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Saad NPC
Saad NPC
2, FEBRUARY 2016
Abstract—Energy storage systems have been widely ap- ergy sources to ensure power reliability, active power control,
plied in power distribution sectors as well as in renewable load leveling, and frequency control [1], [2]. Generally, the
energy sources to ensure uninterruptible power supply. energy storage system uses static storage devices such as an
This paper proposes a modified model predictive control
(MMPC) method based on the Lyapunov function to im- electric double-layer capacitor, Li-ion battery, lead–acid bat-
prove the performance of a bidirectional ac–dc converter, tery, and nickel–metal hydride battery [3]. These static storage
which is used in an energy storage system for bidirec- devices contain high power and energy density but require
tional power transfer between the three-phase ac voltage proper operation such as low ripple current and voltage at the
supply and energy storage devices. The proposed control dc side.
technique utilizes the discrete behavior of the converter,
considering the unavoidable quantization errors between The bidirectional ac–dc converter is an essential part of the
the controller and the control actions selected from the energy storage system due to its bidirectional power flow, grid
finite control set of the bidirectional ac–dc converter. The synchronization, and dc power management capabilities [4].
proposed control method reduces the execution time delay The control algorithm of this ac–dc converter should be highly
by 18% compared with the conventional model predictive stable and efficient as it needs to prevent the problems of poor
control. Moreover, the nonlinear system stability of the pro-
posed MMPC technique is ensured by the direct Lyapunov power quality due to high total harmonic distortion, low power
method and a nonlinear experimental system model. De- factor, ac voltage distortion, and ripple in the dc current and
tailed experimental results with a 2.5-kW downscaled voltage [5], [6]. Therefore, several research studies have been
hardware prototype are provided to show the efficacy of the carried out to improve the efficiency and performance of this
proposed control system. bidirectional ac–dc converter. The classical control techniques
Index Terms—Bidirectional ac–dc power conversion, en- are based on voltage-oriented control [7], virtual-flux-oriented
ergy storage system, Lyapunov methods, modified model control [8], and direct power control (DPC) [9] schemes, which
predictive control (MMPC), stability analysis. utilize the proportional–integral (PI) controllers. The major lim-
itation of these control schemes is tuning the PI controllers that
I. I NTRODUCTION further affect the coordinate transform accuracy. To overcome
this limitation of PI controllers, a fuzzy-logic-based switching
E NERGY storage systems play an important role in utility
and transport applications as well as in renewable en-
state selection criterion has been presented in [10] by avoiding
a predefined switching table. Although the active and reactive
power values are smoothed in a fuzzy-logic-based DPC algo-
Manuscript received January 14, 2015; revised April 21, 2015
and June 22, 2015; accepted August 5, 2015. Date of publication rithm compared with classical DPC, its sampling frequency is
September 14, 2015; date of current version January 8, 2016. This work high. Therefore, a sliding mode nonlinear [11] and artificial
was supported in part by the High Impact Research–Ministry of Higher neural network [12] control approach has been investigated for
Education under Project UM.C/HIR/MOHE/ENG/24 and in part by the
University of Malaya Research Grant under Project RP006E-13ICT. active and reactive power regulation of a grid-connected dc–ac
M. Parvez Akter and S. Mekhilef are with the Power Electronics and converter, which is dependent on control variables.
Renewable Energy Research Laboratory (PEARL), Department of Elec- The working principle of the model predictive control (MPC)
trical Engineering, University of Malaya, 50603 Kuala Lumpur, Malaysia
(e-mail: parvez0602025@gmail.com; saad@um.edu.my). scheme is to predict the future behavior of the control variables.
N. M. L. Tan is with the Department of Electrical Power Engineering, This MPC algorithm has become an attractive mode of control
Universiti Tenaga Nasional, 43000 Kajang, Malaysia (e-mail: nadia@ for the bidirectional ac–dc converters, compared with the clas-
uniten.edu.my).
