8th International Conference on Power Electronics - ECCE Asia

[ThH4-4] May 30-June 3, 2011, The Shilla Jeju, Korea

Synchronization and Operation of Parallel

Inverters using Droop Control
L. K. Sahoo1, N. D. Thakur1, K. Rai2, P Sensarma3, R. D. Jha1, P. Mohanty1, A Sharma1,
A.S. Srinidhi1, A. Chaurey1
1
Decentralized Electricity Solutions, TERI, Delhi, India
2
Electrical Department, Dar Al Handasah, Pune, India
3
Department of Electrical Engineering, IIT Kanpur, India

Abstract-- To obtain a continuous power supply
Distributed Generation (DG) with a Decentralized Power
System (DPS), i.e. replacing a single UPS unit with multiple,
smaller units in parallel, is emerging as new paradigm. The
technically challenging aspect of DPS is the synchronization
of inverters and load sharing among the parallel connected
inverters. In this paper, a control method is proposed and
implemented for synchronization and parallel operation of
inverters. Droop control method has been used for equal
power sharing, and design of power control loop. The design
issues for voltage control loop are analyzed with the
discussion of relative stability of the system. A current
control loop is designed and analyzed to provide
synchronization between the inverters.
Index Terms—Droop Control Method, Synchronization,
stability analysis.
I. INTRODUCTION
Renewable Energy Sources (RES) are not
continuously available in nature and different RES
produce energy at different time durations, it is difficult
to bring all of them to form a single Direct Current (DC)
bus. Moreover a single unit is insufficient and unreliable
to supply the energy. This has motivated the idea of
Distributed Energy sources. Distributed Energy System
(DES) saves cost as different RES can provide the energy
from their area of production itself. DES is used in power
systems where inverters run in parallel to form the grid to
supply energy to the load.
The energy from RES requires to be processed before
delivering them to the loads. A stiff DC source is created
using power electronic converters, which is used to run
the inverters. Various RES create their local DC bus.
Inverters convert the power from DC to AC with fixed
voltage and fixed frequency [1], used as an interfacing
link between DC source created and the AC grid as
shown in Fig.1.
Batttery DC
Source Link
Lf1 V
DC c1
+
DC InvI Cf1
Io1
−
Being active devices with voltage stiff front end, a
number of problems are associated with parallel
operations of inverters. Some of which are: Micro-grids
are devoid of any fixed reference voltage for inverters,
the inverters must share the active and reactive demand of
the load equally during steady state. Synchronization
must be maintained between the inverters during transient
as well as steady state, the voltage of all inverters should
vary within the declared percentage regulation for the
whole system.
For parallel operation of inverters there are various
methods. The simplest method to connect inverters in
parallel is to employ coupled inductors [2] at the output
end of the inverters. It can reasonably balance the output
currents of individual inverters. However, such bulky
inductors considerably increase the size and cost of the
system. Master-slave method [3] employs one voltage
controlled VSI acting as master and remaining (n-1)
current controlled VSIs as slave which share equal
currents. But the unit shuts down if master unit fails.
Instantaneous current sharing [4]-[5] scheme uses the
centralized control platform and needs changes if any
inverter comes in system or goes out at the time of fault
or maintenance, it depends on control of other inverters.
Droop control method [6]-[10] is the popular method
which has the advantage of independent control; it works
easily in an isolated system as well when connected to
any grid system. Droop control method avoids the
information sharing between the inverters. With some
advancement in this technology, the harmonic current are
also shared equally between inverters and balances the
unbalance in the line impedance. Synchronization is the
main issue at the time when inverters are connected using
droop control method. A current control is designed and
analyzed to provide proper synchronization between the
inverters.
T1
II. METHOD PROPOSED

Wind DC
Link T2 Iload 3−ph Rectifier
In this work, a controller has been designed and
Power
AC
Lf2 V
c2
+
Load
implemented for voltage output of each inverter. The
DC Io2
InvII Cf2 controls of each inverter are independent from other. The
Load Bus

−
droop control strategy has been used for independent
DC
Solar
Power
DC
Link
Lf3 V
T3 control of inverter. The basic principle of droop method
c3
DC
InvIII Cf3
+ Io3 depends upon the power equations applicable to any
−
synchronous generator connected to the grid through
Fig.1. Distributed Generation configuration of parallel inverters

