NPEC-2010

SYNCHRONOUS VIRTUAL GRID FLUX ORIENTED CONTROL OF GRID SIDE CONVERTER FOR DISTRIBUTED POWER GENERATION SYSTEM
B.Vasantha Reddy, B.Chitti Babu, K.B.Mohanty and A.K.Panda Department of Electrical Engineering, National Institute of Technology, Rourkela, ORISSA E-mail: vasanth253@gmail.com, bcbabunitrkl@ieee.org, kbm@nitrkl.ac.in, akpanda.ee@gmail.com
Abstract- Connecting Distributed Power Generation System (DPGS) to the utility grid requires high-quality control in order to provide secure and reliable power to the utility customers. Vector control scheme is developed in virtual grid flux oriented reference frame for controlling grid connected PWM inverter. Derivation of PI controller for synchronous current reference, in order to maintain constant direct link voltage is described. A modified ramp type current controller is used in inner current control loop to control the current flowing into grid. Also describes the decoupling control of active and reactive power flowing into grid. The control scheme has been developed and analyzed in simulation environment. Performance of the grid connected VSI has been evaluated in detail. Keywords- vector control, modified ramp type current controller, PWM inverter, virtual grid flux.

INTRODUCTION Due to depletion of fossil fuels and their possible pollution to the environment, the conventional energy sources are limited and more attention and interest has been paid on the utilization of renewable energy sources such as wind energy, fuel cells and solar energy etc. Distributed power generation System is an alternative source of energy to meet rapidly increasing energy consumption. However, due to intermittent power production by DPGS, they cant be directly connected to the utility grid which causes power quality problems [1]. Due to advent of power electronic devices and technology, double sided PWM converters are used to interface DPGS with utility grid as they match the characteristics of the DPGS and the requirements of the grid connections. Power electronics converters usually improve the performance of DGPS and increase the power system control capabilities, power quality issues, system stability etc [2]. Rapidly increase in number of DGPSs leads to complexity in control while integrating into utility grid. As a result, requirements of grid connected converters become rigorous and quite difficult to meet high power quality standards like unity power factor, less harmonic distortion, active and reactive power control, fast response during transients and dynamics in the grid etc [3]. Hence the control strategies applied to DGPS

become of high interest and need to be further investigated and developed. In this paper, a virtual grid flux oriented control (outer loop control) and modified ramp type current controller (inner current control loop) techniques are proposed, with main focus on DC link voltage control, reduction of harmonic distortion, constant switching frequency operation of inverter switches , unity power factor operation of inverter. Vector control of grid connected inverter is similar to vector control of ac electric machine. Vector control uses decoupling control for active and reactive power control. The control structure for the vector control of grid side converter consists of two control loops. The inner control loop controls the active and reactive grid current components. The outer control loop determines the active current reference for controlling the dc link voltage. A cascaded control system, such as vector control is a form of state feedback. The extensive feature of state feedback control structure is that the inner control loop can be made very fast. For vector control, current control is usually employed as an inner control loop. The fast inner current control nearly eliminates the influence from parameter variations, cross coupling, disturbances and minor non-linearity in the control process. Vector control uses PI-controllers in order to improve dynamic response and to reduce the cross coupling between active and reactive powers. Modified ramp type current controller is used as inner current loop; in this controller ramp signal is generated at particular constant frequency to minimize the current error. The proposed control system is simulated in MATLAB/simulink environment and acquired results are presented.

