Modulation and Control of Grid Converters

Modulation and current/voltage control of the grid converter
Modulation and current/voltage control

of the grid converter
Marco Liserre
liserre@ieee.org
Marco Liserre liserre@ieee.org

Introduction
 Modulation and ac current control are the core of grid-connected converters
 They are responsible of the safe operation of the converter and of the compliance
with standards and grid codes
 Ac voltage control is a standard solution in WT-system however can be adopted

also in PV-system for reinforcing stability or offering ancillary services
A glance at the lecture content
 Introduction
 Model of the grid converter
 Overview of modulation techniques
 Current control
 Voltage control
Introduction: modulation and current/voltage control

VSI i L1 L2 vg ig Lg
+ + + +
C vdc v Cf vC e
- - - -
v* Current
Modulator
control
 PI-based current control implemented in a synchronous frame is commonly used in

three-phase converters
 In single-phase converters the PI controller capability to track a sinusoidal

reference is limited and Proportional Resonant (PR) can offer better performances
 Modulation has an influence on design of the converter (dc voltage value), losses
and EMC problems including leakage current
Introduction: harmonic limits for PV inverters

 In Europe there is the standard IEC 61727
 In US there is the recommendation IEEE 929
 the recommendation IEEE 1547 is valid for all distributed resources technologies
with aggregate capacity of 10 MVA or less at the point of common coupling
interconnected with electrical power systems at typical primary and/or secondary
distribution voltages
 All of them impose the following conditions regarding grid current harmonic content
The total THD of the grid current should not be higher than 5%

Introduction: harmonic limits for WT inverters

In Europe the standard 61400-21 recommends to apply the standard 61000-3-6 valid for
polluting loads requiring the current THD smaller than 6-8 % depending on the type of
network.
harmonic limit
5th 5-6 %
7th 3-4 %
11th 1.5-3 %
13th 1-2.5 %
in case of several WT systems


N
 I hi 
Ih    

i 1  i 
in WT systems asynchronous and synchronous generators directly connected to

the grid have no limitations respect to current harmonics

Model of the grid converter

id
TA DA TB  DB  TC  DC  L
A
io R e
+ B
vdc - n
TA DA TB  DB  TC  DC 
converter switching function
p(t)  2  pa(t)    pb(t)   2  pc(t) 

3
ac voltage equation
d i (t ) 1
   Ri (t )  e (t )  p (t )vdc (t ) 
dt L
Use of a synchronous frame

c
 p 
 p  2 1 1 2 1 2   a 
p   
q
  pb 
v v    3 0  3 2 3 2
 pc 
d
vq v 
  2   2  
 cos  cos           pa 
 pd  
cos
 3   3   
p   
vd a
 pb 
 q   sin  
sin   
2   2  
  sin       pc 
  3   3 
b -frame dq-frame
 di  t  1
    Ri  t   e  t   p  t  vdc  t    did  t  1
 dt L 
 dt
 iq  t     Rid  t   ed  t   pd  t  vdc  t  
 
L
 di  t   1
  Ri  t   e  t   p  t  vdc  t    diq  t   i t  1   Ri t  e t  p t v t 
 dt d   q  q  q   dc   
L  dt L

Overview of modulation techniques

Modulation techniques
 Characteristic parameters of these strategies are:

 the ratio between amplitudes of modulating and carrier waves (called
modulation index M)
 the ratio between frequencies of the same signals (called carrier index m)
 These techniques differ for the modulating wave chosen with the goal to obtain
 a lower harmonic distortion,
 to shape the harmonic spectrum
 to guarantee a linear relation between fundamental output voltage and
modulation index in a wider range
 The space vector modulations are developed on the basis of the space vector
representation of the converter ac side voltage

Modulation techniques
VAo 1
 analogic or digital,  Vd 
 
 2 
 natural sampled or regular sampled
4
  1.278 
 symmetric or asymmetric
1.0
Linear
Over- Square-
Optimization both for the modulation wave
linearity and harmonic content
0 M
0 1.0
 for m 
3.24
f  15

Sinusoidal PWM (SPWM)

+ Vdc + P +
Vˆcontrol C2
Amplitude modulation ratio : M  2 -
Vˆtri
Vdc + v t - V
f
Frequency modulation ratio : m  S Vdc +
f1
C1 P
2 -
- -
Output voltage averaged over one

switching period:
vcontrol Vd
VAo  vAo  ; vcontrol  Vˆtri
Marco Liserre
V tri 2 liserre@ieee.org
Sinusoidal PWM (SPWM)