978-1-61284-957-7/11/$26.00 ©2011 IEEE

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 impedance. This is an independent control, provides S1 S2
reliability and flexibility in the system. I1 V I2
With this method the power is equally shared between
jX jX
the inverters and making each inverter independent. But E1 E2

the problem of synchronization occurs during connecting

Z
an inverter to a grid.
The inverter having its output voltage floating (current
control mode) [11] with respect to load voltage,
maintaining the synchronization with respect to grid, Fig.3. Two inverters connected to a load
gives a smooth way to connect the inverter.
E1
The modulation signals for all inverters have to be
generated through control scheme to satisfy following
objectives:
• Voltage control: Tracking of sinusoidal voltage δ1
reference generated by droop method. V
• Voltage reference by sensing voltage at load I1
bus: The voltage sensor present at the primary of
the transformer sense the voltage at load and Fig.4. Phasor representation of output voltage and current from
brings the output voltage in phase with the load. inverter1
• Reference for floating the incoming inverter:
Track the voltage at output and generate a The complex power at the output of inverter1 due to
modulation signal to make the output current to load is given by
zero.
S1 = P1 + jQ1 = V1 × I 1
*
(1)
The above forms a sort of hierarchical control as the
*
power flow loop and the inner voltage loop forms the Where, I1 is the conjugate of inverter1 current and is
driving loop for the control strategy in droop control given by
mode. *
ª E . cos δ 1 + jE1 . sin δ 1 − V º
I =« 1
*
Active Damping
Kc 1 » ( 2)
Vref
Inner Voltage
Controller
Vinv
Loop
Vdamp Io ¬ jX ¼
+−
error Vc
+− H(s) Plant
Substituting equation (2) in (1) and equating real and
feedback path imaginary components [12], we get
E1 .V
Vdref Droop
P
P / Q P1 = sin δ 1 (3)
Vref Multi−
1
−plexer Vc
Controller Q
Cal. jX
ref
sel 2 +
+ and
E1 .V . cos δ 1 − V 2
Internal
Current
Controller +
− Q1 = ( 4)
command
( from FPGA)
jX
ref=0
Similarly for inverter2, the power equations are
Fig.2. Per phase control loop derived same as above.
For stable operation, the output voltage magnitude and
The current control loop forms the outer loop for inner output frequency of inverters should be properly
voltage loop while in synchronization. The voltage controlled according to the load power. There should be
controller is designed to provide sufficient gain at no real and reactive power circulation between the
fundamental. Proper correction is done before inverters.
synchronizing the inverter. Considering small disturbances around the state of
Per phase schematic of proposed strategy for two 3-ph equilibrium in E1 and į1, the change in power outputs,
inverters is as shown in Fig.2. The same strategy is referring equations (3) and (4), are given by
applicable for n+1 configuration. V E .V
ΔP1 = sin δ 1 .ΔE1 + 1 cos δ 1 .Δδ 1 (5)
A. Droop Control Method
VX EX.V
Consider two inverters connected to a linear load ΔQ1 = cos δ 1 .ΔE1 − 1 sin δ 1 .Δδ 1 (6)
through pure inductances, as shown in Fig.3, representing X X
the line with a pure inductance to simplify the analysis. Above equations shows that the real power depends on
The vector diagram, shown in Fig.4, shows the phasor power angle į while the reactive power flow is mostly
relation [7] between load voltage (V), source voltage influenced by the amplitude of the inverter voltages E.
(E1), and load current (I1). Since the inverter voltage is a relatively stiff voltage
source , large circulating currents would result if they are
simply connected in parallel. This is solved by
introducing an artificial droop in the inverter frequency

