2011 8th International Multi-Conference on Systems, Signals & Devices

THEORETICAL AND EXPERIMENTAL STUDY OF CONTROL AND ENERGY MANAGEMENT OF A HYBRID WIND-PHOTOVOLTAIC SYSTEM
Mehdi Dali (1), Jamel Belhadj(1,2), Xavier Roboam (3) (1) University of Tunis El Manar-ENIT-L.S.E, BP 37, Le Belvdre 1002 Tunis, Tunisia (2) University of Tunis-ESSTT, Dept GE, BP 56, Montfleury 1008 Tunis, Tunisia Mehdi.Dali@laplace.univ-tlse.fr , Jamel.Belhadj@esstt.rnu.tn (3) University of Toulouse, LAPLACE (CNRS, INPT, UPS) ENSEEIHT, BP 7122, 2 rue Camichel, 31071 Toulouse Cedex 7, France, Xavier.Roboam@laplace.univ-tlse.fr

ABSTRACT This paper aims at the theoretical and experimental analysis of control and energy management of a standalone hybrid renewable energy system comprising wind and photovoltaic sources with battery storage. This system is characterized by a Very Low Voltage (VLV) node connection coupled to DC loads. An average model of a hybrid wind-photovoltaic generating system is proposed in this paper. It is shown that this model is interesting for analysing the dynamic behaviour of the system and for synthesising the control strategy. The control strategies of the sources are based on power, voltage and current control with Maximum Power Point Tracking (MPPT). Experiments based on a physical emulator of the hybrid system with a lead acid accumulator and its DC load are considered to validate theoretical studies. The real time supervision and the energy management of the hybrid system is presented and detailed. The proposed energy management strategy has been simulated and experimentally implemented. Numerical and experimental results are presented and discussed, showing the effectiveness of the proposed hybrid system. Index Terms-- Hybrid renewable energy system, Wind conversion, Photovoltaic conversion, Power modelling, Control, Energy management strategies, Experiment bench. 1. INTRODUCTION Global environmental concerns and the ever increasing need for energy, coupled with steady progress in renewable energy technologies, are opening up new opportunities for utilization of renewable energy resources. In particular, advances in wind and PV energy technologies have increased their use in hybrid configurations. Hybrid Wind/PV systems are one efficient solution to supply power either directly to a utility grid or to an isolated load with other advantages include the long

lifetime and low maintenance requirements [1-3]. These systems have widespread use around the world and find wider applications as water pumping and desalination, for remote areas electrification, supply of power to isolated areas which are far away from the grid [4-7]. For remote area, the association of an electrochemical storage with the hybrid system allows eliminating or at least minimising the use of conventional and pollutant sources such as diesel generator (which is commonly required in generation systems based on a single renewable energy source like photovoltaic generator). In this context, we define a hybrid generation system obtained by combining photovoltaic panels and wind turbine (taking advantage of their complementary nature) with storage batteries to overcome periods of scarce generation and the unit control. The mathematical models of all these subsystems that describe the operational behaviour in steady-state or dynamic mode have been presented and analyzed in the literature [8-11]. Many topologies are available for hybrid systems, depending on interface converters between sources and the interconnection method [12]. Design of such systems is also an issue that has attracted significant attention. Generally, solar and wind energy production capacity play a major role in the selection of proper sizes for all units in integrated power systems [1315]. Our investigation concerns the definition of the system topology, the interconnection of the sources with maximum energy transfer, the analysis of energy losses involved with power conditioning converters, the optimum control and the energy management. The system supervision allows managing all power devices (converters, protection). Hybrid system is simulated and experimentally tested for varying wind velocities and DC load respectively and the results are used to identify the good function of the proposed energy management strategy.