Assuming a sinusoidal control signal:
vcontrol  Vˆcontrol sin(1t ),
the fundamental frequency component
of the output voltage is given by:
Vd
 vAo 1  M sin(1t ) M  1.0
2
 
VˆAo
1
M
Vd
2
M  1.0
The inverter stays in its “linear range”
while M   0,1.
The harmonics in the output voltage appear as
sidebands of fS and its multiples
f h   jm  k  f1
1 15
The hth harmonic corresponds to the kth sideband
13 17 29 31
of j times the frequency modulation ratio m. 25
27 33
35 3941
43454749
51
For even values of j only exist harmonics for
odd values of k, and viceversa.
Bipolar and unipolar modulations

+ Vdc + P + P P
C2
2 -
Vdc + v t - Vdc + v t -
Vdc + P P
C1 P
2 -
- -
 
1     
 J n  q M  sin m  n  cosmc t  n0t 
4Vdc
 bipolar v(t ) 
 m 0  n 1
q  2   2
m 0  n 
 
v(t )  2Vdc M cos0t     2m J mM cosm  n  1 cos2mct  2n  10t 
8Vdc 1
 unipolar 2n1
 m1 n

Bipolar and unipolar modulations

1.5
1.5
1
1
0.5
vref , vtri
0.5
vref , vtri
0
0
-0.5
-0.5
-1 vref vtri
-1 vref vtri
-1.5
0 10 20 30 40 -1.5
100 t [ms] 0 10 20 30 40
100 t [ms]
50
50
vAo [V]
vAo [V]
0
0
-50
-50
-100
0 10 20 30 40 -100
100 t [ms] 0 10 20 30 40
100 t [ms]
50
50
vBo [V]
vBo [V]
0
-50
-50
-100
0 10 20 30 40 -100
150 t [ms] 0 10 20 30 40
150 t [ms]
100
100
50
vAB [V]
50
vAB [V]
0
0
-50
-50
-100
-100
-150
0 10 20 30 40 -150
t [ms] 0 10 20 30 40
t [ms]
1 1
0.8 0.8
vAo/V d
vAB/Vd
0.6 0.6
0.4 0.4
0.2 0.2
0 0
0 5 10 15 20 25 30 35 40 45 50 55 60 0 5 10 15 20 25 30 35 40 45 50 55 60
h h
Due to the unipolar PWM the odd carrier and associated sideband harmonics are
completely cancelled leaving only odd sideband harmonics (2n-1) terms and even (2m)
carrier groups
Three-phase modulation techniques

1.5 100
1
50
0.5
vref , vtri
vAn [V]
0 0
-0.5
-50
-1 vref vtri
-1.5 -100
0 10 20 30 40 0 10 20 30 40
100 t [ms] 150 t [ms]
100
50
50
vAo [V]
E [V]
0 0
-50
-50
-100
-100 -150
0 10 20 30 40 0 10 20 30 40
100 t [ms] 20 t [ms]
50 10
von [V]
io [A]
0 0
-50 -10
-100 -20
0 10 20 30 40 0 10 20 30 40
150 t [ms] 20 t [ms]
100
10
50
vAB [V]
id [A]
0 0
-50
-10
-100
-150 -20
0 10 20 30 40 0 10 20 30 40
t [ms] t [ms]
The basic three-phase modulation is obtained applying a bipolar modulation to each of

the three legs of the converter. The modulating signals have to be 120 deg displaced.
The phase-to-phase voltages are three levels PWM signals that do not contain triple
harmonics. If the carrier frequency is chosen as multiple of three, the harmonics at the
carrier frequency and at its multiples are absent.
Extending the linear range (m=1,1)
SPWM
SVM

64
Three-phase continuous
modulation techniques
Continuous modulations
 sinusoidal PWM with Third Harmonic Injected –THIPWM. If the third
harmonic has amplitude 25 % of the fundamental the minimum current
harmonic content is achieved; if the third harmonic is 17 % of the fundamental
the maximal linear range is obtained;
 suboptimum modulation (subopt). A triangular signal is added to the
modulating signal. In case the amplitude of the triangular signal is 25 % of the
fundamental the modulation corresponds to the Space Vector Modulation
(SVPWM) with symmetrical placement of zero vectors in sampling time.
v ACR THIPWM1/6
v ACR THIPWM1/4
v ACR SVPWM
vdc /2 vdc /2 vdc /2
vDCR vDCR vDCR

