Control of Power Electronic Converters

in Distributed Electrical Energy Systems

Vinod John
Power Electronics Group
EE Department , IISc Bangalore
March 2009
Organization

Need for Distributed Generation (DG) of power

Power electronics in DG / renewable energy
State of the art control of power converter
Pulse width modulation
Phase locked loops for unit vector generation
Current control in power converters
Reference calculation
Emerging power converter control requirements
Conclusions

Mar 2009 PEG IISc Bangalore 2

Why Distributed Generation?

Source: Wikipedia Source: International Energy Agency

- World Energy Outlook, Nov. 2008
Renewable energy and distributed generation
Concerns of pollution and climate change
Concerns of resource depletion
Use of local resources to meet local needs
Technical efficiency, cost and other considerations
Mar 2009 PEG IISc Bangalore 3
Distributed Electric Power Generation
Generation / Transmission system

CPP1 CPP2

CPP Load2
Load1

CPPn ... ...

Loadn

DG DG1 Load1 DG2 Load1 ... Loadn ... DGn DG1 Load1 DG2 Load1 ... Loadn ... DGn

Distribution / Consumption / DG Distribution / Consumption / DG

Grid connected DG Stand alone DG

Central power plant and distributed power generation

DG systems that are grid connected or stand alone
Renewable energy systems are often DG systems
Mar 2009 PEG IISc Bangalore 4
DG Interconnection
Grid
Power
Prime Source
Conditioning
Electrical
Loads
Thermal

Prime Source Power Conditioning Output

Combustion engine (Diesel, natural Synchronous machine Electric grid
gas, biomass,) Induction machine Loads
Hydro (stream, river, tidal, ocean Squirrel cage Electrical
current,) Doubly fed Thermal
Wind (residential, wind farms, Inverters
offshore,) DC-DC converters &
Solar (photovoltaic, solar thermal,) inverter
machine, rectifier &
Chemical (fuel cell, secondary
inverter
cell,)
Many other varieties
Mar 2009 PEG IISc Bangalore 5
Power Electronic Converters

250kVA power converter

Mar 2009 PEG IISc Bangalore 6

Power Converter Specification
High level specifications
Power level
Real and reactive
3 or 1phase, 3 or 4 wire
Grid voltage
Amplitude, frequency, tolerance range
Environmental conditions
Indoor/outdoor
Min/Max ambient temperature
Enclosure, humidity, elevation
Other mechanical requirements
Control Specifications
Mar 2009 PEG IISc Bangalore 7
Shunt Grid Side Power Converter
Grid Interconnection Power Converter

Conditioned
Lf Lg electric power
Unconditioned Vdc Vci vc
Vbi
electric power Vai
Cf
from prime source Vag Vbg Vcg

Filter + Switchgear

Sensing and Controls

Large number of applications of shunt VSI

Active front end for loads
Grid interactive UPS
Power quality devices
Statcom, Active filters,
Distributed Generation front ends
Mar 2009 PEG IISc Bangalore 8
VSI Topology
Topology for grid interconnection
1phase, 3 phase
1 to 4 legs

Prime Vdc
Source Filter Grid
Prime Vdc
Source Filter Grid
Prime Vdc
Source Filter Grid
Prime Vdc
Source Filter Grid
Prime Vdc
Source Filter Grid
N

Mar 2009 PEG IISc Bangalore 9

Grid Side Converter Configurations
Vg1
Vg1
Vg2 Vg2

Load

Load
Grid Grid
Vg3
Vg3

i1 i2 i3

PWM
Pulses PWM Pulses

Grid Grid
Shunt type Series type

PWM Pulses PWM Pulses

Combination of series and

shunt type
Mar 2009 PEG IISc Bangalore 10
Control of Grid Interactive Power
Converters
Control Structure
Current Switching
Voltage
Power* Control Converter
Control Modulation
Loop +
Loop
Filter
Reactive
Power*
Command
Unit Vector Generation
Calculation

