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Article history: In the distributed generation environment, parallel operated inverters play a key role in interfacing re-
Received 30 December 2015 newable energy sources with the grid or forming a grid. This can be achieved by operating the inverters
Received in revised form in parallel with an effective control strategy. Hence, qualitative output in terms of voltage and power in a
7 March 2016
parallel inverter demands a control strategy for abating the certain performance parameters. The tech-
Accepted 28 June 2016
Available online 25 July 2016
nical constraints like load sharing capability, stability, total harmonic distortion, steady state and tran-
sient response determines the performance indices of the control strategy in connection with micro grid.
Keywords: The paper presents a comprehensive review of control strategies of parallel inverter based on the
Parallel inverters communication and control loops. The classication and transguration of control strategy from cen-
Current accretion method
tralized approach to distributed approach and from distributed approach to droop approach were re-
Current distribution control
viewed in the paper. The paper also focuses on the ancillary services that improve the performance
Droop control
Linear droop control indices of the system with multi loop approach of droop control in connection to micro grid. This paper
Nonlinear droop provides an insight of the researcher's perception in emphasizing the power quality issues to achieve
regulated and qualitative output with different control strategies. The paper also cites the progress of the
research on parallel inverter control by inoculating the issue and the resolution in the literature. This
could help the future researchers in addressing the power quality issues associated with parallel inverter
control in connection to micro grid. Based on the reviewed state of art, the paper nally reports the
suitability and future scope of the control strategy as its concluding remark.
& 2016 Elsevier Ltd. All rights reserved.
Contents
1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 886
1.1. Classication of control strategy of parallel inverter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 887
2. Current accretion methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 887
2.1. Concentrated control/center limit control/centralized current control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 887
2.2. Master - slave control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 887
3. Current distribution control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 888
3.1. Current limiting control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 888
3.2. Circular chain control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 888
3.3. Average load sharing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 888
3.4. Instantaneous current control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 889
3.4.1. Proportional - resonant controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 889
3.4.2. Sliding mode control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 890
3.4.3. Dead beat control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 890
3.4.4. Repetitive voltage control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 890
3.4.5. H- innity control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 890
3.4.6. Weighting current distribution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 890
3.5. One cycle control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 891
4. Droop control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 891
n
Corresponding author.
E-mail addresses: monieee@gmail.com, monica.p2015@vit.ac.in (P. Monica), mkowsalya@vit.ac.in (M. Kowsalya).
http://dx.doi.org/10.1016/j.rser.2016.06.075
1364-0321/& 2016 Elsevier Ltd. All rights reserved.
886 P. Monica, M. Kowsalya / Renewable and Sustainable Energy Reviews 65 (2016) 885901
The paper is organized as follows: In Section 2, the current 2.1. Concentrated control/center limit control/centralized current
accretion method is discussed in brief. It is found that it is suitable control
for domestic UPS applications. Section 3 presents distributed
control whose suitability holds good for industrial UPS and dis- The concentrated control method utilizes the current error to
tributed generation system that operated autonomously. Section 4 inuence the output of the inverter either directly or indirectly to
holds a discussion on the droop control applicable to distributed compensate the imbalances. The current error is determined by a
generation systems in grid connected and islanded mode. Finally central control mechanism whose inverter module currents are
paper addresses the current knowledge gaps in the parallel in- collected centrally. The power deviation control as shown in
verter control in connection to microgrid as technical challenges Fig. 4 is based on the detection of unbalanced currents, drop in
and future scope in Section 5. voltage - frequency whose voltage stability factor and inherent
frequency are presumed. This presumption does not hold good for
different variation in load and harmonic imbalances [11].