0 0 0
von von von

-vdc /2 -vdc /2 -vdc /2
0 /2  2/3 2 0 /2  2/3 2 0 /2  2/3 2

Triple harmonic injection 1/6 Triple harmonic injection 1/4 Space vector - Triangular 1/4
Minimum current harmonics
Maximum linear range and almost optimal
Maximum linear range
current harmonics
Three-phase discontinuous
modulation techniques
The discontinuous modulations formed by unmodulated 60 deg segments in order to
decrease the switching losses
symmetrical flat top modulation, also called DPWM1;
asymmetrical shifted right flat top modulation, also called DPWM2;
asymmetrical shifted left flat top modulation, also called DPWM0.
v ACR DPWM0
=-/6
vDCR DPWM1
=0
vDCR DPWM2
=/6
vdc /2 vdc /2 vdc /2
vDCR v ACR
v ACR
0 0 0
von
von von
-vdc /2 -vdc /2 -vdc /2
0 /2  2/3 2 0 /2  2/3 2 0 /2  2/3 2

Multilevel converters and modulation techniques

 Wind turbine systems: high

power -> 5 MW Alstom Vdc
2
converter 
 Photovoltaic systems: many dc- 0V 0V 0V
links for a transformerless 

Vdc
solution 2

Different possibilities:
A B C
 alternative phase opposition (APOD) where carriers in adjacent bands

are phase shifted by 180 deg;
 phase opposition disposition (POD), where the carriers above the
reference zero point are out of phase with those below zero by 180 deg;
 phase disposition (PD), where all the carriers are in phase across all
bands.
Multilevel converters and modulation techniques

Cascaded inverter Neutral point clamped
 
i L
a
Vdc b  Vdc a i L
  

n
e
v v e
 

 
c  Vdc
Vdc d b
 
v(t )  NVdc M cos0t  

  N
 
J 2 n1 mM cosm  n  1  cos2mc t  2n  10t  2m i 
4Vdc 1

 m1 n 2m i 1
(i  1)
• carrier shifting i  m  kN , k  1,2,3...
N
Carrier shifting
1
tri
v ,V
0
ref -1
0.02 0.025 0.03 0.035 0.04 0.045 0.05 0.055 0.06
t [s]
100
[V]
0
ab
v
-100
0.02 0.025 0.03 0.035 0.04 0.045 0.05 0.055 0.06
t [s]
1
tri
v ,V
0
ref
-1
0.02 0.025 0.03 0.035 0.04 0.045 0.05 0.055 0.06
t [s]
100
[V]
0
cd
v
-100
0.02 0.025 0.03 0.035 0.04 0.045 0.05 0.055 0.06
t [s]
200
[V]
0
ad
v
-200
0.02 0.025 0.03 0.035 0.04 0.045 0.05 0.055 0.06
t [s]
1
A [pu]
0.5
0
0 10 20 30 40 50 60
Marco Liserre h liserre@ieee.org
PD Modulation for NPC

tri 1
0
, V
ref
-1
V
0.02 0.025 0.03 0.035 0.04 0.045 0.05 0.055 0.06

1
[V]
0
-1
an
V
0.02 0.025 0.03 0.035 0.04 0.045 0.05 0.055 0.06

t [s]
1
tri
, V
0
ref
V
-1
0.02 0.025 0.03 0.035 0.04 0.045 0.05 0.055 0.06
1
[V]
0
bn
-1
V
0.02 0.025 0.03 0.035 0.04 0.045 0.05 0.055 0.06

t [s]
200
[V]
0
ab
-200
V
0.02 0.025 0.03 0.035 0.04 0.045 0.05 0.055 0.06

t [s]
1
Best WTHD !
A [pu]
0.5
0
0 10 20 30 40 50 60
h
Current Control
PWM current control methods
ON/OFF controllers Separated PWM
linear non-linear
passivity fuzzy
PI predictive resonant
hysteresis Delta optimized feedforward dead-beat

