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Input Admittance Expressions for Field-Oriented Controlled Salient PMSM Drives

Oskar Wallmark, Member, IEEE, Stefan Lundberg, and Massimo Bongiorno, Member, IEEE
AbstractThis paper presents analytical expressions for the converter input admittance in eld-oriented controlled permanentmagnet synchronous motor (PMSM) drives. The effect of rotor saliency is taken into consideration and the derived admittance expressions are valid for maximum-torque-per-ampere as well as high-speed (eld weakening) operation. Experimental results illustrate the validity of the derived admittance expressions. The presented work can be used to predict dc-link voltage instabilities in PMSM drives in, e.g., railway traction, aerospace and automotive applications. Index TermsAdmittance, converter, electric drive, eld weakening, high-speed operation, permanent-magnet synchronous motor, rotor saliency, stability.

i = [i n np s v = [v vdq = [vd vdc c m r

i ]T

v ]T vq ]T

NOMENCLATURE A B Cdc D K Ld Ldc Lq Rdc Rs Te Y Zdc idc i d i q iref d iref q idq = [id Transfer function of dc-link voltage measurement lter. Transfer function of lter used in dc-link voltage controller. DC-link capacitance. Converter time delay. Transfer function of dc-link voltage stabilization controller. d-axis inductance. DC-link inductance. q-axis inductance. DC-link resistance. Stator resistance. Electromagnetic torque. Converter input admittance. DC-link input lter transfer function. Input converter current. d-axis current operating point. q-axis current operating point. d-axis current reference. q-axis current reference. Current vector expressed in the rotorxed dq frame.

Current vector expressed in the stationary frame. Mechanical rotor speed. Number of pole pairs. Laplace variable, =d/dt. Voltage vector expressed in the stationary frame. Voltage vector expressed in the rotorxed dq frame. DC-link voltage. Bandwidth of current control loop. Electrical rotor position. Permanent-magnet ux linkage. Electrical rotor speed, =d/dt.

I. INTRODUCTION

iq ]T

Manuscript received April 6, 2010; revised October 25, 2010; accepted February 8, 2011. Date of current version February 7, 2012. Recommended for publication by Associate Editor Kyo-Beum Lee. O. Wallmark is with the Laboratory of Electrical Machines and Power Electronics, Royal Institute of Technology (KTH), SE100 44 Stockholm, Sweden (e-mail: oskar.wallmark@ee.kth.se). S. Lundberg and M. Bongiorno are with the Department of Energy and Environment, Chalmers University of Technology, SE412 96 G teborg, Sweden, o (e-mail: {stefan.lundberg, massimo.bongiorno}@chalmers.se). Digital Object Identier 10.1109/TPEL.2011.2118231

HE permanent-magnet synchronous motor (PMSM) is, due to its high efciency, power density and torque-toinertia ratio, an attractive motor selection for a wide range of applications. The placement of the magnets on (or inside) the rotor can be made in numerous ways which offers good opportunities to tailor the level of rotor saliency and magnet ux depending on the application [1]. With closed-loop current (or torque) control, the dc/ac converter, supplying the PMSM, can, generally, be considered as a constant power load. When such a load is connected to a source with a nonnegligible source impedance, it is well known that dc-link voltage instabilities can arise. The problem is well established in railway traction applications (see, e.g., [2]) where an input lter to the converter (adding to the source impedance) is typically needed in order to avoid interference with track circuits, used to identify the presence of a train on a track section [3], [4]. Also, in aerospace applications, limitations on using large dc-link capacitors can cause dc-link voltage instabilities to arise [5]. Another area of possible applications in which this type of instability may arise can be found in the automotive sector where economical reasons may restrict the size of the dc-link capacitor in combination with a nonnegligible internal impedance of the dc source, e.g., a battery. DC-link voltage instabilities can be remedied either by changing the input impedance connected to the converter (e.g., increasing the size of the dc-link capacitor or adding additional resistance to the input lter) or using some sort of stabilization controller. The latter alternative is generally more attractive since neither the cost nor losses of the system are increased. Examples of the design of such a stabilization controller can be found in [6] and [7] where the stabilization controller is derived

