Ain Shams Engineering Journal Manuscript Draft Manuscript Number: ASEJ-D-11-00062 Title: Sensorless Control of Non-Sinusoidal and Saturated

permanent magnet synchronous generator in wind energy conversion system Article Type: Full Length Article Keywords: Sensorless; WECS; Non-Sinusoidal Flux Distribution; PMSG; Sliding Mode Observer; Magnetic Saturation. Abstract: A sliding mode observer (SMO) to estimate the rotor speed and position for permanent magnet synchronous generators (PMSG) in wind energy conversion system (WECS), with nonsinusoidal flux distribution, is presented. An extension of Park's transformation is proposed for nonsinusoidal PMSG and the influence of magnetic saturation on sensorless control is taken into account. Wind speed and position sensorless operating methods for wind generation system using observer are proposed only by measuring phase voltages and currents. Maximum wind energy extraction is achieved by monitoring the wind turbine generator in variable-speed mode. Simulation results of the SMO for the WECS with non-sinusoidal PMSG are presented to improve the efficiency of the observer.

*Manuscript text (without AU credentials)

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Sensorless Control of Non-Sinusoidal and Saturated PMSG in WECS

Abstract: A sliding mode observer (SMO) to estimate the rotor speed and position for permanent magnet synchronous generators (PMSG) in wind energy conversion system (WECS), with non-sinusoidal flux distribution, is presented. An extension of Park's transformation is proposed for non-sinusoidal PMSG and the influence of magnetic saturation on sensorless control is taken into account. Wind speed and position sensorless operating methods for wind generation system using observer are proposed only by measuring phase voltages and currents. Maximum wind energy extraction is achieved by monitoring the wind turbine generator in variable-speed mode. Simulation results of the SMO for the WECS with non-sinusoidal PMSG are presented to improve the efficiency of the observer. Keywords Sensorless; WECS; Non-Sinusoidal Flux Distribution; PMSG; Sliding Mode Observer; Magnetic Saturation. 1. Introduction Permanent magnet synchronous generator (PMSG) has many advantages like high efficiency, high power density and low inertia owing to the presence of high-energy density magnets. It is principally related to high performance applications. PMSG can be grouped into two categories, depending on their back-EMF waveform, which is either trapezoidal or sinusoidal [1-2]. However, many PMSGs present EMF waveforms that are neither sinusoidal nor trapezoidal. The well known control schemes for sinusoidal flux distribution motors can be extended to the case of a non-sinusoidal flux distribution and have been the focus of several research projects and several control 1

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strategies have been proposed in the literature. The authors in [3] used models with the assumption that the magnetic circuit is not saturated and an approach based on the constant torque curves property is used for the non-sinusoidal motor. For the SyRM, different models have been proposed to take into account the effects of the magnetic saturation [4]. In [5-6], the influence of magnetic saturation on the control of interior permanent magnet synchronous motor drives is discussed. In [7], the authors give a new saturated doubly-fed induction generator model where the main flux saturation and the leakage flux saturation are taken into account. Other authors develop various ac synchronous machine dq models with main flux saturation [8]. In the literature, many works are interested in sensorless control of induction machines and for PMSG with sinusoidal flux distribution applications [9-12]. In [10], the MRAS observer to estimate the rotational speed of the induction generator in a variable-speed WECS is studied. The authors in [13] used neural network for wind speed estimation and robust control of maximum wind power extraction. In [14], the reduced order observer is studied for the sensorless control of the PMSG. The structure of PMSG and theirs parameters, which in some situations are not available or may be difficult to obtain are necessary for the rotor position sensorless control of the PMSG with non sinusoidal flux distribution. Moreover, the amount of energy obtained from a WECS depends not only on the characteristics of the wind regime at the site, but also on the control strategy used for the WECS. In this work, the sliding mode observer (SMO) to estimate the rotor speed and position for permanent magnet synchronous motors, with arbitrary electromotive force (EMF) waveform, is presented, and the influence of magnetic saturation on sensorless control is proposed. The sensorless maximum power point tracking of wind generation 2