NP PEC-2010
po ower system like therm m mal, nuclea etc. Due to ar e lar rge penetra ation of DP PGS the grid operators g req quires stric interconn ct nection call led grid co ode co ompliance. Grid interc connection requireme ents va from cou ary untry to cou untry. Countries like India wh here the wind ener rgy system increas ms sing rap pidly, a win farm has to be able to contribute nd s e to control task on the sa ame level as conventio s onal po ower plants constrain s, ned only by limitation of y ex xisting win nd conditions. In general the req quirements are intended to ensure that the DP PGS have the control and dynam propert mic ties ne eeded for o operation of the power system w f with res spect to both short-ter and long rm g-term security of supply, v voltage qua ality and power system p sta ability etc [5]. In this paper mo significant s ost pe erformance index is stu udied (i.e. im mprovement of po ower quality The powe quality measuremen is y. er nt ac ccessed by measure of harmo ye e onic distort tion an unity pow factor. nd wer b) Conce of Virtu grid flux oriented ept ual x co ontrol riented con ntrol of g grid Virtual grid flux or co onnected PW conver WM rter has ma similarit any ties wit vector co th ontrol of ac electric ma c achine. In f fact gri is modeled as a sy id ynchronous machine w with co onstant freq quency and constant magnetiz t zing flu A virtual grid flux ca be introd ux. an duced in ord der to fully ackno owledge the similarities between the e s ele ectric machine and grid In space vector theo d. ory, the virtual grid flux beco e omes a spa vector that ace de efines the r rotating grid flux orien d nted referen nce fra ame as sho own in fig.2 The grid flux vector is 2. r aligned along d-axis in t g the referenc frame, a ce and gri voltage v id vector is alig gned with q-axis. Finding q the position of grid flux vector is equivalent to e x t fin nding the po osition of th grid volta vector. An he age ac ccurate field orientation can be obtained sin d n o nce the grid flux c be mea e can asured. The grid curre e ents are controlled in a rot e tating two-axis grid f flux ori ientated re eference fr rame. In this referen t nce fra ame, the rea part of th current corresponds to al he c s rea active power while th imaginar part of the he ry cu urrent corr responds t to active power. T The rea active and active po d ower can therefore be co ontrolled in ndependent tly since the curr rent co omponents are orthogonal. Accurate field A ori ientation f for a grid connected conver d rter be ecomes sim mple since t the grid flux position c x can be derived fr e rom the measurable grid voltages. Th grid flux p he position is g given by

Fig gure 1 gene structur of DPGS eral re CO ONFIGURA ATION OF D DPGS AND ITS D CO ONTROL Th basic co he onfiguration of DPGS is shown in n S fig.1. The sys stem consists of rene ewable energy sources (wind solar tida etc.), two PWM backd, al o to-back conve erters with conventional pulse width mo odulation techniques, grid filter transform r, mer an utility g nd grid. The source-sid convert de ter, controlled by a source-s side controll ler, normally it en nsures the maximum power p m point track king (M MPPT), and transmits the infor d s rmation abo out av vailable pow to the gr wer rid-side converter. The T main f function of t grid-side converter is the r to interact wit the utility grid [4]. Th controller in th he the grid side controls a e active powe sent to t er the utility grid, co ontrol of reactive power exchang ged be etween the DPGS and the grid, control of t d the DC C-link volta age, improv vement of power qua ality an grid synchronizatio etc. Gird filter a nd on and tra ansformer e eliminates h higher order harmonics in r s the inverter o e output volta age and en nsures prop per synchronizatio of the inverter with the utility gr on rid. a) Grid conn nection requirements The basic requiremen of inter T nts rfacing DGPS wit the utilit grid are as follows the volta th ty e s, age ma agnitude and phase must be equal to t the de esired magn nitude and direction of the pow wer flow. The volt tage is cont trolled by th transform he mer tur ratio and rn d/or the rec ctifier inverte firing angle er in a closed-lo oop control system. T l The frequen ncy mu be exac equal to that of the grid, or e ust ctly o e else the system w not wo e will ork. To me the ex eet xact fre equency req quirement, the only eff fective mea ans is to use the utility frequ uency as a reference for the inverter sw e witching fre equency. In the earlier stage, control and s r stabilization of the electricity system as taken care only by lar e e rge

NP PEC-2010

co g ) = os(

e g eg

, sin( g ) =

e g eg

(1)

Fig gure 2 Virtu grid flux oriented ref ual ference fram me

Figure 3 Block diag gram of virt tual grid flux control of grid connected VSI x c

NP PEC-2010

Figu 4 Block diagram of closed loop control of DC link vol ure p ltage c) Contr scheme for grid co rol onnected V VSI ower balanc in the direct voltage link is giv ce e ven po by y