1.1. Classication of control strategy of parallel inverter
In [12] the authors focused on effective power balance with an
output bus voltage control system which was left unaddressed
The parallel inverter control mechanism aims at achieving
[13]. Although parallel processing inverter control system pro-
regulated voltage and power besides accurate power share which
posed in the literature compensates the current harmonics and
depends on active load/current sharing. The control strategies for
imbalances for sudden load changes suffers from serious dis-
the parallel inverter control are aforementioned in the literature as
advantage of transient response and are restricted to low resistive
active load sharing techniques. The active load sharing techniques
networks. The digital control technique successfully addresses
are the rst of its kind that needs communication link for the
problems like voltage imbalance, synchronization stability for only
control of parallel inverter. The grid oriented control is voltage
pre assumed loads [14]. The centralized current control with an
mode control in which the real and reactive power besides stabi-
outer control loop could not fulll the objective of abating the
lity of the bus system whose local references are modied taking
circulating currents and harmonics across the parallel inverter
into account the bus parameters like system impedance. The grid
since the active and reactive power difference were neglected [15].
less individual control is a current control mechanism which also
The massive risk of failure of entire system due to malfunction of
modies local reference value to maintain modular loads whose
any one module in concentrated control led to the concept of
system bus parameters were not considered. In spite of tight
master slave control.
current sharing and regulated voltage with lower THD value, the
active current sharing technique incurs exibility and redundancy
2.2. Master - slave control
as its short comings. Classication of active load sharing control of
parallel inverters is as shown in Fig. 2. The control strategies were
The master slave control scheme given in Fig. 5 is variant to
selected based on the criteria's like control signal communication
concentrated control where N number of inverter modules are
and the control loop in the parallel inverter system. The current
paralleled, one of the inverters acts as master and the rest inverters
accretion and current distribution control are communication
acts as slave. Depending upon the masterly control action of the
based control strategies and the droop control is a communication
inverter it is divided into dedicated master and oscillating master.
less control that does not necessitates for a reliable communica-
In dedicated master, the master inverter is xed and operates in
tion. With the communication based control strategy, the classi-
voltage mode control, the slave inverter acts in current control mode.
cation is further based on the control loop. The Table 1 depicts
The authors proposed central board current control whose current
the merits and demerits of current accretion, current distribution
reference follows the common voltage reference of master , and the
and droop control.
output voltage is stabilized by master irrespective of N number of
slaves [15]. as unveiled in Fig. 6. In this method power management,
communication failure and response delays are left unresolved. The
2. Current accretion methods Ref. [16] resolves the chaotic behavior during the dynamic interaction
of modulator and parallel inverter and also address the instability
In this method, the output currents of all parallel inverter problem with independent current regulator incorporated with the
modules are accredited at the end of bus system. The number of low frequency references of a two phase modulator for drives appli-
modules in parallel are predetermined and the scope of the load is cation. It avoids complex coordinated control unlike master slave in-
limited in current accretion method. In control prospective, a verter control without change in control structure for increase in
common centralized voltage control loop that govern the current modularity of inverters. The centralized master module inuences the
loops are used with current accretion method whose competency system function where the reliability is compromised. This paved way
holds good for autonomous operation of parallel inverter. Hence to application of distribution logic whose control tasks are distributed
the method nds its application in Uninterruptible power supplies among inverters through the voltage and current loop.
(UPS) with parallel inverter in a compact device. Due to the cen- Master slave control follows distribution logic for power dis-
tralized voltage loop, the current accretion method is incapable of tribution is simple, exible, expandable and cannot track the
managing distributed power system [10]. The Current accretion output current for a step change in loads [17]. By feeding a syn-
method constitutes concentrated current control and master slave thesized input to the slave whose regulated voltage similar to the
control as shown in Fig. 3. master, serves the objective of load sharing and stability [18]. To
Current Distribution
Current accretion methods Droop methods
methods
Table 1
Advantages and disadvantages of control strategy of parallel inverters.
Concentrated control [11 Simple control mechanism, Load sharing during steady state and tran- Requires communication among inverters, Low expandability,
14] sient, voltage regulation Slow response, interference to load at times of maintenance,
Low reliability.
Master slave control, [16 Good load sharing in steady state, system is immune to failure due to Requires high bandwidth for communication.