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assuming a constant power load. Further, e.g., [8] and [9] present similar approaches applied to dc-dc converters. Reference [10] is a recent example of how the input admittance of the converter in a power system application can be made passive by proper current controller design. However, the assumption of a constant power load is not always valid in electric drive applications. Hence, controllers derived using this assumption may not stabilize the drive at all operating points due to the impact of the closed-loop current (or torque) control dynamics, as well as the dynamics of the voltage modulator. An analysis of the impact of these effects, as well as the derivation of improved stabilization controllers, can be found in [2] and [11] which consider induction motor drives. For PMSM drives, however, the torque expression is, due to the rotor saliency, nonlinear. Further, the commonly used maximum-torque-per-ampere (MTPA) control strategy, used to minimize resistive losses, as well as high-speed (eld weakening) operation introduce additional nonlinear relations between torque and current references. As it will be shown in this paper, these additional effects alter the resulting converter input admittance expression. Converter input admittance expressions for PMSM drives have already been presented and evaluated in simulation environments in [12] and [5], where the latter also presents a stabilization controller. However, the effect of rotor saliency is not completely taken into consideration; neither the commonly used MTPA control strategy nor high-speed operation are considered. In [13], a dc-link voltage stabilization controller is proposed and experimentally evaluated for a PMSM drive where the dynamics of the converter is neglected. The time delay due to the voltage modulation is, however, nonnegligible in highpower drives where the switching frequency is low but also in low-power drives when the full voltage capacity of the converter is exploited and the modulator is allowed to reach or approach six-step operation. This paper presents a derivation of the converter input admittance for salient PMSM drives, which are controlled using the principle of eld-oriented current control. The impact of rotor saliency, the MTPA control strategy as well as high-speed (eld weakening) operation are taken into consideration. The resulting expressions can be used to predict whether a stabilization controller for a particular PMSM drive may be required or if the parameters of the input lter used must be changed. The paper is organized as follows: Section II, which is the main part of this paper, presents the complete analysis. The notation used in this paper is similar to the one in [11], and it is shown in Section II-G that the stabilization controller proposed in [11] can, with minor modications, be applied also for salient PMSM drives adopting the principle of eld-oriented current control. In Section III, the resulting expressions for the converter input admittance are used to predict dc-link voltage instabilities using parameters from an experimental PMSM drive. The predicted instability is also veried experimentally. Finally, conclusions are given in Section IV.

II. ANALYSIS A. Impact of Voltage Modulation The switching commands to the converter are outputs from a voltage modulator. Apart from the voltage references, the varying dc-link voltage vdc is also required to compute the switching waveforms correctly. To avoid impact of transients in the dc-link voltage measurement, vdc is typically ltered before used in the modulator. In [2], the following converter model is presented: v (s) = [v (s) = v (s)]T
ref v [1 D(s)A(s)] + vdc (s). vdc

ref D(s)v (s)

(1) Equation (1) relates the output voltage of the converter (averaged over one switching interval) to the voltage references and dclink voltage. Here, s is the Laplace variable and the -notation represents deviations around some operating point, (e.g., x = x x, where x is the operating point). Further, D(s) = esT d represents a time delay of Td seconds due to the modulation and A(s) is the transfer function of the lter used to lter vdc . In (1), the converter output voltage is expressed in terms of stationary quantities. However, since PMSM drives are considered in this paper, it is convenient to express the converter output voltage in the rotor-xed dq reference frame. The relation between the and dq reference frames can be expressed as vdq (t) = eJ (t) v (t) eJ (t) = cos (t) sin (t) sin (t) cos (t) (2a) (2b)

where (t) is the electrical rotor position. Typically, the switching frequency of the converter (expressed as an angular frequency in rad/s) is much larger than the angular frequency of the rotor r = d(t)/dt. Hence, can be considered constant during a switching interval. The output voltage of the converter, expressed in the dq reference frame, can then be approximated as vdq = [vd

ref vq ]T = Dvdq + Gdc vdc

(3a) (3b)

Gdc =

ref vdq [1 DA] vdc

and the argument s has been omitted to avoid clutter. B. PMSM Current Dynamics The current dynamics of a salient PMSM can be expressed as (see, e.g., [14]) idq = [id GPM = iq ]T = GPM vdq r Lq Rs + sLq
1

(4a) . (4b)

Rs + sLd r Ld

Here, Rs is the stator resistance and Ld and Lq are the d- and q-axis inductances.

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C. Current Control Field-oriented control adopting closed-loop current controllers (expressed in dq quantities) with integral action are commonly used in PMSM applications. In this paper, the current controller in [15] is used (though adapted to a PMSM application) and the voltage references are given as
ref vdq = F iref idq + Widq dq

(5a) (5b) (5c)

re re Fig. 1. fd (T e f ) (solid lines) and fq (T e f ) (dashed lines) when the rotor speed is varied from 0-12 000 rpm in steps of 1000 rpm. The arrows indicate increasing rotor speed.