H. Akagi is with the Department of Electrical and Electronic Engi- sical solutions, due to its simple and intuitive concept with no
neering, Tokyo Institute of Technology, Tokyo 152-8552, Japan (e-mail: pulsewidth modulation blocks [13]. Moreover, the MPC algo-
akagi@ee.titech.ac.jp). rithm is very easy to configure with constraints and nonlinearity
Color versions of one or more of the figures in this paper are available
online at http://ieeexplore.ieee.org. and also for practical implementation [14]–[16]. Due to these
Digital Object Identifier 10.1109/TIE.2015.2478752 advantages, the MPC algorithm has been extensively applied
0278-0046 © 2015 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
PARVEZ AKTER et al.: MMPC OF A BIDIRECTIONAL AC–DC CONVERTER BASED ON LYAPUNOV FUNCTION 705
dis_rec
vs = Ls + Rsis_rec + vconv . (11)
dt
Hence, the input current dynamics of the bidirectional ac–dc
converter during the rectifier mode of operation is
dis_rec Rs 1 1
= is_rec + vs − vconv . (12)
dt Ls Ls Ls
2) Inverter Mode of Operation: The bidirectional ac–dc
converter works as a voltage source inverter during the inverter
mode, which allows power transfer from the dc voltage bus
to the three-phase ac voltage end. Hence, the load current is
180◦ out-of-phase with respect to the load voltage. Therefore,
the load current dynamics of the bidirectional ac–dc converter
during the inverter mode of operation can be presented as
There are eight possible voltage vectors that can be obtained dis_inv Rs 1 1
= − is_inv + vconv − vs . (13)
from the eight consequence switching states of the switching dt Ls Ls Ls
signals Sa , Sb , and Sc . These eight voltage space vectors are
listed in Table I.
III. C ONVENTIONAL MPC M ETHOD
The energy storage system allows bidirectional power trans-
fer between the three-phase ac voltage side and the energy stor- The formulation of the conventional MPC algorithm for
age device through the bidirectional ac–dc converter. Hence, the three-phase bidirectional ac–dc converter is described in
the bidirectional ac–dc converter needs to be operated in two the following section. The MPC controller is formulated in the
modes, which are specified as the rectifier mode and the in- discrete-time domain. Therefore, it is necessary to transform the
verter mode. The operating principle of the bidirectional ac–dc dynamic system of the bidirectional ac–dc converter for both
converter for both the rectifier and inverter modes is elaborately the rectifier and inverter modes of operation represented in (12)
described in the following section. and (13), respectively, into a discrete-time model at a specific
1) Rectifier Mode of Operation: During the rectifier mode sampling time Ts .
of operation, the bidirectional ac–dc converter acts as a front-
end rectifier that is connected to the three-phase ac voltage
A. Discrete-Time Model for Prediction Horizon
source through the input filter inductance Ls and resistance Rs ,
as shown in Fig. 1. By applying Kirchhoff’s voltage law at the A discrete-time model is used to predict the future values of
ac side of the rectifier, the relationship between the three-phase currents and voltages in the next sampling interval (k), from
ac voltage and rectifier input voltage vectors is the measured currents and voltages at the (k − 1)th sampling
instant. The system model derivative dx/dt from Euler approx-
dis_rec 2 imation can be expressed as
vs = Ls + Rsis_rec + (vao + ω 2 vco )
ω vbo +
dt 3 dx x(k) − x(k − 1)
≈ . (14)
2 dt Ts
− (vno + ω vno + ω 2 vno ). (7)
3
Using one step advance of the above approximation, the
The space vector model of three-phase ac voltage (vs ) and discrete-time model of predictive currents and voltages for
current (is ) can be derived from phase voltage and current as the next (k + 1) sampling instant of the bidirectional ac–dc
converter in the rectifier and inverter modes can be derived.
2 The discrete-time model of predictive input currents at the
vs = (vsa +
ωvsb + ω 2 vsc ) (8)
3 next sampling instant (k + 1) for the rectifier mode of the
is = 2 (isa + ω 2 isc )
ω isb + (9)
bidirectional ac–dc converter can be evaluated from (12) with
3 the help of Euler approximation as
where vsa , vsb , and vsc are phase voltages, and isa , isb , and isc
is_rec (k + 1)
are phase currents of the three-phase ac voltage source.
Note that the last term of (7) is equal to zero as 1
= Lsis_rec (k)+Ts [vs (k+1)−vconv_rec (k+1)] .
2 2 Rs Ts +Ls
(vno + ω 2 vno ) = vno (1 +
ω vno + ω 2 ) = 0.
ω+ (10) (15)
3 3
PARVEZ AKTER et al.: MMPC OF A BIDIRECTIONAL AC–DC CONVERTER BASED ON LYAPUNOV FUNCTION 707
Again, the discrete-time model of predictive input currents at error vector of the input current dynamics (15) during the
the next sampling instant (k + 1) for the inverter mode of the rectifier mode can be rewritten as
bidirectional ac–dc converter can also be evaluated from (13) as
ierror_rec (k + 1)
is_inv (k + 1)
= is_rec (k + 1) − iref_rec (k + 1)
1
= Lsis_inv (k)+Ts [vconv_inv (k + 1)−vs (k + 1)] . 1
Rs Ts +Ls = Lsis_rec (k)+Ts [vs (k + 1)− vrec (k + 1)]
(16) Rs Ts + Ls
ΔLinv (k)
TABLE II
S IMULATION AND E XPERIMENTAL PARAMETERS
Fig. 5(a) and (b) also shows that when the reference voltage
changes from 270 to 320 V, the steady state of the ac wave-
forms is reached within a very short time (less than 10 ms).
