Direct Model-Based Predictive Control of a Three-

Phase Grid Connected VSI for Photovoltaic Power

Evacuation
Sodiq Agoro
Dept. of Elect & Elect Engr.
University of Lagos,
Akoka, Nigeria.
sodiq.agoro@yahoo.com
Adeola Balogun
Dept. of Elect & Elect Engr.
University of Lagos,
Akoka, Nigeria.
balog975@yahoo.com
Olorunfemi Ojo Frank Okafor
Dept. of Elect &Comp. Engr. Dept. of Elect & Elect Engr.
Tennessee Tech. Uni. University of Lagos,
Cookeville, USA. Akoka, Nigeria.
jojo@tntech.edu cfrankok@yahoo.com

Abstract— This paper presents a direct model predictive for simultaneously controlling the currents and regulating the
method for controlling the grid current of a three-phase input dc voltage of an LCL based grid connected PV power
photovoltaic system. The model of the inverter with an LCL filter system is presented.
in synchronous reference frame is presented in state-space
format. The model predictive control scheme uses a compact cost
function for simultaneously controlling the injected grid current, II. MPPT IN PV POWER SYSTEM
maintaining the capacitor dc-link voltage constant, and Fig.1 shows the topology of PV power plant connected to the
minimizing the switching frequency. Also, the reference signals grid through an LCL filter. The PV array system in this paper
for the control loop are generated in the predictive algorithm
is represented by the approximate diode model given in (1)
rather than through the use of cascaded PI controllers. Results
for the proposed control scheme are presented. [7]. A variable-step incremental conductance algorithm [7] is
used for MPPT.
Keywords— predictive control; photovoltaic system; LCL filter;
cost function.   qV pv + I pv Rs  
I pv = I g − I s  e  nKT  − 1 (1)
 
I. INTRODUCTION  
PV power systems connected to the grid through LCL This method serves to strike a balance between fast dynamic
filters have been proven to offer better performance and optimization and output voltage swing. It uses a fixed large
significant advantage over L-filters and LC filters [1], [2]. The step size in the region of the search algorithm farther from the
traditional approach to controlling these type of system is the point of maximum output. Meanwhile, as the search algorithm
synchronous Proportional plus Integral (PI) control with grid gets closer to the maximum operating point, it switches to
voltage feedforward. Other methods commonly used for variable small step sizes in order to reduce the swing in output
regulating the grid current include stationary Proportional (P) voltage around the MPP.
plus Resonant controller, deadbeat controllers, and hysteresis
For a specific level of solar irradiance, the voltage at the
predictive controllers.
optimal operating point of the PV array provided by the MPPT
Another method known as model predictive control or algorithm is used as reference for directly controlling the dc
receding horizon control uses the model of the inverter and link voltage.
filter to predict the future behavior of the system. In this, a
cost function is minimized to select the best voltage vectors III. CONTINUOUS TIME MODEL OF THE GRID PV INVERTER
for the next prediction horizon which reduces the difference The three-phase mathematical model of the three phase
between the reference signals and the values of the predicted inverter using switching functions is given in (2) to (4).
model. This method has been applied extensively to the V
control of industrial drives and active front end L and LC (
van = dc 2Sap − Sbp − Scp
2
) (2)
filters [3], [4]. In these, the dc voltage source is normally
assumed to be constant or an outer cascade linear PI controller Vdc
is present for regulating the dc voltage of the inverter. In [5] vbn =
2
( −Sap + 2Sbp − Scp ) (3)
and [6], cascade-free methods were used for speed control of
induction and permanent magnet machines. In this paper, Vdc
therefore, a simple and direct multi-loop model based vcn =
2
( −Sap − Sbp + 2Scp ) (4)
predictive method which uses a single compact cost function

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 Fig 1: Topology of the grid connected PV system

