2019. Date of publication Febru- Accordingly, direct-drive wind turbines based on PMSGs with
ary 4, 2019; date of current version August 29, 2019. This work was full-scale back-to-back converters are a promising technology,
supported in part by Santander Totta under fellowship BIPD/ICI-FE-Santander
Universidades-UBI/2016, in part by the European Regional Development Fund where direct torque control (DTC) and direct power control
through the Operational Programme for Competitiveness and Internationaliza- (DPC) have gained great interest for the generator and grid
tion (COMPETE 2020) under Project POCI-01-0145-FEDER-029494, and in connection control, respectively.
part by the National Funds through the FCT—Portuguese Foundation for Sci-
ence and Technology under Project PTDC/EEI-EEE/29494/2017 and Project Though wind turbine technologies have changed dramatically
UID/EEA/004131/2013. Recommended for publication by Associate Editor L. during the last years, their reliability and availability levels are
Chang. (Corresponding author: Imed Jlassi.) still lower than expected [1]. Industry statistical results pre-
The authors are with the CISE—Electromechatronic Systems Research Cen-
tre, Universidade da Beira Interior, Calçada Fonte do Lameiro, P-6201-001 sented in [2] show that power converters are among the wind
Covilhã, Portugal (e-mail:,[email protected]; [email protected]). turbine components with higher failure rates, whereas power
Color versions of one or more of the figures in this paper are available online semiconductors are among the main responsible for critical fail-
at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TPEL.2019.2897541 ures [2], [3]. In order to increase the reliability and availability

0885-8993 © 2019 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See http://www.ieee.org/publications standards/publications/rights/index.html for more information.
11216 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 34, NO. 11, NOVEMBER 2019

levels, it is important to develop fault-tolerant converters with As a result, the output voltage available of each converter is
the capability to maintain their operation after an unforeseen automatically restricted to 50% of the dc bus voltage and dif-
power switch fault occurrence, with acceptable performance ferent switching frequencies between converter legs can be ob-
until repair actions are taken. Power switch open-circuit (O-C) tained. Moreover, these control techniques require proportional-
faults are considered in this paper since the protection against integral currents controllers and the knowledge of the system
short-circuit is a standard feature for industrial drives. model/parameters. In [17], [27], and [31] easy implementation,
Various O-C fault diagnostic methods have been proposed fast response, and parameters independence are obtained by
in [4]–[12], with low computational requirements and without using hysteresis current controllers. Model predictive control
additional hardware for their easy integration into the controller techniques were also proposed in [18], [19], and [28]–[30]. The
of fault-tolerant systems. Recently, in [8] and [10] diagnostic main advantages of these control techniques are the fast con-
techniques based on adaptive thresholds were developed for trol dynamics and the ability to include multiple constraints
multiple power switch O-C faults, increasing considerably the into a designed cost function. As opposed to simple hysteresis
robustness of these algorithms. control, these techniques require the knowledge of models and
Regarding the post-fault operation, redundant converter parameters of the motors and heavy online calculation effort
topologies were proposed, where an extra converter leg can be due to the cost function constraints. In particular, for wind drive
connected to all converter phases [13] or to the machine neutral control systems integrating fault diagnostic and fault-tolerant
point [14], through triode for alternating currents (TRIACs), algorithms, the calculation effort rises exponentially.
permitting the replacement of the faulty leg but at a higher Alternatively, direct torque and power control techniques pro-
cost. The five-leg converter (FLC) without redundant power posed in [33] and [34], respectively, have attracted huge atten-
switches has been addressed in several studies, by connecting tion from the scientific community [35]–[41], due to several
the midpoint of the dc bus to the converter phases [15], [16], or advantages arising from the use of simple hysteresis controllers
to the machine/grid transformer neutral point [17], resorting to such as excellent dynamic performance, simpler implementa-
three TRIACs. In comparison with the conventional six-leg con- tion, and low models/parameters dependence. However, direct
verter (SLC), the maximum output voltage of the √FLC is halved, control techniques have been less used for fault-tolerant power
or the phase currents increase by a factor of 3. The dc bus converters and all of them were applied to three-phase inverters
midpoint connection causes a capacitor voltage fluctuation and using a DTC technique [42]–[45]. Regarding the back-to-back
imposes high current stresses on the capacitors, limiting even fault tolerance, only in [16] a fully integrated fault-tolerant con-
more their reliability since capacitors are relevant contributors to verter has been developed using DTC and DPC strategies, allow-
power converter failures, as well. Moreover, an additional volt- ing the PMSG drive to achieve stable post-fault operation. Due to
age sensor is required to limit the voltage fluctuation, which will the dc bus midpoint connection, which requires three TRIACs
increase the complexity and the cost of the drive. In [18], a four- and one voltage sensor, the control is limited by the reduced
leg converter topology was proposed, maintaining its operation number of available voltage vectors and the dc bus reference
when faults occur in two different converter legs. Apart from voltage must be doubled. To the best of authors’ knowledge no
the dc bus midpoint connection issues, this topology requires proposals have been presented, so far, toward the development
six TRIACs, thus increasing even more the system complexity of direct control techniques for PMSG drives based on FLC-SL
and cost. In order to overcome the issues related to the dc bus with fault-tolerant capabilities.
midpoint connection, alternative five-leg converter with a shared In this paper, direct torque and power control techniques are
leg (FLC-SL) topologies have been proposed, by connecting the adopted for FLC-SL connecting the PMSG phases to their as-
motor phases to their associated grid phases [19]–[22]. Similar sociated grid phases through three additional TRIACs, avoiding
topologies were proposed in [23]–[30], connecting two similar the issues inherent to the dc-link midpoint connection. The pro-
motors phases. For these topologies, the converter maximum posed DTC and DPC techniques employ two new switching
output voltage is decreased, and the shared leg current is twice tables where six active voltage vectors and two zero-voltage
as high when compared to the SLC topologies. In [31], the con- vectors are generated for each converter, increasing therefore
verter voltage capability is increased by connecting the shared the performance of the drive control. Taking into account that
converter leg to the transformer neutral point. However, this the grid voltage is constant, the reference of the dc bus voltage is
topology requires a power transformer at the grid connection increased and the generator reference speed is limited, with the
point and the shared leg has to be designed with a rated current aim to keep the converter operation within the linear modulation
four times as high. In [32], two motors were connected through region. Moreover, the real-time fault diagnostic algorithm pro-
their neutral
√ points, where the phase currents increase by a fac- posed in [8] is adopted in this paper to trigger the fault-tolerant
tor of 3. Due to the decrease of converter voltage capability remedial procedures. The performance of the proposed fault-
or the increase of the current, such topology allows the drive to tolerant PMSG drive is evaluated and confirmed by means of
operate in a limited operating range, by switching to post-fault simulation and experimental results.
control without oversizing the rating of components.
Regarding the fault-tolerant control strategies, vector con-
trol based pulsewidth modulation (PWM) techniques are widely II. FAULT-TOLERANT CONVERTER TOPOLOGY
used [20]–[26], aiming torque ripple minimization and current The proposed fault-tolerant converter topology is based on
distortion reduction. The independent control of both converters the conventional back-to-back converter, with three additional
can be obtained by modifying the standard PWM modulation. TRIACs, that connect the generator phases to their correspond-
JLASSI AND CARDOSO: FAULT-TOLERANT BACK-TO-BACK CONVERTER FOR DIRECT-DRIVE PMSG WIND TURBINES 11217

