A Bidirectional Droop Control Strategy for the

Hybrid Microgrid with AC/DC Distributed

Generation Integration
Ziwen Liu, Shihong Miao, Yilong Kang, Zhihua Fan, Chang Ye, Lixing Li, Kaiyun Chao
State Key Laboratory of Advanced Electromagnetic Engineering and Technology, Hubei Electric Power Security and High
Efficiency Key Laboratory, School of Electrical and Electronic Engineering,
Huazhong University of Science and Technology
Wuhan, China
shmiao@hust.edu.cn

Abstract—In hybrid microgrid with AC/DC distributed hybrid AC/DC microgrid.

generation integration, the bidirectional converters take charge
of the power balance among AC subgrid and DC subgrid. For the
droop-controlled distributed generations both in the two
subgrids, the bidirectional converters should manage these two
different kinds of power droop characteristic. In this paper, the
two kinds droop control are described as the droop characteristic
of AC bus and DC bus of the bidirectional AC/DC converters.
Then a novel active power control strategy for the converters
based on the bidirectional droop characteristic is proposed to
realize the power balance and independent sharing. Along with
the droop control in both AC and DC subgrid, the power balance
and independent sharing in the hybrid microgrid can be realized
and the plug-and-play feature of the distributed generations is
ensured. Small signal modeling and analysis of the bidirectional
converter are conducted to evaluate the characteristics of the
proposed control with different parameters. Simulation results
based on PSCAD/EMTDC show the validity and efficiency of the
proposed control strategy.
Keywords—Hybrid microgrid; AC/DC distributed generation;
bidirectional droop control; independent power sharing
Fig. 1 shows an example system configuration of the hybrid
AC/DC microgrid. The difference between grid-connected
mode and islanding mode is that the utility grid can balance the
power exchange through the Point of Common Coupling
(PCC) in grid-connected mode, which means the power
balance in islanding mode is more challenging. In the hybrid
microgrid, the AC and DC buses divides the microgrid into
three parts: AC subgrid, DC subgrid and the bidirectional
AC/DC converter between the two subgrids. The bidirectional
converter plays an important role in smooth power exchange
between AC and DC subgrids and stable operation of the whole
system. It can operate either in inverter or converter mode
depending on the power balance of the two subgrids. How to
allocate power properly among the hybrid microgrid to realize
the plug-and-play and independent power distribution feature
of the distributed generations is the basic objective of the
microgrid control.
Utility grid
PCC AC Bus

I. INTRODUCTION
Bidirectional
With the exacerbation of global environmental pollution AC
AC/DC/AC

AC/DC
DC/AC

AC load
DC converter
.
.
.
and fossil energy crisis, the clean renewable energy and
distributed power generation technology becomes the hot DC Bus
+
-

research topic. A superior utilization mode of the distributed AC gistributed generation units
DC/DC

AC/DC

generation is the microgrid [1-3], which consists of the AC subgrid

DC load
+

distributed generations, energy storing device, loads and

.
.
.
-
-

DC gistributed generation units

control system. According to the connected bus type, the
microgrid can be classified as the AC microgrid, DC
microgrid and the hybrid AC/DC microgrid. Although the AC
microgrid is the most common structural pattern nowadays,
the DC microgrid gets more and more attention since it has the
advantages of less energy transformation and no need of
voltage phase and frequency in control [4]. Owing to that AC
loads still account for the majority, the hybrid AC/DC
microgrid will be the preferred pattern in the future [5]. Hence
it is imperative to conduct the power coordination control of
This work is supported in part by the National Key Research and
Development Program of China (2017YFB0903601), in part by the National
Natural Science Foundation of China (51777088), and in part by the Science-
Tech Project of STATE GRID Corporation of China in 2018 (Research and
Application of Optimized Integrated Technology of Microgrid with
Prefabricated Energy Storage Station).
DC subgrid
Hybrid AC/DC microgrid
Fig. 1. A hybrid microgrid with AC/DC distributed generation integration
The droop control [6-7] can be used for distributed
generations in the microgrid which have stable output.
Compared to pure AC or DC microgrid, the hybrid AC/DC
microgrid must manage the two kinds power droop
characteristic of AC and DC distributed generations through
the bidirectional AC/DC converter. A new active sharing
control based on the droop characteristic of active power and
the difference of AC frequency and DC voltage is proposed in
[8-10]. By this control, the load demand either in AC or DC

