Documente Academic
Documente Profesional
Documente Cultură
2, JUNE 2012
AbstractThis paper presents a multiobjective control scheme integrate renewable energy resources to the distribution grids,
based on the dynamic model of three-level, neutral-point-clamped which consider different objectives, including technical aspects
voltage source inverter for integration of distributed generation
such as voltage profile and voltage stability improvements [3],
(DG) resources based on renewable energy resources to the
distribution grid. The proposed model has been derived from the economical aspects such as network investment deferral [4],
abc/ and /dq transformation of the AC system variables. The active loss reduction [5], [6], and environmental aspects such
proposed control technique generates the compensation current as emission reduction [7]. Design of a practical, economical,
references and by setting appropriate references of DG control and multiobjective control strategy, which considers different
loop, the DG link not only provides active and reactive currents
objectives, is the most important part to integrate renewable
in fundamental frequency, but also it can supply nonlinear load
harmonic currents with a fast dynamic response. Simulation energy resources to the distribution grid. In [8], a multiob-
results and mathematical analysis have achieved a reduced total jective control technique for connection of renewable energy
harmonic distortion, increased power factor, inject maximum resources to the AC grid has been proposed. A conventional
power of renewable energy resources via a multilevel converter two-level voltage source inverter (VSI) has been used as an
as an interface to the AC grid. It also compensated the active
interface between renewable energy resources and AC grid.
and reactive powers of linear and nonlinear loads. The analyses
and simulation results show the high performance of proposed This control method compensates for the active and reactive
control scheme in the integration of renewable energy resources power and harmonic currents of linear and nonlinear loads
to the AC grid. by setting an appropriate reference of control loop. A control
Index TermsDistributed generation (DG) resources, har- strategy for the integration of renewable energy sources to the
monic elimination, multilevel inverters, reactive power compen- utility grid has been proposed in [9]. In this model, the authors
sation, renewable energy, space vector pulse width modulation proposed a three-level NPC VSI as the heart of the interfacing
(SVPWM). system between renewable energy resources and utility grid.
The system controller is based on the multivariable linear
I. Introduction quadratic regulator control technique. The capability of the
proposed strategy in both steady state and transient operation
D ISTRIBUTED generation (DG) systems based on renew-
able energy resources play an important role in electric
power systems. The estimated share of these resources in
has been verified through simulation and experimental design.
In [10], a static var compensator using three-level gate turn-off
thyristor VSI has been presented for high-voltage, high-power
electrical networks will increase significantly in the near future
applications. In this proposed model, a controller is designed
by providing different benefits like cost reduction, reliability
using the small-signal model. The proposed model lacks a
of main grid, and emission reduction [1]. Application of
global description of the DC-link side and the AC-side dy-
renewable energy resources such as wind turbines, photo-
namics. In [11] and [12], some controllers based on park trans-
voltaic, and fuel-cell in a power system may cause major
formation are designed, and DC-link unbalance problems for
changes in the design and operation of distribution networks
different loading conditions of three-level VSI have been com-
[2]. Several methods and strategies have been proposed to
pensated by means of the switching strategy. Reference [13]
Manuscript received September 14, 2010; revised January 14, 2011; proposed a nonlinear control technique to enhance the dynamic
accepted May 25, 2011. Date of publication September 12, 2011; date performance of shunt active power filter which is modeled in
of current version May 22, 2012. This work was supported in part by the synchronous orthogonal dq frame. A three-level NPC VSI
the Ministerio de Ciencia e Innovacin, under Project ENE2009-08555.
