This article has been accepted for publication in a future issue of this journal, but has not been

fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TSTE.2018.2864822, IEEE
Transactions on Sustainable Energy
1

Grid Synchronization of a PV System with

Power Quality Disturbances using Unscented
Kalman Filtering
Sudarshan Swain and Bidyadhar Subudhi, Senior Member, IEEE

 domain approach such Discrete Wavelet Transform (DWT) [3]

Abstract—This paper proposes a new grid integration control
scheme for a single-stage PV system connected three phase grid
that implements an Unscented Kalman Filter algorithm (UKF) to
abstract the fundamental components of the PCC voltage and load
current. The DC link capacitor voltage and the PCC voltage are
regulated using a Proportional Integral (PI) controller. UKF
effectively extracts the fundamental components of the PCC
voltage and the load current by updating the Kalman gain such
that the estimation error variances for the elements of the state
vector estimated is minimized. The simulation and real-time
studies show that the proposed UKF-PI control scheme effectively
extracts the maximum PV power and mitigates load current
harmonics decreasing the Total Harmonic Distortion (THD) of the
utility grid current under distorted grid voltage condition. The
THD is within the limits prescribed by the IEEE 519. The
performance of the proposed scheme is verified under grid voltage
sag and swell conditions. The results obtained envisage that
effective grid synchronization is achieved with Power Quality
Disturbances i.e. the grid current is sinusoidal whilst the PCC
voltage is regulated by providing appropriate reactive power.
Index Terms— Grid synchronization, PV system, Unscented
Kalman Filter (UKF), Unscented Transforms (UT), sigma
points
I. INTRODUCTION
friendly nature and declining price of PV
E NVIRONMENT
modules have given high impetus to synchronize PV power
into the grid, to meet the increasing load demand. Grid
synchronization is a challenging task especially when the PCC
voltage is distorted by local nonlinear loads and also due to grid
disturbances (sag and swell conditions).
provides better estimation accuracy but with increased
complexity and computation burden. Phase-Locked Loop
(PLL) synchronization schemes such as Synchronous
Reference Frame PLL (SRF-PLL) are proposed for grid
connected systems [4]. However, SFR-PLL produces
inaccurate estimation for an unbalanced grid.
Current developments on synchronization techniques with
the grid are mostly based on the state estimation methods.
Conventional Weighted Least Square (WLS) estimation
technique for state estimation, is reported in [5]. A least
squares-Kalman technique is proposed in [6] to observe and
check the grid voltage flicker and fluctuations. Kalman Filter
(KF) also has been used for harmonic compensation and grid
synchronization by efficiently estimating the harmonic
components in the load current and fundamental component of
the PCC voltage [7-8]. But, KF provides optimal estimate only
for linear system. A popular choice for nonlinear application of
KF is the Extended KF (EKF). EKF based schemes has been
reported for smart power grid synchronization [9-10].
Linearization approximation adopted in EKF matches only up
to the first term of the actual signal. In [11], a more accurate
nonlinear approximation method Unscented Transforms (UT)
is reported, which matches the true value of the signal up to its
third term. UT approximation propagates the covariance and
mean through the nonlinear system function. A set of sigma
points are chosen to preserve the nonlinear nature of the system.
UKF which uses UT has been successfully employed for
estimating parameters of induction motor drive and
synchronous generator application [12-14] providing excellent
LlB RlB

Therefore, for effective grid synchronization, a fast and (L B )

accurate algorithm is necessary which estimates the ilB PCC

fundamental components of the PCC voltage accurately while ilA

Grid
( Pl , Ql ) il
LlA RlA

considering the power quality disturbances. Various grid (LA )

Lg vg
synchronization of PV system have been reported in literature PV
Array
[1-10]. Zero-crossing method used for grid synchronization is I PV
VSI ig ( Pg , Qg )
( Pi , Qi ) ii
sensitive to harmonics [1]. Grid synchronization scheme based
vp
on Improved Linear Sinusoidal Tracer (ILST) [2] with a fixed Cdc Lf
cutoff frequency yields inaccurate estimation of the
fundamental component for frequency variation. Frequency Fig. 1. Topology of single stage grid integrated PV system with multiple
loads connected at the PCC

Sudarshan Swain and Bidyadhar Subudhi are with the Dep. of Electrical
Engg., NIT, Rourkela, Odisha, 769008, India. E-mail:
sudarshan.nitrkl@gmail.com, bidyadhar@nitrkl.ac.in.