F = c W=

Ld + c Ld /s 0

0 Lq + c Lq /s

c Ld + Rs r Ld

r Lq . c Lq + Rs

Note that the controller in (5a) is expressed in terms of motor parameters and c which (if no parameters errors and the effect of voltage modulation are neglected) represents the bandwidth (in rad/s) of the two decoupled current loops [15]. The resulting current in the PMSM, taking into account the effect of voltage modulation and the closed-loop current control, can now be obtained by inserting (5a) and (3a) into (4a). This yields (after some manipulation) idq = Gcl iref dq + Sdc vdc
1

which minimizes the resistive losses in the PMSM. Due to thermal limitations in the converter and/or PMSM, the current must be limited so that |iref | = dq (iref )2 + (iref )2 im ax q d (10)

where im ax is the maximum allowed length of the current vector. Using (7), (9) and (10), the nonlinear functions relating the torque reference to the current references can be expressed as iref = fd (Teref ) d iref = fq (Teref ). q (11) (12)

(6a) GPM DF (6b)

Gcl = (I + GPM DF GPM DW)

Sdc = (I + GPM DF GPM DW)1 GPM Gdc (6c) D= D 0 0 , D I= 1 0 . 0 1 (6d)

Remark: The mechanical dynamics are neglected in this analysis since they are typically considerably slower than the current (torque) and dc-link voltage dynamics. Hence, r is considered as a (quasi) constant parameter. D. Torque Expression Linearization The torque expression for a salient PMSM is nonlinear and can be expressed as (see, e.g., [14]) 3np [m iq + (Ld Lq )id iq ] (7) 2 where np is the number of pole pairs. Linearizing (7) yields Te = Te = C1 idq (8a) 3np [ (Ld Lq )i m + (Ld Lq )i ] (8b) C1 = q d 2 where i and i represent the current operating point in considq d eration (see Section II-E). Since integral action is used in the current controller, i = iref and i = iref holds. q q d d E. Selection of Current References Due to the rotor saliency (Ld = Lq ), iref is typically nonzero d in order to utilize the resulting reluctance torque component. Using the MTPA control strategy, iref is selected as [16] d iref = d m 2(Lq Ld ) m 2(Lq Ld )
2

For a PMSM with no saliency, Ld = Lq and fd (Teref ) = 0 and fq (Teref ) = 2Teref /(3np m ). For PMSMs with rotor saliency, however, the analytical expressions for fd (Teref ) and fq (Teref ) (and their derivatives) are complex to obtain and numerical methods are relied upon in the example below. At higher rotor speeds, the voltage limit of the converter must also be taken into consideration. In the dq reference frame, this limitation can be expressed as
ref |vdq | = ref ref (vd )2 + (vq )2 vm ax

(13)

ref ref where vd = Rs iref r Lq iref and vq = Rs iref + r Ld iref + q q d d r m , and vm ax is the maximum allowed length of the voltage vector1 . As it is well known, this voltage limit can be maintained by reducing the negative d current reference further (referred to as eld weakening). Thereby, fd (Teref ) and fq (Teref ) and their derivatives will be dependent on the rotor speed (r ). A linear approximation of (11) and (12) can be obtained as

iref = C2 Teref , dq C2 = fd Teref fq Teref

T

(14a) (14b)

where the partial derivatives should be evaluated around the torque reference operating point. 1) Numerical Example: A four-pole surface inset PMSM with the parameters Rs = 7.9 m, Ld = 0.23 mH, Lq = 0.56 mH and m = 104 mWb is used here to illustrate a numerical comcurrent and voltage limputation of fd (Teref ) and fq (Teref ). The its are im ax = 230 A and vm ax = 320/ 3 V. Fig. 1 shows the
1 If space vector modulation (or pulse with modulation with third-harmonic injection) is adopted, v m a x = v d c / 3 [17].

