18th INTERNATIONAL SYMPOSIUM on

POWER ELECTRONICS - Ee 2015

NOVI SAD, SERBIA, October 28th - 30th, 2015
University of Novi Sad, Faculty of Technical Sciences, Novi Sad, Serbia
obtained. This response ensures that no ringing in power

GRID CONNECTED INVERTER DC-LINK

CHARGE ANALYSIS
Ivan Todorovi, Stevan Grabi, Zoran Ivanovi, Vlado Porobi, Evgenije Adi
Abstract: In order to fully utilize distributed power
generation systems (DPGS) and other systems based on
inverters, control design engineers ought to follow
procedures that will supply them with controllers
parameters the usage of which will result in converter
working inside of the demanded control boundaries. This
paper presents one procedure for controllers parameters
tuning that ensures the above-mentioned behaviour. Also,
beside simple and straightforward software setting up, a
procedure of how converter hardware can be set up and
operated is proposed. Thus this paper can be used as a
source of initial sofware and hardware framework or as a
kind of a know-how for power electronics engineers that
are just starting their research in the area of DPGS.
Key Words: Grid-tie inverter/Voltage loop/Current
loop/PI tuning/DPGS/VAR Compensator.

flow is observed.
On the other hand, in this paper conventional grid
connected inverter topology, that is DPGS, is taken into
account [5]. Hardware schematics is shown in Fig 1. It
should be noted that no DC-link side rectifier is used. DClink is rather charged via inverter itself, or specifically via
freewheeling diodes. This way, experimental setup is
simplified, without losing any functionalities met in
inverter with separate rectifier. In order to properly charge
DC-link on startup pre-charge resistors and an
appurtenant contactor are used.

1. INTRODUCTION
Applications in which inverter is a focal point can be
roughly devided in three categories. The first is one in
which inverter acts as a bridge between renewable energy
sources and existing grid. These applications are generally
referred to as distributed power generation systems. The
second group is comprised of motor drive applicarions in
which inverter acts as a bridge between existing grid or
other source of energy, and motor drive. The last group
includes other applications that do not belong to previous
two (var compensators etc.)[1]. Although these
applications are quite different, system models are similar
if not the same and thus controller synthesis proposed
here can be extended and applied to most of the abovementioned applications[2]. Hardware is also similar, and
thus hardware setup proposed here can be used as a
starting point in many inverter applications.
Traditional control structures in grid-tie inverter based
applications comprise of outer voltage loop and of inner
current loop[3]. Voltage loop controlls DC-link voltage,
and thus, indirectly the power flow. Inner current loop
controls the current flow and secures inverter from
reaching undesired working points. This paper focuses on
voltage loop controller parameters determination (current
loop parameters being determined following the wellknown Dahlins algorithm[4]). As it will be shown,
through both simulation and experimental results,
following proposed algorithm fast aperiodic response is

Fig 1. Power stage schematics.

2. INVERTER MODEL AND OPERATION
PRINCIPLES
Inverter model in synchronously rotating reference
frame is given by equations (0) and (0)[6].

d id
=ri d + xiq +u dC udG
dt
di
el q =ri qxi d + uqC uqG
dt
el

(0)
(0)

Considering Fig 2. which depicts simplified model of

grid connected inverter based on above equations
(resistance is omitted for simplicity), one can obtain
diagrams (Fig 3.) that represent different power flow
situations. Also, equations (0) and (0) that express active
and reactive power being transferred should be taken into
account[7]. Positive current flow direction is chosen to be
from inverter into the grid.

