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Voltage and Frequency Droop Control Method For Parallel Invert
Voltage and Frequency Droop Control Method For Parallel Invert
Abstract- In this paper, a new control method for the appreciably more efficient in controlling frequency and
parallel operation of one or several inverters in an island grid voltage in proportion to the needed active and reactive
or the mains is described. Frequency and voltage control, power flows. Secondly, it is explained why the approach of
including mitigation of voltage harmonics, are achieved controlling active and reactive currents instead of active and
without the need for any common control circuitry or reactive powers exhibits some advantages, especially in case
communication between the inverters. Each inverter supplies a
current that is the result of the voltage difference between a of a short circuit. Controlling any non-zero active or
reference A C voltage source and the grid voltage across a reactive power during short circuit (grid voltage equals
virtual impedance with real and/or imaginary parts. The zero) results in infmitely high currents, wbich is avoided
reference A C voltage source is synchronised with the grid, with when controlling the active and reactive current. Finally, a
a phase shift, depending on the difference between nominal new approach to obtain voltage and frequency droop control
and real grid frequency. A detailed analysis show that this is described. A complex finite-output impedance voltage
approach has superior behaviour in comparison with the source is imitated, by controlling the current, flowing
existing droop control methods, considering the mitigation of through a virtual impedance as a result of the difference
voltage harmonics, short-circuit behaviour and, in the case of a between a virtual ac power source and the grid voltage. In
non-negligeable line resistance, the 'efiicient' control of
contrast to the classical droop control, the presented
frequency and voltage. Experiments show the behaviour ofthe
method for an inverter feeding a highly distorted load and approach intrinsically controls not only the fundamental
during the connection of two parallel inverters in operation. voltage and fiequency, but also the harmonic components of
the voltage, and is thus suited to supply highly distorted
1. INTRODUCTION loads. A detailed analysis shows that, with exception of the
additional harmonic control, the performance of this new
Frequency and voltage control in island grids, supplied by approach is equivalent to the abovementioned droop control
several inverters in parallel, can be obtained by means of method through controlling active and reactive currents.
various control methods, with or without communication.
Control methods solely based on local measurements exhibit 11. THEORY
a superior redundancy as they do not rely on communication
for reliable operation. A peculiar aspect of these methods is A. Droop control through active and reactive power
that they only have a proportional controller for kequency
The power flow into a line at point A, as represented in
and voltage, lacking any forms of integral control. Control
of a distributed system without use of communication can Fig. 1, is described as [7]:
only be achieved at the price of permitting a small error.
Therefore, these techniques are generally denoted as droop
control methods [1]-[6]. The small droop is generally
considered acceptable as long as the error remains within
predefined limits. However, it should be noted that
techniques are described in literature which extend the local
droop control by a global integral control through low
bandwidth communication, combining both redundancy and
integral control. In this paper, only the local droop control,
without use of communication, is elaborated. The global
integral control may be regarded as a possible although not
necessary extension to this method.
This paper starts with a review of the droop control
method. Although this method, as described in literature,
performs well for inductive lines, the performance in case of
resistive lines is poor. In this paper, it is shown how the (a) (b)
Fig. I: (a) Power flow through a line, (b) phasor diagram.
classical droop method can easily be adapted to account for
the grid impedance, providing good performance under all Thus, active and reactive power flowing into the line are
conditions. A major benefit of this technique compared to described as:
existing methods [I]-[6] is especially prevalent in low- U12 UP2
voltage cable grids, generally having a mostly resistive line P =-cos 0 --cos (0 + 5)
Z Z
impedance. In these grids, the proposed technique is
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2004 35rh Annul IEEE Power Electronics Specialists Conference Aachen, Germany, 2004
And thus:
[;:I =T[ ]; When the measured grid frequency is lower than the
nominal grid frequency (e.g. 50 Hz in Europe), the phase
angle is positive and leads Ul. When the measured
frequency is higher, the phase angle is negative and & lags
-
U l . This behaviour is denoted with the term frequency
droop.
