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Pinning-Based Hierarchical and Distributed Cooperative Control For AC Microgrid Clusters
Pinning-Based Hierarchical and Distributed Cooperative Control For AC Microgrid Clusters
fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TPEL.2020.2972321, IEEE
Transactions on Power Electronics
1
Abstract—With the large-scale application of microgrids of DG units inside each individual MG, but also ought to
(MGs), interconnecting nearby MGs to form a microgrid cluster realize the coordination control among different MGs. Second,
(MGC) enables a higher utilization of renewable sources. This multiple control objectives both in the individual MG level and
paper presents a pinning-based hierarchical and distributed
cooperative control strategy for AC MGC, which includes DG- in the whole system level need to be realized for an MGC.
layer, MG-layer and MGC-layer controls. The DG-layer control Therefore, considering that each MG can be regarded as a
regulates the local voltage/current of each DG unit. The MG-layer control area, the MGC control is a kind of multi-area, multi-
control is performed for each individual MG, managing DG units layer and multi-objective control problem, which is extremely
in a cooperative manner through several sparse communication challenging.
networks. By representing each MG as an MG agent, the MGC-
layer control coordinates MGs based on a higher level peer-to- One strategy to realize the MGC control is the centralized
peer communication network among MG agents. The interaction control method, which requires a central control unit and
between MG-layer and MGC-layer is established by pinning some bidirectional communication links between the central control
DG units of each MG to communicate with the MG agent. unit and each control device. In [9]–[12], a system central
Compared with the existing literature, the contributions of this controller is employed for coordinating each DG unit in the
paper are (i) simultaneously realizing multiple control objectives
in the MGC system level including frequency/voltage regulation MGC to realize the system frequency/voltage/power control
and active/reactive power sharing, (ii) presenting a systematic objectives. However, the centralized method suffers from the
approach to construct a unified small-signal dynamic model of the problem of “single point of failure” for the central control
MGC system, and (iii) performing a detailed small-signal stability unit, which significantly decrease the system reliability and
analysis to evaluate the system dynamic performance. Time- scalability [13].
domain simulation and experiments are carried out to validate
the effectiveness of the proposed methods. In contrast, the distributed control method does not rely on
the central control unit. It is based on a sparse communication
Index Terms—distributed cooperative control, dynamic model,
network in which each control device requires its own informa-
hierarchical control, microgrid cluster, small-signal stability.
tion and that of its neighbours to perform control actions [14].
The distributed control method has been widely studied in a
I. I NTRODUCTION single MG [13], [15]–[18]. For the application of distributed
control in the MGC, relevant works are summarized as follows.
M ICROGRID (MG) is a viable technical option to sys-
tematically organize the distributed generation (DG)
units and facilitate their local consumption [1]–[3]. With the
References [19], [20] propose a distributed control method
to realize the control of system frequency, DG units output
large-scale development of MGs, a number of adjacent MGs voltages or power sharing among DG units in the MGC.
could be connected together to form a microgrid cluster (MGC) However, all the DG units from different MGs are in the
in a certain region [4], [5]. Due to the power support capability same communication network. This is similar to control “a
among different MGs, the MGC can further promote the large MG” and thus it breaks the autonomy characteristic of
utilization of renewable sources and also enhance the system each MG as an area, which may result in problems of privacy
resiliency after major disasters [6]–[8]. protection, slow algorithm convergence speed and difficulties in
A desirable control system is of vital importance for an MGC the MG plug-and-play [21], [22]. To overcome this drawback,
to ensure its stable and efficient operation. First, compared with references [23], [24] introduce an MG agent for each MG.
a single MG, the MGC not only needs to consider the control The MG agents communicate with each other to achieve the
coordination among different MGs. For the DG units, only DG
This work was supported in part by the National Key R&D Program of units from the same MG have communications. This method
China (2018YFB0905200), in part by the National Natural Science Foundation can reserve the autonomy characteristic of MGs, however,
of China (51807005), in part by the China Postdoctoral Science Foundation
(2017M620600). The work of J. M. Guerrero was supported by the Villum the control methods in [23], [24] are designed for DC MGC
Investigator Grant from The Villum Foundation under Grant 999730. (Corre- rather than AC MGC. For AC MGC, reference [21] introduces
sponding author: Yin Xu) an interface controller to mimic the droop characteristic for
Xiangyu Wu, Yin Xu, Jinghan He and Xiaojun Wang are with the School
of Electrical and Engineering, Beijing Jiaotong University, Beijing, 100044, each MG, while the newly introduced controller increases the
China (email: wuxiangyu@bjtu.edu.cn; xuyin@bjtu.edu.cn; jhhe@bjtu.edu.cn; implementation complexity. In addition, reference [21] aims to
xjwang1@bjtu.edu.cn). share the output power from the point of common coupling
Juan C. Vasquez and Josep M. Guerrero are with the Department of
Energy Technology, Aalborg University, 9220 Aalborg East, Denmark (email: (PCC) of each MG in proportion to the capacities of MGs.
juq@et.aau.dk; joz@et.aau.dk). However, it will result in no power support among MGs when
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Transactions on Power Electronics
2
all the loads are inside MGs. In [22], [25], the concept of MG three-layer distributed controllers, lossy-line networks and
agent [22] or DG-head [25] (similar to MG agent) is introduced loads. All the modules are combined to be a unified model.
for AC MGC and corresponding distributed control methods • A detailed small-signal stability analysis for the MGC
are proposed, which can realize power support among MGs system is carried out. The relation between the dominant
regardless of load positions. However, references [22], [25] oscillation modes and key state variables/controllers is
have the following limitations. established. General guidelines for tuning control param-
• The active power sharing among DG units is in proportion eters are also provided.
