MAN AND ENERGY A case for Sustainable Living through Renewable and Green Energy

Ali Keyhani Professor of Electrical and Computer Engineering The Ohio State University Columbus, OH-43210 keyhani.1@osu.edu

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ABSTRACT
Energy technologies have a central role in social and economic developments at all scales. Energy is closely linked environmental pollution, degradation to economic development and quality of living. We are dependent on nonrenewable fossil fuels that have been and will continue to be major cause of pollution and climatic change. Petroleum supplies are dwindling. Thus finding sustainable alternatives is an urgent concern.
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.ABSTRACT

Challenges To develop technology for integration, control of renewable energy sources, control of energy consumption and load management. To empower energy user for a sustainable living. Developing Distributed Generation system where energy user is also an energy producer.
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ABSTRACT

In this talk, an overview of humankind energy use is presented. Then the talk, focuses on some of the challenges and efforts needed to harness renewable energy.

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In part I, the use of energy by man, environment and sustainable living were presented. The use energy in present time was discussed. Based on British Petroleum (www. bp.com), there is only ten more years of petroleum reserve remain in US , if the current rate of utilization continues. British Petroleum data shows that the Middle East oil would last only another one hundred years at the current worldwide rate of consumption. British Petroleum data shows that the world can continue to use petroleum at current rate for only another forty years.

Challenge of future is to replace petroleum with renewable energy sources.

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In part III, the control of Renewable Energy Sources will be presented. Uncertain open-loop model of Three-Phase Four-Wire Inverter Three-Phase Four-Wire Inverter Control Steady State and Transient response

The robust stability analysis results: System performance vs. stability robustness under selected gains.
Power Flow Control of A Single DG Unit in Grid Connected Mode  Single Unit Control- Island Mode of Operation

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Three-Phase Four-Wire Inverter Control

The current limiter

Imax is determined by the inverter.

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Three-Phase Four-Wire Inverter Control

Space vector PWM

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Three-Phase Four-Wire Inverter Control (22)

Standard space vector PWM for 3-wire Two dimensional modulation Equal duration of vectors 7 (000) and 8 (111)

No 0-sequence control capability 3 Vref ,max ! Vdc High dc bus voltage utilization 3 Modified space vector PWM for 4-wire Three dimensional modulation Unequal duration of vectors 7 (000) and 8 (111) 1 With 0-axis control capability Vref ,max ! Vdc 2 Trade-off: less dc bus voltage utilization Priority adjustment capability between and 0 axes

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Three-Phase Four-Wire Inverter Control

Modified SVPWM
Vector 8 (0 0 0) Vector 1 (1 0 0) van 0.5vdc 0 -0.5vdc vbn 0.5vdc 0 -0.5vdc vcn 0.5vdc 0 -0.5vdc T0/2 T1 T2 T0/2 Tpwm t t t Vector 2 (1 1 0) Vector 7 (1 1 1) Vector 2 (1 1 0) Vector 8 (0 0 0) Vector 1 (1 0 0) van 0.5vdc 0 -0.5vdc vbn 0.5vdc 0 -0.5vdc vcn 0.5vdc 0 -0.5vdc T8 T1 T2 T7 Tpwm t t t Vector 8 (0 0 0) Vector 2 (1 1 0) Vector 7 (1 1 1) Vector 2 (1 1 0) Vector 8 (0 0 0) Vector 1 (1 0 0) Vector 1 (1 0 0)

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Conventional

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Modified

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Three-Phase Four-Wire Inverter Control

Calculation of the vector intervals
2 2 Vref ! vE  vF

T sin  U ref 3 T1 ! T sin 3

T a
z

Vref a! 2 Vdc 3

U ref ! arctan

vF vE

Tz !

Tpwm 2

sin U ref T2 ! Ta T z sin 3

T0 ! Tz  T1  T2

v0 Tz (T ! 1 Vdc 2

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Three-Phase Four-Wire Inverter Control

Frequency domain analysis

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Three-Phase Four-Wire Inverter Control

Simulation results
Steady state: Voltage reference 120V(RMS)

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Three-Phase Four-Wire Inverter Control

Steady state: Voltage reference 120V(RMS)

100% resistive load

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100% inductive load, pf = 0.8

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Three-Phase Four-Wire Inverter Control

Steady state: Voltage reference 120V(RMS)

Unbalanced, phase A
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Unbalanced, phase A and B

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Three-Phase Four-Wire Inverter Control

Steady state: Voltage reference 120V(RMS)

Nonlinear load
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Three-Phase Four-Wire Inverter Control

Transients:

Load rises: 0 100%

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Load drops: 100% - 0

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Three-Phase Four-Wire Inverter Control

Experiments

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Three-Phase Four-Wire Inverter Control

Experiments

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Three-Phase Four-Wire Inverter Control

Reference frame and PWM scheme issues:
ABC+sine PWM Stationary - +Modified Space Vector PWM Comparison under limited dc bus voltage

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Three-Phase Four-Wire Inverter Control

The robust stability issue
Parametric uncertainty Load disturbances Stability Robustness

-analysis
Structured singular value

Robust stability achieved iff

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Three-Phase Four-Wire Inverter Control

Uncertain open-loop model
Equivalent circuit model Perturbed parameters

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Three-Phase Four-Wire Inverter Control

Uncertain open-loop model
Linear Fractional Transformation

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Three-Phase Four-Wire Inverter Control

Uncertain open-loop model
Linear Fractional Transformation

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Three-Phase Four-Wire Inverter Control

Uncertain open-loop model

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Three-Phase Four-Wire Inverter Control

Uncertain open-loop model

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Three-Phase Four-Wire Inverter Control

Uncertain open-loop model

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Three-Phase Four-Wire Inverter Control

Uncertain closed-loop model

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Three-Phase Four-Wire Inverter Control

The robust stability analysis results
System performance vs. stability robustness under selected gains.

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Power Flow Control of A Single DG Unit in Grid Connected Mode

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Grid-Connected Inverter Control

For distributed generation (DG) Control issues
Island mode: voltage control Grid-connected mode: power control

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Low steady state error for P and Q Fast transient response Low coupling between P and Q Line current conditioning under nonlinear local load
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Distributed generation
With or without utility interfacing

Power supplies for critical loads Automotive

Zero-emission vehicles

Unlimited business opportunities

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Control of Fuel Cell Generating Source

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FC Energy Conversion System Development Issues

System configuration and auxiliary source

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Low Voltage Distributed Generation Systems

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FC Energy Conversion System Development Issues

DC/AC conversion
3-ph or single phase Voltage regulation (steady state) THD Transient response Overload protection Robustness to various disturbances

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Three-phase IGBT PWM Inverter

Vpwmab Vpwm bc Vpwm ca
Linv

Vinv ab Vinv bc Vinv ca

U

Delta-W ye Transformer

Vload an Vload bn Vload cn

x

Iinva
Vdc
Cinv Cinv

Cgrass

Iload a
n y

Iinvb
V

Iload b
z

L O A D

Iinvc

Iload c

gating signals

DSP system

voltages and currents measurement

Research focus : Digital Control of the PWM Inverters for On-Line DG/UPS
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Parallel DG Systems
BYPASS STATIC SWITCH BYPASS SOURCE UPS1

UTILITY INPUT BATTERY LOAD OUTPUT RECTIFIER INVERTER

BYPASS STATIC SWITCH

UPS2

BATTERY

RECTIFIER

INVERTER

Paralleling for system expansion and redundancy

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Issues in paralleling DG
To be avoided
Unequal loading Circulating currents

Due to the presence of:

Component mismatches Measurement Errors Mismatch wiring impedances

Undesirable:
Increased system losses Decreased total capacity (need to de-rate the units)

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 Single Unit PWM Inverter Control

Propose a novel control using Perfect Robust Servomechanism Problem (Perfect RSP) Voltage Controller and DiscreteSliding Mode Current Controller to achieve: good voltage regulation good THD good transient response and fast current limiting

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 Parallel PWM Inverters Control

Develop load sharing technique that improves prior works in: The proposed technique shall attempt to eliminate, if not reduce the absolute dependency on inter-communication between units to guarantee proper load sharing. The technique shall not be sensitive to the following: component mismatches, measurement error, or unbalanced load or wire impedances. The proposed technique shall attempt to establish the sharing of harmonic components of the currents, without significantly degrading the performance of the outputs voltages. The proposed technique shall attempt to avoid the existence of a single point failure in the paralleled units configuration, such as a master/slave actions and common synchronization signals
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Analysis, design, & development through simulations and experimental works