The T schem matic diagram of purposed system is m m shown in fig .3. The con ntrol system (1) of vec m ctor controlled g grid conne ected con nverter he ere consisting tw control l wo loops. The inner cont trol loo op incorpo orated with modified ramp ty h d ype current contro oller which controls th active a he and active grid current c components The act s. tive rea current comp ponent is generated by an ou uter dir rect voltage control loop and the react tive current refere ence can be set to ze for a un ero nity po ower factor. The grid cu urrents are controlled in a rot tating two-a axis grid f flux orientated referen nce fra ame. In this reference f frame, the r real part of t the current corres sponds to reactive po ower while t the imaginary pa of the current co art orresponds to ac ctive power. The reactive and acti power c ive can the erefore be controlled independently since t the current compo onents are orthogonal. . i) DC vo oltage contro oller (outer loop) he followin ng derivat tion of direct volta age Th controller ass sumes insta antaneous im mpressed g grid currents and perfect grid flux ori ientation. T The ins stantaneous power flo s owing into grid can be wr ritten as

u DC C D

du DC 3 = Ps Pg = Ps e g i gq dt 2

(6)

Where Ps is t distribut energy system pow W the ted wer is assumed to be indepe o endent of th DC voltage. he A transfer fun nction of be etween direc voltage a ct and ac ctive grid current Ig is o obtained as

u DC D

3 eg 2p pCu
DC

i gq

(7 )

Th he transfe function is noner n -linear. It is ac cceptable to substitute the direct voltage w o e t with the reference set value since the objective is to e e o s ma aintain a constant direct voltage. T v The as ssumption g gives linear z transfer function. zed

u DC D

3 eg 2 pCu * DC

i gq

(8 )

Applying inte ernal model control gives the dir rect vo oltage link co ontroller as

F =

G 1 =

* 2 Cu dc 3 eg

(9 )

3 * 3 S g = Pg + jQg = e g i g = ( e g iq + j e g id ) (2) Q 2 2 3 S g = ( e g iq + j e g id ) ( 3) 2
Th active po he ower is real part of eq.3 3.

Pg =

3 e g i gq 2

(4)

Wh hen neglec cting capac citor leakag the dir ge, rect voltage link po ower is give by en

PD = u DC i D = u DC C DC DC

du dt

(5 )

As ssuming the converter losses are neglected, t e the

Fr rom eq.8, a P-con ntroller is obtained for reg gulating the direct volt e tage. The P- controller is P op ptimal for a integrato process in the sen an or nse tha the P- c at controller e eliminates the remaining t err for step in the re ror ps eference value. Howev ver, the will be a remainin error for steps in the ere ng ever, there will be a ref ference va alue. Howe e rem maining er rror when the gird is loaded a s and ac ctive power flows betwe the dire voltage l een ect link an the grid. The re nd emaining error can be e eliminated by adding an integrator to the dir y n r rect vo oltage link controller. The follow wing is of ften ad dapted for selecting t the controll integrat ler tion tim in traditio me onal PI-cont troller desig gn.

NP PEC-2010

Ti =

10

10 1

(1 ) 10
grid g

Th he active reference current of the e connected co onverter can be written as n

* i gq = K p (1 +

1 * )( u dc u dc ) T ip

(1 11)

kp

* 2 Cu dc = 3 eg

(1 ) 12

Negative pr roportional gain is because t the dis stributed en nergy source reference are used for e es gri A block diagram th represe id. hat ents the dir rect voltage contr is show in Fig. 5. Note that rol wn clo osed-loop b bandwidth o the curr of rent control is l assumed to b much fas be ster than th closed-lo he oop ba andwidth of the direct v voltage link. ii) Open loop reactive po ower contro (outer loop ol p) The reactive power flowing into grid is T r controlled by the react y tive curren compone nt ent. Sim mplest form of controlling reactive power is m r thr rough open loop control. Taking imaginary p part of eq.3 reactiv reference current as ve s

Modified r ramp type current controller w c was ad dvanced to ramp type current co ontroller whe ere the magnitud and pha e de ase errors are eliminated a by providing phase sh between three ramp y hift n sig gnals. Ram signal i generate at constant mp is e fre equency wh hich is call led carrier frequency, in wh hich invert ter is ope erate at this const tant sw witching freq quency. The basic blo diagram of e ock m mo odified ramp type curre controller is shown in ent n fig The refe g.6. erence curr rents ia*, ib*, ic* compared wit grid cur th rrents ia, ib, ic and error signal is e co ompared w with ramp signal and is pass sed thr rough hyste eresis band to eliminat the multiple d te cro ossings of ramp sig f gnal with error sign nal. Hy ysteresis ba and genera ates switch hing pulses to inv verter in su uch a way that grid currents foll c low the reference currents. e