Nested grid connected power converter control

Inner control loops: modulation, current control,
1. Faster in response
2. Responsible for quality of injected current and protection
Outer control loops: voltage, command calculation,
1. Slower in response
2. DC link voltage control, ac reactive power-voltage droop
3. Produces parts of reference current
Mar 2009 PEG IISc Bangalore 12
Simplified Power Converter System
Vg ig iload
PCC

Grid
Side
L
i

Gate Pulses Inverter

Vi Side

ig / iload
Feedback
Current
Vdc
i
Modulation m Current Sensed Grid
Reference Current Voltages
Strategy Controller i*
Calculation

Cos
Unit Vector
Sin Generation

Mar 2009 PEG IISc Bangalore 13

Pulse Width Modulation
Pulse Width Modulation
isp idcp

Vp
Cdcp Sap
Prime
Source io
Vmp
Vdc Va 240 2
sin(2 50t)

San
Cdcn

Vn

ref

Phase leg equivalent to SPDT switch

System responds to average phase leg voltage
High switching frequency
System time constants are longer
Ripple in io and Vdc is small

Mar 2009 PEG IISc Bangalore 15

 Duty Cycle - Switching Function
1 isp idcp
da
Vp
tri Sap
Cdcp
Prime
Source io
0 Vmp
Vdc Va 240 2
Tsw t sin(2 50t)
hap
1
San
Cdcn

Vn

ref
0
Tsw t

Va_ref = hap Vp_ref + han Vn_ref

d [ 0,1]
han = 1 - hap
Va_n = da Vdc
Va_ref = hap (Vp_n) + Vn_ref

idcp= io hap idcp = io da

Mar 2009 PEG IISc Bangalore 16
Space Vector

B
S
A
N

d
vs =
dt vs = vaej0 + vbej120 + vcej240
Representation of 3 phase voltage as space vector
3 phase grid voltage as an equivalent machine
Combination of switch positions in 3 phase converter
equivalent to machine voltage space vector
Mar 2009 PEG IISc Bangalore 17
Space Vector PWM

sin(60-
T1 = Vref Tsw
sin(60)

sin(
T2 = Vref Tsw sin(60)

Tz = Tsw - T1 - T2

Vectors based on a combination of Sap, Sbn, Scn

Output voltage (Vs) generated using adjacent voltage
vectors
Mar 2009 PEG IISc Bangalore 18
Space Vector PWM

Vdc
dc

Space Vector PWM Sine triangle PWM

14% increased voltage in linear range of space vector

compared to sine triangle PWM
Modulation methods with third harmonic in the neutral
cannot be used in 4 wire systems
Mar 2009 PEG IISc Bangalore 19
 Summary Modulation
Objective of PWM is to obtain an ideal amplifier

Some DG applications can limit the type of

space vector modulation methods

1. V. T. Ranganathan, Space Vector Modulation A status review, Indian Academy of Science,

Sadhana Vol. 22, Part 6, December 1997, pp. 675688.

Mar 2009 PEG IISc Bangalore 20

Unit Vector Generation Using
Phase Locked Loops
Simplified Power Converter System
Vg ig iload
PCC

Grid
Side
L
i

Gate Pulses Inverter

Vi Side

ig / iload
Feedback
Current
Vdc
i
Modulation m Current Sensed Grid
Reference Current Voltages
Strategy Controller i*
Calculation

Cos
Unit Vector
Sin Generation

Mar 2009 PEG IISc Bangalore 22

Unit Vector Generation
Unit vector reference based on positive sequence
fundamental voltage

Phase Locked Loops (PLL) in power systems

Measurement of frequency, phase and amplitude
Provides a reference sine/cosine signals synchronized to
grid waveform

Methods for implementation of PLL

Zero crossing detection
Stationary reference frame
Synchronous reference frame

Mar 2009 PEG IISc Bangalore 23

Need for PLL

Generation of unit sine and cosine for scaling of feed

back and modulating signals

Grid monitoring
1. Information on frequency, phase and voltage magnitude.
2. Synchronization between two sources
-- e.g. A power converter to grid
3. Information on negative sequence and unbalance
Mar 2009 PEG IISc Bangalore 24
Unit Vector Generation Techniques
Zero crossing detection