This rapid step change confirms the fast response of the pro-
posed Lyapunov-function-based MMPC method. The steady-
state output of the dc-link voltage and current in Fig. 5(b)
remains linear in a wide range of time with very low voltage and
current ripple, which ensure the stability and good performance
of the proposed MMPC algorithm. Similarly, the stability and
responsiveness of the MMPC method for the bidirectional
ac–dc converter in the inverter mode of operation are shown in
Fig. 5(c) and (d), by varying the ac reference current (iref_inv ).
c4
A = ierror ierror ≤
. (31)
c3
= Ls /Ts , B
where x = vrec , y = is_rec , u = iref_rec , A =
τ = τv − p1 |y(k)| − p2 . (41)
((Rs Ts + Ls )/Ts ), D = vs , and Xv is the voltage set region.
The robustness of the proposed Lyapunov-function-based
MMPC algorithm for the bidirectional ac–dc converter against As a result, Xv is a subset of Xv . This ensures the robustness of
parameter uncertainties has been analyzed by considering the the proposed MMPC algorithm against parameter uncertainties
addition of uncertain values of the filter resistance (R) and once the controlled variables are within the bounds.
inductance (L). These uncertain values lead to the parameter Similarly, the robustness of the proposed MMPC algorithm
uncertainties of the model as for the bidirectional ac–dc converter with parameter uncertain-
ties can also be analyzed during the inverter mode of operation.
s
L The theoretical robustness analysis of the proposed MMPC
A = , = Rs Ts + Ls .
B (35) method with additive uncertain values of the filter resistance
Ts Ts and inductance (L) in (35) has been verified with a nonlin-
(R)
ear MATLAB/Simulink model and visualized in Fig. 7, which
Therefore, the control state equation (32) of the proposed MMPC
shows the variation of current error (ierror = is − iref ) against
algorithm can be written with parameter uncertainties as
the variation of the filter parameter. The value of filter resistance
and inductance (Ls ) in (35) has been varied up to 200%
(R)
+ A)y(k)
+ B)u(k (36)
xunc (k + 1) = (A + (B + 1) + D. (nominal filter resistance, Rs = 0.1 Ω and inductance, Ls =
5 mH) to verify the robustness against parameter uncertainties.
Substituting (35) into |xunc (k + 1) − xref (k + 1)| leads to The results in Fig. 7 confirm that the variation of current
error is bounded within 1 A (less than 10%) for different
values of the filter parameter, which ensures the robustness
|xunc (k + 1) = xref (k + 1)| ≤ |x(k + 1) − xref (k + 1)| of the proposed control algorithm. Moreover, the percentage
deviation of current error (ierror ) with different values of filter
parameters for both the rectifier and inverter modes of operation
+ Ay(k) + Bu(k + 1) . (37)
are compared and presented in Fig. 7(g), which shows that the
maximum deviation of current tracking error of about 8% is
negligible. Although the current tracking error is decreasing
The deviation from the reference at (k + 1) is thus bounded by with the increase in the filter inductor value, the power loss
the sum of two terms—the nominal response and an uncertainty
increases with the increase in inductor. The main focus of this
term, which is a function of the state vector and the input.
paper is to reduce the execution time with MMPC, and this
On the uncertainty term, the upper bound can be presented as section shows the robustness with parameter variation. Hence,
follows:
filter value selection and further discussion on power losses
have been omitted. The percentage of current error is calculated
Ay(k)
+ Bu(k + 1) ≤ p1 |y(k)| + p2 .
(38) from the reference (iref ) and measured (is ) current as
Fig. 8. Control algorithm of (a) the conventional MPC and (b) the
proposed Lyapunov-function-based MMPC.
