IEEE TRANSACTIONS ON SMART GRID, VOL. 10, NO.
2, MARCH 2019
An Adaptive Droop Control Scheme for DC
Microgrids Integrating Sliding Mode Voltage
and Current Controlled Boost Converters
Mohamed Mokhtar, Mostafa I. Marei , Senior Member, IEEE, and Ahmed A. El-Sattar
Abstract—One of the most widely used techniques for
controlling the dc microgrid is the droop control method. The
associated problems of the droop-based systems, such as the cur-
rent sharing errors and the voltage deviation are solved using
current sharing loops and secondary control loop, respectively.
This paper presents an adaptive droop scheme for dc microgrids
to overcome the non-linearity of the system. The droop resistance
is adjusted using the adaptive PI controller to eliminate the cur-
rent sharing error of each unit in the microgrid. In addition,
another adaptive PI controller is dedicated for the secondary
loop to regulate the dc bus voltage of the microgrid by shift-
ing the droop lines. In the proposed scheme, only the current
and voltage at the dc bus of the microgrid need to transmit
through low-bandwidth communication channels to individual
units. Moreover, the sliding mode control, which is distinguished
by robustness and fast dynamic response, is utilized to manipulate
the output voltage and the input current of each converter, instan-
taneously. The dynamic performance of the proposed adaptive
droop scheme is evaluated using the PSCAD/EMTDC simulation
package.
Index Terms—Adaptive PI controller, current sharing, dc
microgrid, droop control, sliding mode control.
I. I NTRODUCTION
ICROGRIDS include distributed generators (DGs)
M which offer numerous advantages [1]–[3]. The dc
microgrid is attractive because of the dc nature of most
DGs such as Photovoltaic (PV), fuel cells, and storage
energy systems like batteries. In addition, the losses in dc
microgrids are low due to the absence of skin effect, no reac-
tive power flow, and transformers are interchanged by dc-dc
converters [4], [5]. However, protection of dc microgrids is
not an easy task.
A dc microgrid consists of several converters connected in
parallel to share the load at a common dc bus. The main
tasks of dc microgrids control systems are to ensure equal
current sharing in per unit between converters and to elim-
inate voltage deviation [6], [7]. In literature, many methods
Manuscript received April 25, 2017; revised August 7, 2017 and October 13,
2017; accepted November 15, 2017. Date of publication November 22, 2017;
date of current version February 18, 2019. Paper no. TSG-00555-2017.
(Corresponding author: Mostafa I. Marei.)
The authors are with the Electrical Power and Machines Department,
Faculty of Engineering, Ain Shams University, Cairo 11517, Egypt
(e-mail: m.mokhtar88@hotmail.com; mostafamarei@yahoo.ca; aasattar2@
yahoo.com).
Color versions of one or more of the figures in this paper are available
online at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TSG.2017.2776281
1949-3053 c 2017 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
1685
are presented to control dc microgrids such as the master-
slave, the feeder flow, and the droop techniques [8]–[14].
In the master-slave technique, the master converter regulates
the voltage of the dc microgrid and sends signals to other
units to share the load power. The reliability of this system
is poor as a failure of the master converter leads to shut-
down of the whole microgrid [15]. One of the most effective
methods is the droop technique where all converters are con-
trolled to keep the microgrid voltage. For each converter,
the droop characteristic has two parameters: droop resistance
and reference voltage [16], [17]. The droop resistance is set
according to the converter rating. The limitations of the droop
technique include inaccurate current sharing, which is a con-
sequence of the line impedance connecting a converter to
the microgrid, and deviation of the microgrid voltage with
loading [6].
To minimize the voltage deviation of dc microgrids,
a secondary control loop is employed to regulate the load
voltage [18]–[20]. In literature, there are different approaches
to eliminate the current sharing errors such as the adap-
tive droop control [21] and the optimized droop control
parameters [22]. Current sharing loops are used in the adaptive
droop control for on-line updating of the droop resistance for
each unit in the microgrid. This approach requires sharing of
the units currents between the droop controllers by means of
low- bandwidth communication networks. Classical PI con-
trollers are used to adapt the droop parameters. Therefore,
under large variations of system parameters or loading condi-
tions, the system may fail to satisfy the desired specification.
The second approach is based on using offline optimization
techniques such as the Particle Swarm Optimization (PSO) and
the Genetic algorithm to find optimal values of droop resis-
tances which minimize the current sharing error. Although this
approach does not require communication networks, the heavy
computational burden of the optimization algorithms prevents
its online implementation.
There are several methods to control dc-dc convert-
ers in microgrids such as linear controllers, hysteresis
control, Pulse Width Modulation (PWM) voltage mode
control, PWM current mode control, and Sliding Mode
Control (SMC) [23]–[25]. The SMC is suitable for nonlinear
systems such as switched converters to achieve the required
dynamic response and steady state operating point. In addi-
tion, the SMC is not sensitive to changes in system parameters
as it is a variable structure system. Moreover, The SMC is
1686 IEEE TRANSACTIONS ON SMART GRID, VOL. 10, NO. 2, MARCH 2019

