Tutorial: Connecting Renewable Energy Sources Into The Smartgrid

15-Jun-11 1
Tutorial
Microgrids
Connecting Renewable Energy Sources into the
Smartgrid
Josep M. Guerrero, Prof.
Institute of Energy Technology, Aalborg University
joz@et.aau.dk
Outline
Microgrids Basic concepts
1 Microgrids systems
2 Control of VSIs for microgrids
3 Droop control and virtual impedance concept
Microgrids Advanced concepts
4 Hierarchical control of microgrids
5 Power quality in microgrids
6 DC Microgrids
Outline
6 DC Microgrids
Centralized vs Distribuited Power Systems
General advantages
of the DPS:
Redundancy
Modularity
Fault tolerance
Efficiency
Reliability
Easy maintenance
Smaller size
Lower design cost
Distributed Power Systems
Nowadays problem: energy crisis & climatic change
Kyoto's protocol: reduction of CO2 emission
Penetration of renewable energy:
Photovoltaic
Wind
Hydrogen
Micro-turbines
Small energy storage systems:
Flywheels
Super-capacitors
Compressed air devices
Mini-hydraulics
Energy production decentralization:
Distributed generation and Microgrids
15-Jun-11 5
What is a Microgrid
Coordinated electrical subsystem with
Multiple Distributed Energy Resources (DER)
Multiple loads
Distribution voltage interconnections
Capable of (macro) grid independent and dispatchable grid interactive operation
Whats driving it?
Deregulation driving system operation close to capacity limits
Transmission constraints driving generation sources closer to loads
Demand for improved power availability and power quality
Industry interest in DER potential for clean/efficient energy (electrical and thermal)
Requires a systemic approach not merely an interconnection of DER components
~
FLEXIBLE MICROGRID
$
15-Jun-11 6
Microgrid Configuration
1. Single Facility (<2MW)
Smaller individual facilities with multiple loads, e.g. hospitals, schools
2. Multi-Facility (2-5MW)
Small to larger traditional CHP facilities plus a few neighboring loads
exclusively C&I
3. Feeder (5-20MW)
Small to larger traditional CHP facilities plus many or large neighboring loads,
typically C&I
4. Substation (>20MW)
Traditional CHP plus many neighboring loads. Will include C&I plus residential
5. Rural Electrification
Rural villages of many emerging markets of India, China, Brazil etc., as well as
rural settlements found in Europe and North America
15-Jun-11 7
Microgrids Particularities
Challenges: Isolated power systems are not new, but
Distribution protection and control practice is largely incompatible with Microgrid concept
Bi-directional power flows
Unit level voltage and VAR support
Non-conventional generation will require new unit control and protection
Strategies for successful Microgrid operation
Variability of renewables
Low overload, short circuit ratings
Power rate limits
Potential for active load control (e.g., water and hydrogen production)
Supervisory controls will be needed to achieve the full operating potential
Total energy optimization (electrical and thermal)
Load management
Unit commitment
Aggregation and system performance
Data acquisition
Business, regulatory, and tariff structures are presently incompatible with multiparty MGs
15-Jun-11 8
Microgrid Definition by US DOE
15-Jun-11 9
AC vs DC Microgrids
Thomas A. Edison: My personal desire would be to prohibit entirely the use of
alternating currents. They are as unnecessary as they are dangerous. I can
therefore see no justification for the introduction of a system which has no
element of permanency and every element of danger to life and property.
Thomas A. Edison Nikola Tesla
15-Jun-11 10
Advantage of DC transmission systems
No reactive power loading of the transmission line
Complete control of energy flow
No reactive power loading of the transmission line
Reduced losses
Why Back to Back links?
Different system frequencies
No additional short circuit power contribution to connected networks
Fully controllable power flow
15-Jun-11 11
Problems in AC microgrids:
Synchronization of distributed generators
Inrush current (transformers, Induction motors, Induction generators)
Three-Phase Unbalance (single-phase loads, single-phase generators such as photovoltaic)
Recent Trends:
Introduction of many Inverter loads (AC/DC and DC/AC conversions are included)
Introduction of distributed generations with DC output (photovoltaic, fuel cell, variable speed
type wind turbine, microturbine, gas engine)
Needs for higher quality power
DC-coupled Microgrids
DC Microgrids/nanogrids
DC distributed power systems (DPS)
Applications: VRM, -48 V telecom systems, DC-link for UPS systems
Isolated systems: avionic, automotive, marine
15-Jun-11 12
Distributed power systems in DC
AC/DC converters connected in parallel
Loads, DC/DC, DC/AC, speed drives
15-Jun-11 13
Microgrid Configurations
15-Jun-11 14
DC Microgrid
Bidirectional AC/DC
Energy storage DC/DC interfaces, batteries, supercapacitors
15-Jun-11 15
DC Microgrid
Different levers of power and reliable quality
15-Jun-11 16
AC-DC Hybrid Microgrid
Hierarchy of loads
Source: SMA
15-Jun-11 17
Connection interface (CI)
15-Jun-11 18
Microgrid examples
Microgrid proposed by the CERTS (Consortium for Electric Reliability
Technology Solutions)
MG technologies for fitting different types of load
15-Jun-11 19
Microgrid examples
Hachinohe Project (Japan)
Tecnnology demo
GT+Biomass+PV+WT+BAT
Load 610 kW (Sewage Plant+Schools)
15-Jun-11 20
Microgrid examples
Hachinohe Project (Japan)
15-Jun-11 21
Microgrid examples
Sendai Project Japan
1 MW Microgrid with sensitive loads!
15-Jun-11 22
Microgrid examples
Sendai Project Japan
1 MW Microgrid with sensitive loads!
15-Jun-11 23
Microgrid examples
Kynthos Island- Greece (SMA)
Remote location, PV resource + storage
15-Jun-11 24
Microgrid examples
ISET-Demotec, Kassel, Germany
Technology demonstration
15-Jun-11 25
Microgrid examples
Ramea integrated wind-diesel project
(Newfoundland and Labrador Canada)
Six 65 kW Windmatic wind turbines
Technology demonstration project
WDICS (Wind-Diesel Integrated Control
System)
System Master
Wind Plant Master
Load Regulator
Diesel Plant Communication Package
SCADA with internet access (continuous
monitoring with 1 Hz and ten minute data
acquisition)
15-Jun-11 26
UPS (Uninterruptible Power Supplies)
Is a device that tries to maintain a continuous supply of electric power to the connected loads by
supplying power from a separated source (storage) when the mains fails
Main types of UPS:
Static: based on power electronics
Dynamic: based on motor/generator engines
Hybrid: mix between static and dynamic
15-Jun-11 27
Conclusions
Microgrids taking importance for integrate renewable or nonconventional power
sources
Isolated Microgrids can be interesting for rural areas of islands
Now can be extended for grid connected and island modes: flexible Microgrids
There are demonstrative, research, and real applications of Microgrids in the whole
world. Governments are interested of this new concept
Smart grid concept can be linked to Microgrids: next questions are who to interconnect
Microgrids and which will be the information to exchange between the operator and
the Microgrid
The interesting sectors in the market are wide:
Critical safe Microgrids (hospital, servers, industrial processes)
Emerging countries: China and India
Development countries (Africa and South America)
Isolated places with potential energy resources
15-Jun-11 28
Conclusions
To introduce Microgrids, it is necessary:
Change of the grid codes
New standards
Proper communication systems (PLC, RF) and standardization
More research and real interdisciplinary
Promote them economic and social terms
Distributed storage energy systems allows:
Global efficiency
Reliability
UPS functionalities
Active power balancing
Flexibility in WT and PV parks, but also in domestic renewable energy application
The use of distributed storage energy systems allows the integration of renewable
energy systems but also in new energy vectors like fuels cells and hydrogen-based
technologies
15-Jun-11 29
Outline
6 DC Microgrids
Outline
6 DC Microgrids
32
Inner control loops
To
Load/grid
VSI control strategy
a
v
b
v
c
v
lb
i
lc
i
b
C
c
C
Cc
v
Cb
v
Ca
v
PWM
abc
o|
la
i a
L
b
L
c
L
ob
L
oc
L
a
C
n
l
i
o|
C
v
o|
Current P + Resonant
Controller
abc
o|
+
Voltage P + Resonant
Controller
ref
v
o|
Inner Loops
ob
i
Three Phase
Reference
Generator
oc
i
oa
i
oa
L
dc
v

abc
o|
*
i
o|
pV
k
2 2
2
iV
c o
s
k s
s e e + +
pI
k
( )
2 2
5,7,11... 2
o
n
iHh
h
c
h
k s
s s e e = + +
+
2 2
2
iI
c o
s
k s
s e e + +
( )
2 2
5,7,11... 2
o
n
vHh
h
c
h
k s
s s e e = + +
abc
o|
+
x
Power stage and control of a 3 phase VSI with LCL filter
1 1/ 2 1/ 2
2 / 3
0 3 / 2 3 / 2
a
b
c
v
v
v
v
v
o
|
(
( (
(
=
( (
(

(

Alpha-beta transformation
33
Block diagram of the closed-loop VSI.
( ) ( )
2 2
1
( ) ( )
( ) ( ) 1 ( ) ( ) 1
v i PWM
c ref o
v i PWM v i PWM
G s G s G
Cs
V V i
LCs Cs G s G s G LCs Cs G s G s G
=
+ + + + + +
+
1
sL
+
+
abc
v
PWM
G
+
o
i
l
i
c
i
1
sC
PWM inverter L-C Filter P + Resonant Controllers
c
v
ref
v

dc
v
( )
v
G s
( )
i
G s
*
i
o|
( )
2 2 2
2
5,7,11
( )
v pV
o
rV hV
h o
G s k
k s k s
s
s h
e
e =
= + +
+
+
( )
2 2 2
2
5,7,11
( )
i pI
o
hI rI
h o
G s k
k s k s
s
s h
e
e =
= + +
+
+
1
1 1.5
PWM
s
G
T
=
+
Inner control loops
Voltage tracking Output impedance
Voltage control loop Current control loop
Computation delay
34
Bode diagram of the tracking voltage transfer function Gv(s)
Inner control loops
Objective: closed-loop band pass filter characteristics with 0dB, 0
P+R
P+R+H
35
Inner contro loops
0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
-400
-200
0
200
400
Time [s]
V
o
l
t
a
g
e