978-1-4577-0411-6/11/$26.00 2011 IEEE

2. MODELLING OF HYBRID SYSTEM

The hybrid system considered for this study is a combination of wind and photovoltaic subsystems as shown in Fig. 1.
Wind Turbine Rectifier
Buck Iw

IL

PMSG PV Panel
Ipv Buck
w

DC Bus

Load

The system is designed to control the output current. By dividing the reference wind power Pref.w by the battery voltage Vbat, the reference battery current is calculated. The optimal reference value of the current Iref.w is imposed to the current controller of the (DC/DC) chopper [17]. The error resulting from the comparison between desired and actual values of the output current Iw is processed by the microcontroller through a PI regulator, issuing a value VL of the inductance voltage (L). The sum of the inductance voltage VL and the battery voltage Vbat is divided by the DC voltage Vbus to issue the duty-cycle w required for the IGBT switching operation, as shown in Fig. 2.
Wind turbine Rectifier Buck

IB

pv

Battery 48 V
PMSG

Iw
L

+
C Load

Fig. 1. Bloc diagram of the proposed Hybrid windphotovoltaic system The wind subsystem is a 600W wind generator equipped of a direct driven permanent-magnet synchronous generator (PMSG), a diode rectifier and a (DC/DC) buck converter for the tracking of the maximum power point [11,16,17]. A 400 W photovoltaic panel is built up of a combination of series and parallel individual photovoltaic modules. As the solar intensity varies, the DC output voltage of the panel also varies. This variable DC output voltage of the panel is controlled by another (DC/DC) buck converter before it is fed to the DC bus used for the MPPT by regulating the output current Ipv. The common DC bus collects the total energy from the wind and photovoltaic systems and uses it partly to supply the required load demand and partly to charge the battery bank. Under normal operating conditions of wind velocity and solar intensity, the battery bank is an additional load to the system. It acts as an additional source to supply the demand during low wind velocities or solar intensities. Before defining the supervisor control concepts, a model description of each element in the hybrid energy conversion system is given. A brief description of wind and photovoltaic subsystem is specified below. 2.1. Wind energy conversion subsystem The bloc diagram of the proposed MPPT control for the wind subsystem adopted in this paper is shown in Fig. 2. It consists of a small wind turbine coupled to a permanent magnet synchronous generator (PMSG): the output voltage and frequency from the generator will vary for different wind velocities. The variable output power from the generator is first rectified using a diode bridge. A buck converter is used to track the maximum power available from the wind energy system for a given wind velocity and to deliver this power to a 48 V DC constant voltage load. The voltage across the rectifier terminal is then variable relatively to the control of the duty cycle of the (DC/DC) converter.

Vdc

_
w

Pref.w

Iref.w
Vbat

_
+

Iw

Vbat
VL + PI +
1

Vbus

Fig. 2. Current control of wind-side DC-DC chopper 2.1.1.Wind turbine The output mechanical power of the wind turbine is given by the usual cube law equation 1 3 Pw = ..S.Vw .Cp () (1) 2 Where Vw is the average wind velocity (m/s), is the air density (kg/m3), S is the surface of the turbine blades (m2) and Cp is the power coefficient, which is a function of the tip speed ratio given by R = m (2) Vw Where m is the rotor mechanical speed (rad/s), and R the blade radius. The output torque Tw of the wind turbine is calculated from the following equation:
m 2.1.2 Model of the permanent magnet synchronous generator (PMSG) associated to the rectifier
Tw = Pw 1 2 . . S . R .V w .C 2 =
p

( )

(3)

A 600W, 34 pole, 300 rpm rated speed, permanent magnet synchronous generator (PMSG) is employed in the wind subsystem. The generator output voltage varies according to the wind speed variation. Hence, the 3-phase output of

the PMSG is rectified with a diode bridge rectifier, filtered to remove significant ripple voltage components, and connected to the buck converter. For an ideal (unloaded and loss-less) PMSG, the line to line voltage is given as [18]: VL = K v e sin(e t) (4) Where Kv is the voltage constant and e is the electrical frequency related to the mechanical speed m by: np e = m ( ) (5) 2 Where np is the number of poles of the PMSG. Considering the overlapping effects, the DC rectifier voltage Vdc is given as: 3 L 3 2 Vdc = VLrms e s Idc (6) Where VLrms is the rms value of the PMSG output voltage, Idc is the average rectifier PMSG output current and Ls is the stator inductance. The rectified electrical power Pdc, is equal to: Pdc = Vdc Idc (7) 2.1.3. DC/DC buck converter The average output voltage of the buck converter is given by Eq.(8): V w = .Vdc (8) Where is the duty cycle of the chopper. The DC voltage at the converter output feds the battery DC bus which is nearly constant. Assuming negligible converter losses, the average output current Is of the buck converter is given by:

Fig. 3 shows the control diagram of the PV subsystem proposed in this paper. The used PV array delivers a 400 W peak power (75.5 V and 5.5 A at 1000W/m and 25C). To satisfy the required (48V) bus voltage, a buck (DC/DC) chopper must be used. This latter is controlled to extract the maximum power from the photovoltaic generator. The aim of the control strategy is to adjust the voltage Vpv to have the maximum power extraction. It can be deduced that two controllers must be considered to control respectively the voltage Vpv and the PV output current Ipv which are the two state variables [19]. PV modules Iin Ie L Ipv
Ic Vpv Cpv
pv

Vs

Vbat Bat
t

Load

Vpv Vref.pv +

Iin

Vbat Ipv

Vpv
PI VL + + Vs

Iref.c
PI

-+

Ie

Vref.pv Vbat

Iref.pv

Current loop Fig. 3. Voltage-current cascaded control loops of the PVside DC-DC chopper In this paper, only the current loop is tested, as for the wind subsystem, where the reference value of the current Iref.pv is calculated by dividing the reference PV power Pref.pv by the battery voltage Vbat as in equation (12). Various equivalent circuit models of a PV cell have been proposed [12, 17]. For obtaining high power, numerous PV cells are connected in series and parallel circuits on a panel, which is a PV module. A PV array is defined as a group of several modules electrically connected in seriesparallel combinations to generate the required current and voltage.

Iw =

I dc

(9)

2.1.4 Leadacid accumulator The energy storage system is provided through an array of four accumulators, connected in serial. Each accumulator consists of 6 2-V cells connected in series, thus providing a nominal voltage of 48 V. The accumulator is a vital part of an autonomous energy supply system since it is used to meet the energy fluctuations of the hybrid system due to the intermittent nature of solar and wind energy generation. However, during periods of prolonged energy surplus or deficit resulting from the hybrid system, an appropriate energy management should ensure that the accumulator is adequately protected from overcharging or deep discharging. The electrical model for the leadacid accumulator is represented by a voltage source in series with a resistance. The internal resistance, Rbat is assumed to be constant and the internal voltage Ebat, varies with the state of charge. The internal terminal voltage, Vs in charge operation is given by [12]: Vs = E bat + I bat R bat (10) Where Ibat is the battery current. 2.2. PV energy conversion subsystem

Fig. 4. Equivalent circuit of a PV module Fig. 4 shows a simplified equivalent circuit model of a PV module used in the study, which consists of a current source in parallel with a diode and in series with a series resistor. Based on the PV module model in Fig. 4, the behaviour of an equivalent PV array with NS NP modules may be described by equation (11).

Parameters for the PV module model may be obtained from manufacturers data sheet. Vp + I pv R s I p = N p Isc N p Id exp (11) 1 nN s VT Ip = output current of PV panel [A] Isc = short circuit current of PV module [A] Id = diode saturation current [A] Vp = terminal voltage of PV panel [V] Rs =series resistance [ ] n = ideal constant of diode (1~2) VT = thermal potential of PV module [V]

controlled chopper. The maximum power tracking of the photovoltaic generator is obtained from a current control of the buck chopper output current. The DC bus, designed to interconnect more than two sources, is coupled to 4 serial electrochemical accumulators YUASA NPL38-12I. 12V. 38Ah and a DC load array with variable resistor. The energy management system has been implemented on a DS1104 dSpace controller.