Fig. 2. The boost dc-dc Converter.

Fig. 1. The proposed adaptive control system for dc microgrids.

as state variables. The state space model is presented as
follows [26]:
characterized by robustness, stability, fast dynamic response,
and ease of implementation [26]–[28]. x1 = vref ,i − vi (3)
This paper presents an adaptive droop scheme to con- x2 = iref ,L − iL (4)
trol each unit in dc microgrids. The droop resistance is
Ẋ = AX + B(X)u + D (5)
adjusted using the adaptive PI controller to eliminate the
current sharing error. In addition, the secondary loop based where vref ,I and iref ,L are the reference output voltage and
on another adaptive PI controller is proposed to regulate inductor current for the ith converter, respectively, x1 and x2
the dc bus voltage of the microgrid by shifting the droop are the system states, and the system state matrices A, B(X)
lines. Moreover, the SMC is utilized to simultaneously con- and D are given by
trol the output voltage and the input current of each converter.  
0 −1/L
The dynamic performance of the proposed adaptive droop A= (6)
1/C 0
scheme is evaluated using the PSCAD/EMTDC simulation    
package [29] for different microgrid systems. Different distur- iref ,L − x2 /C

B(X) = (7)
bances are considered to show the potential of the proposed − vref ,i − x1 /L
  
techniques. i − iref ,L /C
D= i (8)
vref ,i − E /L
II. T HE P ROPOSED C ONTROL OF DC M ICROGRID The sliding surface is defined as the summation of the state
DC microgrids involve parallel connected power supplies variables multiplied by sliding surface coefficients as follows:
to a dc bus through dc-dc converters. Fig. 1 presents the
proposed adaptive control system for dc microgrids. The SMC S = c1 x1 + c2 x2 = CT X (9)
is proposed to control the output voltage and the input current where CT = [c1 c2 ] is the sliding surface coefficient vector
of each dc-dc converter in the microgrid. The reference voltage which must be chosen such that the sliding mode exists around
of the individual converters is set by the droop technique to the desired operating point. This equation describes a line
ensure proper current sharing between converters. In addition, passing through the origin. This line represents the zero volt-
the secondary loop is used to reduce the voltage deviation. age and current errors. The sliding surface splits the plane into
Details of each control loop are presented in the following two regions. Each region has a specific switching state to force
subsections. the system to track the sliding surface.
The SMC is used to determine the control action u such that
A. The Sliding Mode Control the state variables follow their desired values. A small error
The SMC is utilized to control dc-dc converters. The is allowed using a hysteresis window. Therefore, the control
SMC forces the system to follow a predetermined path in action is expressed as follows [27], [28]:
state space which is called sliding surface. The mathematical ⎧
⎨1 when S > k
model of the boost dc-dc converter, shown in Fig. 2, can be
u= 0 when S < −k (10)
written as ⎩
previous state −k < S < k
dvi
c = (1 − u)iL − ii (1) where k is the allowable error and the hysteresis bandwidth is
dt
defined as −k < S < k.
diL
L = E − (1 − u)vi (2) The existence condition, expressed in (11), must be satisfied
dt to ensure that the system is kept in the sliding mode.
where vi and ii are the output voltage and current of the ith
LimS→0 SṠ < 0 (11)
dc-dc converter, respectively, iL is the inductor current, E is
the input supply voltage, and u is the switch state. The existence condition of sliding mode is simplified to
In this paper, the SMC is used to control the output volt-
age and the inductor current, simultaneously. The output Ṡ = CT Ẋ < 0 if S > 0(u = 1) (12)
voltage error and the inductor current error can be considered Ṡ = C Ẋ > 0 if S < 0(u = 0)
T
(13)
MOKHTAR et al.: ADAPTIVE DROOP CONTROL SCHEME 1687