[
V
]
0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
-10
-5
0
5
10
Time [s]
I
n
v
e
r
t
e
r

O
u
t
p
u
t

C
u
r
r
e
n
t

[
I
]
Results
abc-Voltages
abc-Currents
Outline
6 DC Microgrids
Outline
6 DC Microgrids
Microgrid operation
Microgrid operation modes:
Grid connected
Islanded
Typical structure of a flexible microgrid
. . . .
PV
panel system
PCC
UPS
Common
AC bus
Distributed loads
Intelligent
Bypass
Switch
(IBS)
Wind turbine
Inverters
Renewable
energy sources
UtilityGrid
15-Jun-11 38
Microgrid operation modes
Operation modes and transfers of the flexible microgrid and STS
grid status supervisory
Virtual inertias are often implemented through control loops
known as droop method.
Intelligent microgrids are required to integrate DG, DS, and
dispersed loads into the future smart grid.
Microgrids should be able to operate autonomously but also
interact with the main grid.
CSI units are normally used for PV or WT systems that require
maximum power point tracker algorithms.
VSI units are used for storage energy systems to support the
voltage and frequency of the microgrid in island mode.
Microgrid operation
15-Jun-11 39
Microgrid operation
15-Jun-11 40
Islanded / Grid-connected operation
Operation modes and transfers of the flexible microgrid and
Static Transfer Switch (STS)
Fromgrid-connected an islanded modes, it is necessary a smooth transition.
For both modes, the converters could work as voltage sources!
STS = OFF
STS = ON
Grid
Connected
E= V
g
e=e
g
E= V*
e=e*
P= P
*
; Q=Q
*
Import/export
P/Q
Islanding
Operation
Synchronization
Current/Voltage
Source
Voltage
Source
Microgrid operation
Islanded operation
Preplanned islanded operation: If any events in the main grid are
presented, such as long-time voltage dips or general faults, among
others, islanded operation must be started.
Nonplanned islanded operation: If there is a blackout due to a
disconnection of the main grid, the microgrid should be able to
detect this fact by using proper algorithms.
15-Jun-11 41
Microgrid operation
Islanded operation
Voltage and frequency management: The system acts like a
voltage source, controlling power flow through voltage and
frequency control loops adjusted and regulated as reference
within acceptable limits.
Supply and demand balancing: In grid-connected mode, the
frequency of the DG units is fixed by the grid. Changing the setting
frequency, new active power set points that will change the power
angle between the main grid and the microgrid can be obtained.
Power quality: The power quality can be established in two levels.
The first is reactive power compensation and harmonic current
sharing inside the microgrid, and the second level is the reactive
power and harmonic compensation at the PCC; thus, the microgrid
can support the power quality of the main grid.
15-Jun-11 42
Control of parallel converters
Distributed control classification
Master-slave control: master fixes the voltage (and frequency)
while the slaves are current sources.
Average current/power sharing control: distribution of the
current/power by using average control distribution signals.
Droop control: all the converters are non-ideal voltage sources.
This method can be combined with the other two.
15-Jun-11 43
Distributed control classification
Reference: J. Liang Hybrid Control of Multiple Inverters in an Island-Mode
Distribution System
Master
Inverter
Instantaneous
Voltage
Reference
P/Q
calc.
Frequency
and Voltage
Droop
Slave
Inverter
Current
Controller
Voltage
Controller
Current
Sharer
P
Q
f
V
i
* i
M
i
M
Inverter Group A
Local
Load
Distribution
System
Inverter
Group B
Inverter
Group C
15-Jun-11 44
Woo-Cheol Lee A Master and Slave Control Strategy for Parallel Operation
of Three-Phase UPS Systems with Different Ratings
. . .
Load
Voltage
Source
(Master)
Current Controlled
Sources (Slave)
I
m
I
o
I
sn
I
s2
I
s1
Master-slave control
15-Jun-11 45
This technique ensures exact current sharing, but needs for high-speed communications.
dc
v
a
v
b
v
c
v
Lb
i
Lc
i
a
C
b
C
c
C
n
Cc
v
Cb
v
Ca
v
abc
o|
L
i
o|
C
v
o|
SVM
Voltage
Resonant
Controller
Current
Resonant
Controller
abc
o|
La
i
c
L
b
L
a
L
oa
L
ob
L
oc
L
2oa
L
2ob
L
2oc
L
+
ob
i
oc
i
oa
i
dc
v
2a
v
2b
v
2c
v
+
2a
C
2b
C 2c
C
n
2Cb
v
2Ca
v
2 L b
i
2 L c
i
2 L a
i 2a
L
2b
L
2c
L
2Cc
v
2ob
i
2oc
i
2oa
i
Load
SVM
abc
o|
Three Phase
Reference
Generator o|
abc
o|
+
abc
o|
Current
Resonant
Controller
+
To other Slaves
Communication links
Master
Slave
15-Jun-11 46
Voltage source: grid forming units
Current source: MPPT units. WT and PV
In this systemis not necessary current sharing!
dc
v
a
v
b
v
c
v
Lb
i
Lc
i
a
C
b
C
c
C
n
Cc
v
Cb
v
Ca
v
abc
o|
L
i
o|
C
v
o|
SVM
Voltage
Resonant
Controller
Current
Resonant
Controller
abc
o|
La
i
c
L
b
L
a
L
oa
L
ob
L
oc
L
2oa
L
2ob
L
2oc
L
+
ob
i
oc
i
oa
i
dc
v
2a
v
2b
v
2c
v
+
2a
C
2b
C 2c
C
n
2Cb
v
2Ca
v
2 L b
i
2 L c
i
2 L a
i 2a
L
2b
L
2c
L
2Cc
v
2ob
i
2oc
i
2oa
i
Load
SVM
abc
o|
Three Phase
Reference
Generator o|
abc
o|
+
abc
o|
Current
Resonant
Controller
+
MPPT
MPPT
Energy Storage System PV/WT
15-Jun-11 47
Droop control for AC MGs
Droop control of AC systems
sin
VE
P
X
| = Active power
Reactive power
mP =
*
e e
e*
P
Ae
e
P
max
Frequency droop
*
E E nQ =
E*
Q
E
Q
max
Amplitude droop
E
1
Z|
1
E
2
Z|
2
VZ
0
o
DG Inverter 1
Load
1
Z|
1
Z|
2
DG Inverter 2
1
X
2
X
1
i
2
i
15-Jun-11 48
P. Kundur
Synchronous generator
Equation of motion:
Inertia constant:
m e
d
J T T
dt
e
=
| |
stored energy E
H s
rating power P
= = with
2
1
2
E Je =
r
e A
1
2Hs
+
Tm
e
T
a
T
e
T
r
e A
a
T
Tm
s
H
Laplace Operator
Mechanical torque (pu)
Electrical torque(pu)
Accelerating torque (pu)
Inertia constant (MW-Sec/MVA)
Rotor speed deviation (pu)
Inertias in power systems
15-Jun-11 49
Synchronous generator transient response
o
P
P A
POWER
FREQUENCY
f A
60
z
H
TIME - SECONDS
Inertias in power system
There is a dynamic and a static droop. The static droop coeficient is AP/Af.
15-Jun-11 50
Trade-off power sharing / amplitude - frequency regulation
Phase droops are not feasible since the initial phase of each inverter is different!
15-Jun-11 51
e
o1
e
o2
P
P
1
P
2
P
1
P
2
m
m
AP
AP
Ae
Ae
e
e
o
e
e
*
mP e e =
2%
max
e A =
P
Q
Generation
P>0
Storage
P<0
Capacitive load
Q > 0
Inductive load
Q < 0
15-Jun-11 52
Drawback Dynamic limitations of the droop method
Depends on m, n, X, e
c
static parameters
Nominal power
Reduced bandwidht
Maximum allowed e &E deviations
Dynamics:
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-20
-15
-10
-5
0
5
10
15
20
a) Mtodo convencional.
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-20
-15
-10
-5
0
5
10
15
20
b) Mtodo propuesto.
I
C
|
e
A
L
E
|
e
A
L
E
I
C
Challenge Improve the transient response
15-Jun-11 53
Let us adjust the dynamic response without increase the system order
m& n determine static characteristics
m
p
, m
d
& n
d
are selected to guarantee stability and a good dynamic response
Proposed solution:
Improve of the transient response
*
d
dQ
E E nQ n
dt
=
dt
dP
m P m Pd m
d p
t
=
}

t |
2
*
2
p d
dP d P
mP m m
dt dt
e e =
15-Jun-11 54
3 2
0 A B C s s s + + + =
d d c Q
X X n V e = +
cos
Q
V V = u
being
( ) q s n n e
p s m m
s
m
d
d p

+ =
|
.
|
\
|
+ + = |
| | |
e
e

cos sin u + u
+
= E e
X
V
s
p
c
c
| | |
e
e

sin cos u u
+
= E e
X
V
s
q
c
c
( )
( ) ( )
( )( )
2
2 2
2
2
c
d c d Q p d c
d
c
c c p c Q d p c
d
c
p Q
d
X X n n m E V m n EV
X
X n mXE m XE V mn m n EV
X
m m XEV nEV
A
C
X
B
e
e e
e
e e e e
e
( = + + + +

(
= + + + + +

= + +
15-Jun-11 55
15-Jun-11 56
0 0. 1 0. 2 0. 3 0. 4 0. 5 0. 6 0. 7 0. 8 0. 9 1
-0. 02
-0. 015
-0. 01
-0. 005
0
0. 005
0. 01
t (s)
d
e
s
f
a
s
e

(
r
a
d
)
0 0. 1 0. 2 0. 3 0. 4 0. 5 0. 6 0. 7 0. 8 0. 9 1
-0. 02
-0. 015
-0. 01
-0. 005
0
0. 005
0. 01
t (s )
d
e
s
f
a
s
e