Fig. 2. Voltage vectors synthesized by the MSC and sector definition

according to the stator flux vector.

where
Fig. 1. Fault-tolerant converter topology. (a) Under healthy operating
conditions and (b) after O-C fault occurrences in leg “B” (I2 or I5). ua0 + ub0 + uc0
un 0 = .
3
In turn, the voltages uk 0 are defined by the switching states
ing grid phases, and remain open under normal operating condi-
tions [see Fig. 1(a)]. Under an O-C fault condition, this topology ua0 = udc Sa , ub0 = udc Sb , uc0 = udc Sc (3)
allows the continuous drive operation, with one shared leg con-
nected to the grid and machine phases resorting to the TRIAC. where udc refers to the dc bus voltage and Sk (k = a, b, c) refers
Let us consider an O-C fault in the insulated gate bipolar tran- to the switching states of IGBTs R1 , R2 , and R3 of phases a, b,
sistor (IGBT) I2 or I5 of the grid-side converter (GSC) as an and c, respectively.
example [see Fig. 1(b)]: after the fault detection, the affected Substituting (3) into (2) and (2) into (1), the relationship
leg will be isolated by removing the gate command signals to between the converter output voltages and the switching states
IGBTs I2 and I5; then, the grid-phase B will be connected to its is given by
⎛ ⎞ ⎛ ⎞⎛ ⎞
associated machine-phase b, by triggering on the TRIAC TRb, uan 2 −1 −1 Sa
u
⎝ ubn ⎠ = dc ⎝−1 2 −1⎠ ⎝ Sb ⎠ .
that changes the converter topology from a standard SLC to an (4)
3
FLC-SL. Likewise, in the case of an O-C fault in IGBT R2 or R5 ucn −1 −1 2 Sc
of the machine-side converter (MSC), phases b and B are con-
nected by triggering on the TRIAC TRb. The included TRIAC is B. DTC of the Three-Phase MSC
intended to reconfigure the circuit of the power converter topol-
In the DTC technique [33], both electromagnetic torque and
ogy, assuring the current flowing in both directions, between the
stator flux are directly and separately controlled. They can be es-
PMSG and grid phases.
timated by using the mathematical model of a surface-mounted
PMSG in the αβ stationary reference frame
III. DIRECT CONTROL TECHNIQUES OF THE CONVERTER ⎧
⎪
⎨usα = Rs isα + d ψsα
Beyond the hardware reconfiguration, the post-fault control
dt (5)
strategies applied to the back-to-back converter must include ⎪ d
⎩usβ = Rs isβ + ψsβ
specific modifications in order to adapt them to the correspond- dt
ing converter topology and to the drive control techniques.
ψsα = Ld isα + ψP M cos θ
A. Model of the Converter (6)
ψsβ = Lq isβ + ψP M cos θ
Typically, direct-drive PMSG wind turbines require two
power converters connected in a back-to-back topology. Each 3 p |ψs | ψP M 3
converter is based on a typical voltage source inverter, with six Te = sin δ = p (ψsα isβ − ψsβ isα ) . (7)
2 Ld 2
IGBTs and their corresponding antiparallel diodes, as shown in
The stator flux can be estimated using the current model-
Fig. 1(a). The MSC voltage space vectors are defined by
based method (6). On the other hand, the electromagnetic torque
2 
is controlled by varying the stator flux amplitude and the load
Vs = uan + ubn ej 2π /3 + ucn ej 4π /3 = usα + jusβ . (1)
3 angle δ between the stator and rotor flux vectors (7). This is
The accomplished through the selection of the proper voltage space
√ maximum amplitude of the space voltage vector is vectors, which allows to control the stator flux amplitude and
udc / 3. The voltages uk n (k = a, b, c) can be expressed as
function of the phase-to-zero uk 0 and neutral-to-zero un 0 direction according to (5). Therefore, six active vectors are gen-
voltages erated, as illustrated in Fig. 2 and described in Table I. For the
convenience of selecting these vectors, the space vector plane
uan = ua0 − un 0 , ubn = ub0 − un 0 , ucn = uc0 − un 0 (2) is divided into six sectors. First of all, a fixed reference flux is
11218 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 34, NO. 11, NOVEMBER 2019