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This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TSTE.2018.2864822, IEEE
Transactions on Sustainable Energy
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estimation results. In view of the above successful application
of UKF, it is intended to employ UKF for achieving effective
synchronization of a PV system to a grid under Power Quality
Disturbances. The contributions of the paper are listed as:
 Faster and accurate estimation of fundamental components
of the distorted load current and PCC voltage using UKF
 Providing active power control and maximizing the active
power injection into the grid at unity power factor (UPF)
whilst maintaining the grid current sinusoidal.
 Regulation of the PCC voltage.
The rest of paper is organized as follows. The proposed UKF-
PI control scheme for grid synchronization of a PV system
presented in Section II. In Section III, both simulation and
experimental results with analysis are provided. The paper is
concluded in Section IV.
II. PROBLEM STATEMENT
PV systems need to be synchronized with the utility grid so
that the excess power available after suppling the local loads are
injected into the grid. Topology of PV system integrated to a
utility grid with multiple loads at the PCC is presented in Fig.
1. Applying KVL to the loop (PCC to grid) and KCL at the PCC
in Fig. 1 we obtain
dig
v p  vg  Lg
dt
ig  ilA  ilB  ii
current ig is the same as the load current il. As the nonlinear load
LA draws a non-sinusoidal current ila, the grid current ig also
becomes non sinusoidal. Since ig is distorted, it distorts the PCC
voltage vp, which in turn distorts the linear load at PCC. A
distorted utility grid further increases the harmonic content of
vp while voltage sag or swell condition directly affect vp. Hence
it affects the loads connected at the PCC. In order to achieve
efficient grid synchronization, the VSI needs to be controlled
such that it ig becomes sinusoidal.
III. PROPOSED UKF-PI BASED CONTROL ALGORITHM FOR
GRID SYNCHRONIZATION OF PV SYSTEM
Fig.2 shows the configuration of the proposed UKF-PI based
control strategy for PV system connected to a three phase grid.
The proposed control scheme is comprised of four components
as follows:
A. Generation of Unit Vector Template of PCC Voltage
For effective grid synchronization under distorted grid
voltage condition, the fundamental components of vp needs to
be extracted accurately. The fundamental components of vp are
extracted employing the UKF algorithm. UKF filter updates the
covariance and mean of the states of a nonlinear system using
UT such that it minimizes the mean square error of the states.
(1.(a)) The state space model of a system is given as
(1.(b)
xk 1  f  xk   wk ; yk  h  xk   vk (2)

Assuming that the inverter is not triggered initially, the total where vk and wk are the measurement and process noises
load power (Pg and Qg) is supplied by the grid. Hence grid respectively, f(xk) and h(xk) are nonlinear state transition and

Solar PV I PV Voltage source Inverter

Array iga igb
Grid
ii PCC v pc v gc
Vdc C dc v pb vgb
VPV
v pa vga
Lf iLb iL Lg
iLa ig

G a Ga Gb Gb Gc Gc LL R L Non-Linear Load

VPV PV array voltage II Vdc

PI
Vdc DC-link voltage
Controller VPV
I PV PV array cuurent InC MPPT
iLabc
Max. PV power Algorithm I PV
Load current extraction Vdc*
iiabc Inverter current iga igb igc 1 iLa
Active load current
igabc Grid current 3 Ia Caluclation I La Fundamental
*
*
iga i *
i *
component
iLb
igabc Reference grid current gb gc
ABS SH
xqabc Ib extraction of Load
Quadrature unit vector I Lb
xiabc In-phase unit vector i * iia* Current using UKF iLc
ZCD
qa * I Lc
Sabc Switching signal * i
ib
Ic
iqb
*
iqc iic* uqa uqb uqc
uia uib uic
v pa v pa
In-Phase xˆ  xˆ  K k *  yk  yˆ k 
 

v pb k k
Unscented v pb
Estimation of Unit Vector K k  Pxy Py Transformation
Quadrature v pc  
P  P  K k * Py * K T v pc
k k k

uqc uqb uqa

Fundamental component extraction of PCC Voltage using UKF
Regulation of v pa
 v pa  v pb  v pc 
PCC Voltage 2 v pb
VE 
1 IQ PI VE 3 v pc
3 Controller
VE*

Fig.2. Schematic diagram of UKF-PI synchronization scheme for PV system connected to a three phase grid.