to their capacities. However, an economic operation of The remainder of this paper is organized as follows. Section
the MGC system, e.g, minimization of generation costs, II presents the three-layer distributed control framework of
is usually more desirable from the perspective of overall MGC system. Section III elaborates the proposed control
system operation, which cannot be realized in [22], [25]. method. Section IV develops the small-signal dynamic model
• In [22], [25], the average value of DG unit output volt- of MGC system. Numerical results including stability analy-
ages is controlled at the set value. However, actually sis and time-domain simulation are presented in Section V.
the voltages of critical buses in the system should be Section VI provides the experimental results. Section VII
controlled to ensure continuous operation of sensitive concludes the paper.
loads and facilitate the synchronization of MGC system
to the main grid or the synchronization of sub-MG to the II. T HREE - LAYER D ISTRIBUTED C ONTROL F RAMEWORK
MGC system. OF MGC
• The validation of control methods in [22], [25] is based
A. Control Framework
on time-domain simulations rather than experiments.
Assume that there are M MGs in the MGC system, labeled
Moreover, stability performance is another important con-
as M G1 , . . . , M Gk , . . . , M GM . There are Nk DG units in
cern for the reliable operation of an MGC system. References
M Gk , k = 1, 2, . . . , M . Fig.1 shows the three-layer distributed
[22], [25] provide the MGC system stability analysis results
control framework of MGC in this paper, which includes the
based on the Lyapunov-based method. However, the Lyapunov-
DG-layer, MG-layer and MGC-layer.
based method cannot provide the information of damping and
• DG-layer: The DG-layer control is responsible for regu-
oscillation frequency. In addition, it suffers from the problem
of conservativeness for the stability analysis result, which may lating the local voltage and current of each DG unit in
result in undesirable errors. In contrast, the eigenvalue-based a decentralized manner, i.e., there are no communications
small-signal stability analysis can provide many insights on among DG units in this layer. The droop-based control [1]
the system dynamics. A small-signal dynamic model can be has been identified as an effective decentralized control
used for analyzing the system small-signal stability and tuning approach for the DG-layer.
• MG-layer: The MG-layer control is performed for each
control parameters. Although the small-signal dynamic model
of a single MG is well established [26]–[30], to the best of our MG individually, realizing the coordination of DG units
knowledge, a small-signal dynamic model for the AC MGC inside MG in a distributed manner. Each MG has a dis-
system and the corresponding detailed stability analysis have tributed sparse communication network (lower communi-
less been studied before. Compared with a single MG, the cation network) among DG units to achieve a cooperative
modeling of an MGC system is more complicated, since it control. The MG-layer control of each MG is usually
needs to consider the interconnection of MGs and the multi- used for allocating internal DG units’ power and tracking
area/multi-layer controllers. the MG voltage and frequency references dictated by the
MGC-layer.
Motivated by the aforementioned limitations, this paper
• MGC-layer: In the MGC-layer, each MG is represented
presents a pinning-based hierarchical control strategy for is-
as an MG agent. Each MG agent communicates with
landed AC MGC based on the distributed cooperative control
its neighbors to form a distributed upper communication
theory. The control strategy consists of three layers, i.e., DG-
network. In each MG, at least one DG unit is selected
layer control, MG-layer control to manage DG units inside
as the pinned DG unit, which has a bidirectional com-
each individual MG, and MGC-layer control to coordinate
munication link (pinning link) to the corresponding MG
MGs. The major contributions of this paper are three-folds.
agent. Through the pinning links, the MG agent collects
• Compared with the existing MGC control methods, the the needed information from the pinned DG units and
proposed method can simultaneously (i) realize an eco- also sends references to the pinned DG units, realizing
nomic operation of the system by minimizing the overall the interaction between MGC-layer and MG-layer. The
generation cost, (ii) provide the voltage control capability MGC-layer control should coordinate each MG to share
for the system critical bus and the point of common active/reactie power among them and also regulate the
coupling (PCC) of each MG, (iii) restore the system system frequency and voltage in a distributed manner.
frequency to the desired (rated) values, and (iv) achieve
an accurate reactive power sharing among DG units.
• A systematic approach to modeling the MGC system is B. Double-layer Cyber Network Modeling
presented. The constructed small-signal dynamic model The lower communication networks in the MG-layer can be
considers the modules of DGs and MGs with the proposed modeled as M directed graphs (digraphs) G1 , . . . , Gk , . . . , GM
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MG1 MGM
MGC-layer Agent Agent
control
(Distributed)
Upper communication MG2 MG3
Agent Agent
network
Pinning link
LCL Rest of
DG-layer filter microgrid
control
(Decentralized) PWM DG
controller
corresponding to each MG. For DGi in M Gk , the set of its If the communication network has a spanning tree [14], then
neighbours is denoted as Nik , i = 1, 2, . . . , Nk . The associated (i) for (1), the states xi of all the nodes will synchronize
adjacency matrix of Gk is defined as Ak = [akij ]Nk ×Nk , where to a consensus value, and (ii) for (2), xi of all the nodes
akij is the weight of the communication link from DGj to DGi . will track the reference value xref . In sum, equation (1)
The upper communication network among MGs in the is a synchronization-based algorithm in which the consensus
MGC-layer can be modeled as a digraph G. e The set of value is not prescribed, while equation (2) is a tracking-based
k algorithm in which xref is assigned to the pinned nodes to
neighbours of M Gk is denoted as H , k = 1, 2, . . . , M . The
associated adjacency matrix of G e is defined as Ae = [ãkl ]M ×M , realize the reference tracking. It should be noted that xref
where ãkl is the weight of the communication link from M Gj could also have dynamics.
to M Gi .