E. Pouresmaeil and D. Montesinos-Miracle are with the Electrical Engi- proposed as the interfacing system of DG sources and AC grid.
neering Department, Polytechnic University of Catalonia, Barcelona 08028, The exact feedback linearization theory is applied in the design
Spain (e-mail: edris.pouresmaeil@upc.edu; montesinos@citcea.upc.edu). of the controller. This control strategy allows the decoupling of
O. Gomis-Bellmunt is with the Electrical Engineering Department, Poly-
technic University of Catalonia, Barcelona 08028, Spain, and also with the the currents and enhances their tracking behavior and improves
Catalonia Institute for Energy Research, Barcelona 08019, Spain (e-mail: the DC-voltage regulation. Reference [14] proposed a novel
gomis@citcea.upc.edu). and simple predictive current controller based on space vector
Color versions of one or more of the figures in this paper are available
online at http://ieeexplore.ieee.org. pulse width modulation (SVPWM) and developed for the
Digital Object Identifier 10.1109/JSYST.2011.2162922 three-phase grid-connected pulse width modulation (PWM)
1932-8184/$26.00
c 2011 IEEE
POURESMAEIL et al.: CONTROL SCHEME OF THREE-LEVEL NPC INVERTER 243
Cos Sin
load currents, respectively. A null value for the zero voltage where Tdq = , and the inverse matrix is
Sin Cos
component is assumed. The zero current component is also 1
dq
null since the absence of a neutral wire is considered. Fig. 3 T = Tdq . vld , vlq , ild , and ilq are d and q-component of
shows the three-phase diagram of renewable energy resources voltages and currents in rotating synchronous reference frame,
connected to the AC grid via a NPC VSI. Conventional sings respectively, and is the instantaneous angle of load voltage
of voltages and currents are also indicated. The renewable or voltage at the PCC [20].
energy resource and additional components are represented According to Fig. 4, the d-component of the voltage in
as a current source connected to the DC side of the NPC stationary and rotating synchronous reference frame is as
VSI. In this model line switching function replaced instead follows:
of line-to-line switching functions. In the next step, the
reference frame is transformed to the rotating synchronous vd = v
dq = v = v 2 + v2 (5)
POURESMAEIL et al.: CONTROL SCHEME OF THREE-LEVEL NPC INVERTER 245
by substituting (3) in (4) and taking into consideration il1 = model is general, complete, and makes no assumptions other
(il2 + il3 ) than the use of ideal switches. Equation (12) can be written
as follows:
ild
= 2
Sin ( + /3) Sin ( ) il1
. (6)
ilq Cos ( + /3) Cos ( ) 1 VDC
il2 3
dick Rc 1 vk
= ick + sk sj . (12)
By (6), d and q-components of current in rotating syn- dt Lc Lc 3 j=1 2 Lc
chronous frame can be calculated by means of current com-
ponents in 123 variable system. Equation (12) represents the phase k dynamic equation of
the shunt NPC VSI. By (12) switching state function Dnk
three-level NPC VSI can be defined as follows:
IV. Dynamic Model of Shunt Connection of
1 3
Renewable Energy Resources into Dnk = sk sj . (13)
Distribution Grid 3 j=1
The renewable energy resources can be connected to the Equation (13) shows that the value of Dnk depends si-
AC grid in a series or shunt type. A shunt connection injects multaneously on the switching functions of the three legs
current at PCC, while a series connection injects a voltage of the shunt NPC VSI. This shows the relation between
between the utility supply and the customer load. A shunt the three phases. By substituting (13) into (12), dynamic
type connection of renewable energy resource is used in this equations of shunt connection of NPC VSI can be written as
part, because the compensated quantities (reactive power and follows:
harmonic currents) are related to the current, so shunt type
is more realistic as it injects current at PCC. To draw an d ic1 RC 1 0 0 ic1 1 Dn1 VDC 1 v1
ic2 = 010 ic2 + Dn2 v2 . (14)
appropriate plan to control the shunt connection of renewable dt ic3 LC 0 0 1 ic3 LC Dn3 2 L C v3
energy resources to the AC grid, a dynamic analytical model of Considering ic3 = (ic1 + ic2 ), dynamic model of shunt
the distribution system should be developed [8]. According to NPC VSI for integration of renewable energy resources to
Fig. 3, the KVL law for load voltage (voltage at PCC) leads to the AC grid in abc frame (123 frame) can be obtained as
dic1 follows:
v1 = Lc Rc ic1 + vM1 + vMN
dt
v2 = Lc
dic2
Rc ic2 + vM2 + vMN (7) d ic1 Rc 1 0 ic1 1 Dn1 VDC 1 v1
dt = + . (15)
dt ic2 Lc 0 1 ic2 Lc Dn2 2 L c v2
dic3
v3 = Lc Rc ic3 + vM3 + vMN It is well noted that (15) is a nonlinear and time variant
dt
equation.
