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Some Aspects of Stability in Microgrids
Some Aspects of Stability in Microgrids
Some Aspects of Stability in Microgrids
Abstract—This paper investigates some aspects of stability in mi- The microgrid stability in islanding is investigated in
crogrids. There are different types of microgrid applications. The [14]–[17]. Impact of different loading conditions and constant
system structure and the control topology vary depending on the power loads in the microgrid stability during islanding are
application and so does the aspect of stability in a microgrid. This addressed in [14] and [15]. In [16], an active damping control
paper briefly encompasses the stability aspects of remote, utility
connected and facility microgrids depending on the modes of op- with a virtual resistance is proposed, while in [17] efficacy
eration, control topology, types of micro sources and network pa- of frequency control with an internal oscillator and voltage
rameters. The small signal, transient and the voltage stability as- feedback signal to regulate the island voltage in the VSCs are
pects in each type of the microgrid are discussed along with scope demonstrated after islanding.
of improvements. With a brief review of the existing microgrid The transient stability analysis of a microgrid can ensure
control methods in the literature and different industry solutions, system operability after large disturbances. With micro sources
this paper sets up an initial platform for different types of micro- with current limit, very little spinning reserve and limited
grids stability assessment. Various generalized stability improve-
ment methods are demonstrated for different types of microgrids.
reactive support, it is essential to carry out detailed transient
The conventional stability study of microgrids presented in this analysis with possible contingencies. The transient stability is
paper facilitates an organized way to plan the micro source oper- investigated in [18]–[20]. A direct method with energy function
ation, microgrid controller design, islanding procedure, frequency formulation for the transient stability analysis in a microgrid is
control and the load shedding criteria. The stability investigations proposed in [19], while [20] demonstrates the transient stability
are presented with different control methods, eigen value analysis with both synchronous machine and VSC interfaced sources.
and time domain simulations to justify different claims. The microgrid stability with both inertial and converter in-
Index Terms—Microgrid, stability, voltage source converter. terfaced sources is investigated in [21]–[27]. The diesel genset
operation in CERTS system is discussed in [21]. Different
PV-diesel microgrid operations are investigated in [22], [24]
I. INTRODUCTION and [25]. The system stability in decentralized operation with
inertial and VSC sources in general is examined in [26].
the frequent load switching within a small area often creates the outer most power controllers and their associated control
the small signal stability problems. gains.
Faults produce the obvious transient stability issues in all The small signal modeling of the converter with the associ-
types of microgrids. While a fault and subsequent islanding in ated controllers is also shown in Fig. 5. The converter model is
a utility or facility microgrid demonstrates the typical transient represented with the converter capacitor voltage , con-
stability aspect, in a remote microgrid, a fault within the mi- verter current and the output current states . Each of
crogrid and isolating the faulty part of the network creates the the converter controllers is modeled with its states as shown in
transient stability problems. Fig. 5. Together with the output voltage angle , real and reac-
The voltage stability in a remote microgrid is related to the tive power output in power controller , voltage
reactive compensation of the network but in a utility micro- controller and the current controller states, the con-
grid the main source of the voltage stability problems is the tap verter LCL filter states are combined to derive the state space
changers. With few sources and confined loads, limiters in the model of the converter with the controllers. For each of the con-
micro sources and under voltage load shedding create most of verters this is done individually at their own reference frame
the voltage stability problems in a facility microgrid. (dq). The load and the network are also modeled with their
state space equations. Depending on location of the DGs and
the loads in the network, the state space equations are com-
III. SMALL SIGNAL STABILITY bined to formulate the total microgrid state space equation in
a common reference frame (DQ). The design of the controllers
The small signal stability in a microgrid is analyzed with a should be done using this combined state space model through
linearized model of micro sources and loads. The speed of the small signal stability analysis [35].
control loops in a VSC is shown in Fig. 5. Most of the stability Different supplementary control loops can be added to im-
issues in the converter control loops (in a microgrid) arises from prove the system stability. Fig. 6 shows different possibility of
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Fig. 7. Improving small signal stability in power controlling mode. The function can be derived with a separate constant for each
state variable or combination of them satisfying the Lyapunov
criteria. If a synchronous machine is present in the system, one
can model them in a simplified way employing a classical model
where the generators are represented with the swing equation
(Fig. 9). The constant impedance loads are not generally in-
cluded in the functions. However with a dynamic load, these
techniques can be extended with the transient voltage depen-
dency of the load. The source and the load behavior can be de-
composed into slow and fast subsystems for transient analysis
[36].
