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2007-Control of Four Leg Inverter For Hybrid Power System Applicatio PDF
2007-Control of Four Leg Inverter For Hybrid Power System Applicatio PDF
www.elsevier.com/locate/enconman
a
LIPSI-ESTIA, Bidart, Technopôle Izarbel, 64 210 Bidart, France
b
University of Basque Country (UPV-EHU), Europa Plaza 1, E-20018 Donostia-San Sebastián, Spain
c
GREAH – University of Le Havre, 25 rue Philippe Lebon, BP 540, France
Abstract
This paper proposes an improved control strategy for a three phase, four leg inverter used for the simultaneous supply of three phase
and single phase AC loads in a transformerless hybrid power system (HPS) application. First, the mathematical model of the inverter is
obtained by using the average technique, which allows converter systems to be rapidly and accurately simulated. Then, two control strat-
egies are described. The first one uses the conventional dq0 frame rotating with the angular frequency x (x = 314 rad/s) and PI (propor-
tional integral) controllers to ensure voltage and current regulation. The second one is an improved control strategy based on the
decomposition of the supply three phase voltage and current into instantaneous positive, negative and homopolar sequence components
using phasor representation. These three sequences are controlled independently in their own reference frames as DC signals. The posi-
tive sequence is regulated by the PI controllers in a positive reference frame, which rotates counterclockwise, while the negative sequence
is regulated by the PI controllers in a negative reference frame, which rotates clockwise at the same angular frequency. Since the proposed
strategy uses phasor representation, the actually superposed phasors of the homopolar sequence are spatially displaced at 120. Then,
using a negative reference frame system, the obtained DC signals are regulated by the PI controllers. Simulation results show the validity
of the innovative control strategy.
2007 Elsevier Ltd. All rights reserved.
Keywords: Converters; Current control; Hybrid power system; Power quality; Symmetrical components; Voltage unbalance
0196-8904/$ - see front matter 2007 Elsevier Ltd. All rights reserved.
doi:10.1016/j.enconman.2006.12.019
2120 I. Vechiu et al. / Energy Conversion and Management 48 (2007) 2119–2128
PV = = Loads
Array = 3∼
Autonomous
Inverter
Wind
3∼ ∼
Turbine =
DG
3∼
Battery =
Bank =
neutral connection is required to control each phase volt- 2. Mathematical description of the four leg inverter under
age independently. unbalanced conditions
In three phase applications with three wire inverters, if
the load requires a neutral point connection, a simple Fig. 2 shows a three phase, four leg inverter in a HPS
approach is to use two capacitors to split the DC link environment. This topology is characterized by the connec-
and tie the neutral point to the midpoint of the two capac- tion of the neutral point of the load to the midpoint of the
itors. In this case, unbalanced loads will cause neutral cur- fourth leg of the inverter. Consequently, the three phases
rents that flow through the fourth wire between the load are independent of each other and the current flowing
neutral point and the midpoint, distorting the symmetrical through each leg depends only on the position of the asso-
output voltage [2]. Other different topologies to provide a ciated switches and its phase voltage.
neutral connection for three phase four wire systems are The behaviour of the inverter is non-linear because of
discussed in Ref. [3]. the switches and requires long simulation times. Assuming
In traditional inverter control, compensation of the the switching frequency is much higher than the fundamen-
unbalanced voltage is performed using current and voltage tal frequency of the AC signals, so that all voltage and cur-
regulation in a dq0 reference frame rotating at the funda- rent ripples are negligible, the averaging technique [8] can
mental frequency. Often PI (proportional integral) regula- be used to get an average large signal inverter model from
tion is employed to achieve zero steady state error at the the switching model (Fig. 3).