(
r
a
d
)
Transient response of the circulating current
Conventional method Proposed control
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-20
-15
-10
-5
0
5
10
15
20
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-20
-15
-10
-5
0
5
10
15
20
b) Mtodo propuesto.
I
C
|
e
A
L
E
|
e
A
L
E
I
C
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-20
-15
-10
-5
0
5
10
15
20
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-20
-15
-10
-5
0
5
10
15
20
b) Mtodo propuesto.
I
C
|
e
A
L
E
|
e
A
L
E
I
C
Current spike!
15-Jun-11 57
Study of P/Q flow in function of the output impedance
Generalized droop control
The R V virtual resistance in a DC microgrid can be see as Q V droop in an inductive
AC microgrid. The e P droop is added to synchronize the system.
Z u <
E | Z
VSI
S P jQ = +
0 V <
( )
( )
2
2
cos cos
sin sin
EV
P
Z
EV
Q
Z
V
Z
V
Z
u | u
u | u
=
=
+
By using the Park transformation, the droop method functions become
15-Jun-11 58
Generalized droop control
Study of P/Q flow in function of the output impedance
| sin
X
EV
P =
X
V EV
Q
2
cos
=
|
Z = jX Z = R
mP =
*
e e
nQ E E =
*
R
V EV
P
2
cos
=
|
| sin
R
EV
Q =
mQ + =
*
e e
nP E E =
*
Zo:
P/Q
interchange
their roles!
P:
Q:
droops:
15-Jun-11 59
Output impedance affects the dependence between P/Q and |/V
Output impedance analysis
S1
S2
S3
S4
i
L
L
C i
o
v
o
V
in
u
V
in
r
L
i
c
L L o in
L
i r v u V
dt
di
L =
o L c
o
i i i
dt
dv
C = =
Bilinear model
15-Jun-11 60
Controller based on feedback linearization:
Closed loop output voltage dynamics:
u V i r
dt
i d
L v
dt
v d
C r
dt
v d
LC
in o L
o
o
o
L
o
= + + + +
2
( )
in ref o
V u PID v v =
2
2
3 2 3 2
(1 )
.
( ) (1 ) ( ) (1 )
d p i
L
o ref o
L d p i L d p i
k s k s k
Ls r s
v v i
LCs r C k s k s k LCs r C k s k s k
+ + +
+
=
+ + + + + + + + + +
G(s) Z
o
(s)
Z
o
(s)
G(s)v
ref
i
o
v
o
Open loop output voltage dynamics:
The output impendace depend on the control strategy. Notice the importance of ki term!
Nonlinear term
15-Jun-11 61
The integrator can be consider as a new state variable. The pole at the origin, creates
a zero in closed loop (+20dB/dec) Inductive effect
Frequency analysis
Load sharing depends on r
L
, which is difficult to measure, it depends on the ESR
of the L, r
on
from IGBTs...
L
o
i
r
Z s
k
~
15-Jun-11 62
Virtual Impedance
Droop control in AC
Objective: fix the output impedance
Virtual Impedance concept
o
I
( )
o
Z s ( )
D
Z s
o
V
+
( )
ref
G s v
+
o
v
o
i
+
P/Q
Calculation and droop
control
PWM +UPS
Inverter
Current
loop
Voltage
loop
Z
D
(s)
Reference
generator
Programable output impedance
ref
v
Inner loops
E
e
*
o
v
P/Q control loops
15-Jun-11 63
Virtual Impedance
p
D
E
I
L

e
~ A
ST
T t
Df Do Df D
e L L L L
/ * * * *
) (

+ =
Initial PLL error
Output impedance
t
( )
o
Z t
i
Z
f
Z
Z u <
E | Z
VSI
S P jQ = +
0 V <
I
Soft-start operation
The virtual output impedance is a control variable.
Increasing the output impedance can reduce the initial current peak at the connection
15-Jun-11 64
Virtual Impedance
Hot-swap capability
This capability allow us to connect DGs without stop the microgrid, for
mantainance reasons.
4 DG units microgrid
Virtual impedance
Output currents
Before the connection,
a PLL have to synchronize the DG with the MG.
A the connection the virtual impedance is high to reduce the initial current peak.
15-Jun-11 65
Virtual Impedance
Hot-swap capability
As all the DGs work like VSI no special requirement for the disconnection is need!
Connection Disconnection
15-Jun-11 66
P E function Q e function
*
E E nP =
*
mQ e e = +
P
max
-Q
max
+Q
max
E
e
E*
e-
AE
Ae
C load L load
Droop method for resistive output impedance
15-Jun-11 67
E
2
E
1
I
P
~
E
1
Z|
1
E
2
Z|
2
R
2
R
1
VZ0
load
+ +
Inverter 1 Inverter 2
i
1
i
2
~
E
2
E
1
I
Q
A|
1) The systemis more damped
2) Provide harmonic current sharing
3) Phase errors little affect the active power sharing
15-Jun-11 68
Circulating current
Output current (Inverter 1)
Output current (Inverter 2)
Y-axis: 10 A/div, X-axis: 10 ms/div.
15-Jun-11 69
Low voltage ride-though
Reactive power control of a grid-connected DG.
Low voltage ride-through
Trade-off during voltage dips: 1) voltage follower (Q=0) 2) stiff voltage source (Q high)
15-Jun-11 70
E
E A
*
E
nom
Q
Q
nom
Q
* E E nQ =
Capacitive load Inductive load
L
R
E
G
Q
G
L
+
0
g
V Z
Reactive power injected to the grid must be measured.
15-Jun-11 71
DG current
Grid current
Load current
Voltage dip
During the voltage grid, the converter injects reactive current (90)
15-Jun-11 72
Active power remains constant (to the load). Reactive power is injected to mantain the
voltage inside the droop characteristic.
15-Jun-11 73
Primary Control
Conclusions
The droop method achive active and reactive power sharing between
paralleled inverters.
The virtual impedance is an equivalent concept. Also named AVP in VRM
applications.
Both concepts can be well combined, providing:
- P/Q sharing
- Soft start
- Low voltage ride-through
15-Jun-11 74
Primary Control
References
1) J. M. Guerrero, L. Garca de Vicua, J. Matas, M. Castilla, J. Miret
A wireless controller to enhance dynamic performance of parallel inverters in distributed generation systems
IEEE Transactions on Power Electronics, Vol. 19, no. 5, pp. 1205-1212. Year: 2004
2) J. M. Guerrero, L. Garca de Vicua, J. Matas, M. Castilla, J. Miret.
Output Impedance Design of Parallel-Connected UPS Inverters with Wireless Load-Sharing Control
IEEE Transactions on Industrial Electronics. Vol. 52, No. 4, pp. 1126-1135. Year: 2005
3) M. Castilla, L. Garca de Vicua, J. M. Guerrero, J. Matas, J. Miret.
Design of voltage-mode hysteretic controllers for synchronous buck converters supplying microprocessor loads
IEE Proceedings Electric Power Applications. Vol. 152, No. 5, pp. 1171-1178, 2005.
4) J. M. Guerrero, J. Matas, L. Garca de Vicua, M. Castilla, J. Miret.
Wireless-control strategy for parallel operation of distributed generation inverters
IEEE Transactions on Industrial Electronics. Volume 53, Issue 5, 2006, Page(s):1461 1470.
5) J. M. Guerrero, J. Matas, L. Garca de Vicua, M. Castilla, J. Miret.
Decentralized control for parallel operation of distributed generation inverters using resistive output impedance
IEEE Transactions on Industrial Electronics. Volume 54, Issue 2, 2007 Page(s):994 1004.
6) M. Castilla, L. Garca de Vicua, J.M. Guerrero, J. Matas, J. Miret
Designing VRM hysteretic controllers for optimal transient response,
IEEE Transactions on Industrial Electronics. Volume 54, Issue 3, 2007 Page(s):1726 1738.
7) M. Castilla, L. Garca de Vicua, J.M. Guerrero, J. Miret, N. Berbel
Simple Low-Cost Hysteretic Controller for Single-Phase Synchronous Buck Converters
IEEE Transactions on Power Electronics. Volume 22, Issue 4, July 2007 Page(s):1232 1241.
8) J. M. Guerrero, L. Hang, and J. Uceda
Control of Distributed Uninterruptible Power Supply Systems
IEEE Transactions on Industrial Electronics, vol. 55, no. 8, pp. 2845-2859, August. 2008.
15-Jun-11 75
Outline
6 DC Microgrids
Hierarchical control
Hierarchical
Control
Principle
Enterprise Software Solution for Power Systems
Primary Control
Tertiary
Control
Secondary Control
BW
Import/export power
Restoration/Syncro.
Inner loops
(droop,softstart)
15-Jun-11 77
To
Load/grid
VSI control strategy
a
v
b
v
c
v
lb
i
lc
i
b
C
c
C
Cc
v
Cb
v
Ca
v
PWM
abc
o|
la
i a
L
b
L
c
L
ob
L
oc
L
a
C
n
l
i
o|
C
v
o|
Controller
abc
o|
+
+
Controller
ref
v
o|
Inner Loops
lb
i
Three Phase
Reference
Generator
lc
i
la
i
oa
L
dc
v

abc
o|
*
i
o|
pV
k
+
2 2
2
iV
c o
s
k s
s e e + +
pI
k
2 2
5,7,11...
2( )
n
iHh
h c o
k s
s h s e e
=
+ +
+
2 2
2
iI
c o
s
k s
s e e + +
2 2
5,7,11...
2( )
n
vHh
h c o
k s
s h s e e
=
+ +
abc
o|
1 1/ 2 1/ 2
2 / 3
0 3 / 2 3 / 2
a
b
c
v
v
v
v
v
o
|
(

( (
(
=
( (
(

(

Multiloop control for VSIs
15-Jun-11 78
( ) ( )
2 2
1
( ) ( )
( ) ( ) 1 ( ) ( ) 1
v i PWM
c ref o
v i PWM v i PWM
G s G s G
Cs
V V i
LCs Cs G s G s G LCs Cs G s G s G
| |
|
=
+ + + + + + |
\ .
+
1
R sL +
+
+
abc
v
PWM
G
+
o
i
l
i
c
i
1
sC
PWM inverter L-C Filter P + Resonant Controllers
c
v
Voltage
P + Resonant
Controller
Current
P + Resonant
Controller
ref
v

dc
v
( )
2 2 2
2
5,7,11
( )
2
2
v pV
c
ch ch
vHh r
h o
G s k
s
s
k s k s
s
s h
e e
e e =
= + +
+
+
+
+
( )
2 2 2
2
5,7,11
( )
2
2
i pI
c
ch ch
IHh rI
h o
G s k
s
s
k s k s
s
s h
e e
e e =
= + +
+
+
+
+
1
1 1.5
PWM
s
G
T
=
+
15-Jun-11 79
15-Jun-11 80
Droop control for three phase VSIs
( )
* *
( )
P
rest sync
G s P P
s
e e
| |
+
| |
+
|
\ .
=
P
Q
E
Three
Phase
Reference
Generator
(o|)
c o c o
v i v i
o o | |
+
c o c o
v i v i
| o o |
1LPF
C
v
o|
o
i
o|
Power Calculation
|
+

