International Journal of Electrical Engineering and Technology (IJEET), ISSN 0976 6545(Print), ISSN INTERNATIONAL JOURNAL OF ELECTRICAL ENGINEERING

G 0976 6553(Online) Volume 3, Issue 3, October December (2012), IAEME & TECHNOLOGY (IJEET)

ISSN 0976 6545(Print) ISSN 0976 6553(Online) Volume 3, Issue 3, October - December (2012), pp. 164-174 IAEME: www.iaeme.com/ijeet.asp Journal Impact Factor (2012): 3.2031 (Calculated by GISI) www.jifactor.com

IJEET
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A MODERN TWO DOF CONTROLLER FOR GRID INTEGRATION WITH SOLAR POWER GENERATOR
Sweeka Meshram1, Ganga Agnihotri2, Sushma Gupta3 (Deptt. Of Electrical Engg., MANIT Bhopal, 462051, India, sweekam@gmail.com) 2 (Deptt. Of Electrical Engg., MANIT Bhopal,462051, India, ganga1949@gmail.com) 3 (Deptt. Of Electrical Engg., MANIT Bhopal,462051, India, sush_gupta@yahoo.com)
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ABSTRACT This paper presents the design, analysis and implementation of the power grid integration with the solar power generator using the two Degree Of Freedom (DOF) controller. Micro grid distribution generation (DG) systems usually have inverters and these interfacing inverter are directly connected to the power grid through passive filter. In this paper, a two DOF controller is employed for controlling the DG inverter, which behaves as an uninterruptible power supply (UPS) for its local community loads. The two DOF controller is capable of connecting/disconnecting the power grid with the variation in the solar power generation and load. The proposed system is a reliable because it is capable of providing continuous smooth power flow with control. The interfacing inverter must have the capability to regulate the AC bus voltage at the occurrence of nonlinearities and irregular natures of the loads. To meet this requirement a fast two DOF controller is applied to the proposed system. The effectiveness of the grid connected solar power generator system and adopted control technique is verified. Keywords: Power grid, Solar System, Two DOF Controller, PLL. I. INTRODUCTION With the increasing electricity demand, it is very necessary to promote the new form of power generation using the renewable energy such as wind, solar and fuel cell. The power generation systems generating the electricity from many small energy sources are known as the Distributed Generation (DG) system. Most countries generate electricity in large centralized facilities, such as fossil fuel (coal, gas powered), nuclear, large solar power plants or hydropower plants. These plants have excellent economies of scale and allow collection of energy from many sources and may give lower environmental impacts and improved security of supply. Among the DG systems, the photovoltaic (PV) technology based DG is gaining approval as an approach of maintaining and civilizing living standards without harming the environment. Fig. 1 shows the PV installed capacity in the world. The PV installation has an
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exponential growth because the many grid connected PV system is supported by the government and private companies.