20] slave inverters, simple to regain the output voltage at times of dis- Prone to system failure due to the master failure.
turbance. current accretion and distribution control logic hold good. Low redundancy.
Current Distributed con- Constant frequency and fundamental power sharing achieved. Accurate Requires communication,
trol, [2546] power sharing with symmetrical inverters Demands individual control of each inverter.
Tracking mechanism error, inaccurate power share with differ-
ent power rating. Low modularity.
Conventional droop con- Avoids communication, good power sharing, different power sharing, Power sharing attained at an expense of voltage regulation.
trol, [4456] high reliability, expandability and modularity, Low band width is enough Slow response.
impart increased redundancy among multi inverter, the status quo 3.1. Current limiting control
of the each inverter is monitored by the microcontrollers con-
nected to the bus through serial communication. Programming the Current limiting control aims at the reduction of harmonics by
microcontroller decides the master inverter and rest act as slave limiting the current. This can be done by the means of passive
[19]. N number of parallel inverters with magnetic coupling be- elements and the combination of control loops. Different current
tween phases that degrade the stability was investigated by in- limiting control techniques were evolved in early 90's [23,24] to
fusing three limb inductor by reducing zero sequence voltage of improve the power quality and to reduce the harmonics. These
each inverter [20]. techniques uses inductors and current balancers which proved to
In oscillating master, the choice of master depends upon the be inefcient and bulky especially at high power level.
controller priority. To overcome the drawback of system failure
3.2. Circular chain control
due to cessation of the master module, the oscillatory master
concept was introduced. The control method denes the master
Circular Chain Control (3C control) uses the principle of track-
based on the maximum real power output of inverter [21]. The
ing the current of the successive modules of paralleled inverter
novel multiple master slave strategy uses a CAN area network for
system to achieve equal current distribution. If 'N' inverters are
communication. The slave modules masters the master inverter by paralleled, then the nth inverter follows the current of the rst
dening the identity and phase of the master. This method helps inverter. In 3C control, successive module tracks the previous
for prominent power sharing, high reliability but have synchro- module with inner current loop and outer voltage loops facilitating
nization error [22]. equal current distribution. A robust controller is used for designing
the outer voltage loop to achieve fast dynamic response. The in-
teractions between the modules of inverters and impedance factor
affect the overall system performance in the proposed method
3. Current distribution control
[25] in Fig. 8.
In current distribution control, the currents are parsed among
3.3. Average load sharing
the parallel inverters for accurate power and voltage control. This
can be achieved by the design of an individual control scheme for
The principle of average load sharing aims at attaining the
each symmetric inverter. Linearization and robustness is achieved
power balance in the parallel inverter system. Depending upon the
by means of current controllers. The current distribution control
averaging parameter, it can be categorized into two.
follows a democratic approach where distributed voltage loop is
preferable to common voltage loop which is also possible. Since Average current sharing
the voltage loop is distributed, the task of the current distribution Average power sharing
control is betting to systems that demand modularity and ex-
pandability. Hence this method applicable in the industrial UPS In the average current sharing technique, Firstly, the average
system and power electronic interfaced distributed generation current of all the inverters are determined which acts as reference
systems. Current distribution control scheme can be classied as to the individual inverters. Inner and outer control loops are de-
shown in Fig. 7. signed for each individual inverter to match the average currents.
Current accretion
methods
COMMON BUS
INVERTER LOAD
Vo Io
PWM
TECHNIQUE
REACTIVE
CURRENT CURRENT
POWER
DEVIATION REFERENCE
DEVIATION
REFERENCE
VOLTAGE
ACTIVE
POWER
DEVIATION
FREQUENCY
DEVIATION
fref
Fig. 4. Balance of power and voltage deviation through concentrated control [11].