Look up table

Input signal
Sampling Interval
Ts

Reset by ZCD
Zero crossing detection

Limitation
1. Frequency variation
2. Multiple zero crossing

Mar 2009 PEG IISc Bangalore 25

Unit Vector Generation Techniques
Stationary reference frame based method

V = Vm cos(t) Sin

Va 3 phase to Magnitude Vm
Vb 2 phase extraction
Vc Transformation

V = Vm sin(t)
Cos

Limitation
1. Unbalance phase voltage
2. Voltage sag or swell
3. Frequency variation
Sivaprasad J.S., T. Bhavasar, R. Ghosh and G. Narayanan, Vector control of three-phase AC/DC
front-end converter, Indian Academy of Science, Sadhana Vol. 33, Part 5, October 2008, pp.
591613.

Mar 2009 PEG IISc Bangalore 26

Unit Vector Generation Techniques
Structure of the Synchronous Reference Frame (SRF) PLL

Synchronized
Input signal Phase Loop output
VCO
Comparator Filter

Output signal is synchronized to input

Mar 2009 PEG IISc Bangalore 27

 Synchronous Reference Frame PLL

SRF PLL structure

Projection of grid voltage vector
on D-axis is regulated to zero
using PI controller
Grid voltage vector is aligned to
Q-axis

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Phase Comparator

Xd = X Cos(e) + X Sin(e)
X = Xa (Xb + Xc)/2
Xq = X Cos(e) X Sin(e)
X = 3 (Xb Xc)/2
X + jX = (Xd + jXq)ej e

Mar 2009 PEG IISc Bangalore 29

Error Dynamics of SRF PLL

Va = Vm Cos(t)

Vb = Vm Cos(t - 2/3)

Vc = Vm Cos(t + 2/3)

= t /2

Assuming is close to e and neglecting negative sequence, the above

equation can be simplified to

Mar 2009 PEG IISc Bangalore 30

Approximate Block Diagram

Controller parameters obtained from desired bandwidth and damping.

Drawbacks of SRF PLL

1. Due to unbalance a 100 Hz ripple appearing in Vd and Vq may
produce distortions in e.
2. Presence of harmonic voltage can create similar problems
3. Reduced PI controller corner frequency to reduce problems due to
unbalance and harmonic makes the system response slow.
V. Kaura and V. Blasko, Operation of a phase locked loop system under distorted utility conditions, in
IEEE Transactions on Industry Applications, Volume 33, Issue 1, Jan.-Feb. 1997 Page(s):58 - 63
Mar 2009 PEG IISc Bangalore 31
Abnormal Grid Conditions
Unbalance
Frequency variation
Presence of harmonics
Voltage sag and swell
Faults
Phase jump
Line notching

Requirement :
Phase tracking of positive sequence fundamental voltage under
abnormal grid conditions

Mar 2009 PEG IISc Bangalore 32

Improved Unit Vector Generation
Methods for improving performance of SRF PLL

Phase tracking by extracting both positive and negative

sequence
-needs two reference frame transformations
Removal of ripple in Vd due to unbalance and grid
harmonics by filtering
1. Makes the response slow
2. Instability may occur due to reduced phase margin

Proposed method using Moving Average Filter (MAF)

Mar 2009 PEG IISc Bangalore 33

Filter Characteristics
Requirements
The unbalance and harmonics from the grid are at 2nf o
(100Hz, 200Hz, .)
The information for tracking phase required by the loop
filter is a low frequency signal
Suitable low pass or notch filtering approaches
MAF based on finite impulse response (FIR)
characteristics provides
Low pass filtering and
Notches at the harmonics frequencies expected from abnormal
grid conditions

Mar 2009 PEG IISc Bangalore 34

Frequency Response of MAF
Transfer function of the
selected moving average
filter in z domain is given by
9
H ( z) 0.1 z- p
p 0

No. of samples = 10
Sampling frequency = 1kHz

The first order filter for comparison has corner frequency at 10Hz
A notch filter having a notch frequency at 100Hz can also be used
-- Compared to a notch filter, a MAF provides higher
attenuation at harmonic frequencies