Vbypab Vbyp bc Vbypca

SEMIKRON IGBT POWER CONVERTER SYSTEM

SKM 50 GB 123 D

Vpwmab Vpwm bc Vpwmca

Vinvab Vinv bc Vinvca

Vloadan Vload bn Vloadcn

x

Linv 2.0mH

Iinva
240 V UTILITY SOURCE THREE PHASE RECTIFIER SYSTEM
Vdc 1100uF
Cinv Cinv

U Cgrass

Iloada

n y V

Iinvb

Iloadb
z 5 KVA - 60 Hz 240V Delta/ 208 Wye Transformer

L O A D

Iinvc

Iloadc

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PWM control signals

INVERTER F240 DSP system

Signal Conditioning Circuit

voltages and currents measurement

Vbypab Vbyp bc Vbypca

SEMIKRON IGBT POWER CONVERTER SYSTEM

SKM 50 GB 123 D

Vpwmab Vpwm bc Vpwmca

Vinvab Vinv bc Vinvca

Vloadan Vload bn Vloadcn

x

Linv 2.0mH

Iinva
THREE PHASE RECTIFIER SYSTEM
Vdc 1100uF
Cinv Cinv

U Cgrass

Iloada

n y V

Iinvb

Iloadb
z 5 KVA - 60 Hz 240V Delta/ 208 Wye Transformer

Iinvc

Iloadc

GATE DRIVER SKHI- 22

PWM control signals

INVERTER F240 DSP system

Signal Conditioning Circuit

voltages and currents measurement

RS232 Communication

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2 x 5 kVA Experimental Setup

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Single Unit Control

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Literature Reviews: Control of Single PWM Inverters

Techniques for achieving low THD

Earlier techniques were PWM generation based
Carrier modulated PWM techniques Preprogrammed optimized PWM
Average RMS Voltage Regulation
Modulation index

PWM pulses generation

PWM Inverter

Optimized PWM patterns

 Slow responses to load transients

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Literature Reviews: Control of Single PWM Inverters

Techniques for achieving low THD

Real time Pulse-by-pulse digital Control:

Decoupled PI Control Deadbeat control Sliding Mode Control

 Good transient response, but high THD on non1/22/2012

linear loads

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Proposed Single Unit Control

Perfect Robust Servo Mechanism Voltage Controller and Discrete Sliding Mode Current Controller
T Vpwm qd k T e Iqd
Discrete Sliding Mode Controller Line-to-Line Voltage Space Vector PWM

T * I cmd qd T Vref qd k + T Vload qd k

states

T I cmd qd + T I invqd k
states

T eVqd
Robust ServoMechanism Controller Limiter

PWM timing

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Development of Single Unit Control

State space model of the plant in DQ Stationary Reference Frame
Iinvq
Linv

Isnd q

T dVinv qd dt

1 ! 3 Cinv

T I inv qd 

1 3 Cinv

T Tri qd 0 I snd qd 0

Ltrans

+
Vpwm q

+
Vinv q

3 2 tr Isnd q  3Isnd d
Cinv

Rtrans

1 2 tr Vinv q  3Vinv d

Cgrass

+
Vload q Iload q

Iinvd

Isnd d

T dI inv qd dt
dt

T 1 T Vpwmqd  Vinv qd ! Linv Linv 1

! 1 Cload T I snd qd 0  1 Cload T I load qd 0

Linv

+
Vpwm d

+
Vinv d

3 2 tr 3 Isnd q  Isnd d
Cinv

Ltrans

Rtrans

1 2 tr 3Vinv q  Vinv d Cgrass

+
Vload d Iload d

T dVload qd 0

Isnd 0

Ltrans

Rtrans Cgrass

+
Vload 0 Iload 0

T T dI snd qd 0 Rtran 1 1 ! Isnd qd 0  Trvqd Vinvqd  V load qd 0 dt Ltran Ltran Ltran

 Zero Components are uncontrollable, not considered for control

design
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Development of Single Unit Control

Design Steps: Obtain the discrete plant model Design Sliding Mode Current Controller Include dynamics of the Sliding Mode Current controller as the plant for the Voltage Controller Design the Perfect RSP Control:
Include necessary harmonics to be eliminated Compute the gains by minimizing PI
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Perfect RSP Voltage Controller

T * I cmd qd k " I max
0

T Vref qd k + T Vload qd k

T eVqd

Discrete implementation of

1 s  [12
2

T I 2v 2

states L1

Discrete implementation of

1 s 2  [2 2

T I 2v2

states L 2

K1
Servo Compensator Gains

T * I cmd qd

Current limit Equation (4.17)

T I cmd qd

. . .
Discrete implementation of

K2
Stabilizing compensator gains

1 s 2  [n 2

T I 2v2

states L n

T Vinvqd k T I inv T qd k Vload k T qd I load qd k T Vpwm qd k  1

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Steady State Performance

Resistive Balanced Load 0.8 lagging balanced load

0.9 leading balanced load

Resistive single-phase load

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Steady State Performance

Non-linear load

In all cases powers are shared within less than 1%

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Transient Performance

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Transient Performance

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Synchronization to bypass and FreeRunning Mode