i gd = d
*

2 * Qg 3 e gq

(1 ) 13
Fig Modifie ramp type current co g.5. ed ontroller SIMULATION RESULTS AND DISC N S CUSSION he rid ctor control of Th proposed virtual gr flux vec gri id connec cted inverter in simulated in s MA ATLAB/simulink enviro onment. Re esults of dir rect link voltage, g current harmonic spectrum of gird ts, m gir rd current active and reactive pow t, wer, dis splacement power fact are show t tor wn. Co ontrol param meter values Th reference value of direct link voltage udc* = he c 22 200V, refere ence value of reactive power Q* = 0 to maintain un power f nity factor. Kp= 0.01 Ki = 60 Hy ysteresis ba H = 20. Switching frequency = 2 and . kH Hz.

Th igq* and ig * current r he references are convert ted gd int three ph to hase current referenc ces ia*, ib*, ic* wh hich are give to curren controller en nt r. iii) Action of Phase lock loop (PL ked LL) The imple T ementation of the grid volta age ori ientation re equires the accurate and robust e e ac cquisition of the phase angle of th grid volta f he age fun ndamental w wave, cons sidering stro distortio ong ons du ue to con nverter ma ains pollution or oth her ha armonic sou urces. Usua this is accomplish ally hed by means of a phase locked loo (PLL). P y f op PLL de etermines th position of the vir he n rtual grid f flux vector and pr rovides ang (g) which is used to gle d ge enerate un nit vectors cos(g), sin(g) for s converting st tationary tw phase quantities in wo sta ationary re eference fr rame into rotating t two ph hase quant tities in virtual grid flux orient ted ref ference fram PLL is ensures the phase angle me. e be etween grid voltages and currents is zero. That s me eans PLL p provides dis splacement power fac t ctor as unity. ramp type current co ontroller (inn ner iv) Modified r current loo op)

NPEC-2010

3000 Mangitude of DC link Voltage (Volts)

1500 1000 M agnitude of Voltage (Volts)

2500

500

2000

1500

-500

1000

-1000

500
-1500 0.02 0.04 0.06 0.08 0.1 0.12 Time (ms) 0.14 0.16 0.18 0.2

0 0

0.05

0.1

0.15 Time (ms)

0.2

0.25

0.3
1.005 1 0.995 0.99 0.985 0.98 0.975 0.97

200 150 100 50 0 -50

Displacement Power Factor

Magnitude of current(Amp)

0.965

-100 -150
14

0.96 0.02

0.04

0.06

0.08

0.1 0.12 Time (ms)

0.14

0.16

0.18

0.2

x 10

-200 0

0.02

0.04

0.06

0.08

0.1

0.12

0.14

0.16

0.18

0.2

Time(ms)
Amplitude of power (KW)

12 10 8 6 4 2 0 -2 0.02

200 150 100 50 0 -50 -100

Magnitude of Grid Current (Amps)

0.04
4

0.06

0.08

0.1

0.12

0.14

0.16

0.18

0.2

-150 -200 0 0.02 0.04 0.06 0.08 0.1 Time (ms)

Magnitude of Active power (Watts) 15

Time (ms)

0.12

0.14

0.16

0.18

0.2

20

x 10

Fundamental (50Hz) = 159.4 , THD= 2.68% 5 Mag (% of Fundamental) 4 3 2 1 0

10

-5 0.02
4

0.04

0.06

0.08

0.1

0.12

0.14

0.16

0.18

0.2

Time (ms)

x 10

10

20

30 Harmonic order

40

50

60
6 Magnitude of reactive power (VAr) 4 2 0 -2 -4 -6 -8 0.02

2500

Amplitude of Voltage (Volts)

2000 1500 1000 500 0 -500 -1000 -1500 -2000 -2500 0.1 0.12 0.14 0.16 0.18 0.2 0.22 0.24 0.26 0.28 0.3

0.04

0.06

0.08

0.1

0.12

0.14

0.16

0.18

0.2

Time (ms)

Time (ms)

Figure 6 (a) DC link voltage (b) reference currents (c) grid currents (d) harmonic spectrum of grid current (e) inverter output voltage.

Figure 7 (a) inverter output voltage after filter (b) displacement power factor (c) single phase instantaneous active power. (d) Three phase active power (e) single phase instantaneous reactive power.

