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06423938
06423938
IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 28, NO. 11, NOVEMBER 2013
AbstractIn order to address the load sharing problem in islanding microgrids, this paper proposes an enhanced distributed
generation (DG) unit virtual impedance control approach. The proposed method can realize accurate regulation of DG unit equivalent
impedance at both fundamental and selected harmonic frequencies. In contrast to conventional virtual impedance control methods, where only a line current feed-forward term is added to the DG
voltage reference, the proposed virtual impedance at fundamental and harmonic frequencies is regulated using DG line current
and point of common coupling (PCC) voltage feed-forward terms,
respectively. With this modification, the impacts of mismatched
physical feeder impedances are compensated. Thus, better reactive and harmonic power sharing can be realized. Additionally,
this paper also demonstrates that PCC harmonic voltages can be
mitigated by reducing the magnitude of DG unit equivalent harmonic impedance. Finally, in order to alleviate the computing load
at DG unit local controller, this paper further exploits the bandpass capability of conventionally resonant controllers. With the
implementation of proposed resonant controller, accurate power
sharing and PCC harmonic voltage compensation are achieved
without using any fundamental and harmonic components extractions. Experimental results from a scaled single-phase microgrid
prototype are provided to validate the feasibility of the proposed
virtual impedance control approach.
Index TermsDistributed generation (DG), droop control, microgrid, point of common coupling (PCC) harmonic voltage compensation, power sharing, resonant controller, virtual impedance.
I. INTRODUCTION
UE to the growing importance of renewable energybased distributed power generation and the advancement
in power electronics technologies, a large number of inverterbased distributed generation (DG) units have been installed in
conventional low-voltage power distribution systems [1], [2]. To
achieve better operation of multiple DG units, the microgrid concept using coordinated control among parallel DG interfacing
Manuscript received July 19, 2012; revised October 24, 2012; accepted
January 16, 2013. Date of current version May 3, 2013. This paper was presented
in part at the 3rd International Symposium on Power Electronics for Distributed
Generation Systems (PEDG2012) and the Applied Power Electronics Conference and Exposition (APEC2013). Recommended for publication by Associate
Editor A. Kwasinski.
J. He and Y. W. Li are with the Department of Electrical and Computer
Engineering, University of Alberta, Edmonton, AB T6G 2R3, Canada (e-mail:
hjinwei@ualberta.ca; yunwei.li@ece.ualberta.ca).
J. M. Guerrero, F. Blaabjerg, and J. C. Vasquez are with the Institute of
Energy Technology, Aalborg University, 9220 Aalborg , Denmark (e-mail:
joz@et.aau.dk; fbl@et.aau.dk; and juq@et.aau.dk.)
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TPEL.2013.2243757
HE et al.: ISLANDING MICROGRID POWER SHARING APPROACH USING ENHANCED VIRTUAL IMPEDANCE CONTROL SCHEME
Fig. 1.
5273
(1)
EDG = E Dq Qave
(2)
where and DG respectively are the nominal and reference angular frequencies of the DG unit; E and EDG are
the nominal and reference DG voltage magnitudes; Pave and
Qave are the measured power after low-pass filtering [9], [10];
and Dp and Dq are the droop coefficients of the controllers.
With the knowledge of reference voltage magnitude and angular frequency, the instantaneous DG unit reference voltage
Vdro op can be obtained accordingly. Note that strict frequency
and voltage magnitude ranges [such as DG = (1 1.0%)
and EDG = (1 5%)E ] shall be applied to avoid any dissynchronizations between islanding DG units [8]. Consequently,
the reference voltage Vdro op is always sinusoidal with little
distortion. As will be discussed later, this feature can be further utilized to alleviate the computing complexity of DG local
controllers.
B. Reactive Power Sharing
To share the fundamental load demand in proportion to DG
rated power, the droop slope shall be designed in inverse proportion to their rated power [27]. For the islanded microgrid with
N parallel inverters as shown in Fig. 1, the droop slopes yield
the following formulas:
DP ,1 PRated,1 = DP ,2 PRated,2 = = DP ,N PRated,N
(3)
DQ ,1 QRated,1 = DQ ,2 QRated,2 = = QQ ,N QRated,N
(4)
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IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 28, NO. 11, NOVEMBER 2013
(5)
Vv f
= Vdro op
(Rv f ILinef
(6)
Vref = Vdro op
Fig. 2.