TABLE I
DTC SWITCHING TABLE FOR THE MSC

imposed, while the electromagnetic torque reference is gener-

ated by the speed controller. Then, the stator flux and electro-
magnetic torque errors are restricted by employing two-level
hysteresis controllers, where hysteresis bands BΨs and BT e are Fig. 3. Instantaneous active and reactive power derivatives imposed by the
defined, respectively. The hysteresis controller outputs dΨs and GSC.
dTe define whether the flux linkage and torque are intended to TABLE II
increase (+) or decrease (–). DPC SWITCHING TABLE FOR THE GSC

C. DPC of the Three-Phase GSC

Active and reactive powers are directly and independently
controlled using the DPC strategy [34], by selecting the opti-
mum voltage vector in a switching table, in a similar way to the
DTC technique. For an enhanced switching table, the instanta-
neous power derivatives approach proposed in [37] and [39] are
adopted in this paper.
The instantaneous power derivatives can be calculated by
⎧
using the grid-current and voltage dynamic models. In the αβ ⎪ dug α
⎨ = ωg Ug cos (ωg t) = −ωg ug β
stationary reference frame, the grid voltages are given as dt (12)
⎧ ⎪
⎩ dug β = ω U sin (ω t) = ω u .
⎪ dig α g g g g gα
⎨ug α = −Rf ig α − Lf + ucα = Ug sin (ωg t) dt
dt (8) Substituting (11) and (12) into (10), neglecting Rf and con-
⎪
⎩u = −R i − L dig β + u = −U cos (ω t) .
gβ f gβ f cβ g g sidering that both pg and qg as null (initial condition), the instan-
dt taneous active and reactive power derivatives can be expressed
The grid active and reactive instantaneous powers are defined as
⎧
as follows: ⎪ dpg 1  2 
⎪
⎨ = − u gα + u 2
gβ − u g α u cα − u g β u cβ
dt Lf
pg = ug α ig α + ug β ig β (13)
(9) ⎪
⎪ dqg 1
qg = ug β ig α − ug α ig β . ⎩ = (u u
g β cα − u u
g α cβ ) .
dt Lf
Therefore, the instantaneous power derivatives are given by By substituting each voltage vector that the three-phase con-
⎧ verter can synthesize in (13), the obtained instantaneous active
⎪ dpg dig α dug α dig β dug β and reactive power variations caused by the application of each
⎨ = ug α + ig α + ug β + ig β
dt dt dt dt dt (10) voltage vector over a period of the grid voltage are shown in
⎪
⎩ dqg = u dig α + i dug β − u dig β − i dug α Fig. 3. In the DPC technique, the active power reference is
gβ gα gα gβ
dt dt dt dt dt generated by the dc bus voltage controller, while the grid unit
power factor is ensured by imposing a null reactive power ref-
where the instantaneous current variations can be obtained
erence. Then, the active and reactive powers controllers were
from (8)
configured with hysteresis bands BP and BQ , respectively.
⎧
⎪ di u − ug α − Rf ig α The hysteresis comparator outputs dP and dQ decide if the
⎪ g α = cα
⎨
dt Lf active and reactive powers are intended to increase (+) or de-
(11)
⎪
⎪ dig β u cβ − u g β − Rf ig β
crease (–). Therefore, the switching Table II is defined based
⎩ = on the instantaneous power derivatives illustrated in Fig. 3. It
dt Lf
is important to emphasize that the space vector plane is divided
and the grid voltage variations are given by into six sectors according to the grid voltage vector angle, like
JLASSI AND CARDOSO: FAULT-TOLERANT BACK-TO-BACK CONVERTER FOR DIRECT-DRIVE PMSG WIND TURBINES 11219

TABLE III
VOLTAGE VECTORS OF THE FLC-SL

Fig. 4. Reconfigurable direct control techniques of the back-to-back converter.