To model the pinning links between upper and lower cyber III. P INNING - BASED H IERARCHICAL AND D ISTRIBUTED
networks, we introduce the leader-adjacency matrix Bpin k
= C OOPERATIVE C ONTROL M ETHOD
k k k k
[g1 , g2 , . . . , gNk ] for each M Gk . The pinning gain gi = 1 if Based on the three-layer control framework in Section II,
DGi is the pinned DG unit; otherwise gik = 0. this section presents detailed control strategies for each layer.
More details about the graph theory can be referred to [13].
A. DG-layer control
C. Basic Principle of Distributed Cooperative Control Theory The droop-based control is adopted in this layer for each DG
unit, which includes the power controller, voltage controller
In this paper, the distributed cooperative control theory [14]
and current controller [1]. The power controller is responsible
is employed to design controllers in the MG-layer and MGC-
for obtaining the frequency and voltage reference of DG units
layer. Based on the sparse communication network modeled
based on the power droop characteristics, given by
by a digraph, its basic principle is illustrated as follows.
∗
Assume that each node i has a scalar information state xi . ωki = ωn − mki (Pki − Pki ), (3)
Node i needs information of its own and that of its neighbours ∗
|voki | = V0α − nki Qki , (4)
j (j ∈ Ni ) to update its state, where Ni is the set of its
neighbours. Based on the continuous consensus algorithm, the where the subscript “ki” corresponds to DGi in M Gk (i.e.,
∗
update rules can be categorized as synchronization problem DGki ), ωki and voki are the frequency and output voltage refer-
(1) and tracking problem (2), where aij is the element of the ence of DGki , ωn is the system rated frequency (2π×50rad/s),
∗
associated adjacency matrix, and gi is the pinning gain. V0α is the no-load voltage, and mki , nki , Pki , Qki , Pki are the
X active and reactive power droop coefficients, output active and
ẋi (t) = − aij (xi (t) − xj (t)), (1) reactive power, and rated active power of DGki , respectively.
j∈Ni Then, the voltage and current controllers enable a closed-loop
regulation of DG unit output voltage voki to its reference value
X
ẋi (t) = − aij (xi (t) − xj (t)) − gi (xi (t) − xref ). (2) ∗
j∈Ni
voki .
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Transactions on Power Electronics
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The traditional active power droop controller (3) shares the 1) MG-layer frequency controller: The frequency controller
active power among DG units based on the ratios of their in the MG-layer is responsible for realizing objective (MG-i),
capacities. However, an economic operation of the system given by
cannot be guaranteed with this kind of power sharing scheme.
ωki = ωn − ked ηki (Pki ) + Ωki , (11)
Instead of (3), we adopt an optimal active power droop control
method in this paper, which can share the active power among dΩki X
DG units such that the system overall generation cost is = −cωki akij (ωki − ωkj ) + gik (ωki − ωrefk )
dt k
minimized. j∈N
Xi
The generation cost function of DGki is denoted as −cP ki akij (ked ηki (Pki ) − ked ηkj (Pkj )), (12)
GCki (Pki ). Thus, the overall generation cost minimization j∈Nik
problem, i.e., economic dispatch (ED) problem, in M Gk can
be formulated as Equation (11) is transformed from (9) with an additional shift
variable Ωki . In (12), Ωki is determined based on a combination
N
Pk
min GCki (Pki ) of tracking problem (2) and synchronization problem (1),
i=1
(5) where cωki and cP ki are positive control gains, and ωrefk is
N
Pk the frequency reference value for M Gk from the MGC-layer.
s.t. Pki = PLoad ωrefk is sent to the pinned DG units through pinning links. The
i=1
dynamic process of (12) results in ωki of all DG units in M Gk
where PLoad is the total load power in M Gk . The Lagrange
converging to ωrefk and the realization of (8).
multiplier method can be used to solve the optimization prob-
Remark 1: The transients of ωrefk of different MGs could
lem (5). The Lagrange function Lag is constructed as
be different to adjust the power flow of MG. However, they
Nk Nk
!
X X will be synchronized to a common value in the steady state by
Lag = GCki (Pki ) + η PLoad − Pki , (6) the MGC-layer controller as illustrated in Section III.C.
i=1 i=1
2) MG-layer voltage controller: The voltage controller in
where η is the Lagrange multiplier. According to the optimality the MG-layer is responsible for realizing objective (MG-ii),
conditions, we have given by
∂Lag ∂GCki (Pki ) ∗
= − η = 0, i = 1, 2, . . . , Nk . (7) vodki = Vn − nki Qki + λki −hki , (13a)
∂Pki ∂Pki
| {z }
Vf ki
∂GCki (Pki ) ∗
∂Pki is the generation cost increment value (GCIV) of voqki = 0, (13b)
DGki , which can denoted as ηki (Pki ). Then from (7), we have ∗ ∗
where vodki and voqki are the d-axis and q-axis components
ηk1 (Pk1 ) = ηk2 (Pk2 ) = . . . = ηkNk (PkNk ). (8) ∗
of voki . Equation (13a) is transformed from (4) with two addi-
Equation (8) is the equal increment principle (EIP) of economic tional shift variables λki and hki . Note that Vn − nki Qki + λki
∗
dispatch problem to minimize the overall generation cost. is denoted as an intermediate voltage variable Vf ki , and voqki
Thereafter, the optimal active power droop equation can be is set to zero.
designed as λki is determined based on the tracking problem (2), given
ωki = ωn − ked ηki (Pki ), (9) by
where ked is a positive scalar coefficient. In the steady state, dλki X
ωki of all the DG units must be equal [26], and thus ηki (Pki ) = −cvki akij (Vf ki − Vf kj ) + gik (Vf ki − Vf refk ) ,
dt k j∈Ni
are also equal from (9), i.e., equation (8) is satisfied. Therefore,
(14)
the system overall generation cost can be minimized with (9).
where cvki is a positive control gain. Vf refk is the intermediate
In sum, (9) and (4) are the active/reactive power droop
voltage reference for M Gk from the MGC-layer, which is sent
controllers used in this paper for the DG-layer control.
to the pinned DG units through pinning links. The dynamic
B. MG-layer control process of (14) will result in Vf ki of all DG units in M Gk
converging to Vf refk .