PI current control
 Typically PI controllers are used for the current loop in grid inverters
 Technical optimum design (damping 0.707 overshoot 5%)
e KI
GPI ( s )  K P 
i v -
ig s
GPI ( s ) Gd ( s ) Gf ( s )
+
+
-- + 1
Gd ( s) 
1  1.5Ts s
vg
i( s) 1
G f (s)  
v( s) R  Ls
1 0
Magnitude (Db)
0.8 -5
0.6 -10
0.4 -15
0.2 -20 -1 0 1 2 3 4
0 10 10 10 10 10 10
-0.2 0
Phase (Degree)
-0.4 -100
-0.6 -200
-0.8
-300
-1
-400 0 1 2 3 4
-1 -0.5 0 0.5 1 10 10 10 10 10
Frequency (Hz)
Shortcomings of PI controller
1
actual 1 0.98
0.96
0.94
0.92
steady-state
0.9
1
0.88
0.86
reference
0.84
0.82
0.8
0.023 0.0235 0.024 0.0245 0.025 0.0255 0.026 0.0265 0.027 0.0275
0.8
magnitude and 0.5
phase error
0.6 0 0.2
0.15
0.1
0.05
limited
0
-0.05
-0.1
-0.15
actual -0.2
-0.25
0.019 0.0192 0.0194 0.0196 0.0198 0.02 0.0202 0.0204 0.0206 0.0208 0.021
0.4
disturbance -0.5
reference
0.2 rejection
-1
capability error
0
error (scaled) -1.5
-0.2 0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04
0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02
time [s] time [s]
 When the current controlled inverter is connected to the grid, the phase error results in
a power factor decrement and the limited disturbance rejection capability leads to the
need of grid feed-forward compensation.
 However the imperfect compensation action of the feed-forward control due to the
background distortion results in high harmonic distortion of the current and
consequently non-compliance with international power quality standards.

Use of a PI controller in a rotating frame

q 
i (t ) d
e(t )
id
iq

The voltage used for
the dq-frame The current control can
 orientation could be be performed on the
measured after a grid current or on the
dominant reactance converter current
e‘(t)
e(t)  Ki 
 K p  0 
e‘(t)  DPI ( s)dq 
s

dig  0 Ki 
Kp  
e' t   e t   Lg  s 
dt
Use of a PI controller in a rotating frame

id Current
controller
v gd
id Ki
-+ Kp  
s
i id v abc
i αβ L v*
 j j 
i e iq e v
abc L αβ
Ki 
 -+ Kp  
f s
Vg
iq Current v gq
αβ v g controller
vg 
v g PLL
abc
v gd
e  j v gq
vdc

Vdc controller • active and reactive
V - K
Kp  i
dc
+
P
s power control can be
P controller
K - id achieved
i P Kp  i
+
P  v ga ia  v gb ib  v gc ic
-+
v Q
1
v i  v gbc ib  v gca ic
gab a  Q
-+ K
s
iq • vdc control can be
3
Kp  i
PQ controller
s
Q controller
achieved too
Q

Use of a PI controllers in a rotating frame in

single-phase systems
id Current
controller v gd
id
 an independent Q control is -+ Kp 
Ki
s

achieved i id
L
v v
i e  j
iq e j v 
i
e  j 2 L
 A phase delay block create the  -+ Kp 

Ki
s  
f Vg
virtual quadrature component that v g iq Current
controller v gq

PLL
allows to emulate a two-phase vg
e  j 2
v g
v gd
system e  j v gq
vdc
Vdc controller
 the v component of the idc Vdc - K
id
MPPT Kp  i 
+
s
command voltage is ignored for
the calculation of the duty-cycle x
P

Q
v gd iq
Q 

v gq

Use of a PI controllers in two rotating frames
 Under unbalanced conditions in order  id

to compensate the harmonics i + v
PI
+
generated by the inverse sequence e  j e j
present in the grid voltage both the i v
PI
+
positive- and negative-sequence +
 iq 
reference frames are required
 id
 Obviously using this approach, i + v
PI
+
double computational effort must be
devoted i
e j e  j
v
PI
+
+
 iq 

Dead-beat controller
 The dead-beat controller belongs to the family of the predictive controllers
 They are based on a common principle: to foresee the evolution of the controlled
quantity (the current) and on the basis of this prediction:
 to choose the state of the converter (ON-OFF predictive) or
 the average voltage produced by the converter (predictive with pulse width
modulator)
 The starting point is to calculate its derivative to predict the effect of the control
action
 The controller is developed on the basis of the model of the filter and of the grid,
which is used to predict the system dynamic behavior: the controller is inherently
sensitive to model and parameter mismatches