+ (iref )2 q

(9)

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resulting fd (Teref ) and fq (Teref ) when the rotor speed is varied from 0 to 12 000 rpm in steps of 1000 rpm. At lower speeds, the voltage limit is not reached and the MTPA control strategy can be fully exploited up to the current limit (which limits the available torque to 80 Nm). However, as the speed increases, eld weakening is required in order to maintain the voltage limit (which also introduces a limit on the available torque). A transfer function, relating the torque to the torque reference and dc-link voltage, can now be obtained by inserting (8a) and (14a) into (6a) which yields Te = Gc Teref + Gd vdc Gc = C1 Gcl C2 Gd = C1 Sdc . F. Converter Input Admittance Neglecting the losses in the converter and PMSM, the input power of the converter can be expressed as vdc (t)idc (t) = Te (t)r /np (16) (15a) (15b) (15c)

Fig. 2.

PLECS simulation setup.

where idc is the input converter current. By linearizing (16) and inserting (15a), the following transfer function is obtained: idc = r Gc Teref + Y vdc vdc np (17)
Fig. 3. Numerically computed admittance at 100 Hz ( ) and corresponding analytical value ( ). The absolute value of Y : a) 40 Nm and 400012 000 rpm in steps of 1000 rpm. b) 80 Nm and 40007000 rpm in steps of 1000 rpm (higher speeds at this torque level are not possible due to the limited dc-link voltage).

where the converter input admittance Y is found as r Gd T r Y = e 2 . vdc np (vdc ) np G. Stabilizing Controllers In [11], a stabilization controller on the form Teref = Teref + KBvdc (19) (18)

is proposed and analyzed (i.e., the transfer functions K and B are selected). Here, K is the stabilization controller and B is a lter (of high-pass or band-pass type) needed so that constant (or very slow) changes in the dc-link voltage do not affect the torque reference. The resulting converter input admittance is identical to (18) with the exception that Gd should be replaced with Gd + BKGc . Hence, the work presented in [11] should be applicable also for salient PMSM drives. III. EVALUATION A. Numerical Computation of Converter Input Admittance To demonstrate how the imaginary part of the converter input admittance changes dependent on the torque and speed level, the simulation model shown in Fig. 2 has been setup using Matlab/Simulink2 and PLECS3 . The parameters of the PMSM are the same as in Section II-E1 and iref and iref for a given torque q d
2 MATLAB and Simulink are registered trademarks of The Mathworks, Inc., Natick, Massachusetts, USA. 3 PLECS is a registered trademark of Plexim GmbH, Z rich, Switzerland. u

and speed level are computed assuming a dc-link voltage of 320 V (the actual dc-link voltage is 10% higher to allow for some control margin). The converter model utilizes ideal and lossless switches which are switched at 5 kHz using regular asymmetrically sampled PWM [17]. The dc-link voltage used in the current controller (with a bandwidth of c = 1465 rad/s (233 Hz)) is ltered using a rst-order low-pass lter with a cut-off frequency of 100 Hz (set very low for illustration purposes). Added to the dc-link voltage (352 V) is a 10 V, 100 Hz voltage and the input admittance (at 100 Hz) is then computed as Y (100 Hz) = Idc (100 Hz)/Vdc (100 Hz) where Idc and Vdc denote the discrete Fourier transformations of idc and vdc , respectively. Since a variable-step solver has been used in Matlab/Simulink, linear interpolation has been used when computing the discrete Fourier transformation of idc . Fig. 3 shows the computed input admittance together with the analytical counterpart given by (18). For speeds above 8000 rpm, eld weakening is required at all torque levels for the given dclink voltage. As seen, the the agreement is reasonable and it is clear that the imaginary part of the admittance is signicant when the speed is increased. Similar agreement are obtained for dc-link voltage disturbances with frequencies up to around 1 kHz. Reasons for the difference between the two models include the fact that linear interpolation was used to compute the discrete Fourier transformation of idc , the impact of harmonics due to

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Fig. 4. Experimental setup. The resulting input lter Z d c consists of the components within the dashed box.

the switching process, and also that the losses in the PMSM model are neglected during the analytical derivation of Y . B. Experimental Evaluation This paper has presented a derivation of the converter input admittance for salient PMSM drives. As is well known, dc-link voltage instability is reached if the loop gain Y (j)Zdc (j), where Zdc is the input impedance, encircles the point 1. This condition can, therefore, be used as an indicator whether a stabilizing controller, such as the one in [11], is required. The purpose of this section is to experimentally verify that the derived expressions can be used to predict dc-link voltage instabilities. The experimental setup, shown in Fig. 4, consists of a 50 kW PMSM drive with a rated speed of 6000 rpm. The parameters of the PMSM are the same as in Section II-E1 and the shaft of the PMSM is connected to a speed controlled dc motor which is supplied from a low-impedance supply (innite bus). The dc input of the converter is connected, via a long cable (100 m), to the armature of a dc generator. The dc generator rotates at a xed speed and the armature voltage is controlled (at the terminals of the armature) by a controller controlling the eld voltage of the dc generator (the armature voltage reference is 150 V). The dynamics of the armature voltage controller are slow and are neglected here. The resulting resistance and inductance of the armature winding and connecting cable are Rdc = 0.15 and Ldc = 4.47 mH. Together with the converters dc-link capacitor Cdc = 2.35 mF, this forms an input lter which can be expressed as Zdc (s) = s2 Cdc Ldc sLdc + Rdc . + sCdc Rdc + 1 (20)