For M Gk , the objectives of the MG-layer control are
hki is determined based on the synchronization problem (1),
• (MG-i): enabling each DG unit’s frequency track the refer-
given by
ence value ωrefk from the MGC-layer, while maintaining
the EIP (8) achieved in the DG-layer control; dhki X
= cQki akij (nki Qki − nkj Qkj ), (15)
• (MG-ii): enabling each DG unit’s intermediate voltage dt k j∈Ni
Vf k (defined later) track the reference value Vf refk from
the MGC-layer, while realizing an accurate reactive power where cQki is a positive control gain. The dynamic process of
sharing among DG units based on their capacities, i.e., (15) will impose nk1 Qk1 = nk2 Qk2 = . . . = nkNk QkNk in
the steady state.
nk1 Qk1 = nk2 Qk2 = . . . = nkNk QkNk . (10) Remark 2: Since the consensus regulation of DG output
Based on the lower communication network Gk , the frequen- voltages and an accurate reactive power sharing is contradictory
cy and voltage controllers of M Gk can be designed according [15], this paper preferentially chooses to realize an accurate
to the distributed cooperative control theory. reactive power sharing. Therefore, in (14), the intermediate
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Transactions on Power Electronics
5
voltage Vf ki , rather than the actual output voltage, is regulated 2) MGC-layer voltage controller: The voltage controller in
to the consensus value Vf refk . the MGC-layer is responsible for realizing objective (MGC-ii),
given by
∗
C. MGC-layer control VPCCk = V0β + Tk −Hk , (20)
| {z }
Vsk
The MGC-layer control determines ωrefk and Vf refk for each
MG. The objectives of this layer are ∗
where VPCCk is the reference value for the PCC voltage VPCCk
• (MGC-i): restoring the system frequency to the predefined of M Gk , V0β is a voltage constant (normally set around rated
∗
value ωsys while ensuring an equal generation cost incre- voltage), Tk and Hk are two regulation variables. Note that
ment value (GCIV) among pinned DG units of all MGs; Vn + Tk is denoted as Vsk .
• (MGC-ii): restoring the system critical bus voltage Vcri Tk is determined by
∗
to the predefined value Vcri , providing the voltage control
capability for the PCC voltage of each MG, and realizing
an accurate reactive power sharing among pinned DG dTk X
= −cvk ãkl (Vsk − Vsl ) + g̃k (Vsk − Vsref )(21)
units of all MGs. dt k l∈H
∗ ∗
Without loss of generality, and ωsys Vcri
are chosen as the rated
frequency and voltage values in this paper.
∗
Based on the upper communication network G e among MG Vsref = Vn + kPS (Vcri − Vcri )
Z
agents, the MGC-layer controllers can also be designed based ∗
+kIS (Vcri − Vcri )dt, (22)
on the distributed cooperative control theory.
To facilitate the controller design, we firstly define two
new variables ηk,pin and Qk,pin . From Fig.1, each MG agent In (21), cvk is a positive control gain. Equation (21) is a
collects information from the pinned DG units through pinning tracking problem, which results in Vsk of all MGs converging
k to Vsref . From (22), Vsref is obtained from a PI controller
Denote F as the set of pinned DG units in M Gk , and
links.
F k is the cardinality of F k . Then, ηk,pin and Qk,pin are such that the system critical bus voltage Vcri can recover to its
∗
defined as reference Vcri . kPS and kIS are the proportional and integral
gains of the PI controller.
1 X
ηk,pin = k ηki (Pki ), k = 1, 2, . . . , M, (16) Hk is determined by
|F |
i∈F k
1 X dHk X
Qk,pin = k nki Qki , k = 1, 2, . . . , M. (17) = cQk ãkl (Qk,pin − Ql,pin ), (23)
|F | dt k
k i∈F l∈H
From (16) and (17), ηk,pin and Qk,pin are the average values In (23), cQk is a positive control gain. Equation (23) is a
of ηki (Pki ) and nki (Qki ) of all the pinned DG units in M Gk , synchronization problem, which results in Qk,pin of all MGs
respectively. being equal with each other.
Moreover, at least one MG agent needs to be pinned to Finally, Vf refk is obtained from a PI controller, which can
∗ ∗
receive the system reference value, e.g., ωsys . The pinning gain make VPCCk track its reference VPCCk , i.e.,
g̃k = 1 if M Gk agent is pinned; otherwise, g̃k = 0.