Mar 2009 PEG IISc Bangalore 35

Simplification For Controller Design
Vd* = 0 ff

3 ' '
+- - Vm Vd Filter -+ ++
2

Time constant of the approximated

1st order system is Tf 10ms

3 1 1 s 1
GH Vm Kp
2 1 sTf s s

Mar 2009 PEG IISc Bangalore 36

Symmetric Optimum Background

Integrator and time constant plant model

PI gains for desired open loop transfer function characteristics

1
kp =
2 ko

J.W. Umland and M.Safiuddin, Magnitude and symmetric optimum criterion for the design of linear
control systems: What is it and how does it compare with others? in IEEE Transactions on Industry
Applications, Volume 26, Issue 3, Jan.-Feb. 1990 Page(s):489 497.
Mar 2009 PEG IISc Bangalore 37
 Controller Parameters Selection
Loop gain of the system is
3 1 1 s 1
GH Vm Kp
2 1 sTf s s

Using symmetrical optimum

method Kp and were
designed
Kp = 0.101 and = 0.04s
bandwidth = 53.7 rad/sec
Phase margin = 51 deg
A fine tuning of the controller
parameter gave higher
bandwidth.
Kp = 0.3 and = 0.08s
Bandwidth = 135 rad/sec
Phase margin = 49 deg

Mar 2009 PEG IISc Bangalore 38

Implementation Details
The proposed PLL has been implemented in a Cyclone
FPGA board
Clock frequency = 20 MHz
Integration step size = 50 s
Moving Average Filter ( MAF ) specification
No. of samples = 10
Sampling frequency = 1 kHz
Implementation of MAF needs:
10 latches ( storage )
2 adder/subtract operations
1 multiplier

Mar 2009 PEG IISc Bangalore 39

Results

Tracking of reference voltage D-axis voltage under

unbalanced condition

Estimation of frequency with Estimation of frequency with

SRF PLL proposed PLL
Mar 2009 PEG IISc Bangalore 40
Results

Estimation of during Estimation of frequency with

unbalanced condition step change in frequency

Phase jump of 10 deg

Estimation of frequency during Estimation of d and q axis voltages

phase jump during three phase voltage sag
Mar 2009 PEG IISc Bangalore 41
Summary - Unit Vector Generation
Accurate and fast estimation of magnitude, frequency
and phase of grid voltage can be used for control and
protection of power converter

Three phase SRF PLL has limitations under abnormal

grid conditions such as unbalanced phase voltage

A MAF based SRF PLL is capable of giving improved

results

The PI controller parameter design and experimental

verification of the proposed PLL have been validate the
proposed approach

Mar 2009 PEG IISc Bangalore 42

 References
PLL

1. V. Kaura and V. Blasko, Operation of a phase locked loop system under distorted utility
conditions, in IEEE Transactions on Industry Applications, Volume 33, Issue 1, Jan.-Feb. 1997
Page(s):58 - 63

2. Se-Kyo Chung, A phase tracking system for three phase utility interface inverters, in IEEE
Transactions on Power Electronics Volume 15, Issue 3, May 2000 Page(s):431 - 438

3. J.W. Umland and M.Safiuddin, Magnitude and symmetric optimum criterion for the design of
linear control systems: What is it and how does it compare with others? in IEEE Transactions
on Industry Applications, Volume 26, Issue 3, Jan.-Feb. 1990 Page(s):489 497.

Mar 2009 PEG IISc Bangalore 43

Converter Current Control
Power Converter Current Control

Objectives of current control

Ideal tracking over a wide frequency range

High dynamic response
Constant switching frequency
Minimal harmonic interactions with grid
Utilization of DC link voltage
Capability of working under grid disturbance

Mar 2009 PEG IISc Bangalore 45

Current Control Techniques

Control of output current is a basic requirement

in grid connected power converter operation
Hysteresis current control
Predictive current control
Synchronous reference frame current control
Proportional-resonant current control