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system is also studied. We note that a lot of techniques for position estimation of sinusoidal PMSG are used, but they have not been widely investigated for the nonsinusoidal machine. The objective of this work is to design an observer for the nonsinusoidal and saturated PMSG in WECS. The contents of this paper are given as follows: First an extension of Park's transformation is proposed for non-sinusoidal permanent magnet synchronous machines. Next, the magnetic saturation effects are considered, and then a speed observer based on sliding mode control theory for PMSG with non-sinusoidal flux distribution is done. Some simulation results are provided to demonstrate the effectiveness of the sliding mode speed observer for non-sinusoidal PMSG in wind energy conversion system. 2. Modeling of the WECS
2.1. Modeling of the wind turbine

The output mechanical power of the wind turbine wind power using the power coefficient

is generally deduced from the

and is given by:

(1)

where area of the turbine.

is the air density,

is the wind speed and

is the swept

The power coefficient is dependent on the tip speed-ratio , which depends on the wind speed and the angular speed of the shaft (rpm).
(2)

where

represents the blade radius (m).

The mechanical equation is given by: 3

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(3)

where

is the mechanical torque (N.m),

is the electromagnetic torque (N.m), is the moment of inertia (kg.m2) and

is the mechanical speed of the rotor (rad.s-1),

is the coefficient of viscous friction (N.m.s.rad-1).

2.2. Modeling of the converters

The converter is modelled by using the concept of instantaneous average value [10]. It is composed of three legs of two power switches. Because ideal power switches are considered, the switches of a same leg are in complementary state. A switching function is defined for each power switch and represents the ideal commutation orders and takes the value 1 when the switch is closed and 0 when it is opened [15]. 3. Optimal Control Strategy of the WECS In this section, the knowledge of the characteristic curve of the wind turbine blade allows the search of the maximum power point. Figure 1 shows the variation of the aerodynamic power according to the PMSG speed for different values of the wind speed. Each peak of these curves gives the maximum extractable power the optimal point. This point presented the optimal speed coefficient and thus

and the maximum power

. Figure 2 represents the power coefficient according to the specific .

speed . For this wind turbine the optimal specific speed is

[About here figures 1 and 2]

The aerodynamic torque which provides the optimum power according to the optimal PMSG speed can be approximated by the following polynomial function:
(4)

When the output of the turbine exceeds the nominal value

, the pitch

control is activated and the PMSG is working at constant power. For strong speeds, the

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aerodynamic brake is operated. A torque control of the generator is applied because of the relative difficulty of the speed control of a high inertial turbine. An adaptation of the device ensuring the MPPT is necessary for this method of controlling.
4. Extension of Park transformation for non-sinusoidal PMSG

The sinusoidal permanent magnet synchronous generator works as a rotating field machine. The sinusoidal voltage and current waveforms in the stator are required. The principal torque component depends on the quadrature component of the armature current. There are harmonic torque components in addition, which result from residual non-sinusoidal flux linkages and from current waveform distortions. The Park transformation allowing to obtain the "dq" components is only applicable to sinusoidal flux distribution. It allows working in the rotor's reference frame, through a rotation of an angle Using the new "dq" variables, a vector expressed in " "

frame, can be written as follows:

(5)

where p is the number of pole pairs of the machine,

is its instantaneous position.

The electromagnetic torque in the "dqo" reference frame is then given by:
(6)

Since

the homopolar current

does not take part in the torque generation.

This kind of motor is often star connected, so that

For a drive with sinusoidal flux distribution, equation is simplified to:

. The electromagnetic torque

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(7)

where

is constant.

