Tutorial 3phase Inverter

3 Phase grid connected PV inverter
SmartCtrl Tutorial
-1- www.powersimtech.com
SmartCtrl1 is a general-purpose controller design software specifically for power electronics

applications.
This tutorial is intended to guide you, step by step, to design the inner control loop in dq axis
of a three phase grid connected PV inverter from its imported frequency response. In this
tutorial have not been included the outer control loop and the MPPT.
PWM Modulator
P* Id*
2 p vd q vq d a
id PI
3 vd2 vq2 + - b
q
c
2 p vq q vd
iq Iq*
Q* 3 vd2 vq2 id a
PI d
+ - b
iq q
c
There are a lot of possibilities to design the control loop of the aforementioned system. One of
them is the conventional control using axis decoupling by means of feedforward loops as
shown in the next figure.
K sc
id _ REF d Rid d d
+ + VVG 1
id
- - + Ls r
K sc id 1 L -
K sc VG L
1 L L
K sc iq K sc VG
-
- q + d q VVG 1
iq
iq _ REF Riq + Ls r
+ +
K sc
1
SmartCtrl is copyright 2009-2012 by Carlos III University of Madrid, GSEP Power Electronics Systems Group, Spain
Due to the axis decoupling, the conventional control scheme requires an implementation with
a high computational cost mainly for low cost applications. For these applications (low cost P,
PIC, DSP or small FPGA) a simplified control strategy is proposed and shown in the next figure.
As it can be seen in this figure, a direct PI control (without feedforward loops for axis
decoupling) has been proposed.
The plant (grey colored area) can be rewritten as it is shown in the next figure. The obtained
transfer functions can be classified as follows:
Mutual transfer functions:
I
d and I q
d d d
q
Self transfer functions
Iq
, and I d
d d d
q
Taking into account the symmetry of the balanced three phase inverter, two identical PI
controllers must be tuned. In order to design this PI compensator, two different possibilities
can be selected; it can be considered as converter plant the mutual transfer function or the
self one.
Due to the higher bandwidth and stable (together enough phase margin and stable operation)
is preferable to use the self transfer function.
Id
* -
Id d d
+ 0.5VDC Ls r
PI
Ls r 2 L 2 +
+
0.5VDC L
Ls r 2 L 2
*
Iq d q
PI
+
-
0.5VDC Ls r
Ls r 2 L 2
+ Iq
0.5VDC L -
Ls r 2 L 2
The first step will be validate the theoretical self and mutual transfer functions by means of a
PSIM AC analysis of the three phase grid connected inverter.
1. AC Analysis in PSIM
The frequency response of the plant is obtained from the averaged model form of the three
phase inverter in dq axis by means of the PSIM AC analysis tool. In the next figure the
aforementioned converter is shown.
AC sweep AC source
control
The obtained frequency response is included below:
Before proceeding with the control loop design, the Bode diagram in the next figure seeks to
compare the frequency response obtained with PSIM (green trace) and the aforementioned
theoretical model (red trace).
60
40
dBIDP sim1 Freci
(dB)
MG Freci
20
20
3 4
10 100 110 110
Frecuency
Freci (Hz)
100
0
degrees
FaseIDP sim1 Freci 100
FG Freci
200
300
3 4
10 100 110 110
Frecuency
Freci (Hz)
Once the frequency response has been obtained, it must be imported to SmartCtrl.
2. Import transfer function to SmartCtrl