Substituting (5) in (12), results in

c1 ii c2 E
Ṡ = CT AX+CT B(X) + CT D = − <0 (14)
C L
Similarly, the following condition results from (5) and (13)
c1 ii c2 E c1 iL C2 vi
Ṡ = CT AX+CT D = − − + >0 (15)
C L C L
Fig. 3. Block diagram representation of the adaptive PI controller.
By combining (14) and (15), the existence condition becomes
as follows:
c1 iL c2 vi c1 ii c2 E
− < − <0 (16)
C L C L
The droop technique is used to set the voltage reference
of the dc-dc converter, according to (17), to ensure that each
converter shares the power according to its rating [7].
vref ,i = vref − rd,i ii (17)
where vref is the reference voltage at no load, and rd,i is the
droop resistance of the ith converter. The droop parameters are
set according to the converter rating. The reference inductor Fig. 4. Adaptive droop lines.
v i
current can be set to refE,i i . The actual output voltage and
the input current of each converter are compared with their
reference values as shown in Fig. 1. Both current and voltage C. The Proposed Adaptive Droop Control System
errors are processed by the proposed SMC to determine the The parameters of the proposed adaptive droop control
sliding surface as presented in (9). Finally, the switching state system are continuously adjusted using two adaptive PI con-
u is determined by a hysteresis comparator according to (10). trollers to enhance the operation of the microgrid. The first
adaptive PI controller is utilized to adaptively shift the refer-
B. The Adaptive PI Controller ence voltage of the droop line to regulate the bus voltage. The
The proportional and integral gains of classical PI con- other adaptive PI controller is assigned to set the droop resis-
trollers are set once. However, these gains need to be adjusted tance for accurate current sharing. The adaptive droop system
continuously under large variations in system parameters is expressed as follows:
or loading conditions. Therefore, the classical PI controller
vref ,i = vref − rd,i ii + δvMG (21)
may fail to satisfy the desired requirements under the afore-
mentioned conditions. The adaptive PI controller overcomes where δvMG is the voltage deviation signal. The voltage devi-
variations in system parameters and loading conditions by ation is used to restore the bus voltage by shifting the droop
continuous tuning of the proportional and the integral gains line while keeping the current sharing for each converter in
according to the instantaneous error. Therefore, it succeeds to the microgrid as shown in Fig. 4.
satisfy the system requirements. The adaptive PI controller, The voltage deviation signal is obtained from the secondary
presented in [30], is expressed as follows: control loop which is used to regulate the dc bus voltage vMG
t
at reference value vMG,ref [5]. The secondary loop based on
output(t) = −Kc (K p (t)e(t) + Ki (t)e(t)dt) (18) classical PI may fail to satisfy the desired specification under
0
large variation in loading or system parameters. Therefore,
where Kc is a constant value, Kp is the proportional gain, Ki is
the adaptive PI controller is utilized for the secondary loop
the integral gain, and e(t) is the error signal. The proportional
to overcome the deficiencies of the linear PI controller. The
and integral gains are adjusted continuously according to the
action of the adaptive PI controller is the voltage deviation
error as follows:
t signal δvMG which is given by
Kp (t) = e2 (t) + α1 e2 (t)dt (19)
t 
t 0 δvMG = −Kcv Kpv (t)ev (t) + Kiv (t)ev (t)dt (22)
0
Ki (t) = α2 e2 (t)dt (20)
0 where ev (t) = vMG,ref − vMG , Kpv (t) and Kiv (t) are the pro-
where α1 and α2 are constant values. The adaptive PI con- portional and integral gains of the adaptive PI controller used
troller is represented in Fig. 3. The response of the system can for the secondary loop, respectively, and kcv is a constant.
be accelerated by increasing the gain Kc . In addition, α1 and For accurate current sharing, each converter is required to
α2 can be adjusted to tune the contribution of P and I actions feed the microgrid with current proportional to its rated value.
of the adaptive PI controller [30]. The adaptive PI controller The methods presented in the literature are based on acquiring
is distinguished by simplicity and robust performance against the converters currents to calculate the desired value of the ith
different system dynamics. converter current i∗i [21]. Instead, the ratio of the converter
1688 IEEE TRANSACTIONS ON SMART GRID, VOL. 10, NO. 2, MARCH 2019

size to the microgrid is used to express i∗i as follows:

⎛  n ⎞

i∗i = iMG ⎝Irated,i Irated,j ⎠ (23)
j=1

where iMG is the load current, Irated,i is the rated current of the
ith converter, and n is the number of the converters. Only the
load current data needs to communicate between the convert-
ers for the proposed system. To eliminate the error between
the actual current and the desired value, the droop resistance Fig. 5. The conventional adaptive droop control system for a dc microgrid.
should be adapted. For each converter, the current sharing
error is processed by the adaptive PI controller, as indicated in
Fig. 1, to update the value of the droop resistance as follows:

t 
Ri = −Kci Kpi (t)eci (t) + Kii (t)eci (t)dt (24)
0
rd,i = Ri + rd,i,old (25)
where eci = ii − i∗i is the current sharing error of the ith con-
verter, Kpi (t) and Kii (t) are the proportional and integral gains
of the adaptive PI controller assigned for the current sharing
loop, respectively, and kci is a constant.
It is worth mentioning that the proposed formulation of the
converter reference current, (23), reduces data flow in low-
bandwidth communication channels. The voltage and current
at the dc bus voltage are the only data need to transmit through
Fig. 6. Dynamic performance of the two converters microgrid using adaptive
the communication channels. droop control system based on classical PI: (a) current, (b) current sharing
error, (c) power of each converter, and (d) DC bus voltage.
III. S IMULATION R ESULTS
The performance of the proposed adaptive droop scheme
for dc microgrids is assessed using PSCAD/EMTDC soft- Fig. 5. The actual voltage of each converter Vi is compared
ware package. Different study cases are conducted to examine with the reference voltage obtained from the droop character-
the dynamic performance of the proposed system under dif- istics. The error is processed by a PI controller to set the duty
ferent operating conditions. Firstly, the deficiencies of the cycle for the ith converter. The secondary loop and the current
conventional adaptive droop control system based on clas- sharing loop are based on the classical PI controllers.
sical PI controllers for secondary and current sharing loops The load is suddenly changed at t = 4 s and t = 8 s.
are demonstrated. The second task is dedicated to evaluat- Fig. 6(a) illustrates the output currents from the two con-
ing the performance of the proposed adaptive droop scheme verters microgrid system. The current sharing errors, which
with the SMC to eliminate the voltage deviation and to main- are the differences between the actual and the desired cur-
tain the current sharing of the dc microgrid under different rents, of the two converters are depicted in Fig. 6(b).
dynamic load conditions. In the third case study, a microgrid Fig. 6(c) displays the output power from the two converters.
with integrated PV system is considered. Fig. 6(d) reveals that the secondary loop based on the classi-
To demonstrate the potential of the proposed adaptive droop cal PI controller restores the dc bus voltage of the microgrid
scheme, two microgrids are considered. The first microgrid to the desired value with increased oscillations under heavy
consists of two converters where the rating of the first con- loading condition. Fig. 7 evaluates the dynamic performance
verter is double that of the second converter. The other of the conventional adaptive droop control system for three
microgrid comprises three converters. The nominal powers of converters microgrid which is similar to that of Fig. 6. These
the second and third converters are double and triple that of results indicate that using classical PI controllers for the adap-
the first converter, respectively. The parameters Kc , α1 , and tive droop control system results in steady state oscillations
α2 are tuned using trial and error to achieve satisfied dynamic for all converters currents and the dc bus voltage under cer-
response for the adaptive PI controllers used for current shar- tain loading condition. As a matter of fact, the classical PI
ing loops and the secondary loop. The parameters of the two controllers need to be re-tuned to perform well at different
microgrids are given in Appendix A. disturbances.