SLAVE INVERTER
SLAVE INVERTER
VOLTAGE
CONTROLLED SLAVE INVERTER
MASTER INVERTER
LOAD
(N-1) SLAVE
SLAVE INVERTER
CURRENT CONTROL
CURRENT REFERENCE
GENERATION
has a limited scope regarding bandwidth and modulation since the means of designing the parameters irrespective of plant model
principle of one cycle control is utilized [35]. and implementing a control algorithm [40].
CURRENT DISTRIBUTION
METHODS
CURRENT
INVERTER SHARING
CENTRE
OUTPUT
Voltage reference
VOLTAGE
CONTROLLER
4. Droop control
CONTROL SIGNAL CONTROLLERS The parallel inverter system connected to distribution bus with
at least an energy source that forms a micro-grid demands a
power control mechanism to yield qualitative output. The droop
Fig. 10. Instantaneous current control block diagram.
control of parallel inverters facilitates the micro-grid to operate in
change in loads with a compensating current reference signal both grid connected and islanded mode. The micro-grid continues
besides the conventional weighting distribution technique. to supply power to the local load at times of utility failure. The
parameters like regulated voltage, low THD, accurate active - re-
active power sharing, and stability forms the performance indices
3.5. One cycle control
of the distribution system. Besides the power and voltage control,
One cycle control is a nonlinear control technique that dyna- ancillary services like hot- swap operation, harmonic power
mically controls the average value of the switched variable like sharing and system impedance are permitted with droop control.
voltage or current for one switching cycle. It is most likely suitable Hence the droop strategy is widely preferred to investigate the
for Pulse width modulated inverters and resonant inverters. The performance indices, in connection with micro grid. The origin of
Refs. [47,48] illustrates the original core of one cycle control. The droop control strategy depends on the principle of synchronous
phenomenon of One Cycle Control (OCC) of parallel inverters with generators in which the voltage and frequency experience a droop
a combined vector and bipolar operation and an additional cir- with changing load. The active and reactive power equations are as
culating current control inherits the advantages such as con- follows:
892 P. Monica, M. Kowsalya / Renewable and Sustainable Energy Reviews 65 (2016) 885901
DROOP CONTROL
P-V AND Q-f ANGLE DROOP ENHANCED VIRTUAL FLUX V-I DROOP
COMPENSATION DROOP
DROOP
f* (SET REFERENCE)
OUTPUT INVERTER
VOLTAGE
f
P REAL POWER DROOP -
Vo CO-EFFICIENT m
P&Q SINE
CALCULATION GENERATOR
GENERATED
REACTIVE POWER REFERENCE
Q
DROOP - VOLTAGE
Io
CO-EFFICIENT n V
OUTPUT INVERTER
CURRENT
V * (SET REFERENCE)
Vo
f INVERTER
OUTPUT
VOLTAGE
f- frequency
V
deviation
m1 n1
m2 n2
P1 P1 Q1 Q2
tracks the control variables through instantaneous power theory demonstrates that altering the frequency droop leads to the re-
[55] and implements Q-V' droop control. It shows good transient active power is regulated. Hence the equations governing the
response, and does not captivate to voltage and current uctua- opposite droop method shown in Fig. 14 is
tions, the digitized realization engenders the system to be fast and V = V * mp P;
exible [56]. The balance between voltage regulation and fre-
quency is the major setback in conventional droop control, since
f = f * mQ Q ;
the voltage set points and the per unit impedance of the inverters
are similar. The opposite droop control for load sharing through which
voltage is regulated reducing the drop in frequency. The control
4.1.2. Modied droop control strategy implemented suffers from the disadvantage of slow re-
In the modied droop method, the underlying droop control sponse due to an auxiliary control. The strategy overcomes the
principle is similar to conventional droop with a change in the drawbacks of conventional method by means of robust controller
control variables. Table 2 depicts the comparison of conventional [57]. The P-V droop control by utilizing presumed proportional
and modied droop methods. power sharing approach. This method facilitates multiple inverter
Modied droop control can be classied into. parallel connection through multiple voltage- power droop con-
trollers [59]. The P-V and P-f droop control inoculated in [60]
P-V and Q-f droop method/reverse droop control. benets power sharing during export of power considering the
Power Angle droop control. line losses. The P-V and Q-f droop control was investigated with
Compensation Droop control. intentional and unintentional islanding of weak low voltage mi-
Virtual Flux control cro- grid whose power balance and frequency restoration are only
VI droop control. approximate besides advantage of plug and play operation [58].