Fig. 1 Installed PV Power Capacity The power generation from the solar energy has two major tribulations. One problem is the PV cell has very limited power generation capability. The series and parallel combination of the PV cell/module may not generate the sufficient power required for the application. Another problem is power generation is not possible when solar irradiation is not available such as in the night and in the rainy days. Thus continuous power flow is not possible when using the PV system in standalone mode. This problem can be solved by connecting utility grid in parallel with the PV generator. For the parallel operation of the grid and PV generator the frequency and amplitude of voltage of both the system should be same and the generated voltage of the PV generator should be in phase with the grid voltage. But with the variation in the load the amplitude/frequency of grid voltage may be disturbed. To vary the PV generator voltage according to the grid voltage variation, an interfacing device is required. In the grid connected DG system an inverter works as an interfacing device. For generating the switching pulses for the DG inverter, a controller is required. This controller tracks the phase angle of the three phase grid voltage and generates the switching pulses such that the inverter will output the voltage waveform which in phase with the grid voltage. A phase tracking system has been developed for tracking the phase angle of the grid voltage [1]. A new green power inverter for interfacing the fuel cell with the grid has been developed [2]. As the advancement is being continuously in power electronics, it is suggested that the inverters based on the power electronics devices are efficient for interfacing purpose [3]. A novel vector control system using deadbeat-controlled PWM inverter with LC filter has been developed [4]. Using the LCL filter, a modified direct power control strategy has been developed for connecting the inverter to the grid [5]. A two DOF controller is also developed for controlling the DG inverter for the parallel operation of the fuel cell with grid [6]. The performance analysis of these systems shows that these systems have harmonics and therefore an adjustable harmonic mitigation technique for harmonic reduction of the photovoltaic system utilizing the surplus capacity of the interactive inverter has been developed [7]. The modeling, analysis and testing of the inverter based micro grid system has been done [8]. The two DOF controller is the best controller because it can control the power flow bi-directionally to/from the grid and enables the smooth parallel operation of the grid with the DG [9-12]. In this paper, analysis of the grid connected PV generator based DG system using the two DOF controller been done. In this paper, a DG inverter is designed, which can perform the task of the Uninterruptible Power Supply (UPS). The solar power based DG system is
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designed for feeding the particular local load. In the rainy days/night, the solar power generator is not capable to supply the required power demand. In that case, the power grid is connected for meeting up the power demand. When the power demand is greater than the solar power generation, then the grid is connected automatically using the two DOF controller. Thus continuous power supply is possible for supplying to the local load. II. STRUCTURE OF PV SYSTEM BASED DPGS The structure of the Distributed Power Generation System (DPGS) based on the PV system is shown in the fig. 2. The maximum power is extracted using the MPPT and stored in the battery. The MPPT uses the Incremental Inductance technique. The task of the power transformation from the PV system to the utility grid is carried out using the power conversion unit. The power conversion unit is the combination of DC-DC converter and PWM AC inverter. The stored DC power (generated by the PV array) in the battery energy storage system is not able feed directly to the load/grid. The DC/DC boost converter is used for increasing the level of the DC voltage up to the level reliable for synchronizing the grid. The three level AC inverter works as a grid interfacing device and able to generate the AC voltage matches the grid voltage level with reduced harmonics. The generated AC electricity now can be fed to the local load or to the grid.

Fig. 2 Structure of the PV System based DPGS The most important parts of the proposed system are the controllers. There are two types of the controller is adopted for the purpose of controlling the DPGS i.e. PV generator side controller and grid side controller. a) PV side Controller: The task of this controller is to extract the maximum generated power from the solar renewable energy sources. The protection of the PV side converter is also handled by this controller. b) Grid side Controller: This controller performs the many functions such as controls the PV generated active power which is fed to the grid, controls the reactive power transfer between DPGS and grid, controls the DC link voltage of the PV array, enhances the power quality and the main function is to synchronize the grid with the PV generator . III. TWO DEGREE OF FREEDOM CONTROLLER The grid connected Solar Power Generator must have the high control bandwidth for maintaining its AC voltage undistorted during load changeover. The two DOF controller provides the high control bandwidth with reliable operation. The grid voltage is taken as reference frame for phase synchronization of the PV generator with the grid. The controlling
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International Journal of Electrical Engineering and Technology (IJEET), ISSN 0976 6545(Print), ISSN 0976 6553(Online) Volume 3, Issue 3, October December (2012), IAEME

of the DG inverter is a necessary part of the system and it has been done using the PLL (Phase Locked Loop). With the variation in the load and due to the harmonic component, the grid voltage is usually distorted. If this distorted grid voltage is considered as a reference for the synchronization, then the power quality of the local AC bus of the PV generator may be poor. The quality may be improved using the PLL. The PLL calculates the phase angle () of the grid voltage (VG_abc). The PLL is generally a frequency controller. The three phase grid voltage and capacitor voltage (VC_abc) across the filter capacitor is converted into two phase quantity. The d-axis component of the capacitor voltage (VCd) is compared with the d-axis component of the grid voltage (VGd) and the error signal is processed with the gain (Gm) which is equal to 1 for the designed system. The output is then processed with the inverse dynamic [G-1(s) = Lf.Cf + 1] and it is also compared to VCd. The error is processed with the PI controller. The output of the PI controller and inverse dynamic gain is then added. The VCd is also processed with the block and the output is added to Id.

