08 Mahdiandehkordi2015

This article was downloaded by: [University of Nebraska, Lincoln]
On: 04 September 2015, At: 13:55

Publisher: Taylor & Francis
Informa Ltd Registered in England and Wales Registered Number: 1072954 Registered office: 5 Howick
Place, London, SW1P 1WG
International Journal of Control

Publication details, including instructions for authors and subscription information:
http://www.tandfonline.com/loi/tcon20
Nonlinear Adaptive Control of Grid-Connected Three-

Phase Inverters for Renewable Energy Applications
a a b c c
N. Mahdian-Dehkordi , M. Namvar , H. Karimi , P. Piya & M. Karimi-Ghartemani
a a
Department of Electrical Engineering, Sharif University of Technology, Tehran, Iran
b b
Department of Electrical Engineering, Polytechnique Montreal, Montreal, QC, Canada
c c
Department of Electrical and Computer Engineering, Mississippi State University
Accepted author version posted online: 25 Aug 2015.
Click for updates
To cite this article: N. Mahdian-Dehkordi, M. Namvar, H. Karimi, P. Piya & M. Karimi-Ghartemani (2015): Nonlinear
Adaptive Control of Grid-Connected Three-Phase Inverters for Renewable Energy Applications, International Journal of
Control, DOI: 10.1080/00207179.2015.1086026
To link to this article: http://dx.doi.org/10.1080/00207179.2015.1086026
Disclaimer: This is a version of an unedited manuscript that has been accepted for publication. As a service
to authors and researchers we are providing this version of the accepted manuscript (AM). Copyediting,
typesetting, and review of the resulting proof will be undertaken on this manuscript before final publication
of the Version of Record (VoR). During production and pre-press, errors may be discovered which could
affect the content, and all legal disclaimers that apply to the journal relate to this version also.
PLEASE SCROLL DOWN FOR ARTICLE
Taylor & Francis makes every effort to ensure the accuracy of all the information (the “Content”) contained
in the publications on our platform. However, Taylor & Francis, our agents, and our licensors make no
representations or warranties whatsoever as to the accuracy, completeness, or suitability for any purpose of
the Content. Any opinions and views expressed in this publication are the opinions and views of the authors,
and are not the views of or endorsed by Taylor & Francis. The accuracy of the Content should not be relied
upon and should be independently verified with primary sources of information. Taylor and Francis shall
not be liable for any losses, actions, claims, proceedings, demands, costs, expenses, damages, and other
liabilities whatsoever or howsoever caused arising directly or indirectly in connection with, in relation to or
arising out of the use of the Content.
This article may be used for research, teaching, and private study purposes. Any substantial or systematic
reproduction, redistribution, reselling, loan, sub-licensing, systematic supply, or distribution in any
form to anyone is expressly forbidden. Terms & Conditions of access and use can be found at http://
www.tandfonline.com/page/terms-and-conditions
August 25, 2015 International Journal of Control TCON˙A˙1086026
To appear in the International Journal of Control

Vol. 00, No. 00, Month 20XX, 1–16
Publisher: Taylor & Francis

Journal: International Journal of Control
DOI: http://dx.doi.org/10.1080/00207179.2015.1086026
Nonlinear Adaptive Control of Grid-Connected Three-Phase Inverters for

Renewable Energy Applications
N. Mahdian-Dehkordia , M. Namvara , H. Karimib∗ , P. Piyac , and M. Karimi-Ghartemani c