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 •

and voltage. Based on these predetermined droop Δ ω = ω f .Δω − k p .ω f .ΔP (11)

characteristics, we have the frequency and the voltage •
amplitude as in Fig.5. Δ V = ω f .ΔV − k v .ω f .ΔQ (12)
slope = kp slope = kv
where, ǻ denotes the small deviation of the respective
variable from the equilibrium point and a dotted
Vo
wo V
variable represents the derivative with respect to time.
w (in rad/sec)

w Considering a common dq reference frame for all

V (in V) inverters, the vector V is represented as

where, V = v d + jv q (13)
Po Pmeas Qo Qmeas
P (in Watt) Q (in VAr) v d = V . cos δ (14)
Fig. 5. Droop characteristic of inverter.
v q = V .sin δ (15)
The droop equations are written as
§ vd ·
ω = ω o − k p × ( Pmeas − P0 ) (7) δ = arctan¨¨ ¸
¸
(16)
v
© q¹
V = Vo − k v × (Qmeas − Q0 ) (8) Linearizing the equation (16) for į, which is the
where, angular position of vector V, we have
Ȧo = nominal frequency ∂δ ∂δ
Vo = nominal voltage amplitude Δδ = Δv d + Δv q (17)
Po = nominal real power ∂v d ∂v q
Qo = nominal reactive power then, it follows that
kp = droop coefficient for frequency Δδ = md .Δv d + mq .Δv q (18)
kv = droop coefficient for voltage magnitude
Ȧ = frequency at steady state on-load
V = voltage amplitude at steady state on-load
we know that Δw(s ) = sΔδ (s ) (19)
Pmeas = Real power output at steady state on-load Considering that,
Qmeas = Reactive power output at steady state on-load
V = vd + vq
2 2
(20)
Because of droop characteristics, the frequency and the
voltage of the system drops to such a value that all the Linearizing and differentiating the above equation, thus
units operate at same frequency and the voltage • • •
magnitude, thus minimizes the circulating current. Δ V = nd .Δ v d + nq .Δ v q (21)
B. Small signal stability Analysis for two inverter system
Solving equations (12), (18) and (21), we have
Considering small disturbance in system brought by
nq m q .n d .ω f
load, let the inverter experiences change in frequency by Δ• (v d ) = Δω + Δv d +
ǻȦ with change in real power by ǻPmeas, change in m d .n q − m q .n d m d .n q − m q .n d
voltage by ǻV with change in reactive power by ǻQmeas
and, the equations (7) and (8) corresponding to small m q .n d .ω f k v .m q .ω f
Δv q + ΔQ (22)
deviation are written as: m d .n q − m q .n d m d .n q − m q .n d
ω + Δω = ω o − k p × ( Pmeas + ΔPmeas − P0 ) (9)
m d .n d .ω f
Δ• (v q ) =
nd
Δω + Δv d +
m q .n d − md .n q m q .n d − md .n q
V + ΔV = Vo − k v × (Qmeas + ΔQmeas − Q0 ) (10)
md .n q .ω f k v .md .ω f
Δv q + ΔQ ( 23)
Substituting equation (7) in (9) and (8) in (10) we get mq .n d − m d .n q mq .n d − md .n q
the relation between change in frequency ǻȦ for change Considering above equations we obtain the state
in real power ǻPmeas and change in voltage ǻV for change equation, which describes the behavior of each inverter
in reactive power ǻQmeas. The active and reactive power
are obtained by measuring block, where Ȧf is the cutoff ª Δ•ω º ªΔ ω º
« • » « » ª ΔP º
«Δ vd » = [M ]«Δ v d » + [C ]«ΔQ »
frequency of the measuring filter and s is the Laplace
operator, the linearized control of system are in time
(24)
domain is represented by- « Δ• v q » « Δ vq » ¬ ¼
¬ ¼ ¬ ¼

