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3, OCTOBER 2010
117
I. INTRODUCTION
OLAR, wind, and other renewable energy sources are becoming an increasing part of the energy supply to the power
grid.
Grid-connected solar photovoltaic (PV) continued to be the
fastest growing power generation technology, with a 70% increase in existing capacity to 13 GW in 2008 and the growth of
existing wind power capacity by 29% in 2008 to reach 121 GW,
more than double the 48 GW that existed in 2004 [1], [2]. However, similar to other renewable energy sources, solar and wind
energy tends to be unsteady because they are influenced by natural and meteorological conditions [3]. Moreover, high penetration of intermittent renewable resources can introduce technical
challenges including grid interconnection, power quality, reliability, protection, generation dispatch, and control [4]. Therefore, the industry will need to confront the challenges associated
with higher levels of penetration [5].
Fig. 1(a) and (b) shows the typical power output profile of
a solar PV system (1.5-MW capacity) and a large wind farm
(50-MW capacity), respectively. The figure shows that the
power output can have steep rises, sudden drops during the
day and hence, integrating such highly intermittent energy
Manuscript received September 23, 2009; revised May 13, 2010; accepted
July 19, 2010. Date of publication August 09, 2010; date of current version
September 22, 2010.
The authors are with the Department of Electrical and Computer Engineering
(ECE), North Carolina State University in Raleigh, NC 27695 USA (e-mail:
steleke@ncsu.edu; baran@ncsu.edu).
Digital Object Identifier 10.1109/TSTE.2010.2061880
118
Fig. 1. Typical intermittent renewable energy source power output. (a) Solar PV system. (b) Wind farm.
mainly focus on demonstrating the feasibility of new technologies, as dispatching intermittent energy sources puts quite challenging requirements on the BESS performance. To illustrate
these challenges, consider the actual solar PV and wind farm
profiles in Fig. 1(a) and (b). First a dispatch level needs to be
determined for the next dispatching period, which is assumed to
be 1 hour. Since the average solar and wind power output for the
next hour can be forecasted quite accuratelyabout 10% or less
error ([16], [17]), this forecasted value will be the desired dispatch level as it will require the smallest BESS size [4]. Hence,
the BESS will be controlled to compensate for the difference beand the renewable resource output,
tween this dispatch level
or
. Fig. 3(a) shows this difference power for
i.e.,
the PV system and (b) shows the histogram of this difference.
Integrating the power profile over time gives us the minimum
required storage size for perfect dispatch which was found to be
0.4 MWh. Moreover, from Fig. 3(a) we also see that the BESS
charge/discharge period varies between 5 and 25 min during the
daytime and we need a converter rating of 1 MVA.
Similarly, Fig. 4(a) shows the difference power for the wind
farm and (b) shows the histogram of this difference. Integrating
this power profile over time gives us the minimum required
storage size for perfect dispatch which was found to be 17 MWh.
Moreover, from Fig. 4(a), we see that the BESS charge/discharge period varies in a similar fashion to solar and this time,
it also needs to charge/discharge during nighttime, and requires
a converter rating of 17 MVA.
Even if these numbers give us an estimate of the required
power and energy rating for the BESS, in practice, we have limitations such as we do not fully utilize the BESS and we have
battery current limits and losses in the converter. Hence, to use
the BESS in this application, we need to consider the limitations
of this proposed structure:
TELEKE et al.: RULE-BASED CONTROL OF BATTERY ENERGY STORAGE FOR DISPATCHING INTERMITTENT RENEWABLE SOURCES
119
=P 0
Fig. 4. Power characteristics for ideal BESS. (a) Power variations
(in megawatts). (b) Histogram of power variations (%).
P
1) State of Charge (SOC): The state of charge of a battery
is its available capacity expressed as a percentage of its rated
capacity. Knowing the amount of energy left in a battery compared with the energy it had when it was new gives the user an
indication of how much longer a battery will continue to perform before it needs recharging [18].
As it is not desired to deplete or overcharge the battery, the
SOC of the battery should be kept within proper limits (i.e.,
between 30% and 100%) [7], [13] and needs to be determined
accurately for the controller operation. Furthermore, by limiting
the SOC, the charge/discharge time for the battery will also be
limited according to the energy left in the battery.
In this study, a third-order model developed by Ceraolo [19],
[20], has been considered for accurate representation of battery
charge/discharge characteristics and estimating the SOC of the
battery. Fig. 5 shows this model.
In this model, the main branch (containing the elements
and
) approximates the battery charge/discharge dynamics, the parasitic branch (containing
and
)
approximates the overaccounts for the self-discharge, and
charge resistance. As the figure indicates, most of the resistive
elements are nonlinear, current dependent, and are determined
=P 0
empirically [21]. For this study, the parameters were taken from
[19] which are derived for a flooded lead acid battery with a
capacity of 500 Ah.
2) Deep Discharge: Cycle life of a battery decreases with
increased depth of discharge (DOD) and many cell chemistries
120
BESS and the constraints of the problem are to limit the SOC
and discharge current of the battery.
According to this problem, we can write our performance
index as a quadratic cost functional of
(3)
Fig. 6. Overall control block diagram.
will not tolerate deep discharge and may be permanently damaged if fully discharged. Therefore, to increase the cycle life of a
battery and to protect the battery from death, a limitation needs
to be put on the DOD of the battery which can be achieved by
limiting the SOC to drop below a certain level [22].