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Transactions on Sustainable Energy
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measurement vectors respectively. Using the covariance and T

xk   x1k x2k x3k   [2cos 1Ts sk 1 sk 2 ]T (14)
   
mean of xk i.e xˆ
( j)
k 1 and P k 1 , the sigma point x k 1 is chosen [11].
Therefore,
 j   j
xˆk 1  xˆ k 1 x j  1, 2......, 2r xk  f  xk 1  , yk  h( xk ) (15)
   
T T
 j  n j  
x  rP k 1 and x  nP k 1 j  1, 2......, n (3) Hence, f ( xk 1 )   x1 x1 k 1  x2 k 1  x3 k 1
T
x2 k 1  ,
j j  k 1 
2r number of sigma points are considered. The priori state h(x k )  x1k x2 k  x3 k

estimate xˆk is obtained by summing the vector xˆk as in eq (4).
( j)

Using f(xk-1) and h(xk), the estimated states xˆk are obtained.
The vector xˆk is obtained from f ( xˆk 1 )
( j) ( j)

Based on xˆk , the fundamental component of the PCC voltage

1 2n  j 

xˆ 
k  xˆk
2n i 1
(4) (vpa, vpb, vpc) are extracted. The in-phase [uia, uib, uic] and
quadrature [uqa, uqb, uqc] unit vector templates of the PCC
The priori error covariance estimate is obtained as
voltage are obtained as in [15].
1 2r  j
 xˆk  xˆk    xˆ    xˆ 
T
Pˆk  
 Qk
i
k k (5)
2r j 1 B. Extraction of Active current component
Qk is the process error covariance matrix. The measurement The magnitude of the active load current (Ia, Ib, Ic) are
equation is updated by the sigma points xk , which is chosen
( j) obtained as in [15]. Incremental conductance (InC) Maximum
 
power point tracking (MPPT) algorithm is used to extract the
using the estimated mean and covariance of xk i.e. xˆk and Pk maximum power of the PV array as it is simple and easy to
xˆk   xˆk  x   i  1, 2......, 2r implement in practical condition with faster accuracy [16]. The
j j

capacitor voltage Vdc is regulated at Vdc* using the PI controller.

   
T T
 j n j 
x  rPk and x  rPk i  1, 2......, r (6) Ii accounts for the switching loss and capacitor leakage loss in
j j
VSI, minus the real PV power extracted from PV array.
The predicted measurement estimate yˆ k is found by summing
I i  K Pdc *Vedc  K Idc  Vedc dt (16)
the vector yˆ k j  . The vector yˆ k j  obtained using h( xˆk j  ) Vedc  Vdc  Vdc
*

i  i 
where
yˆ k  h( xˆk ) (7) The amplitude of the active reference grid current per phase
2n
1  j are given as:
yˆ k  
2n j 1
yˆ k (8)
 I a  Ib  I c  Ii 
IP  (17)
3
The covariance of the predicted measurement yˆ k is given as
C. Extraction of Reactive current component
1 2r   j     j 
T
Py    yˆ k  yˆ k   yˆ k  yˆ k   Rk
2r j 1   
(9) To maintain vp constant even under grid voltage sag and
swell conditions an appropriate amount of reactive power is
Rk is the measurement error covariance matrix. The cross required. The equivalent amplitude of the PCC voltage VE is at
regulated its reference VE* by the PI controller. The reactive grid
covariance between xˆk and yˆ k is estimated as
current component Iq accounts for the reactive power essential
1 2r   j     ˆ j 
T
to maintain vp at its rated value.
Pxy    ˆ
x
2r j 1  k
 ˆ
x k  
 k
y  ˆ
y k 