978-1-5386-3758-6/18/$31.00 2018
c IEEE 1762
microgrids can be shared among the whole microgrid sources.
A decentralized AC/DC droop control method based on the
DC capacitor dynamic characteristic and AC frequency droop
characteristic is proposed in [11]. However, it causes
continuous operation of the bidirectional AC/DC converter for
any load variations, which will result in more power loss in
the converter. By measuring the instantaneous value of
frequency and DC voltage, a coordination power control
strategy of the bidirectional AC/DC converter is proposed in
[12]. In this strategy, the transfer power command of the
bidirectional converter is closely related to the proportional
gain while no determination methods are given. Therefore, it
is necessary to further study the coordinated power sharing
within the whole hybrid microgrid.
In this paper, the two kinds power droop characteristic of
AC and DC distributed generations are described as the droop
characteristic of AC bus and DC bus of the bidirectional
AC/DC converter. Then a novel active power control strategy
of the bidirectional converter based on the bidirectional droop
characteristic is proposed to realize the power balance and
independent sharing of the hybrid microgrid. Small signal
modeling and analysis of the bidirectional converters are
conducted to evaluate the characteristics of the proposed
control with different parameters. Simulation results show the
validity and efficiency of the proposed control strategies.
II. BIDIRECTIONAL POWER FLOW CONTROL STRATEGY
A. Active power droop control of the bidirectional AC/DC
converters
In the active power control, the droop characteristic of the
active power is simultaneously related with the AC frequency
and the DC voltage. The two different sets of droop equations
need to be merged before arriving at the final active power
command for the bidirectional AC/DC converter. The active
power droop control characteristic of the distributed
generations in AC subgrid is first introduced. According to the
measured AC bus frequency, the active power output can be
available using the droop characteristic described as
­ω ac = ω ac
*
+ K m1 ( Pac* ,1 − Pac ,1 )
° (1)
®"
°ω = ω * + K ( P * − P )
¯ ac ac mx ac , x ac , x
where ωac and ωac
*
are the measured AC frequency and the
reference value; Pac and Pac* are the actual active power and the
reference value of each distributed generation unit; Km is the
corresponding droop coefficients; the subscripts
(1,…,{,ƒrepresent the source index in the AC subgrid. To
make distributed generation units share the load demand in
proportion to their capacity, the droop coefficients should
satisfy
Km1Pac* ,1 = Km2 Pac* ,2 = " = Kmx Pac* ,x (2)
As for the DC subgrid connected to AC bus through the
bidirectional AC/DC converters, if we take no account of its
internal power distribution tentatively, and regard it as the
power source that can provide power flow (inflow or outflow)
to the AC subgrid according to the AC bus frequency
deviation, then the droop function of its active power and the
frequency is
2018 13th IEEE Conference on Industrial Electronics and Applications (ICIEA)
ω ac = ω ac* + K mz ( Pac* ← dc − Pac ← dc ) (3)
*
where Pac ← dc and P are the active power flow and reference
ac ← dc
value from DC to AC subgrid, respectively; Kmz is the
corresponding droop coefficient and can be obtained as
P max − Pacmin (4)
K mz = ac ← dc ← dc
ω max − ω min
where Pacmax min
← dc and Pac ← dc are the maximum and minimum power
flow from DC to AC subgrid, ωmax and ωmin are the maximum
and minimum frequency, respectively. In this way, (1) and (3)
jointly describe the droop characteristic of the sources and
loads that connected to the AC bus. When the active loads in
AC subgrid change, the output of each distributed generation
unit and the bidirectional AC/DC converter change
accordingly with each droop characteristic to reach a new
power balance.
The active power droop control characteristic of distributed
generation units in DC subgrid is
*
­U dc = U dc + K n1 ( Pdc* ,1 − Pdc ,1 )
° (5)
®"
°U = U * + K ( P * − P )
¯ dc dc ny dc , y dc , y
where U dc and U dc* are the measured DC voltage and the
reference value; Pdc and Pdc* are the actual active power and
the reference value of each distributed generation unit; Kn is
the droop coefficients; the subscripts (1,…,|,ƒare used for
representing the source index in the DC subgrid. Generally,
the droop coefficients satisfy to share power proportionally
among distributed generation units
K n1 Pdc* ,1 = K n 2 Pdc* ,2 = " = K ny Pdc* , y (6)
Similarly, if we take no account of the internal power
distribution of the AC subgrid tentatively, and regard it as the
power source that can provide active power flow (inflow or
outflow) to the DC subgrid according to the DC bus voltage
deviation, then the droop function of the active power and the
DC voltage is
*
U dc = U dc + K nz ( Pac* → dc − Pac → dc ) (7)
where Pac → dc and Pac* → dc are the active power flow and the
reference value from AC to DC subgrid, respectively; Knz is
the corresponding droop coefficient and can be obtained as
P max − Pacmin (8)
K nz = ac → dc → dc
U dc max − U dc min
where Pacmax min
→ dc and Pac → dc are the maximum and minimum power
flow from AC to DC subgrid, Udcmax and Udcmin are the
maximum and minimum DC voltage, respectively. Therefore,
(5) and (7) jointly describe the droop characteristic of the
sources and loads that connected to the DC bus.
In the hybrid microgrid, the two different kinds of power
droop characteristic of the AC bus frequency and the DC bus
voltage should be managed for the proper power flow of the
bidirectional AC/DC converters. Thus it should be a kind of
‘‘bidirectional’’ droop control with the form of
Pac ↔ dc = P0 + K 1 (ω ac − ω ac
*
) + K 2 (U dc − U dc* ) (9)
where Pac ↔ dc is the power flow among the AC and DC
subgrids and P0 is the reference value; K1 and K2 are the droop
1763
coefficients of " Pac ↔ dc − ωac " and " Pac ↔ dc − U dc " , respectively. The parameters should satisfy
The bidirectional droop control uses the AC bus frequency and P0i K1i K 2i Pi ∗
= = = . (13)
DC bus voltage as the input to manage active power flow P0 j K1j K 2j Pj∗
between the two subgrids according to system operating state
(The positive direction is defined as AC side to DC side). where i and j represent two different bidirectional AC/DC
With the droop control in the whole hybrid microgrid, the converters with their power ratings are Pi ∗ and Pj∗ . Since all
distributed generation units can share proper power and the interlinking converters are connected in parallel to the AC and
plug-and-play feature is ensured. DC bus, all converters can share the active power proportional
Since the power flow between AC and DC subgrids satisfies with their ratings at steady state.
°­ Pac ↔ dc = Pac → dc = − Pac ← dc (10) B. Reactive power control of the bidirectional AC/DC
® * *
°̄ P0 = Pac → dc = − Pac ← dc converter
the two droop coefficients K1 and K2 are derived as (11) The reactive power control of the bidirectional AC/DC
together with (4) and (8) converter is relatively easy to implement as it is only relevant
­ 1 to the AC bus voltage amplitude. The bidirectional converter
° K1 = K + K can supply reactive power for the AC subgrid to maintain AC
° mz nz
® (11) bus voltage at the rated value with the constant AC bus
°K = −1
voltage control. Nevertheless, the reference reactive power can
°¯ 2 K mz + K nz
be set as zero for unity power factor operation and less
Finally, the active power droop control of the bidirectional capacity burden of the bidirectional converter.
AC/DC converter can be available as
ωac* III. SMALL SIGNAL MODELING AND THE CHARACTERISTICS
_ ANALYSIS
ωac + 1 P0
K1 = A. Small signal modeling of the bidirectional AC/DC
Kmz + Knz + + Pref converter
+ To analyze the characteristics of the active power control
U dc + −1
K2 = strategy, it is essential to conduct the small signal analysis.
_ K mz + K nz The topological structure of the converter is shown is Fig.4.
U dc* G1 G3
idc
G5
Fig. 3. Active power control of the bidirectional AC/DC converter P, Q