summation of three equations in (7), it gives
3
3
dici
3 V. State-Space Model for Control
vi = (Lc Rc ici ) + (vMi + vMN ). (8)
dt In order to facilitate the performance of proposed control
i=1 i=1 i=1
strategy, the model can be transformed to the synchronous
A null value for the zero voltage component is assumed. By orthogonal frame rotating at the grid angular frequency, ,
taking into consideration ic1 +ic2 +ic3 = 0, and (v1 +v2 +v3 ) = 0, where all AC variables become DC variables. By use of park
AC NP potential (N) can be found by assuming all the terms transformation matrix as a non-singular, transfer of abc to 0dq
in (8), in (9) reference frame is possible as follows:
(vM1 + vM2 + vM3 )
vMN =
3
. (9) cos cos( 2/3) cos( + 2/3)
2
In addition, a first-order equation describes the AC side of
abc
Tdq0 = sin sin( 2/3) sin( + 2/3)
(16)
3
the system such that 1/2 1/2 1/2
dick Rc 1 1 1
= ick Vi + vMi + vMN where is the park reference angle, which may be chosen
dt Lc Lc Lc Lc (10)
k = 1, 2, 3. as constant or linear time-varying for different purposes. The
inverse matrix of (16) is calculated by
As shown in Fig. 3, the switching function S k of the kth dq0 1 123 T
leg of NPC VSI is defined as follows: T123 = T123
dq0 = Tdq0 . (17)
+1 Sk2 ON According to the dynamic equation of shunt three-level
Sk = 0 Sk1 ON (11) inverter in (14), the whole dynamic model of the shunt
1 Sk0 ON. three-level inverter in the dq0 reference frame is obtained as
follows:
Hence, assuming vKM = Sk V2DC , and substituting by (8),
(9), (10), and (11), a set of dynamic equations describing the d RC 1 0 0 1 VDC 1
[ic123 ] = 0 1 0 [ic123] + [Dn123] [v123]. (18)
switched model of the three-level system is developed. This dt LC 0 0 1 LC 2 LC
246 IEEE SYSTEMS JOURNAL, VOL. 6, NO. 2, JUNE 2012
d dq0
dq0 d d dq0
T123 icdq0 = T123 icdq0 + T icdq0 . (20)
dt dt dt 123 Fig. 5. Inner control loop of the icd and icq .
As a final point, the whole dynamic model of shunt NPC
VSI in dq0 reference frame is obtained from
Rc
L 0
d cd icd
i c
Rc
icq = 0 icq
dt i Lc Fig. 6. Equivalent diagram of d-axis current control loop of renewable
c0 Rc ic0 energy resources integration to the AC grid.
0 0
Lc
D v q + Lc icd
1 n d VDC 1 d
+ Dn q vq . (21) Dnq = 2 . (25)
Lc 2 Lc v VDC
D n0 0
The inputs Dnd and Dnq are combination of a nonlinear
As the sum of the three phase currents is zero, there is no
term and a linear decoupling compensation term. To achieve a
homopolar component (i0 = 0), therefore, the ACNP voltage
fast dynamic response and zero steady state errors, a PI-type
(vMN ) does not affect any transformed current. This voltage
regulator is needed. It can be obtained as follows:
can be deduced from !
v0 e0
vMN = . (22) dq = kp icdq + ki icdq dt (26)
3
The ACNP voltage only depends on homopolar voltage where icdq = icdq icdq are current error signals, and
components. Additionally, when the electrical grid is balanced,
the averaged value of v0 is zero, hence vMN depends only on icdq is reference templates of icdq which depends on the
the homopolar component of the AC voltages of the converter objectives of grid integration of renewable energy resources.
