▁Id s ▁I q s ▁) = ▁▁ 3 / 2 ▁p ▁ λ pm ▁I q s ▁▁▁▁▁ ▁So , ▁the ▁complete ▁system ▁of ▁the ▁machine ▁side ▁converter ▁and ▁the ▁cas c aded ▁P I ▁controller ▁loops ▁is ▁given ▁by ▁the ▁figure ▁in ▁the ▁right . ▁In ▁that ▁we ▁have ▁the ▁control ▁inputs , ▁which ▁are ▁the ▁duty ▁r ations ▁m ds ▁and ▁m q s , ▁of ▁the ▁P WM - reg ulated ▁converter . ▁Also , ▁we ▁can ▁see ▁the ▁control ▁scheme ▁for ▁the ▁wind ▁tur bine ▁in ▁the ▁machine ▁side ▁and ▁simultaneously ▁how ▁we ▁keep ▁the ▁Id s ▁zero ▁( the ▁elect romagnet ic ▁tor que ▁equation ▁is ▁linear ). ▁ ▁Y aw ing ▁ ▁Modern ▁large ▁wind ▁tur b ines ▁are ▁typically ▁act ively ▁controlled ▁to ▁face ▁the ▁wind ▁direction ▁measured ▁by ▁a ▁wind ▁van e ▁situated ▁on ▁the ▁back ▁of ▁the ▁nac elle . ▁By ▁minim izing ▁the ▁y aw ▁angle ▁( the ▁mis align ment ▁between ▁wind ▁and ▁tur bine ▁pointing ▁direction ), ▁the ▁power ▁output ▁is ▁maxim ized ▁and ▁non - sym met rical ▁loads ▁minim ized . ▁However , ▁since ▁the ▁wind ▁direction ▁var ies ▁quickly ▁the ▁tur bine ▁will ▁not ▁strictly ▁follow ▁the ▁direction ▁and ▁will ▁have ▁a ▁small ▁y aw ▁angle ▁on ▁average . ▁The ▁power ▁output ▁losses ▁can ▁simply ▁be ▁approxim ated ▁to ▁fall ▁with ▁( cos ( y aw ▁angle )) 3 . ▁Part icular ly ▁at ▁low - to - medium ▁wind ▁spe eds , ▁y aw ing ▁can