reactive power errors are kept within their defined hysteresis
bands, the value of λ is selected based on the principle of equal
in the case of DTC, illustrated in Fig. 2. On the other hand, the
importance between the stator flux and reactive power, which
switching Table II is formulated selecting always the voltage
means that the division of the stator flux hysteresis band value
vector responsible for the largest variation in pg , according to
BΨs by the reactive power hysteresis band value BQ satisfies
the grid voltage vector angle.
λ (λ = Bψ s /BQ ). Regarding the selection of Tth , the torque
error under healthy and post-fault operating conditions is con-
D. Direct Control Techniques of the FLC-SL sidered. Under healthy conditions, the electromagnetic torque
The proposed fault-tolerant control strategies are shown in is controlled in such a way that the torque error is kept within
Fig. 4. Under converter post-fault operation, switching Tables I the defined hysteresis band BT e . However, due to the zero-
and II are formulated in order to adapt the post-fault control voltage vectors applied to the MSC under post-fault operation,
strategy to the new converter topology. Since the machine sta- the torque error exceeds the defined band, leading to undesirable
tor flux and the grid reactive power references are imposed electromagnetic torque oscillations. Therefore, the value of the
as constant values, the absolute value of the stator flux error torque hysteresis band BT e for the threshold Tth , reduces the
|Δψs | = |ψs ∗ − ψs | and the absolute value of the reactive power zero-voltage vectors applied to the MSC and can guarantee a
error |ΔQ| = |qg∗ − qg | are compared, aiming to assign the con- smooth developed torque.
trol priority to one of the converters and to achieve independent It must be noticed that the values of λ and Tth are chosen
control. Therefore, an appropriate active voltage vector is cho- constant in order to give the best possible performance as well
sen for the converter with priority, while the other converter is as to simplify the control.
subjected to an appropriate active voltage vector or zero-voltage The switching tables of the DTC and DPC techniques are
vectors. It is important to emphasize that, according to (5)–(7), formulated based on Table III. Considering that leg b of the
the zero-voltage vectors applied to the MSC may lead to undesir- MSC is the shared leg [see Fig. 1(b)], if |Δψs | and|ΔTe | are
able electromagnetic torque oscillations, because the permanent less than |ΔQ| and Tth , respectively, the priority is assigned
magnets are always rotating, and the rotor flux keeps moving to control the instantaneous powers of the GSC. For instance,
toward the fixed stator flux. Therefore, the absolute value of the if one of the vectors (V2 (110),V3 (010),V4 (011)) is applied
torque error |ΔTe | = |Te∗ − Te | is compared to a fixed threshold to the GSC, meaning that the shared leg state is 1, one of the
Tth , for a torque production as smooth as possible. The priority same vectors can be applied also to the MSC, or vector V7 (111)
is assigned as follows: instead of vectors (V1 (100),V5 (001),V6 (101)). On the other
hand, one of the vectors (V1 (100),V5 (001),V6 (101)) of the
P, Q if |Δψs | <λ |ΔQ| and |ΔTe | <Tth GSC can be applied also to the MSC (the common leg state is
Priority =
ψ s , Te otherwise 0), or vector V0 (000) instead of vectors (V2 (110),V3 (010),V4
(14) (011)). Table III summarizes the previous considerations for all
where λ and Tth are constant values. case scenarios of post-fault operation.
The selection of λ and Tth is very important since it has a
strong impact on the drive performance under post-fault oper- IV. SYSTEM DESIGN CONSIDERATIONS AND POST-FAULT
ating conditions. Regarding the selection of λ, the stator flux, OPERATING LIMITS
and reactive power errors under healthy mode are considered.
Typically, the stator flux and reactive power have different or- A. Converter Voltage and Current
ders of magnitude, making their errors not equally important. The converter operation at rated power, during the post-fault
Therefore, the value of λ is chosen in order to compensate the period, requires the oversizing of voltage and current ratings of
difference in nature of the stator flux and reactive power er- the power converters. On the other hand, the operation under-
rors. Considering that, under healthy case, the stator flux and rated mode allows the drive to operate in a limited range with
11220 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 34, NO. 11, NOVEMBER 2019