= Vdro op
Vv h
(Rv h ILineh
h Lv h ILineh )
h=3,5,7
Lv f ILinef
(8)
(9)
where Vref is the modified voltage reference considering series
virtual harmonic impedance control, Vv h is the voltage drop
on the harmonic virtual impedance, Rv h and Lv h are the negative virtual resistance and inductance at hth harmonic order,
ILineh is the hth line harmonic current, and LLineh is obtained by delaying ILineh for quarter-hth harmonic cycle. The
associated equivalent circuit at the selected harmonic frequencies is illustrated in Fig. 3. As shown, the DG unit is modeled
as virtual harmonic impedance connecting to ground, as the
HE et al.: ISLANDING MICROGRID POWER SHARING APPROACH USING ENHANCED VIRTUAL IMPEDANCE CONTROL SCHEME
5275
Fig. 3.
(10)
where Vref is the modified voltage reference to adjust DG unit
equivalent harmonic impedance, Vv h is the harmonic voltage
reference. Gh and VPCCh are the real number feedback gain
and the PCC harmonic voltage component at the harmonic order
h, respectively. Note that if the harmonic PCC voltages in (10)
are provided by microgrid central controller, the measurement
of PCC harmonic voltage is not necessary for DG unit local
controllers.
With a positive gain Gh , the magnitude of DG unit equivalent
harmonic impedance ZDGh can be reduced as
(11)
= GR h + jGI h = (Ri + jh Li )/
(RDGh + jh LDG h ) 1.
(13)
(GR h + jGI h )VPCCh
Vv h = Re
h=3,5,7
= Re
GR
VPCCh
h=3,5,7
+ Re
GI
jVPCCh .
(14)
h=3,5,7
Vv h = Re
GR
VP C C h
h = 3 , 5 , 7
+ Re
GI
jVP C C h
h = 3 , 5 , 7
= Re
GR
VP C C h
h = 3 , 5 , 7
+ Re
GI
j(jVP C C h
h = 3 , 5 , 7
h = 3 , 5 , 7
GR
VP C C h
GI
VP C C h
(15)
h = 3 , 5 , 7
With the harmonic voltage reference in (15), the DG unit equivalent circuit at the selected harmonic frequencies is tuned as
presented in Fig. 4, where the combined effects of DG unit
harmonic voltages and physical feeder impedance in the upper
part are modeled as small equivalent harmonic impedance in the
lower part.
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IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 28, NO. 11, NOVEMBER 2013
Vv f Vv h
= Vre f d ro o p (Rv f IL in e f Lv f IL in e f )
GR h VP C C h
GI h VP C C h
h = 3 , 5 , 7
In order to minimize the interference between virtual fundamental impedance and virtual harmonic impedance, the control
method discussed so far involves fundamental/harmonic components extraction. This is challenging for low-cost DG units
with limited computing capability. In addition to the adoption
of low-bandwidth communication to avoid the measurement
and extraction of PCC harmonic voltages, the DG unit local
controller can be further simplified. In this section, a modified resonant controller is proposed to combine the fundamental/harmonic components extraction and the closed-loop voltage
tracking together.
A. Conventional Double-Loop Voltage Tracking Scheme
h = 3 , 5 , 7
(16)
D. PCC Harmonic Voltage Measurement
In the previous subsections, the PCC harmonic voltages (with
in the subscript) and their corresponding conjugated signals (with in the subscript) are utilized for single-phase DG
unit equivalent harmonic impedance shaping. These PCC harmonic voltage signals can be transmitted from the microgrid
central controller to the DG unit local controller by using a
synchronized phase-locked loop (PLL)-based communication
algorithm in [16], [27], [28], and [34], where the three-phase
system was selected for case study. For the single-phase system,
various types of single-phase PLL methods have been developed [26]. In this paper, the sliding discrete Fourier transformation (SDFT) [32] method is adopted to construct the PLL
systems. The detailed diagram of the low-bandwidth system is
shown in Fig. 5.