(10)
I q  K PE *VeE  K IE  VeE dt (18)
The states are updated using the following equations [11] where VeE  VE*  VE
xˆk  xˆk  Kk *  yk  yˆ k  ; Kk  Pxy Py ; Hence, the per phase reactive grid current component is
Iq
Pk  Pk  Kk * Py * KkT (11) IQ  (19)
3
The Kalman gain Kk is updated such that the major diagonal
terms of error covariance matrix Pk are minimized. Using the D. Estimation of Reference of Reference Grid Current
nonlinear state space model of single sinusoid, the fundamental The reference grid currents are obtained by sum of product
component of vp is estimated by updating the using UKF. A of IP with the in-phase unit vector template of PCC voltage and
signal sk of a single sinusoid is represented as IQ with the quadrature unit vector template of PCC voltage.
sk  a1cos  k1Ts  1  k  1, 2,3...... N (12) *
iga  I P . uia  I Q . uqa ; igb
*
 I P . uib  IQ . uqb ;
where ω1 is the fundamental frequency, TS is the sampling *
igc  I P . uic  I Q . uqc (20)
time ϕ1 phase shift. It may be noted that the three consecutive
Hysteresis current controller is used for tracking ig
samples of this single sinusoid satisfy eq (13)
sk - 2cos 1Ts sk 1  sk 2  0 (13)
IV. RESULTS AND DISCUSSION
The state space vector is given by
To analyze the performance of the proposed UKF-PI based

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Table I Parameters for Simulation and Experimental Study harmonics. A 800 W PV array is used which consists of 4 PV
Symbols Parameters Values modules, with irradiation of 500 W/m2. The Maximum Power
Point (MPP) is at Vmp = 105.5 V and Pmax = 386 W. All the
PPV PV array Power 800W parameters of PV module are chosen as in [15]. Parameters used
vg Grid Voltage 62 V for simulation study are given in Table I.
f Grid Frequency 50 Hz
RL,LL Load Impedance 40Ω, 20 mH To analyze the effectiveness of the proposed UKF-PI control
Lg Grid Inductance 5 mH, scheme, the responses (PCC voltage (vpa), grid current (iga),
Cdc DC-link Capacitance 2350 µF DC-link capacitor voltage (Vdc)) after compensation are
Lf Filter Inductance 7.5 mH, presented in Fig.3 The control action is provided at time t = 0.3
fsw Switching frequency 20 kHz
KPdc, KIdc Proportional and Integral Gain for regulating Vdc 0.419, 5.95. s. iga settles at t = 0.34s (two cycles) and in phase with vpa. The
KPE, KIE Proportional and Integral Gain for regulating VE 2, 82. compensation of iga using UKF-PI is faster as compared to KF-
VE * Ref. Equivalent amplitude of vp 51.04 V PI and STF-PI. Maximum PV power is extracted using InC
K STF Gain 100 MPPT which estimates the Vmp. Fig.3 (a) shows the Vdc which
ωc Cut-off Frequency 314 rad/sec
Qk Process error covariance matrix 10^-3*eye(3) is effectively regulated at Vmp with reduced steady state
Rk Measurement error covariance matrix 1.5 oscillation. The waveform of iga under unbalanced grid voltage
P0 Initial error covariance matrix 10*eye(3) (Fig.3 (b)). The unbalanced grid voltage makes the load current
x0 Initial state variables [0 ; 0 ; 0 ] unbalanced. ig becomes balanced at around time t = 0.34 s using
UKF-PI which is faster as compared to KF-PI and STF- PI.
control scheme, the results obtained using simulation and
Fig. 4 shows the active power analysis with waveforms of the
experimental analysis of the PV system are presented here.
inverter active power (PI) and grid active power (Pg) using the
A. Simulation Results UKF-PI, KF-PI and STF-PI control scheme. The settling times
Results obtained from the Simulink model of a single-stage of PI and Pg obtained using UKF-PI are faster as compared to
three phase grid-connected PV system using the proposed the respective values in case of KF-PI and STF-PI. The residual
UKF-PI control scheme, KF-PI and STF-PI scheme are shown PV power obtained after suppling the nonlinear load and the
in Fig. 3 and Fig.4. For realizing a practical distorted grid losses of the system is injected into the utility grid at UPF.
condition, 5th and 7th order voltage harmonics are introduced Negative Pg signifies that the surplus PPV is sunk into the grid.
into the grid. A nonlinear load comprising of a diode rectifier Table II shows the FFT analysis of vga and iga using UKF-PI,
with a series RL load is connected at the PCC. The load current KF-PI and STF-PI control schemes. THD of vga and iga are
and the grid voltage are both nonlinear due to the presence of found to be 5.91% and 26.97% respectively when compensated.