*
|
+
*
E
Droop Control
( )
Q
G s
( )
P
s G
1LPF
( )
*
sec
*
( )
Q
G E s Q E E Q + =
*
P
*
Q
Power loops
+
sec
e
1 s
ref
v
15-Jun-11 81
Virtual impedance control for three phase VSIs
a C
o
i
o
o
i
|
PWM
abc
o|
C
C
v
o|
v
R
v
L e
+
v
R
v
L e
+
ref
v
o| Virtual Impedance loop
v
v
o|
+
Current P +
Resonant Controller
Voltage P +
Resonant Controller
+
oabc
i
Inner loops
L
labc
i
o
L
1
VSI
V v o v o
V v o v o
V R i L i
V R i L i
o o |
| | o
e
e
=
= +
( )
2
1
( ) ( ) ( ) ( )
( )
( ) ( ) ( ) 1
v i PWM D
o o
v i PWM
G s G s G s Z s
Cs
Z s L s
LCs Cs G s G s G s
+
= +
+ + +
( )
ref
G s v
o
I
( )
o
Z s ( )
D
Z s
v
V
+
( ) ( ) ( )
out ref o o
v s G s v Z s i =
15-Jun-11 82
Control system of two VSIs forming a Microgrid
a
v
b
v
c
v
lb
i
lc
i
a C
b
C
c
C
Cc
v
Cb
v
Ca
v
o
i
o|
PWM
abc
o|
la
i
Switch n
abc
o|
2 C
v
o| 2 l
i
o| 2o
i
o|
a
L
b
L
c
L
oa
L
ob
L
oc
L
2oa
L
2ob
L
2oc
L
2Ca
v
2Cb
v
2Cc
v
2 l b
i
2 l c
i
2 l a
i
2a
L
2b
L
2c
L
a
C
2b
C 2c
C
2a
C
2a
v
2b
v
2c
v
n
l
i
o| C
v
o|
Virtual Impedance loop
abc
o|
abc
o|
abc
o|
i
p
k F
k F
s
| |
+
|
\ .
sec
E
rest
e
i
p
k E
k E
s
| |
+
|
\ .
Inverter 2 PrimaryControl Strategy
SecondaryControl
C L
R
Nonlinear
load
dc
v
dc
v
Inner loops
Three Phase
Reference
Generator
Droop
control
Power
Calculation
Inverter 1 PrimaryControl Strategy
abc
o|
abc
o|
abc
o|
Virtual Impedance loop Inner loops
Three Phase
Reference
Generator
Droop
control
Power
Calculation
PWM
G
R
I
D
R
S
T
N
5KVA grid Transformer
ga
L
gb
L
gc
L
sync
e
*
MG
e
o|
Synchronization
loop
+
MG
e
*
MG
E
MG
E
Low BW communications
Z=10mH
1
VSI
2
VSI
C
v
o|
o
i
o|
C
v
o|
o
i
o|
sec
e
ref
v
o| 2 ref
v
o|
15-Jun-11 83
Islanding microgrids
Grid-connected microgrids operate synchronized with the grid
Islanded microgrids:
Frequency and amplitudes are load-dependent
Secondary control can contribute to:
Frequency restoration
Amplitude regulation
Power quality (harmonics and unbalance compensation)
Energy management system can be used to:
Load shedding
Regulation of the generators consumption
Secondary Control
15-Jun-11 84
Secondary Control
Secondary control objetives
Minimize Area Control Error (ACE)
Maintain frequency at the scheduled value
Operate system with adequate security & economy
Maintain net power interchanges
Maintain economical power allocation
Share P and Q proportionally amongst various generation units
Multiple pre-configured automatic generator control modes
Enterprise Software Solution for Power Systems
15-Jun-11 85
Secondary Control
Frequency and voltage deviations
Ae = f(AP)
AV = f(AQ)
In islanded microgrids, the frequency and amplitude can change
according to the absortion/generation of P and Q
15-Jun-11 86
In a synchronous generator, energy conservation implies
that
where
P
G
is the generated real power,
P
L
is the load power,
J is the system inertia, and is the frequency.
When P
G
>P
L
the system frequency increases ( > nom).
When , P
G
<P
L
the system frequency decreases ( < nom).
Synchronous Generators
G L
P P Je =
15-Jun-11 87
Virtual synchronous generators
Inverters that mimic synchronous converters
Kawamuras approach (2005)
High Reliability and High Performance Parallel-Connected UPS Systemwith Independent Control
Eduardo Kazuhide Sato
15-Jun-11 88
Virtual synchronous generators
European Project VSYNC: http://www.vsync.eu
Inertias means not only load-dependent frequency (droops),
but also local storage energy system.
15-Jun-11 89
Secondary Control in Electric Power Systems
Power
Controller
L
o
a
d
DG
3
Power
Controller
L
o
a
d
DG
2
Power
Controller
L
o
a
d
DG
1
Grid
This area consists of DGs with the
droop control. In island mode the
frequency can droop down!
15-Jun-11 90
Secondary Control in Electric Power Systems
Source: UCTE. A1 Appendix 1: Load-Frequency Control and Performance
15-Jun-11 91
Secondary Control for Microgrids
Secondary control action
Primary control ensures P sharing by drooping the frequency
Secondary control:
Restore the nominal frequency
Cannot work localy, it needs to be centralized.
f
0
f
ref
P
scheduled
P
) a
max
P
No secondary control
Primary
response
P
Permanent
drop in
frequency
Permanent
increase in
generation
f
0
f
ref
P
scheduled
P
) b
max
P
Using secondary control
Primary
response
P
Temporary
drop in
frequency Permanent
increase in
generation
Secondary
response
15-Jun-11 92
Secondary control Modeling
+
Droop
control
*
e
m
sec
e
P
e
( )
LPF
G s
sec
( )
f
G s
*
MG
e
+
t
1
s