TABLE IV
COMPARISON OF FAULT-TOLERANT CONVERTER TOPOLOGIES

or without oversizing the ratings of the converters’components. fault-tolerant converter requires power semiconductors and a
Due to the lower voltage capability of the fault-tolerant converter capacitor bank with one and a half times the voltage rating.
topology and the constant grid voltage, the increase of the dc- The current rating of the switches in both MSC and GSC
link voltage and/or the decrease of the machine speed are the two are the same as in the SLC, except for the shared leg. The
available options, in order to maintain the converter operation current rating for the common leg is equal to the sum of the
within the linear modulation region, avoiding larger torque and machine phase current and the grid phase current. Considering
currents ripples. The linear modulation range of the FLC-SL that the generator and grid rated root mean square (rms) currents
can be defined as follows: are equal and in order to avoid the oversizing of the converter
udc currents ratings, the load torque should be limited to 50% of
us + uc ≤ √ (15) the rated torque. It is important to emphasize that the capacitor
3
current is only related to the high frequency switching current,
where us and uc are the amplitudes of the fundamental phase- as in the SLC [21].
to-neutral voltages of the MSC and GSC, respectively, and udc Table IV is a comparison between the considered fault-
is the dc bus voltage. This later is measured, whereas us and uc tolerant converter topology and the different non-redundant
are reconstructed from the switching pattern (4). converter topologies suitable for PMSG drives. For a fair com-
Considering three different operating conditions (case (a): parison, the rated operating condition under post-fault operation
us = uc , case (b): us = 0.5uc , case (c): uc = 0.5us ), the FLC- is considered. The minimal increase of the additional hardware
SL voltage capability is reduced by approximately 29%, 39%, requirement is considered preferable for fault-tolerant wind tur-
39%, respectively, with respect to the voltage capability of the bines, avoiding the increase of the system cost and complexity.
standard SLC, which is 58% of the dc-link voltage. For the post- The considered topology is more cost-effective for wind turbine
fault operation, the increase of the converter voltage capability applications since it requires a minimum number of extra com-
attained by increasing the dc-link voltage is very useful in order ponents to achieve fault tolerance. Three TRIACs are required
to keep the converter operation within the linear modulation instead to the six used in a back-to-back topology in [18].
region (15). Therefore, the FLC-SL requires increasing the dc- The TRIACs connect the machine phases to their associated
link voltage by 50% [in cases (b) and (c)], or by 100% [in case grid phases, avoiding the connection through the dc bus mid-
(a)]. point [16]–[18], which requires a careful design of the capacitors
Taking into account that the required MSC output voltage is and an extra high-bandwidth voltage sensor. The converter volt-
proportional to the generator speed and considering that the grid age capability is increased by connecting, through a TRIAC,
voltage is constant, the required dc-link voltage can be reduced the shared leg to the transformer neutral point [31]. The trans-
by decreasing the generator speed. Therefore, the maximum former is included at the output of low-voltage back-to-back
speed is limited by the maximum amplitude of the MSC voltage, converter in order to interface the wind energy conversion sys-
given by tem to the grid. However, with the substantially increase of
1 the wind power range to multi-MW, a single low-voltage back-
us,m ax = √ udc,m ax − uc,m ax (16) to-back converter becomes not convenient. Moreover, with to-
3 day’s available medium-voltage back-to-back converters, mul-
where udc,m ax is the maximum dc bus voltage and uc,m ax is the ticell converter configurations, and low voltage (LV)-ac/dc/high
maximum amplitude of the GSC converter output voltage. Voltage (HV)-ac converter topologies [46]–[49], the transformer
Therefore, after the us and uc calculations (4), the dc at the output of the converter can be eliminated. Therefore, for
bus voltage and mechanical speed references are calculated multi-MW wind electric conversion systems, the transformer is
according to (15), and imposed as new references values. considered as additional hardware requirements, because it may
Considering that the maximum dc bus voltage is one and a half not be available and its inclusion would not be a cost-effective
times the rated value, the maximum speed should be limited to solution for achieving fault tolerance. Moreover, the shared leg
50% of the rated speed. Compared with the standard SLC, the has to be designed with a rated current four times as high. The
JLASSI AND CARDOSO: FAULT-TOLERANT BACK-TO-BACK CONVERTER FOR DIRECT-DRIVE PMSG WIND TURBINES 11221

Fig. 5. Real-time implementation details in a sampling period.

proposed topology has an improved current capability in com-

parison to the topology proposed in [31], since the shared leg
has to be designed to withstand a rated current two times as high.

B. Computational Burden
The most challenging task for the implementation process Fig. 6. Block diagram of the proposed fault detection method.
is to ensure very low computation time delay so that the
fault-tolerant control performance is not affected. Therefore,
the period of code implementation is also used as a criterion Fk and Fj , respectively. Accordingly, positive constant values
to compare the computational burden of the proposed direct ξs and ξg empirically established are added to F̂k and F̂j , re-
control techniques and the advanced model predictive control spectively. The constant values ξs and ξg were chosen equal to
techniques [18], [19], [28]–[30]. Fig. 5 shows the real-time 0.1 and 0.2, respectively. The exact procedure on how all the
implementation detail. The considered control and the control constant values and thresholds were chosen is explained in a
proposed in [50] are adopted for the PMSG drive with two-level more detailed way in [8]. Under healthy operating conditions,
back-to-back converter and implemented under MATLAB the obtained adaptive thresholds Sk and Sj are respectively
Simulink into the dSPACE DS1103 controller using a sampling greater than Fk and Fj . In the case of an IGBT O-C fault, the
time of 50 μs. Because of their simplicity, the proposed DTC CFF value of Fk /Fj , associated with the faulty phase will cross
and DPC algorithms take only 18.04 μs to complete the code its corresponding adaptive threshold, indicating therefore the
implementation in a sampling period, which is significantly existence of an O-C fault in that phase. Finally, three residues
lower compared to the execution time of the model predictive are generated for each converter; rk that is the difference be-
control proposed in [50]. Due to the low computational tween Sk and Fk , and rj that is the difference between Sj and
requirements of direct control techniques, alternative solutions Fj . Therefore, only the residue in the corresponding faulty leg
based on DTC were recently proposed in [51], to decrease will take a negative value, whereas residues in the healthy legs
the implementation complexity of model predictive control remain at positives values. Residues rk and rj are sufficient
techniques. For the considered fault-tolerant control strategies, to identify the affected leg, providing simultaneously the re-
the execution times of diagnosis and reconfiguration algorithms quired information to trigger fault-tolerant remedial strategies.
are 13.3 and 5.2 μs, respectively, meaning that the proposed It must be noticed that the diagnostics algorithm requires the
fault-tolerant control algorithms need only 36.54 μs to complete information given by current sensors and the quantities already
the code implementation in a sampling period. Therefore, the available from the main control. Since direct control techniques
low computation burden is considered an advantage of the are used, the reference voltages are estimated from the switching
proposed fault-tolerant control strategies. pattern (4).

