Liserre Lecture 8

Grid converter control
Marco Liserre liserre@ieee.org

Marco Liserre

liserre@poliba.it
A glance at the lecture content

Introduction
Dc-voltage control
Power control
Islanding, microgrid, droop
control, grid supporting

Introduction
The grid converter can operate as grid-feeding or grid-forming device
Main control tasks
manage the dc-link voltage (if there is not a dc/dc converter in charge of it)
inject ac power (active/reactive)
A third option is the operation as grid-supporting device (voltage, frequency, power
quality)
A
C

P
O
W
E
R

C
O
N
T
R
O
L
GRID
SUPPORTING
GRID
FORMING
DC VOLTAGE
CONTROL
GRID
FEEDING
P
O
W
E
R

T
H
E
O
R
Y
stationary
frame o|
natural
frame abc
rotating
frame dq
AC CURRENT
CONTROL
AC VOLTAGE
CONTROL
+
-
dc
V
1
L
2
L
g
L
g
i
i
c
V
+
-
+
-
V
+
-
g
V
POWER CONTROL
CURRENT
CONTROL
VOLTAGE
CONTROL
DC VOLTAGE
CONTROL
GRID
MANAGEMENT
dc
V i
c
V
g
V
+
-
Another major difference is that the grid converter could be requested to operate on
the grid side as:
a controlled current source
a controller voltage source
Introduction
with the LCL-filter
both the options
can be integrated
within a multiloop
structure
Dc voltage control
In the grid connected converter a change of the produced power causes
transient conditions hence charge or discharge processes of the dc capacitor
The increase of the produced power results in voltage overshoot while its
decrease results in voltage undershoot
So, from the point of view of the dc voltage control, power changes result in
voltage variations that should be compensated by charge or discharge
processes
dc
V
1
L
i
c
V
+
-
+
-
V
+
-
2
L
g
L
g
i
c
V
+
-
g
V
+
-
produced power
Dc voltage control
The dc voltage control is achieved through the control of the power exchanged by
the converter with the grid or through the control of a dc/dc converter
In the first case the decrease or increase of the dc voltage level is obtained
injecting more or less power to the grid respect to that one produced by the
WTS
In the second case the grid converter does not play a role in the
management of the dc-link
*
(3 )
2
s
o
o
P n T
v
C v
A +
A =

Voltage error as a result
of power change
Linear control
dc
V
1
L
i
c
V
+
-
+
-
V
CC
i
+
-
2
L
g
L
g
i
c
V
+
-
g
V
+
-
VC
i*
synch
*
dc
V
The control of the dc voltage through the ac current can result in the identification of
two loops, an outer dc voltage loop and an internal current loop
The internal loop is designed to achieve short settling times
On the other hand, the outer loop main goals are optimum regulation and stability
thus the voltage loop could be designed to be some what slower
Therefore, the internal and the external loops can be considered decoupled
dc
V
TOT
L
i
+
-
V
+
- E
o
i
o1
i
+
-
( )
( )
( )
( )
( )
( ) ( )( ) { } 1 1
d
3

d 2
dc dc
dc dc dc dc o o d d d d q q q q
V v
V v C V v I i E e I i E e I i
t
+
+ + + + = + + + + +
D
c

c
u
r
r
e
n
t

[
A
]

( )
2 1
dc o
o d
v R
R Cs i
=
( )
1
1
dc o
o o
v R
R Cs i

=
( )
3
1
dc
d o
v
e R Cs
=
constant power case

plant
generator disturbance
grid disturbance
Linear control: small signal analysis
Voltage-oriented control
The Voltage Oriented Control (VOC) of the grid converter is based on
the use of a dq-frame rotating at e speed and oriented such as the d-
axis is aligned on the grid voltage vector
The reference current d-
component i*d is controlled to
perform the active power
regulation while the reference
current q-component i*q is
controlled to obtain reactive
power regulation
Similar results can be
achieved in a stationary o|-
frame
i
o
i
|
q
i d
i
|
d
q
i
o
i
p
K
K
s
+
dc
v
dc
V
-
P
-
Q
-
+-
d
i
-
q
i
-
dc
V controller
PLL
g
v
g
v
o
g
v
|
f
g
V
u
j
e
u
gd
v
gq
v
*
v
abc
j
e
u
i
o
i
|
d
i
q
i
+
-
d
i
-
d
i
E
gd
v
E
+
-
q
i
-
Current
controller
Current
controller
gq
v
u u
j
e
u
v
o
-
v
|
-
i
p
K
K
s
+
i
p
K
K
s
+
L e
L e
i

abc
abc
2 2
1 gd gq
gq gd gd gq
v v
v v v v
(
(
+

gd
v
gq
v
X
+-
active and reactive
power feed-forward
control
V
dc
control acts on
the power reference
Synchronous frame VOC: PQ open loop control
q
i d
i
d
q
i
active and reactive
power PI-based control