Table II FFT analysis of PCC Voltage and Grid Current

Controller PCC Voltage (vpa) Grid Current (iga)
Fundamental %3rd %5th %7th %11th %13th %THD Fundamental %3rd %5th %7th %11th %13th %THD
Uncontrolled 51.05 V 0.00 3.19 2.39 1.95 1.67 5.95 1.219 A 0.11 18.45 9.56 5.84 3.42 26.49
STF-PI 51.05 V 0.04 0.64 0.61 0.33 0.20 2.82 1.647 A 0.11 1.09 1.13 0.58 0.47 3.90
KF-PI 51.05 V 0.04 0.61 0.61 0.32 0.18 2.81 1.652 A 0.06 1.01 1.15 0.42 0.41 3.71
UKF-PI 51.05 V 0.04 0.59 0.63 0.30 0.19 2.81 1.660 A 0.05 0.91 1.01 0.35 0.40 3.35

Uncompensated Compensated Uncompensated Compensated

50 UKF-PI 2 Phase'a'
v pa (kV)

KF-PI Phase'b'
ig (A)

0 STF-PI Phase'c'
-50 -2 STF-PI
2 0.3 0.35 0.4 0.45 UKF-PI 2 0.3 0.35 0.4Phase'a'
iga (A)

KF-PI
ig (A)

Phase'b'
STF-PI Phase'c'
-2 -2 KF-PI
130 0.3 0.35 0.4 0.45 UKF-PI 2 0.3 0.35 0.4Phase'a'
ig (A)

KF-PI Phase'b'
Vdc (V)

115 STF-PI Phase'c'

-2 UKF-PI
100
0.25 0.3 0.35 0.4 0.45 0.5 0.25 0.3 0.35 0.4
Time in Sec Time in Sec
(a) (b)

Fig.3. Waveforms after compensation using UKF-PI, KF-PI and STF-PI under (a) Distorted grid voltage condition; (b) Unbalanced grid voltage condition [PCC
voltage (vpa), Grid current (iga), DC-link capacitor voltage (Vdc)]
Uncompensated Compensated Uncompensated Compensated
400 200
UKF-PI
-180
Pg (W)
PI (W)

UKF-PI 0 KF-PI
200 360 KF-PI 0.45 STF-PI
STF-PI -200
0 0.45
0.25 0.3 0.35 0.4 0.45 0.5 0.25 0.3 0.35 0.4 0.45 0.5
Time in Sec Time in Sec
(a) (b)

Fig.4. Power analysis using UKF-PI, KF-PI and STF-PI for (a) Inverter active power (PI); (b) Grid active power (Pg)

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Uncompensated Compensated Uncompensated Compensated

50 Phase'a' 50 Phase'a'
vga (V)

vga (V)
0 Phase'b' 0 Phase'b'
Phase'c' Phase'c'
-50 -50
50 .50 .55 .60 50 .50 .55 .60
v pa (V)

v pa (V)
0 0
-50 -50
4 0.5 0.55 0.6 4 .80 .85 .90
iga (A)

iga (A)
0 0

-4 -4
55 .50 .55 .60 55 .80 .85 .90
VE (A)

VE (A)
50 50
45 45
-180 .50 .55 .60 -160 .80 .85 .90
Pg (W)

Pg (W)
-200 -180

.50 .55 .60 .80 .85 .90

PI (W)

PI (W)
350 350

0 .50 .55 .60 .80 .85 .90

Qg (Var)
200
Qg (Var)

-100 100
-200 0
.50 .55 .60 .80 .85 .90
QI (Var)

200

QI (Var)
0
100 -100
0 -200
.45 .50 .55 .60 .65 .75 .80 .85 .90 .95
Time in Sec Time in Sec
(a) (b)