V. VOLTAGE STABILITY
The voltage stability problem in a microgrid may appear due
to various reasons as mentioned in Section II. The voltage sta-
bility problem in a microgrid can be demonstrated using the
“P-V” and “Q-V” curves. The P-V curve indicates the maximum
loadability while Q-V curve shows the necessary amount of re-
Fig. 8. Modeling for transient stability study.
active power at the load end for desired voltage. In a microgrid,
if a VSC is injecting (Fig. 10) power to a load , the load
powers can be related with the terminal voltage and the
stability improvement with the supplementary control loops in load voltage .
a droop controlled converter. Fig. 7 shows the supplementary The reactive power generation can be expressed in
control loops possibilities for power controlling converters. terms of the terminal voltage , load voltage and
the load power . It must be noted that the reactive power
IV. TRANSIENT STABILITY control is much faster with a VSC compared to a synchronous
The transient stability of a microgrid can be assessed with machine. The reactive power sharing with a sudden change
a nonlinear model (combining the converter droop controller in the reactive power demand or supply must be controlled
models through the network equations [19]). One method of properly to avoid converter reactive limit or system oscillation.
analysis is based on the construction of the Lyapunov function. With different types of loads, the reactive power demand may
A microgrid model for the transient stability analysis with the vary with the load characteristics. Three voltage stability cri-
converter interfaced sources is shown in Fig. 8. The real and teria related to the reactive power are shown in Fig. 10. For all
reactive power outputs of the converters relate the individual the cases, the system stability curves are shown with stable
converter state equations through the network equation to derive and unstable points. Condition-1 shows the stability curve
the system model. for the reactive power generation and the reactive power
To apply direct method of transient stability analysis, it is nec- consumption . The system is stable when is pos-
essary to construct a Lyapunov function. The Lyapunov func- itive as indicated in Fig. 10. The rate of change in the reactive
tion for a microgrid can be selected from the droop controller power consumption with the load voltage is compared to the rate
variables [19], which are converter operating frequency and of change in the reactive power generation with the voltage in
filter capacitor voltage . The function can be written as condition-2. Condition 3 is derived from condition-1 and con-
dition 2. It shows the stability criteria for rate of change in the
(1) converter terminal voltage with the load voltage.
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Fig. 10. Aspect of voltage stability: Stable (s) and unstable (u) points.
A. Stabilizer
Stabilizers can be used in the VSC interfaced micro sources
to improve the small signal stability. Fig. 11 shows the stabi-
lizer for a DG and it can be seen that the voltage magnitude,
frequency and the power output of the connected DG are fed to
the stabilizer. It is to be noted that the stabilizer can be included
in any of the control loop shown in Figs. 6 and 7. Separate stabi-
lizing equipment (for existing VSCs) or a supplementary control
loop can improve the stability of a VSC interfaced DG.
1) Modulating and provide a fast response stabiliza-
tion but may lead to system oscillation in a continuous load
switching scenario.
Fig. 12. Reactive compensation with DSTATCOM.
2) Modulating and can also provide an effective
stabilization loop. This option is suitable for both grid con-
nected and grid forming sources.
3) Modulating and provide a much slower stabiliza- The DSTATCOM can be controlled
tion but effective in remote microgrid scenarios, where the • based on local measurements of the point it is connected;
regulations are not time critical. • based on communicated measurements and coordinated
control with the DGs [37].