2.1 Open your SmartCtrl Software.
2.2 Import the frequency analysis.
Press on button to select text file imported data (current mode control) or select
the corresponding option within the Data menu.
Next, the .txt file containing the frequency response from the PSIM AC Analysis is loaded.
The corresponding window is shown below:
The loaded transfer function is automatically shown:
Complete the switching frequency data in the left lower corner of the window and click
OK to continue.
3. Control loop design with SmartCtrl
3.1 Select the sensor type:
The current sensor specification window is automatically shown. It is necessary to set the
sensor gain and the bandwidth (pole frequency) of the Hall effect sensor. Then, press OK.
3.2 Select the regulator type:
The PI regulator specification window is automatically shown.
For an equivalent analog implementation of the compensator, it is necessary to set the

modulator gain and the value of the resistance R11. In this case the resistance value is
not important because the PI regulator to be implemented in PSIM is given by the values
of the proportional gain and the time constant. Once the desired values have been
introduced press OK.
3.3 Once all the control loop transfer functions have been defined, the crossover
frequency and the phase margin must be selected. Click on the "Set.." button and the
solutions map will be displayed.
Now, select the crossover frequency and the phase margin of the loop just by clicking
within the white zone and click OK to continue. The selected pair (PM and fcross) will
provided stable operation. Optimization process could be carried out in the main
SmartCtrl window.
Once the crossover frequency and the phase margin have been selected, the solution
map will be shown on the right side of the input data window. If, at any time, the two
aforementioned parameters need to be changed, just click on the shown solution map.
(See next figure)
3.4 Confirm the design. Now accept the selected configuration and confirm the
design, the program will automatically show the performance of the system in terms of
frequency response, etc...
The regulator components to be introduced into PSIM are the Kp and Kint values.
- 10 - www.powersimtech.com
4. Closed loop performance
In order to check the closed loop performance of the regulator calculated with SmartCtrl, a
closed loop simulation with PSIM has been carried out. Both the simulation schematic circuit
and the simulation results are included below.
PI components
calculated by Id_ref
P P_ref vd*
SmartCtrl 5k V 2/3 V
1.89538m K Id*
8.24078m
Id* PI d a Vmod_a 15k vq*
Q_ref V abs
K q b Vmod_b 165m
1.89538m
Id_fil o c Vmod_c
8.24078m -1 Iq_ref
PI 15k vq*
wt 300m 2/3 V
Iq_fil K Iq*
Direct PI control vd*
abs
Iq*
Power References Generation
1.5 1.5 V q_dq V

V p_dq abs
vd*
vd* K vq* K
Id_fil Id_fil vq*
vq* vd*
Iq_fil Iq_fil
Ia_fil Ib_fil Ic_fil
100.00
50.00
0.0
-50.00
-100.00
p_dq P_ref
30.00K
20.00K
10.00K
0.0K Active Power Step
-10.00K
-20.00K
q_dq Q_ref
20.00K
15.00K
10.00K
5.00K
0.0K
Reactive Power Step
-5.00K
Va Ia_fil
200.00
100.00
0.0
-100.00
-200.00
0.0 0.10 0.20 0.30 0.40

Time (s)
As it can be seen in the previous simulation results, the system has a good performance
(without the use of feedforward decoupling loops). Therefore, the control loop design with the
proposed method by means PSIM and SmartCtrl is valid to connect a three phase PV inverter
to the grid.
Note than more detailed power stages can also been controlled by means this strategy (PSIM
plus SmarrtCtrl). LCL filters, digital implementation with delay effects and every other parasitic
effect can be included in PSIM before the AC analysis to obtain a plant transfer function as
realistic as it will be required.

Tutorial 3phase Inverter

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Tutorial 3phase Inverter

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3 Phase grid connected PV inverter

SmartCtrl1 is a general-purpose controller design software specifically for power electronics

Mutual transfer functions:

The obtained frequency response is included below:

FaseIDP sim1 Freci 100

2. Import transfer function to SmartCtrl

The loaded transfer function is automatically shown:

3. Control loop design with SmartCtrl

3.1 Select the sensor type:

3.2 Select the regulator type:

The PI regulator specification window is automatically shown.

For an equivalent analog implementation of the compensator, it is necessary to set the

4. Closed loop performance

1.5 1.5 V q_dq V

Id_fil Id_fil vq*

Ia_fil Ib_fil Ic_fil

0.0 0.10 0.20 0.30 0.40

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