In this control, the bidirectional AC/DC converter is controlled L R

Ua
to work in either inverter model or rectifier model according Eabc L R Uabc
Ub Cdc U dc
to the reference active power. Through the control scheme the L R
power always flows to the more demanded subgrid. This can Uc
make the AC and DC distributed generation units share the iabc G4 G6 G2
load fluctuation jointly in the microgrid. Take the following
scenario in islanding mode for example. Suppose the load in
DC subgrid increases and there is excess power in AC subgrid. Fig. 4. Topological structure of the bidirectional AC/DC converter
The increase of load would result in the decrease of DC In Fig.4, Uabc and iabc are the three-phase AC voltage and
voltage and thereupon a positive reference power Pref is current; Eabc is the three-phase voltage of the AC bus; Udc and
generated by (9). Therefore, the power flows from AC subgrid idc are the DC bus voltage and current; R and L are the
to DC subgrid and help to restore the DC voltage. The equivalent impedance and filter; Cdc is the DC filter capacitor;
situation of load fluctuation in AC subgrid is the same as that P and Q are the transmission power by the converter. As
in DC subgrid. Through the bidirectional droop control, the
shown in Fig.4, the mathematical model of the converter in the
autonomic regulation of active power can be realized and the
power balance in the hybrid AC/DC microgrid can be synchronous rotating d-q reference frame is
maintained. Along with the droop control in both AC and DC ­°U d1 = Rid + sLid
® (14)
subgrid, the distributed generation units can share power in °̄U q1 = Riq + sLiq
proportion to their rated capacities and the plug-and-play
feature is ensured. where s is the differential operator; the subscript d and q
When there are several bidirectional AC/DC converters indicate the d and q axis component; the intermediate variable
between the two subgrids, each converter should share the Ud1 and Uq1 are the control variable for the converter and
proportional active power which is commensurate with their defined as
ratings. According to Fig.3, reference active power of the ith ­°Ud1 = Ed − Ud − ωLiq
converter is obtained as ® (15)
°̄Uq1 = Eq − Uq + ωLid
Prefi = P0i + K1i (ωac − ωac* ) + K 2i (U dc − U dc* ) (12)
With the PI (Proportional-Integral) control used in the current
where the superscript i stands for the index of the converters. regulator, it can be obtained that