fundamental frequency [4]. An additional control loop The DC link voltage VDC is kept at a constant value by
for the 0 variable is necessary to ensure output voltage controlling the energy flow from the batteries to the DC
symmetry if the load is unbalanced. Voltage unbalance in link as shown in Fig. 2. The DC/DC converter operates
the three phase system gives rise to 2x voltage and current as a voltage stabiliser. In this case, the line to neutral three
ripples in the dq channels. The 0 channel is similarly phase output voltages vaf, vbf and vcf for the three phase
affected by the disturbance at x [5]. As a result, the PI con- four leg inverter can be expressed as
trollers will only cause a phase shift and will not be able to 2 3 2 3
vaf d af
cancel the error completely. Efforts to compensate the 6 7 6 7
unbalanced voltage have been recently reported in Refs. 4 vbf 5 ¼ V DC 4 d bf 5 ð1Þ
[6,7]. vcf d cf
First, this paper describes a model of the four leg bi-
where daf, dbf and dcf are the duty ratios. The equations
directional converter and the classical dq0 control
describing inverter voltages and currents in the circuit
strategy. Then, it proposes a control strategy based on
model are expressed as
decomposition of the three phase output voltage and cur- 2 3 2 2 3 3 2 3 2 3 2 3
rent into positive, negative and homopolar sequence com- vaf ia
vAN ia iN iN
6 7 6 7 6 7 d6 7 6 7 d6 7
ponents. These symmetrical components are regulated v ¼
4 bf 5 4 BN 5
v þ Rf4 b5
i þ Lf 4 b5
i R N4 N 5
i LN 4 N5
i
dt dt
using two different synchronous reference frames, namely vcf vCN ic ic iN iN
the positive reference frame that rotates counterclockwise ð2Þ
at x and the negative reference frame that rotates clock-
ia þ ib þ ic þ iN ¼ 0 ð3Þ
wise at the same angular frequency. This approach,
together with the connection of the neutral point of the where Rf and Lf are the resistance and the inductance of the
load to the midpoint of the fourth leg of the inverter, inverter filter, vAN, vBN and vCN are the line to neutral filter
allows the negative and the homopolar sequence voltages output voltages, ia, ib and ic are the three phase inverter
and currents to be controlled completely in their own ref- output currents and iN is the neutral current. The DC
erence frames as DC signals. bus current IDC is expressed as
I. Vechiu et al. / Energy Conversion and Management 48 (2007) 2119–2128 2121
Irw IDC DG
iCD iBD iAD iND
SNp Sap Sbp Scp
Icb Ic Lf, Rf
ia vA
va
Renewable ib vB
VDC vf vb
Energy
ic vC
vc
iCl iBl iAl
SNn San Sbn Scn
Z
Sb2 LN, RN
iN
DC/DC Sb1
converter vN
Lb
i
v+
Battery
Bank -
DG
iCD iBD iAD iND
Lf, Rf
IDC va ia vA
vb ib vB
IDC
VDC + vc ic vC
- daf ⋅VDC dbf ⋅VDC dcf⋅VD
iCl iBl iAl
Z
~ ~ ~
vf iN LN, RN
vN
Renewable
Energy
Ib Icb
Vbat DC/DC VDC
db - DC-link
PI voltage
+ control
vd V*DC
v*d + i*d + + vfd
PI PI daf
- - + + dq0 vfα αβ0 v*af
ωLf
ωLf 1 dbf
v*q + i*q + + - vfq vfβ
PI PI v*bf VDC dcf
v*0 + -
+ - vq + vf0 αβ0 abc
PI PI
- i*0 - + vf0 v*cf
v0 θ
id ic
αβ0 abc
iq ib
i0 ia
dq0 αβ0
ω ∫ θ Lf
vd vCN ic ib ia iN
αβ0 abc
vq vBN
vAN
v0 dq0
αβ0
iCD D
iBD
iCl iBl iAl iAD iND G
Load
Fig. 4. Control strategy of the four leg inverter based on the classical current–voltage controller.