Fig. 5. Experimentally obtained unstable example: a) Rotor speed. b) DC-link voltage. c) id (< 0) and iq .

Fig. 6. Computed loop gain corresponding to the diamonds ( ) in Fig. 5. The arrow indicates increasing rotor speed.

can be expressed as A(s) = 394 784 . s2 + 889s + 394 784 (21)

The voltage modulator adopts pulse width modulation (PWM) with third-harmonic injection using the (xed) switching frequency of fsw = 5.86 kHz. Since the voltage references computed during one PWM interrupt are used by the modulator during the next PWM interrupt, the time delay is Td = 1.5/fsw . The bandwidth of the current controller is selected to c = 1465 rad/s (233 Hz). A closed-loop eld weakening controller (presented in [15]) is controlling the current references in order to avoid saturation of the voltage modulator. The dynamics of the eld weakening controller are set considerably slower than the current and dc-link voltage dynamics and are, hence, neglected. The dc-link voltage measurement lter A(s) is implemented as a second order Butterworth lter with a cut-off frequency of 100 Hz (the reason for the selection of such a low cut-off frequency is simply to provoke dc-link voltage instabilities for purposes of illustration). This means that A(s)

1) DC-Link Voltage Instability: In this experiment, the current references are set to zero and the rotor speed is increased from 3000 rpm to approximately 5000 rpm. As shown in Fig. 5, the system becomes unstable (or very poorly damped) when the rotor speed is increasing (even though the torque is zero). Using (18) and (20), the loop gain is computed for the operating points corresponding to the diamonds ( ). As seen in Fig. 5, the loop gain approaches 1 as the rotor speed increases and the dc-link voltage instability shown in Fig. 5 is, hence, properly predicted. 2) Stabilization By Increasing the DC-Link Capacitance: An external capacitor bank is now connected to the input of the converter (yielding a total dc-link capacitance of Cdc = 29 mF). As shown in Fig. 7, the rotor speed is increased from 3000 rpm

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measurements on a single battery cell, can be used for prediction of dc-link instabilities in automotive applications.