Fig 2. Simplified model of grid-tie inverter.

pG=u dG i d
qG =udG i q

(0)
Fig 4. Simplified current loop.
(0)

Top left picture in Fig 3. shows the situation when

reactive energy is being transferred from inverter to the
grid. The top middle picture shows case when active energy
is absorbed by inverter. The top right picture shows
cumulative case. The bottom pictures depict a similar
process, with the difference that here active power is also
being produced, not absorbed, by the inverter. Similar
diagrams could be obtained for the situation where reactive
power is being absorbed by inverter. In Fig 3. index c
indicates converter, index g indicates grid and x indicates
voltage drop over inductance.
These diagrams in conjunction with equations (0) and
(0) thus imply that in order to produce or absorb active or
reactive energy inverter should produce voltage with such
amplitude and phase angle that big enough current starts to
flow. On the other hand, how much active energy should be
exchanged depends on DC-link voltage deviation from
reference value. Reactive power flow is manually set up,
although it can be controlled by some superordinate logic.

Current loop PI parameters can be calculated using

Dahlins algorithm. Using this algorithm aperiodic response
to a step change in current reference is obtained.

K pi =
dq

1e T
K( e

Ti
Ts

(0)

1)

Ti
Ts

(0)

K i =e 1.
i dq

3.2. Voltage loop

Considering that by direct control of DC-link voltage
one would obtain nonlinear loop, indirect control of voltage
is realized. Actually, energy transferred through DC-link is
controlled and only as a result of this physical quantity
being controlled DC-link is kept constant [8].

Fig 5. Simplified voltage loop.

Transfer function of voltage loop is given by equation
(0).
2

K idc T dc 2 z
Gsl = 3 2
z + z ( K 1 + K 22 ) + z ( K 2 +1 )K 1
Where:

K T
K T
K 1= pdc dc , K 2= idc dc
2
2

Fig 3. Current and power flow diagrams.

3. CONTROL ALGORITHM AND PARAMETERS
CALCULATION
3.1. Current loop

(0)
(0)

Considering that in denominator there is characteristic

equation of the third order and that this equation generally
can be factorized as:
(0)
zz 1

zz 3

equation (0) can be obtained.

3

z + z (z 1z 2z 3 )
+ z ( z 1 z2 + z 1 z 3 + z2 z 3) z 1 z 2 z 3=0

Current loop in case of grid-tie inverter can be

approximated with loop depicted in Fig 4.
2

(0)

By comparing (0) and (0), equations under (0) are

obtained.

z 1+ z 2 + z 3=2K 1 K 2
z 1 z 2+ z1 z3 + z 2 z 3=K 2 +1
z 1 z 2 z 3=K 1

(0)

After summing above, the terms next expression is

obtained.
z 1 z 2 z 3 + z 1 z 2+ z1 z 3 + z 2 z 3 + z 1+ z 2 + z 3=3 (0)
In order to have aperiodic response of the abovementioned loop this equation should have real and equal
poles.
3
2
(0)
z + 3 z +3 z 3=0.
p

Finally, the next value is obtained:

z p=0.587 .

(0)
Proportional and integral values of DC-link voltage loop
should be set according to (0).

z 3p 0.202
Kp =
=
,
T dc
T dc
2
2
2
3 z p1 0.0337
Ki =
=
.
T dc
T dc
2
2

Fig 6. DC-link voltage- K1 on, K2 off.

Next, contactor K2 should also be closed. This contactor
shortens the pre-charge resistors. No significant change
should be observed. DC-link voltage, should be changed
only for a voltage drop over pre-charge resistors, if DC-link
is not completely charged.

udc

(0)

udc

4. PRE-CHARGING PROCEDURE AND

EXPERIMENTAL RESULTS
Depending on application, sometimes rectifier that
charges DC-link is mandatory. For example, in case of wind
turbines with asynchronous generators, energy is usually
transferred to the grid via inverter and not by direct
connection of the generator and the grid. In this case,
rectifier must be used. Nevertheless, practically all software
and hardware functionalities can be tested with significantly
simplified hardware shown in Fig 1. (no generator, no
rectifier and no concomitant equipment). This way both
hardware and software can be explicated and progressively
tested.
In order to charge DC-link with an increased time
constant, pre-charge resistors are added. When contactor K1
is turned on, current starts to flow from grid, via pre-charge
contactors and freewheeling diodes into the DC-link. Thus,
DC-link capacitance is being charged to a value of grid line
voltage amplitude. After K1 is closed Fig 6. is obtained.
This part of the procedure ensures that most of the hardware
is properly setup (contactors, IGBTs, sensors etc.).