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 Fig.3 shows the stand-alone system with two inverters Considering that
contributing to a common load. The network is assumed
to be completely described by the nodal admittance ª Δω1 º
matrix equation « »
ª Δv d 1 º ª0 1 0 0 0 0º « Δv d 1 »
ª Ya (Yb + Yc ) Ya .Yb º « Δv » «
0»» « Δvq1 »
− « q1 » = «0 0 1 0 0
ª I1 º « Ya + Yb + Yc Ya + Yb + Yc » ªV1 º .« » (33)
« »=« ». « Δv d 2 » « 0 0 » « Δω 2 »
Yb (Ya + Yc ) » «V »
(25) 0 0 0 1
¬ I 2 ¼ «−
Ya .Yb
¬ 2¼ « » « »
«¬ Ya + Yb + Yc «¬ Δv q 2 »¼ ¬0 0 0 0 0 1¼ «Δv d 2 »
Ya + Yb + Yc »¼ « »
Transforming the complex equation (25) in its dq «¬ Δv q 2 »¼
component form as or symbolically, it is written as
ª id 1 º ªG11 − B11 G12 − B12 º ª v d 1 º ª Δω1 º
«i » « »« » « Δv »
« q1 » = « B11 G11 B12 G12 » « v q1 » ª Δv d 1 º « d1 »
«id 2 » «G21
. (26) « Δv » « »
− B21 G22 − B22 » «v d 2 » « q1 » = [k ].« Δvq1 »
« » « »« » (34)
¬«iq 2 ¼» ¬« B21 G21 B22 G22 ¼» ¬«v q 2 ¼» « Δv d 2 » « Δω 2 »
« » «Δv d 2 »
Equation (26) is symbolically written as «¬ Δv q 2 »¼
« »
[i ] = [Ys ][. v] (27) «¬ Δv q 2 »¼
The state equation for the whole system is written as
Linearizing the expression (27), we have
ª • º
« Δ ω•1 » ª Δ ω1 º
[Δi] = [Ys ][. Δv ] + [Δy ][. v] (28) «Δ v » « »
« •d 1 » « Δ vd1 » ª ΔP1 º
0 º «« ΔQ1 »»
The equation for real and reactive power from each
inverter is given by « Δ v » ªM 0 º « Δ v q1 » ªC1
.« •q1 » = « 1 .« »+
« Δ ω2 » ¬ 0 M 2 »¼ « Δ ω 2 » «¬ 0 C 2 »¼ « ΔP2 »
ª ΔP1 º ªid 1 iq1 0 0 º ª Δv d 1 º « »
« • » «Δ v »
« ΔQ » « i − id 1 0 0 »» «« Δv q1 »» « Δ vd 2 » « d2 » ¬ΔQ2 ¼
« 1 » = « q1 . « • » «¬ Δ v q 2 »¼
« ΔP2 » « 0 0 id 2 iq 2 » «Δv d 2 » «¬ Δ v q 2 »¼
« » « »« »
¬ΔQ2 ¼ ¬« 0 0 iq 2 − id 2 ¼» ¬« Δvq 2 ¼» Let (35)
ª • º
ªv d 1 v q1 0 0 º ª Δi d 1 º « Δ ω•1 »
«Δ v »
«v − vd 1 0 0 »» «« Δiq1 »» « •d 1 »
+« « Δv » ª • º
q1
. (29)
«0 0 vd 2 v q 2 » « Δi d 2 » .« •q1 » = «Δ X » (36)
« »« » « Δ ω2 » ¬ ¼
− v d 2 »¼ «¬ Δiq 2 »¼ « • »
«¬ 0 0 vq 2
« Δ vd 2 »
« • »
which, in symbolic form is
¬« Δ v q 2 ¼»
[ΔS ] = [I s ][. Δv] + [Vs ][. Δi ] (30)
In symbolic, equation (35) is written as
Substituting equation (28) in (30), we get
ª •º
«¬Δ X »¼ = [M s ][
. ΔX ] + [C s ][
. ΔS ] (37)
[ΔS ] = ([I s ] + [Vs ][. Ys ]).[Δv ] + [Vs ][. Δy ][V ] (31)
Substituting equation (34) in (32), symbolically it is
The equation for the power flow is written as written as

ª ΔP1 º ª Δv d 1 º
[ΔS ] = ([I s ] + [Vs ][. Y ]).([K ])[ΔX ] + [Vs ][. Δy ][V ] (38)
« ΔQ » « Δv »
« 1 » = ([I s ] + [Vs ][. Ys ]).« q1 » + [Vs ][
. Δy ][V ]
Substituting equation (38) in (37), we get
« ΔP2 » «Δv d 2 »
« »
¬ ΔQ 2 ¼
« »
¬« Δvq 2 ¼»
ª •º
«¬Δ X »¼ = [A][ [ ]
. ΔX ] + [B ]. Δy ' (39)
(32)