+
PLL
( )
d
G s
sec *
sec sec
( ) ( )
( )
1 ( ) ( ) ( ) 1 ( ) ( ) ( )
MG
f d
LPF
MG
f d PLL f d PLL
G s G s
mG s
P
G s G s G s G s G s G s
e e =
+ +
sec
( ) ,
pF iF
f
G s
s
k s k
=
+
( ) ,
/ 1
1
PLL
G s
s t
=
+
( )
2
4 3 2
c
MG
m s s sa b
P
s s c s d se f
e
e
+ +
=
+ + + +
1.5
1.5
1.5
(1.5 ) (1.5 )
( ( 1.5) )
c
c pF
c pF iF
iF c
a
b
c
d k
e k k
f k
t
t
e t
e t t
t e
t e
= +
=
= + +
= + + +
= + +
=
Being
15-Jun-11 93
( ) ( )
* *
p MG MG i MG MG S
k k dt
e e
oe e e e e e = + +A
}
( ) ( )
* *
pE MG MG iE MG MG
E k E E k E E dt o = +
}
(13)
Frequency restorer:
Amplitude restorer:
Synchronization term
Secondary controllers
Slow PI controllers are preferred for secondary control.
Deadbands can be used, allowing certain margin of regulation.
15-Jun-11 94
Secondary control Implementation
Low bandwidth
communications
Primary control
P/Q
Droop
control
Secondary control
Frequency &Voltage
restoration loop
e
MG
e
-
MG
G
e
(s)
E
MG
E
*
MG
G
E
(s)
v
ref
Z
D
(s)
Virtual impedance
oE
oe
M
i
c
r
o
g
r
i
d
e
MG
/ E
MG
measurements
+
+
_
_
o
v
o
i
Current
loop
Voltage
loop
Inner loops
PWM
+UPS
Inverter
_
Primary control
P/Q
Droop
control
v
ref
Z
D
(s)
Virtual impedance
o
v
o
i
Current
loop
Voltage
loop
Inner loops
PWM
+UPS
Inverter
_
+
Ae
s
Secondary control is located in the Microgrid Central Controller measure frequency and
voltage. The output of the control is send through communications to adjust the reference
of the local primary controllers (droops).
15-Jun-11 95
Objective: make this termequal to zero
Microgrid synchronization with the grid
Power Calculation
G
R
I
D
dc
v
a
v
b
v
c
v
lb
i
lc
i
a
C
b
C
c
C
n
Cc
v
Cb
v
Ca
v
abc
o|
abc
o|
l
i
o|
c
v
o| o
i
o o
i
|
Current resonant
Controller
abc
o|
R
S
T
N
5KVA grid
Transformer
Z=10mH
+
la
i
Manual
Switch
c
L
b
L
a
L
oa
L
ob
L
oc
L
ga
L
gb
L
gc
L
P/Q Power Control Loops
* *
) (
sync
m P P e e e + =
e*
Frequency droop
P
* *
) ( E E n Q Q =
E*
Amplitude droop
P
abc
o|
ob
i
oc
i
oa
i
P
Q
e
E
e
Three
Phase
Reference
Generator
E sin (et)
Dq0 ->abc
sync
e
gabc
v
cabc
v
abc
o|
abc
o|
g
v
o| c
v
o|
g c g c
v v v v
o | | o
+
LPF
PI controller
PLL o|
Sogi
c o c o
v i v i
o o | |
+
c o c o
v i v i
| o o |
LPF
LPF
abc
o|
Sogi
abc
o|
v
R
v
L e
+
2 2
2
ress c
pv
ress c o
k s
k
s k s
e
e e
+
+ +
+
v
R v
L e
+
+
( )
2 2
2
2
3,5,7
...
i
p
o
n
ih
h
k s
k
s
k s
s h
e
e =
+ +
+
+
+
+
Voltage resonant
Controller
ref
v
o|
Virtual Impedance
loop
v
v
o|
Inner Loops
ref
i
o|
abc
o|
SVM
c
v
o|
o
i
o|
g c g c
v v v v
| o o |
Parallelismwith Q calculation!
15-Jun-11 96
Synchronization is not necessary to be fast. Slow(to avoid unstability problems) but
well accurate (allowing seamless transition to grid-connected mode).
15-Jun-11 97
Top: grid and converter voltages
Bottom: voltage difference between grid and voltage
Start converter! Synchronization process
15-Jun-11 98
Tertiary Control
Tertiary control for AC microgrids
Terciary control and synchronization control loops implementation
Secondary
control
Tertiary control
+
_
+
_
Microgrid
PI
Q
PI
P
90
PI
LPF
*
MG
E
*
i
E
*
i
e
,
g g
P Q
PCC
bypass
G
Q
G
P
*
G
P
G
Q
*
G
Q
max
e
min
e
max
E
min
E
grid connected
Island
Island
grid connected
. Synchron
loop
Freezing
s
e A
P/Q
Grid
calculation
Distributed synchronization loop
In grid connected mode
P and Q fromthe MG to
the grid can be
controlled by tertiary
control.
In islanded
mode
secondary
control fixes
frequency and
amplitude of
the MG.
*
MG
e
15-Jun-11 99
Tertiary Control
Tertiary control expressions
( ) ( )
* * *
MG pQ G G iQ G G
E k Q Q k Q Q dt = +
}
( ) ( )
* * *
MG pP G G iP G G
k P P k P P dt e = +
}
The tertiary control generates the frequency and amplitude references for
the secondary control.
The control expressions supose an highly inductive impedance on the grid
side.
Park transformation can be used for a general impedance case.
15-Jun-11 100
Tertiary Control
Low voltage ride-trough of the Microgrid
Freezing or disconnecting the integral term of the E
Q tertiary control.
The Microgrid will work like a STATCOM
Microgrid
~
Q
V
15-Jun-11 101
Microgrid example
Primary control
Equal current sharing of two DGs by using droop control.
15-Jun-11 102
Frequency restoration
Microgrid example
Secondary control
The frequency is regulated to 50 Hz.
Only with
primary control
Primary +
Secondary
control
15-Jun-11 103
Amplitude restoration
Microgrid example
Secondary control
Only with
primary control
The amplitude is regulated to 220 Vrms.
Primary +
Secondary
Control
15-Jun-11 104
Active power
Microgrid example
Tertiary control
Pgrid changes and Q e tertiary control loop disconnected.
P grid
Q grid
15-Jun-11 105
Reactive power Q* = 0 VAr
Tertiary Control
Tertiary control
Q grid
15-Jun-11 106
Tertiary Control
Tertiary control example
Active power response. The tertiary control imposes Pgrid = 1 kW.
15-Jun-11 107
Microgrid example
Islanding detection
Islanding detection
Frequency
deviation
STS open (protection)
Q integrators
disconnected
Non-planning
Islanding
15-Jun-11 108
Smart-Grids
Microgrids interconnection
Stiff grid
Tertiary SG
Secondary SG
Primary SG/Tertiary Cluster
Secondary Cluster
Primary Cluster
Tertiary
Secondary
DG#1
DG#2
Primary
Primary
MG#1
PCC#1
DG#3
DG#4
Primary
MG#2
PCC#2
Primary
Cluster I Cluster II
15-Jun-11 109
Hierarchical Control
Conclusions
Droop-controlled microgrids can be used in islanded mode.
New concept of flexible microgrids can operate in both grid-connected and islanded mode.
Improvements to the conventional droop method are required for integrate inverter-based energy
resources:
Improvement of the transient response
Virtual impedance: harmonic power sharing and hot-swapping
The hierarchical control is required for a AC microgrid, analogous as those proposed in the DC-
coupled microgrid:
Primary control is based on the droop method allowing the connection of different AC
sources without any intercommunication.
Secondary control avoids the voltage and frequency deviation produced by the primary
control. Only low bandwidth communications are needed to perform this control level. A
synchronization loop can be add in this level to transfer from islanding to grid connected
modes.
Tertiary control allows to import/export active and reactive power to the grid.
Additional features are also required to the flexible microgrids:
Voltage ride-through
Black-start operation
Grid impedance estimation
Storage energy management and control
15-Jun-11 110
Hierarchical Control
References
[1] Visscher, K.; De Haan, S.W.H., Virtual synchronous machines (VSGs) for frequency
stabilisation in future grids with a significant share of decentralized generation,
SmartGrids for Distribution, 2008. IET-CIRED. CIRED Seminar, Volume , Issue , 23-24 June
2008 Page(s):1 4.
[2] A. Madureira, C. Moreira, and J. Peas Lopes, Secondary Load-Frequency Control for
MicroGrids in Islanded Operation, in Proc. International, Conference on Renewable
Energy and Power Quality ICREPQ05, Spain, 2005.
[3] J. P. Lopes, C. Moreira, and A.G. Madureira, Defining control strategies for MicroGrids
islanded operation, IEEE Transactions on Power Systems, May 2006, vol. 21, no. 2, pp.
916- 924.
[4] B. Awad, J. Wu, N. Jenkins, Control of distributed generation, Elektrotechnik &
Informationstechnik (2008) 125/12, pp. 409414.
[5] A. Mehrizi-Sanir and R. Iravani, Secondary Control for Microgrids Using Potential
Functions: Modeling Issues, Conf. Power Systems, CYGRE, 2009.
[6] K. Vanthournout, K. De Brabandere, E. Haesen, J. Van den Keybus, G.Deconinck, and R.
Belmans, Agora: distributed tertiary control of distributed resources, in Proc. 15th
Power systems Computation Conference, Liege, Belgium, August 22-25, 2005.
[7] J. M. Guerrero, J. C. Vasquez, J. Matas, L. Garca de Vicua, and M. Castilla, Hierarchical
Control of Droop-Controlled AC and DC Microgrids A General Approach Towards
Standardization, IEEE Trans Ind Electronics, 2010.
15-Jun-11 111
Outline
6 DC Microgrids
Outline
6 DC Microgrids
Power Quality in Microgrids
Advanced Active Filtering in a Single Phase High Frequency AC Microgrid - Sudipta Chakraborty
Microgrids
Fuel cell
PV
Battery
Source
Bus
PWM PWM
UPQC Controller
UPQC
Non-linear
Load
Linear
Load
Load
bus
PWM PWM
UPLC Controller
UPLC
Utility
Utility
Inverters
and Loads
Utility
Connection
Bus
1 c
V
V
Intermediate
Supply Bus
hf
V
+
Load
i
1 c
i
1 c
i
1 c
V
hf
i
hf
V
hf
i
Load
i
Load
V
C
V
c
i
+
c
V
c
i
V
L
i
*
P
*
Q
s
V
15-Jun-11 114
Current harmonics reduction in a grid-connected DG
G
R
I
D
a
v
b
v
c
v
lb
i
lc
i
a
C
b
C
c
C
n
Cc
v
Cb
v
Ca
v
abc
o|
c
v
o| o
i
o|
abc
o|
R
S
T
N
5KVA grid
Transformer
Z=10mH
la
i
Manual
Switch
c
L
b
L
a
L
oa
L
ob
L
oc
L
ga
L
gb
L
gc
L
P/Q Power Control Loops
( )
* *
/ ) (
pP iP sync
k s k P P e e e + + =
( )
* *
/ ) (
pQ iQ
k s E E k Q Q + =
abc
o|
ob
i
oc
i
oa
i
P
Q
E
Three
Phase
Reference
Generator
sync
e
gabc
v
cabc
v
abc
o|
abc
o|
g
v
o| c
v
o|
g c g c
v v v v
o | | o
+
1LPF
PLL o|
c o c o
v i v i
o o | |
+
c o c o
v i v i
| o o |
1LPF
1LPF
abc
o|
abc
o|
+
+
ref
v
o|
v
v
o|
abc
o|
PWM
c
v
o|
o
i
o|
Power
Calculation
+
*
P
+
*
Q
e
+

sync
e
*
e
+
+
*
E
Droop
Control
isync
psync
k
k
s
| |
|
|
\ .
+
iP
pP
k
k
s
| |
+
|
\ .
iQ
pQ
k
k
s
| |
+
|
\ .
Controller
( )
2 2
2
2
5,7
...
iI
pI
o
n
iHh
h
k s
k
s
k s
s h
e
e =
+ +
+
+
+
+
( )
2 2
2
2
5,7,11
...
r
pV
o
n
vHh
h
k s
k
s
k s
s h
e
e =
+ +
+
+
+
Controller
abc
o|
dc
v
Grid Status
+
Inner Loops
FLL
*
h
i
P + Resonant
+
15-Jun-11 115
Droop control allows P and
Q sharing, averaged over the
fundamental frequency.
It is not able to guarantee
harmonic current sharing!
P
Q
Calculation
Vref
e
E
PWM
Inner loops
C
L
v
o
Inverter
DSP
i
o
v
o
A/D
PLL
P
o
w
e
r