Where van, vbn, and vcn are the phase voltages of the inverter,
Vdc is the voltage across the dc-link, and Sap, Sbp, and Scp are IV. DIRECT MODEL PREDICTIVE CONTROL SCHEME
the switching state of the top legs of the inverter. Compact The diagram in Fig. 2 represents the overall architecture of
equations of the front end LCL filter in ‘abc’ and complex the model predictive control scheme. As shown, the frequency
synchronous ‘dq’ frame is also given in (5) to (7) and (8) to of the grid is obtained dynamically through a PLL which
(10) respectively. aligns the grid voltage to the d-axis, i.e. vqg = 0, Vg= v g d .
diiabc The term ‘direct’ stems from the absence of a
viabc = Ri iiabc + Li + v cabc (5) conventional outer-loop cascade with linear PI controllers
dt used in regulating the dc-link voltage of the inverter as given
dv cabc in [3] and [4]. Rather, the reference provided by the MPPT
i iabc = C + i g abc (6) system is directly used to control the inverter dc-link input
dt voltage by including an extra dc voltage term in the cost
di g abc function of the predictive algorithm.
v cabc = R g i g abc + L g + v g abc (7)  Ri −1 
dt − L ω 0 0 0 
 i Li 
 1 
di i dq  −ω −
Ri
0 0 0 −  i
v i dq = R i i i dq + L i − j ω L i i i dq + v c dq (8)  iid   Li Li   id 
dt     i 
 ii q   Rg 1  iq 
  0 0 − ω 0   
dvcdq d  igd   Lg Lg  ig d
(9) = ∗ +
iidq = C − jωCvcdq + ig dq 
dt ig q   Rg 1   ig q 
dt    0 0 −ω − 0  
 vc   Lg L g   vc 
 d   v 
d

di g dq  vcq   1 1
(10) 0 − 0 0 ω   cq 
v c dq = R g i g dq + L g − j ω L g i g dq + v g dq  C C 
dt  
 0 1 1
0 − −ω 0 
The node equation at the input side of the PV system is 
 C C 

given in (11) while the power balance equation between the dc 1   
input and ac output of the system is given in equation (12). L 0  0 0 
 i   
The state space representation of the grid filter variables is  1  
0  0 0 
(13)
thus given in (13) Li   
 
   1 
dVdc (11) 0 0 −
 vi d   L g
0 
I pv = Cdc + Is  ∗ +   vgd 
dt  ∗ 
  v 1   v g q 
0 0   iq   0 −
 Lg 
P=
3
( )
v g i g + v g q i g q = V dc I pv
2 d d
(12)


0 0

 
 0 0 


   
   
0 0  
   0 0 
 

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 * X(k+1) dq
*
Vdc X(k+1)dq
Reference
MPPT Cost Function
Signal Predictive
Algorithm
Generation Minimization Model Vdg θ

Vpv Ipv Vdg Sap Sbp Scp X(k)dq PLL

Inverter LCL Filter Grid

Fig 2: Block diagram of predictive control architecture

A. Reference generation B. Predictive model

Like conventional vector control, decoupled control is The forward Euler approximation in (18) is used in
achieved with the alignment of the grid voltage along the d- mapping the continuous time, (CT) models derived earlier in
axis. Therefore, the decoupled power control is achieved such (13) to a discrete time (DT) model. Here, x ( k + 1) represents
that the real power injected into the grid is controlled by the the future value of the variable, x(k ) is the value of the
d-axis grid current, ig while the reactive power injected is
d
variable sampled at the k th instant, while Ts is the sampling
controlled by the q-axis grid current, ig q .Thus, using (12), the
period. Therefore, applying (18) to the CT state space model
reference for the grid d-axis current, i * g d , is obtained in (14). in (13) gives the predictive model in (19) which is used for
2V *dc (k ) I pv (k ) closed loop predictive control.
i * gd (k ) = (14)
3v(k ) gd
dx x( k + 1) − x( k )
In (14), V * dc ( k ) is the reference voltage that is provided by ≈ (18)
dt Ts
the MPPT stage of the PV system at the present sampling
instant, i pv (k ) is the measured input current, and v g (k ) is the
d
 iid (k +1)   iid (k ) 
measured grid voltage. Meanwhile, the grid q-axis current  i (k +1)   i (k ) 
 iq   iq 
i * g q ( k ) is set to zero to ensure unity power factor operation. igd (k +1) igd (k )  vid (k ) vg (k )
Also, (10) is used to obtain the reference for grid filter   = [Φ]∗   + [Ψ] ∗   + [Η]∗  d  (19)
capacitor voltage reference, v * cdq ( k ) in (15). Here, the time igq (k +1)  igq (k )  viq (k) vgq (k)
vc (k +1) vc (k )
varying differential term is set to zero since i* g dq are constant  d   d 
quantities. vcq (k +1) vcq (k )

v * cdq (k ) = R g i * g dq ( k ) − jω ( k ) L g i * g dq ( k ) + v g dq ( k ) (15) where