3.2. Outer voltage loop 4. Control strategy of the four leg inverter based on
symmetrical components
The set points of the inner current loops, id , iq and i0 , are
supplied by the outer voltage loops: Fig. 5 shows the proposed control strategy based on the
transformation of the current and voltage into symmetrical
id ¼ ðPIÞ ðvd vd Þ ð6Þ
components [11,12]: positive sequence, negative sequence
iq ¼ ðPIÞ ðvq vq Þ ð7Þ and homopolar sequence. This control strategy, hereafter
iq ¼ ðPIÞ ðv0 v0 Þ ð8Þ called symmetrical sequence controller, consists of an inner
current loop controller and an outer voltage loop control-
ler in a three channel arrangement. The first channel allows
3.3. Inner current loop controlling the positive sequence of the current and volt-
age, the second is for the negative sequence and the third
The output signals from the PI controllers after decou- is for the homopolar sequence. Voltage and current sym-
pling (vfd, vfq and vf0) can be expressed from Eq. (5): metrical components are derived in the sequence decompo-
vfd ¼ vd þ ðPIÞ ðid id Þ þ xLf iq ð9Þ sition blocks that also perform the transformation of the
frames.
vfq ¼ vq þ ðPIÞ ðid id Þ xLf id ð10Þ
vf 0 ¼ v0 þ ðPIÞ ðid id Þ ð11Þ 4.1. Decomposition of the voltage and the current into
symmetrical components
The control signals, vaf , vbf and vcf , are obtained from Eqs.
(9)–(11) by using inverse Park and Clarke transformations.
Using phasor representation, a three phase unbalanced
The duty ratios are related to these signals as follows:
output voltage can be expressed in symmetrical compo-
2 3 2 3
d af vaf nents, namely positive sequence voltages ðvAN ;p ; vBN ;p ;
6 7 1 6 7 vCN ;p Þ, negative sequence voltages ðvAN ;n ; vBN ;n ; vCN ;n Þ and
4 d bf 5 ¼ 4v 5 ð12Þ
V DC bf homopolar sequence voltages ðvAN ;h ; vBN ;h ; vCN ;h Þ. It must
d cf vcf
be noticed that all the homopolar sequence voltages are
I. Vechiu et al. / Energy Conversion and Management 48 (2007) 2119–2128 2123
Renewable
Energy
vd,p Ib Icb
v*d,p + i*d,p + + vfd,p Vbat DC/DC
PI PI VDC
vd,p - id,p - ωLf + +
db -
vq,p - iq,p ωLf PI DC-link
i*q,p - + - vfq,p + voltage control
*
v q,p PI PI
+ + vq,p + V*DC
v*d,n vd,n
+ i*d,n +
+ + daf
PI PI dq/abc
vd,n - id,n - + - vfd,n
ωLf & dbf
vq,n - iq,n ωLf Sequence
+ + vfq,n
*
i q,n - dcf
v*q,n PI PI composition
+ + vq,n +
θ
v*d,h vq,h + ic ib ia iN
+ i*d,h +
PI PI
vd,h - id,h - + vfd,h ω ∫
vq,h - iq,h Lf
i*q,h - +
* PI PI θ
v q,h + + vq,h + vfq,h i ic
dq,p
Sequence
idq,n decomposition ib
idq,h & ia
abc/dq
vdq,p vCN
Sequence
vdq,n decomposition vBN
vdq,h & vAN
abc/dq
iCD D
θ iBD
G
iCl iBl iAl iAD
Load
Fig. 5. Control strategy of the four leg inverter based on symmetrical components.
400
vAN,h
vABC [V]
0 vBN,h ω
-200 ω
-400 vAN,p vBN,p vCN,p
T/4
240˚
0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08
100
vABC,n [V]
0
-100 T/4 vAN,n v
CN,n vBN,n vCN,h
0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08
100 Fig. 8. Homopolar sequence vectors displacement.
vABC,h [V]
vAN,h vBN,h v
CN,h
0
-100
0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08
Time [s]
In the positive reference frame, which rotates counter- the DC signals can be equally done using the positive
clockwise, the negative sequence dq voltages and currents reference frame. Once transformed into DC signals, the
appear as a ripple with 2x rad/s. In contrast, in the negative homopolar sequence is easily regulated by the PI
reference frame, which rotates clockwise, the negative controllers.
sequence dq voltages and currents appear as DC signals The complete transformation of the measured voltages
[7]. Thus, the negative sequence voltage and current are reg- (currents) is shown in Fig. 9. As can be seen, only the real
ulated by the PI controllers in a negative dq rotating frame. part of the phasor representation is used to obtain DC
signals.