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 where,
[A] = [M s ] + [C s ].([I s ] + [Vs ][. Ys ]).([K ]) (40) and the eigen values are:
Ȝ1 = 0.01i,
[B ] = [C s ][. Vs ] (41) Ȝ2 = - 0.01i,
and Ȝ3 = -125.24,
Ȝ4 = -125.60,
[Δy'] = [Δy][. V ] (42) Ȝ5 = -125.60,
Ȝ6 = -125.67
The matrix [A] in generalized form is written as Thus eigen values remain in left half of s plane, and
system remains stable. The system is also a function of
[A] = (ω f ).[A11 A12 A13 A14 A15 A16 ](43) ǻy’ which shows that the response also depends on the
amount of change in load. The term ǻy’ acts as input and
where, voltages acts as output, thus for a bounded input there is a
ª − k p ω f (1 + B11 ) º bounded output.
« k vω f »
ª− ω f º «− 0.5ω f − (1 + B11 )» C. Modeling of plant in current control mode
« −1 » « 2 »
« k vω f » For inverter to be floating with the load, the output
« »
« 1 » «− 0.5ω f − (1 + B11 )» current should be zero. Thus a quantity proportional to
[A11 ] = « » [A12 ] = « 2 » the output current is added to the control voltage. The
« 0 » « − k p ω f B21 »
« 0 » « kvω f » minimum impedance for plant is the transformer
« » « − B21 » impedance and is considered for current control design as
¬« 0 ¼» « 2 »
« kvω f » shown in Fig.6
« − B 21 »
¬ 2 ¼
Lf Ll
− k pω f (1 − B11 )
Vt il io Rl
ª º +
Vl

« k vω f »
«− 0.5ω f − (− 1 + B11 )» ª 0 º
ic
Vc
« 2 »
« k vω f » « 0 » Cf
«− 0.5ω f − (− 1 + B11 )» « » −
Plant for current controller

[A13 ] = « 2 » [A ] = « 0 »
« k pω f B21 » 14 « − ω f »
« » « »
k vω f « −1 »
« − B21 » « » Fig. 6. Plant for current control design.
« 2 » ¬« 1 ¼»
« k vω f »
« − B21 » Transformer inductance Ll = 254 uH
¬ 2 ¼
Transformer resistance Rl = 0.09 ohm

ª − k pω f B12 º ª k pω f B12 º
« » « k ω »
k vω f « v f
»
Vc(s) 1 Io(s)
« − B12 » B12 Rl + sLl
« 2 » « 2 »
« k vω f » « k vω f » Fig. 7. Plant between control input and output.
« − B12 » « B12 »
[A15 ] = « 2 » [A16 ] = « 2 »
« k pω f (1 + B22 ) » « − k pω f (1 − B22 ) » The bode plot for the above transfer function is shown
« k vω f » « k vω f » in Fig.8
« − 0.5ω f − (1 + B22 )» «− 0.5ω f − (− 1 + B22 )»
« 2 » « 2 » Bode Diagram

« k vω f » « k vω f »
« − 0.5ω f − (1 + B22 )» «− 0.5ω f − (− 1 + B22 )» 25

¬ 2 ¼ ¬ 2 ¼ 20

15 System: f
Magnitude (dB)

10
Frequency (rad/sec): 316
Magnitude (dB): 18.3
Taking initial conditions of voltages and currents to be 5

1 pu before the change in load, considering the load to be 0

System: f
of pure inductance (15 Ƿ), also considering the line −5
Frequency (rad/sec): 3.97e+003
−10 Magnitude (dB): −0.115
inductance to be 0.29 Ƿ taking the values of the 0

coefficients kp = 0.00054045 rad/sec/watt and kv =

Phase (deg)

−30
0.000635 V/VAr, the matrix A comes out to be
System: f
ª−125.6 0.0502 −0.186 −0.1159 0.1159º −60
0 Frequency (rad/sec): 314
Phase (deg): −41.5
« −1 −62.7583 −62.6455 −0.0963 −0.0963»»
0
«
−90
10
1
10
2 System: f 10
3 4
10
Frequency (rad/sec): 3.92e+003
« 1 −62.7583 −62.6455 0 −0.0963 −0.0963»
[ ]
Frequency (rad/sec)
Phase (deg): −84.8
A =« »
« 0 −0.1159 0.1159 −125.6 0.0502 −0.186»
« 0 −0.0963 −0.0963 −1 −62.7583 −62.6455» Fig. 8. Open loop plant bode plot
« »
¬« 0 −0.0008 −0.0963 1 −62.7583 −62.6455¼»