At the microgrid central controller, the fundamental and harmonic PCC voltages are first extracted by SDFT. The fundamental voltage components are adopted to determine the PCC
voltage phase angle PCC as
1
tan (VPCCf /VPCCf )
if VPCCf 0
PCC =
.
1
tan (VPCCf /VPCCf ) + if VPCCf < 0
(17)
Afterward, the harmonic components are transformed into the
values at their corresponding synchronized rotating frames by
Park Transformations. For the steady-state harmonic voltage
signals, they behave as dc components at their respective rotating
frames. These signals at rotating frames are sent to DG unit local
controller by the low-bandwidth communication bus.
ILinef
+ VC f
ILinef
(18)
ILinef
VC f
ILinef
).
(19)
HE et al.: ISLANDING MICROGRID POWER SHARING APPROACH USING ENHANCED VIRTUAL IMPEDANCE CONTROL SCHEME
Fig. 5.
Fig. 6.
Power sharing and harmonic compensation using conventional double-loop voltage controller.
(21)
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L P F
(Vd ro o p
2(s + L P F )
IL in e
+ Vd ro o p
IL in e
(22)
Qave
L P F
(Vd ro o p
=
2(s + L P F )
IL in e
Vd ro o p
IL in e
(23)
where LPF is the cutoff frequency of LPFs.
Finally, the voltage reference for virtual fundamental
impedance control is also obtained without using DG line current fundamental components. The fundamental/harmonic component extraction blocks (SDFT) in Fig. 6 can be completely
removed in the proposed method. This can be done by using the
modified voltage drop on fundamental virtual impedance as
Vvf = Rv f ILine
f Lv f ILine .
(24)
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Fig. 7.
IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 28, NO. 11, NOVEMBER 2013
Power sharing improvement and PCC harmonic compensation using proposed modified voltage controller.
Note that ILine and ILine in (24) are the DG line current
without any filtering.
When (24) is used as the reference voltage drop on virtual
fundamental impedance, it seems that the ripple voltages in Vvf
will have some interferences with virtual harmonic impedance
control. However, it can also be seen that harmonic filtering capability has already been embedded in the resonant controller
in (20). By the flexible arrangement of parallel resonant controllers, the harmonic voltages in Vvf can also be easily filtered
out without any additional efforts.
The improved DG voltage controller is shown in Fig. 7, where
the power calculation, PCC harmonic voltage measurement, and
voltage drop on fundamental virtual impedance are obtained
without any fundamental and harmonic components separation.
To achieve similar performance compared to the case using the
control scheme in Fig. 6, the conventional double-loop voltage
controller is revised as a controller with multiple inputs.
The detailed expression of the proposed outer loop voltage
tracking controller is described as
Ire f =
KP 1
2Ki f c s
+ 2
s + 2c s + f2
+ KP 2 +
h = 3,5,7,9
(Vd ro o p
Vvf VC
2Ki h c s
(0 Vv h VC
s2 + 2c s + h2
(25)
where the voltage drop Vvf for the fundamental virtual
impedance control is mainly regulated by fundamental resonant controller. Therefore, the majority of the harmonic ripples
in Vvf can be filtered out automatically. Meanwhile, resonant
controllers at harmonic frequencies are responsible for the DG
unit harmonic voltage tracking.
It is true that the proportional gain KP 1 and KP 2 can still introduce minor interference between fundamental and harmonic
voltage regulations. However, as indicated by [23] and [24], to
maintain proper system stability margin, the proportional gains
in the PR controller are normally very small compared to resonant controller gains. In [24], it even suggested that the proportional controller gains can be set to zero to achieve better performance. In this paper, as very small values (KP 1 = KP 2 = 0.11)
Fig. 8.
HE et al.: ISLANDING MICROGRID POWER SHARING APPROACH USING ENHANCED VIRTUAL IMPEDANCE CONTROL SCHEME
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TABLE I
PARAMETERS IN EXPERIMENTS
Fig. 9. Power sharing performance in the microgrid. (a) DG unit1 real power
(20 W/div); (b) DG unit2 real power (20 W/div); (c) DG unit1 reactive power
(20 Var/div); and (d) DG unit2 reactive power (20 Var/div).