TABLE III
C OMPARISON B ETWEEN C ONVENTIONAL MPC AND P ROPOSED
LYAPUNOV-F UNCTION -B ASED MMPC
[10] A. Bouafia, F. Krim, and J.-P. Gaubert, “Fuzzy-logic-based switching state Md. Parvez Akter was born in Pabna,
selection for direct power control of three-phase PWM rectifier,” IEEE Bangladesh. He received the B.Sc.Engg. de-
Trans. Ind. Electron., vol. 56, no. 6, pp. 1984–1992, Jun. 2009. gree from Chittagong University of Engineer-
[11] J. Hu, L. Shang, Y. He, and Z. Zhu, “Direct active and reactive power ing and Technology, Chittagong, Bangladesh,
regulation of grid-connected DC/AC converters using sliding mode con- in 2011 and the M.Eng.Sc. degree from the
trol approach,” IEEE Trans. Power Electron., vol. 26, no. 1, pp. 210–222, University of Malaya, Kuala Lumpur, Malaysia,
Jan. 2011. in 2015.
[12] C. Reza, M. D. Islam, and S. Mekhilef, “Modeling and experimental He is currently a Research Assistant with
verification of ANN based online stator resistance estimation in DTC-IM the Power Electronics and Renewable Energy
drive,” J. Elect. Eng. Technol., vol. 9, no. 2, pp. 550–558, Mar. 2014. Research Laboratory, Department of Electrical
[13] J. Rodriguez et al., “State of the art of finite control set model predictive Engineering, University of Malaya. His research
control in power electronics,” IEEE Trans. Ind. Informat., vol. 9, no. 2, interests include power converters and electrical drives, bidirectional
pp. 1003–1016, May 2013. power conversion techniques, predictive and digital control, renewable
[14] M. P. Akter, S. Mekhilef, N. M. L. Tan, and H. Akagi, “Model predictive energy, smart grids, and wireless power transfer.
control of bidirectional AC–DC converter for energy storage system,”
J. Elect. Eng. Technol., vol. 10, no. 1, pp. 165–175, Jan. 2015.
[15] M. P. Akter, S. Mekhilef, N. M. L. Tan, and H. Akagi, “Stability and Saad Mekhilef (M’01–SM’12) received the
performance investigations of model predictive controlled active-front- B.Eng. degree in electrical engineering from
end (AFE) rectifiers for energy storage systems,” J. Power Electron., the University of Setif, Setif, Algeria, in 1995
vol. 15, no. 1, pp. 202–215, Jan. 2015. and the M.Eng.Sc. and Ph.D. degrees from the
[16] P. Cortés, M. P. Kazmierkowski, R. M. Kennel, D. E. Quevedo, and University of Malaya, Kuala Lumpur, Malaysia,
J. Rodríguez, “Predictive control in power electronics and drives,” IEEE in 1998 and 2003, respectively.
Trans. Ind. Electron., vol. 55, no. 12, pp. 4312–4324, Dec. 2008.
He is currently a Professor with the De-
[17] M. Parvez, S. Mekhilef, N. M. L. Tan, and H. Akagi, “Model predictive partment of Electrical Engineering, University
control of a bidirectional AC–DC converter for V2G and G2V applica- of Malaya. He is the author or coauthor of
tions in electric vehicle battery charger,” in Proc. ITEC, 2014, pp. 1–6. more than 250 publications in international jour-
[18] S. Muslem Uddin et al., “Model predictive control of an active front end
nals and conference proceedings. He is actively
rectifier with unity displacement factor,” in Proc. IEEE ICCAS, 2013, involved in industrial consultancy for major corporations in power elec-
pp. 81–85. tronics projects. His research interests include power conversion tech-
[19] M. Uddin, S. Mekhilef, M. Mubin, M. Rivera, and J. Rodriguez, “Model
niques, control of power converters, renewable energy, wireless power
predictive torque ripple reduction with weighting factor optimization fed transfer, and energy efficiency.
by an indirect matrix converter,” Electr. Power Compon. Syst., vol. 42,
no. 10, pp. 1059–1069, 2014.
[20] R. Vargas, P. Cortés, U. Ammann, J. Rodríguez, and J. Pontt, “Predictive
control of a three-phase neutral-point-clamped inverter,” IEEE Trans. Ind. Nadia Mei Lin Tan (S’07–M’10) was born
Electron., vol. 54, no. 5, pp. 2697–2705, Oct. 2007. in Kuala Lumpur, Malaysia. She received the
[21] S. Kwak and S.-K. Mun, “Model predictive control methods to reduce B.Eng. degree (Hons.) from The University of
common-mode voltage for three-phase voltage source inverters,” IEEE Sheffield, Sheffield, U.K., in 2002, the M.Eng.