Mar 2009 PEG IISc Bangalore 46

Hysteresis Current Control
Vg1
Vg2

Load
Grid
Vg3

i1 i2 i3

i1* +
-

i1

i2* +
-

i2

i3* +
-

i3 Cos
Vg1
Sin
PLL Vg2
Vg
Vg3

Mar 2009 PEG IISc Bangalore 47

Hysteresis Current Control
Advantages
1. Fast dynamic response
2. Independent of parameter variation

Disadvantages
1. Variable switching frequency
2. Higher stress on devices
3. Difficulty in input filter design
4. Interaction between phases
5. Difficulty in digital implementation

D. M. Brod and D. W. Novotny, Current control of VSI-PWM inverters, IEEE Trans. Industry
Applications, vol. IA-21, pp. 562570, July/Aug.1985.
Mar 2009 PEG IISc Bangalore 48
Hysteresis Current Control
Improvements
Variable hysteresis band to make switching frequency
constant
Compensation of interaction between phases
Reduction in switching frequency by introducing zero
voltage vector states

Concerns
Possible inter-harmonics
Delay in digital detection of band crossing

Mar 2009 PEG IISc Bangalore 49

Control in Stationary Co-ordinates
Vg1
Vg2

Load
Grid
Vg3

i1 i2 i3

i1* +
-
Controller

i1 PWM

Modulator
Pulses
i2* +
- Controller

i2

i3* +
- Controller

i3 Cos
Vg1
Sin
PLL Vg2
Vg
Vg3

Current reference and measurement are sinusoids at the

fundamental frequency
Mar 2009 PEG IISc Bangalore 50
Control in Stationary Co-ordinates
Advantages
1. Co-ordinate transformations are not needed
2. Separate negative sequence controller is not needed in case
of unbalance
3. Independent control of each phase can be done

Disadvantages
1. Steady state error in phase and amplitude would be present if
PI controller is used

Improvements
1. Steady state error can be made almost zero by
Predictive controller
Proportional-Resonant (PR) controller

Mar 2009 PEG IISc Bangalore 51

Predictive Current Control
R
L

Vi Vg
di
Inverter Vi Ri L Vg Grid
Side dt Side

For a given i* to follow

i* i
Vi Ri L Vg
T
i* is the predicted value of current at the next switching
cycle.
i* can be predicted by interpolation.

Mar 2009 PEG IISc Bangalore 52

Block Diagram of Predictive Control
Vg1
Vg2

Load
Grid
Vg3

R
i1 i2 i3

R L
i V

- L +
i* + + ++ PWM

Modulator
T
Pulses

L abc
i* + + +
- T + +

i V
R

Vg1 i1 Cos
V i Vg1
Sin
V Vg2 i i2 PLL Vg2
abc abc Vg
Vg3 i3 Vg3

Mar 2009 PEG IISc Bangalore 53

Predictive Current Control
Advantages
Separate negative sequence controller is not needed in case of
unbalance
Fixed switching frequency

Disadvantages
Steady state error correction is needed
Parameter variation may affect controller performance

Improvements
Improved prediction algorithm
Online estimation of parameters
Including zero sequence current controller for a three phase four
wire systems
Marian P.Kazmierkowski, Current control techniques for Three phase voltage source PWM
converters: A survey, IEEE Trans. Industrial Electronics Vol.45, no.5 PP.691-703, Oct. 1998.
Mar 2009 PEG IISc Bangalore 54
Control in Synchronous Co-ordinate
Vg1
Vg2

Load
Grid
Vg3

i1 i2 i3

id Liq

- -
id* + + PWM

Modulator
Pulses
Vg dq
abc
+
iq* +
-
+
+

iq Lid Cos Sin

Cos
i i1 Vg1
id Sin
dq PLL Vg2
i2
iq abc Vg
i i3 Vg3

Cos Sin
C.D. Schauder and R. Caddy, Current Control of Voltage-Source Inverters for Fast Four-Quadrant
Drive Performance IEEE Trans. Industry Applications, vol. IA-18, No. 2, pp. 163171, Mar./Apr.1982.
Mar 2009 PEG IISc Bangalore 55
Control in Synchronous Co-ordinate
Synchronous reference frame (SRF) control
Advantages
1. Zero steady state fundamental error
(Under balanced condition)
2. Constant switching frequency