∗
1) MGC-layer frequency controller: The frequency con- Vf refk = V0γ + kP (VPCCk − VPCCk )
troller in the MGC-layer is responsible for realizing objective
Z
∗
(MGC-i), given by +kI (VPCCk − VPCCk )dt, (24)
ωrefk = ωn + Φk , (18) where kP and kI are the proportional and integral gains of
the PI controller, and V0γ is a voltage constant (normally set
around rated voltage).
dΦk X
∗ Remark 3: For each MG, without loss of generality, the PCC
= −cωk ãkl (ωrefk − ωrefl ) + g̃k (ωrefk − ωsys )
dt k voltage VPCCk is selected to be controlled to its reference.
l∈H
X One can also choose another node voltage in the MG to be
−cP k ãkl (ked ηk,pin − ked ηl,pin ). (19)
controlled.
l∈Hk
Remark 4: Since (i) ηk,pin of all MGs are equal with each
From (18), ωrefk is the sum of the rated frequency ωn and other, and (ii) the MG-layer control can ensure (8), it can be
a regulation variable Φk . From (19), Φk is determined based deduced that the GCIVs of all pinned DG units are equal and
on a combination of tracking problem (2) and synchronization furthermore the GCIVs of all DG units in the MGC are equal.
problem (1), where cωk and cP k are positive control gains. Therefore, an economic operation of the whole MGC system
The dynamic process of (19) will result in ωrefk of all MGs can be realized. Similarly, it can also be deduced that nki Qki
∗
converging to ωsys and ηk,pin of all MGs being equal with each of all DG units in the MGC are equal, which results in an
other. accurate reactive power sharing in the whole system.
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Transactions on Power Electronics
6
ηki(Pki)
ω *
sys
nkiQki
... DGki DG-layer control
MG1 ... MGk DGk1
Vcri* ωrefk Ωki ωki voltage &
MGC-layer MG-layer Droop current
Upper cyber
network Controller
Lower cyber
network
Controller λki Controller controller
(11)-(15) *
(18)-(24)
Vfrefk hki
(4),(9) voki
MG2 G MGM DGk2 G
...k DGknk PWM
...
PCCk DGki
Vsys VPCCk ioki voki
Line Lc Lf
Line
CBk Cf
(closed) The rest Local
The rest of Elecrical network
of MGk load
the MGC of MGk
Fig. 2. A block diagram of the pinning-based hierarchical and distributed cooperative control for MGC
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where Ainvki , Binvki , Cinvki , Finvkij , Hinvki and Rinvki are the where YM = (YA − YB YD−1 YC )−1 . Then, from (31) and (33),
parameter matrices and their details are provided in Appendix we have
B. Finvkij represents the correlations among DG units in M Gk
due to their information exchange in the lower communication ∆ioDQ = WINV ∆XINV , WINV = YM LINV . (34)
network. ioDQki is the deviation of the DGki output current
ioki , Fig.2, in the global DQ-frame. There are 6 state variables To describe Vf refk in (29), we focus on the linearized model
of DGki , given by of (24) in the following. Denote ψk as the state variable of (24),
T
i.e.,
∆Xinvki = [∆δki , ∆Pki , ∆Qki , ∆Ωki , ∆λki , ∆hki ] , (28)
ψ˙k = V ∗ − VPCCk ,
PCCk (35)
where the superscript “T ” represents the transpose of a matrix. q
Combination of all the individual DG unit models (28) in 2
where VPCCk = VPCCDk 2
+ VPCCQk . By linearizing (24) and
M Gk provides the small-signal dynamic model of M Gk , given (35), we have
by
∆Vf refk = −kP APCCk ∆VPCCDQk + kI ∆ψk
∆ẊINVk = AINVk ∆XINVk + BINVk ∆ioDQk + CINVk ∆ωg
∗
+kP ∆VPCCk , (36)
+HINVk ∆Vf refk + RINVk ∆ωrefk , (29)
∗
∆ψ̇k = −APCCk ∆VPCCDQk + ∆VPCCk , (37)
T T T
where ∆XINVk = [∆Xinvk1 , ∆Xinvk2 , . . . , ∆XinvkN k
]T
and ∆ioDQk = [∆ioDQk1 , ∆ioDQk2 , . . . , ∆ioDQkNk ]T .
T T T
where ∆VPCCDQk = [∆VPCCDk , ∆VPCCQk ]T , and APCCk is
AINVk , BINVk , CINVk , HINVk and RINVk are parameter the parameter matrix. Since ∆VPCCDQk is part of ∆vN LDQ ,
matrices. based on (32), it can be expressed in terms of ∆ioDQ as
In addition, by linearizing (13) and (26) and then combining
the linearized results of all DG units in M Gk , we have ∆VPCCDQk = ZPCCk ∆ioDQ , (38)
∆voDQk = LINVk ∆XINVk , (30) where ZPCCk can be obtained from Yaug .
where ∆voDQk is the deviation of voki of all the DG units in To describe ∆ωg in (29), we linearize (11) for DG11 . Thus,
M Gk , and LINVk is the parameter matrix. ∆ωg can be expressed as
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MG1 10
1 Lc PCC1
DG11 Line4 19
q
C. Modeling of MGC-layer controller 2
where Vcri = VcriD 2 . By linearizing (22) and (46), we
+ VcriQ
From (20), we have have
∆Vsref = −kPS Acri ∆VcriDQ + kIS ∆ϕ, (47)
Vsk = V0β + Tk . (43)
∆ϕ̇ = −Acri ∆VcriDQ , (48)
For the MGC-layer controller of M Gk agent, linearizing (18), where ∆VcriDQ = [∆VcriD , ∆VcriQ ]T , and Acri is the parame-
(19), (21), (23) and (43) and rearranging the linearized results ter matrix. Since ∆VcriDQ is part of ∆vN LDQ , based on (32),
yield it can be expressed as
X
∆ṠMGk = AMGCk ∆SMGk + FMGCkl ∆SMGl ∆VcriDQ = Zcri ∆ioDQ , (49)
l∈Hk
where Zcri can be obtained from Yaug .