The combination of P-V and Q-f was also encompassed in [61] to
4.1.2.1. P-V and Q-f droop method/reverse droop control/opposite estimate and enhance the power sharing capability of micro grid
droop control. The reverse droop aims at a noble outcome of that operates autonomously.
power sharing and regulated voltage. In general the impedance
parameter in micro grid is considered to be inductive, the concept 4.1.2.2. Power angle droop control method. In power angle droop
of reverse droop is formulated considering the nite resistance. method, control of parallel inverter system in connection to the
The P-V droop from the literature [57] infers that by regulated micro grid achieves good power sharing, improved transient re-
voltage yields regulated real power. The Q-f droop [58] sponse whose stability constraints under variable load conditions
Table 2
Comparison of conventional and modied droop control.
1. Balance between Load sharing and voltage Low High due to frequency restoration and high gain
regulation
2. Flexibility High Not exible due to dependency of control parameters and control
loops
3. Harmonic current sharing Poor Good due to signal injection mechanism, virtual impedance and
harmonic droop coefcient
4. Line impedance Affects the performance Overcome by virtual impedance
5. Dynamic Response Slow dynamic response Fast dynamic response through angle droop and adaptive
mechanism
6. Reactive power Sharing Good reactive power sharing is achieved Better reactive power sharing is achieved.
7. Integration to renewable technologies Poor integration Improved integration with Nonlinear droop mechanism
8. Scope of control and control circuitry Scope of control is limited and control circuitry Scope of control is unlimited and control circuitry is complex.
is simple.
894 P. Monica, M. Kowsalya / Renewable and Sustainable Energy Reviews 65 (2016) 885901
V* (SET REFERENCE)
OUTPUT INVERTER
VOLTAGE
V
P REAL POWER DROOP -
Vo CO-EFFICIENT
P&Q SINE
CALCULATION GENERATOR
GENERATED
REACTIVE POWER REFERENCE
Q
DROOP - VOLTAGE
Io
CO-EFFICIENT f
OUTPUT INVERTER
CURRENT
f* (SET REFERENCE)
was not veried [62]. The angle droop control under two scenar- micro grid is achieved with unique equilibrium point concerning
ios: One with angle droop without communication, and the other stability. This is proved to be insufcient for practical power grid
with angle droop with web based communication. Though both due to the fact that the equilibrium points take translational
methods proved to be satisfactory with high resistive network in symmetry.
terms of power sharing, it jeopardize the system due to high gain Droop control through signal injection: The author resolved the
[63]. drawback in [51] by injecting a control signal for the variable to be
The high droop gain that guarantees system stability by adding shared and a Phase Locked Loop (PLL) to measure the variable and
a supplementary loop to the power angle droop controller was adjust the droop coefcients accordingly to compensate for the
proposed. It exhibits poor damping with high gain and vice-versa effect of line impedance imbalance and non uniformity of the units
drives the system to a state of instability and transient response as shown in Fig. 16 [67]. The proposed method experiences low
[64]. The issue of [64] was overcome by implementing a gain transient response due to PLL and mismatch of line and output
scheduled angle droop controller that improves the stability [65]. impedance may result in unshared load. The digital implementa-
tion of technique proposed in [51] proves to be unsatisfactory due
4.1.2.3. Compensation droop control. Compensation droop control to complex algorithm and poor dynamic performance.
is a modied droop technique that incorporates a control para- Droop control through virtual impedance: The idea of droop
meters or control loops to the conventional droop control. It control through virtual impedance by the addition of virtual in-
mainly compensates the line impedance of the system and opti- ductor. This novel control method as shown in Fig. 17 ensures
mizes the performance reducing the harmonics. The compensa- stable frequency regulation under steady-state conditions and
tion strategy may be an addition of virtual impedance loop, gain active power balance is achieved, there by overcoming the draw-
scheduling loop, Power compensator, signal injection, harmonic back of conventional droop method. The proposed method does
droop coefcient. not consider the controller under steady state frequency variation
Droop control through gain scheduling: To achieve the objectives and provides unsatisfactory transient response [68].