4. ENERGY MANAGEMENT STRATEGY

4.1. General description of the supervisor control The capability of the remote network to satisfy the power demand depends on the climatic conditions (wind, sun), and on the battery state of charge. It can be tested for different system operations. The utility of the energy management supervisor is to control the battery state of charge by keeping the DC bus voltage, Vbus, between two imposed limits (54V, 43V) around the rated battery voltage (Vbat_nom=48V). The proposed DC bus voltage regulation strategy can be integrated into the dSpace controller [20]. Fig. 6 shows the conceptual diagram of the proposed DC bus voltage regulation strategy. There is a hysteresis band with high Vdc, high and low bounds Vdc, low. If the DC bus voltage falls inside the hysteresis band, the reference power will remain unchanged. If the DC bus voltage is higher than Vdc, high, inside the area H, then the energy management will stop charging battery: the reference power and the DC bus voltage should be pulled down (MPPT=0). On the other hand, if the DC bus voltage is lower than Vdc, low, inside the area L, the energy management will stop supplying power to the load; the reference power switches to the maximum power generation and the DC bus voltage will be lifted up (MPPT=1). V
V bat Security
V bat max = 54.4

3. DESCRIPTION OF THE TEST BENCH

The experimental test bench is shown in Fig. 5. The experimental setup realized in the LAPLACE Laboratory is obtained by the interconnection of a physical emulator simulating a Wind Power generator, with a physical emulator of a photovoltaic generator. The interface converters are connected to an actual electrochemical (lead acid) accumulator and to a variable DC load [20].
Wind generator emulator VLV DC node

Pw

PV Emulator

Pref.w Dspace [V;I]

Vdc, high

MPPT=0
V BUS V BUS

Battery Charge

Pref.pv [Switch ]

V nominal bat = 48 Vdc, low

L
V bat min

MPPT=1 V bat Security

Battery Discharge

= 45

48 V Battery

Ppv Pbat

t Fig. 6. The proposed DC bus voltage regulation strategy

Fig. 5. Test bench of the remote network with VLV multisources interconnection The wind emulator is composed of a PMSG driven by a torque controlled synchronous motor emulating the wind turbine torque for various wind cycles. The photovoltaic emulator is composed of a single-phase rectifier and a

The operation modes are determined by the energy balance between the total generation (wind and solar) and the total demand (load and required charge of the battery). A comprehensive supervisor control algorithm is essential to efficiently manage the operation of the generation subsystems according to those modes. For the design of such energy management supervisor, it has been decided that the solar subsystem would be considered as the main generator, while the wind subsystem would constitute the

complementary generator: the cooperation strategy between those two sources is described below. However, this particular choice is not a limitation and the results presented below can straightforwardly be extended considering the wind subsystem as the main supplier and the solar subsystem as a secondary generator. One example of energy management through a system supervision strategy is proposed following 3 different modes: Mode 1: this operation mode is characterized by both generation subsystems set to operate at their maximum energy conversion points (MPPTwind=1, MPPTpv=1). To fully satisfy the load demand, the battery is able to add an energy flow, for example in the case of high power demands. In such a case, Mode 1 can be maintained as long as the energy available in the battery bank is sufficient to complement the generation and to satisfy the load requirements. If the bus voltage is too much decreased (Vbus < Vbat min), due to the battery discharge, the operation is then switched on the security mode, where all sources and loads of the hybrid system are disconnected. Contrarily, if the load demand is lower, the battery can be charged until its full charge state which is typical of the maximum voltage limit. Operation Mode 2, is reached if this voltage limit (Vbus > Vdc, high) is exceeded Mode 2: the supervisor continue to manage the solar subsystem for maximum generation (i.e., operation at the point of maximum energy conversion MPPTpv=1) but the wind power subsystem is set to track a complementary power reference (MPPTwind=0). This reference corresponds to the power required to complement the solar generation and together satisfies the total power demand. It should be remarked that, in Mode 2, the battery bank is by passed and is consequently not requested to supply the power of the load. If, during this Mode 2, the battery is discharged decreasing the bus voltage below its minimum limit (Vbus < Vdc, low), the system return to the Mode 1 of operation. Mode 3: it corresponds to periods for which the solar power is sufficient to satisfy the total load demand (MPPTpv=0). Therefore, the solar subsystem has to track the total demand while the wind subsystem is switched off (MPPTwind=0, Prefwind = 0). A charge cycle is then applied to the battery. This situation is maintained until the total power demand exceeds the available solar power reference; for such a case the battery bank is transitorily able to provide the complement of energy flow until its discharge limit for which the supervisor control switches to Mode 2, activating the wind generator. A reliable criterion to decide when to switch from maximum power generation (Mode 1) to power regulation (Mode 2) must be deduced of photovoltaic and wind subsystems. To summarize, the supervisor control is responsible of switching from one operation mode to another depending on the climatic conditions, the load demand, and the battery charge. Moreover, it is in charge of setting the reference values of the generation modules and the battery current for each mode of operation.