a
Department of Electrical Engineering, Sharif University of Technology, Tehran, Iran ; b Department of
Electrical Engineering, Polytechnique Montreal, Montreal, QC, Canada; c Department of Electrical and
t
Computer Engineering, Mississippi State University
ip
(Received 00 Month 20XX; accepted 00 Month 20XX)
Downloaded by [University of Nebraska, Lincoln] at 13:55 04 September 2015
cr
Distributed generation (DG) units are often interfaced to the main grid using power electronic converters
including voltage-source converters (VSCs). A VSC offers dc/ac power conversion, high controllability
and fast dynamic response. Because of nonlinearities, uncertainties, and system parameters’ changes
involved in the nature of a grid-connected renewable DG system, conventional linear control methods
us
cannot completely and efficiently address all control objectives. In this paper, a nonlinear adaptive control
scheme based on adaptive backstepping strategy is presented to control the operation of a grid-connected
renewable DG unit. As compared to the popular vector control technique, the proposed controller offers
smoother transient responses, and lower level of current distortions. The Lyapunov approach is used to
establish global asymptotic stability of the proposed control system. Linearization technique is employed
an
to develop guidelines for parameters tuning of the controller. Extensive time-domain digital simulations
are performed and presented to verify the performance of the proposed controller when employed in a
VSC to control the operation of a two-stage DG unit and also that of a single-stage solar photovoltaic
system. Desirable and superior performance of the proposed controller is observed.
M
Keywords: Distributed generation, renewable energy, backstepping, adaptive control.
1. Introduction
ed
In the recent years, the use of renewable energy sources (RESs) has grown considerably in order
to meet the increasing demand of energy while reducing the air pollution associated with the fossil
fuel based power generation, and lowering the system expansion costs. Dominant types of RESs
pt
are the photovoltaic (PV) array and wind power systems. There are two main modes of operation
for a distributed generation (DG) system: the grid-connected mode and the islanded mode of
operation (Abeyasekera, Johnson, Atkinson, & Armstrong, 2005; Dai, Marwali, Jung, & Keyhani,
ce
2008; Karimi, Davison, & Iravani, 2010). In the grid-connected mode of operation, a DG unit should
interact with the grid in a fully controlled manner without violating the grid codes and standards. In
this mode, the DG unit should maintain the synchronization with the grid, follow the set-points of
the real and reactive powers, and abide by the limits for current distortion (Blaabjerg, Teodorescu,
Ac
Liserre, & Timbus, 2006; Dasgupta, Sahoo, & Panda, 2011). Moreover, the DG may perform
ancillary services such as reactive power compensation and harmonic compensation of the local
nonlinear loads (Bojoi, Limongi, Roiu, & Tenconi, 2011; Bracale, Angelino, Carpinelli, Mangoni, &
Proto, 2011; Dasgupta, Sahoo, Panda, & Amaratunga, 2011; Prodanović, De Brabandere, Keybus,
Green, & Driesen, 2007).
Three-phase current source converters (CSCs) and voltage source converters (VSCs) are employed
∗ Corresponding author. Email: houshang.karimi@polymtl.ca
1
by the DGs. The VSCs are more popular thanks to their desirable controllability and dynamic
responses. The block diagram of a three-phase grid-connected RES interfacing to the grid via a
VSC is illustrated in Fig. 1. In a two-stage structure, the first stage (a dc/dc in PV applications
or an ac/dc in wind applications) is responsible for controlling the amount of power extracted
from the primary source. Normally, a maximum power point tracking (MPPT) strategy is adopted
to ensure that maximum power is extracted. In the two-stage structure, the dc-bus voltage is
technically independent from the input power. In the one-stage conversion system, the primary
power is directly converted to ac. In this structure, the dc-bus voltage determines the amount of
power extracted from the primary source. The VSI is responsible for dc/ac conversion, power flow
control, and power quality. The popular output filter structures are L-type and LCL-type filters
(Blaabjerg et al., 2006). The use of LCL-type filter offers better attenuation of high-frequency
harmonics and noise (Park, Chen, Lai, & Moon, 2008).
In a grid-connected VSC, active and reactive power components are regulated through vector
control of the VSC currents. The vector control (dq-current control) is usually converted to two
t
decoupled control loops where two identical proportional-integrating (PI) controllers (Blaabjerg
ip
et al., 2006) are individually designed. In renewable applications, the dc-bus voltage is a medium
through which the d-component of the current is controlled. Other type of controllers such as
cr
proportional-resonant (PR) may be used when the control is done in stationary reference frame
(Blaabjerg et al., 2006; El-Arroudi, Joos, Kamwa, & McGillis, 2007; Guo & Wu, 2010; Liserre,
Teodorescu, & Blaabjerg, 2006; Marei, El-Saadany, & Salama, 2003; Prodanovic & Green, 2003;
us
Zmood & Holmes, 2003). These controllers have some advantages such as faster dynamics and ef-
fective elimination of harmonics at the expense of implementation complexity (Francis & Wonham,
1976; Freijedo et al., 2011; Rodriguez et al., 2008; Yepes et al., 2010; Yepes, Freijedo, López, &
Doval-Gandoy, 2011; Yuan, Merk, Stemmler, & Allmeling, 2002). The challenges for the control
an
problem of a grid-connected VSC arise from the fact that the system has structural nonlinearities
(such as the dc-bus dynamics), components nonlinearities (inductors, transformers, sensors, signal
conditioning circuits, dead-band of switching signals), and grid distortions and uncertainties (such
as grid harmonics, unbalance, impedance, and faults). The existing linear control methods cannot
M
address all the control objectives (arising in a practical situation) without having an extremely
complicated structure which is undesirable due to practical limitations. In (Yang, Lei, Peng, &
Qian, 2011), linear H∞ theory was used to control the inverter output current for the case of vary-
ing grid impedance within a specific range. The objective was to minimize the effect of uncertain
ed
grid impedance on current tracking. Feedback linearization technique is used in (Bao, Zhuo, Tian,
& Tan, 2013; Khajehoddin, Karimi-Ghartemani, Jain, & Bakhshai, 2011; Zue & Chandra, 2009)
within the context of vector control method. A robust partial feedback linearizing controller is used
in (Mahmud, Hossain, Pota, & Roy, 2014; Mahmud, Pota, Hossain, & Roy, 2014) by considering
pt
uncertainties within the PV system model. Although Lyapunov approach in (Mahmud, Pota, &
Hossain, 2014; Yahya, El Fadil, Guerrero, Giri, & Erguig, 2014) based on the nonlinear model of
the system has been presented, the uncertainty in system is not considered. A Lyapunov based
ce
controller in (Dasgupta, Mohan, Sahoo, & Panda, 2013) is designed directly in the abc frame con-
sidering unbalance conditions. In (Li, Ruan, Pan, & Wang, 2013) feedforward control scheme has
been proposed in stationary and synchronous reference frames to reduce the injected grid current
harmonics and unbalance conditions caused by grid voltages. Other approaches such as μ-synthesis
Ac
based control and LMI control have been well developed and widely accepted (Kahrobaeian &
Mohamed, 2014; Poltronieri Sampaio, Brito, Melo, & Canesin, 2013). In (Jain, Behal, Zhang,
Dawson, & Mohan, 2004), an adaptive nonlinear approach was used for fast voltage regulation
in the presence of load uncertainty in case of static compensators. The controller was shown to
possess satisfactory transient response for step changes in load conductance and voltage reference.
A composite nonlinear feedback is used in (Eren, Pahlevaninezhad, Bakhshai, & Jain, 2013) to
improve the stability margins of the VSC control loop when an LCL output filter is used.
In this paper, a nonlinear control scheme based on the adaptive backstepping method is proposed
for the VSC of a grid-connected DG unit. The proposed control system is able to regulate the power
2
exchange between the VSC and the grid, and provides fast and smooth transient response with
acceptable level of current distortions. The proposed controller is further improved to adaptively
accommodate the system parameters uncertainties, e.g., filter inductance, dc-bus capacitance. To
the best of our knowledge, the use of adaptive backstepping technique for the control of grid con-
nected DG systems based on the exact nonlinear model has not been proposed/investigated before.
To verify the performance of the proposed controller, digital time-domain simulations are carried
out for both single-stage and two-stage structures of the DG conversion system. The simulation re-
sults of the proposed controller are compared with those of the conventional vector control method
which confirm the superiority of nonlinear controller.
2. System Description and Control Objectives
t
Single-line block diagram of a three-phase grid-connected VSC is shown in Fig. 2. The dc-bus
ip
capacitor C provides a constant dc voltage which is converted to ac by the VSC interfaced with
the grid through an L-filter. The circuit equation on the ac side of the system is given by
cr
diabc
L = vabc − vg,abc (1)
dt
us
where vabc and vg,abc denote the output voltage of the converter and the grid voltage, respectively.
By applying the abc/αβ transformation, i.e., an
2
vαβ = vα + jvβ = (va + vb ej2π/3 + vc e−j2π/3 ), (2)
3
the two-phase representation of the three-phase voltage in the stationary domain is obtained (Gabe,
M
Montagner, & Pinheiro, 2009). The synchronous reference (dq) domain (Malinowski & Bernet, 2008;
Wu & Lehn, 2006) signals are defined as
vdq = vd + jvq = e−jθ vαβ . (3)

ed
In this paper, we perform the control in the dq domain. Hence, (1) is represented in the dq frame
by (Jain et al., 2004)
pt
Li̇dq = vdq − vg,dq − jLωidq (4)

ce
where ω = θ̇ is the grid angular frequency. By using the grid voltage phase-angle as the reference
phase-angle for dq transformation, the q component of grid voltage, i.e., vgq , becomes zero. Hence,
Ac
1 1
i̇d = ωiq + vd − vgd (5)
L L
1
i̇q = −ωid + vq (6)
L
where vgd represents the magnitude of the grid voltage.

