Modeling and Control of Voltage Source Converters Connected to the Grid

This thesis deals with the modeling and control of pulse width modulated (PWM) voltage source converters connected to the grid. When voltage source converters are connected to the grid, the power quality and the dynamic performance are affected by the line filter connected between the converter and the grid, and by nonlinearities caused by the switching converter. In the thesis, the dynamic performance and power quality of converters connected to the grid by first-order L-filters and third-order LCL-filters are focused on. For each line filter, predictive vector control principles that allow the independent control of the active and the reactive powers are developed and verified by measurements. It is shown that a similar dynamic performance can be obtained with both line filters. To obtain a high power quality, it is advantageous to use LCL-filters. The thesis also deals with different nonlinearities and their influence on dynamic performance. Measured small-signal frequency responses are compared with Bode diagrams obtained from linear analytical models. The analytical models are created by using a technique based on state space equations that is developed in the thesis. In the thesis, switching frequencies and sampling frequencies from 5 to 7 kHz are used. At such switching and sampling frequencies, nonlinearities and cross coupling caused by the uniform PWM method and the coordinate transformation in the control system do not have any significant effect on the small-signal frequency responses for frequencies below 1 kHz. It is, however, shown that a more ideal performance of the vector control system can be obtained by compensating for errors due to the non-ideal commutation caused by the blanking time and on-state voltage drops across the non-ideal IGBT valves of the converter. Moreover, measurements have shown that non-modeled losses in the line filter inductors have an impact on the small-signal frequency responses. When voltage source converters are used as active filters, the performance of the active filters are affected by phase shifts in the current control system, and also by the cross coupling between the control of the active and the reactive currents. Different principles for compensating for the phase shifts have been evaluated. Measurements show that it is possible to compensate for the phase shifts and thereby obtain efficient active filters also at moderate switching frequencies such as 5 to 7 kHz

Dynamics estimation and generalized tuning of stationary frame current controller for grid-tied power converters

The integration of AC-DC power converters to manage the connection of generation to the grid has increased exponentially over the last years. PV or wind generation plants are one of the main applications showing this trend. High power converters are increasingly installed for integrating the renewables in a larger scale. The control design for these converters becomes more challenging due to the reduced control bandwidth and increased complexity in the grid connection filter. A generalized and optimized control tuning approach for converters becomes more favored. This paper proposes an algorithm for estimating the dynamic performance of the stationary frame current controllers, and based on it a generalized and optimized tuning approach is developed. The experience-based specifications of the tuning inputs are not necessary through the tuning approach. Simulation and experimental results in different scenarios are shown to evaluate the proposal.Peer ReviewedPostprint (published version

Performance of direct power controlled grid-connected voltage source converters

PhD ThesisIn this thesis the performance of direct power controlled grid-connected voltage source converters (VSCs) is investigated. Of particular interest is the stability of the controller with the third-order LCL filter employed as the grid filter, effect of grid impedance variations and grid voltage distortion, and current limitation during voltage dips. The control scheme implemented is virtual-flux direct power control with space vector modulation (VF-DPC-SVM). By mathematical modelling and stability analysis, it is found that the closed-loop power control system is stable for all values of proportional gain when the current sensors are on the inverter side of the LCL filter. The inverter current together with the estimated grid virtual-flux is used to estimate the active power and the reactive power. The difference between the estimated reactive power and the reactive power on the grid side is compensated for, using a new reactive power error compensation scheme based on the estimated capacitor current. The control system is found to be robust to changes in grid inductance, and remains stable for a range of grid inductance values, and controller proportional gain. It is demonstrated in simulation and experimentally that the total harmonic distortion (THD) of the current injected by the VSC is less than the limit of 5 %, set by standards, for all different values of grid inductance and proportional gain. This is true even in the presence of significant grid voltage distortion. To control the VSC during voltage dips without damaging the semiconductor devices, a new current limiting algorithm is proposed and implemented. The positive-sequence component of the virtual-flux is used for synchronization and power estimation to achieve balanced, undistorted currents during unsymmetrical voltage dips. Experimental results show that the current achieved during unsymmetrical voltage dips is balanced and has a THD of less than 3 %.Commonwealth Scholarship and Fellowship Plan, Copperbelt Universit

A Virtual Space Vectors based Model Predictive Control for Three-Level Converters

Three-phase three-level (3-L) voltage source converters (VSC), e.g., neutral-point clamped (NPC) converters, T-type converters, etc., have been deemed to be suitable for a wide range of medium- to high-power applications in microgrids (MGs) and bulk power systems. Compared to their two-level (2-L) counterparts, adopting 3-L VSCs in the MG applications not only reduces the voltage stress across the power semiconductor devices, which allows achieving higher voltage levels, but also improves the quality of the converter output waveforms, which further leads to considerably smaller output ac passive filters. Various control strategies have been proposed and implemented for 3-L VSCs. Among all the existing control methods, finite-control-set model predictive control (FCS-MPC) has been extensively investigated and applied due to its simple and intuitive design, fast-dynamic response and robustness against parameter uncertainties. However, to implement an FCS-MPC on a 3-L VSC, a multi-objective cost function, which consists of a term dedicated specifically to control the dc-link capacitor voltages such that the neutral-point voltage (NP-V) oscillations are minimized, must be designed. Nevertheless, selecting proper weighting factors for the multiple control objectives is difficult and time consuming. Additionally, adding the dc-link capacitor voltages balancing term to the cost function distributes the controller effort among different control targets, which severely impacts the primary goal of the FCS-MPC. Furthermore, to control the dc-link capacitor voltages, additional sensing circuitries are usually necessary to measure the dc-link capacitor voltages and currents, which consequently increases the system cost, volume and wiring complexity as well as reduces overall reliability. To address all the aforementioned challenges, in this dissertation research, a novel FCS-MPC method using virtual space vectors (VSVs), which do not affect the dc-link capacitor voltages of the 3-L VSCs, was proposed, implemented and validated. The proposed FCS-MPC strategy has the capability to achieve inherent balanced dc-link capacitor voltages. Additionally, the demonstrated control technique not only simplifies the controller design by allowing the use of a simplified cost function, but also improves the quality of the 3-L VSC output waveforms. Furthermore, the execution time of the proposed control algorithm was significantly reduced compared to that of the existing one. Lastly, the proposed FCS-MPC using the VSVs reduces the hardware cost and complexity as the additional dc-link capacitor voltages and current sensors are not required, which further enhances the overall system reliability