An extension of Parks transformation to perform a vector control of PMSG with non sinusoidal flux distribution is used. This extended d-q reference frame is presented in Figure 3. An angle that should be found, defining "pseudo- dq" axes, so is still zero and the term of the electromagnetic is not constant:
(8) [About here figure 3]

. The homopolar current

torque will be nearly the same as in the sinusoidal case but here

To obtain

, it is necessary to have the following:

(9)

where
(10)

are the rotor fluxes induced in the stator phases and are given by :

(11)

The follows:

components of the position derivatives of the fluxes can be expressed as

(12)

is then defined by :

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(13)

and The derivative of the flux is given by:

(14)

(15)

The angle

is a function of

. The obtained transformation can be used as an

extension of Park's transformation for synchronous machines with any sample of backelectromotive forces. In the new "pseudo-deqe" frame, the voltage equations are written as follows:

and

(16)

where extended reference frame, inductances,

are the stator voltages and currents respectively, in the new is the electric rotor speed. , are the d- and q- axis

is the stator resistance.

Figure 4 shows a functional block diagram of the current control used for the sensorless WECS where the PMSG is with non-sinusoidal flux distribution. A sliding mode observer is used in order to estimate a rotor speed and position.
[About here figure 4]

The non-sinusoidal field distribution leads to variation of flux which may be expressed as equation (11). The position derivatives of flux and the variations of flux are represented in Figure 5

are shown in Figure 6.

[About here figures 5 and 6]

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5. Effects of magnetic saturation The effect of magnetic saturation on and is greatly different, depending on the

motor structure. In permanent magnet (PM) generator, the effect of magnetic saturation on the q-axis inductance is generally dominant [6][16][17]. The effective airgap in the PM generator is small and therefore the effects of magnetic saturation due to the armature reaction are significant and the variation of the saturated q-axis inductance can be represented as a nonlinear function of the q-axis stator current . It decreases when

the q-axis stator current increases, or as magnetic saturation occurs. Unlike the q-axis inductance, the variation of the d-axis inductance with the d-axis stator current is insignificant and can be considered to be constant. The q-axis inductance is approximated by:
(17)

where

is included to take the magnetic saturation effect into account and .

is the

inductance obtained where

When the effect of magnetic saturation is taken into account, the dynamic equations of a non sinusoidal PM generator can be written in the rotor reference frame as follows:

(18)

6. Sliding mode observer In this section, we state the general concepts of the SMO presented in Figure 7 which is composed of three parts, current observer, continuous control function and rotor position and speed calculators [15].
[About here figure 7]

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The illustrated as:

model for the permanent magnet synchronous motor without saliency is

(19)

where : stator - and - axes currents : stator - and - axes voltages induced voltage ; back emf constant

From equation (19) the SMO can be constructed as follows:

(20)

where the equivalent controls of conventional sliding mode observer can be obtained in (21):

(21)

The superscript ^ represents the estimated quantities, observer gain, and

is the constant current

are the errors between estimated current and

actual one in the - and - axis, respectively. The vector of the stator current is determined using the equation (18), which gives the model of non-sinusoidal PMSG where the effect of magnetic saturation is taken into account.

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The sliding mode surface is defined as:

(22)

where

and

The sliding mode control has a problem of chattering due to the control discontinuity and switching action. To avoid the chattering phenomena, the sigmoid function is used [15]. When the estimation error trajectories reach the sliding surface ( that the observed current will converge to the actual ones, i.e. and , it is evident .

Lets design the Lyapunov function used to find such condition of sliding mode existence.
(23)

Assuming that the rotor speed is constant within one estimation period, derivative of Lyapunov function becomes:
(24) (25)

where

, and with substituting (25) into (24), the following

The sliding mode exists when equation is obtained:

(26)

According to the theory of Lyapunovs stability,

must be calculated to guarantee the

observer stability. In order to drive the system to be convergent, we have these conditions:
(27a)

10

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(27b)

with substituting each term of equation (27b) by its expression, this equation becomes
(28)

From (28) and with

the speed estimator may be derived as:

(29)

Also, from (21) the rotor position is determined as follow:

(30)

7. Simulation results We have proceeded, at the beginning by a steady state simulation. By applying a step signal of a wind speed ranging between 9 and 11 m/s, the simulation results of the PMSG with non-sinusoidal flux distribution are depicted in figures below. Figures 8-9 present the wind speed and the PMSG speed, respectively.
[About here figures 8 and 9]

It is necessary to determine an adequate current reference presented at Figure 10 to reduce the torque ripples. The torque variations depicted in Figure 11 are caused by the sinusoidal current, if flux distributions are non-sinusoidal. So, the model of the machine (16) should be considered in the analysis by the determination of the space harmonic.
[About here figures 10 and 11]

The active power is presented in Figure 12, and the three phase currents for the nonsinusoidal PMSG are represented in Figure 13. These currents are not sinusoidal.
[About here figures 12 and 13]

The flux harmonics produce the undesirable torque pulsation because the torque is developed by the interaction of the linkage fluxes and stator currents. The objective of this PMSG model is to take into account the real waveform of the flux, in order to

11

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reduce torque ripples and to minimize the copper losses. The copper losses are given by: . To minimize these losses, we must have .

With a non-sinusoidal flux distribution of PMSG we note a minimization of the copper losses compared to the sinusoidal motor. Figures 14 and 15 show the copper losses of the sinusoidal and the non-sinusoidal motor, respectively.
[About here figures 14 and 15]

In the following, we have considered a real wind speed ranging between 6 and 12 m/s with an average value of 9 m/s. To evaluate the proposed sensorless methods efficiency, the proposed observer SMO can be used in order to minimize the torque ripple in a sensorless PMSG drive, avoiding the use of a mechanical position sensor. The simulation was carried out in the extended deqe reference frame. Simulation results are presented for the SMO for the sinusoidal PMSG and other results for the SMO applied to the motor with nonsinusoidal flux distribution and taking into account of magnetic saturation effect. We note a good correlation between the measured and the estimated results using the SMO for the sinusoidal and non-sinusoidal PMSG, but for the first one, the results show some torque ripples. The wind speed, the PMSG speed and the aerodynamic torque are presented in Figures 16a-17a and 18a, respectively. Figure 19a depicts the d-axis current which is controlled to zero and Figure 20a presents the q- axis current. Figures 16b-20b present simulation results of the sliding mode observer applied to the PMSG with non-sinusoidal flux distribution and with consideration of magnetic saturation. As can be seen, the use of the proposed observer reduces greatly the torque ripples with respect to a conventional sinusoidal approximation. In the time interval ranging between 75s and 90s, and with comparison to the sinusoidal PMSG speed

12

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(Figure 17a), the ripples of the PMSG speed presented at Figure 17b for the nonsinusoidal motor are well minimized.
[About here figures 16-23]

When the wind speed is high i.e. greater than 10 m/s, the pitch control adjusts the pitch angle depicted in Figure 21a-b to limit the aerodynamic power plotted in Figure 22 a-b to the nominal value of the PMSG. Figures 23a and 23b depict the angle position of the rotor. Simulation results show the effectiveness of the SMO for estimation of rotor and position of the sinusoidal and especially of the saturated non-sinusoidal PMSG with minimum ripples. 8. Conclusion The objective of this study was to reach an efficient control of a non-sinusoidal PMSG used in WECS. The control strategy proposed is systematically an extension to the case of machines with a sinusoidal flux distribution. By analogy with the sinusoidal case, an extended Park transformation has been proposed. In this works a sliding mode observer is established in order to implement a sensorless non-sinusoidal PMSG drive prototype. Simulation results confirm the good performance of the observer in the estimation of rotor and wind speed. The effect of magnetic saturation is also taken into account. In the proposed control method, the q-axis inductance is modeled as a function of the q-axis current and this compensated value of is used in the control algorithm.