A. Performance of the Conventional Droop Control System B. Performance of the Proposed Adaptive Droop Scheme
The purpose of this section is to evaluate the dynamic This study case is dedicated to examining the dynamic
performance of the conventional droop control system with performance of the proposed adaptive droop scheme integrated
the secondary and the current sharing loops as presented in with the SMC technique. The load is suddenly increased at
MOKHTAR et al.: ADAPTIVE DROOP CONTROL SCHEME
Fig. 7. Dynamic performance of the three converters microgrid using adaptive
droop control system based on classical PI: (a) current, (b) current sharing
error, (c) power of each converter, and (d) DC bus voltage.
Fig. 8. Dynamic performance of the two converters microgrid: (a) current,
(b) current sharing error, and (c) power of each converter.
Fig. 9. Droop resistances of: (a) first converter, and (b) second converter.
t = 4s and t = 8s. For the two converters microgrid, the cur-
rent of each converter is shown in Fig. 8(a). Fig. 8(b) depicts
the current sharing error of each converter which is the differ-
ence between the actual and the desired currents. The adaptive
droop scheme is set to share the current between the two con-
verters according to their ratings, i1 :i2 = 1:2. The proposed
adaptive PI controller for the current sharing loop results in
1689
Fig. 10. Dynamic performance of the secondary loop for the two converters
microgrid: (a) DC bus voltage, and (b) the voltage deviation signal.
Fig. 11. The actual and reference output voltage and the inductor current of
the first converter.
accurate current sharing and diminishing the error to zero even
under load dynamics. The output power from each converter is
portrayed in Fig. 8(c). At the first load condition, the first and
second converters feed 6.4KW and 12.85KW, respectively, to
the load. This result indicates the accurate performance and
fast dynamic response of the proposed current sharing loop
based on the adaptive PI controller. Fig. 9 illustrates the droop
resistances for the two converters which are updated online to
eliminate the current sharing error. Moreover, the secondary
loop based on adaptive PI controller succeeds to maintain the
dc bus voltage of the microgrid at the desired value, 750V,
even during the sudden loading condition as demonstrated in
Fig. 10(a). The voltage deviation signals for the two convert-
ers are displayed in Fig. 10(b). As expected, the magnitude
of the voltage deviation signal is proportional to the loading
level. Fast action without overshoot of the proposed adaptive
PI controller is observed. Fig. 11 illustrates the fast dynamic
response of the proposed SMC for simultaneous regulation of
the output voltage and the inductor current for the first con-
verter. It is worth mentioning that the deviations between the
actual and reference signals, x1 and x2 , depend on the sliding
surface coefficients and the hysteresis bandwidth.
For the three converters microgrid, Fig. 12 expresses the
similar dynamic behavior of the proposed adaptive droop
1690
Fig. 12. Dynamic performance of the three converters microgrid: (a) current,
(b) current sharing error, and (c) power of each converter.
Fig. 13. Droop resistances of (a) first converter, (b) second converter,
and (c) third converter.
scheme to that shown in Fig. 8. Fig. 12(c) portrays the power
fed from each converter at different loading levels. Initially,
the output power from the first, second, and third converters
are 3.13KW, 6.25KW, and 9.37KW, respectively. It is obvi-
ous that the proposed current sharing loop based on adaptive
PI controller succeeds in dynamic sharing of the power accu-
rately according to the converter ratings, P1 :P2 :P3 = 1:2:3,
even during the periods of load changing. The droop resis-
tances of the three converters are updated online according to
the current sharing errors as depicted in Fig. 13. Fig. 14(a)
and Fig. 14(b) illustrate the dc bus voltage and its corre-
sponding voltage deviation signal for the three converters
microgrid, respectively. These results show that the proposed
scheme based on adaptive PI controllers succeeds to manage
the microgrid under load dynamics. Using the SMC to control
the output voltage and the input current of dc-dc converters
results in fast dynamic response as demonstrated in Fig. 15.
Compared to the adaptive droop system based on linear
PI controllers, the proposed adaptive droop scheme based on
adaptive PI controllers ensures perfect current sharing and
tight voltage regulation even under load dynamics. Moreover,
only the microgrid bus voltage and current are transferred to
the proposed scheme without the need to communicate the
converters currents as explained in Section II.
IEEE TRANSACTIONS ON SMART GRID, VOL. 10, NO. 2, MARCH 2019