Disadvantages
1. Slower response compared to hysteresis
2. Poor harmonic response
3. Not compatible with 4 wire distribution systems

Mar 2009 PEG IISc Bangalore 56

Results SRF Control

Experimental result with mains voltage (125V/div) and line current (50A/div)
and 25kVA reactive power

Sivaprasad J.S., T. Bhavasar, R. Ghosh and G. Narayanan, Vector control of three-phase AC/DC
front-end converter, Indian Academy of Science, Sadhana Vol. 33, Part 5, October 2008, pp. 591
613.

Mar 2009 PEG IISc Bangalore 57

Improvements for Current Control
All the controllers work well under ideal grid situation
Need for evaluation under abnormal grid conditions

Under sustained unbalanced condition a negative

sequence controller is needed

For a three phase four wire system zero sequence

current controller is required.

Harmonic compensation capability needs be improved

Mar 2009 PEG IISc Bangalore 58

Proportional-Resonant Controller
Synchronous reference
frame control
Ki
Shift the current signals from Hpi(s) K p
50Hz to DC and s
PI to accurately control the
transformed DC

Proportional Resonant (PR)

control Ki s
Hpr(s) K p
Keeps the current signal at s 2 2
50Hz
Shifts the high gain of the PI
controller from DC to 50Hz
Mar 2009 PEG IISc Bangalore 59
PR Controller
Block diagram and transfer function of a resonant integrator

s
Hr(s) 2 2
s

10

0 |Hpi|

Magnitude Response -10 |Hpr|

Gain (dB)

Kp=0.1 -20
Ki =10
-30
=314 rad/sec
-40

-50
1 10 100 1000 10000
Frequency (Hz)

Mar 2009 PEG IISc Bangalore 60

PR Controller for Harmonics
i*
+ Kp
-
Fundamental current
+ V*
i controller +
+
Ks
i
s 2 2

K s
i5
+
s 2 (5) 2 +

5th harmonic current controller

K s
i7
s 2 (7) 2
7th harmonic current controller
Zmood, D.N.; Holmes, D.G.; Bode, G.H. Frequency-domain analysis of three-phase linear current
regulators, IEEE Transactions on Industry Applications, Volume 37, Issue 2, March-April 2001
Page(s):601-610

Mar 2009 PEG IISc Bangalore 61

PR Controller Characteristics
Advantages
Dynamic response similar to SRF controller
High gain only near the resonant frequency
Suitable for harmonic compensation along with
Fundamental frequency current controller

Disadvantages
Less well understood compared to PI controller
Complexity with increasing number of harmonics for
be compensation
Complexity in implementing control limits

Mar 2009 PEG IISc Bangalore 62

Summary Current Control
Merits and demerits of different current controllers have
been discussed

Fixed switching frequency full digital implementation is

desirable

Independent control of each phase current of a grid

connected power converter for unbalanced 4-wire
distribution systems

Solution to a given application demands appropriate

current control strategy to be chosen

Mar 2009 PEG IISc Bangalore 63

 References
Current Control Techniques
1. C.D. Schauder and R. Caddy, Current Control of Voltage-Source Inverters for Fast Four-
Quadrant Drive Performance IEEE Trans. Industry Applications, vol. IA-18, No. 2, pp. 163
171, Mar./Apr.1982.

2. D. M. Brod and D. W. Novotny, Current control of VSI-PWM inverters, IEEE Trans. Industry
Applications, vol. IA-21, pp. 562570, July/Aug.1985.

3. Zmood, D.N.; Holmes, D.G.; Bode, G.H. Frequency-domain analysis of three-phase linear
current regulators, IndustryApplications, IEEE Transactions on Volume 37, Issue 2, March-
April 2001Page(s):601-610

4. Marian P.Kazmierkowski, Current control techniques for Three phase voltage source PWM
converters: A survey, IEEE Trans. Indust Electrons Vol.45, no.5 PP.691-703, OCTOBER 1998.