Through simulation, the performances of the proposed sensorless optimal control strategy of saturated and non-sinusoidal PMSG in WECS have illustrated. Appendix A. Wind turbine The power coefficient of the simulated turbine is given by [14]: 13

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(A.1)

with: The blade radius of the simulated wind turbine is .

B. Permanent Magnetic Synchronous Generator: PMSG Number of pole pairs: Stator resistance: Stator Inductance: Permanent magnetic flux: Inertia: Friction coefficient: C. DC bus and line: Capacitance: Maximal voltage: Line inductance : Line resistance: . ; ; ; ;

14

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References
[1] J. Holtz, and L. Springob, Identification and Compensation of Torque Ripple in High- Precision Permanent Magnet Motor Drives, IEEE trans on Ind Electronics, 43(2) (1996) 309-320. [2] C. De Angelo, G. Bossio, J. Solsona, G O. Garca, and M I. Valla, A Rotor Position and Speed Observer for Permanent-Magnet Motors With Non sinusoidal EMF Waveform, IEEE Trans. Ind. Electron, 52(3) (2005) 807-813. [3] Y. Ait-gougam, R. Ibtiouen, O. Touhami, J.-P. Louis, M. Gabsi, Inverse modelling and pulsating torque minimization of salient pole non-sinusoidal synchronous machines, Electr. Power. Syst. Res 78 (2008) 8896. [4] T. Lubin, H. Razik and A. Rezzoug, Magnetic Saturation Effects on the Control of a Synchronous Reluctance Machine, IEEE Trans. Energy. conver, 17(3) (2002) 356-362. [5] N. Imai, S. Morimoto, M. Sanada, and Y. Takeda, Influence of Magnetic Saturation on Sensorless Control for Interior Permanent-Magnet Synchronous Motors With Concentrated Windings, IEEE Trans. Ind. Appl, 42(5) (2006) 1193-1200. [6] C. Mademlis and V.G. Agelidis, On Considering Magnetic Saturation with Maximum Torque to Current Control in Interior Permanent Magnet Synchronous Motor Drives, IEEE Trans. Energy. Conver, 6(3) (2001) 246 -252. [7] Hany M. Jabr, Narayan C. Kar, Effects of main and leakage flux saturation on the transient performances of doubly-fed wind driven induction generator, Electr. Power. Syst. Res 77 (2007) 10191027. [8] H. Rehaoulia, H. Henaob, G.A. Capolino, Modeling of synchronous machines with magnetic saturation, Electr. Power. Syst. Res 77 (2007) 652659. [9] M.S. Zaky, M. Khater, H. Yasin, S.S. Shokralla, Very low speed and zero speed estimations of sensorless induction motor drives, Electr. Power. Syst. Res 80 (2010) 143151. [10] R. Crdenas, R. Pea, Sensorless vector control of induction machines for variable-speed wind energy applications. IEEE Trans. Energy. Convers, 19(1) (2004) 169-205. [11] T. Senjyu, S. Tamakia, E. Muhandoa, N. Urasaki, H. Kinjo, T. Funabashib, et al, Wind velocity and rotor position sensorless maximum power point tracking control for wind generation system. Renew Energy, 31 (2006) 176475.

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[12] K. Tan, S. Islam, Optimum control strategies in energy conversion of PMSG wind turbine system without mechanical sensors. IEEE Trans. Energy. Convers, 19(2) (2004) 392-399. [13] H. Li, KL. Shi, PG. McLaren, Neural-network-based sensorless maximum wind energy capture with compensated power coefficient. IEEE Trans. Ind. Appl 41(6) (2005) 1548-1556. [14] L. Krichen, A. Ouali, Sensorless optimal control strategy of PMSG in wind energy conversion system. Int. Rev. Electr. Eng (IREE) 2(4) (2007) 612-618. [15] J. Brahmi, L. Krichen and A. Ouali, A comparative study between three sensorless control strategies for PMSG in wind energy conversion system, Applied Energy 86 (2009) 15651573. [16] C. Jo, J-Y. Seol and I-J. Ha, Flux-Weakening Control of IPM Motors With Significant Effect of Magnetic Saturation and Stator Resistance, IEEE Trans. Ind. Electron, 55(3) (2008) 1330-1340. [17] S. Morimoto, M. Sanada, and Y. Takeda, Effects and compensation of magnetic saturation in fluxweakening controlled permanent magnet synchronous motor drives, IEEE Trans. Ind. Appl., 30(6) (1994)1632 1637.