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 Since the reference command for current is zero, thus a From Fig.10 and Fig.11 we conclude that the
PI controller is designed for the plant. The position of circulating currents depends on the values of the voltage
pole and zero of PI controller comes out to be at 2878 magnitude and phase of active grid before the inverter2 is
rad/sec. The open loop bode plot with current controller connected to the grid. The current is very high value for
is shown in Fig.9. low impedance loads as verified with hardware result as
shown in Fig,12.
Bode Diagram
System: ol
Frequency (rad/sec): 313 System: ol
Magnitude (dB): 37.7
50 Frequency (rad/sec): 1.57e+003
Magnitude (dB): 14.1
Magnitude (dB)

0
System: ol
Frequency (rad/sec): 3.84e+003
−50 Magnitude (dB): 1.97

−100
−90
System: ol
Frequency (rad/sec): 4.5e+003
Phase (deg): −131
Phase (deg)

−120

−150

−180
1 2 3 4 5 6
10 10 10 10 10 10
Frequency (rad/sec)

Fig 12. Phase-A currents and change in real power when inverter2 is
Fig. 9. Open loop plant bode plot with current controller
paralleled with active grid

D. Hardware result Thus there is a need of proper synchronization of

The hardware setup of two inverters of 20 kVA were inverter while they are connected to grid.
used for testing the proposed method. Firstly, the two
inverters were simply paralleled without proper
synchronization method and analyzed the system, then
inverters were paralleled with inverter1 generating grid
and other inverter2 acting as incoming inverter, is
synchronized with an active grid formed by first with
proper synchronization method.

Fig. 13. Response of inverter2 without current controller

Fig. 10. Phase-A currents at paralleling of inverters, load impedance =

15.8 Ƿ.

Fig. 14. Response of inverter2 with current controller

From Fig. 13 and 14 there is a decrease in current

output, from incoming inverter2, flowing through the line
Fig. 11. Phase-A currents at paralleling of inverters, load impedance = impedance using current controller as verified with
4.8 Ƿ. hardware result shown in Fig.15.

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 Conference and Exposition, 2004, Vol. 1, 2004, pp.463
– 469.

[7] K. De Brabandere, B. Bolsens, J. Van Den Keybus, A.

Woyte, J. Driesen and R. Belmans, “A voltage and
frequency droop control method for parallel inverters”,
in IEEE Transactions on Power Electronics, Vol. 22,
July 2007, pp.1107 – 1115.

[8] Josep M. Guerrero, Luis Garca de Vicuna, Jose Matas,

Nestor Berbel and Jorge Sosa, “Wireless-control
strategy for parallel operation of distributed generation
inverters”, in IEEE International Symposium on
Industrial Electronics, 2005, Vol. 2, June 2005, pp.845
– 850.

Fig. 15. Current through line impedance of inverter2 in current control
mode (in green)
III. CONCLUSIONS
Maintaining the current through line impedance
corresponding to an incoming inverter to zero, will give
exact synchronization. The current controller is to be
fine-tuned to reach proper synchronization.
The magnitude of transients in synchronization
depends upon the initial condition of active grid
whenever an incoming inverter is to be connected.
Control strategy is to be build up for transition of
incoming inverter from current control mode to droop
control mode.
[9] Mukul C. Chandorkar, Deepakraj M. Divan and
Rambabu Adapa, “Control of parallel connected
inverters in standalone ac supply systems”, in IEEE
Transactions on Industry Applications, Vol. 29, Jan.-
Feb. 1993, pp.136 – 143.
[10] S.Y. Yang, C.W. Zhang, X. Zhang, R. X. Cao, W. X.
Shen, “Study on the control strategy for parallel
operation of inverters based on adaptive droop method”,
in IEEE Conference on Industrial Electrnics and
Applications, 2006, May 2006, pp.1 – 5.
[11] Author- Roy Stephen Colby, Mark John Kocher, Gerald
Benjamin Carson, “Method and apparatus for power
inverter synchronization”, at
http://www.patentstorm.us/patents/7183667.html

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[1] Shahil Shah, “Design and Implementation of parallel
Operation of Inverters with Instantaneous Current
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