 The information on the model is used to decide the switching state of the
converter with the aim to minimize the possible commutations (ON-OFF
predictive) or the average voltage that the converter has to produce in order to null
it. e
i v i
GDB ( z ) - Gf ( z )
+
 In case it is imposed that the error at the --
end of the next sampling period is zero vg

the controller is defined as “dead-beat”. It
can be demonstrated that it is the fastest
current controller allowing nulling the
error after two sampling periods.
i*
i
tON tON
Ts Ts
k k 1 k2
1 a
v(k  1)  v(k  1)  i (k )  i (k  1)  e(k  1)  e(k  1)
b b
v(k  1)  vk   i (k )  e(k  1)  e(k )

1
neglecting R !
b
1
reference 1 reference
0.8
actual 0.8
actual
response
0.6
response 0.6
0.4 0.4
0.2 0.2
0 0
-0.2 -0.2
450 460 470 480 490 500 510 520 530 540 550 450 460 470 480 490 500 510 520 530 540 550
samples samples

Dead-beat controller: limits

20 20
10 10
0 0
-10 -10
current [A]
current [A]
-20 -20
-30 -30
due to PWM !
-40 -40
-50 -50
-60 -60
0.04 0.045 0.05 0.055 0.06 0.04 0.045 0.05 0.055 0.06
time [s] time [s]
Pole-Zero Map
20
1
0.5/T
0.6/T 0.4/T 10
0.8 0.1
0.7/T 0.3/T
0.2
0.6 0.3 0
0.8/T 0.4 0.2/T
0.5
0.4 0.6 -10

current [A]
0.7
0.9/T 0.8 0.1/T
0.2 0.9
Imaginary Axis
-20
/T
0
/T
-0.2
0.9/T 0.1/T
-30
due to
-0.4
0.8/T 0.2/T
-40
parameter
-50
-0.6
-0.8
0.7/T 0.3/T
error !
-60
0.6/T
0.5/T
0.4/T 0.04 0.045 0.05 0.055 0.06
-1
time [s]
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1

Real Axis
Resonant control
 Resonant control is based on the use of Generalized Integrator (GI)
 A double integrator achieves infinite gain at a certain frequency, called

resonance frequency, and almost no attenuation outside this frequency
s
GI
s2   2
 The GI will lead to zero stationary error and improved and selective
disturbance rejection as compared with PI controller
Bode Diagram GI res pons e
200 2
in
s out
input and output of the resonant controller

100 1.5
Magnitude (dB)
0 s2   2 1
-100 0.5
-200 0
180
-0.5
90
Phase (deg)
0 -1
-90 -1.5
-180
1 2 3 -2
10 10 10 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Frequency (Hz) time [s]

time [s ec]

Resonant control
 The resonant controller can be G AC (s)  GDC (s  j )  GDC (s  j )
obtained via a frequency shift
Ki 2K i s
GDC ( s )  G AC ( s) 
s s2   2
GDC ( s) 
Ki 2 K ic s
G AC ( s ) 
1  (s c ) s 2  2c s   2
800 80
Magnitude (dB)
Magnitude (dB)
600 60
400 40
200 20
0 0
1 2 3 1 2 3
10 10 10 10 10 10
Frequency (Hz) Frequency (Hz)
100 100
50 50
Phase (deg)
Phase (deg)
0 0
-50 -50
-100 -100
1 2 3 1 2 3
10 10 10 10 10 10
Bode plots of ideal and non-ideal PR with KP = 1, Ki = 20,  = 314 rad/s c = 10 rad/s
Resonant control
 The stability of the system should be taken into consideration
 The phase margin (PM) decreases as the resonant frequency approach to the
crossover frequency
s  s  1 
kP  kI k 
 P I 2
k  
s2   2  s   2  R  Ls 
Bode Diagram Bode Diagram
400 400
300
300
Magnitude (dB)
Magnitude (dB)
200
200
100
100
0
-100 0
-200 -100
180 180
90 90
Phase (deg)
Phase (deg)
0 0
-90 -90
-180
1 2 3 -180
PM
10 10 10 1 2 3
10 10 10

Tuning of resonant control

 The gain Kp is founded by ensuring the desired bandwidth
 The integral constant Ki acts to eliminate the steady-state phase error

50Hz response 50Hz response
6 s 6 s
Gc ( s )  K P  K I 2 Gc ( s )  K P  K I
s  o2 s  o2
2
4 4
2 2
Amp litude
Amp litude
0 0
-2 -2
-4 -4
-6 -6
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0. 045 0.05 0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0. 045 0.05
Time (sec)
Time (sec)
Ki = 100 Ki = 500
 A higher Ki will "catch" the reference faster but with higher overshoot
 Another aspect is that Ki determines the bandwidth centered at the resonance

frequency, in this case the grid frequency, where the attenuation is positive. Usually, the
grid frequency is stiff and is only allowed to vary in a narrow range, typically ± 1%.
Discretization of generalized integrators