c
a
l
c
u
l
a
t
i
o
n
Harmonic current sharing
15-Jun-11 116
Harmonics current sharing
Control objective: Harmonic current sharing
proportional to the nominal DG power.
Trade off: harmonic current sharing/voltage THD
Source: Y. E. Wu
15-Jun-11 117
Harmonics current sharing
For Z
line1
# Z
line2
, harmonic current sharing is not possible
Harmonic virtual impedance can enhance sharing
Zh = Vh/Ih
Trade off V
THD
and harmonic current sharing.
E
1
Z|
1
E
2
Z|
2
VZ0
o
i
2
DG #1
1
Z|
1
Z|
2
i
2
Z
o2
DG #2
Z
o1
Load
Z
1 Line
Z
2 Line
Z
1 h
I
2 h
I
15-Jun-11 118
Droop control with harmonic current sharing loop
Distorted power sharing by output voltage adjusting bandwidth
Increasing D Voltage gain increases Voltage BW decreases
Harmonic impedance increases Better harmonic sharing!
But this method compromises the voltage stability.
A. Tuladhar 1997
m
P&Q
calculation
P
1
Q
1
n
Voltage
Reference
Esin(et)
e
E
E*
Voltage Loop
v
o
*
Inverter
Inverter
+
_
e*
+
_
Current Loop
+ PWM
X
D
calculation
i
v
15-Jun-11 119
Droop control
Virtual Output Impedance
If the virtual output impedance is resistive, the impedance value is constant
for the whole frequency range.
But if the virtual impedance is inductive, the voltage THD increases when the
harmonic current increases!
m
P&Q
calculation
P
1
Q
1
n
Voltage
Reference
Esin(e t)
e
E
E*
Voltage Loop
v
o
*
UPS Inverter
UPS #i
+
_
e*
+
_
Current Loop
+ PWM
+_
Z
o
(s)
v
i
Virtual output impedance loop
m
P&Q
calculation
P
1
Q
1
n
Voltage
Reference
Esin(et)
E
E*
Voltage
Loop
v
o
*
Inverter
Inverter #i
+
_
e
*
+
_
Current Loop
+ PWM
+_
v
i
Zo(s)
e
15-Jun-11 120
G
p
(s)
P&Q
calculation
P
1
Q
1
G
q
(s)
Voltage
Reference
Esin(et)
e
E
E*
Voltage
Loop
v
o
*
Inverter
Inverter #i
+
_
e*
+
_
Current Loop
+ PWM
+_
Z
o1
v
i
BPF
Harmonic current sharing loop
Selective harmonic selection: fundamental and each of the harmonics can
have different output impedance.
Droop control
Virtual Output Impedance with harmonic current sharing loop
15-Jun-11 121
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
Bode Diagrams
-80
-60
-40
-20
0
20
Virtual output impedance
-100
-50
0
50
100
150
200
1
3 5 7 9 11
10
3
10
4
10
2
2 2
2
2
) (
i i
i
i
s k s
s k
s H
e + +
=
15-Jun-11 122
Parallel Control of the UPS Inverters With Frequency-dependent Droop Scheme
S . J. Chiang and J. M. Chang
Whole frequency range
Fundamental
Harmonics
15-Jun-11 123
Droop method with virtual output impedance and selective harmonic
DSP implementation is appropriate for the multi-loop droop framework
15-Jun-11 124
(a) Nonlinear load, Y: 2 A/div, X: 5 ms/div;
(b) Resistive // nonlineal load, Y: 10 A/div, X: 5 ms/div.
(a) (b)
15-Jun-11 125
Voltage harmonic reduction by using current harmonics
injection
E
1
Z|
1 1
Z|
1
Z
o1
+
1 Line
Z
1 h
I
PCC
V
V
g
Z
g
GRID
DG/MG
15-Jun-11 126
Decentralized voltage harmonic compensation
Design of a New Cooperative Harmonic Filtering Strategy for Distributed Generation Interface Converters in an
Islanding Network - Tzung-Lin Lee
DGU
1
DGU
2
Critical
Load
Critical
Load
Critical Load
. . .
DGU
PWM
Power
Calculator
Current
Regulator
e
P
E
Q
G
H
abc
dq
abc
dq
LPF
abc
dq
PI
D
G
*
abc
E
abc
i
abc
i
abc
E
*
e
*
E
*
G
*
abc
E
abc
E
*
e
*
e
abc
E
abc
i
*
abc
i
*
dq
i
dq
E
dq
E
dq
i
D: De-coupling matrix
*
dq
i
*
dq
E
*
abc
V
+
+
+
+
Droop Controller Voltage Controller

15-Jun-11 127
Discrete Frequency Tuning Active Filter for Power System Harmonics
Tzung-Lin Lee
Selective voltage harmonic reduction grid-connected DG
abc
v
Current
Regulator
PWM
5
dq
abc
5
e
LPF
5
dq
v
5
dq
abc
5
e
5
abc
v
Tunning
controller
5
*
abc
i
+
5
dq
abc
7
e
LPF
7
dq
v
5
dq
abc
7
e
7
abc
v
Tunning
controller
7
*
abc
i
abc
v
+
+
5
*
G
7
*
G
.
.
.
*
h
abc
i
*
abc
i
abc
i
abc
v
*
abc
v
abc
i
1
L
g
v
L
C
abc
v
AFU
15-Jun-11 128
Discrete Frequency Tuning Active Filter for Power System Harmonics
Tzung-Lin Lee
Selective voltage harmonic reduction grid-connected DG
h
a
E
h
b
E
h
c
E
f
f
s
e
e +
SQRT

SQRT
a
E
f
f
s
e
e +
b
E
c
E
+
*
h
VD
i
p
k
k
s
+
*
h
G
h
VD
* *
h
abc h abc
h
i G E =
,
,
100%
h
h
abc rms
h
abc rms
E
VD
E
=
15-Jun-11 129
Decentralized voltage harmonic reduction in an islanded
microgrid
dc
v
a
v
b
v
c
v
lb
i
lc
i
a
C
b
C
c
C
n
Cc
v
Cb
v
Ca
v
abc
o|
abc
o|
i
o
i
|
v
o
v
| o
i
o o
i
|
SVM
Voltage
Resonant
Controller
Current
Resonant
Controller
abc
o|
+
Virtual
Impedance
Loop
abc
o|
la
i
Bypass Switch
c
L
b
L
a
L
oa
L
ob
L
oc
L
ga
L
gb
L
gc
L
*
sync
m P e e e + =
e*
Frequency droop
P
*
E E nQ =
E*
Amplitude droop
P
abc
o|
+
abc
o|
abc
o|
ob
i
oc
i
oa
i
P Q
1
e
E
1
e
Three
phase
Reference
Generator
E sin (et)
sync
e
c
v
o|
o
i
o|
dc
v
2a
v
2b
v
2c
v
+
2a
C
2b
C
2c
C
n
2Cb
v
2Ca
v
2a
L
2b
L
2c
L
2Cc
v
PWM
abc
o|
Inverter 2 Control System
abc
o|
abc
o|
2 l
i
o|
abc
o|
2 C
v
o|
2 o
i
o|
Nonlinear
Load
o|
PLL
2la
i
2lb
i
2lc
i
Power
Calculation
+

Harmonic
Compensation
2oa
i
2ob
i
2oc
i
D
*
HC
I
235uF
84uH
100O
15-Jun-11 130
Decentralized voltage harmonic reduction in an
islanded microgrid
Before Compensation After Compensation
THD% 5
th
% 7
th
% THD% 5
th
% 7
th
%
Voltage DG1 3.8 2.9 2.0 1.2 0.6 0.5
DG2 2.9 2.1 1.5 1.1 0.5 0.4
Load 5.3 4.2 2.8 3.2 2.3 2.0
Current DG1 58.6 53.7 22.9 87.6 75.2 44.1
DG2 45.8 41.5 18.8 44.5 38.1 22.5
Load 52.2 45.6 20.9 66.1 56.7 33.3
15-Jun-11 131
Secondary control for voltage harmonic distribution
in islanded microgrids
+
AC Bus
DG#1
5
dq
o|
DG#2
5
dq
o|
PLL
dq
o|
5e
*
5dq
v
5th
Deadband
5
th
Harmonic
( )
SH
G s
Harmonic
Controller
Secondary Control
7
th
Harmonic
Low Bandwidth
Communications
5e
5e
235uF
84uH
100O
Non
Linear Load
5dq
v
15-Jun-11 132
Unbalance in Microgrids
Voltage unbalance definition
,
,
rms
rms
C
C
v
UF
v
o|
o|
+
=
rms
C
v
, o|
+
rms
C
v
, o|
Voltage unbalance factor (UF) is considered as the index of unbalance.
UF can be defined as follows:
where
and
are rms values of negative and positive
sequences of the DG output voltage.
15-Jun-11 133
Unbalance compensation for a grid-connected DG
abc
o|
abc
o|
i
o
i
|
v
o
v
| o
i
o o
i
|
Voltage
P+Resonant
Controller
Current
P+Resonant
Controller
abc
o|
+
Virtual
Impedance
Loop
abc
o|
Switch
abc
o|
Three
phase
Reference
Generator
E sin (|-)
R
L
Positive and Negative Sequence
Calculation
Control System
+
o|
o
i
+
o|
C
v
Unbalance Compensation
P Q
dc
V
oa
i
ob
i
oc
i
oa
L
ob
L
ob
L
c
C
b
C a
C
a
v
b
v
c
v
a
L
b
L
c
L
La
i
Lb
i
Lc
i
Ca
v
Cb
v
Cc
v
GRI D
ga
L
gb
L
gc
L
ga
R
gb
R
gc
R
* UF
+
C
v
o|
PI
UF
*
|
PWM
*
E
o|
C
v
Active
Power Controller
Reactive
Power Controller
RMS
Calculation
+
+
Power
Calculation
, rms
C
v
o|
, rms
C
v
o|
+
15-Jun-11 134
DG output Voltage
15-Jun-11 135
DG output powers P (top), Q+ (center), and Q- (bottom)
15-Jun-11 136
Decentralized unbalance compensation for a microgrid
abc
o|
abc
o|
i
o
i
|
v
o
v
| o
i
o o
i
|
Voltage
Resonant
Controller
Current
Resonant
Controller
abc
o|
+
Virtual
Impedance
Loop
abc
o|
Power Calculation
abc
o|
Three
phase
Reference
Generator
sync
e
+
n
Resistive Load
o|
PLL
Positive and
Negative Sequence
Calculation
Inverter 1
Control System
abc
o|
o|
c
v
+
o|
o
i

o|
o
i
+
o|
c
v
C
o|
c
v
Unbalance Comp.
+
P
+
Q
n
a
v
2
b
v
2
c
v
2
dc
v
dc
v
a
L
2
b
L
2
c
L
2
a L
i
2
b L
i
2
c L
i
2
a C
v
2
b C
v
2
c C
v
2
a
C
2 b
C
2 c
C
2
oa
L
2
ob
L
2
oc
L
2
oa
i
2
ob
i
2
oc
i
2
oa
i
1
ob
i
1
oc
i
1
oa
L
1
ob
L
1
oc
L
1
c
C
1 b
C
1
a
C
1
a
v
1
b
v
1
c
v
1
a
L
1
b
L
1
c
L
1
a L
i
1
b L
i
1
c L
i
1
a C
v
1
b C
v
1
c C
v
1
+