of a modular design approach, good voltage regulation, good load The author successfully addressed the drawback of [68] by
sharing, and robust performance in terms of source/load interac- modifying the control circuit. The modication includes the virtual
tion, a novel droop method by using a gain-scheduling technique impedance being connected to sine generator reference and the
[66] which although proved to yield better results than master integral terms added to the conventional droop as unveiled in
slave control, the effect of gain scheduling on load sharing is not Fig. 18 [69].
investigated in detail as shown in Fig. 15. The method although improves the transient response, proved
In [38], by scheduling the droop characteristics using bifurca- to be unsatisfactory since the output impedance left unnoticed
tion theory the frequency and voltage regulation in an isolated which cause inaccurate current distribution. The control methods
BUS
DC SUPPLY INVERTER
Iref
GAIN
Vref
MULTIPLIER
Fig. 15. Gain scheduling technique for single module of parallel inverter [66].
P. Monica, M. Kowsalya / Renewable and Sustainable Energy Reviews 65 (2016) 885901 895
INVERTER
SMALL AC
SIGNAL
CONTROL &
SYNCHRONIZATION
VOLTAGE
POWER
REFERENCE
CALCULATION
GENERATION
proposed in [68,69] is not valid for online UPS application. Hence, mismatch, restricts its suitability for short separate modules
taking the harmonic current into account, the virtual impedance is [74,75]. Virtual impedance droop loop infuses a frequency re-
designed that yields low harmonic distortion and crest factor less storation algorithm whose real and reactive power demand and
than 3 when operating under nonlinear, proper transient re- the damping ratio of the network are compensated with in the
sponse, frequency and phase synchronization to ac mains, good tolerable range of bandwidth [76].
power sharing [70]. The control block diagram is illustrated in The control mechanisms suggested in the literature so far are
Fig. 19. not immune to the dynamic load variations which necessitates
The sensitivity is one of the factors to be introspected in par- additional loops and adaptive control mechanism to tolerate the
allel operation of inverters. The Refs. [71,72] shown in Fig. 20 in- dynamic load variation. An adaptive mechanism that can tune the
vestigates power sharing to the output impedance of inverters droop characteristics according to the load variations by estimat-
with respect to sensitivity. The control loops developed using ing the grid parameters dynamically and the droop coefcients are
linear feedback technique illustrates the design of virtual output modeled. Despite, it's complexity and parameter mismatch error
impedance as a feedback gain through which the impact of line as its drawbacks, synchronization and stability during different
impedance unbalance was reduced and good power sharing is modes were its merits [77]. To improve the accuracy of reactive
achieved. power sharing and stability and to lessen the error [77] the
The drawback of [69] was overcome by decentralized controller method includes a supplementary control loop stabilizes the sys-
designed in combination with resistive output impedance im- tem whose gain constants are modeled high to achieve improved
plemented on a digital controller proposed in [73] as unveiled in power sharing [64]. A twofold control with opposite droop and
Fig. 21 successfully addresses harmonic power share. Power constant power band for dispatchable and undispatchable loads
sharing scheme virtual resistive droop method in combination whose control mechanism drives to achieve good power sharing,
with Q-V, P-f droop control to attain precise voltage regulation, transient response and stability in spite of inaccurate reactive
equal fundamental and harmonic current sharing whose re- power sharing due to localized voltage set point [78]. To Improve
sistance is large enough than the inverter output impedance. This the reactive power sharing, a modied reference is generated by
method does not assess the synchronization error and parameter comprehending a communication link of load voltage. It does not
VIRTUAL INDUCTOR