GI integrator decomposed in two simple Forward integrator for direct path and backward for
integrators feedback path
 1 y
 y  s   s u  s   v  s  
u
y s s  yk  yk 1  Ts  (uk 1  vk 1 ) 
 2   
u s s  2 vk  vk 1  Ts    yk
2
v  s   1   2  y  s  v
 s  2
The inverter voltage reference
 K s  Control diagram of PR implementation

ui* ( s )    s    K p  2 I 2 
 s  
kp
Difference equations aw
ii*  u y ui*
 yk  yk 1  Ts  K I   k 1  Ts  vk 1
ii
kI  Gf(s)
 * ii v
ui ,k  K p   k  yk  2
v  v  T   2  y
k 1
 k s k
 k 1   k  ymax  y , y  ymax
y  y aw  
  ymax  y , y   ymax
 k 1 k
vk 1  vk

Use of P+resonant controller in stationary frame
The voltage used for reference

idd* ixd* generation could be measured
ej Kp
+ +
after a dominant reactance
 -
+ +
Ki  s
ix* ux*

ix s2   2
2
i
iy uy* SVM 6
3
Kp
+
-
+ +
i (t )
Ki  s
iy*
s2   2
u  e(t )
PLL
ix* 
i* 2
iy*
3
 Ki s  The current control can be

 K p  0 
 s 2  02 
performed on the grid current
DPR ( s)  or on the converter current
 Ks 
 0 Kp  2 i 2 
 s  0 

PI vs PR for single-phase grid inverter current control

The current loop of PV inverter with PI The current loop of PV inverter with
controller PR controller
e e
i 
v 
-
ig i v - i
GPI ( s ) Gd ( s ) Gf ( s ) GP  RES ( s ) Gd ( s ) Gf ( s )
+
+
+
-- + --
vg
KI
PI G PI ( s )  K P  s
s PR Gc (s)  K P  K I
s   o2
2
1
Inverter Gd ( s)  sT  1
s
G f (s) 
ii ( s)

1 s  zLC
2

2
 2

1 L  Li   zLC
2
Plant z LC 2
 g
 
.
ui ( s) L fi s s 2  res
2 Lg C f res
Li
 No grid voltage feed-forward is required
 GIs tuned to the low harmonics can be used for selective harmonic compensation
by cascading the fundamental component GI
From PI in a rotating-frame to P+res for each phase

In the hypothesis
Ed(s) Vd(s)
+
Ki
H11(s)
+
 H11(s)=H22(s)= K p 
s
H12(s)
 H12(s)=H21(s)=0
H21(s)
vd (t )  h11 (t )  ed (t )

vq (t )  h22 (t )  eq (t )
+
Eq(s) Vq(s)
+
H22(s)
 Ki s K p K s  3K  K p K s  3K  
 Kp  2   i 2 i2 0   i 2 i2 0 
s  0 2 2  (s   0 ) 2 2  (s   0 ) 
2
 Ki  
K  0 2  K p K s  3K  K p K s  3K  
 p s 

Ks
Gc ( s)     i 2 i 2 0 Kp  2 i 2   i 2 i2 0 
( a , b .c )

( d ,q )
Ki 
Gc 3  2 2  (s  0 ) s  0 2 2  (s   0 ) 
 0 Kp    K p K i s  3K i 0 K p K s  3K  Ks 
 s      i 2 i2 0 Kp  2 i 2 
 2 2  (s  0 ) 2 2  (s   0 ) s  0
2 2


Linear controllers : from PI in a rotating-frame to P+res for each phase
va (t )
d ia (t ) 1  R 0  ia (t ) 1 2  1  1 
           vb (t ) 
dt ic (t )  L  0 R  ic (t )  3 1 1 2 
va z vc (t ) 
va (t )  vb (t )  vc (t )  0
z z
vc vb
d ia (t ) 1  R 0  ia (t ) 1 0  va (t )
i (t )   L  0   
R ic (t )  0  1 vc (t ) 
dt c  
each current is determined only by its voltage !
 Ki s K p K s  3K  K p K s  3K    Ki s 
 Kp  2
s  0
  i 2 i2 0   i 2 i2 0 
2 2  (s   0 ) 2 2  (s   0 )  K p  2 2 0 0 
s  0
2
  