+HMGCk ∆Vsref + EMGCk ∆XINV (44)
Then, substituting (34), (47) and (49) into (45) yields
where ∆SMGk = [∆Φk , ∆Tk , ∆Hk ]T , AMGCk , FMGCkl , ∆ṠMG = AMGC ∆SMG + JMGC ∆XINV
HMGCk and EMGCk are parameter matrices. FMGCkl repre- +kIS HMGC ∆ϕ, (50)
sents the correlations among MG agents due to their informa-
tion exchange in the upper communication network. EMGCk where
represents the correlations from pinned DG units to MG agents JMGC = EMGC − kPS HMGC Acri Zcri WINV . (51)
by the pinning links.
By combining (44) of all the MG agents, we have Moreover, substituting (34) and (49) into (48) yields
∆ϕ̇ = −Acri Zcri WINV ∆XINV . (52)
∆ṠMG = AMGC ∆SMG + HMGC ∆Vsref
+EMGC ∆XINV (45) D. Complete MGC system model
T T T To further formulate the models of (40) and (42), we need
where ∆SMG = [∆SMG1 , ∆SMG2 , . . . , ∆SMGM ]T , AMGC , ∗
to express ∆VPCC and ∆ωref in terms of ∆SMG , which can
HMGC and EMGC are parameter matrices.
be done by linearizing (18) and (20) and then combining the
To describe ∆Vsref in (45), we focus on the linearized model
linearized results of all MGs, given by
of (22) in the following. Denote ϕ as the state variable of (22),
i.e., ∆ωref = Acou ∆SMG , (53)
∗ ∗
ϕ̇ = Vcri − Vcri , (46) ∆VPCC = Bcou ∆SMG , (54)
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DG13 TABLE II
G1 G ENERATION COST PARAMETERS
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Fig. 6. Participation factors of (a) mode 1, (b) mode 3, (c) mode 5, and (d) mode 7, which describe the association degrees between state variables and
modes. The variables in the horizontal axis correspond to the state variables. States ∆δki , ∆Pki , ∆Qki , ∆Ωki , ∆λki , ∆hki , which belong to DG units
(DG11 –DG33 ), mainly correspond to the DG-layer and MG-layer controls. States ∆ψk , ∆Φk , ∆Tk , ∆Hk , which belong to MG agents (M G1 –M G3 ), and
∆ϕ mainly correspond to the MGC-layer control. The vertical axis shows the participation factor value.
TABLE V
D OMINANT OSCILLATORY MODES WITH MGC- LAYER CONTROL
-50 and dampings. The frequency range of modes 1-7 varies from
8.51rad/s to 106.55rad/s, which indicates a “wide-frequency-
-100 band oscillation”. In addition, modes 1-4 are with relatively
-150 low dampings, which may lead to more oscillatory responses
-60 -50 -40 -30 -20 -10 0 10 compared with Case 1.
Real (1/s) 2) Participation Factor Analysis: Participation factor is the
multiplication of the corresponding element in the right and left
Fig. 5. Low-frequency eigenvalue spectrum of the studied MGC system with eigenvectors of the state matrix. It can be used for evaluating
and without the MGC-layer control the association degree between state variables and modes. In
this paper, we perform the participation factor analysis based
on the state matrix Asys in (55).
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Imaginary (rad/s)
contribute to modes 1 and 3. From Table V, modes 1
50 50
and 3 are with relatively low dampings. Therefore, it can
0 0 be deduced that the control layer interaction may result
-50 -50 in low-damping modes.
-100 -100
• Mode 5 is a kind of “DG&MG-layer mode” since the
-150
state variables of DG&MG-layer mainly contribute to it.
-60 -40 -20 0 20 -150 • Mode 7 is a kind of “MGC-layer mode” since the state
-60 -40 -20 0 20
Real (1/s) Real (1/s)
(a) cωk varies from 30 to 200 (b) cPk varies from 35 to 300
variables of MGC-layer mainly contribute to it. From
Table V, the oscillation frequency of mode 7 is the lowest.
120 200
This is because the response speed of the MGC-layer
Imaginary (rad/s)
100
40 separation between MGC-layer and MG-layer.
mode 7
• States ∆Qki , ∆hki and ∆Hk , which are associated with
0 0
the reactive power controllers (15) and (23), are generally
-40 the states with the highest contribution to modes 1,3,5,7.
-100
-80 Therefore, controllers (15) and (23) are the key controllers
-120 -200 which affect the system dynamics most significantly.
-60 -40 -20 0 -60 -40 -20 0 20
Real (1/s) Real (1/s) 3) Sensitivity Analysis–Impact of MGC-layer Control Pa-
(c) cvk varies from 5 to 40 (d) cQk varies from 5 to 40 rameters on System Stability: Fig.7 shows the traces of the
dominant oscillatory modes 1-7 as a function of the MGC-
Fig. 7. Traces of dominant oscillatory modes when (a) cωk varies from 30
to 200, (b) cP k varies from 35 to 300, (c) cvk varies from 5 to 40, and layer control parameters cωk , cP k , cvk and cQk , where the
(d) cQk varies from 5 to 40. Blue circles denote eigenvalues with beginning blue circles denote eigenvalues with beginning parameters, and
parameters, and purple diamonds denote eigenvalues with ending parameters. purple diamonds denote eigenvalues with ending parameters.