III. RULE-BASED CONTROL OF BESS FOR DISPATCH
As mentioned above, the main challenge for renewable
resources is their intermittent power output and hence, our
problem becomes to develop a controller to charge/discharge
the BESS through converter such that the solar PV/wind farm
power output can be dispatched on an hourly basis while
considering the SOC and deep discharge limitations of the
BESS. For this purpose, a rule-based control will be developed
to determine the current reference for the converter which will
charge/discharge the BESS accordingly. The overall control
block diagram for the BESS and converter is shown in Fig. 6.
The inputs for the controller are the hourly dispatch set point
, and the renewable resource output, i.e.,
or
.
Moreover, the SOC of the battery and the voltage of the battery
are also required in order to develop the controller. The focus
will be given on describing the outer control since there are
many papers which explain how to control the ac/dc converter
(i.e., inner control and generation of switching signals) with a
known current reference.
Before determining the rules, let us represent our limitations
and objective first. For our case consisting of BESS with a converter, our limitations are as follows:
(1)
(2)
where SOC and SOC
represent the minimum and maximum limits of SOC of the BESS, respectively;
is the BESS
current and it is positive when battery discharges; and
and
represent the maximum allowable charge and discharge current for the BESS, respectively.
Having defined our limitations, our objective is to satisfy
, which is
for solar or
for wind, i.e., minimizing the difference between
and
so that perfect hourly dispatch will occur.
Using these limitations and the objective given above, we can
define the control problem as an optimal control problem since
the objective function of the optimal control problem is to minimize the deviations between the solar/wind power and hourly
dispatch set points using the BESS, i.e., optimal tracking for
which will penalize the deviations from the battery power reference
. Moreover, if we assume that the
is the
is the input to the system, then
output of the system and
the relation between output and input becomes
(4)
where the voltage of the BESS
is used to relate the input
and output. Moreover, the constraints for this problem are given
in (1) and (2) which requires limits on the current and SOC.
This type of optimal tracking problem has attracted considerable attention from control researchers, and in order to solve
it, the system inversion for exact tracking is developed [23]. In
this method, the systems dynamics are inverted in order to get
) from the desired output
the desired input trajectory (i.e.,
). In [23], this method is applied in order
trajectory (i.e.,
to solve the output tracking problem for a general piezo-based
positioner.
Using the system inversion technique, we can develop our
rules for the solution of the optimal tracking problem as follows:
(5)
(6)
(7)
(8)
(9)
where it is assumed that the battery initial SOC is between
SOC
and SOC , and
is positive when battery
discharges. Having developed the rules that guarantee that SOC
is kept within the limits while performing perfect dispatch, i.e.,
obtained above, we can
exact tracking, now using the
define the rules to incorporate the current limit
(10)
(11)
(12)
where (4) is used to relate the input and output as discussed
above.
TELEKE et al.: RULE-BASED CONTROL OF BATTERY ENERGY STORAGE FOR DISPATCHING INTERMITTENT RENEWABLE SOURCES
: solar power; P
121
122
Fig. 8. A 300-kWh BESS performance. (a) State of charge of one battery. (b) Current profile of one battery (kA).
: wind power; P
Fig. 10. The 10-MWh BESS performance. (a) State of charge of one battery. (b) Current profile of one battery (kA).
achieved for the wind case, too, and the net injected power follows the desired hourly dispatch set points perfectly most of the
time.
Similar to the solar case, it is seen in Fig. 10 that the SOC and
current of the battery is kept within the desired limits with the
rule-based control method. Moreover, in this case, the battery is
also charged/discharged during the nighttime which necessitates
batteries with high cycling capability as mentioned before.
TELEKE et al.: RULE-BASED CONTROL OF BATTERY ENERGY STORAGE FOR DISPATCHING INTERMITTENT RENEWABLE SOURCES
123
Fig. 11. Histogram of power variations (%). (a) The 300-kWh BESS with solar PV system. (b) The 10-MWh BESS with wind farm.
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Sercan Teleke (S08) was born in Ankara, Turkey,
in 1983. He received the B.S. degree in electrical and
electronics engineering from Middle East Technical
University, Ankara, in 2005, and the M.S. degree in
electric power engineering from Chalmers University
of Technology, Goteborg, Sweden, in 2006. He is currently pursuing the Ph.D. degree in electrical engineering at North Carolina State University, Raleigh.
His research interests are in the areas of power
electronics applications to power systems and integration of renewable energy sources using energy
storage.
Subhashish Bhattacharya (M85) received the Ph.D. degree in electrical engineering from the University of Wisconsin, Madison, in 2003.
From 1994 to 1996, he was with York International Corporation. From 1996
to 1998, he was a Consultant to Soft Switching Technologies (SST). From 1998
to 2005, he was in the FACTS and Power Quality Division of Siemens Power
Transmission and Distribution. Since August 2005, he has been an Assistant
Professor in the Department of Electrical and Computer Engineering, North
Carolina State University, Raleigh. His research interests include FACTS, utility
applications of power electronics such as custom power and power quality issues, active filters, high-power converters, and converter control techniques.