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Figure captions
Figure 1. Aerodynamic power versus PMSG speed Figure 2. Power coefficient versus specific speed Figure 3. Extended dq reference frame Figure 4. Block diagram of non-sinusoidal PMSG drive in WECS Figure 5. The derivatives of fluxes Figure 6. The derivatives of fluxes Figure 7. Sliding mode observer Figure 8 . Wind speed Figure 9. PMSG speed Figure 10. q-axis current Figure 11. Electromagnetic torque Figure 12. Active power Figure 13. Phase currents Figure 14. Copper losses of sinusoidal PMSG Figure 15. Copper losses of non-sinusoidal PMSG Figure 16a. Wind speed Figure 16b. Wind speed Figure 17a. PMSG speed Figure 17b. PMSG speed Figure 18a. Aerodynamic torque Figure 18b. Aerodynamic torque Figure 19a. d-axis current Figure 19b. d-axis current Figure 20a. q-axis current Figure 20b. q-axis current Figure 21a. Pitch angle Figure 21b. Pitch angle Figure 22a. Aerodynamic power Figure 22b. Aerodynamic power Figure 23a. Rotor position Figure 23b. Rotor position

17

Figure1

Figure 1. Aerodynamic power versus PMSG speed

Figure2

C p opt

opt
Figure 2. Power coefficient versus specific speed

Figure3

q axis "qe"

axis "de"

'rq

p.

Figure 3. Extended dq reference frame

Figure4

va

ref

1 p.'r I qe ref +

I de ref +

vdqe PI control +

Vdqe ref

de-qe a,b,c

Vdqe

vb vc

v abc
PWM rectifier PMSG

Vw

De coupling Vector

I de
I qe

Sliding mode Observer

Pitch control

I de
I qe

a,b,c

Pm

ia
de -qe

ib

Pn

Figure 4. Block diagram of non-sinusoidal PMSG drive in WECS

Figure5

0.4 0.3 0.2 0.1

' '

' '

0 -0.1 -0.2 -0.3 -0.4

50

100

150

200

250

300

350

(deg)

Figure 5. The derivatives of fluxes

Figure6

0.4 0.3 0.2

a' b' c'

a' b' c'

0.1 0 -0.1 -0.2 -0.3 -0.4

50

100

150

200

250

300

350

(deg)

Figure 6. The derivatives of fluxes

Figure7

Current observer Sigmoid function (H)

Speed and position calculators

Figure 7. Sliding mode observer.

Figure8

11

10.5

Wind speed (m/s)

10

9.5

8.5

10

20

30

40

50

60

70

80

90

100

Time (s)

Figure 8. Wind speed

Figure9

125

PMSG speed (rad/s)

120

115

110

105

10

20

30

40

50

60

70

80

90

100

Time (s)

Figure 9. PMSG speed

Figure10

-20 -21 -22 -23 -24 -25 -26 -27 -28

q-axis current Isq (A)

10

20

30

40

50

60

70

80

90

100

Time (s)

Figure 10. q-axis current

Figure11

-15
-29.16 -29.18

Electromagnetic torque (Nm)

-29.2 -29.22 -29.24 -29.26 -29.28 -29.3 -29.32 -29.34 -29.36 0 10 20 30 40

Electromagnetic torque (Nm)

-20

Time (s)

-25

-30

-35

10

20

30

40

50

60

70

80

90

100

Time (s)