Active
Power Controller
Rective
Power Controller
E
PWM
PWM
e
15-Jun-11 137
Voltage after and before compensation
Unsymmetrical line
15-Jun-11 138
Qpositive
Qnegative
UF
Vnegative_rms
Unsymmetrical line
15-Jun-11 139
Secondary control for unbalance compensation in
islanded Microgrids
- - - -
b
v
Three-phase
Sinusoidal
Reference
Generator
La
i
oa
i
abc
o|
abc
o|
PR
Voltage
Controller
abc
o|
+
Virtual
Impedance
Loop
abc
o|
Power Calculation
abc
o|
Positive Sequence
Calculation
DGi Local Control System
+
o|
o
i
+
o|
o
v
+
P
+
Q
dc
V
ob
i
oc
i
L
L
L
Lb
i
Lc
i
oa
v
ob
v
oc
v
++
Active
Power Controller
*
E
PWM
*
|
o|
o
i
o|
o
v
o|
L
i
C C
DG Power Stage
Point of Common
Coupling (PCC)
abc
o
i
abc
o
v
abc
L
i
ref
v
ref
i
C
+
+
PR
Current
Controller
i
UCR
L
a
v
abc
v
c
v
Positive and Negative
Sequence Calculation
+
o|
v

o|
v
VUF Calculation
VUF
*
VUF +
Reactive
Power Controller
dq
o|
i
CSG
n
CSG
dq
o|
S
e
c
o
n
d
a
r
y

C
o
n
t
r
o
l
l
e
r
Low Bandwidth
Communication Link
n
UCR
s
I
P
k
k +
15-Jun-11 140
1
L
DG2 DG1
a
b
c
Unbalanced
Load
Switch
1
L
1
L
2
L
2
L
UB
Z
Balanced
Load
B
Z
PCC
2
L
VUF at PCC and DGs terminal
(CSG
1
=1,CSG
2
=1.25)
(CSG
1
=CSG
2
=1)
(DG1 communication link failure
at t=3.5sec)
15-Jun-11 141

(a)

(b)

(c)

(d)

(e)

(f)

Fig. 8. Three-phase voltage waveforms
(a) PCC-before comp. (b) PCC-after comp.
(c) DG1-before comp. (d) DG1-after comp.
(e) DG2-before comp. (f) DG2-after comp.
Three-phase voltage waveforms
PCC
DG1
DG2
BEFORE COMPENSATION AFTER COMPENSATION
15-Jun-11 142
Conclusions
Voltage harmonics in microgrids can be reduced by injecting current harmonic
or adjusting harmonic voltage in the DG terminals
Secondary control can be used to close the loop of the harmonic voltage
compensation in the microgrid
Tertiary control can be used to reduce the current harmonics injected by the
microgrid to the grid
A ponderated trade off between the secondary and tertiary controls have to be
designed
Unbalances in microgrids can be reduced by injecting a voltage negative
sequence in the DG proportional to Q negative sequence
Secondary control and tertiary control for unbalance compensation can be
used for islanding and grid-connected microgrids.
Reactive power have to be limited and ponderated for harmonics and
unbalance compensation.
15-Jun-11 143
References
[1] Y. Li, D. M. Vilathgamuwa, and P. C. Loh, Microgrid power quality enhancement using a three-phase four-wire grid-interfacing
compensator, IEEE Trans. on Industry Applications, vol. 41, no. 6, pp. 1707-1719, Nov./Dec. 2005.
[2] Y. Li, D. M. Vilathgamuwa, and P. C. Loh, A grid-interfacing power quality compensator for three-phase three-wire microgrid
applications, IEEE Trans. on Power Electronics, vol. 21, no. 4, pp. 1021-1031, Jul. 2006.
[3] S. A. Oliveira da Silva, P. F Donoso-Garcia, P. Cabaleiro-Cortizo, and P. F. Seixas, A three-phase line-interactive UPS system
implementation with series-parallel active power-line conditioning capabilities, IEEE Trans. on Industry Applications, vol. 38, no.
6, pp. 1581-1590, Nov./Dec. 2002.
[4] M. Hojo, Y. Iwase, T. Funabashi, and Y. Ueda, A method for three-phase balancing in microgrid by photovoltaic generation
systems, Power Elec. and Motion Cont. Conf. (EPE-PEMC), 2008.
[5] P. T. Cheng, C. Chen, T. L. Lee and S. Y. Kuo, A cooperative imbalance compensation method for distributed-generation interface
converters, IEEE Trans. on Industry applications, vol. 45, no. 2, pp. 805-815, Mar./Apr. 2009.
[6] J. M. Guerrero, J. Matas and L. G. de Vicua, M. Castilla and J. Miret, Decentralized control for parallel operation of distributed
generation inverters using resistive output impedance, IEEE Trans. on Industrial Electronics, vol. 54, no. 2, pp. 994-1004, Apr.
2007.
[7] E. Barklund, N. Pogaku, M. Prodanovic, C. Hernandez-Aramburo and T. C. Green, Energy management in autonomous microgrid
using stability-constrained droop control of inverters, IEEE Trans. on Power Electronics, vol. 23, no. 5, pp. 2346-2352, Sept. 2008.
[8] P. Rodriguez, A. V. Timbus, R. Teodorescu, M. Liserre and F. Blaabjerg, Flexbile active power control of distributed power
generation systems during grid faults, IEEE Trans. on Industrial Electronics, vol. 54, no. 5, pp. 2583-2592, Oct. 2007.
[9] H. Akagi, Y. Kanagawa, and A. Nabase, Instantaneous reactive power compensator comprising switching devices without energy
storage components, IEEE Trans. on Industry Applications, vol. IA-20, no. 3, p. 625, May/Jun. 1984.
[10] Y. W. Li and C. N. Kao, An accurate power control strategy for inverter based distributed generation units operating in a low
voltage microgrid, Energy Conv. Cong. and Exp. (ECCE), 2009.
[11] F. Blaabjerg, R. Teodorescu, M. Liserre and A. V. Timbus, Overview of control and grid synchronization for distributed power
generation systems, IEEE Trans. on Industrial Electronics, vol. 53, no. 5, pp. 1398-1409, Oct. 2006.
[12] M. Savaghebi, A. Jalilian, J. C. Vasquez, J. M. Guerrero, Remus Teodorescu, Distributed Generator with Voltage Unbalance
Compensation Capability, PSC 2010, 25
th
Int. Power Systems Conf., Iran.
15-Jun-11 144
Outline
6 DC Microgrids
Outline
6 DC Microgrids
Droop control for DC MGs
Hybrid AC/DC microgrid
DC/AC
G
Energy Storage
Generator
PV
DC/DC DC/AC
Wind Turbine
AC/DC/AC
AC Loads
Unity Grid
AC/DC
Wind Turbine
DC/AC
PV
DC/DC
DC/DC
Energy Storage
DC Loads
AC Bus DC Bus
15-Jun-11 147
Modeling of a DC microgrid
L
R
grid
L
conv
L
C
C
C
C
C
C
a1
u
b1
u
c1
u
N1
u
a1 dc
d u
b1 dc
d u
c1 dc
d u
a2 dc
d u
b2 dc
d u
c2 dc
d u
a1 aconv1
d i
b1 bconv1
d i
c1 cconv1
d i
a2 aconv2
d i
b2 bconv2
d i
c2 cconv2
d i
a2
u
b2
u
c2
u
N2
u
grid
L
grid
L
grid
L
grid
L
grid
L
conv
L
conv
L
conv
L
conv
L
conv
L
aconv1
i
bconv1
i
cconv1
i
aconv2
i
bconv2
i
cconv2
i
dc
u
Average model of three-phase parallel
rectifiers in a-b-c frame
15-Jun-11 148
Modeling of a DC microgrid
u
1 dc
d u
2 dc
d u
C
u
1 dc
d u
2 dc
d u
conv
L grid1
i
grid2
i
grid1
i
grid2
i
1 1
d i
1 1
d i
2 2
d i
2 2
d i
L
R
grid
L
grid
L
conv
L
C C
C
grid
L
grid
L
conv
L
conv
L
conv1
i
conv1
i
conv2
i
conv2
i
C1
u
C2
u
C2
u
C1
u
dc
u
dc
C
Equivalent circuit of three-phase parallel rectifiers in - frame
15-Jun-11 149
Droop control
Parallel connected voltage sources
Series connected (stacked) current sources
Output Plane Analysis of Load-Sharing in Multiple-Module Converter Systems
John S. Glaser and Arthur F. Witulski,
V
1
V
2
V
p
V
1
i
2
i
) a
V
1
V
2
V
I
I ) d
V
1
V
2
V
1
i
2
i
I
s
i
) c
s
i
1
i
2
i
V
1
V
2
V
I
s
i
1
i
2
i
p
V p
V
+
1
V
2
V
1
I
2
I
2
R
1
R
s
I
1
V
1
I
+
2
V
2
I
+
) b
15-Jun-11 150
Droop control
Grid connected converters
MPPT (PV and WT) converters
Energy storage converters
[ ] V V
A
B
C
D
C
o
n
v
e
r
t
e
r
r
a
t
i
n
g
Solar converter
A
g
I
B
g
I
C
g
I
D
g
I
g
I 0
A
c
t
u
a
l
M
P
P
T
Future Electronic Power Distribution Systems A contemplative view
Dushan Boroyevich, Igor Cvetkovid, Dong Dong, Rolando Burgos, Fei Wang, Fred Lee
15-Jun-11 151
Future Electronic Power Distribution Systems A contemplative view
Dushan Boroyevich, Igor Cvetkovid, Dong Dong, Rolando Burgos, Fei Wang, Fred Lee
ECC
Solar
Array
Wind
Turbine
Energy
Storage
Plug-in
Hybrid
S
I
W
I
b
I
p
I
DC bus
g
I
1 l
I
380V
2 l
I
3 l
I
ln
I
c
c c
48V
c M
Appliances;
Washer, Dryer..
Appliances;
Stove/Range..
LED Light
Consumer el; TV,
PC
Main
Grid
Droop control
Energy Control
Center (ECC)
15-Jun-11 152
Droop control. Adaptive Voltage Positioning (AVP)
15-Jun-11 153
Droop control
DC-Bus Signaling: A Distributed Control Strategy for a Hybrid Renewable Nanogrid
John Schnberger
DC signaling: using DC voltage microgrid
Regions:
Constant Voltage
Constant power
Constant voltage
Region - source 1
Constant Power
Region - source 1
1 PL 2 PL 1 PS
State 1
State 2
Overload
0
V
1
V
2
V
A
B
Load current
15-Jun-11 154
PracticaI Design Considerations of Current Sharing Control for Parallel VRM Applications
Weihong Qiu, Zhixiang Liang, Intersil Corporation
Power
Stage
PWM
Control
Droop
Control
Current
Sharing
I
1
VRM #1
kI
1
V
out
Load
V
ref
PWM
Control
Droop
Control
Current
Sharing
I
2
kI
2
V
ref
V
out
Current Sharing Bus
VRM #2
+- + +
-
+ -
+
+
-
+
+
Power
Stage
V
avg
V
out
Droop control
and
Average
Sharing
15-Jun-11 155
Droop control
Virtual impedance implementation
Ohms law!
POWER
SUPPLY
#1
1 o
I
POWER
SUPPLY
#2
2 o
I
O
I
1 o
v
2 o
v
+