Fig 7. DC-link voltage- K1 on, K2 on.

Next, it is advisable to test loops from inside out. That
is, current loop should be tested before voltage loop. Here,
quadrature current component loop should be tested first.
Note that flow of quadrature component should not affect
active power flow and thus DC-link voltage. Considering
that quadrature and direct current loops are virtually the
same, if one behaves as expected the other one should
behave in the same manner, and thus after this test direct
current response should be observed. Proper response
would indicate that both PI controllers parameters are
correctly selected and that the rest of the hardware functions
properly. Reference should be set up to be a step change
from zero to nominal value (or at first to some small value),
and then, after a short while, step change to zero. This is
especially important in case of direct current component
test, in which case a too long nominal reference would
cause DC-link to overcharge or to discharge completely.
Quadrature current test is shown in Fig 8.

Both software and hardware settings demand minimal time,

effort and equipment. Thus, this paper offers a good starting
point for a research in the area of inverter based
applications, where engineers can find all the necessary
steps needed for its laboratory build-up.
6. REFERENCES
[1] S. Chakraboty, B. Kramer, B. Kroposki, A review of
power electronics interfaces for distributed energy
systems toward achieving low cost modular design,
Fig 8. Quadrature current response.
Renewable and sustainable energy review., vol. 13,
Once it is concluded that current loops function in a
Issue. 9, pp. 23232335, Dec. 2009.
desired way, voltage loop can be tested. Fig 9. shows DC- [2] P. R. Remus Teodorescu, Marco Liserre, Grid
link voltage response to a ramp change. It can be seen that
converters for photovoltaic and wind power systems,
real value follows reference value and that voltage
Ohn Wiley and Sons, and IEEE Press, 2011.
regulation works properly.
[3] X. Guo, W. Wu, Improved current regulation of threephase grid-connected voltage source inverter for
distributed generation systems, IET Renewable power
generation, vol. 4, iss.2, pp. 101115, Sep. 2009.
[4] Zhang Zhi-Gang, Zou Ben-Guo, Bi Zhen-Fu, Dahlin
algorithm design and simulation for time-delay system,
Control and Decision Conference, pp. 5819 - 5822, june
2009.
[5] Bjarte Hoff and Waldemar Sulkowski, A simple DClink pre-charging method for three phase voltage source
Fig 9. DC-link voltage- regulation on.
inverters, IECON 2012 - 38th Annual Conference on
IEEE Industrial Electronics Society, pp. 3364-3367, Oct.
2012.
[6] J. L. Da Silva, R. G. de Oliveira, S. R Silva, B. Rabelo
and W. Hofmann, A Discussion about a Start-up
Procedure of a Doubly-Fed Induction Generator
System, Nordic Workshop on Power and Industrial
Electronics, pp. 1-6, June 2008.
[7] Robert Thibault, Kamal Al-Haddad, Louis. A. Dessaint,
Three phase grid connected converter with an efficient
power flow control algorithm: Experimental
validation, IEEE International Symposium on
Fig 10. Current components on voltage regulation start.
Industrial Electronics, pp. 1306-1310, July 2006.
[8]
Marian
P. Kazmierkowski, Marek Jasinski, Grzegorz
5. CONCLUTIONS
Wrona, DSP-Based Control of Grid-Connected Power
In order to quickly and effectively establish working and
Converters Operating Under Grid Distortions, IEEE
research environment, control engineers must follow some
Transactions on industrial informatics, Vol. 7, N0. 2, pp.
procedures for both hardware and software setting up. Here,
204-211, May 2011.
one such procedure and its analysis are proposed. How to
tune PI controllers in current and voltage loops is explained.
Also, what hardware is necessary for initial tests is shown.