Corresponding to Fig.7, Table VI summarizes the variation
TABLE VI trends of the mainly affected modes when increasing the MGC-
VARIATION TRENDS OF DOMINANT OSCILLATORY MODES WHEN
INCREASING MGC- LAYER CONTROL PARAMETERS
layer control parameters. Note that (i) the results of increasing
kP and kPS are shown in Table VI while not in Fig.7 for
Parameter
Mainly Modes variation simplicity, and (ii) parameters kI and kIS have little impact on
affected modes when increasing parameters modes 1-7 and thus their results are not presented. Fig.7 and
cωk modes 5,6 move towards stable region Table VI indicate that
cP k modes 1,2 move towards unstable region
move towards stable region first,
• The system may lose stability with variations of con-
cvk mode 7 trol parameters, i.e., there are eigenvalues located in the
then splits at the real axis
modes 1,2 move towards unstable region right half plane with improper parameters. Therefore, the
cQk control parameters should be carefully selected to ensure
modes 3,4 move towards stable region
kPS mode 7 move towards stable region sufficient stability.
modes 1,2 move towards unstable region • The system dynamics are relatively complex. One param-
kP
modes 3,4 move towards stable region eter may affect different modes, and one mode may be
affected by different parameters, e.g., modes 1 and 2 are
affected by cP k , cQk and kP .
Fig.6 shows the participation factor analysis results for • In particular, Fig.7(d) indicates that increasing cQk has
modes 1, 3, 5 and 7. Note that the results of modes an opposite effect on the variation trends of modes 1,2
2, 4, 6 are similar to those of modes 1, 3, 5 and thus and modes 3,4. Therefore, the selection of cQk should
not presented for simplicity. The variables in the horizon- consider a tradeoff between the dynamic performance of
tal axis of Fig.6 correspond to the state variables. States modes 1,2 and modes 3,4. In addition, cQk is the control
∆δki , ∆Pki , ∆Qki , ∆Ωki , ∆λki , ∆hki , which belong to DG parameter of controller (23), which is a key controller
units (DG11 –DG33 ), mainly correspond to the DG-layer and from the previous analysis. Hence, the selection of cQk is
MG-layer controls. States ∆ψk , ∆Φk , ∆Tk , ∆Hk , which be- of vital importance.
long to MG agents (M G1 –M G3 ), and ∆ϕ mainly correspond In sum, the system dynamics is relatively complicated due
to the MGC-layer control. The vertical axis shows the par- to multiple control layers and control parameters. The above
ticipation factor value. A higher value indicates a stronger analysis can facilitate a better understanding of the system
association between the state variable and the analyzed mode. dynamics and stability characteristics, and also provide a
Moreover, to better understand Fig.6, we take ∆δki as an general guideline for the control parameter tuning. The control
example. For the position of ∆δki in Fig.6, the participation parameter selection can also be formulated as an optimization
factor values of ∆δki of different DG units are stacked together. problem to achieve largest stability margin and best dynamic
The results of Fig.6 are summarized as follows. performance by optimizing control parameters. This research
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1
frequency is maintained at 50Hz.
0.995 • Fig.8(b) indicates that the system critical bus voltage
0.99
exhibits deviations during the DG-layer and MG-layer
controls, while it can be restored to the rated value 1p.u.
0.985 by the MGC-layer controller.
2 8 14 20 26
Time(s) • Fig.8(c) indicates that during the stage of DG-layer con-
(b) System critical bus voltage Vcri (p.u.) trol, the GCIVs (ηki ) of all DG units are equal due
10.5 to the regulating characteristic of droop equation (9).
GCIV ηki ($/kW)
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TABLE IX
PARAMETERS OF DG- LAYER CONTROL FOR EXPERIMENTAL MGC SYSTEM
dSPACE
DS1006
Danfoss nki Pmax Qmax
Parameters ked
Inverters (V/Var×10−3 ) (kW) (kVar)
Resistive
Load DG11 2 6.479 1.8 1.2
Inductive Resistive DG12 2 8.639 1.35 0.9
Load Load DG21 2 6.479 1.8 1.2
DG22 2 8.639 1.35 0.9
TABLE X
Control Lines PARAMETERS OF MG- LAYER AND MGC- LAYER CONTROLS FOR
Desk EXPERIMENTAL MGC SYSTEM
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Frequency (Hz)
50.1
Frequency (Hz)
50.0
50.0
49.7
49.9
49.5
49.8
49.2
50 55 60 65 70 75 80
10 15 20 25 30 35 40 Time (s)
Time (s) (a) System frequency (Hz)
(a) System frequency (Hz)
t3 t4
t1 t2
1.05
Voltage (p.u.)
1.00
Voltage (p.u.)
1.00
0.95
0.90
0.95
50 55 60 65 70 75 80
10 15 20 25 30 35 40
Time (s)
Time (s)
(b) System critical bus voltage Vcri (p.u.) (b) System critical bus voltage Vcri (p.u.)
t1 t2 t3 t4
0.32
η12
GCIV ηki ($/kW)
0.31
GCIV ηki ($/kW)
0.20 Q11
Q12
(kVar)
(kVar)
0.20
Q21 Q21
0.15
Q12
0.10 DG11 DG12 DG11 DG12
Q22 DG21 Q22 DG21
0.04 DG22 0.10 DG22
10 15 20 25 30 35 40 50 55 60 65 70 75 80
Time (s) Time (s)
(d) DG output reactive powers Qki (kVar) (d) DG output reactive powers Qki (kVar)
Fig. 12. Experimental results for Study 1–basic control performance evalua- Fig. 13. Experimental results for Study 2–load change performance evaluation:
tion: (a) system frequency, (b) system critical bus voltage, (c) DG generation (a) system frequency, (b) system critical bus voltage, (c) DG generation cost
cost increment value ηki , (d) DG output reactive powers Qki . The DG-layer increment value ηki , (d) DG output reactive powers Qki . The system is
control is engaged initially. At t=t1 , the MG-layer control is activated, and at operated under the three-layer controls. At t=t3 , Load 4 is switched off. At
t=t2 , the MGC-layer control is introduced. t=t4 , Load 4 is switched on again.