5. F. Blaabjerg, R. Teodorescu, M. Liserre, and A. Timbus, Overview of control and grid

synchronization for distributed power generation systems, IEEE Trans. Ind. Electron., vol. 53,
no. 5, pp. 13981409, Oct. 2006.

Mar 2009 PEG IISc Bangalore 64

 Reference Calculation In
Grid Interactive Power Converter
Control
Simplified Power Converter System
Vg ig iload
PCC

Grid
Side
L
i

Gate Pulses Inverter

Vi Side

ig / iload
Feedback
Current
Vdc
i
Modulation m Current Sensed Grid
Reference Current Voltages
Strategy Controller i*
Calculation

Cos
Unit Vector
Sin Generation

Mar 2009 PEG IISc Bangalore 66

Reference Calculation
Prime Prime
Source Source

Power
Power
Conditioning
Conditioning

Electrical
Loads Electrical
Grid Loads

Reference calculations based on operation requirements

Grid parallel operation Stand alone operating
Power level change is Power level of load can
relatively slow change in step
Non dispatchable system
Dispatchable prime sources
Small DC bus energy storage
Energy storage requirement
Mar 2009 PEG IISc Bangalore 67
Calculation of id* and iq*
Vg1
Vg2

Load
Grid
Vg3

i1 i2 i3

id Liq

- -
id* + + PWM

Modulator
Pulses
Vg dq
abc
+
iq* +
-
+
+

iq Lid Cos Sin

Cos
i i1 Vg1
id Sin
dq PLL Vg2
i2
iq abc Vg
i i3 Vg3

Cos Sin

Mar 2009 PEG IISc Bangalore 68

Reference Current Calculation
Reference calculation for current controlled PWM VSI
has application specific requirements
Grid connected DG Stand alone DG
inverter inverter
Real current DC bus control# AC voltage
command control*
Reactive current fixed var injection AC voltage
command pf correction control*
voltage droop
Harmonic current active filtering embedded in
command requirement Idq command
#Additionaldevices may also provide DC bus control
*Stand alone inverter DG may not use current loop
Mar 2009 PEG IISc Bangalore 69
DC Bus Control
Voltage Current
controller controller
Iinv
Vdc* iq* Vdc
+ Prime
+ Grid
- - Source 3

Vdc iq
Grid interactive DC bus control
Primary source injects DC bus current proportional to operating
power level
Real current command linked to error in DC bus voltage
Unbalance ac side cause ripple in DC bus voltage
Filtering of 100Hz Vdc can reduce distortion of the iq*
Stand alone control of the converter
Dispatchable prime sources or energy storage element
maintains the DC bus voltage

Mar 2009 PEG IISc Bangalore 70

Reactive Power Command
Open loop id*
Current
iload_d controller
id* Iinv
Vdc Vac
+ Prime
Vac* - Source 3
Grid
+
-
id Iload
Vac
Load

Reactive current reference generation options

Reactive current injection
Compensation (power factor correction)
Voltage vs. reactive power droop
Above options can be extended from balanced 3 on
to 1 basis

Mar 2009 PEG IISc Bangalore 71

Other Reference Options

Harmonic current filtering

Load harmonic current extraction using synchronous reference
frame methods
Unbalance negative sequence extracted separately
Droop based power converter control
Active power vs. operating frequency
Voltage vs. reactive power

Mar 2009 PEG IISc Bangalore 72

Reference Command Requirements
DC bus control is critical for safer operation of the
converter during the fault duration
Reference calculation under grid stress based on control
strategy
During fault duration and
After fault clearance
Power converter ratings insufficient for providing fault
clearing current magnitude
Damping of the system subsequent to fault clearance
Factors such as harmonics are related to steady state
operation
Methods for transition from from post fault operation to steady
state command generation

Mar 2009 PEG IISc Bangalore 73

Summary
Reference generation in grid connected power
converter is application specific

Real current command linked to maintaining DC

bus voltage even under disturbed grid conditions

Priority based methods required to handle real

and reactive power, and harmonics

Mar 2009 PEG IISc Bangalore 74

Emerging Requirements In Grid
Interactive Power Converter
Control
Emerging Control Requirements
Generation / Transmission system Distribution feeder
with DG
CPP1 CPP2