f
P REAL POWER DROOP -
CO-EFFICIENT
OUTPUT Vo
INVERTER
VOLTAGE P&Q (SET f* SINE
CALCULATION REFERENCE) GENERATOR
GENERATED
REACTIVE POWER REFERENCE
Q
DROOP - VOLTAGE
Io
CO-EFFICIENT V
OUTPUT
INVERTER
CURRENT
V* (SET REFERENCE)
VIRTUAL INDUCTOR
P
PID CONTROLLER
Vo
OUTPUT
INVERTER SINE
VOLTAGE P&Q
GENERATOR
CALCULATION
E=Sin*(wt-Q) GENERATED
Q REFERENCE
PD CONTROLLER VOLTAGE
Io
OUTPUT
INVERTER
CURRENT
V*
endanger the reliability of micro-grid [79]. The Ref. [80] aims at tuning virtual impedance at load set points to achieve accurate
optimization of renewable energy technologies by employing power sharing was discussed whose applicability is conned to
communication based secondary control whose voltage based distributed generation systems of same rating [88]. In a network
droop function is shifted considering the micro-grid entities. The based micro grid, meta heuristic algorithms are implemented to
process of tracking and allocating the local control variables pro- optimize the virtual impedance loop by adaptive tuning was in-
portionally corresponding to the output power of inverter was vestigated under dynamic nonlinear load condition. The reactive
analyzed. The reference employs a power compensation conduc- power sharing error is less whose feeder impedance is also variant
tion with virtual impedance loop to attain accurate power sharing and distributed generation is assumed symmetric [89].
and also investigates the effect of line, virtual impedance and A combination of averaging technique and droop control
droop coefcient errors [81]. The author inoculated an algorithm technique that studies various scenarios like the effect of inverter
based approach that uses low bandwidth communication. The failure on controller efciency with dynamic load and global vol-
method optimizes the accuracy of sharing neglecting line re- tage regulation due to loss of source. This method uses cyber
sistance [82]. A proportional power sharing algorithm was pro- network as communication link exhibits slow dynamic response,
posed in the Refs. [83,84] whose real and reactive power variations poor reactive power sharing and graphical connectivity issues [90].
although addressed successfully, needs attention regarding dy- The method reconciliates the droop characteristics through online
namic load conditions. parameter estimation algorithm and a feed forward auxiliary
A synchronized frequency with zero steady state error of in- control mechanism, whose performance parameters like steady
verters whose impedance values are set facilitates accurate power state stability and transient response under dynamic load condi-
sharing and stability. The control presumes the circulating appar- tions are investigated. This technique is adaptive and the con-
ent power to be negligible initially which is quite impractical [85]. troller dynamics is unaffected due to periodic modication of
The frequency and amplitude restoration mechanism to recover steady state operating point [91]. The problem [91] was resolved
the frequency and amplitude using an algorithm independent of by a decoupling feed forward gain scheduled loop that makes the
stability, PQ control leads to seamless synchronization and high system dynamics independent of the droop control [92]. Con-
reliability [86]. A control strategy based on power decoupling sensus based droop control incorporates non zero inertia that
control through P-V and Q-f droop with a variable virtual re- improves the damping frequency, transient stability of the system
sistance although improvises the power sharing capability among was investigated in [93]. This method ensures proper reactive
inverters with different power ratings and large R/X ratio of line power sharing by proper selection of control parameters and
impedance, it deteriorates the power sharing when distributed averaging the output voltage to reference value compromising the
line impedance is uneven [87]. Comprehensive treatment of phase angle [94]. A combination of droop, phase shift loop, virtual
Supply voltage
SYNCHRONISATION LOOP
OUTPUT
INVERTER
VOLTAGE f
P DROOP -
Vo CO-EFFICIENT
P&Q f* SINE E
OUTPUT CALCULATION GENERATOR