The associated current and voltage waveforms are also obtained in Figs. 10 and 11. Fig. 10 describes the performance of
the microgrid before the implementation of virtual fundamental
impedance. It can be seen that there are noticeable magnitude
and phase errors between DG unit1 and DG unit2 line currents.
After the implementation of the virtual fundamental impedance,
the enhanced performance is illustrated in Fig. 11. It can be noticed that line currents of DG unit1 and DG unit2 are almost
identical.
To investigate the effectiveness of the proposed virtual harmonic impedance control method, the linear load at PCC is
replaced by a diode rectifier load. The performance without using any virtual impedance is presented in Figs. 12 and 13. In
Fig. 12, it can be seen that the voltages of DG unit1 and DG
unit2 are sinusoidal with 3.91% and 3.81% THD (total harmonic
distortions), respectively. On the other hand, PCC voltage (with
10.55% THD) is distorted by the harmonic voltage drop on the
DG unit feeders.
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IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 28, NO. 11, NOVEMBER 2013
Fig. 16. Voltage harmonic spectrum without the implementation of the proposed virtual impedance (corresponding to Fig. 12).
Fig. 14. Experimental voltage waveform with the implementation of virtual
fundamental and harmonic impedances. (a) DG unit1 voltage (100 V/div); (b)
DG unit2 voltage (100 V/div); and (c) PCC voltage (100 V/div).) (Voltage
controller in Fig. 7 is adopted.)
Meanwhile, the harmonic current sharing performance without the control of virtual impedance is presented in Fig. 13.
As virtual harmonic impedance control is not activated in this
test, the DG equivalent harmonic impedance equals to its feeder
harmonic impedance. It is obvious that the DG unit1 absorbs
more harmonic currents as it has smaller equivalent harmonic
impedance.
The microgrid voltage waveforms with the control of the
proposed virtual fundamental and harmonic impedances are
illustrated in Fig. 14. In this experiment, the desired equivalent harmonic impedances for these two DG units are the same
as listed in Table I, and the voltage controller as presented in
Fig. 7 is responsible for voltage tracking. It can be seen from
Fig. 14 that when smaller DG equivalent harmonic impedance
is selected for both DG units, the PCC voltage distortions is
mitigated with 6.24% THD. Meanwhile, due to whack a mole
effects [14], [16], the DG voltages are polluted since the harmonic voltage drops on DG feeders are compensated by DG
units. In this case, the THDs of DG unit1 and DG unit2 are
5.70% and 15.04%, respectively.
The allocation of nonlinear currents with the control virtual
harmonic impedance is obtained in Fig. 15. It shows that the
harmonic load currents are almost equally shared by these two
DG units.
Fig. 17. Voltage harmonic spectrum after the implementation of the proposed
virtual impedance (corresponding to Fig. 14).
To get a better understanding of microgrid harmonic voltage compensation performance using the proposed method, the
THDs of DG units and PCC are illustrated in Figs. 16 and 17.
In Fig. 16, it obviously shows that the PCC harmonic voltage
is higher than DG harmonic voltages without the DG virtual
impedance control, and the dominate PCC voltage distortion
is the third harmonic voltage. After the implementation of the
proposed virtual impedance, it can be seen from Fig. 17 that the
PCC harmonic voltage is mitigated. In this case, the harmonic
voltage drops on DG feeders are compensated by DG local voltage control, and therefore DG unit voltage appears with more
distortions.
Finally, the performance comparison between the proposed
virtual impedance control method and the conventional methods is provided in Table II. It demonstrates that the combination
HE et al.: ISLANDING MICROGRID POWER SHARING APPROACH USING ENHANCED VIRTUAL IMPEDANCE CONTROL SCHEME
5281
TABLE II
PERFORMANCE SUMMARY OF DIFFERENT CONTROL METHODS
[10]
[11]
[12]
[13]
[14]
[15]
[16]
[17]
[18]
[19]
[20]
[21]
[22]
[23]
[24]
[25]
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