V. FAULT DIAGNOSTICS VI. SIMULATION AND EXPERIMENTAL RESULTS

An effective and reliable fault diagnostics method was pro- The proposed fault-tolerant topology was tested, through sim-
posed in [8] for diagnosing multiple O-C faults in PMSG ulation under MATLAB Simulink environment. The structure
drives, without resorting to any additional sensors. The proposed of the PMSG drive system is the same as the one shown in
method is adopted in this paper with the aim to diagnose an un- Fig. 1(a). The DTC and DPC strategies are applied to the MSC
foreseen O-C fault and to trigger suitable remedial procedures. and GSC, respectively.
The considered technique is based on the current Luenberger The experimental setup comprises basically a 2.2-kW PMSG
observer model and the current form factors (CFFs). First, two coupled to a four-quadrant test bench, two Powerex POW-R-
CFFs are calculated for each phase of both MSC and GSC. Fk PAK voltage source converters in back-to-back topology, a
and F̂k (k = a, b, c) are the CFFs calculated from measured and dSPACE DS1103 digital controller, a TRIAC, and an output
observed currents of the MSC, respectively (see Fig. 6). On the filter of 20 mH. The PMSG parameters are shown in Table V.
other hand, Fj and F̂j (j = A, B, C) are the CFFs calculated The diagram of the experimental setup is depicted in Fig. 7. Di-
respectively from measured and observed currents of the GSC. rect control techniques with the proposed fault-tolerant control
Then, the CFFs F̂k and F̂j are used as adaptive thresholds for are implemented under MATLAB Simulink environment into
11222 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 34, NO. 11, NOVEMBER 2019

TABLE V speed of 720 r/min, under a load torque equivalent to 50% of

PMSG PARAMETERS
the machine rated load torque.
Therefore, the independent control condition of the MSC and
GSC is verified. It can be also seen that the proposed control
scheme is able to shape a sinusoidal machine and grid currents.
Using DTC combined with switching Tables I and III, both
electromagnetic torque and stator flux of the machine can be
controlled, leading to proper tracking of the speed and a bal-
anced three-phase PMSG current system. On the other hand,
the control of the grid instantaneous active/reactive powers is
achieved by using the DPC based on the switching Tables II
and III, allowing a well tracked dc bus voltage and a balanced
three-phase grid current system.
Fig. 10 shows the experimental results regarding the fault-
tolerant drive response to an O-C fault in the GSC, under a load
torque equivalent to 50% of the machine rated load torque. A
reference dc-link voltage of 190 V is imposed under normal
operating conditions. As the grid voltage is fixed, the amplitude
of ucB is fixed and is equal to 55 V. Thus, the largest amplitude
of usb can reach 110 V, allowing a maximum speed of 720
r/min. At the instant t = 0.319 s, an O-C fault happens in
IGBT I2. Consequently, the current in the faulty phase will
only take negative values, leading to a more distorted waveform
Fig. 7. Block diagram of the experimental setup. of the current in the healthy phases and pulsating behaviors
of the instantaneous active and reactive powers [8]. Therefore,
the dSPACE digital controller board using a sampling time of the grid power factor is decreased, resulting in the total system
50 μs. All the experimental results were carried out at a constant shutdown if remedial strategies are not immediately adopted.
grid phase-to-phase rms voltage of 50 V and a maximum dc-link The faulty leg B is identified at t = 0.324 s, by the considered
voltage of 285 V, due to the hardware limitations of the experi- diagnostics technique. A delay time of one cycle of the grid
mental test rig. IGBTs O-C faults are applied by removing their current fundamental period is imposed, from the time instant of
corresponding gate command signals. the fault occurrence, to guarantee the proper post-fault operation
For the DTC, hysteresis bands BT e and BΨs were set to of the GSC. At the instant t = 0.339 s, the affected leg is
2% and 1% of the torque and flux rated values, respectively. isolated by forcing to zero the command signals of IGBTs I2 and
Regarding the DPC, hysteresis bands BP and BQ corresponding I5. Simultaneously, hardware and software reconfigurations are
to 0.002% of the PMSG rated power, were chosen. As a result, performed by turning on the TRIAC TRb and reformulating the
the values of λ and Tth are equal to 0.055 and 0.24, respectively. switching Tables I and II according to Table III. As uc = 0.5us ,
In Figs. 8 and 9, an FLC with the shared leg b of the MSC is the dc bus voltage is increased to 285 V in order to keep the
considered, by removing the gate command signal of phase B FLC-SL within the linear modulation region (15). A transient
(I2 and I5) and turning on the TRIAC TRb. Regarding the con- state is imposed on the grid currents and powers during the dc
verter control, the dc-link voltage reference is imposed equal to bus voltage ramp. The active power becomes negative in order
285 V and the reactive power reference is set to 0 VAR to get to increase the dc bus voltage and the steady-state operation
unity power factor. In Fig. 8, the fault-tolerant drive response is reached when the dc bus voltage takes the new reference
under a variation of the value λ is considered, assuming a refer- value. The proposed fault-tolerant control scheme allows the
ence mechanical speed of 720 r/min and 50% of the rated load instantaneous active and reactive powers to be controlled, and
torque. Constant values equal to 2λ/3 and Tth are imposed, re- thus a balanced three-phase grid current system is obtained.
sulting in a grid reactive power error less than the PMSG stator The evaluation parameters of the proposed DPC strategies are
flux error (14). This leads to more sinusoidal waveforms of the shown in Table VI. The total harmonic distortion (THD) is used
PMSG currents, whereas the grid currents present a significant in order to quantify the distortion of the currents, according to
harmonic distortion, resulting in high oscillating instantaneous IEEE standards [52]. The equivalent THD of the three phases is
powers. From Fig. 9(a) and (b), it can be confirmed a very good given by
agreement between simulation and experimental results. 
In Fig. 9, λ and Tth values are imposed for the post-fault re- THD2A + THD2B + THD2C
THDeq = × 100%. (17)
configuration. It can be observed that the amplitude of the fun- 3
damental phase-to-neutral voltage ucB is equal to 55 V and the
largest amplitude of the fundamental
√ phase-to-neutral voltage On the other hand, the total waveform oscillation (TWO)
usb can reach 110 V ((285/ 3) − 55), allowing a maximum is used in order to quantify the ripple of a given quantity.
JLASSI AND CARDOSO: FAULT-TOLERANT BACK-TO-BACK CONVERTER FOR DIRECT-DRIVE PMSG WIND TURBINES 11223