+
V
1 o
V
2 o
V
o
V
1 o
i
2 o
i
2
o
i
2 1
,
o o
i i
#1
#2
For light loads, high Aio means that one converter could absorber power!
*
o droop o
V V R i =
1 1
2 2
o droop o
o droop o
V V R i
V V R i
=
=
*
1
2
/
, / 2
/ 2 0!
droop o
o o o
o o
R V i
for no load i means i i
and i i
= A A
A = A
= A <
Analysis, Design, and Performance Evaluation of Droop Current-Sharing Method
Brian T. Irving and Milan M. JovanoviC, Delta Products Corporation
15-Jun-11 156
Droop control
Analysis, Design, and Performance Evaluation of Droop Current-Sharing Method
Brian T. Irving and Milan M. JovanoviC, Delta Products Corporation
Set points error influence (due to sensor errors and power mismatch)
Virtual impedance influence
*
/
o droop
i V R A = A
*
/
o droop
i V R A = A
1 2
,
o o
V V
o
V
1 o
i
2 o
i
2
o
i
#1
#2
1
2
o
o
o
V
V
V
=
=
1 2
,
o o
i i
1 2
,
o o
V V
o
V
1 o
i
2 o
i
#1
#2
1
2
o
o
o
V
V
V
=
=
1 2
,
o o
i i
2
o
i
1 2
,
o o
V V
o
V
1 o
i
2 o
i
#1
#2
1
2
o
o
o
V
V
V
=
=
1 2
,
o o
i i
2
o
i
1 2
,
o o
V V
1 o o
i i =
#1
#2 1
o
o
V
V
=
=
1 2
,
o o
i i
2
0
o
i =
1 2
,
o o
V V
o
V
1 o
i
2 o
i
2
o
i
1 2
,
o o
i i
#1
#2
Output-Voltage
Set-Point Mismatching
1
2
o
o
o
V
V
V
=
=
1 2
,
o o
V V
o
V
1 o
i
2 o
i
2
o
i
#1
#2
1
2
o
o
o
V
V
V
=
=
1 2
,
o o
V V
o
V
1 o
i
2 o
i
#1
#2
1
2
o
o
o
V
V
V
=
=
1 2
,
o o
V V
o
V
2 1
2
o
o o
i i
i
= =
#1,#2
1
2
o
o
o
V
V
V
=
=
1 2
,
o o
i i
1 2
,
o o
i i
1 2
,
o o
i i
15-Jun-11 157
Primary control droop control:
( ) ( )
* *
o p MG MG i MG MG
v k v v k v v dt o = +
}
Voltage restorer:
*
o ref o D o
v v v R i o = +
Secondary control for DC microgrids
In a DC microgrid, the voltage sources can use a virtual resistance.
The voltage reference can be readjusted by the secondary control, avoiding
voltage deviations. A deadband also can be performed.
ref o
v v o +
ref
v
15-Jun-11 158
R
d
-
+
i
dc
+
V
+
PI
-
u
dc
+
cos
sin
DC Droop
Controller
DC Voltage
Controller
Current Ref.
Generator
-
+
u
dc
PI
DC Voltage Secondary
Controller
PWM
Generator
i
1
AC Current
Controller
-
+
-
+
i
1
PR
PR
HC
HC
-abc
Secondary Control Level
Primary Control Level
dc
u
-
dc
u
-
1
i
-
1
i
-
u
dc
To Rectifier II
Hierarchical control diagram of a parallel PWM rectifier system
15-Jun-11 159
dc
u
-
-
+
G
PI
G
c
G
dcplant
u
dc
G
PI
+
-
+
1
1 s t +
dc
u
-
Control diagram of the secondary controller including a delay unit
15-Jun-11 160
i
-
+
G
PR
G
f
i
-
+
P
i
R
HC 5
th
HC 7
th
+
+
+
-6 -5 -4 -3 -2 -1 0 1 2
x 10
4
-4
-3
-2
-1
0
1
2
3
4
x 10
5
0.018 0.038 0.065 0.09 0.13
0.19
0.28
0.5
0.018 0.038 0.065 0.09 0.13
0.19
0.28
0.5
1e+004
2e+004
3e+004
4e+004
5e+004
6e+004
1e+004
2e+004
3e+004
4e+004
5e+004
6e+004
-200 -150 -100 -50 0
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
x 10
4
-144+j15933
-144-j15933
Control diagram of inner current loop and
parallel Harmonic Compensation
15-Jun-11 161
Implementation of secondary control for DC microgrids
G
MG
(s)
*
MG
v
MG
v
M
i
c
r
o
g
r
i
d
_
Primary control (droop method)
Driver and
PWM
Generator
DC
source
_
+
Current
loop
Voltage
loop
*
o
v
Driver and
PWM
Generator
DC
source
_
+
Current
loop
Voltage
loop
*
o
v
o
v
o
i
ref
v
o
v o
o
v o
o
v
o
i
D
R
D
R
ref
v
Lowbandwidth
communications
Inner loops
Inner loops
Primary control (droop method)
Voltagerestoration
loop
The primary and secondary control levels can be implemented similarly as in an AC MG.
In this case, the BW can be higher since the virtual resistance acts instantaneously.
Secondary
control
Virtual
resistance
15-Jun-11 162
Tertiary Control for Microgrids
Tertiary control for DC microgrids
Tertiary control expression and implementation
( ) ( )
* *
' '
o p G G i G G
v k i i k i i dt o = +
}
Bypass
Secondary
control
Tertiary control
+
_ i
G
Stiff
DC grid
i
G
*
DC-Microgrid
G
T
(s)
v
MG
v
DC
i
G
v
*
MG
Before the DC MG is connected to the DC stiff grid, the secondary control
can make both voltages equal.
15-Jun-11 163
Electrical scheme of the experimental system
i
dc1
R
L
AC
DC
AC
DC
u
abc Control System
Based on dSPACE1103
i
abc2
i
abc1
i
dc2
PWM2 PWM1 u
dc
15-Jun-11 164
Experimental results for hierarchical control of DC
microgrids
DC voltage robustness test with
secondary control with 63Hz bandwidth
DC voltage deviation caused by droop controller DC voltage step response
AC current in Converter I when step
DC voltage reference value employed

u
dc
=8.5V

u
dc
=5V
15-Jun-11 165
Conclusions
Hierarchical control systembased on frequency domain is accomplished:
In the primary level of the hierarchical control system, AC current PR controller and DC voltage
PI controller are employed
For modular design, droop controller is adopted to reach DC current sharing. Both equal
current sharing and unequal current sharing are accomplished, according to the current rating
of each converter
In the secondary control level, DC voltage PI controller is adopted to restore the deviation
caused by droop control in the primary level. Also, in order to connect the MG to a dc stiff
source, first, we have to measure the voltage of this stiff source, and that will be the reference
of the secondary control loop. After the transient, the MG can be connected to the dc stiff
source through the static bypass switch. At that moment, the MG does not have any exchange
of power with the external dc source
In tertiary control, once the MG is connected to the dc source, the power flow can be
controlled by changing the voltage inside the MG regulating the current flow to/froma stiff dc
source connected to the MG
15-Jun-11 166
References
[1] J. M. Guerrero, J. C. Vasquez, J. Matas, M. Castilla, etc, "Control strategy for flexible microgrid based on
parallel line-interactive UPS systems," IEEE Trans. Industrial Electronics, Vol. 56, No. 3, pp. 726-736, 2009.
[2] J. M. Guerrero, J. Matas, etc, "Decentralized control for parallel operation of distributed generation inverters
using resistive output impedance," IEEE Trans. Industrial Electronics, Vol. 54, No. 2, pp. 994-1004, 2007.
[3] Y. W. Li and C. Kao, "An accurate power control strategy for power-electronics-interfaced distributed
generation units operating in a low-voltage multibus microgrid," IEEE Trans. Power Electronics, Vol. 24, No. 12,
pp. 2977-2988, 2009.
[4] D. M. Vilathgamuwa, P. C. Loh and Y. W. Li, "Protection of microgrids during utility voltage sags," IEEE Trans.
Industrial Electronics, Vol. 53, No. 5, pp. 1427-1436, 2006.
[5] F. Katiraei, M. R. Iravani and P. W. Lehn. "Micro-grid autonomous operation during and subsequent to
islanding process," IEEE Trans. Power Delivery, Vol. 20, No. 1, pp. 248-257, 2005.
[6] H. Gaztanaga, I. Etxeberria-Otadui, S. Bacha and D. Roye, "Real-time analysis of the control structure and
management functions of a hybrid microgrid system," in Proc. IECON Conf., 2006, pp. 5137-5142.
[7] C. Jin, P. C. Loh, P. Wang, Y. Mi, F. Blaabjerg, "Autonomous operation of hybrid AC-DC microgrids," in Proc.
ICSET Conf., 2010.
[8] X. Liu, P, Wang and P. C. Loh, "A hybrid AC/DC microgrid and its coordination control," IEEE Trans. Smart Grid,
to be published.
[9] X. Yu, A. M. Khambadkone, H. H. Wang, etc, "Control of parallel-connected power converters for low-voltage
microgrid-Part I: A hybrid control architecture," IEEE Trans. Power Electronics, Vol. 25, No. 12, pp. 2962-2970,
2010.
[10] C. T. Lee, C. C. Chuang, C. C. Chu and P. T. Cheng, "Control strategies for distributed energy resources
interface converters in the low voltage microgrid," in Proc. ECCE Conf., 2009, pp. 2022-2029.
15-Jun-11 167

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Droop Controller Voltage Controller

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