The power balance equation is given by
Cvc v̇c = pin − pout (7)
3
where pin denotes the output power from the primary source (Khajehoddin et al., 2011) and pout
is the instantaneous power to the inverter. Neglecting the internal inverter losses, we get
3 3 3
pout = vd id + vq iq = vgd id (8)
2 2 2
In a converter with PWM technique, vd = vc ud and vq = vc uq (Khajehoddin et al., 2011), and the
system equations may be represented by:
1 1
i̇d = ωiq + vc ud − vgd (9)
L L
1
i̇q = −ωid + vc uq (10)
L
1 3
t
v̇c = (pin − vgd id ) (11)
ip
Cvc 2
The following control objectives are desired:

cr
(1) Regulate the dc-bus voltage vc at the desired value vc∗ .
(2) Regulate the output reactive power Q = − 32 vgd iq at the desired value Q∗ .
Notice that regulating the dc-bus voltage implies regulation of the real power.
us
Further secondary objectives of the controller are
(3) Maintain the quality of current waveform despite the grid voltage distortion, grid voltage
unbalance, and other system nonlinearity effects including the dead band in the switching
patterns, nonlinearity of the inductor.
an
(4) Maintain robust performance in the presence of system uncertainties. These include firstly
the value of the inductance, grid impedance, and the grid frequency.
To proceed with developing our method, the reactive current and dc voltage error signals are
M
defined as:
ĩq = iq − i∗q , ṽc = vc − vc∗ (12)

ed
∗
2Q
where i∗q = − 3v gd
is the reference value for reactive current.
pt
3. Non-Adaptive Controller
3.1 Derivation of Error Model

ce
Equations (9)-(11) can be regarded as cascade of two subsystems, as shown in Fig. 3. The first
subsystem is specified by (9) and (10) with ud , uq as inputs and id as the output. The second
subsystem is described by (11) where id acts as a virtual input and vc is the output.
The cascade consideration of system dynamics permits to use nonlinear backstepping approach
Ac
for control of system states and eventually take into account parameter uncertainties by an adaptive
method (Khalil, 2002). Consider (11) and regard id as its input. Define iideal
d as the ideal value of id
that can control vc appropriately such that it follows the first-order exponentially stable dynamics
given by ṽ˙ c = −kṽc where k ∈ R is a constant positive gain. Assuming v̇c∗ = 0 yields
2
iideal
d =α= [pin + Ckvc ṽc )]. (13)
3vgd
The error between the ideal and actual current is defined by z , id − iideal
d . Hence, dynamic of z is
4
obtained by
1 1
ż = ωiq + vc ud − vgd − α̇ (14)
L L
where α̇ is expressed as a function of available signals by
2kC 2ṗin
α̇ = (v˙c ṽc + ṽ˙ c vc ) +
3vgd 3vgd
It should be noted that vgd is assumed constant, i.e., grid voltage magnitude remains unchanged
within the controller response time, which is a practical assumption. Substituting for v̇c and ṽ˙ c
from (11) yields
t
2k ṽc 3 2ṗin
α̇ = ( + 1)(pin − id vgd ) +
ip
3vgd vc 2 3vgd
Substituting for ṽc from (12) results in

cr
2k 3 2ṗin
α̇ = (2vc − vc∗ )(pin − id vgd ) + . (15)
3vc vgd 2 3vgd
us
Equation (10) can be written as
1
ĩ˙ q = −ωid + vc uq ,
an (16)
L
and equation (11) can be expressed as

M
1 3 2
ṽ˙ c = (pin − vgd (z + [pin + Ckvc ṽc ]))
Cvc 2 3vgd
3 vgd z
= −kṽc − (17)
2 Cvc
ed
Equations (14)-(17) provide a description of the system that are re-ordered and written below:
1
ĩ˙ q = −ωid + vc uq
pt
(18)
L
3 vgd z
ṽ˙ c = −kṽc − (19)
ce
2 Cvc
1 1
ż = ωiq + vc ud − vgd − α̇ (20)
L L
Ac
3.2 Control Law

Inspired by structure of the open-loop error system (18)-(20), we propose the control input ud , uq
by
L
uq = (ωid − k2 ĩq )
vc
L 1 3 vgd ṽc
ud = (−ωiq + vgd + α̇ − k1 z + ) (21)
vc L 2 Cvc
5
where k1 and k2 are arbitrary positive constants.
Assumption 1: It is assumed that vc , vc∗ , id , iq , i∗q , z, L, vgd , C and ω are known to the controller.
Note that for implementation of the control law, derivative of pin is needed. However, in most
cases, variation of pin is negligible. This is particularly justifiable in a two-stage conversion system
where a first stage converter is used to perform MPPT. Therefore, the primary power is controlled
by the first stage and is independent from the dc-bus voltage. Thus, the two stages are decoupled.
Moreover, the MPPT (that tracks the input power variations) is normally slower than the dc-
bus controller which gives another justification to neglect this term. The dc-bus voltage is, then,
controlled at a given value which should be sufficiently higher than the grid voltage and low enough
to avoid efficiency degradation (Eren, Pahlevaninezhad, Bakhshai, & Jain, 2015). However, in a
single-stage converter, the power is directly dependent on the dc-bus voltage and thus ṗin may or
may not be negligible depending on the bandwidth of the dc-bus voltage changes. If ṗin is not
t
negligible, it may be computed by numerical differentiation. The control law of (21) guarantees
ip
that
lim {z(t), ĩq (t), ṽc (t)} = 0. (22)

cr
t→∞
us
Proof. The control law of (21) results in the following closed-loop equations:
ĩ˙ q = −k2 ĩq

an
ṽ˙ c = −kṽc − 3 vgd z
2 Cvc
(23)
3 vgd ṽc
ż = −k1 z + 2 Cvc .
M
Consider the Lyapunov function candidate V as
1
V = (ṽc2 + z 2 + ĩ2q ). (24)
2
ed
Taking the time-derivative of the Lyapunov function and substituting from (18)–(20) yield
3 vgd z
V̇ = −k2 ĩ2q + ṽc (−kṽc − )
pt
2 Cvc
3 vgd ṽc
+ z(−k1 z + ) = −(k2 ĩ2q + k1 z 2 + kṽc2 ) < 0 (25)
2 Cvc
ce
which by virtue of (24) implies (22). It should be noted that the convergence of error variables to
zero is in global sense.
Ac
3.3 Design Guidelines