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Link MG2 to
1.05 MG1 fails
reactive power sharing Q11 : Q12 : Q21 : Q22 = 4 : 3 : 4 : 3
across the whole system, Fig.13(d).
1.00
0.30 the lower communication network happens, i.e., the link from
0.28 DG22 to DG21 fails. Subsequently, at t=t6 , Load 3 is switched
off. Then, at t=t7 , a communication link failure in the upper
Link DG22 to Link MG2 to
0.26 DG21 fails MG1 fails communication network happens, i.e., the link from M G2
agent to M G1 agent fails. Finally, at t=t8 , Load 3 is switched
0.24 DG11 DG12 on again. Fig.14 shows that the control objectives in terms
DG21 DG22 of (a) system frequency, (b) system critical bus voltage, (c)
0.22
90 100 110 120 130 GCIV and (d) reactive power sharing can still be realized after
Time (s) communication link failures. This is because the remaining
(c) DG generation cost increment value ηki communication network still contains a spanning tree, and thus
t5 t6 t7 t8
the convergence condition of algorithms (1) and (2) is still
satisfied.
Reactive power
0.20
Remark 5: Switching on and off Load 3 corresponds to a
(kVar)
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Details of the parameter matrices in (27) are provided in (80). Then, LINVk and LINV in (30) and (31) can be expressed as
Moreover, from (58), we have
∆ωki = Dinvki ∆Xinvki Linvk1 0 ... 0
0 L invk2 ... 0
Dinvki = Cpw 1 0 0 1×6 (70) LINVk = .
.. .. ..
..
∆ωg = DINV1 ∆XINV1 . . .
DINV1
= Dinv11 0 . . . 0 1×6N (71) 0 0 . . . LinvkNk 2Nk ×6Nk
1
LINV1 0 ... 0
0 LINV2 ... 0
Thus, DINV in (39) is LINV = .
.. .. ..
(74)
..
. . .
0 0 . . . LINVM 2N ×6N
DINV = DINV1 0 . . . 0 1×6N (72)
∆voDQki = Linvki ∆Xinvki Details of the parameter matrices in the combination model
h i of all individual MGs (40) and (41) and the state-space
Linvki = Ts CP V + Tec 0 Ts DP V 1 Ts DP V 2 equation of ∆ψ (42) are provided in (82).
2×6
Tec = Tc 0 0 (73) For the MGC-layer controller of M Gk agent, linearizing
AP + BP 1 CP V + BP 2 TV−1 0 0 DP BP 1 DP V 1 BP 1 DP V 2
Af Bf 0 0
Ainvki =
Ag 0 Bg 0
Ah 0 0 0 6×6
−1
BP 2 Ts CP 0 0
0 0 0 cωki g k
Binvki = Cinvki = Hinvki = Rinvki = i
0 0 cvki gik 0
0 6×2
0 6×1 0 6×1
0 6×1
0 0 0 0 0 0
0 −2(cωki − cP ki )akij ked αkj 0 c ωki ak
ij 0 0
Finvkij = (80)
0 0 −cvki akij nkj 0 cvki akij 0
0 0 −cQki akij nkj 0 0 0 6×6
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AINV1 0 ... 0 BINV1 0 ... 0
0 AINV2 ... 0 0 B INV2 ... 0
AINV = BINV =
.. .. .. .. .. .. .. ..
. . . . . . . .
0 0 . . . AINVM 0 0 . . . BINVM
6N ×6N 6N ×2N
HINV1 0 ... 0 RINV1 0 ... 0
0 H INV2 ... 0 0 R INV2 ... 0
HINV = RINV =
.. .. .. .. .. .. .. ..
. . . . . . . .
0 0 . . . HINVM 6N ×M
0 0 . . . RINVM 6N ×M
CINV1 HINV1 APCC1 ZPCC1 APCC1 ZPCC1
CINV2 HINV2 APCC2 ZPCC2 APCC2 ZPCC2
CINV = NINV = TPCC = (82)
.. .. ..
. . .
CINVM 6N ×1
HINV1M APCCM ZPCCM 6N ×2N
APCCM ZPCCM M ×2N
JINV kI HINV RINV Acou + kP HINV Bcou 0
−TPCC WINV 0 Bcou 0
Asys = (84)
JMGC 0 AMGC kIS HMGC
−Acri Zcri WINV 0 0 0 (6N +4M +1)×(6N +4M +1)
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third row of EMGCk , the elements corresponding to ∆Qki of (54) are given by
P nki
the pinned DG units of M Gk are cQk l∈Hk ãkl |F k | , and the
Ayy 0 ... 0
elements corresponding to ∆Qli of the pinned DG units of 0 Ayy
nli ... 0
M Gl are −cQk ãkl |F l| .
Acou = . Ayy = 1 0 0
.. .. ..
.. . . .
0 0 . . . Ayy
Then, details of the parameter matrices in (45) are provided
in (83). Byy 0 ... 0
0 Byy ... 0
Bcou = . Byy = 0 1 −1 . (79)
.. .. .
.. . ..
hi
VcriQ0
In (47) and (48), Acri = VVcriD0 cri0 Vcri0
, where VcriD0 , .
VcriQ0 and Vcri0 are the equilibrium point values of VcriD , VcriQ 0 0 . . . Byy
and Vcri . Finally, the detail of Asys in the complete MGC system
model (55) is provided in (84).
Details of Acou ∈ RM ×3M and Bcou ∈ RM ×3M in (53) and
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