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Applied Energy
journal homepage: www.elsevier.com/locate/apenergy
Grifth School of Engineering, Grifth University, Gold Coast, QLD 4022, Australia
School of ITEE, The University of Queensland, Brisbane, QLD 4072, Australia
c
SEIT, The University of New South Wales, Canberra, ACT 2600, Australia
b
h i g h l i g h t s
" Robust control provides exible photovoltaic (PV) accommodations.
" A robust PV control can signicantly enhance the penetration level.
" The change in volatile PV generations is considered as an uncertain term.
" A robust controller is designed to ensure both dynamic voltage and transient stability.
a r t i c l e
i n f o
Article history:
Received 25 October 2011
Received in revised form 30 April 2012
Accepted 24 May 2012
Available online 27 June 2012
Keywords:
Distributed generation
Photovoltaic (PV) generators
Voltage constraints
Decentralized control
Generation and load uncertainties
a b s t r a c t
This paper proposes a decentralized control strategy for higher penetration of photovoltaic (PV) units
without violating system operating constraints. A systematic procedure is developed and a robust controller is designed to ensure both dynamic voltage and transient stability for a specic PV integration
level. The change in the model due to the volatile nature of PV generations is considered as an uncertain
term in the design algorithm. Simultaneous output-feedback linear quadratic controllers are designed for
PV generators. This designed control scheme is robust with respect to intermittency and enhances the
integration level in a sub-transmission and distributed system. The effectiveness of the proposed controller is veried on a 43-bus industrial meshed distribution system under large disturbances. It is found that
the designed control scheme enhances stability and increases the renewable integration levels.
2012 Elsevier Ltd. All rights reserved.
1. Introduction
The installed capacity of distributed generation (DG) using a
wide range of technologies is expected to continue to increase over
the coming years [1,2]. The technologies of DG include PV generators, wind turbines, small hydro turbines, combined heat and
power (CHP) units and fuel cells. Due to this wide variety of technologies, the integration of small, decentralized power generators
into medium and low-voltage power grids brings technical challenges which have to be resolved in order to obtain benets from
the interconnection of wide-scale DG units to existing grids. Of
the existing DG units, PV is becoming increasingly attractive in
certain countries due to the availability of resources and environmental benets [3]. PV systems are connected primarily to the
356
Nomenclature
PV
DG
PI
ION
IL
Lpv, Cpv
Is
Rs, Rsh
photovoltaic
distributed generation
proportional integral
dark diode characteristics of photocells
light-generated current
wiring inductance and capacitance of PV
saturation current
series and shunt resistances
a
ring angle of PWM scheme
K
amplitude modulation index
ipv
current owing through array
vpv
output voltage of array
Rdc, Ldc, Cdc resistance, reactance and capacitance of DC-link
idc
Rout, Lout
iout
q
T
x
u
y
f
n
A, B, C, D
s; h
DC-DC
Converter
Inverter
control
MPPT control
Lpv
1:N
To DC
Link
C pv
R dc
2. System modeling
As shown in Fig. 1 PV plants have mainly two parts, (i) solar
conversion and (ii) electrical interface with the electrical network
(power electronic converter). The power converters are supplied
from PV sources that convert the sun irradiance energy to DC
DC-AC
Converter
From Dc
Link
Ldc
C dc
R out
Lout
Grid Connection
Point
357
ture and ns the number of series cells in the PV array. Since the values of Lpv and 1/Rsh are very small, we can neglect the terms (Lpv/Rsh)
and (dipv/dt) in the above equation and write:
i pv
Rs
IL
ION
Rsh
Lpv
vpv
Cpv
IL ipm
dipm
1
ln
dt
aLpm
Is
Nidc
mpm Rs ipm !