Fig. 3 Block Diagram of Two DOF Controller for DG Inverter Similar process is adopted for obtaining the Iq. These two quantities i.e. Id and Iq is then converted into three phase and considered as a control signal for generating the PWM switching pulses for DG inverter. In the tracking performance, the two DOF controller is better than the conventional PI controller. Table.1 shows the comparison between the conventional PI controller and the new Two DOF Controller. TABLE.1 COMPARISON BETWEEN PI CONTROLLER AND 2 DOF CONTROLLER Sr. Two DOF Controller Conventional PI Controller No. 1. It Implies fast controlling of power. It has slow power controlling capacity. 2. It has larger bandwidth. It has smaller bandwidth. 3. It has smaller phase lag. It has larger phase lag. 4. Managing of power to/from grid is It is less efficient as compared to the 2 efficient using this controller. DOF Controller. 5. Able to prevent from an excessive With this controller, a large circulating circulating current. current flows from grid. 6. It has fast disturbance rejection capability. It has no disturbance rejection capability.
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International Journal of Electrical Engineering and Technology (IJEET), ISSN 0976 6545(Print), ISSN 0976 6553(Online) Volume 3, Issue 3, October December (2012), IAEME

IV. CONTROLLING OF POWER FLOW The two DOF controller is able for grid synchronization as well as helps DG inverter to work as a uninterruptible power supply (UPS). Fig. 4 shows the power circuit diagram in which PV generator is connected with grid through the inductor LG. The grid voltage (VG) and grid current (IG) is considered as a reference for controlling the DG inverter. It is considered as the grid has unity power factor i.e. VG 0.

Fig. 4 Power Circuit of Grid Connected PV Generator The phasor diagram of the DG system circuit is shown in the fig. 5. When the real power is supplied to the grid from the PV generator the VC is leading VG by an angle which is greater than zero. The voltage across the grid inductor VLG is having 900 angle to grid voltage. The real power flow from PV generator to the grid can be mathematically expressed as: . . = sin = The power transfer depends on the angle . If is greater than 0, power flows from PV generator to the grid. If < 0, PV generator receives power from the grid and if = 0, then there will be dynamic isolation between PV generator and grid.

Fig. 5 (a) Fig. 5(b) Fig. 5 (a) Vectors when DG Supplies Real Power to Grid, (b) Vectors when DG supplies Reactive Power to Grid For transmitting the reactive power VG and VC should be in phase and the grid current IG will have 900 to VG. The transmitting VAR is given as: = V. RESULTS AND DISCUSSION A 25 kV, 2500 MVA power grid is connected to 100 kW generating PV System. The array consists of 66 strings of 5 series connected PV modules connected in parallel. One PV module has 96 PV cells. The PV array is delivering the 100 kW at 1000 W/m2 at maximum power. The open circuit voltage (VOC) of the one module is 64.2 V and voltage at the maximum power point (Vmp) is 54.7 V. The short circuit current (ISC) of the one module is
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5.96 A and current at the maximum power point (Imp)is 5.58 A. At 1000 W/m2, solar array is generating 400 V DC voltage and 321 A DC current. The generated DC voltage is converted using the 3 level DC/AC inverter. The switching frequency of the inverter is 3 kHz. Fig. 6 (a) shows the output voltage of the solar inverter before filtering and fig. 6 (b) shows the enlarged waveform of the solar inverter output voltage before filtering.