Fig. 8. Fault-tolerant drive response under λ variations (2λ/3). (a) Simulation results and (b) experimental results.

Fig. 9. Simulation results regarding the FLC with shared leg b of the MSC. (a) Grid currents, (b) grid instantaneous active and reactive powers, (c) dc bus voltage,
(d) phase voltages, (e) PMSG currents, (f) electromagnetic torque, (g) stator flux, and (h) mechanical speed.
11224 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 34, NO. 11, NOVEMBER 2019

Fig. 10. Experimental results regarding the fault-tolerant drive response to an IGBT I2 O-C fault in the GSC. (a) Grid currents, (b) grid instantaneous active and
reactive powers, (c) dc bus voltage, (d) phase voltages, (e) PMSG currents, (f) electromagnetic torque, (g) stator flux, and (h) mechanical speed.

TABLE VI On the other side, the electromagnetic torque and the sta-
EVALUATION PARAMETERS OF THE DPC TECHNIQUES
tor flux can be controlled under post-fault operation, and thus,
maintaining a mechanical speed always close to its reference,
and a balanced PMSG three-phase currents system.
Fig. 11 and Table VII present the experimental results re-
garding the fault-tolerant drive response to an O-C fault in the
MSC. A maximum dc-link voltage of 285 V is imposed under
normal operating conditions, allowing the generator to reach a
maximum speed of 1105 r/min and a largest usa amplitude of
165.3 V. As the speed is set to 1000 r/min, the amplitude of usa
is 148.1 V under a load torque equivalent to 42% of the PMSG
rated load torque.
The TWO can be expressed as A fault in the IGBT R1 is introduced at the instant t = 0.310 s,
 being the faulty phase identified at t = 0.314 s. As a consequence
S − XeDC
2
XeRM 2
TWO = × 100% (18) of the fault, the current in the faulty phase remains zero for a
|XeDC | short period of time, because the current can flow through the
where XeRM S and Xedc are the rms and averages values, re- rectifier antiparallel diodes [8]. As a result, and comparing with
spectively. the healthy mode, the machine currents amplitude increases.
By analyzing Table VI, it can be seen that the small reduction Consequently, a pulsating electromagnetic torque will occur, as
of the rms currents value witnessed during the post-fault opera- well as an oscillating amplitude of the stator flux, due to the di-
tion is attributed to the increment of the dc bus voltage. On the rect relationship between the electromagnetic torque, the stator
other hand, a slight increase of the grid current THD and active flux and the generator currents (7). It must be noticed that under
power TWO values is due to the zero sequence voltages ap- high load torque levels, the electromagnetic torque pulsation
plied to the GSC during the post-fault operation. Nevertheless, and stator flux oscillation increase even more and may force
a practically unity power factor is always achieved. the drive to shutdown if fault-tolerant remedial strategies are
JLASSI AND CARDOSO: FAULT-TOLERANT BACK-TO-BACK CONVERTER FOR DIRECT-DRIVE PMSG WIND TURBINES 11225

Fig. 11. Experimental results regarding the fault-tolerant drive response to an IGBT R1 O-C fault in the MSC. (a) Grid currents, (b) grid instantaneous active
and reactive powers, (c) dc bus voltage, (d) phase voltages, (e) PMSG currents, (f) electromagnetic torque, (g) stator flux, and (h) mechanical speed.