4.4. Homopolar sequence transformation This trick, which allows obtaining DC signals and, thus,
a good regulation of the homopolar sequence voltage and
In any rotating system reference frame, the homopolar current, is possible because the applied transformations
sequence voltage or current appears as a disturbance in do not affect the amplitude of the processed signals.
the 0 variable at the fundamental angular frequency x,
while the d and q components do not exist. Thus, it is 4.5. Current and voltage loops
not possible to rotate the 0 variable voltage in order to
transform it into a DC signal and to facilitate its 4.5.1. Inner current loops
regulation. In the positive reference frame (the first channel of the
As mentioned in Ref. [11], the vectors of the homopolar control structure presented in Fig. 5), the positive sequence
sequence system are in phase and equal in amplitude. They voltages (vfd,p, vfq,p) are determined by
are also independent, from the point of view of the ampli- vfd;p ¼ vd;p þ ðPIÞ ðid;p id;p Þ þ xLf iq;p ð18Þ
tude, with regard to the positive and negative sequence sys-
tems. Thus, it is possible to apply a spatial displacement of vfq;p ¼ vq;p þ ðPIÞ ðiq;p iq;p Þ xLf id;p ð19Þ
120 and 240 to the homopolar phasors (Fig. 8) and the The terms xLfiq,p, xLfid,p are inserted to decouple the dq
transformation matrix Fh becomes axes dynamics.
2 3
1 1 1 The negative sequence current in the second channel of
16 7 the control structure is controlled in the negative rotating
½F h ¼ 4 a a a 5 ð17Þ
3 2 2 2
reference frame, and the negative sequence voltages
a a a (vfd,n, vfq,n) are determined by
The obtained three phase balanced voltage system is trans- vfd;n ¼ vd;n þ ðPIÞ ðid;n id;p Þ xLf iq;n ð20Þ
formed in DC dq signals using the rotating negative refer-
ence frame. Depending on the succession of the phasors, vfq;n ¼ vq;n þ ðPIÞ ðiq;n iq;n Þ þ xLf id;n ð21Þ
I. Vechiu et al. / Energy Conversion and Management 48 (2007) 2119–2128 2125
ω * Table 1
vdq,p dq v abc_f,p Parameters of the four leg inverter used for simulation
abc Parameters Value
da
-ω Input/output Rated input voltage (VDC) 700 [VDC]
vdq,n dq v*abc_f,n Sequence db Rated output voltage (vAN, vBN, vCN) 230 [Vrms],
composition
abc (eq. (24)) dc Rated output frequency 50 [Hz]
-ω Rated power (total) 70 [KW]
vdq,h dq
Filter components Filter inductance (Lf, LN) 3 [mH]
abc v*
abc_f,h Filter resistance (Rf, RN) 0.1 [X]
50 A C B 50 A B
iin [A]
iin [A]
0 0 C
-50 -50
1 1.01 1.02 1.03 1.04 1.05 1.06 1 1.01 1.02 1.03 1.04 1.05 1.06
100 100
B
iDG [A]
iDG [A]
C A B C
0 0
-100 -100
1 1.01 1.02 1.03 1.04 1.05 1.06 1 1.01 1.02 1.03 1.04 1.05 1.06
200 200
A C A C
B B
il [A]
il [A]
0 0
-200 -200
1 1.01 1.02 1.03 1.04 1.05 1.06 1 1.01 1.02 1.03 1.04 1.05 1.06
100 100
iN [A]
iN [A]
0 0
-100 -100
1 1.01 1.02 1.03 1.04 1.05 1.06 1 1.01 1.02 1.03 1.04 1.05 1.06
Time [s] Time [s]
400 400
C B C
B A
A 300
300
200 200
100 100
Vl [V]
vl [V]
0 0
-100 -100
-200 -200
-300 -300
-400 -400
1 1.01 1.02 1.03 1.04 1.05 1.06 1 1.01 1.02 1.03 1.04 1.05 1.06
Time [s] Time [s]
Fig. 11. Inverter current, DG current, load current, neutral current and output voltage in the stationary ABC frame. (a) Inventer with dq0 controller. (b)
Inverter with symmetrical sequences controller.