1764 2018 13th IEEE Conference on Industrial Electronics and Applications (ICIEA)
 ­U = G ( s ) i
° d1 id ( dref − id ) where Gp(s) the power PI control for tracking the reference
power command.
® (16)
¯ (
°U q1 = Giq ( s ) iqref − iq) In the AC/DC hybrid microgrid, the bidirectional converter
can help to transfer power between subgrids to realize the
where Gid(s) and Giq(s) are the PI control function. Furtherly,
reasonable power sharing. Therefore, the dynamic
it has
characteristics of the AC frequency and the DC voltage are
° id (
­G ( s ) i )
dref − id = ( R + Ls ) id related not only with the supply-demand balancing of the DGs
® (17)
( )
and the loads, but also with the power flow of the converter.
°Giq ( s ) iqref − iq = ( R + Ls ) iq For the convenience of analysis, it is supposed that there is
¯
To conduct the small signal analysis, the state variables are only one source in both AC subgrid and DC subgrid. Then the
written as the sum of the steady state and small disturbance, small signal models of the source are shown in (24) with the
that is id = I d + Δid and iq = I q + Δiq  By ignoring the consideration of the transmission power of the bidirectional
converter.
second order disturbance term, the small signal equations of
the inner current loop is shown in (18) ­°Δω ( s ) = − Km ( ΔPac ( s ) + ΔP ( s ) )
® (24)
­ Δid ( s )
=
Gid ( s ) °̄ΔU dc ( s ) = − Kn ( ΔPdc ( s ) − ΔP ( s ) )
°
° Δidref ( s ) R + Ls + Gid ( s ) where ΔP is the transmission power of the bidirectional
® (18)
° Δiq ( s ) = Giq ( s ) converter; ΔPac and ΔPdc are the load variation in AC subgrid

¯ qref ( s ) R + Ls + Giq ( s )
° Δi and DC subgrid, respectively; Merging (23) and (24), the
small signal closed loop transfer functions of " Δω − ΔPac "
The small signal model of the outer power loop of the
converter is then deduced. It is supposed that the d axis of the and " Δ U dc − Δ Pdc " are shown in (25).
rotating coordinate coincides with the a axis of the three- ­ Δω ( s ) Km
phase static coordinate, and the unity power factor operation is °TFac ( s ) = − =
° Δ Pac ( )
s 1 + K m Gω ( s )
adopted, then it has Eq = 0 and iq = 0 . Thus the transmission ® (25)
°TF s = − ΔU dc ( s ) = Kn
power of the converter is ° dc ( ) ΔPdc ( s ) 1 − K nGU ( s )
¯
ωc 3
P= ⋅ Ed id To analyze the response characteristics of the AC bus
(19)
s + ωc 2 frequency and DC bus voltage of the bidirectional AC/DC
where ω c is the corner frequency of the low pass filter. converter, the pole-zero map of the small signal model (25) is
Similarly, the small signal equation of the power is shown as plotted in Fig. 8 with the varying droop gain Km.
ωc 3
ΔP = ⋅ ( Ed Δid + ΔEd id ) (20)
s + ωc 2
According to the superposition theorem, it can be deduced in
(21) with Laplace transformation
­ ΔP 3 ωc Ed
° Δi = 2 s + ω =G1 ( s )
° d c
® (21)
ΔP 3 ω i
° = c d
= G2 ( s )
°¯ ΔEd 2 s + ωc
With the same approach, the small signal model of the
bidirectional droop power control transmitted by the converter
is shown in (22).
ΔPref = K1Δω + K 2 ΔU dc (22)
where Δω and ΔU dc are the deviation of the AC frequency
and DC voltage. Furtherly, the small signal closed loop
transfer functions of the control are obtained as following with Fig. 5. Pole-zero map of TFac(s) with varying droop gain Km
(18), (21) and (22)
­ ΔP ( s ) G1 ( s ) Gid ( s ) G p ( s ) K1
° = =Gω ( s )
° Δω ( s ) Ls + R + Gid ( s ) + Gid ( s ) G1 ( s ) G p ( s )
®
° ΔP ( s ) G1 ( s ) Gid ( s ) G p ( s ) K 2
° ΔU ( s ) = Ls + R + G ( s ) + G ( s ) G ( s ) G ( s ) =GU ( s )
¯ dc id id 1 p