B. Reactive Compensation With DSTATCOM The communicated measurements can be used to modulate
the converter output voltage reference as shown in
The reactive compensation in a microgrid is necessary to
Fig. 13.
maintain the voltage within acceptable limits. The voltage reg-
ulation problems are more in utility and remote microgrids.
C. Energy Storage System: Flywheel
1) In grid connected mode, the voltage regulation problem
appears mostly on the load end of the feeder. Energy storage system provides the stability improvement in
2) In islanded mode, the voltages may fall below acceptable a microgrid by injecting active (sometimes also reactive power)
limit anywhere and identifying the compensation location power during power shortage, DG trip, islanding, load dynamics
is harder. and ride through till the backup diesel gensets come live. There
Fig. 12 shows a DSTATCOM connected close to the crit- are many energy storage devices available in the market. The
ical load to ensure required power quality. When the voltages flywheel is one of the high performance energy storage solu-
fall below the lower limit, the DSTATCOM can inject reactive tions. With a flywheel system it is possible to inject power in
power. the MW range even within one fourth of a cycle [38]. The basic
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TABLE IV
CONVERTER AND CONTROLLER
TABLE V
DG CONTROLLER GAINS
Fig. 17. System structure in different stability study cases. (a) Small signal
stability. (b) Islanding transients. (c) Load shedding. (d) Reactive compensation.
TABLE VI
TABLE I MICROGRID LINE IMPEDANCE
SIMULATION CASES
TABLE II
GRID DATA
Fig. 18. Eigenvalue trajectory as function of power controller gain.
The time domain results with the high power controller gains
(with and without the supplementary controller) are shown in
TABLE III Fig. 20. The values of the power controller gains are changed
LOAD IN THE MICROGRID
from to at 0.2 s. The system becomes unstable with the
high feedback gains as shown in Fig. 20(a). The supplementary
controller can make the system stable as shown in Fig. 20(b).
The active power output of the DG is shown as .
The system damping with different converter control loops
(Fig. 9) are compared with 10% change in the power reference.
The rise time and the settling time are shown in Fig. 21. It can
• A supplementary control loop (Figs. 3 and 11) can ensure be seen that
system stability while using high feedback gain. For sim- • injecting damping signal in the current control loop always
ilar change in the power controller gain as in Fig. 18, the provides the fastest response (rise time);
eigenvalue trajectory with the supplementary control loop • the settling time is much higher in the remote microgrid as
is shown in Fig. 19. compared to the facility microgrid;
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Fig. 19. Eigen trajectory as function of power controller gain with supplemen- Fig. 22. System instability during islanding due to power imbalance.
tary control loop.
Fig. 23. System stability during islanding with storage. (a) Power injection by
storage. (b) RMS voltage at load bus. Fig. 26. Reactive compensation with DSTATCOM. (a) RMS voltage without
reactive compensation. (b) RMS voltage with reactive compensation.
VIII. CONCLUSIONS
Overall this paper focuses on various types of microgrids to
investigate
• different stability issues and their main reasons;
• different improvement methods and comparative perfor-
Fig. 25. Settling time of system frequency with load shedding in different mi-
mances.
crogrids. While stability problems are instigated by different factors in
various types of microgrids, efficacy of the stability improve-
ment methods may vary largely depending on the application
D. Reactive Compensation and the system scenarios. Generalized and methodical stability
studies of various types of microgrids are described with dif-
The reactive compensation method with the DSTATCOM ferent control methods, eigenvalue analysis and time domain
(Figs. 12 and 13) is used in different types of microgrids. As simulations.
mentioned the compensation is achieved by the coordinated
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micro-grids with multiple distributed generations,” in Proc. Int. Conf. Ritwik Majumder (M’10) received the Ph.D. degree from Queensland Univer-
Power Syst. Technol. (POWERCON), 2010. sity of Technology, Brisbane, Australia.
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ergy Soc. General Meeting—Conversion and Delivery of Elect. Energy His interests are in power systems dynamics, distributed generation and power
in the 21st Century, Jul. 2008, pp. 1–8. electronics applications.