Figure 11. Electromagnetic torque

Figure12

-1500

Active power (W)

-2000

-2500

-3000

-3500

10

20

30

40

50

60

70

80

90

100

Time (s)

Figure 12. Active power

Figure13

20 15

ia ib ic

Currents iabc (A)

10 5 0 -5 -10 -15 -20

19.88 19.885 19.89 19.895 19.9 19.905 19.91 19.915 19.92 19.925 19.93

Time(s)

Figure 13. Phase currents

Figure14

1200 1100 1000

Copper losses (w)

900 800 700 600 500 400 300 200

10

20

30

40

50

60

70

80

90

100

Time(s)

Figure 14. Copper losses of sinusoidal PMSG

Figure15

1200 1100 1000

Copper losses (w)

900 800 700 600 500 400 300 200

10

20

30

40

50

60

70

80

90

100

Time(s)

Figure 15. Copper losses of non-sinusoidal PMSG

Figure16a

12

real estimated

11

Wind speed (m/s)

10

10

20

30

40

50

60

70

80

90

100

Time (s)

Figure 16a. Wind speed

Figure16b

12 real estimated 11

Wind speed (m/s)

10

10

20

30

40

50

60

70

80

90

100

Time (s)

Figure 16b. Wind speed

Figure17a

160 150 140 real estimated

PMSG speed (rad/s)

130 120 110 100 90 80 70 60

10

20

30

40

50

60

70

80

90

100

Time (s)

Figure 17a. PMSG speed

Figure17b

160 150 140 real estimated

PMSG speed (rad/s)

130 120 110 100 90 80 70 60

10

20

30

40

50

60

70

80

90

100

Time (s)

Figure 17b. PMSG speed

Figure18a

40 real estimated 35

Torque (Nm)

30

25

20

15

10

10

20

30

40

50

60

70

80

90

100

Time (s)

Figure 18a. Aerodynamic torque

Figure18b

40 real estimated 35

Torque (Nm)

30

25

20

15

10

10

20

30

40

50

60

70

80

90

100

Time (s)

Figure 18b. Aerodynamic torque

Figure19a

10 8 6

d-axis current Isd(A)

4 2 0 -2 -4 -6 -8 -10

10

20

30

40

50

60

70

80

90

100

Time(s)

Figure 19a. d-axis current

Figure19b

10 8 6

d-axis current Isd(A)

4 2 0 -2 -4 -6 -8 -10

10

20

30

40

50

60

70

80

90

100

Time(s)

Figure 19b. d-axis current

Figure20a

-5

-10

q-axis current Isq(A)

-15

-20

-25

-30

-35

10

20

30

40

50

60

70

80

90

100

Time(s)

Figure 20a. q-axis current

Figure20b

-5

-10

q-axis current Isq(A)

-15

-20

-25

-30

-35

10

20

30

40

50

60

70

80

90

100

Time(s)

Figure 20b. q-axis current

Figure21a

Pitch angle (deg)

10

20

30

40

50

60

70

80

90

100

Time(s)

Figure 21a. Pitch angle

Figure21b

Pitch angle (deg)

10

20

30

40

50

60

70

80

90

100

Time(s)

Figure 21b. Pitch angle

Figure22a

4500

4000

Aerodynamic power (W)

3500

3000

2500

2000

1500

1000

10

20

30

40

50

60

70

80

90

100

Time (s)

Figure 22a. Aerodynamic power

Figure22b

4500

4000

Aerodynamic power (W)

3500

3000

2500

2000

1500

1000

10

20

30

40

50

60

70

80

90

100

Time (s)

Figure 22b. Aerodynamic power

Figure23a

Rotor position (rad/s)

0.005

0.01

0.015

0.02

0.025

Time (s)

Figure 23a. Rotor position

Figure23b

Rotor position (rad/s)

0.01

0.02

0.03

0.04

0.05

0.06

0.07

0.08

0.09

0.1

Time (s)

Figure 23b. Rotor position