Equation set (23) indicates that the gain k2 determines the speed of reactive power regulation.
The linearization of the second and the third equations of (23) around the zero equilibrium point
results in the following linear model:
" #
−k −Δ
Ẏ = Y, (26)
Δ − k1
6
3 vgd
where Δ = 2 Cvc∗ . The characteristic equation of (26) is then
λ2 + (k + k1 )λ + kk1 + Δ2 = 0. (27)
Here, the local stability conditions are k + k1 > 0 and kk1 + Δ2 > 0 which allows the negative
values for k or k1 . Notice that the conditions k > 0 and k1 > 0 in Theorem 3.2 are sufficient, not
necessary. Specifically, the root-locus of this equation is shown in Fig. 4 when one of the √
gains is
selected at zero. The roots will have a damping factor of 0.707 when the gain is equal to 2Δ (a
suggested setting) and will have a damping of unity when the gain is 2Δ.
3.4 Simulation Results
3.4.1 Study System I
t
ip
A controllable power source (generating pin ) is simulated where power commands can be applied
independent of the dc-bus voltage. This is a model for a two-stage renewable energy system shown
in Fig. 1(a). The following values are used for the system and control parameters:
cr
C = 470 μF, L = 10 mH, vgd = 110 V, ω = 120π rad/s
3 vgd
us
vc∗ = 500 V, Δ = = 700, k = 2Δ, k1 = 0, k2 = 5Δ.
2 Cvc∗
With the above setting, the three poles of the linearized system are at −Δ, − Δ (for the real
power and dc-bus dynamics) and −5Δ (for the reactive power dynamics). The switching frequency
an
is set at 10 kHz. The control algorithm is implemented using digital control blocks at a sampling
frequency of 20 kHz. Care has been taken when selecting the parameters to ensure that the loop
bandwidth is sufficiently smaller than the switching frequency.
Figure 5 shows the results of a simulation study where the initial value of the capacitor voltage
M
is set at 480 V, the initial reactive power reference is set to zero, and pin is also initially assumed
zero. At t = 0.05 s, pin experiences a jump to 1500 W, and is followed by a jump of 1000 Var in
Q∗ at t = 0.1 s and a jump of vc∗ to 520 V at t = 0.15 s. The real and reactive powers supplied by
ed
the inverter, the capacitor voltage, and the grid currents are shown in Fig. 5. The starting stage
of the operation shows a very smooth response with limited currents. A negligible steady state
error in the amount of reactive power is observed. Figure 6 shows responses of the popular vector
control method whose parameters are optimally set according to the method of (Khajehoddin et
pt
al., 2011) such that it can offer a transient response almost as fast as the proposed method. The
starting stage as well as the transient responses offered by this method are not as good. Overall,
the desirable and superior transient response of the proposed method is confirmed.
ce
3.4.2 Study System II

A 3.5 kW PV generation system directly connected to an inverter equipped with the digital ver-
Ac
sion of the proposed controller is simulated. This is a single-stage conversion system as shown in
Fig. 1(b). The values for the power circuit and the control parameters are the same as those of
Study System I. The reference for the capacitor voltage (or the PV voltage) is provided by the
MPPT algorithm. The MPPT algorithm used in this simulation is shown in Fig. 7. Variations
of power with respect to variations of voltage are digitally calculated by taking the samples of
these two measurements at the right sample times. The quantity dP/dV is passed through a PI
controller to yield the dc bus voltage reference. The gains of this controller are set at 10 and 1000,
respectively. The PSIM software is used for simulations which facilitates the possibility of applying
changes to the light intensity of the PV system during the simulation. The light intensity directly
changes the power generated by the solar panels.
7
Figure 8 shows the results of a simulation study with the following specifications: the solar
intensity is set to 500 W/m2 initially, the capacitor voltage is 480 V, and the reactive power
command is zero. At t = 0.15 s, the light intensity jumps to 750 W/m 2 and subsequently, a reactive
power command of 2000 Var is applied at t = 0.25 s. The real and reactive powers generated by
the inverter, and the maximum PV power are shown on the upper subplot of Fig. 8. The MPPT is
working well and the reactive power command is followed quickly. The middle subplot shows the
PV voltage across the capacitor and the lower subplot shows the inverter output currents fed to
the grid. Similar to the results of Study System I, the transient responses of Study System II are
also superior to those of the conventional method (not shown).
3.5 Inverter Current THD

The grid voltage is contaminated with the following distortions: 2% of 5 th harmonic at phase-angle
t
40 degrees, 2% of 7th harmonic at phase-angle 10 degrees, 2% of 11 th harmonic at phase-angle of
ip
90 degrees and 2% of grid imbalance at phase-angle 0 degree. The inverter current total harmonic
distortion (THD) is shown in Fig. 9 for different power levels in a 3.5 kW inverter. The THD is
below 2% at normal operation (operation above 1 kW). As the power is increased (above 2 kW), the
cr
proposed method generates currents with lower THD compared to the conventional vector control
method (when optimally adjusted to have similar transients). Therefore, the overall distortion power
us
injected to the grid by the proposed VSC control is much lower than the conventional method.
3.6 Uncertainty in L Filter

an
As mentioned in Study System I, the proposed method assumes a negligible steady state error
in the reactive power. This error grows with the amount of uncertainty (change) in the value of
the series filter L. In Fig. 10, we simulate a case study where the filter L experiences a change of
M
−50 percent from its nominal value, i.e., from 10 mH to 5 mH at t = 0.1 s and back to 10 mH
at t = 0.15 s. In this study, the controller is designed based on the nominal value of 10mH. As
shown in Fig. 10, the controller shows a steady state error of about 5% in the amount of generated
reactive power. Although this amount of error may be considered within the acceptable limits, we
ed
will present an adaptive controller in Section 4 to overcome this problem.
4. Adaptive Controller
pt
4.1 Derivation of Error Model

ce
For convenience of notations, we define θ = L1 and β = C1 where L and C are assumed as unknown
system parameters. Hence, (9)–(11) are transformed into
Ac
i̇d = ωiq + θvc ud − θvgd