[21]. Defining the original position of the dq-axis to be vq = 0, The transfer function of the PI regulator for current control
the other component is v d = EL , which is the value of the loops of proposed strategy is given by
line-to-line RMS voltage, therefore (21) can be expressed as dq (s) ki
follows: Gi (s) = = kp + . (27)
R Idq (s) s
c
d icd icd The block diagram of the d-q current control loops can
= Lc Rc icq be derived from (24), (25), and (27). To design PI regulator
dt icq in circuit of current controller, it is necessary to decouple the
Lc
model of the system by adding the measured voltage of d-axis
1 Dnd VDC 1 vd
+ (23) and crosscoupling terms as shown in Fig. 5.
Lc Dnq 2 Lc 0
So, the inner control loops can be simplified as shown in
where the homopolar component has been omitted. Fig. 6. As shown in Fig. 5, the current loops of icd and icq
are the same. So, in the synchronous d-q reference frame,
decoupled control for the reactive and active power can be
VI. Current Control Technique for NPC VSI conveniently achieved by independently controlling the d-axis
In order to obtain a low overshoot, high accuracy and fast and q-axis currents. Fig. 6 shows the inner control loop of the
dynamic response to provide load active and reactive powers currents icd .
and also harmonic currents compensation, two equations in the The closed loop transfer function of the current loop can be
model (23) must be controlled in two different and independent obtained as follows:
dic
loops. Considering = Lc + Rc ic switching state function ki
dt s+
as the original control inputs can be calculated as follows: Icq (s) Icd (s) kp kp
= = . (28)
d Lc icq + vd (s)
Icq Icd (s) Lc 2 (Rc + kp ) ki
Dnd = 2 (24) s + s+
VDC Lc Lc
POURESMAEIL et al.: CONTROL SCHEME OF THREE-LEVEL NPC INVERTER 247
current is achieved by doing the sum of currents in (32) and six 60 sectors 1, 2, . . . , 6. Fig. 7 shows the instantaneous
alternative terms of load current in (33) magnitude and angular velocity of switching states function,
controlled by selecting a particular voltage vector depending
icd = iid + Icd . (35) on its present location.
C. Calculation of Reference Current to Supply Load Reactive
Power IX. Simulation Results
In a rotating reference synchronous frame, the q-component To describe and validate the capabilities of proposed control
of load current is perpendicular on d-component of voltage strategy, simulations are carried out for integration of renew-
(vd ilq ). So, q-component of load current indicates required able energy resources to the distribution grid via a NPC VSI,
reactive power of the load. To compensate load reactive power, in a MATLAB/Simulink environment. The schematic diagram
NPC VSI must inject a current with q-component equal to ilq . and principle of the proposed control technique in a distribu-
For this purpose, it is sufficient to set q-component of reference tion grid is shown in Fig. 8. Simulation parameters are given in
current of proposed control strategy equal to q-component of the Appendix. First, capabilities of renewable energy resources
the load current as shown in and flexibility of proposed control strategy for control of NPC
VSI in providing active, reactive power and harmonic current
icq = ilq . (36) components of linear and nonlinear loads are shown, and the
capabilities of the proposed control method on reactive power
icq is the vertical component of link reference current that
tracking with constant output active power are considered.
is shown. By this consideration, load reactive current in
During the simulation process, active power which is delivered
fundamental frequency is compensated and harmonic reactive
from the renewable energy resources via NPC VSI to the AC
currents can also be provided.
grid is considered to be constant. This assumption makes it
possible to evaluate the capability of the proposed control strat-
VIII. Space Vector PWM Representation egy to track the fast change in the active and reactive power,
of the NPC VSI independent of each other. For this purpose, when one of them
Many modulation techniques are studied to realize is changed, another one must be constant. To simulate a real
switching state functions in a synchronous rotating reference distribution grid, the load is connected and disconnected to
frame, i.e., Dnd and Dnq . Among several proposed modulation distribution grid randomly and grid current waveform will be
strategies, in the three-phase three-wire systems to control compared with each other under various loads and conditions.