NPEC-2010

8 6 M agniude of Reactive Power (VAr) 4 2 0 -2 -4 -6 -8 0.02 x 10

4

shows the grid is operating at almost unity power factor. Output line voltage of the inverter approaches sinusoidal waveform which ensures that grid is synchronized with DPGS. The power quality issues like power factor, harmonics reduction are improved by the proposed control technique.
0.04 0.06 0.08 0.1 0.12 Time (ms) 0.14 0.16 0.18 0.2

REFERENCES
1. F.Blaabjerg, Zhe Chen, and S.B. Kjaer. Power electronics as efficient interface in dispersed power generation systems, EE Transactions on Power Electronics, 1841194, Sept. 2004. 2. T.Hornik and Q.C.Zhong, Control of gridconnected DC-AC Converters in Distributed Generation: Experimental comparison of different schemes, Proc. of IEEE 6th International Conference-Workshop on Compatibility and Power Electronics CPE 2009.Spain.pp.271-278. 3. R.Ottersten, J.Svensson. Vector current controlled voltage source converter-dead band control and saturation strategies, IEEE Trans. On Power Electronics, vol. 17, no. 2, pp. 279285, Mar. 2002. 4. Mats Alakula and John-Eric Persson, Vector controlled AC/AC converters with a minimum of energy storage," in Proc. IEE Fifth International Conference on Power Electronics and VariableSpeed Drives, London, UK, Oct. 26-28 1994, vol. 1, and pp. 236/239. 5. Iov F., Teodorescu R., Blaabjerg F., Andresen B., Birk J., Miranda.J., Grid Code Compliance of Grid-Side Converter in Wind Turbine Systems, IEEE 37th Power Electronics Specialists Conference, June 2006,7 pages. 6. J.S. Siva Prasad, Tushar Bhavsar, Rajesh Ghosh and G.Narayanan, Vector Control of Three-phase AC/DC Front-End Converter, IISc Journal Sadhana Vol. 33, Part 5, Oct. 2008, pp. 591613. 7. M.P.Kazmierkowaski, L.Malesani: PWM Current Control Techniques of voltage source convertersA Survey IEEE. Trans. On Industrial Electronics, Vol.45, no.5, oct.1998. 8. B.T.Ooi, X.Wang. Voltage angle lock loop control of the boost type PWM converter for HVDC applications, IEEE Transaction on Power Electronics, Volume 5, No.2, pp. 229-235 April 1990. 9. B.Vasantha Reddy, B Chitti Babu Hysteresis Controller & Delta Modulator-A Two viable scheme for Current Controlled Voltage Source Inverter, Proceedings of IEEE International Conference on Technical Postgraduates TECHPOS 2009, Malaysia, pp.01-05. 10. T.Thomas G. Habetler and M.D.Divan, Performance characterization of a new discrete pulse modulated current regulator IEEE Transaction on Industrial applications 1998.

Figure 8 (a) three phase reactive power In this section simulation results of grid connected voltage source inverter are given. Fig 6(a) shows the DC link voltage which is maintained at the set reference value and it has some ripple voltage this ripple because of rectifier output voltage is controlling by inverter. Fig 6(c) grid current waveforms which are follow the reference current waveforms. Fig 6(d) shows the harmonic spectrum of load current 40th harmonic having higher magnitude compared to other harmonics this is because of inverter is operating at 2 KHz frequency and THD of 2.68%. Fig 6 (e), 7(a) shows output voltage of inverter without and with filter. Fig 7 (b) shows the displacement power factor between grid voltages and currents which is unity. Fig.7 (c), (d) shows the instantaneous and average active power flowing into grid. Fig 7(e), 8(a) shows the instantaneous and average reactive powers flowing into grid. Form fig.6 (a) average reactive power flowing into grid is zero, and then we can say that active power is delivering to grid almost at unity power factor.

DF =

1 1 + THD
2

1 1 + 0.02682

= 0.999

Power factor = DPF*DF = 1*0.999 = 0.999 6(c) CONCLUSION Virtual grid flux orientated control of grid side inverter for distributed power generating system is discussed in this paper. From that we observed that the ramp type current controller on the inner current control loop provides good dynamic response. Also it proves the decoupling control on active and reactive powers in the grid region. Further the response of constant DC link voltage, grid current, active power flows in the grid and reactive power exchanged between DPGS and utility grid are discussed here. Harmonic spectrum of grid current satisfies the existing IEEE 519-1992 standard. The reactive power flowing through the grid is zero and it