Rsh
1
mpm Rs ipm
Lpm
idc
R dc
dmpm
1
ipm Nidc
C pm
dt
L dc
Cdc
Kiout cos( t + )
vdc
didc
1
Nmpm Rdc idc mdc
Ldc
dt
The DC link voltage dynamics can be given based on the principle of power balance
i out
d 1
C dc m2dc P pm P
dt 2
Lout
Rout
Kvvdc cos( t + )
Vg cos( t)
dipm
IL IS exp a mpv Rs ipm Lpm
1
dt
ipm 0
mtd mdc kmdc mtd , v tq v dc kv dc mtq ; where P 32 mtd itd mtq itq , Ppv
q
where a nskT
, k 1:3807 1023 JK 1 is the Boltzmanns constant,
q 1:6022 1019 C the charge of electron, T = 298 K the tempera-
Pdc Pac
358
Pgi
Pgrefi
vtdir
Robust
controller
vdci
ri
ith Interconnection
Dynamics
Local
Uncertainty
from
j {j
1 to N and j
i}
m tdi
ith Plant
k vdci
i Interconnection Dynamics
(for subsystems other
than ith subsystem)
zi
Qgi
Qgrefi
vtqir
Robust
controller
ui
mtqi
ith Controller
Si : x_ i t Ai xi t Bi ui t Ei ni t Li rt
zi t C i xi t Di ni t
7
8
fi t Gi xi t Hi ui t
yi
11
Z
0
N
X
kzi tkdt
12
i1
Z
0
N
X
kzi tkdt
i1
N
X
i xi0
inf C xTi0 X i si M i hi M
13
i1
yi t C yi xi t Dyi ni t
ni
10
mi
C ffsi ; hi gNi1 2 R2N g; a set of vectors, and Mi > 0 and Mi > 0 are
two positive denite symmetrical matrices. Matrices Xi and Yi are
the solutions to the following pair of parameter-dependent coupled
algebraic equations [26]:
h
i
T
ATi Y i Y i Ai Y i B2i BT2i Y i C Tyi W 1
i C yi C i C i 0;
14
h
i
T
T
ATi X i X i Ai C Ti C i X i Bi R1
i Bi B2i B2i X i 0;
15
359
16
T
ui R1
i Bi X i xci :
17
generator consists of a number of PV arrays depending on its rating. A PV array consists of 150 strings connected in parallel, each
string is characterized by a rated current of 2.8735 A. Each string
is subdivided into 54 modules, characterized by a rated voltage
of 43.5 V and connected in series. Thus, the total output voltage
of the PV array is 2349 V and output current is 431 A. The value
of the DC link capacitor is 5000 lF and the nominal voltage is
1582 V. Solar irradiance is constant at 1.0 kW/m2. The parameter
of the PV system is given in Appendix A. As, generally, the output
voltage of a PV module is low, at rst a DC-AC converter is used
to convert the output of the PV array into AC which is then stepped
up through a transformer. The PV generator is connected to the
grid through a low-pass lter and an isolation transformer [23].
A built-in transformer is generally included in the PV system to
adapt the VSC AC side terminal voltage to the nominal PCC voltage
which is known as an isolation transformer. Next the performance
of the designed controller is discussed.
The upper levels of DG penetration using the above mentioned
procedure are given in Table 1. The output power of each generator
is increased simultaneously in order to determine these upper levels. Fig. 7 shows the movement of the critical mode with the increment of the PV level for the open loop system. The critical modes are
dened as the eigenvalues closest to the imaginary axis with the
minimum damping that contribute most to the transient behavior.
Critical modes are calculated from eigenvalues and participation
factors through modal analysis. From Fig. 7 it is clear that the critical
mode moves to the right-half plane and thereby reduces damping
which motivates for the design of the robust controller. To assess
the performance of the designed controller, the integration level
using a properly tuned PI controller [29] is also determined. The PI
parameters obtained from the Ziegler Nichols method are KP = 1.6
and KI = 0.4 for P control and KP = 0.6 and KI = 1.25 for Q control.
From Table 1, it is clear that the designed controller can accommodate more PV units than the conventional PI controller; for example,
at bus 50, the integration level can be enhanced by 13.63% using the
robust controller. The upper level is determined based on the grid
codes [19], i.e., the steady-state voltage remains within 10% of
the nominal voltage, the transient voltage restores within 2 s and
the minimum damping of the critical mode is 5%.
Table 1
Penetration levels (MW).
Control
Bus 4 PV1
Bus 50 PV2
Bus 39 PV3
PI
Robust
15.25
16.75
14.85
17.25
18.15
19.65
6
4
5 MW PV
Imiginary axis
i PN
1=2 Hi c;
where Ri DTi Di ;W i Dyi DTyi and h
n1;ni hn , C i b C i fsi hi g
D
i
i
2i s1=2 Ei h1=2 Li , Dyi s1=2 Dyi 0. These
D
, B
i
i
i
si
hi 1=2 Gi
solutions are required to satisfy the following conditions:
10 MW PV
15 MW
PV
0
-2
-4
-6
-0.8
-0.7
-0.6
-0.5
-0.4
-0.3
-0.2
-0.1
Real axis
Fig. 7. Movement of the critical mode with the increment of PV level.
360
controllers ensure stable operation, the designed controller provides better performances in terms of damping, oscillations and
settling time. Its real power and voltage restore to their pre-fault
values within 0.5 s compared with 6 s for the PI controller.
The performance of the controller is also veried under a threephase fault. A symmetrical three-phase fault is applied on bus 31 at
1 s and cleared after 0.2 s. Figs. 10 and 11 show the output power
and terminal voltage responses of the PV using both the proposed
0.19
PI control
PI control
1.1
Voltage (pu)
0.17
0.16
0.15
1.05
1
0.95
0.9
0.14
0.13
Robust control
Robust control
0.18
1.15
0.85
0.8
0
10
Time (s)
10
0.166
1.015
PI control
1.01
0.164
Robust control
1.005
Voltage (pu)
1
0.995
0.99
0.985
0.162
0.16
0.158
0.156
0.154
0.98
0.152
0.975
0.15
0.97
Time (s)
0.148
10
Time (s)
10
Time (s)
Fig. 12. Real power output of PV1 due to 10% change in load.