Fig. 6 (a) Solar Inverter Output Voltage before filtering

Fig. 6 (b) Solar Inverter Output Voltage before filtering For making the inverter output voltage into pure sinusoidal AC voltage a LC filter is used. The numeric values of the filter inductance (LF) and capacitance (CF) are 20 mH and 350 F [12,13]. The resonance problem is avoided using the damping resistance RD , connected in series with the filter capacitor and valued as 8 . The damping resistor is able to absorb the switching frequency ripple and the LC filter gives the pure sinusoidal AC voltage with fewer harmonic. Fig. 7 (a) shows the solar inverter output voltage after filtering using the LC filter and fig. 7 (b) shows the enlarged waveform of solar inverter output voltage after filtering.

Fig. 7 (a) Solar Inverter Output Voltage after filtering

Fig. 7 (b) Solar Inverter Output Voltage after filtering

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For analyzing the performance of the grid connected solar system with the new fast two DOF controller variable load is connected. At t = 0 sec., the Solar System is able to supply the power to community load of about 18 kW, 5 kVAR at 0.9 lagging PF. The grid connection to the solar system depends on power demand of the local load. At t = 0.5 sec. a step load of about 15 kW, 5 kVAR at 0.9 lagging PF is connected. The solar system is able to supply power to this extra load, hence grid is connected to the solar system and ensures the continuous power with the variation in the load. At t = 0.8 sec. again load is increased by 12 kW, 4 kVAR at 0.9 lagging PF and results show that the system is also able to supply this load also. At t = 1.2 sec. load of about 12 kW, 4 kVAR is disconnected. At t = 1.5 sec. 15 kW, 5 kVAR load is also disconnected. Now the solar system is able to supply the power to the remaining load, therefore the grid will be disconnected automatically.

Fig. 8 (a) and fig. 8 (b) shows the contribution of the active and reactive power of the power grid respectively according to the variation in the load. From 0 to 0.5 sec. and 1.5 to 2 sec. the solar system operates as a standalone system and during those periods the grid does not supply power to the solar system.

Fig. 8 (a) Active Power Variation of Grid

Fig. 8 (b) Reactive Power Variation of Grid

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International Journal of Electrical Engineering and Technology (IJEET), ISSN 0976 6545(Print), ISSN 0976 6553(Online) Volume 3, Issue 3, October December (2012), IAEME

Fig. 9 (a) and fig. 9 (b) shows the involvement of the active and reactive power of the Solar System with the variation in the load.

Fig. 9 (a) Active Power Variation of Solar Inverter

Fig. 9 (b) Reactive Power Variation of Solar Inverter Fig. 10 shows the waveform of load voltage.

Fig. 10 Load Voltage Fig. 11(a) shows the waveform of the current through the load. From 0 sec. to 0.5 sec., solar system supplies power to the load of about 18 kW, 5 kVAR. At this load the peak value of the load current is 31.2 A. At 0.5 sec. load is increased and grid is connected. With the variation in the load the peak value of the load current reached to 62.1 A.

Fig. 11 (a) Load Current due to step change in load and grid connection
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International Journal of Electrical Engineering and Technology (IJEET), ISSN 0976 6545(Print), ISSN 0976 6553(Online) Volume 3, Issue 3, October December (2012), IAEME

Fig. 11 (b) shows the load current, when the load is again increased at t = 0.8 sec. by a step of about 12 kW, 4 kVAR. The peak load current at t = 0.8 sec has been reached to 82.7 A.

Fig. 11 (b) Load Current due to again step change in load

From t = 1.2 sec the disconnection of the load is started. At t = 1.2 sec. 12 kW, 4 kVAR is disconnected and the load current regain the peak value of load current of about 62.1 A. Fig. 12 (a) shows the variation in the load current due to step change in the load.

Fig. 12 (a) Load Current due to step load disconnection

Fig. 12 (b) shows the load current when the load is of about 18 kW, 5 kVAR and the grid is disconnected. During this period the Solar System is again operating in standalone mode.

Fig. 12 (b) Load Current due to step load and grid disconnection

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International Journal of Electrical Engineering and Technology (IJEET), ISSN 0976 6545(Print), ISSN 0976 6553(Online) Volume 3, Issue 3, October December (2012), IAEME

Fig. 15 (a) shows the phase angle of the grid voltage. According to this phase angle PLL generates the PLL output as shown in the fig. 15 (b). Using this output, the two DOF controller generates the switching pulses for the solar inverter such that the solar inverter output the voltage waveform which is in phase with the power grid voltage.