Phase Error Frequency

Currents
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DQ Real and Reactive Powers

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Related Refrences
[1] Keyhani. A., M.N. Marwali, L.E. Higuera, G. Athalye, G. Baumgartner, "An integrated virtual learning system for the development of motor drive systems," IEEE Transactions on Power Systems, Volume 17, No. 1, Feb. 2002, pp. 1-6 [2] Keyhani. A., A.B. Proca, "A virtual test bed for instruction and design of permanent magnet machines," IEEE Transactions on Power Systems, Volume 14, No. 3, Aug. 1999, pp. 795-801 [3].Jung. J. O and A Keyhani, "Control of a Fuel Cell Based Z-Source Converter", IEEE Transaction on Energy Conversion, volume 22, issue 2, June 2007 Page(s):467 - 476 [4]. Marwali, Mohammad N., Jin-Woo Jung and Ali Keyhani, "Stability Analysis of Load Sharing Control for Distributed Generation Systems", IEEE Transactions on Energy Conversion, Vol. 22, No.3, September 2007, pp. 737-745] [5] Marwari. Mohammad N., Min Dai, and Ali Keyhani, "Robust Stability Analysis of Voltage and Current Control for Distributed Generation Systems," IEEE Transactions on Energy Conversion, Volume 21, No. 2, June 2006, pp. 516-526.] [6]. Dai. Min, M.N. Marwali, Jin-Woo Jung, A. Keyhani, "Power Flow Control of a Single Distributed Generation Unit", IEEE Transactions on Power Electronics, Vol. 23, Issue 1,Jan. 2008. pp. 343 - 352 [7] Dai. Min, M.N Marwali, Jin-Woo Jung, A. Keyhani, "A Three-Phase Four-Wire Inverter Control Technique for a Single Distributed Generation Unit in Island Mode", IEEE Transactions on Power Electronics, Vol. 23, Issue 1, Jan. 2008, pp. 322 331 [8] Dai. Min, Mohammad N. Marwali, Jin-Woo Jung, and Ali Keyhani, "Power Flow Control of a Single Distributed Generation Unit with Nonlinear Local Load," IEEE Power Engineering Society 2004 Power Systems Conference & Exposition, October 10-13, 2004, New York city, NY .

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Related Papers
[9] Dai. Min, Ali Keyhani, Jin-Woo Jung, and A.B. Proca, "A Low Cost Fuel Cell Drive System for Electrical Vehicles," Proceedings of the 2003 Global Powertrain Congress Conference and Exposition, vol. 26, Sept. 2003, USA, pp. 22-26 [10].Dai. Min, Mohammad N. Marwali, Jin-Woo Jung, Ali Keyhani, "A PWM Rectifier Control Technique for Three-Phase Double Conversion UPS under Unbalanced Load," IEEE Applied Power Electronics Conference and Exposition, APEC'05, Vol. 1, pp.548-552, March 2005, Austin, TX [12] Jung. Jin-Woo. Min Dai, and Ali Keyhani, "Modeling and Control of a Fuel Cell Based Z-Source Converter," IEEE Applied Power Electronics Conference and Exposition, APEC'05, Vol. 2, pp. 1112-1118, March 6-10, 2005, Austin, TX [13].Keyhani. A, M. Dai, and J. W. Jung, "Parallel Operation of Power Converters for Applications to Distributed Energy Systems," 2nd IASTED (The International Association of Science and Technology for Development) International Conference on Power and Energy Systems, Greece, June 25-28, 2002 [14] Jung. Jin-Woo and Ali Keyhani, "Control of a Fuel Cell Based Z-Source Converter", IEEE Transaction on Energy Conversion, volume 22, issue 2, June 2007 Page(s):467 - 476

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Related Papers
M. N. Marwali and A. Keyhani, "Control of Distributed Generation Systems Part I: Voltage and Current Control," IEEE Transactions on Power Electronics, Volume 19, No. 6, November 2004, pp. 1541-1550 [Abstract] [PDF Full-Text (738KB)] M. N. Marwali, J. W. Jung, and A. Keyhani, "Control of Distributed Generation Systems Part II: Load Sharing," IEEE Transactions on Power Electronics, Volume 19, No. 6, November 2004, pp. 1551-1561 [Abstract] [PDF Full-Text(873KB)]

http://www.ece.osu.edu/facultystaff/keyhani.htm http://eewww.eng.ohio-state.edu/ems Thank you for coming

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