Robust active damping in LCL-filter based medium-voltage parallel grid-inverters for wind turbines

LCL-filter based grid-tie inverters require damping for current-loop stability. There are only software modifications in active damping, whereas resistors are added in passive damping. Although passive damping incurs in additional losses, it is widely used because of its simplicity. This article considers the active damping in medium-voltage parallel inverters for wind turbines. Due to cost reasons, only minimal software changes are allowed and no extra sensors can be used. The procedure must be robust against line-inductance variations in weak grids. Double-update mode is needed so the resonance frequency is under the Nyquist limit. The bandwidth reduction when using active damping is also required to be known beforehand. Moreover, the design procedure should be simple without requiring numerous trial-and-error iterations. In spite of the abundant literature, the options are limited under these circumstances. Filter-based solutions are appropriate and a new procedure for tuning the notch-filter is proposed. However, this procedure requires that the resistance of the inductors is known and a novel filter-based solution is proposed that uses lag-filters. The lag-filters displace the phase angle at the resonance frequency so that the Nyquist stability criterion is fulfilled. Simulations and experiments with a 100 kVA prototype validate the analysis

Stabilised Control of Converter Interfaced DERs for Reliable Operation of Microgrid and Microgrid Clusters

This thesis aims to achieve a stabilised control of converter interfaced DER for the reliable and resilient operation of microgrid and microgrid clusters. The suitability of voltage and current control for VSCs is evaluated and corrective measures are proposed to stabilise converter operation. Furthermore, the accurate power demand distribution in islanded MGs and interconnected MGs are ensured by advanced control strategies. The proposal presented in the thesis is verified both through simulation and experimental work

Full- & Reduced-Order State-Space Modeling of Wind Turbine Systems with Permanent-Magnet Synchronous Generator

Wind energy is an integral part of nowadays energy supply and one of the fastest growing sources of electricity in the world today. Accurate models for wind energy conversion systems (WECSs) are of key interest for the analysis and control design of present and future energy systems. Existing control-oriented WECSs models are subject to unstructured simplifications, which have not been discussed in literature so far. Thus, this technical note presents are thorough derivation of a physical state-space model for permanent magnet synchronous generator WECSs. The physical model considers all dynamic effects that significantly influence the system's power output, including the switching of the power electronics. Alternatively, the model is formulated in the $(a,b,c)$- and $(d,q)$-reference frame. Secondly, a complete control and operation management system for the wind regimes II and III and the transition between the regimes is presented. The control takes practical effects such as input saturation and integral windup into account. Thirdly, by a structured model reduction procedure, two state-space models of WECS with reduced complexity are derived: a non-switching model and a non-switching reduced-order model. The validity of the models is illustrated and compared through a numerical simulation study.Comment: 23 pages, 11 figure

Stability Analysis of a High-Power Microgrid

The objective of this thesis is to perform the modeling and stability analysis of a high-power microgrid with multiple parallel-and grid connected voltage source converters using the system parameters from the high-power microgrid testbed at the National Center for Reliable Electric Power Transmission (NCREPT) at the University of Arkansas in order to identify, minimize, if not eliminate, the potential instabilities that can affect the proper operation of the microgrid testbed. To achieve this objective, the mathematical modeling of the high-power microgrid considering the adverse effects of resonances due to interactions among the converter LCL output filters is presented and analyzed. Moreover, the stability range of the high-power microgrid under different conditions is examined using the root locus analysis technique and the theoretical analysis is validated through MATLAB/SimulinkTM simulations. The results from this analysis are then used to develop general guidelines to avoid resonance and stability issues when connecting power converters into a microgrid. In addition, a scaled-down prototype of the high-power microgrid testbed at NCREPT, the so-called “mini-NCREPT”, is designed and constructed to reproduce some of the issues already encounter in the high-power tested and to developed countermeasures in a laboratory environment without the safety restrictions typical of high-power applications. Furthermore, this scaled-down prototype can be used in future applications to test advanced microgrid control algorithms before deploying them at the high-power microgrid testbed. Finally, an in-depth analysis of the experimental results of the scaled-down prototype is presented and solutions to improve the power quality of the system are suggested

A Hybrid Medium Voltage Multilevel Converter with Parallel Voltage-Source Active Filter

In consequence of high semiconductor losses, grid-connected medium voltage power converters are typically operated at switching frequencies of several hundred Hertz per switch position. Therefore, conventional converter systems require bulky and expensive LCL-filters in order to meet the harmonic limits given by the grid code. It is only possible to reduce the LCL-filter costs by semiconductor current derating and operation at increased switching frequencies, leading to a reduced utilization and efficiency of the converter system. To overcome these disadvantages of conventional converter systems, the presented hybrid converter uses a parallel voltage-source active output filter and thus allows a significant reduction of the passive component demand. An excellent harmonic performance is achieved for the operation with small passive filter components, revealing the potential for increasing the power density and efficiency of high power medium voltage converters. As a result, significant reductions of the filter losses and passive components as well as an increased utilization are achieved compared to a reference LCL-filter based converter system