X
Load2
Load1
A ... ... B
CPPn
Loadn
X

DG1 Load1 DG2 Load1 ... Loadn ... DGn

DG
Distribution / Consumption / DG

Reliably operation of power converter under grid

disturbances
Ride through grid disturbances
Disconnect from sustained faults
Mar 2009 PEG IISc Bangalore 76
Simulation Schematic

Load
PCC
SM

Load
PWM
Pulses

Mar 2009 PEG IISc Bangalore 77

Simulation Schematic

Load
PCC
SM

Load
PWM
Pulses

Mar 2009 PEG IISc Bangalore 78

Simulation Schematic

Load
PCC
SM

Load
BKR Opens

PWM
Pulses

Mar 2009 PEG IISc Bangalore 79

PCC Voltages

Line to ground fault on phase R

Mar 2009 PEG IISc Bangalore 80

Phase Currents - SRF Control

Current control in synchronous coordinates

Fault current add up in the neutral for 4-wire distribution systems
Mar 2009 PEG IISc Bangalore 81
Phase Currents - PR Control

Current control in stationary abc coordinates

Neutral current is limited even for ground fault in 4-wire systems
Mar 2009 PEG IISc Bangalore 82
SLG Fault Ride Through Capability
Type of CC Peak phase Peak neutral Peak phase
current after current voltage
occurrence After clearance
of fault of fault
SRF current control 3*peak rated 6*peak rated 360 V in the
(dq frame) current current faulty phase
Predictive current 2.3*peak rated 5.5 *peak rated 360 V in the
control without current current faulty phase
zero sequence
control ( frame)

Predictive current Normal value Negligible 370 V in the

control with zero faulty phase
sequence control
( frame)
Resonant current Normal value Negligible 375 V in the
control (abc frame) faulty phase
Peak rated current = 19.67 A ; Peak rated voltage = 338.85 V ( per phase )
Inverter rating = 10 kVA
Operating mode = Reactive power compensation;
Vdc = 800 V( constant )

Mar 2009 PEG IISc Bangalore 83

Conclusions
Emerging control requirements for power converters
requires modifications to make it robust to grid side
disturbance and required ride through capability

Methods for reference generation and current control

has been proposed to handle abnormal grid conditions
Unit vector generation based on SRF PLL and MAF filters
Independent control of each phase of a grid connected power
converter using proportional resonant controllers

Preliminary simulation studies indicate ride through can

be achieved for a wide range of faults even for 4-wire
feeders

Mar 2009 PEG IISc Bangalore 84

Summary
What is DG and why we need it?

Role of power electronic converters in DG

Control requirements for power converters DG

State of the art in unit vector generation and current
control
Basics of PWM and reference generation

Emerging requirements for grid connected DG

power converters
Preliminary experimental and simulation results
Mar 2009 PEG IISc Bangalore 85
Thank you
Space Vector PWM

V
T1 = Tsw V
3
Determination of sector location
Sign of the line to line voltage T2 = Tsw V
2
Vs voltage vector 3

Equivalent duty cycle calculations Tz = Tsw - T1 - T2

Mar 2009 PEG IISc Bangalore 87

Frequency Response

Mar 2009 PEG IISc Bangalore 88

Unbalanced phase voltages

Mar 2009 PEG IISc Bangalore 89

Estimated with SRF PLL

Mar 2009 PEG IISc Bangalore 90

Under single phase LG fault condition

Mar 2009 PEG IISc Bangalore 91

Harmonic compensation with unbalanced load

Mar 2009 PEG IISc Bangalore 92

PEG @ IISc
Students interested in any of these issues
should consider doing a Ph.D. at IISc
Wide range of research areas in Power Electronics
Motor drives
Control and modulation
Power supplies and electromagnetic design
Renewable energy and distributed generation

www.ee.iisc.ernet.in/new/people/faculty/vjohn
Other research areas in the EE dept.
Power systems, high voltage engineering, signal processing,
computer vision,

Mar 2009 PEG IISc Bangalore 93

Thank you