4.2. Operation strategy The energy management program communicates the values of reference powers to the sources. The supervisor controller determines in real time the operation mode of both generation subsystems, switching from power regulation (MPPT=0) to maximum power conversion (MPPT=1). Decision criteria for the supervisor are based on measurable system variables (voltages, currents).

5. HYBRID SYSTEM PERFORMANCE

5.1. Simulation results The proposed supervisor control, summarized in Fig. 6 has been numerically simulated using the 20-sim software. Simulations were conducted to evaluate the performance of the proposed hybrid system supervision strategy. In Fig. 7, the behaviour of different system variables is displayed. The features of the proposed operation strategy are examined through several variations, which combine variations of wind speed and load.
t1 t2 t3 t4 t5 t6 t7 t8 t9

(a)

(b)

(c)

(d)

(e)

(f)

(g)

(h)

(i)

(j)

Fig.7. Simulation curves of the hybrid system energy management The wind turbine speed is presented in Fig 7(a). In Fig 7(b), (d), (f) and (g), the wind turbine power, the PV generated power, the total power demand, and the battery powers delivered to the load are respectively depicted. In

Fig 7(c), (e) and (i) are shown the system variables used to manage the operation mode. Fig. 7(c) depicts the reference power of the wind subsystem (i.e., Pref w). Fig. 7(e) and 7(i) shows the decision variables for the solar subsystem (i.e., Pref pv and Iref.pv). The supervisor control determines the operation modes of the remote grid by processing the information presented in Figs. 7(c), (e) and (i). Fig (h) and (j) show respectively the PV generator voltage Vpv and the DC bus voltage Vbus. The initial conditions of experiments are: null inputs sources (speed wind =0m/s and irradiation =0w/m). The parameters of this experience are: Vbat_nom=48V, hysteresis band =1V, Pbat_tolerence=10 W, Vbat_max = 50V, Vbat_min = 45V. At time t1, the energy management starts operating: the reference powers of PV (current) and wind subsystems are at their maximum levels (Mode1). The load is only supplied by the batteries. Consequently, the battery voltage decrease to Vbat_min. At t2, the wind speed being Swind =14m/s, the wind subsystem produces the total power demand. So, the battery voltage increases till Vbat_nom. At t3, the wind speed decreasing Swind =10m/s, the wind subsystem cannot satisfy the whole demand: the battery bank is sufficient to complement the generation to satisfy the load requirements. At t4, the photovoltaic emulator is connected and generates, together with the wind subsystem, the total demand (load and required charge of the battery): then the DC bus voltage increases. At t5, the load decreases Pload=190W, the battery becomes fully charged. Therefore, the DC bus voltage continues to increase. At t=t6, the voltage limit (Vbus>Vbat max) is exceeded, the supervisor control switches from Mode 1 to Mode 3, the PV power subsystem is set to track a power reference (MPPTpv=0) and the wind subsystem is switched off (MPPTwind=0). Consequently, the photovoltaic voltage and the wind turbine speed both increase and the DC bus voltage decrease. From t7 to t8, the load is increased and decreased (Pload=250W and Pload=190W respectively), Mode3 is maintained while the PV generation subsystem is set to regulate the power. At t9, the power demand become equal to 380W, the PV subsystem restrains its generation at 250 W. This situation leads the system to operate in Mode 2, being the wind subsystem responsible to complement the PV generation to satisfy the total power demand. 5.2. Experimental results A second set of results is obtained by using the whole hybrid network as experimental set up. The Dspace control desk experiment software allows monitoring experiments and capturing data files. Experiments were conducted to evaluate the performance of the proposed hybrid system supervision strategy. In Fig. 8, the time behaviour of different system variables is displayed. The features of the proposed operation strategy are examined through several variations, which combine variations of wind speed and load. The wind turbine speed is presented in Fig 8(a). In Fig 8(b), (d), (f) and (g), the wind turbine power, the PV