(23)

2018 13th IEEE Conference on Industrial Electronics and Applications (ICIEA) 1765
 (a) Active power in AC microgrid

Fig. 6. Pole-zero map of TFdc(s) with varying droop gain Km (b) Active power in DC microgrid
It can be concluded that there are two poles and two zeros
both of TFac ( s ) and TFdc ( s ) . Among these poles and zeros,
two zeros and one pole are fixed during the varying of droop
gain Km and all located in the left half of the imaginary axis.
One pair of pole-zero are constituted as dipoles and they have
no much influence on system stability. Another pole is varying
with the change of parameter Km and is the closed loop
dominant pole. As for TFac ( s ) in Fig.5, the varying pole (c) Reactive power in AC microgrid
moves away from the imaginary axis with the increasing of
droop gain Km. And for TFdc ( s ) in Fig.6, the varying pole
moves towards the fixed zero z2 with the increasing of droop
gain Km but will not cross the fixed zero. The varying pole
plays a role in the system stable operation and the power
distribution of the microgrid. Thus the coordinated and
autonomous power flow between the two subgrids not only
relies on the transmission power of the bidirectional AC/DC (d) AC bus frequency
converter, but also has relationship with the proportional
power sharing among distributed generations in each AC
subgrid and DC subgrid.

IV. SIMULATION RESULTS

The validation of our proposed control strategy is done by
PSCAD simulations carried out on the test hybrid AC/DC
microgrid system shown in Fig.1. The AC subgrid includes
two same AC distributed generation units and the rated (e) DC bus voltage
capacity of each is 40kW and 10kVar. The rated frequency and
voltage of AC subgrid is 50Hz and 380V. The DC subgrid
includes two same DC distributed generation units and the
rated capacity of each is 40kW. The rated DC voltage of is
700V. Each DG uses the droop control strategy and the
corresponding droop coefficients are K m = 0.02 and
K n = 0.0005 . The droop coefficients of the bidirectional
AC/DC converter are K1 = 6.25 and K 2 = −6.25 .
The initial active and reactive load in AC subgrid are 40kW (f) AC bus voltage RMS
and 30kVar, and initial active load in DC subgrid is 20kW. Fig. 5. The simulation results of case 1
The active load in AC subgrid increases to 45kW at t = 3s and From the system response results, the internal active power
continually increases to 85kW at t = 4s. The system response balance of AC/DC subgrid can be realized respectively before
results are shown in Fig.5. 3s and thus the transmission active power of the bidirectional
AC/DC converter is zero. Because of more reactive load than

1766 2018 13th IEEE Conference on Industrial Electronics and Applications (ICIEA)
the rated reactive capacity in AC subgrid, the transmission
reactive power of the bidirectional AC/DC converter from DC
subgrid to AC subgrid is 10kVar. Although the active load in
AC subgrid increases to 45kW at t = 3s, the balance of power
supply and demand can still be satisfied, which means it is still
no need for the bidirectional AC/DC converter to transmit
active power. However, when the active load in AC subgrid
increases to 85kW at t = 4s, the DGs in AC subgrid can only
supply rated 80kW active power and the lacking 5 kW is
supplied by distributed generations in DC subgrid through the
bidirectional AC/DC converter. Because of rated active power
the AC distributed generations supplied, the AC bus frequency
can be maintained at 50Hz. At the same time, the AC bus
voltage can also be maintained at 380V since the bidirectional
AC/DC converter can supply required reactive power. The DC
subgrid is all along in light load condition so the DC voltage is
a little more than 700V, which reflects the deviating
characteristic of droop control.
V. CONCLUSION
In this paper, the two kinds power droop characteristic of
AC and DC distributed generation units are described as the
droop characteristic of AC bus and DC bus of the bidirectional
AC/DC converter. Then a novel active power control strategy
of the bidirectional AC/DC converter based on the
bidirectional droop characteristic is proposed to realize the
power balance and independent sharing of the hybrid
microgrid. Simulation results show the validity and efficiency
of the proposed control strategies.
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