i̇q = −ωid + θvc uq
β 3
v̇c = (pin − vgd id ) (28)
vc 2
The error parameters β̃ and θ̃ are defined as
β̃ = β̂ − β, θ̃ = θ̂ − θ (29)
8
where β̂ and θ̂ are the estimates of β and θ, respectively. Substituting β̃ and θ̃ in (28) yields
β̂ 3 1 3
v̇c = (pin − vgd id ) − β̃ (pin − vgd id ) (30)
vc 2 vc 2
Defining
1 3
Y = (pin − vgd id ) (31)
vc 2
and substituting from (31) in (30) yield
β̂ 3
t
v̇c = (pin − vgd id ) − β̃Y (32)
vc 2
ip
Consider (32), ignore the second term β̃Y for a moment, and regard id as its input. Define iideal
d as
cr
the ideal value of id that controls vc according to ṽ˙ c = −kṽc . Then,
2 vc
iideal =α= [pin + (kṽc )] (33)
us
d
3vgd β̂
By defining z , id − iideal
d , dynamics of z is obtained from
an
ż = ωiq + θud vc − θvgd
˙ (34)
2k 1 β̂ 3 β̂ 2ṗin
− {(2vc − vc∗ ) [ (pin − vgd id ) − β̃Y ] − ṽc vc } −
M
3vgd β̂ vc 2 β̂ 2 3vgd
where id can be expressed as

ed
2 vc
id = z + [pin + (kṽc )]. (35)
3vgd β̂
Substituting for id from (35) in (32) results in

pt
3β̂vgd z
ṽ˙ c = −kṽc − − β̃Y (36)
ce
2vc
Hence, the state error equations become

Ac
ĩ˙ q = −ωid + θvc uq

3β̂vgd z
ṽ˙ c = −kṽc − − β̃Y
2vc
2k 1
ż = ωiq + θud vc − θvgd − {(2vc − vc∗ )
3vgd β̂
˙
β̂ 3 β̂ 2ṗin
[ (pin − vgd id ) − β̃Y ] − ṽc vc } − (37)
vc 2 β̂ 2 3vgd
9
4.2 Control Law

The control law and the adaptive parameters update laws are proposed as follows.
1
uq = (−k1 ĩq + ωid ),
θ̂vc
1 h 3β̂vgd ṽc
ud = θ̂vgd − k2 z + − ωiq
θ̂vc 2vc
˙
2k 1 3 β̂ 2ṗin i
+ [ (2vc − vc∗ )(pin − vgd id ) − ṽc vc ] + ,
3vgd vc 2 β̂ 2 3vgd
˙ 1
θ̂ = (z(ud vc − vgd ) + vc uq ĩq ),
t
γ1
ip
˙ 1 2k (2vc − vc∗ )
β̂ = (− Y z + Y ṽc ), (38)
γ2 3vgd β̂
cr
where k, k1 , γ1 , γ2 and k2 are positive gains.
us
Assumption 2: It is assumed that vc , vc∗ , id , iq , i∗q , z, vgd and ω are known to the controller, and
1 1
the unknown parameters L = and C = are estimated via adaptation law (38).
θ β
an
The control and adaptive laws of (38) guarantee that
lim {z(t), ĩq (t), ṽc (t)} = 0, and (39)

M
t→∞
lim θ̂(t) = θ. (40)

t→∞
ed
pt
Proof. Consider the following radially unbounded Lyapunov function:

ce
1
V = (ṽc2 + z 2 + ĩ2q + γ1 θ̃2 + γ2 β̃ 2 ). (41)
2
Ac
Taking the time-derivative of Lyapunov function and substituting from (37) yield
3β̂vgd z h
V̇ = ṽc (−kṽc − − β̃Y ) + z ωiq + θud vc − θvgd
2vc
˙
2k 1 β̂ 3 β̂ 2ṗin i
− {(2vc − vc∗ ) [ (pin − vgd id ) − β̃Y ] − ṽc vc } −
3vgd β̂ vc 2 β̂ 2 3vgd
˙ ˙
+ ĩq (−ωid + θvc uq ) + γ2 β̃ β̃ + γ1 θ̃θ̃ (42)
10
By separating the terms containing θ and β̃, (42) is expressed as:
3β̂vgd z 2k
V̇ = ṽc (−kṽc − ) + z{ωiq − [(2vc − vc∗ )
2vc 3vgd
˙
1 3 β̂ 2ṗin ˙ ˙ (43)
(pin − vgd id ) − ṽc vc ] − } − ĩq ωid + γ2 β̃ β̃ + γ1 θ̃θ̃
vc 2 β̂ 2 3v gd
2k (2vc − vc∗ )
+ θ[z(ud vc − vgd ) + vc uq ĩq ] + β̃[ Y z − Y ṽc ]
3vgd β̂
Further, using θ = θ̂ − θ̃ and factorizing the z terms in (43) yield
h 3β̂v ṽ
t
gd c 2k
V̇ = −kṽc2 + z − + ωiq − [(2vc − vc∗ )
ip
2vc 3vgd
˙
1 3 β̂ 2ṗin i ˙
(pin − vgd id ) − ṽc vc ] − − ĩq (ωid ) + θ̃[γ1 θ̃−
cr
vc 2 β̂ 2 3v gd (44)
z(ud vc − vgd ) − vc uq ĩq ] + θ̂[z(ud vc − vgd ) + vc uq ĩq ]
us
˙ 2k (2vc − vc∗ )
+ β̃[γ2 β̃ + Y z − Y ṽc ].
3vgd β̂ an
Substituting the parameter update laws from (38), we obtain
3β̂vgd ṽc
V̇ = −kṽc2 + z{− + ωiq
2vc
M
˙ (45)
2k ∗ 1 3 β̂ 2ṗin
− [(2vc − vc ) (pin − vgd id ) − ṽc vc ] − }
3vgd vc 2 β̂ 2 3vgd
− ĩq (ωid ) + θ̂(z(ud vc − vgd ) + vc uq ĩq )
ed
Finally, substituting ud and uq from (38) into (45) yields

pt
V̇ = −(k1 ĩ2q + k2 z 2 + kṽc2 ) ≤ 0, (46)
which implies that ĩq , z, ṽc ∈ L2 ∩L∞ and β̃, θ̃ ∈ L∞ , where L∞ and L2 denote the spaces of bounded
ce
and square-integrable signals, respectively (Khalil, 2002). Due to the smoothness and continuity
of the error signals and by invoking the Barballat’s lemma, (39) is inferred. To prove (40), we use
LaSalle’s invariance principle presented in (Khalil, 2002). Determine the set S = {x ∈ R5 | V̇ = 0}
T
where x = z ṽc ĩq . Hence, S = {id = α, vc = vc∗ , iq = i∗q } on which the motion of the system
Ac
(28) and (38) is described by:

θ θ ˙ ˙
i̇d = ωi∗q −1 , i̇q = −ωi∗d −1 , v̇c = θ̃ = β̃ = 0 (47)
θ̂ θ̂
Now, the largest invariant set M ⊆ S is determined when i̇d = i̇q = 0 in (47), i.e., when
θ
− 1 = 0. Therefore, by the LaSalle’s theorem, every solution of the closed-loop system
θ̂
starting in any compact set Ω (0 ∈ Ω ⊂ R5 ) asymptotically approaches the invariant set
11
n o
M = id = α, vc = vc∗ , iq = i∗q , θ̂ = θ as t → ∞. In particular, (40) holds, i.e.,
lim θ̂(t) = θ.
t→∞
It should be noted that although the boundedness of β̃ is guaranteed by the LaSalle’s theorem, β̂
does not necessarily track β.
The implementation block diagram of the nominal and adaptive nonlinear control scheme is
depicted in Fig. 11. From Fig. 11, it is also seen that the output currents of the three-phase
inverter and grid voltages are transformed into direct and quadrature-axis components using abc −
dq transformation. Then, the control law is obtained in the dq frame and, eventually, reverse
transformation (i.e., dq − abc) is performed to implement the controller through the PWM.
t
ip
4.3 Design Guidelines
A linear analysis is performed for the proposed adaptive controller in order to find guidelines as how
cr
to adjust the controller gains. The linear analysis confirms that the dynamics of z and ṽc variables
are coupled to each other, and are decoupled from rest of the system. Moreover, they follow the
same dynamics as the non-adaptive method. Therefore, the same design guideline presented in
us
Section 3.3 is valid for designing k and k1 .
The linearization of the equations related to ĩq and θ̃ around the zero equilibrium point results
in the following linear system
an
" #
−k2 −Γ
Ẋ = X (48)
Γ/γ1 0
M
2ωLpin
where Γ = . The eigenvalues of the linear model (48) are obtained from the following
3vgd
characteristic equation:
ed
Γ2
λ2 + k2 λ + = 0. (49)
γ1
Γ2
pt
The suggested value for γ1 is γ1 = 2 where kg1 is a constant number. The root-locus of (49) will
kg1
be similar to Fig. 4 with the difference that Δ is replaced by kg1 . Therefore, there will be two poles
located at −kg1 for k1 = 2kg1 .
ce
4.4 Simulation Results

Ac
4.4.1 Study System I

The proposed adaptive controller is used by the Study System I as defined and simulated in
Section 3.4.1. The values of power circuit and control parameters are the same with the additional
value of kg1 = 200.
Figure 12 shows the results of a simulation where the initial value of the capacitor voltage is set
at 480 V, the initial reactive power reference is set to zero, and pin is initially 500 W. At t = 0.05 s,
pin experiences a jump to 1500 W, and is followed by a jump of 1000 Var in Q∗ at t = 0.1 s and
a jump of vc∗ to 520 V at t = 0.15 s. Finally, the inductance L steps down to 5 mH from 10 mH,
at t = 0.2 s. The real and reactive powers supplied by the inverter, the capacitor voltage, the
12
grid currents, the estimated inductance, and the estimated capacitance are shown in Fig. 12. The
transient and steady state responses of the system are desirable. The estimated inductance follows
the actual one with a small error.
4.4.2 Study System II

The proposed adaptive controller is employed by the Study System II as defined and simulated in
Section 3.4.2. The values of power circuit and control parameters are the same with the additional
value of kg1 = 200.
Figure 13 shows the results of a simulation study with the following specifications: the solar
intensity is set to 500 W/m2 initially, the capacitor voltage is 480 V, and the reactive power
command is zero. At t = 0.15 s, the light intensity is increased to 750 W/m 2 and subsequently,
a reactive power command of 2000 Var is applied at t = 0.25 s, and an inductance change from
10 mH to 5 mH is applied at t = 0.3 s. The real and reactive powers generated by the inverter, the
t
maximum solar power, the PV voltage across the capacitor, the inverter output currents fed to the
ip
grid, the estimated inductance, and the estimated capacitance are shown in Fig. 13. The desirable
performance of the proposed adaptive controller is observed.
cr
5. Conclusion
us
This paper presents a nonlinear adaptive controller for the voltage source converter (VSC) of a
grid-connected DG unit. The VSC is used to interface the renewable energy system (RES) with
the utility grid. The controller is designed based on adaptive backstepping technique in which the
an
uncertainties of the system parameters are considered. The proposed controller presents a fast,
yet smooth, transient response and accurately regulates the power exchange between the VSC
and the grid. The adaptive controller also estimates the value of the interfacing inductance. The
transient responses of the proposed method are superior to those of the conventional vector control
M
method. The quality of the VSC current is higher at the higher powers meaning that the amount
of distortion injected to the grid by the VSC is significantly small.
ed
References
Abeyasekera, T., Johnson, C. M., Atkinson, D. J., & Armstrong, M. (2005, November). Suppression of line
pt
voltage related distortion in current controlled grid connected inverters. , 20 (6), 1393-1401.
Bao, X., Zhuo, F., Tian, Y., & Tan, P. (2013, June). Simplified feedback linearization control of three-phase
photovoltaic inverter with an LCL filter. Power Electronics, IEEE Transactions on , 28 (6), 2739-2752.
Blaabjerg, F., Teodorescu, R., Liserre, M., & Timbus, A. V. (2006, October). Overview of control and grid
ce
synchronization for distributed power generation systems. , 53 (5), 1398-1409.

