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Abstract— The paper presents the single phase uninterruptible • control of parallel operating voltage source inverters
power supply (UPS) system with galvanic separated (VSI) with the LC output filter, which constitute an
DC-AC-DC-AC converters operating in parallel. The CAN output converter of each UPS module,
physical layer based system of communication between
converters has been developed and applied, which allow to utilize • reliable, disturbances immune communication between
a decentralized master-slave control providing high availability particular modules.
factor of the whole UPS system. The control system of particular
converters has been developed to ensure a high quality of the In the proposed configuration an effective master-slave
output voltage for both linear and nonlinear load. The selected control method (Fig. 1) of VSIs operating in parallel for the
simulations and experimental results obtained for 5kVA autonomous system has been applied. The master unit provides
prototype modules are presented. the reference current for itself and for all the slave units, and
slave units only realize this reference current control [1], [3]. In
Keywords- uninterruptible power supply, decentralized control, consequence, a master unit is controlled in the system with
parallel operation of the voltage source inverters both the outer voltage control loop and inner current control
loop, whereas slave units are controlled by using only the inner
I. INTRODUCTION current control loop. It is important for master unit to fulfill the
following requirements:
Uninterruptible power supplies are the key element of the
supply systems that provide electrical energy with very high • precise control of the output AC voltage in case of
availability and of very high quality. In the special cases, i.e.
for selected loads in a data centers, a requirement for the iL ,M L io,M
availability is equal to 99,9999999%, what means that iLset
Master uo
statistically the system doesn’t operate only for 30 ms per a
year. Such a high requirement can be fulfilled by using on-line C iC,M io
VFI power electronics systems with redundancy, without the iL ,S1 L io,S1 Loads
single points of failure (SPOF) and with the special Slave 1
maintenance procedures. C iC,S1
The redundancy and reduction of SPOFs is possible to
obtain only by using a modules which operate in parallel iL ,Sn L io,Sn
supplying a common loads [1], [2], [3], [4]. Such a Slave n
configuration makes it necessary to implement an appropriate C iC,Sn
hardware and software solutions, in particular:
Figure 1. UPS system with parallel operating master-slave units
(without bypass)
P
A
Battery B L
12V 0V IW
IW
N K1 K1 +15V
-
15V
N
A1K A1K
2 2
P
A A2 A2
+15V
+15V
-15V
-15V
IW
IW
12V 0V IW
N IW
Output
+15V
-
15V
Figure 2. The main circuit of the single UPS module of rated power 5kVA (control circuits and EMI filters are not depicted)
supplying both linear and nonlinear loads (up to proportionally to its rated power. The bypass is switched on
required crest factor (CF) of the loads, synchronously on each parallel operating module in case of
system overload.
• controlled power sharing between VSIs of all the
connected modules in steady as well as transient states. The control system was designed based on the following
equations which describe the output AC circuit (Fig. 1):
Therefore, it is necessary to provide the reference current
samples from master unit to every slave unit on each pulse
width modulation (PWM) period, so as to provide fastest diL du
possible control response for changes of load. L = U DC ⋅ d − uo , C o = iC = iL − io , (1)
dt dt
To ensure elimination of SPOFs it is necessary to provide a
full functionality of each module. It means, that each of the where UDC denotes the voltage on the DC side of VSI of each
module has to be equally capable to operate as a master unit UPS module, and d denotes a state of VSI related with
and a slave unit. It is the only method to provide a functionality particular combination of transistors states. The state d can be
of the whole UPS system in case of malfunction of the master equal to –1, 0, or 1. For the purpose of control system
unit. formulation it is sufficient to use the simplified averaged model
without modulation. For this case equation (1) has the
The proposed system utilizes a specially developed
following form:
communication, that realizes all the tasks which are the result
of requirements listed above. Both the physical and logical
layers of this communication are described in the paper. diL du
L = uinv − uo , C o = iC = iL − io , (2)
The paper presents results of simulations and experiments dt dt
realized for the 5 kVA UPS modules.
where uinv denotes the VSI output voltage.
II. THE CONTROL SYSTEM OF MASTER AND SLAVE UNITS The control system of UPS module VSI is presented in
The electrical circuit of single UPS module is presented in Fig. 3. The main parts of the system are the outer voltage
Fig. 2. The main components of each module are: control loop and the inner current control loop. From the
current controller viewpoint the UPS module output voltage uo
• DC-DC converter with the separating pulse constitutes a disturbance. The controller employs both feedback
transformer, and feedforward control. As a feedforward the measured UPS
• voltage source inverter with the output LC filter, module output voltage is used, which decouples controller from
disturbance. Similarly, the output current constitutes a
• thyristor AC switch for UPS bypass circuit. disturbance for the voltage controller, and it has been
The control system of each UPS module includes control of decoupled in the same manner. The purpose of the switch
all the components listed above with taken into account a which is depicted in Fig. 3 is the selection of master or slave
parallel operation of VSI as well as AC switch. The mode of control. The VSI output voltage is generated by using
instantaneous power is shared between particular modules an unipolar PWM with the switching times updated (and also
control system computed) in its every half period.
iLset
Model of the controlled system (equation 2)
slave iL
uoset 1 1 uo
KU KI K=1
+ + master + + + sL + sC
− + − + − −
io,M or io ,S uo uo io,M or io ,S
Figure 8. The autonomous operation of an UPS module supplying the a nonlinear load of power 3,18 kW and crest factor CF=2,99
uo REFERENCES
[1] Woo-Cheol Lee, Taeck-Ki Lee, Sang-Hoon Lee, Kyung-Hwan Kim,
Dong-Seok Hyun, In-Young Suh, “A master and slave control strategy
io for parallel operation of three-phase UPS systems with different ratings,”
Proc. of APEC 2004, Vol. 1, pp. 456–462, 2004.
[2] Josep M. Guerrero, Luis García de Vicuña, Jose Matas, Jaume Miret,
Miguel Castilla, “A high-performance DSP-controller for parallel
io ,M operation of online UPS systems,” Proc. of APEC 2004, Vol. 1,
pp.:463–469, 2004.
io ,S1
[3] Hongtao Shan, Yong Kang, Xikun Chen, Mi Yu, “Novel & practical
digital parallel UPS system based on CAN BUS,” Proc. of INTELEC
io,S2 2006, pp. 1–5, 2006.
[4] S.J. Chiang, C.H. Lin and C.Y. Yen, “Current limitation control for
multi-module parallel operation of UPS inverters,” IEE Proc.-Electr.
Power Appl., Vol. 151, No. 6, pp. 752–757, Nov. 2004.
[5] www.pedc.am.gdynia.pl
Figure 9. Parallel operation of the UPS system with three modules of rated
power 5 kVA, 3 kVA oraz 2 kVA. Transient state related with turning on and
turning off the loads. Simulation