380 327
vd * vd,p
vd,p[V]
360 326
vd 325 v*d,p
340
vd [V]
324
320 1 1.01 1.02 1.03 1.04 1.05 1.06
2
vq,p [V]
300 vq,n
0
280 v*q,n
1 1.01 1.02 1.03 1.04 1.05 1.06 -2
1 1.01 1.02 1.03 1.04 1.05 1.06
2
40
vd,n [V]
vd,n
*
vq 0
20 v*d,n
vq
vq [V]
-2
0 1 1.01 1.02 1.03 1.04 1.05 1.06
2
vq,n [V]
vq,n
-20
0
v*q,n
-40
1 1.01 1.02 1.03 1.04 1.05 1.06 -2
1 1.01 1.02 1.03 1.04 1.05 1.06
2
vd,h [V]
vd,h
v0 * 0
20 v*d,h
v0 -2
v0 [V]
vq,h
0
-20 v*q,h
-2
1 1.01 1.02 1.03 1.04 1.05 1.06 1 1.01 1.02 1.03 1.04 1.05 1.06
Time [s] Time [s]
Fig. 12. Outer voltage loop. (a) dq0 controller. (b) Proposed symmetrical sequences controller.
The goal of the outer voltage regulation loop is to set the at 2x in the dq plane. These ripples are caused by the exis-
magnitude and the phase of the voltage at the output of the tence of the negative sequence, which is totally ignored by
filter. The voltage error feeds the dq0 PI controllers having the dq0 controller. The negative sequence rotates at an
the current references as output. angular frequency of x in the opposite direction of the
With the dq0 controller (Figs. 12a and 13a), the effects of positive dq reference frame used for voltage and current
the unbalanced load appear as voltage and current ripples transformation. The homopolar sequence appears in the
I. Vechiu et al. / Energy Conversion and Management 48 (2007) 2119–2128 2127
30 6
id,p
id *
id,p[A]
20
4
10 id i*d,p
id [A] 0 2
1 1.01 1.02 1.03 1.04 1.05 1.06
-10
-4
iq,p [A]
iq,p
-20
-6
-30 i*q,p
1 1.01 1.02 1.03 1.04 1.05 1.06 -8
1 1.01 1.02 1.03 1.04 1.05 1.06
35
10 id,n
id,n [A]
*
iq
0 30 i*d,n
iq
iq [A]
iq,n [A]
-20 12
10
i*q,n
-30 8
1 1.01 1.02 1.03 1.04 1.05 1.06
1 1.01 1.02 1.03 1.04 1.05 1.06
35
id,h
id,h [A]
20 i0 * 30 i*d,h
i0
i0 [A]
iq,h [A]
iq,h
-10
-20 -12 i*q,h
-14
1 1.01 1.02 1.03 1.04 1.05 1.06 1 1.01 1.02 1.03 1.04 1.05 1.06
Time [s] Time [s]
Fig. 13. Inner current loop. (a) dq0 controller. (b) Proposed symmetrical sequences controller.
0voltage and current signals at a frequency of x. As can be egy makes it possible to eliminate the disturbance of
seen in Fig. 13a, the effects of the unbalanced load are also the output voltage caused by the load unbalances. For
reflected in the inner current loop. Moreover, the PI con- the same unbalanced load conditions, simulation results
trollers cause a phase shift and are not able to cancel the have shown the effectiveness of the proposed control
error completely. strategy versus the classical solution.
Figs. 12b and 13b show the same internal control signals
in the case of the proposed control strategy based on the sym-
metrical components. The big advantage of this control References
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