Bojoi, R. I., Limongi, L. R., Roiu, D., & Tenconi, A. (2011). Enhanced power quality control strategy
for single-phase inverters in distributed generation systems. Power Electronics, IEEE Transactions on ,
26 (3), 798–806.
Ac
Bracale, A., Angelino, R., Carpinelli, G., Mangoni, M., & Proto, D. (2011). Dispersed generation units
providing system ancillary services in distribution networks by a centralised control. Renewable Power
Generation, IET , 5 (4), 311–321.
Dai, M., Marwali, M., Jung, J.-W., & Keyhani, A. (2008, January). A three-phase four-wire inverter control
technique for a single distributed generation unit in island mode. , 23 (1), 322-331.
Dasgupta, S., Mohan, S., Sahoo, S., & Panda, S. (2013, Feb). Lyapunov function-based current controller
to control active and reactive power flow from a renewable energy source to a generalized three-phase
microgrid system. Industrial Electronics, IEEE Transactions on , 60 (2), 799-813.
Dasgupta, S., Sahoo, S., & Panda, S. K. (2011). Single-phase inverter control techniques for interfacing
renewable energy sources with microgridpart i: Parallel-connected inverter topology with active and re-
13
active power flow control along with grid current shaping. Power Electronics, IEEE Transactions on ,
26 (3), 717–731.
Dasgupta, S., Sahoo, S. K., Panda, S. K., & Amaratunga, G. A. (2011). Single-phase inverter-control
techniques for interfacing renewable energy sources with microgridpart ii: Series-connected inverter topol-
ogy to mitigate voltage-related problems along with active power flow control. Power Electronics, IEEE
Transactions on, 26 (3), 732–746.
El-Arroudi, K., Joos, G., Kamwa, I., & McGillis, D. T. (2007, April). Intelligent-based approach to islanding
detection in distributed generation. , 22 (2), 828-835.
Eren, S., Pahlevaninezhad, M., Bakhshai, A., & Jain, P. K. (2013). Composite nonlinear feedback control
and stability analysis of a grid-connected voltage source inverter with LCL filter. Industrial Electronics,
IEEE Transactions on , 60 (11), 5059–5074.
Eren, S., Pahlevaninezhad, M., Bakhshai, A., & Jain, P. K. (2015). An adaptive droop dc-bus voltage con-
troller for a grid-connected voltage source inverter with LCL filter. Power Electronics, IEEE Transactions
on, 30 (2), 547–560.
Francis, B., & Wonham, W. (1976). The internal model principle of control theory. Automatica, 12 , 457-465.
t
Freijedo, F., Yepes, A., Malvar, J., Lopez, O., Fernandez-Comesana, P., Vidal, A., et al. (2011). Frequency
ip
tracking of digital resonant filters for control of power converters connected to public distribution systems.
Power Electronics, IET , 4 (4), 454–462.
Gabe, I. J., Montagner, V. F., & Pinheiro, H. (2009, June). Design and implementation of a robust current
cr
controller for vsi connected to the grid through an LCL filter. , 24 (6), 1444-1452.
Guo, X. Q., & Wu, W. Y. (2010, March). Improved current regulation of three-phase grid-connected
voltage-source inverters for distributed generation systems. Renewable Power Generation, IET , 4 (2),
us
101-115.
Jain, A. K., Behal, A., Zhang, X. T., Dawson, D. M., & Mohan, N. (2004, November). Nonlinear controllers
for fast voltage regulation using statcoms. , 12 (6), 827-842.
Kahrobaeian, A., & Mohamed, Y.-R. (2014, Oct). Robust single-loop direct current control of LCL-filtered
an
converter-based dg units in grid-connected and autonomous microgrid modes. Power Electronics, IEEE
Transactions on, 29 (10), 5605-5619.
Karimi, H., Davison, E., & Iravani, R. (2010, May). Multivariable servomechanism controller for autonomous
operation of a distributed generation unit: Design and performance evaluation. IEEE Transactions On
M
Power Systems, 25 (2), 853-865.
Khajehoddin, S. A., Karimi-Ghartemani, M., Jain, P. K., & Bakhshai, A. (2011, October). A control design
approach for three-phase grid-connected renewable energy resources. IEEE Trans. Sustainable Energy ,
2 (4), 423-432.
Khalil, H. K. (2002). Nonlinear systems (3rd ed.). Upper Saddle River, NJ, USA: Prentice-Hall.
ed
Li, W., Ruan, X., Pan, D., & Wang, X. (2013, June). Full-feedforward schemes of grid voltages for a three
phase LCL type grid connected inverter. Industrial Electronics, IEEE Transactions on , 60 (6), 2237-2250.
Liserre, M., Teodorescu, R., & Blaabjerg, F. (2006, May). Multiple harmonics control for three-phase grid
converter systems with the use of pi-res current controller in a rotating frame. , 21 (3), 836-841.
pt
Mahmud, M., Hossain, M., Pota, H., & Roy, N. (2014, June). Robust nonlinear controller design for
three-phase grid-connected photovoltaic systems under structured uncertainties. Power Delivery, IEEE
Transactions on, 29 (3), 1221-1230.
ce
Mahmud, M., Pota, H., & Hossain, M. (2014, Jan). Nonlinear current control scheme for a single-phase
grid-connected photovoltaic system. Sustainable Energy, IEEE Transactions on , 5 (1), 218-227.
Mahmud, M., Pota, H., Hossain, M., & Roy, N. (2014, Jan). Robust partial feedback linearizing stabilization
scheme for three-phase grid-connected photovoltaic systems. Photovoltaics, IEEE Journal of , 4 (1), 423-
Ac
431.
Malinowski, M., & Bernet, S. (2008, April). A simple voltage sensorless active damping scheme for three-
phase pwm converters with an LCL filter. , 55 (4), 1876-1880.
Marei, M. I., El-Saadany, E. F., & Salama, M. M. A. (2003, February). An intelligent control for the dg
interface to mitigate voltage flicker. In Applied power electronics conference and exposition, 2003. apec
’03. eighteenth annual IEEE (Vol. 1, p. 179-183).
Park, S.-Y., Chen, C.-L., Lai, J.-S., & Moon, S.-R. (2008, July). Admittance compensation in current loop
control for a grid-tie LCL fuel cell inverter. Power Electronics, IEEE Transactions on , 23 (4), 1716-1723.
Poltronieri Sampaio, L., Brito, M. Gomes de, Melo, G. de Azevedo e, & Canesin, C. (2013, Sept). Power flow
control in single-phase and three-phase grid-connected inverters using lmi, state-feedback linearization and
14
d-stability. In Power electronics and applications (epe), 2013 15th european conference on (p. 1-10).
Prodanović, M., De Brabandere, K., Keybus, J. Van den, Green, T., & Driesen, J. (2007). Harmonic
and reactive power compensation as ancillary services in inverter-based distributed generation. IET
Generation, Transmission & Distribution , 1 (3), 432–438.
Prodanovic, M., & Green, T. (2003, January). Control and filter design of three-phase inverters for high
power quality grid connection. , 18 (1), 373-380.
Rodriguez, F., Bueno, E., Aredes, M., Rolim, L., Neves, F., & Cavalcanti, M. (2008). Discrete-time im-
plementation of second order generalized integrators for grid converters. In Industrial electronics, 2008.
iecon 2008. 34th annual conference of ieee (pp. 176–181).
Wu, E., & Lehn, P. W. (2006, September). Digital current control of a voltage source converter with active
damping of LCL resonance. , 21 (5), 1364-1373.
Yahya, A., El Fadil, H., Guerrero, J., Giri, F., & Erguig, H. (2014, Oct). Three-phase grid-connected of
photovoltaic generator using nonlinear control. In Control applications (cca), 2014 ieee conference on
(p. 879-884).
Yang, S., Lei, Q., Peng, F., & Qian, Z. (2011, jan.). A robust control scheme for grid-connected voltage-source
t
inverters. Industrial Electronics, IEEE Transactions on , 58 (1), 202 -212.
ip
Yepes, A., Freijedo, F., Doval-Gandoy, J., Lopez, O., Malvar, J., & Fernandez-Comesana, P. (2010). Effects of
discretization methods on the performance of resonant controllers. Power Electronics, IEEE Transactions
on, 25 (7), 1692–1712.
cr
Yepes, A., Freijedo, F., López, O., & Doval-Gandoy, J. (2011). High performance digital resonant controllers
implemented with two integrators. Power Electronics, IEEE Transactions on (99), 1–1.
Yuan, X., Merk, W., Stemmler, H., & Allmeling, J. (2002). Stationary-frame generalized integrators for
us
current control of active power filters with zero steady-state error for current harmonics of concern under
unbalanced and distorted operating conditions. Industry Applications, IEEE Transactions on , 38 (2),
523–532.
Zmood, D., & Holmes, D. (2003, May). Stationary frame current regulation of pwm inverters with zero
steady-state error. , 18 (3), 814-822.
an
Zue, A., & Chandra, A. (2009, Oct). State feedback linearization control of a grid connected photovoltaic
interface with mppt. In Electrical power energy conference (epec), 2009 ieee (p. 1-6).
M
ed
pt
ce
Ac
15
t
ip
cr
Figure 1. Block diagram of a three-phase renewable energy system.
us
an
p in
ig
Inverter
+ + L
C vg
M
vc v
- -
ed
Figure 2. Block diagram of the grid-connected VSC.