generated power, the total power demand, and the battery power delivered to the load are depicted. In Fig 8(c), (e) and (i) are shown the system variables used to manage the operation mode. Fig. 8(c) depicts the reference power of the wind subsystem (i.e., Pref w). Fig. 8(e) and 8(i) shows the decision variables for the solar subsystem (i.e., Pref pv and Iref.pv). The supervisor control determines the operation modes of the remote grid by processing the information presented in Figs. 8(c), (e) and (i). Fig 8(h) and (j) show respectively recorded waveforms of the PV generator voltage Vpv and the DC bus voltage Vbus.
30 0 20 3 10 0 0 30 6 17 4 0 40 4 10 5 0 20 5 10 9 0 40 4 (d)

t1 t2

t3

t4

t5t6

t7

t8 t9

Wrpm [ ]

(a)

Pw W [ ]

(b)

P ef.w[W .r ]

(c)

Pp [W v ]

P ef. p [W 190 .r v ]
0 30 8 Plo d[W 250 a ] 190 0 (f ) 30 6 Pbt[W 210 a ] 0 -2 0 1 (e)

(g)

Vp[V]

9 4 8 7 8 0

(h)

5 .7 I ef.p [A 3.5 .r v ] 0 4 9 Vb s[V 48 u ] 47 4 6 4 5 0 (i )

10 0

20 0

30 0

40 0 (j )

50 0

60 0

t(

Fig.8. Experimental curves of the hybrid system energy management The same operating conditions as for the previous simulation test of Fig.7 are produced during the experimental phase: One can see that the results are nearly identical. The average model of the whole hybrid system has then correctly predicted the steady state and transient behavior of the hybrid wind-photovoltaic system during various wind and solar conditions

6. CONCLUSION
In this paper, the authors investigate a theoretical and experimental study relative to the design and energy management of a multi-source hybrid system. The device is composed of the interconnection of the photovoltaic panel and wind turbine generator with power electronic based interfaces. For such remote systems, an energy management is necessary to control the energy fluxes between the load, the storage elements and both sources in order to guarantee a stable and safe operation in accordance with the remote grid specifications. For this objective, the authors have defined fast control loops for the source energy conversion and conditioning and external slower control loops for the energy management strategy, thus in order to satisfy the balance between the load consumption, the battery state of charge and the behaviour of the renewable energy sources interconnected. The principle is to keep the DC bus voltage inside a bandwidth around its rated value. The performance of electric generation hybrid systems relies on the existence of a custom-made supervisor control capable of efficiently managing the diverse energy resources. The supervisor system developed in this paper has been proved to be convenient to manage and coordinate the operation of the sources constituting the hybrid system. One of its most attractive features is that reliable and unambiguous criteria only based on easily measurable system variables (voltages and currents) have been proposed for the decision algorithms of the supervisor. The whole hybrid wind-photovoltaic micro-generation system has been numerically simulated and realized on a laboratory prototype showing the structure properties. The results show good performance of the designed system and confirm the effectiveness of the proposed hybrid energy management strategy for any operating modes condition. Acknowledgment "This work was supported by the Tunisian Ministry of High Education, Research"

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