DC MICRO-GRIDS

Stability Analysis

Alejandro Garcés Ruiz

Program of Electric Power Systems Engineering
Universidad Tecnológica de Pereira
alejandro.garces@utp.edu.co

May 2018
Contents

AC vs DC: brief historical account

Renewable energy

Stability analysis
Some simple cases
Equilibrium point (general case)
Small signal analysis

Final considerations

1
The industrial revolution

2
Edison

3
The currents war

4
Synchronous machine

5
Transformer

6
Transformer

7
Induction motor

8
Interconnection

9
The greatest engineering achievement of the 20th
century

I Electrification
I Automobile
I Airplane
I Water supply and distribution
I Electronics
I Radio and television

10
Modern power system

11
Load curve
10

8
PL(t) [GW ]

4
2 4 6 8 10 12 14 16 18 20 22 24
t(h)
12
Effect of solar energy
10

8
PL(t) [GW ]

4
2 4 6 8 10 12 14 16 18 20 22 24
t(h)
13
Duck curve
10

8
PL(t) [GW ]

4
2 4 6 8 10 12 14 16 18 20 22 24
t(h)
14
Energy storage
10

8
PL(t) [GW ]

4
2 4 6 8 10 12 14 16 18 20 22 24
t(h)
15
Modern power system

16
DC microgrids and DC distribution

residential user
solar panel
main substation
6 7 8
converter
AC
DC

1 2 3 10 9
electric vehicles energy storage

4 5 wind turbine

17
Examples of DC grids

I Data centers
I Telecomunications
I Traction
I Shipboard power systems
I Aircraft
I HVDC systems

18
Examples of DC grids

19
Home LVDC

20
DC microgrids

Advantages
I Reactive power
I Easy control
I Losses in passive elements
I Analysis on R
Disadvantages
I Losses in converters
I Normalization
I Stability analysis

21
Dynamics and stability

The power system is never in stationary state ẋ = f (x)

1

0.5
power

−0.5
0 2 4 6 8 10
t

22
Grid Representation

constant resistance

Rjm
Gm Cm Ljm
converter
Lij
Cj uj
Rij
converter Rik
ui Ci Lik
converter
N = {i, j, k, m}
Ck uk
M = {i, j, k}
E = {(ij), (ik), (jm)}

23
Some Properties

I The grid is non-linear

p
i= (1)
v
I Local/Centralized/Distributed controls
I Communications (?)
I A better model of the converter is required

24
Master-slave vs island operation

residential user
solar panel
main substation
6 7 8
converter
AC
DC

1 2 3 10 9
electric vehicles energy storage

4 5 wind turbine

25
A simple example

Rm

Master dc dc load
vs p
dc dc

Rm

+ vs C p/v
−

26
A simple example

Rm

+ vs C p/v
−

Rm

Negative resistance !
+ ∆vs C (−p/v02 )∆v
−

27
A case with two CPL

Assumptions:
A1 the graph is connected (i.e. there are no islands in
the feeder).
A2 there is at least one constant power terminal and
one constant voltage terminal
A3 feasible voltages remain in a given interval

0 < vmin ≤ v ≤ vmax (2)

A4 short circuit currents are higher than normal

operation currents for all constant power terminals.

28
Stability in R2

Analysis of a dc micro-grid with two constant power loads

  
1 p1
v̇1 = − (g10 + g11 v1 + g12 v2 )


c1  v1  (3)
1 p2
v̇2 = − (g20 + g12 v1 + g22 v2 )


c2 v2

29
Stability in R2
Theorem
If p1 and p2 are non-negative real numbers then the microgrid
has a unique equilibrium point in the first quadrant and this
equilibrium is a sink.
v2
v1 -nullcline

v2 -nullcline

S
θ1 θ2
v1

− gg22
12
v1

30 − gg11
12
v1
Stability in R2 (Case with CPL)

v2 v1 -nullcline

v2 -nullcline
N1 S
N2
U v1

− gg12
22
v1

− gg11
12
v1

31
Stability in R2 (A test system)
≈ Conection to
= the AC grid

constant volt-
1
age 1pu Constant power
device 1
G

50m
15m 20m 18m
3 2 4 5

23m
R=2.92 R=2.85

6
R=3.20
17m

13m
7 9

R=3.50
21m

R=4.60

15m Constant power

10 8 G
device 2
32
Stability in R2 (Generation + CPL)

2
p1 = −5

S
1 p2 = 10
N
v8 (pu)

λ−
h1 λ+
h1
−1
0 0.2 0.4 0.6 0.8 1 1.2
v5 (pu)

33
Stability in Rn

Theorem
If all constant power terminals are generating then the
equilibrium is stable.

Theorem
The equilibrium is stable if

−diag(SN )diag(VN2 ) − YN N ≤ 0 (4)

34
General case

I Equilibrium point (load flow)

I State variables (v)
I Stability around the equilibrium
I Small signal stability
I Transient stability

35
Uniqueness of the Power Flow Solutions

−1
VP = BPP · (diag(VP )−1 · PP − JP ) (5)

Theorem (Contraction of the power flow)

An LVDC grid represented with the assumptions (A1-A4) has a
unique solution which can be obtained by the method of
successive approximations with the map (5) and contraction
constant given by (6)
−1
B · kPP k
PP
α= 2 (6)
vmin

36
Fixed point

T (x)

kT (x) − T (y)k ≤ α kx − yk

37
Newton Method

Theorem
A DC network admits a unique operation point and this point
can be calculated by the Newton-method with superconvergency
iff
  2
2α ρ 1
γ= 3
kF k < (7)
(1 − δ) 1 − ρα 2
with
kF k ≤ α + kYPP k (8)
Kantorovitchs theorem

38
Why is this important ?

I Understanding the problem

I Formalization
I Real time operation
I Stability analysis in a point

39
Small signal analysis

·105
2
ᾱ/2
1
imag

−1

−2
−1,800 −1,600 −1,400 −1,200
real

40
Dc microgrids vs MTHVDC

4 3
100 km
Main ≈ = Main
Grid = ≈ Grid
P4(ref ) = −0.35
P = {1, 2, 4}
V = {3}
200 km

200 km
km
150
2 1
≈ 100 km =
= ≈
P2(ref ) = 0.45 P1(ref ) = 0.4

41
Final considerations

I DC micro-grids is a feasible technology

I Stability is an important issue
I DC microgrids and MT-HVDC
I We require to develop new mathematical tools

42
What is next

I Detailed model of the power electronic converter

I A general stability criteria
I Attraction region
I Protections
I Robustness (high variations on p)

43
References
I A Garces, Uniqueness of the power flow solutions in low
voltage direct current grids, Electric Power Systems
Research, Volume 151, October 2017, Pages 149-153, ISSN
0378-7796
I A. Garces, On the Convergence of Newton’s Method in
Power Flow Studies for DC Microgrids, in IEEE
Transactions on Power Systems, vol. PP, no. 99, pp.
1-1.doi: 10.1109/TPWRS.2018.2820430,
I A. Garces, S. Sanchez, G. Bergna and E. Tedeschi, HVDC
meshed multi-terminal networks for offshore wind farms:
Dynamic model, load flow and equilibrium 2017 IEEE 18th
Workshop on Control and Modeling for Power Electronics
(COMPEL), Stanford, CA, USA, 2017, pp. 1-6. doi:
10.1109/COMPEL.2017.8013408
I A. Garces, A Gutierrez. On the Stability of DC Microgrids
44
with Two Constant Power Devices. GreenTech 2018.
 Questions

45