NPC VSI, SVPWM stands out, because it offers significant
flexibility to optimize switching waveforms and reduces the A. Ability of Proposed Strategy to Supply Load Active Power
switching losses by limiting the switching to the two thirds of and to Track a Step Change in Load Reactive Power of a
the pulse duty cycle, as a converters gating signals generators Linear Load
[17], [18]. In order to make an appropriate selection of the The linear load with following characteristics is drawing a
Dnd and Dnq , the space phasor plane is first subdivided into sinusoidal current from AC grid.
POURESMAEIL et al.: CONTROL SCHEME OF THREE-LEVEL NPC INVERTER 249
Fig. 9. Grid current, load current, load voltage, and inverter current before Fig. 11. Grid current, load current, load voltage, and inverter current before
and after integration of renewable energy resources to the distribution grid. and after load decrement.
Fig. 10. Grid current, load current, load voltage, and inverter current before Fig. 12. Load voltage, grid current, load current, and injected current before
and after load increment. and after integration of renewable energy resource, and before and after
additional load connection into distribution grid.
Fig. 13. Grid current, load voltage, and load current (a) before and after
connection of additional load and (b) before and after disconnection of
additional load.
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deferral on distributed generation expansion, IEEE Trans. Power Syst., the University of Mazandaran, Babol, in 2003 and
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with load models, IEEE Trans. Power Syst., vol. 24, no. 1, pp. 427436, Faculty of Power Electronics and Drives, Center of
Jan. 2009. Technological Innovation in Static Converters and
[6] H. M. Khodr, Z. A. Vale, and C. Ramos, A benders decomposition Drives, Electrical Engineering Department, Poly-
and fuzzy multicriteria approach for distribution networks remuneration technic University of Catalonia, Barcelona, Spain.
considering DG, IEEE Trans. Power Syst., vol. 24, no. 2, pp. 1091 His current research interests include distributed
1101, Apr. 2009. generation, operation, control strategies, DSP control applications for high
[7] M. F. Akorede, H. Hizam, and E. Pouresmaeil, Distributed energy power and DG systems, modeling and control of multilevel converters for
resources and benefits to the environment, Renewable Sustainable integration of renewable energy resources to the power grid, micro grid, and
Energy Rev., vol. 14, no. 2, pp. 724734, Feb. 2010. smart grid operations.
POURESMAEIL et al.: CONTROL SCHEME OF THREE-LEVEL NPC INVERTER 253
Daniel Montesinos-Miracle (S01M08) was born Oriol Gomis-Bellmunt (S05M07) received the
in Barcelona, Spain, in 1975. He received the M.Sc. degree in industrial engineering from the School
degree in electrical engineering from the School of Industrial Engineering of Barcelona, Technical
of Industrial Engineering of Barcelona, Polytechnic University of Catalonia (UPC), Barcelona, Spain, in
University of Catalonia (UPC), Barcelona, in 2000, 2001, and the Ph.D. degree in electrical engineering
and the Ph.D. degree from UPC in 2008. from UPC in 2007.
In 2001, he joined Salicru Electronics, S.A., Santa In 1999, he joined Engitrol, Barcelona, where he
Maria de Palautordera, Spain, as a Research and was a Project Engineer with the automation and
Development Engineer. Since 2001, he has been control industry. In 2003, he developed part of his
with the Center of Technological Innovation in Static Ph.D. thesis with the German Aerospace Center,
Converters and Drives as a Research Collaborator. Braunschweig, Germany. Since 2004, he has been
In 2005, he became a Lecturer with the Electrical Engineering Department, with the Electrical Engineering Department, UPC, where he is a Lecturer and
UPC. His primary research interests include power electronics, drives, and participates in the CITCEA-UPC Research Group. Since 2009, he has also
green energy converters. been with the Catalonia Institute for Energy Research, Barcelona. His current
research interests include the fields linked with smart actuators, electrical
machines, power electronics, renewable energy integration in power systems,
industrial automation, and engineering education.