Trans. Power Electron., vol. 30, no. 9, pp. 5019–5035, Sep. 2015. degree from the Universiti Tenaga Nasional,
[22] J. Scoltock, T. Geyer, and U. Madawala, “Model predictive direct Kajang, Malaysia, in 2007, and the Ph.D. de-
power control for grid-connected neutral-point-clamped converters,” gree from Tokyo Institute of Technology, Tokyo,
IEEE Trans. Ind. Electron., vol. 62, no. 9, pp. 5319–5328, Sep. 2015. Japan, in 2010, all in electrical engineering.
[23] P. Cortes, J. Rodriguez, C. Silva, and A. Flores, “Delay compensation in Since October 2010, she has been a Se-
model predictive current control of a three-phase inverter,” IEEE Trans. nior Lecturer with the Department of Electrical
Ind. Electron., vol. 59, no. 2, pp. 1323–1325, Feb. 2012. Power Engineering, Universiti Tenaga Nasional.
[24] D. Quevedo, R. Aguilera, and T. Geyer, “Predictive control in power Her current research interests include power conversion systems and
electronics and drives: Basic concepts, theory, and methods,” in Ad- bidirectional isolated dc–dc converters.
vanced and Intelligent Control in Power Electronics and Drives, vol. 531, Dr. Tan is a Graduate Member of the Institution of Engineers Malaysia
T. Orłowska-Kowalska, F. Blaabjerg, and J. Rodríguez, Eds. Cham, and a member of the Institution of Engineering and Technology, U.K.
Switzerland: Springer-Verlag, 2014, pp. 181–226.
[25] M. Pozo-Palma and M. Pacas, “Predictive torque control for an induction
machine with a virtual multilevel inverter,” in Proc. IEEE IECON, 2013,
pp. 5848–5853. Hirofumi Akagi (M’87–SM’94–F’96) was born
[26] M. Pozo-Palma and M. Pacas, “Predictive control for a PMSM with in Okayama, Japan, in 1951. He received the
LC-filter and a virtual multilevel inverter,” in Proc. ICEM, 2014, Ph.D. degree in electrical engineering from
pp. 877–883. Tokyo Institute of Technology, Tokyo, Japan,
[27] J. Rodriguez and P. Cortes, Predictive Control of Power Converters and in 1979.
Electrical Drives, vol. 40. New York, NY, USA: Wiley, 2012. Since 2000, he has been a Professor with
[28] S. Vazquez et al., “Model predictive control: A review of its applications the Department of Electrical and Electronic
in power electronics,” IEEE Ind. Electron. Mag., vol. 8, no. 1, pp. 16–31, Engineering, Tokyo Institute of Technology. Prior
Mar. 2014. to this, he was with Nagaoka University of Tech-
[29] J.-J. E. Slotine and W. Li, Applied Nonlinear Control, vol. 199. nology, Nagaoka, Japan, and Okayama Univer-
Englewood Cliffs, NJ, USA: Prentice-Hall, 1991. sity, Okayama. He has authored or coauthored
[30] S. Dasgupta, S. N. Mohan, S. K. Sahoo, and S. K. Panda, “Lyapunov some 120 IEEE T RANSACTIONS papers. His research interests include
function-based current controller to control active and reactive power power conversion systems and their applications to industry, transporta-
flow from a renewable energy source to a generalized three-phase mi- tion, and utilities.
crogrid system,” IEEE Trans. Ind. Electron., vol. 60, no. 2, pp. 799–813, Dr. Akagi received six IEEE T RANSACTIONS Prize Paper Awards and
Feb. 2013. 14 IEEE Industry Applications Society (IAS) Committee Prize Paper
[31] T. Geyer, R. P. Aguilera, and D. E. Quevedo, “On the stability and ro- Awards. He was a recipient of the 2001 IEEE William E. Newell Power
bustness of model predictive direct current control,” in Proc. IEEE ICIT, Electronics Award, the 2004 IEEE IAS Outstanding Achievement Award,
2013, pp. 374–379. the 2008 IEEE Richard H. Kaufmann Technical Field Award, the 2012
[32] M. Rivera, V. Yaramasu, J. Rodriguez, and B. Wu, “Model predictive IEEE PES Nari Hingorani Custom Power Award, and the 2014 EPE
current control of two-level four-leg inverters—Part II: Experimental Outstanding Service Award. During 2007–2008, he was the President
implementation and validation,” IEEE Trans. Power Electron., vol. 28, of the IEEE Power Electronics Society. Since 2015, he has been serving
no. 7, pp. 3469–3478, Jul. 2013. as the IEEE Division II Director.