2  K p K s  3K  K p K s  3K  
Gc ( s)     i 2 i 2 0
( a , b .c ) Ks
Kp  2 i 2   i 2 i2 0   K s 
Gc1 (s)   Kp  2 i 2
( a , b .c )
3  2 2  (s  0 ) s  0 2 2  (s   0 )  0 0 
s  0
 K p K i s  3K i 0 K p K i s  3K i 0 Ks   
    Kp  2 i 2 
 Ki s 
 2 2  (s  0 ) 2 2  (s   0 ) s  0 Kp  2 2
2 2 2 2
 0 0
 s   0 

Linear controllers : results (ideal grid conditions)
PI controller in a rotating frame
harmonic spectrum current error
P+resonant controller for each phase
harmonic spectrum current error

Linear controllers: results (equivalence of PI in dq and

P+res in )
PI controller in a rotating frame
triggering LCL-filter resonance
P+resonant in stationary frame

triggering LCL-filter resonance

Ac voltage control
 When it is needed to control the ac voltage because the system should operate
in stand-alone mode, in a microgrid, or there are requirements on the voltage
quality a multiloop control can be adopted
L1 i
The ac capacitor voltage
is controlled though the + +
ac converter current. Vdc +
- V Vc
-
The current controlled
-
converter operates as a
current source to i Vc
charge/discharge the V*c
capacitor.
CC VC

Ac voltage control
 The repetitive controller ensures precise tracking of the selected harmonics and
it provides the reference of the PI current controller. Controlling the voltage Vc’
the PV shunt converter is improved with the function of voltage dips
mitigation. In presence of a voltage dip the grid current Ig is forced by the
controller to have a sinusoidal waveform which is phase shifted by almost 90°
with respect to the corresponding grid voltage.
Vc’ -
Vref
FDFT(z) Kf
+ Iref
+
E Ig
Iload
z  Na
Ic’
PV converter
Ic’
Vc’ - -
Repetitive Iref
Vref PI
+ control +

Conclusions
 The PR uses Generalized Integrators (GI) that are double integrators achieving very
high gain in a narrow frequency band centered on the resonant frequency and almost
null outside.
 This makes the PR controller to act as a notch filter at the resonance frequency and
thus it can track a sinusoidal reference without having to increase the switching
frequency or adopting a high gain, as it is the case for the classical PI controller.
 PI adopted in a rotating frame achieves similar results, it is equivalent to the use of

three PR’s one for each phase
 Also single phase use of PI in a dq frame is feasible
 Dead-beat controller can compensate current error in two samples but it is affected
by PWM limits and parameters mismatches

Bibliography
1. D. G. Holmes and T. Lipo, Pulse Width Modulation for Power Converters, Principles and Practice. New York: IEEE Press, 2003.
2. M. Kazmierkowski, R. Krishnan, and F. Blaabjerg, Control in Power Electronics – Selected Problems. Academic Press, 2002.
3. X. Yuan, W. Merk, H. Stemmler, and J. Allmeling, “Stationary-frame generalized integrators for current control of active power
filters with zero steady-state error for current harmonics of concern under unbalanced and distorted operating conditions,” IEEE
Trans. on Industry Applications, vol. 38, no. 2, pp. 523–532, 2002.
4. D. Zmood and D. G. Holmes, “Stationary frame current regulation of PWM inverters with zero steady-state error,” IEEE Trans. on
Power Electronics, vol. 18, no. 3, pp. 814–822, 2003.
5. M. Bojrup, P. Karlsson, M. Alaküla, L. Gertmar, ”A Multiple Rotating Integrator Controller for Active Filters”, Proc. of EPE 1999,
CD-ROM.
6. R. Teodorescu, F. Blaabjerg, M. Liserre and A. Poh Chiang Loh, “Proportional-Resonant Controllers and Filters for Grid-
Connected Voltage-Source Converters” IEE Proceedings on Electric Power Applications.
7. A. Timbus, M. Liserre, R. Teodorescu, P. Rodriguez, F. Blaabjerg, Evaluation of Current Controllers for Distributed Power
Generation Systems, IEEE Transactions on Power Electronics, March 2009, vol. 24, no. 3, pp. 654-664.
8. R. A. Mastromauro, M. Liserre, A. Dell'Aquila, “Study of the Effects of Inductor Nonlinear Behavior on the Performance of Current
Controllers for Single-Phase PV Grid Converters”, IEEE Transactions on Industrial Electronics, May 2008, vol. 55, no 5, pp. 2043
– 2052.
9. IEEE Std 1547-2003 "IEEE Standard for Interconnecting Distributed Resources with Electric Power Systems", 2003.
10. IEEE Std 1547.1-2005 "IEEE Standard Conformance Test Procedures for Equipment Interconnecting Distribut ed Resources
with Electric Power Systems", 2005.
11. IEC Standard 61727, “Characteristic of the utility interface for photovoltaic (PV) systems,”, 2002.
12. IEC Standard 61400-21 “Wind turbine generator systems Part 21: measurements and assessment of power quality
characteristics of grid connected wind turbines”, 2002.
13. IEC Standard 61000-4-7, “Electromagnetic Compatibility, General Guide on Harmonics and Interharmonics Measurements and
Instrumentation”, 1997.
14. IEC Standard 61000-3-6, “Electromagnetic Compatibility, Assessment of Emission Limits for Distorting Loads in MV and HV
Power Systems”, 1996.
Acknowledgment
Part of the material is or was included in the present and/or past editions of the
“Industrial/Ph.D. Course in Power Electronics for Renewable Energy Systems – in theory and practice”
Speakers: R. Teodorescu, P. Rodriguez, M. Liserre, J. M. Guerrero,
Place: Aalborg University, Denmark
The course is held twice (May and November) every year