REFERENCES
[1] A. M. EL-Refaie and T. M. Jahns, Comparison of synchronous PM machine types for wide constant-power speed range operation, in Proc. Conf. Rec. IEEE 40th IAS Annu. Meeting, 2005, vol. 2, pp. 10151022. [2] H. Mosskull, Robust control of an induction motor drive, Ph.D. dissertation, Royal Inst. Technol., Stockholm, Sweden, 2006. [3] H. B ngtsson, Harmonic mitigation in traction drives, Ph.D. Dissertaa tion, Lund Inst. Technol., Lund, Sweden, 1999. [4] S. Midya and R. Thottappillil, An overview of electromagnetic compatibility challenges in European rail trafc management system, Transp. Res. Part C, vol. 16, no. 5, pp. 515534, Oct. 2008. [5] X. Liu and A. J. Forsyth, Active stabilisation of a PMSM drive system for aerospace applications, in Proc. IEEE 36th Power Electron. Specialists Conf., 2008, pp. 283289. [6] S. D. Sudhoff, K. A. Corzine, S. F. Glover, H. J. Hegner, and H. N. Robey, DC link stabilized eld oriented control of electric propulsion systems, IEEE Trans. Energy Convers., vol. 13, no. 1, pp. 2733, Mar. 1998. [7] W.-J. Lee and S.-K. Sul, DC-link voltage stabilization for reduced DClink capacitor inverter, in Proc. IEEE 1st Energy Convers. Congr. Exposition, 2009, pp. 17401744. [8] C. H. Rivetta, A. Emadi, G. A. Williamson, R. Jayabalan, and B. Fahimi, Analysis and control of a buck DC-DC converter operating with constant power load in sea and undersea vehicles, IEEE Trans. Ind. Applicat., vol. 42, no. 2, pp. 559572, Mar./Apr. 2006. [9] J. G. Ciezki and R. W. Ashton, The application of feedback linearization techniques to the stabilization of DC-to-DC converters with constant power loads, in Proc. IEEE Circuits Syst. Conf., 1998, vol. 3, pp. 526 529. [10] L. Harnefors, L. Zhang, and M. Bongiorno, Frequency-domain passivitybased current controller design, IET Power Electron., vol. 1, no. 4, pp. 455465, Dec. 2008. [11] H. Mosskull, J. Gali , and B. Wahlberg, Stabilization of induction motor c drives with poorly damped input lters, IEEE Trans. Ind. Electron., vol. 54, no. 5, pp. 27242734, Oct. 2007. [12] J. Wang, A. Griffo, L. Han, and D. Howe, Input admittance characteristics of permanent magnet brushless AC motor drive systems, in Proc. IEEE Vehicle Power Propulsion Conf., 2007, pp. 191196. [13] P. Liutanakul, A.-B. Awan, S. Pierfederici, B. Nahid-Mobarakeh, and F. Meibody-Tabar, Linear stabilization of a DC bus supplying a constant power load: A general design approach, IEEE Trans. Power Electron., vol. 25, no. 2, pp. 475488, Feb. 2010. [14] P. C. Krause, O. Wasynczuk, and S. D. Sudhoff, Analysis of Electric Machinery and Drive Systems. Piscataway, NJ: IEEE Press, 1994. [15] L. Harnefors, K. Pietil inen, and L. Gertmar, Torque-maximizing elda weakening control: Design, analysis, and parameter selection, IEEE Trans. Ind. Electron., vol. 48, no. 1, pp. 161168, Feb. 2001. [16] S. Moriomoto, M. Sanada, and Y. Takeda, Effects and compensation of magnetic saturation in ux-weakening controlled permanent magnet synchronous motor drives, IEEE Trans. Ind. Applicat., vol. 30, no. 6, pp. 16321637, Nov./Dec. 1994. [17] D. G. Holmes and T. A. Lipo, Pulse Width Modulation for Power Converters. Piscataway, NJ: IEEE Press, 2003.

Fig. 7. Experimentally obtained stable example: a) Rotor speed. b) DC-link voltage. c) id (< 0) and iq .

Fig. 8. Computed loop gain corresponding to the diamonds ( ) in Fig. 7. The arrow indicates increasing rotor speed.

to approximately 5000 rpm. Differing from the results shown in Fig. 7, the system is now stable. The computed loop gain (shown in Fig. 8) is far from encircling 1 which, in agreement with the experimental results, predicts a stable system. IV. CONCLUSION This paper has presented a derivation of converter input admittance expressions for PMSM drives taking rotor saliency into account. The derivation included operation using the MTPA control strategy, as well as high speed (eld weakening) operation. The resulting expressions can be used to predict whether a stabilization controller for a particular PMSM drive may be required (or if the converter input impedance needs to be modied). The validity of the resulting analytical expressions were veried by simulations and experimental results. An interesting topic of further research is to experimentally verify to what extent impedance-based battery models, derived from parameter

Oskar Wallmark (S01M06) received the Ph.D. degree in electric power engineering in 2006, from Chalmers University of Technology, G teborg, o Sweden. He is an Associate Professor at the Laboratory of Electrical Machines and Power Electronics at the Royal Institute of Technology (KTH) in Stockholm, Sweden. His research interests include control and analysis of electric drives in electric and hybrid electric drive trains.

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Stefan Lundberg was born in G teborg, Sweden, o in 1976. He received the Ph.D. degree in 2007, from Chalmers University of Technology, G teborg, o Sweden. He is now working at the Department of Energy and Environment Division of Electric Power Engineering at Chalmers University of Technology, G teborg, Sweden. His area of interest is the control o and modeling of wind parks.

Massimo Bongiorno (S02M07) received the M.Sc. degree in Electrical Engineering from the University of Palermo, Italy in April 2002 and the Lic.Eng and Ph.D. degrees from Chalmers University of Technology, G teborg, Sweden, in December o 2004 and September 2007, respectively. Since 2007, he was an Assistant Professor at the Department of Electric Power Engineering at Chalmers University of Technology, G teborg,Sweden, where he became an Associate o Professor of power electronic applications for power systems in September 2010. His research interests include application of power electronics in power systems and power quality.