1.01
0.6
PI control
1
0.4
Voltage (pu)
1.005
Robust control
0.5
0.3
0.2
0.995
0.99
0.985
0.98
0.1
0.975
0
-0.1
0.97
0
Time (s)
Fig. 10. Real power of PV3 for three-phase fault.
10
0.965
Time (s)
Fig. 13. Voltage output of PV1 due to 10% change in load.
10
361
Table A1
Line data
Bus number
Load (MW)
Base (kV)
Bus to bus
1
2
3
4
5
6
7
8
9
10
11
12
13
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
37
38
39
41
49
50
51
100
0
0
0
0
0
0
0
6.361
0
0
0.353
0
0
0
0
0.831
0.831
2.650
2.650
0.421
0.084
0.084
0
0
0
0
0.578
0.703
0.563
0
0.663
0
1.237
0.150
0.963
0
0.478
0
0
0
0
0
0
0
0
0
0
0
0.200
0
0
0
0
0.521
0.521
1.502
1.502
0.283
0.057
0.057
0
0
0
0
0.351
0.426
0.349
0
0.394
0
0.701
0.049
0.520
0
0.307
0
69
69
13.8
13.8
13.8
13.8
13.8
13.8
0.48
13.8
2.4
13.8
13.8
13.8
13.8
0.48
0.48
2.4
2.4
0.48
0.48
0.48
0.48
13.8
13.8
13.8
0.48
0.48
0.48
13.8
0.48
0.48
4.16
0.48
0.48
13.8
0.48
69
39
925
913
912
35
326
36
415
47
727
716
1013
1012
1027
48
424
2431
2432
2838
3328
2938
3429
3830
3530
2217
2318
503
1001
1002
2841
0.00150
0.00424
0.00017
0.00038
0.00075
0.00157
0.00109
0.00227
0.00000
0.00143
0.00275
0.00046
0.00002
0.00110
0.00076
0.00118
0.00079
0.00112
0.03039
0.03813
0.04012
0.03813
0.06079
0.03813
0.03813
0.03813
0.00122
0.00139
0.00139
0.03429
0.00125
0.00353
0.00014
0.00032
0.00063
0.00131
0.00091
0.00189
0.00010
0.00119
0.00229
0.00039
0.00002
0.00091
0.00092
0.00098
0.00065
0.00093
0.02929
0.02450
0.03866
0.02450
0.05858
0.02450
0.02450
0.02450
0.00243
0.00296
0.00296
0.02094
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.00480
0.00480
0.0
Bus to bus
Resistance (p.u.)
Reactance (p.u.)
kVA
%Z
X/R ratio
Ratio (kV)
13
24
539
611
1217
1318
619
1520
1621
2528
2629
2730
3136
3237
549
5051
0.00313
0.00313
0.04314
0.05575
0.06843
0.05829
0.01218
0.01218
0.15036
0.05829
0.05829
0.05829
0.02289
0.10286
0.05918
0.06391
0.05324
0.05324
0.34514
0.36240
0.44477
0.37888
0.14616
0.14616
0.75178
0.37888
0.37888
0.37888
0.22886
0.56573
0.35510
0.37797
15000
15000
1725
1500
1500
1500
3750
3750
750
1500
1500
1500
2500
1000
1250
1500
8.00
8.00
6.00
5.50
6.75
5.75
5.50
5.50
5.75
5.75
5.75
5.75
5.75
5.75
4.50
5.75
17.00
17.00
8.00
6.50
6.50
6.50
12.00
12.00
5.00
6.50
6.50
6.50
10.00
5.50
6.00
5.91
69/13.8
69/13.8
13.8/4.16
13.8/2.4
13.8/0.48
13.8/0.48
13.8/2.4
13.8/2.4
13.8/0.48
13.8/0.48
13.8/0.48
13.8/0.48
13.8/2.4
13.8/0.48
13.8/0.48
13.8/0.48
PV system data
Number of PV cells per module
Number of parallel modules in each row
Module current rating
Module voltage rating
DC-link capacitor
Inductance of lter
54
150
2.8735 A
43.5 V
5000 lF
100 lH
0.1 V/K
0.003 A/K
1.3
3060 Hz
1 mO
369 lF
362
as long as condition (11) holds. Figs. 12 and 13 show the PCC voltage and real power output due to the 10% increase in load from
which it is clear that the controller stabilizes the system at different equilibrium points.
7. Conclusion
A systematic robust control methodology for integrating intermittent renewable generation into existing grids is presented in
this paper. Control strategies for PV generators are discussed in detail. The proposed controller ensures stability in the presence of
generation uncertainty, interconnection effects and weakly coupled generators with low inertia. The simulation results show that
the proposed robust control method can augment the potential
penetration of PV units without requiring network reinforcements
or violating system operating constraints. Also, the proposed algorithm can be applied to a distribution network with different types
of DG units, for example, solar, wind, hydro and CHP. The future
aim of this work is to implement the proposed control technique
in the laboratory and design coordinate controllers for PV systems.
Acknowledgement
This work was supported by the CSIRO Australia under the
Intelligent Grid Flagship Project.
Appendix A
See Table A1.
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