Modulation and Control of Grid Converters

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Modulation and Control of Grid Converters

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Modulation and current/voltage control of the grid converter

Modulation and current/voltage control

Marco Liserre liserre@ieee.org

 Ac voltage control is a standard solution in WT-system however can be adopted

A glance at the lecture content

Introduction: modulation and current/voltage control

 PI-based current control implemented in a synchronous frame is commonly used in

 In single-phase converters the PI controller capability to track a sinusoidal

Introduction: harmonic limits for PV inverters

Marco Liserre liserre@ieee.org

Introduction: harmonic limits for WT inverters

in case of several WT systems

in WT systems asynchronous and synchronous generators directly connected to

Marco Liserre liserre@ieee.org

Model of the grid converter

converter switching function

p(t)  2  pa(t)    pb(t)   2  pc(t) 

Use of a synchronous frame

Marco Liserre liserre@ieee.org

Overview of modulation techniques

Marco Liserre liserre@ieee.org

 Characteristic parameters of these strategies are:

Marco Liserre liserre@ieee.org

Marco Liserre liserre@ieee.org

Sinusoidal PWM (SPWM)

Output voltage averaged over one

Sinusoidal PWM (SPWM)

Bipolar and unipolar modulations

Marco Liserre liserre@ieee.org

Bipolar and unipolar modulations

Three-phase modulation techniques

The basic three-phase modulation is obtained applying a bipolar modulation to each of

Extending the linear range (m=1,1)

Marco Liserre liserre@ieee.org

vDCR vDCR vDCR

von von von

0 /2  2/3 2 0 /2  2/3 2 0 /2  2/3 2

0 /2  2/3 2 0 /2  2/3 2 0 /2  2/3 2

Marco Liserre liserre@ieee.org

Multilevel converters and modulation techniques

 Photovoltaic systems: many dc- 0V 0V 0V

links for a transformerless 

 alternative phase opposition (APOD) where carriers in adjacent bands

Multilevel converters and modulation techniques

v(t )  NVdc M cos0t  

PD Modulation for NPC

0.02 0.025 0.03 0.035 0.04 0.045 0.05 0.055 0.06

0.02 0.025 0.03 0.035 0.04 0.045 0.05 0.055 0.06

0.02 0.025 0.03 0.035 0.04 0.045 0.05 0.055 0.06

0.02 0.025 0.03 0.035 0.04 0.045 0.05 0.055 0.06

PWM current control methods

ON/OFF controllers Separated PWM

hysteresis Delta optimized feedforward dead-beat

Marco Liserre liserre@ieee.org

Marco Liserre liserre@ieee.org

Use of a PI controller in a rotating frame

Use of a PI controller in a rotating frame

Marco Liserre liserre@ieee.org

Use of a PI controllers in a rotating frame in

 A phase delay block create the  -+ Kp 

Marco Liserre liserre@ieee.org

Use of a PI controllers in two rotating frames