INVERTER GENERATED
CURRENT Q DROOP - - REFERENCE
CO-EFFICIENT VOLTAGE
Io V
ACTIVE POWER
DEVIATION V*
HARMONIC CURRENT
SHARING LOOP
INVERTER
Vref OUTPUT
CONVENTIONAL
VOLTAGE REGULATOR INVERTER
DROOP METHOD
-
VIRTUAL IMPEDENCE
Z (S)
HARMONIC POWER
SHARING
RESISTIVE VIRTUAL
LOOP
ACTIVE
POWER V*
DEVIATION
P
PD CONTROLLER -
Vo -
POWER SINE Vs
CALCULATION GENERATOR
REEFERENCE TO
Q PULSE
PD CONTROLLER
Io - GENERATOR
f*
OPPOSITE DROOP
SET REFERENCE
REAL POWER
FLUX
REFERENCE, P
FLUX REFERENCE
GENERATION
REAL POWER DROOP
Vo CO-EFFICIENT
P&Q
CALCULATION
REACTIVE POWER
DROOP
Io CO-EFFICIENT POWER ANGLE
REFERENCE
REACTIVE POWER
REFERENCE, Q
n
impedance loop, guarantees stability and accurate reactive power injection and constant frequency. This method improves the dy-
over a wide operating range whose control complexity, response namic response and stability and valid for limited scope of current
delay increases with multiple inverters and exibility comes down and small sized inverters [96].
[95]. The synchronous reference frame virtual impedance loop
added to the conventional droop, proportional resonant controller 4.1.2.5. Virtual ux droop control
as current controller focuses on the stability and system dynamics. This control mechanism is based on the principle that the ac-
It exhibits good performance under small inductive imped- tive power, reactive power and the phase angle is proportional to
ance [89]. The Table 3 depicts the summary of enhanced droop ux. It employs direct ux control that estimates the ux, the
technique. active and reactive power sharing occurs proportional to the ux
angle and amplitude difference under load changing conditions.
4.1.2.4. V-I droop The method exhibits better results in terms of less frequency de-
The method diminishes the problem of power sharing to cur- viation, simplicity without multiple loop, pulse width modulators,
rent sharing by drooping the direct and quadrature axis voltage dynamic response [97]. The virtual droop control [97] as illustrated
prole through a feed forward mechanism and droop signal in Fig. 22 is extended to realize a unit commitment that improves
898
Table 3
Summary of the Enhanced droop control techniques.
[75] Conventional droop Virtual resistive droop Not suitable for UPS and micro Precision in load sharing, voltage regulation. Scope of control valid for short modules of
grid inverter.
the efciency of the generating system under different load con- Although the distribution control hold good in terms of expand-
ditions with a secure communication protocol [98]. ability and modularity, due to the risk of failure with distributed
current and voltage loop, it would be more suitable for microgrid
that operates autonomously. The research work carried out till
4.2. Nonlinear droop now prove that droop techniques exhibits a superior performance
in terms of ancillary services like harmonic power share, hot-swap
The droop characteristics are modeled non-linearly by the meta operation, system impedance besides proper power and voltage
heuristic optimization algorithm like PSO [99] and investigated the control. A multi loop approach of droop control in combination
same during peak load and light load conditions. This method with auxiliary control loop could satisfy the power quality re-
yields better power share and exibility for dynamic load changes quirements of microgrid. Hence a droop controlled parallel in-
[100]. verter is capable to manage the microgrid in both grid connected
and islanded mode. The shortcomings of the control mechanism in
terms of communication, power sharing strategy, stability margin
5. Challenges and future scope of work under nonlinear conditions were termed as technical challenges in
the review in connection to micro grid. The shortcomings if cur-
In the recent years, the control strategies of parallel inverter tailed and the challenges met will lead to self sustained, reliable
with and without communication like current accretion control, quality future grid.
current distribution control, droop control addressed in the lit-
erature with its merits and demerits are summarized in Table 1.
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