Fig.5. Waveforms after compensation using UKF-PI under grid voltage (a) Sag Condition (b) Swell Condition [Grid voltage (vg), PCC voltage (vpa), Grid current
(iga), PCC Amplitude (VE), Grid active power (Pg), Inverter active power (PI), Inverter reactive power (QI), Grid reactive power (Qg),] From top to bottom

The THD of vga after compensation is reduced to 2.81%, 2.81%
and 2.82% using UKF-PI, KF-PI and STF-PI respectively. The
harmonic contents in the grid current are effectively minimized
using UKF-PI as compared to both KF-PI and STF-PI. The
THD of iga is reduced to a minimum value of 3.35% using UKF-
PI as compared to the THD values of 3.71% and 3.90%
obtained using KF-PI and STF-PI respectively.
The response of the proposed scheme under grid sag and
swell conditions is presented in Fig. 5. The Short Circuit Ratio
(SCR) at the PCC is 5.87. During the grid voltage sag and swell,
iga amplitude increases due to the presence of the reactive
current component which is required to maintain the equivalent
PCC voltage (VE) constant. UPF operation is lost while
regulating VE. A corresponding decrease and increase in the
grid reactive power (Qg) is observed for the grid voltage sag and
swell respectively. The inverter reactive power (QI) has a
reverse action with respect to Qg. Inverter active power (PI) grid
active power (Pg) settle at around two cycles of the grid voltage.
During the transient period, there is a slight decrease and
increase of Pg due to sag and swell. Lower SCR results in
fluctuation of vp while higher SCR produces a high rise in ig.
Although for higher and lower values of SCR limits the voltage
regulation capabilities of the PV system but in case of UKF-PI,
ig is maintained as a sinusoidal waveform. Hence, for safety
point of view the reactive grid current component is limited
such that the inverter current maintained within its rated value.
B. Experimental Study
For the experimental study, a 600W, Agilent make solar
array simulator (E4360A) is used as a virtual PV array. The
maximum power is set as 0.39 kW. The parameters for
experimental study of the SPV system are given in Table I. The

(a) (b)
Fig. 6. (a) Prototype of three phase single stage Grid connected PV system; (b) Power-Voltage and Current-Voltage Curves of PV array with InC MPPT

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(a) (b) (c) (d)

Fig. 7. Uncompensated Waveforms of (a) PCC Voltage (vga) and Grid Current (iga); (b) Inverter Power ;(c) Grid Power;(d) THD of iga

photograph of the prototype of single stage three phase grid-
connected PV system developed in the laboratory is shown in
Fig. 6(a). A 320-AMX ac power source is considered as the
grid. The current and voltage are sensed using the Hall Effect
current (LEM LA 55-P) and voltage (LEM LV 25-P) sensor.
UKF-PI control algorithm is implemented in real-time using a
dSPACE 1104 which generates the required gate signal of the
VSI.
From Fig. 6(b), it is seen that InC MPPT efficiently tracks
the maximum PV power of 385.18 W. Fig. 7 (a-d) show the
waveforms before the VSI is triggered i.e. zero inverter power.
The nonlinear load draws 0.168 kW power from the grid with a
current THD of 26.7%.The waveforms of PCC Voltage vpa,
Grid Current iga, inverter power, grid power and THD of iga
vpa and iga
(a)
obtained after compensation using STF-PI, KF-PI, and the
proposed UKF-PI control schemes respectively are shown in
Fig. 8(a-c). The grid current waveforms become sinusoidal with
reduced harmonic content using UKF-PI as compared to the
grid current waveforms obtained using KF-PI and STF-PI. The
excess PV power of 179 W is added into the grid with UPF
using the proposed UKF-PI control scheme. The negative active
grid power signifies that the excess power of the PV array is
inserted into the utility grid. From Fig. 8(a-c) it is analyzed that
THD of the grid current is reduced to a lower value of 3.4%
using UKF-PI as compared to 3.8% and 4% using KF-PI and
STF-PI respectively. Fig. 9 shows the grid current waveform
under unbalanced voltage condition. The grid current is almost
balanced using UKF-PI with reduced distortion as compared to
Inverter Power Grid Power THD of iga

1. 2.
(b)

1.
(c)