Fig. 14. Dynamic performance of the secondary loop for the three converters
microgrid: (a) DC bus voltage, and (b) the voltage deviation signal.
Fig. 15. The actual and reference output voltage and the inductor current of
the third converter.
Furthermore, to evaluate the performance of the adap-
tive PI controllers used in current sharing loops, they are
suddenly disabled at t = 3.5s and re-enabled at t = 4s
under a constant power load (CPL) as illustrated in Fig. 16.
The CPL model is presented in [31]. The current sharing
errors illustrated in Fig. 16(b), indicate that the accurate cur-
rent sharing between the three converters is recovered within
0.3s. At t = 5s, the CPL is increased from 25 KW to
50 KW. The proposed adaptive droop scheme diminishes the
current sharing errors. In addition, the CPL power and current
are precisely shared. Fig. 17 demonstrates the effectiveness of
the proposed secondary loop based on the adaptive PI con-
troller for tightly regulating the microgrid bus voltage under
different disturbances.
Finally, the stability of the proposed adaptive PI controller
based secondary loop is evaluated. Satisfying the existence
condition of the SMC guarantees its stability. Therefore, the
transfer function between the reference and the actual output
voltage of each converter in the microgrid can be considered
as a first order time delay [32]. The parameter Kc is arbitrary
set and the effects of α1 and α2 on the system stability are con-
sidered. Fig. 18 illustrates the effect of α1 on the closed-loop
eigenvalues of the system at three different settings of α2 . In
contrast, the eigenvalue contours with respect to α2 variations
MOKHTAR et al.: ADAPTIVE DROOP CONTROL SCHEME
Fig. 16. Dynamic performance of the three converters microgrid supplying
a CPL: (a) current, (b) current sharing error, and (c) power of each converter.
Fig. 17. Dynamic performance of the secondary loop for the three converters
microgrid supplying a CPL: (a) DC bus voltage, and (b) the voltage deviation
signal.
Fig. 18. Eigenvalues contours with respect to α1 variations at three different
settings of α2 .
at three different settings of α1 are demonstrated in Fig. 19.
It can be concluded that increasing α1 and decreasing α2 sta-
bilize the system. According to these results, the setting of
α1 and α2 , given in Appendix A, for the secondary controller
guarantee the system stability.
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Fig. 19. Eigenvalues contours with respect to α2 variations at three different
settings of α1 .
Fig. 20. Dynamic performance of the microgrid with PV converter: (a) cur-
rent, (b) current sharing error, (c) power of each converter, and (d) DC bus
voltage.
C. Microgrid With PV Converter
This case study is devoted to evaluating the dynamic
performance of the proposed adaptive droop scheme for
a microgrid including PV system. A microgrid including three
converters is considered for this scenario, where the first con-
verter is fed by PV array while the second and third converters
are connected to dispatchable units. The rating of PV array is
4.8 KW and the third converter is a double rating of the second
converter. A detailed model of the PV array is used [33]. The
PV parameters are given in Appendix B. The PV converter is
controlled by the perturb and observe technique to deliver the
harvested maximum power to the microgrid and the remaining
required power is supplied from the other converters according
to their ratings.
To examine the dynamic performance of the proposed adap-
tive droop scheme, the solar irradiation is suddenly changed
from 1000 w/m2 to zero at t = 2.5s and then is changed to
500 w/m2 at t = 3s. The load is set at R = 20. The current of
each converter is depicted in Fig. 20(a). Fig. 20(b) illustrates
the current sharing error of each converter which is defined
for the PV converter by the difference between the actual cur-
rent and the current at maximum power. Fig. 20(c) displays
1692
the output power from the three units. Initially, the irradiation
was set at 1000 W/m2 , the generated powers of the three units
are 4.71, 7.82, and 15.64 KW, respectively. At the second con-
dition of zero irradiance, the output powers from the units are
dynamically changed to 0, 9.38, and 18.76 KW. Finally, the
power from the PV unit is raised to 2.22 KW, when the irradi-
ation is suddenly changed to 500 W/m2 , while the second and
third units deliver 8.64 KW and 17.28 KW, respectively, to the
microgrid. It is obvious that the PV array works at its max-
imum power at different irradiation levels and the proposed
adaptive droop scheme succeeds to control the other units to
share accurately the remaining power according to their rat-
ings at different irradiation. In addition, the secondary loop
based on adaptive PI controller restores the dc bus voltage of