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2604 351h Annual IEEE Power Electronics Specialists Conference Aachen, Cennany, 2604
Based on (22), (23), (24), (28) and (29), and by assuming development, capacitance voltage ump and ig,,d instead of
that s i n y z yand cosy" I, the following equations for Zd grid voltage ugr,d and iglfd of the real-system model will be
controlled to be equal to U@ and ignd of the virtual-system
and k , as a function of k. and k, are derived:
model.
Z, = k, (30)
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2004 35th Annual IEEE Power Elecrronics Specialists Conference Aachen, Cennanv. 2 W
- -
._"..0 o,a5 0.1 0.1s 0.2
The virtual-system model is incorporated through the
Time [SI transfer function V
Fig. IO: Fundamental voltage and amplitude backing: uWp(blue), U, and uo e=-
(green and red), ud and uq(cyan and magenta). Z, + 1 Lds + Rd
2) Phase shift and amplitude calculation The disturbance w in (36) represents the input-equivalent
Based on the estimated fundamental voltage amplitude disturbance, caused by the combination of the grid voltage
Ug,id and frequency fgnd, the amplitude U, and the power U& and the reference signal ,U and ism In fact, w is a
angle y of the virtual-system voltage source U,, are virtual signal applied at the control input which would
calculated as being equal to: produce the same steady state error e as the combination of
I= -k, (f-h) (32) the actual disturbance up.., and the reference signals U,, and
i>,. Both disturbances are persistent, as they are both
U S , C = U0 (33) composed of sinusoidal components, which means that they
Equations (32) and (33) are adjusted to account can be modeled and cancelled for. W represents the input-
of the
(approximately) for the limited current rating Imru equivalent disturbance model, with d an arbitrary impulsive
inverter by ensuring that (not shown in Fig. 9): input. Besides the fundamental component, also the 3", 5",
U,, -IIZdllL 5 U,, < U 8 d +llZdIlL (34) 7Ihand 9" harmonic components are modelled.
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2004 351h Annual IEEE Power Electronics Specialists Conference Aachen. Germany, 2 w 4
V. CONCLUSION
A new method for controlling voltage and frequency in
Fig. 12 Experimental setup ofone of the WOidentical parallel inverten. island grids using parallel inverters is presented. By
As a fmt example, demonstrating the steady-state imitating a voltage source with a complex fmite-output
behaviour, the supply of highly distorted load is considered. impedance, voltage droop control is obtained. Frequency
The inverter is operated in island mode, while the load droop control results from synchronizing the power source
consists of eight compact fluorescent lamps of different with the grid, with a phase angle difference that depends on
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2004 35lh Annual IEEE Power Electronics Specialists Conference Aachens Germany, 2
W
the difference between nominal and real grid kequency. In Technologie in Vlaanderen (IWT)”, for granting a GBOU
comparison with existing techniques, the described method, research project on embedded generation and the European
exhibits superior behaviour, considering the mitigation of Commission for support through the FP5 Dispower project.
voltage harmonics, the behaviour during short-circuit and, B. Bolsens holds a research scholarship of FWO, J. Van
in the case of a non-negligeable line resistance, the den Keybus held a research scholarship of IWT, and J.
‘efficient’ control of frequency and voltage. Two Driesen holds a postdoctoral research fellowship of FWO.
experiments are included to show the described behaviour.
4w, REFERENCES
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ACKNOWLEDGMENT and conrrol plaVorm for low-volrage grid-coupled applicolions in a
The authors are grateful to the Belgian “Fonds voor deregulared eleerrielry market, PhD. Dissertation, K.U.Leuven,
Leuven. Dec. 2003.
Wetenschappelijk Onderzoek - Vlaanderen (FWO)” for its
fmancial support, the Belgian “lnstituut voor de
aanmoediging van Innovatie door Wetenschap en
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