Fig. 8. Compensated Waveform Analysis (a) STF-PI; (b) KF-PI; (c) UKF-PI; [vpa and iga; Inverter Power; Grid Power ; THD of iga] From left to right

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This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TSTE.2018.2864822, IEEE
Uncompensated
vpa
iga
igb
igc
(a) (b)
Fig. 9. Waveform Analysis of Grid Current under unbalanced voltage (a) Uncompensated; (b) STF-PI; (c) KF-PI; (d) UKF-PI
2.
KF-PI and STF-PI. Fig. 10 shows that the ig under fault
condition where the line ‘c’ of the nonlinear load is
disconnected from the PCC. The grid current is almost balanced
using UKF-PI (Fig. 10.(b)). As phase ‘C’ of the load is
disconnected the overall load power is reduced and hence there
is a corresponding increase in the grid current. Fig.11. shows
waveforms of load current ila, iga; grid power; THD of iga. The
load current is increased from 1.622 A to 4.77 A (Fig.11.(a)).
The proposed UKF-PI control scheme maintains iga sinusoidal
(Fig. 11.(b)). Due the increase in load power the entire extracted
PV power is feeds the load and the excess power needed for the
load is supplied by grid (Fig.11.(c)) and hence the direction of
iga is reversed, but the UKF-PI control scheme has maintained
the sinusoidal nature of the grid current by reducing THD of iga
to 3.3% (Fig.11.(b)).
vpa
iga
igb
igc
(a) (b)
Fig. 10. Waveform Analysis of Grid Current under Fault condition (a)
Uncompensated; (b) UKF-PI; [vga; (iga, igb, igc) ] From top to bottom
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Transactions on Sustainable Energy
7
STF-PI KF-PI UKF-PI
(c) (d)
The waveforms of vpa, iga, inverter power, grid power, THD
of iga after compensation under grid sag and swell conditions
are shown in Fig.12 (a)-(b). iga increases due to presence of the
reactive current component. The reactive current component of
ig are intorduced to maintain VE constant at its rated value. Due
to presence of reactive power, UPF operation is lost but vp is
maintained under sag and swell conditions is accomplished.
The THD of iga is reduced to 3.5%.
V. CONCLUSIONS
In this research work, a new UKF-PI based control scheme
is proposed for a single stage three phase grid-connected PV
system. From the simulation and experimental results obtained,
it is confirmed that the proposed UKF-PI control scheme
provides more effective grid synchronization of PV system as
(a) (b)
3.
(c) (d)
Fig. 11. Load Change condition: Waveforms of (a) Load Current (ila) (b)
Compensated Grid Current (iga);(c) Grid Power;(d) THD of iga
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TSTE.2018.2864822, IEEE
Transactions on Sustainable Energy
(a)
4.
(b)
Fig. 12. Results under grid voltage (a) Sag Condition; (b) Swell Condition; [vpa and iga; Inverter Power; Grid Power ; THD of iga] From left to right
compared to KF-PI and STF-PI. The proposed controller
effectively extracts the fundamental components of the
distorted PCC voltage and the nonlinear load current by
mitigating the harmonics. Pmp is extracted by regulating the Vdc
at Vmp. ig becomes sinusoidal and in phase with the vp ensuring
UPF operation. The FFT analysis shows that by using the UKF-
PI approach, THD of ig is reduced to 3.4% as compared to KF-
PI and STF-PI, which is well within the prescribed standards of
IEEE 519 .Under unbalanced grid voltage condition and load
fault condition, the proposed UKF-PI scheme effectively
maintains ig balanced. With increase in the load current, the
overall direction of ig is reversed but using UKF-PI, the THD
of ig is maintained at 3.3%. An appropriate amount of reactive
power is provided to the utility grid in order to maintain vp
constant for grid sag and swell. Although vp regulation is limited
for higher and lower value of SCR, but UKF-PI maintains the
sinusoidal waveform of ig by reducing the THD to 3.5%.
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Sudarshan Swain is currently working towards the
Ph.D. degree in electrical engineering at National
Institute of Technology (NIT) Rourkela. His
research interest include control of PV system.
Bidyadhar Subudhi (M’94–SM’08) is currently
working as Professor in the Department of Electrical
Engineering, NIT Rourkela. His research interest
include control of PV system and micro-grid.