the microgrid to the desired value, 750V, with a negligible
overshot as expressed in Fig. 20(d).
IV. C ONCLUSION
This paper presents an adaptive droop scheme for dc
microgrids based on two adaptive PI controllers. One is ded-
icated to updating the droop resistance of each converter
to eliminate the current sharing errors between microgrid
units. One advantage of the proposed system is the reduced
communication burden as only the load current needs to be
transmitted. The other adaptive PI controller is assigned for
the secondary loop to maintain the dc bus voltage of the
microgrid at the nominal value by shifting the droop lines.
Moreover, the SMC is utilized to simultaneously control the
output voltage and the input current of each converter of the
microgrid. To assess the dynamic performance of the proposed
adaptive scheme, microgrids with two converters and three
converters are simulated using the PSCAD/EMTDC package.
The results show that the proposed adaptive droop scheme
succeeds to sustain accurate power sharing between convert-
ers and to restore the dc bus voltage to its nominal value even
under load dynamics. The results demonstrate the superiority
of the proposed adaptive droop scheme over the conventional
droop based on linear PI controllers. Moreover, the SMC
tightly regulates the terminal voltages and input currents of
microgrid units with fast dynamic response. The proposed
adaptive droop scheme is applied to control a microgrid includ-
ing PV system. The PV converter is controlled to harvest the
maximum power while the other converters are controlled to
feed the microgrid according to their ratings. The proposed
adaptive droop scheme succeeds to eliminate the current shar-
ing errors of different converters and to keep the dc bus
voltage of the microgrid. The proposed control scheme is sim-
ple, adaptive, and improves the dynamic performance of the
microgrids.
A PPENDIX A
M ICROGRID PARAMETERS
Two converters microgrid: The supply voltage of ith
unit : Vs1 = 100V and VS2 = 200V, the line resistance
between ith converter and dc bus : RT1 = 1 and RT2 =
0.167, the line inductance between ith converter and dc
IEEE TRANSACTIONS ON SMART GRID, VOL. 10, NO. 2, MARCH 2019
bus : LT1 = 1mH and LT2 = 0.167mH, the initial setting
of the droop resistances : Rd1 = 1.34 and Rd2 = 0.67,
α1 = 600, α2 = 600, and Kc = 0.01 for the secondary loop
adaptive PI controller, α1 = 600, α2 = 2000, and Kc = 0.01
for the adaptive PI controllers used for current sharing loops,
the sampling time is 100µs, the SMC parameters: c1 = 2 and
c2 = 0.1, and the Hysteresis band = 0.5.
Three converters microgrid: The supply voltage of ith unit:
Vs1 = 100V, VS2 = 200V, andVS3 = 300V, the line resistance
between ith converter and dc bus: RT1 = 1, RT2 = 0.4, and
RT3 = 0.167, the line inductance between ith converter and
dc bus: LT1 = 1mH, LT2 = 0.4mH, and LT3 = 0.167mH, the
initial setting of the droop resistances: Rd1 = 1.34, Rd2 =
0.67, and Rd3 = 0.447, α1 = 600, α2 = 600, and Kc =
0.01 for the secondary loop adaptive PI controller, α1 = 2000,
α2 = 2000, and Kc = 0.01 for the adaptive PI controllers
used for current sharing loops, the sampling time is 100µs,
the SMC parameters: c1 = 2 and c2 = 0.1, and the Hysteresis
band = 0.5.
The rated dc bus voltage for the two microgrids VMG =
750V.
A PPENDIX B
PV PARAMETERS
Total number of PV cells /module = 96cells
Number of series modules/ string = 4 modules
Number of parallel strings/ array = 4 strings
Open circuit voltage of the PV array = 251.8V
Short circuit current of the PV array = 23.84A
Temperature coefficient = 0.001 ◦ C−1
Reference Temperature = 25 ◦ C
Diode quality factor = 1.3
Saturation current at reference condition = 0.01753 µA.
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forward and feedback control schemes for sliding mode controlled power neering from Ain Shams University, Cairo, in 1969,
converters,” IEEE Trans. Power Electron., vol. 21, no. 1, pp. 182–192, and the Ph.D. degree in electrical engineering from
Jan. 2006. the Academy of Science, Budapest, Hungary, in
[29] PSCAD/EMTDC Power Systems Simulation Software User’s Manual, 1975. He has been a Professor since 1986 and
Manitoba HVDC Res. Center Inc., Winnipeg, MB, Canada, 2003. the Head of the Electrical Power and Machines
[30] J.-C. Fan and T. Kobayashi, “A simple adaptive pi controller for lin- Department, Faculty of Engineering, Ain Shams
ear systems with constant disturbances,” IEEE Trans. Autom. Control, University from 2005 to 2006.
vol. 43, no. 5, pp. 733–736, May 1998. He is currently a Professor with the Department of
[31] A. P. N. Tahim, D. J. Pagano, E. Lenz, and V. Stramosk, “Modeling and Electrical Power and Machines, Ain Shams University. His research interests
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