Fig. 15 (a) Phase Angle of the Grid Voltage

Fig. 15 (b) PLL Output

The variation of the load is taken into consideration to prove that the two DOF controller is efficient and can control very fast with the variation in the load. With this controller connection and disconnection of the power grid with the Solar System is possible with good performance.

VI. CONCLUSION
In this paper, performance analysis of the grid connected PV generator based DG system using Two DOF controller has been done. The Two DOF controller enabled the control of power flow bidirectionally to and from the grid and smooth parallel operation between the PV generator based DG system and grid. This controller also enables the regulated inverter output voltage and trying to keep constant amplitude and frequency of the grid voltage with the variation in the linear and nonlinear load. The system is analyzed under the grid connected and stand alone mode. Initially the PV generator is considered as a grid connected. When the PV generator voltage is equal to the grid voltage i.e. (VC =VG), the grid will automatically disconnect from the DG and PV generator operates in the isolation mode. Depending upon the VC, grid will receive/supply the power from the PV generator. The results verify the operation of the adopted system for the grid connected/disconnected mode and it is apparent that the system is able to put into the service feeding the load.

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[4] M. Kojima, K. Hirabayashi, Y. Kawabata, E. C. Ejiogu, and T. Kawabata, Novel vector control system using deadbeat-controlled PWM inverter with output LC filter, IEEE Transaction on Industry Application, 40(1), 2004, 162169. [5] L. A. Serpa, J. W. Kolar, S. Ponnaluri, and P. M. Barbosa, A modified direct power control strategy allowing the connection of three-phase inverter to the grid through LCL filters, IEEE Proceeding on Industry Application Conference, 2005, 565571. [6] Junggi Lee, Jaihong Kim, Jungmin Kwon and Kwanghee Nam, Two DOF Controller for Parallel Operation of Fuel Cell Power Generator with Power Grid, IEEE Conference on Industry Application, 1, 2005, 585-590. [7] Masahide Hojo and Tokuo Ohnishi, Adjustable harmonic mitigation for gridconnected photovoltaic system utilizing surplus capacity of utility interactive inverter, IEEE Power Electronics Specialists Conference, 2006, 1-6. [8] N. Pogaku, M. Prodanovic, and T. C. Green, Modeling, analysis and testing of autonomous operation of an inverter-based microgrid, IEEE Transactions on Power Electronics, 22(2), 2007, 613625. [9] Jaehong Kim, Junggi Lee, Student Member, and Kwanghee Nam, Inverter-Based Local AC Bus Voltage Control Utilizing Two DOF Control, IEEE Transactions on Power Electronics, 23(3), 2008. [10] R. Ortega, E. Figueres, G. Garcer, O. Carranza and C.L. Trujillo, Control Design of a Two Degree of Freedom Combined with Repetitive Controller Applied to a Single Phase Inverter Power Generation in the Context of Micro grids, International Conference on Renewable Energies and Power Quality (ICREPQ), 2010. [11] R. Ortega, G. Garcera, E. Figueres, O. Carranza and C.L. Trujillo, Design and application of a two degrees of freedom control with a repetitive controller in a single phase inverter, IEEE International Symposium on Industrial Electronics (ISTE), 2011, 1441-1446. [12] Yongqiang Lang, Dianguo Xu, Hadianamrei S.R, Hongfei Ma, A Novel Design Method of LCL Type Utility Interface for Three-Phase Voltage Source Rectifier, International Conference on Power Electronics Specialists Conference, 2005, 313-317. [13] Hanju Cha and Trung-Kien Vu, Comparative Analysis of Low-pass Output Filter for Single-phase Grid-connected Photovoltaic Inverter, IEEE International Conference on Applied Power Electronics Conference and Exposition (APEC), 2010, 1659-1665.

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