Vdc control acts on id*
Synchronous frame VOC: PQ closed loop control
q
i d
i
d
q
i
i
p
K
K
s
+
gd d gq q
gq d gd q
P v i v i
Q v i v i
= +
= +
dc
v
dc
V
-
P
-
Q
-
d
i
q
i
P
Q
+
-
+
-
+-
d
i
-
q
i
-
Q controller
P controller
dc
V controller
PQ controller
+-
PLL
g
v
g
v
o
g
v
|
f
g
V
u
j
e
u
gd
v
gq
v
*
v
abc
j
e
u
i
o
i
|
d
i
q
i
+
-
d
i
-
d
i
E
gd
v
E
+
-
q
i
-
Current
controller
Current
controller
gq
v
u u
j
e
u
v
o
-
v
|
-
i
p
K
K
s
+
i
p
K
K
s
+
i
p
K
K
s
+
i
p
K
K
s
+
L e
L e
i

abc
abc
gd
v
gq
v
PLL may be avoided but it is used for
making the control freq. adaptive
Stationary frame VOC: PQ open loop control
i
o
i
|
|
i
o
i
p
K s
K
s
+
+
2 2
e
i
o
-
i
|
-
i
i
o
i
|
+
-
i
o
-
+
-
i
|
-
Current
controller
Current
controller
v
o
-
v
|
-
i
p
K s
K
s
+
+
2 2
e
abc
*
v
abc
dc
V
-
P
-
Q
-
+ -
dc
V controller
i
p
K
K
s
+
2 2
1 g g
g g g g
v v
v v v v
o |
| o o |
(
(
+

g
v
o g
v
|
X
+ -
dc
v
PLL
g
v
g
v
o
g
v
|
u
f ,e
active and reactive
power feed-forward
control
Vdc control acts on the
power reference

PLL is still indispensable
for reference generation
Stationary frame VOC: PQ closed loop control
i
o
i
|
|
i
o
i
p
K s
K
s
+
+
2 2
e
sin
cos
dc
v
dc
V
-
P
-
Q
-
P
Q
+
-
+
-
+-
i
o
-
i
|
-
I
Q controller
P controller
dc
V controller
PQ calculation
+-
i
i
o
i
|
+
-
i
o
-
+
-
i
|
-
Current
controller
Current
controller
v
o
-
v
|
-
i
p
K s
K
s
+
+
2 2
e
i
p
K
K
s
+
i
p
K
K
s
+
i
p
K
K
s
+
abc
*
v
abc
e
o o | |
| o o |
g g
g g
P v i v i
Q v i v i
= +
= +
i
o
i
|
g
v
o g
v
|
PLL
g
v
g
v
o
g
v
|
u
f ,e
active and reactive
power PI-based control

Vdc control acts on I
Microgrid operation with controlled storage
G
+
-
+
-
+
-
G
FLYWHEEL
VOLTAGE
CONTROL
STORAGE
CONTROL
VOLTAGE
CONTROL
CURRENT
CONTROL
WT
MICRO-GRID MANEGEMENT
*
C
V
*
dc
V
*
dc,ES
V
*
dc
I
dc
i
dc
V i
c
V dc,ES
V
e
ENERGY STORAGE
l
o
a
d
Multiloop control for microgrid operation with WT system
The management of the dc voltage is in charge of the controlled storage
unit ESS
A flyweel is used

Droop control
Using short-line model and complex phasors, the analysis below is valid for
both single-phase and balanced three-phase systems.
At the section A

For a mainly inductive line
I | Z
VA
Z
Vd
VB
I
u Z
VB 0 Z
o Z
VA
A
AVq
o
RI
XI
B A
( )
cos cos
A A B
A
V V V
P
Z Z
u u o = +
( )
2
sin sin
A A B
A
V V V
Q
Z Z
u u o = +
cos
A A
d A B
A
RP XQ
V V V
V
o
+
A = = sin
A A
q B
A
XP RQ
V V
V
o

A = =
A
A B
XP
V V
o ~
A
A B
A
XQ
V V
V
~
Droop control
The angle can be controlled regulating the active power P whereas the inverter
voltage VA is controllable through the reactive power Q.
Control of the frequency dynamically controls the power angle and, thus, the real
power flow.
Thus by adjusting P and Q independently, frequency and amplitude of the grid
voltage are determined

However, low voltage distribution lines have a mainly resistive nature.
( )
0 0 p
f f k P P =
( )
0 0 q
V V k Q Q =
Q
V
V
0
Q
0
P
f
f
0
P
0
Droop control for grid supporting operation
The droop control is not only used in island application when it is needed
to a have a wireless load sharing but also in order to support the grid