not immediately applied to the MSC. After an imposed delay TABLE VII
EVALUATION PARAMETERS OF THE DTC TECHNIQUES
time of one generator current cycle from the time instant of the
fault occurrence, the faulty phase is isolated by removing the
gate command signals of IGBTs R1 and R4. Simultaneously,
the TRIAC TRa is activated and the DTC and DPC switching
tables are reformulated according to Table III. As the dc-link
voltage is set to the maximum value (udc,m ax = 285 V ), the
reference speed is changed from 1000 r/min to the maximum
admissible reference speed of 720 r/min, maintaining the drive
operation within the limited range defined in Section IV. Despite
the zero-voltage vectors applied to the MSC, a balanced and si-
nusoidal generator three-phase current system is achieved, after
transients due to the speed variation. A smooth torque can be On the other hand, it can be observed that the proposed control
developed under post-fault operation, as well as a controlled sta- scheme has the capability of tracking the instantaneous active
tor flux, like in healthy operating conditions. The speed control and reactive powers, allowing a well tracked dc bus voltage
remains possible under all the considered operating conditions. and assuring balanced three-phase sinusoidal grid currents. It
Table VII shows that the current rms values are approximately can be also seen that the grid currents amplitude and instanta-
equal in all the three phases, showing a balanced operation, as in neous active power are reduced since they are proportional to
the healthy mode. The small decrease of the machine currents the generator mechanical power.
THD leads to a less oscillating electromagnetic torque wave-
form since the electromagnetic torque and the generator phase
VII. CONCLUSION
currents are directly related. Consequently, comparing with the
TWO value of 7.67% obtained for the healthy situation, under In this paper, a fault-tolerant direct-controlled PMSG drive for
post-fault operating conditions the TWO decreases to 7.64%. wind turbine systems has been proposed, maintaining the back-
Simultaneously, the proposed fault-tolerant control allows the to-back converter operation with an acceptable performance,
machine to operate with lower flux TWO. after a power switch O-C fault occurrence. For that purpose, a
11226 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 34, NO. 11, NOVEMBER 2019

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[45] G. Scarcella, G. Scelba, M. Pulvirenti, and R. D. Lorenz, “Fault-tolerant From 1985 to 2011, he was the Director of the
capability of deadbeat-direct torque and flux control for three-phase Electrical Machines Laboratory, University of Coim-
PMSM drives,” IEEE Trans. Ind. Appl., vol. 53, no. 6, pp. 4596–5508, bra. Since 2011, he has been with the University of
Nov./Dec. 2017. Beira Interior (UBI), Covilhã, Portugal, where he is
[46] M. Liserre, R. Cardenas, M. Molinas, and J. Rodriguez, “Overview of currently a Full Professor with the Department of
Multi-MW wind turbines and wind parks,” IEEE Trans. Ind. Electron, Electromechanical Engineering and the Director of
vol. 58, no. 4, pp. 1081–1095, Apr. 2011. CISE—Electromechatronic Systems Research Centre (http://cise.ubi.pt). From
[47] F. Blaabjerg, M. Liserre, and K. Ma, “Power electronics converters for 2013 to 2014, he was the Vice-Rector of UBI. He is the Author of a book
wind turbine systems,” IEEE Trans. Ind. Appl., vol. 48, no. 2, pp. 708– entitled Fault Diagnosis in Three-Phase Induction Motors (Coimbra, Portugal:
719, Mar./Apr. 2012. Coimbra Editora, 1991 (in Portuguese), Editor of a book entitled Diagnosis and
[48] F. Blaabjerg and K. Ma, “Future on power electronics for wind turbine sys- Fault Tolerance of Electrical Machines, Power Electronics and Drives (U.K.:
tems,” IEEE J. Emerg. Sel. Topics Power Electron., vol. 1, no. 3, pp. 139– IET/SciTech, 2018), and also the Author of more than 400 papers published in
152, Nov. 2013. technical journals and conference proceedings. His research interests include
[49] R. Gao, X. She, I. Husain, and A. Q. Huang, “Solid-state-transformer- fault diagnosis and fault tolerance in electrical machines, power electronics, and
interfaced permanent magnet wind turbine distributed generation system drives.
with power management functions,” IEEE Trans. Ind. Appl., vol. 53, no. 4, Prof. Cardoso is currently the Associate Editor for the IEEE TRANSACTIONS
pp. 3849–3861, Jul./Aug. 2017. ON INDUSTRY APPLICATIONS, IEEE TRANSACTIONS ON INDUSTRIAL ELECTRON-
[50] A. Calle-Prado, S. Alepuz, J. Bordonau, P. Cortes, and J. Rodriguez, “Pre- ICS, IEEE TRANSACTIONS ON POWER ELECTRONICS, IEEE JOURNAL OF EMERG-
dictive control of a back-to-back NPC converter-based wind power sys- ING AND SELECTED TOPICS IN POWER ELECTRONICS, and also for the Springer
tem,” IEEE Trans. Ind. Electron., vol. 63, no. 7, pp. 4615–4627, Jul. 2016. International Journal of Systems Assurance Engineering and Management.

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