pt
ce
Ac
16
v gd
L
0
t
+
ip
cr
us
Figure 3. Plant block diagram.
an
M
ed
pt
ce
Ac
Figure 4. Root-locus of the real power (dc-bus voltage) dynamics (49)
17
t
ip
cr
us
an
Figure 5. Performance of the proposed controller in tracking input power jump, reactive power command, dc-bus voltage
command (Study System I).
M
ed
pt
ce
Ac
Figure 6. Performance of the optimally adjusted conventional vector control method under the same simulation conditions of
Fig. 5.
18
t
ip
Figure 7. MPPT algorithm used in Study System II.
cr
us
an
M
ed
pt
ce
Ac
Figure 8. Performance of the proposed controller in tracking input power jump, and reactive power command (Study System
II).
19
t
ip
cr
Figure 9. Output current THD of the proposed controller at different powers.
us
an
M
ed
pt
ce
Ac
Figure 10. Performance of proposed non-adaptive controller when the inductance L experiences step changes.
20
t
ip
cr
us
an
M
Figure 11. Implementation block diagram in adaptive and nominal case.
ed
pt
ce
Ac
21
t
ip
cr
us
an
Figure 12. Performance of the proposed adaptive controller in tracking input power jump, reactive power command, dc-bus
voltage command, and inductance change (Study System I).
M
ed
pt
ce
Ac
22
t
ip
cr
us
an
Figure 13. Performance of the proposed adaptive controller in tracking input power jump, reactive power command, and
inductance change (Study System II).
M
ed
pt
ce
Ac
23

08 Mahdiandehkordi2015

Diunggah oleh

Informasi Dokumen

Deskripsi Asli:

Judul Asli

Hak Cipta

Format Tersedia

Bagikan dokumen Ini

Bagikan atau Tanam Dokumen

Opsi Berbagi

Apakah menurut Anda dokumen ini bermanfaat?

Apakah konten ini tidak pantas?

Hak Cipta:

Format Tersedia

08 Mahdiandehkordi2015

Diunggah oleh

Hak Cipta:

Format Tersedia

This article was downloaded by: [University of Nebraska, Lincoln]

On: 04 September 2015, At: 13:55

International Journal of Control

Nonlinear Adaptive Control of Grid-Connected Three-

Click for updates

To link to this article: http://dx.doi.org/10.1080/00207179.2015.1086026

PLEASE SCROLL DOWN FOR ARTICLE

To appear in the International Journal of Control

Publisher: Taylor & Francis

Nonlinear Adaptive Control of Grid-Connected Three-Phase Inverters for

N. Mahdian-Dehkordia , M. Namvara , H. Karimib∗ , P. Piyac , and M. Karimi-Ghartemani c

∗ Corresponding author. Email: houshang.karimi@polymtl.ca

2. System Description and Control Objectives

vdq = vd + jvq = e−jθ vαβ . (3)

Li̇dq = vdq − vg,dq − jLωidq (4)

where vgd represents the magnitude of the grid voltage.

Cvc v̇c = pin − pout (7)

The following control objectives are desired:

ĩq = iq − i∗q , ṽc = vc − vc∗ (12)

3.1 Derivation of Error Model

Substituting for ṽc from (12) results in

and equation (11) can be expressed as

3.2 Control Law

where k1 and k2 are arbitrary positive constants.

lim {z(t), ĩq (t), ṽc (t)} = 0. (22)

ĩ˙ q = −k2 ĩq

3.3 Design Guidelines

3.4 Simulation Results

3.4.1 Study System I

3.4.2 Study System II

3.5 Inverter Current THD

3.6 Uncertainty in L Filter

will present an adaptive controller in Section 4 to overcome this problem.

4.1 Derivation of Error Model

i̇d = ωiq + θvc ud − θvgd

The error parameters β̃ and θ̃ are defined as

and substituting from (31) in (30) yield

where id can be expressed as

Substituting for id from (35) in (32) results in

Hence, the state error equations become

ĩ˙ q = −ωid + θvc uq

4.2 Control Law

lim {z(t), ĩq (t), ṽc (t)} = 0, and (39)

lim θ̂(t) = θ. (40)

Proof. Consider the following radially unbounded Lyapunov function:

By separating the terms containing θ and β̃, (42) is expressed as:

Further, using θ = θ̂ − θ̃ and factorizing the z terms in (43) yield

(pin − vgd id ) − ṽc vc ] − − ĩq (ωid ) + θ̃[γ1 θ̃−

Finally, substituting ud and uq from (38) into (45) yields

V̇ = −(k1 ĩ2q + k2 z 2 + kṽc2 ) ≤ 0, (46)

(28) and (38) is described by:

4.4 Simulation Results

4.4.1 Study System I

4.4.2 Study System II

synchronization for distributed power generation systems. , 53 (5), 1398-1409.

on, 25 (7), 1692–1712.

Figure 2. Block diagram of the grid-connected VSC.

Figure 4. Root-locus of the real power (dc-bus voltage) dynamics (49)

Anda mungkin juga menyukai