In this case grid-feeding and grid-forming schemes can be modified
accordingly including droop control
grid feeding grid forming
VSI
Modulator
dc
v
+
-
1
L
v
i
C
v C
f
C
*
v
+
-
Current
control
+
-
Voltage
control
*
i
Power
calculation
Droop
control
*
c
v
s
y
n
c
h
P
Q
VSI
Modulator
dc
v
+
-
1
L
v
i
C
v C
f
C
*
v
+
-
Current
control
+
-
*
i
Inverse
droop
control
synch
Improving grid power quality: voltage dips
Vload
E
Iload
Ig
Ic
Vload
E
Iload
Ig
Ic
compensation of a voltage dip of 0.3 pu
Vload
E
Iload
Ic
Ig
VLg
VLg
VLg
current-controlled converter in normal
conditions
voltage-controlled converter in normal
conditions
Vload
+
Ic
Iload
Ig
E
CURRENT CONTROLLED
grid-feeding component adjusting
reactive power according to grid
voltage variations
Vload
+
Vc
Iload
Ig
+
E
VOLTAGE CONTROLLED
grid-forminng component
controlling its output voltage in
order to stabilize load voltage
Voltage dip compensation by means of reactive power injection
Improving grid power quality: voltage dips
I
load
I
c
E
I
g
PI
Repetitive
control
I
c
+
-
-
+
Iref
V
c
grid
u
V
ref
V
peak
mppt
du
+ + MPPT
algorithm
PV
I
pv
U
pv
PLL
V
g
Also low power PV systems can be designed to improve the power
quality. They can provide grid voltage support and compensation of
harmonic distortion at the point of common coupling (PCC)
Conclusions
AC Power control is performed through voltage and/or
current control
Grid forming, grid feeding or grid supporting
Grid supporting: harmonics, reactive power, dips
Droop control for amplitude and frequency control
Voltage control can be used for supporting voltage (dips and
harmonics)
Bibliography
1. F. Blaabjerg, R. Teodorescu, M. Liserre, A. V. Timbus, Overview of Control and Grid Synchronization for
Distributed Power Generation Systems IEEE Transactions on Industrial Electronics, Ottobre 2006, Vol. 53,
No. 5, pagg. 1398-1408.
2. R. Crdenas, R. Pea, M. Prez, J. Clare, G. Asher, and F. Vargas, Vector Control of Front-End Converters
for Variable-Speed WindDiesel Systems IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL.
53, NO. 4, AUGUST 2006 1127.
3. K. De Brabandere, B. Bolsens, J. Van den Keybus, A. Woyte, J. Driesen and R. Belmans, A voltage and
frequency droop control method for parallel inverters Proc. of Pesc 2004, Aachen 2004
4. J. M. Guerrero, L. Garca de Vicua, J. Matas, M. Castilla, and J. Miret, A Wireless Controller to Enhance
Dynamic Performance of Parallel Inverters in Distributed Generation Systems IEEE TRANSACTIONS ON
POWER ELECTRONICS, VOL. 19, NO. 5, SEPTEMBER 2004, 1205-1213.
5. C. Klumpner, M. Liserre, F. Blaabjerg, Improved control of an active-front-end adjustable speed drive with a
small de-link capacitor under real grid conditions PESC 04, Vol. 2, 20-25 June 2004, pp. 1156 1162.
6. T. Ohnishi, Three phase PWM converter/inverter by means of instantaneous active and reactive power
control, Proc. of IECON 91, Vol. 2, 1991, pp. 819-824.

Bibliography
9. L. Malesani, L. Rossetto, P. Tenti and P. Tomasin, AC/DC/AC PWM converter with reduced energy storage in
the dc link, IEEE Transactions on Industry Applications, 1995, 287-292.
10. Poh Chiang Loh and Donald Grahame Holmes, Analysis of Multiloop Control Strategies for LC/CL/LCL-
Filtered Voltage-Source and Current-Source Inverters IEEE TRANSACTIONS ON INDUSTRY
APPLICATIONS, VOL. 41, NO. 2, MARCH/APRIL 2005, 644-654.
11. Jinn-Chang Wu; Hurng-Liahng Jou, "A new UPS scheme provides harmonic suppression and input power
factor correction," IEEE Transactions on Industrial Electronics, , vol.42, no.6, pp.629-635, Dec 1995
12. J.R. Espinoza, G. Joos, M. Perez, T.L.A Moran, Stability issues in three-phase PWM current/voltage source
rectifiers in the regeneration mode, Proc. of ISIE00, Vol. 2, pp. 453-458, 2000.
13. R. A. Mastromauro, M. Liserre, A. DellAquila, T. Kerekes, A Single-Phase Grid Connected Photovoltaic
System with Power Quality Conditioner Functionality, accepted for future publication on IEEE Transactions
on Industrial Electronics.
14. Y. W. Li, D. M. Vilathgamuwa and P. C. Loh, Micro-grid power quality enhancement using a three-phase four-
wire grid-interfacing compensator, IEEE Trans. Ind. Applicat., vol. 41, pp. 17071719, Nov/Dec. 2005.

Acknowledgment
Part of the material is or was included in the present and/or past editions
of the

Industrial/Ph.D. Course in Power Electronics for Renewable Energy
Systems in theory and practice

Speakers: R. Teodorescu, P. Rodriguez, M. Liserre, J. M. Guerrero,

Place: Aalborg University, Denmark

The course is held twice (May and November) every year

Liserre Lecture 8

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Grid converter control

Marco Liserre liserre@ieee.org

constant power case

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