 RiTs − Ts 
Similarly, using (9), the reference for the inverter side  1− ω(k )Ts 0 0 0 
*  Li Li 
current, i idq , is given in (16 ) .
 RiTs T 
− ω(k )Ts 1−
Li
0 0 0 − s 
Li  ,
i *
idq (k ) = − jω (k )Cv *
c dq (k ) + i *
g dq (k ) (16) 
 Rg Ts Ts 
 0 0 1− ω(k )Ts 0 
Lg Lg
The future values of the references in (14), (15) and (16) are [Φ] =  Rg Ts

then obtained using the generic first order Lagrange  Ts 
 0 0 − ω(k )Ts 1− 0
extrapolation formula in (17). Lg Lg 
 
 Ts Ts 
0 − 0 0 ω(k )Ts 
x* (k + 1) = 2 x* (k ) − x* (k − 1) (17)  C C
 
 Ts Ts 
where x*, represent any reference variable of interest, x*(k+1)  0 − − ω(k )Ts 0 
is the future reference, x*(k) is the current reference value at  C C 
th
the k instant, and x*(k-1) is the reference in previous
sampling instant.

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  Ts  VI. RESULTS AND DISCUSSION
L 0
 i    The proposed direct model predictive scheme is simulated
Ts   0 0 
0   in MATLAB/SIMULINK environment. The simulated system
 Li  &  0 
   0 
is such that a 100KW, 800Vmp PV system is connected to the
0 0   grid through an LCL filter. The PV array is made up of series
 − Ts
[Ψ ] =    Lg
0 
 and parallel string connected Sunpower SPR-415-E-WHT-D
0 0 [Η] =  T
 solar panels. The parameters of the grid filter and the
   0 − s
 Lg  converter is given in Table 1.
0 0  
The phase voltage, grid side current and inverter side
   0 0 
    current waveforms obtained using the control scheme is
0 0  
shown in Fig 3 Fig. 5 and Fig. 7 while their respective
   0 0 
  spectrum results are shown in Fig. 4, Fig. 6, and Fig. 8. It is
indicative in the spectrum results that the harmonic content of
In order to develop the dynamic model predictive control
the state variables are minute. The injected grid voltage has a
the dc-link voltage, equation (18) is also applied to CT model
THD value of 4.41%, while the grid side current and inverter
of (11) to obtain the discrete model in (20).
side current have THD values of 6.03% and 6.31%
T 
Vdc ( k + 1) = Vdc ( k ) + s  I pv ( k ) −
3
(vid (k )igd (k ) ) (20) respectively.
C 2Vdc 
If it is assumed that the resistance of the filter is very small or The phase voltage of inverter before filtering is shown in
negligible, the grid voltage, v g (k ) is thus approximately Fig. 9. The synchronous grid currents tracking their respective
d
references are shown in Fig. 10, Fig 11 and Fig. 12, for a
equal to the converter voltage, vi (k ) . In this way, the gradual ramp change in PV input. The q-axis current of Fig.
d

dynamics of the input capacitor voltage is captured in the
converter’s voltage selection when included in the cost
function. This method removes the need to include an outer-
loop cascade PI controller used for regulating the dc-link
voltage.
10 is maintained at zero for unity power factor operation. The
dc-link voltage waveform is also shown to be constant and
controlled to the maximum operating voltage of the PV array.
Table 1: Converter and Grid Filter Parameter

Dc link Capacitor 10000[µF]

V. CONTROL COST FUNCTION
Sampling period 1e-5[s]
The major control objectives of the system are to control Converter side Inductor 3.3[mH]
the inverter side and grid side inductor current, regulate the Filter Capacitor 10[µF]
filter capacitor voltage and ensure MPPT operation of the
Damping Resistor 10[Ω]
inverter through dc-link voltage control, while the secondary
control objective is to maintain a reduced switching frequency Grid side Inductor 1.8[mH]
during its operation in order to limit losses. Therefore, the
compact control cost function used for the overall control
scheme is given in (21).
ζ = λi i*i (k +1) − ii (k +1) + λi i*i (k +1) − iiq (k +1) +
d d q

λg i*g (k +1) − ig (k +1) + λg i*g (k +1) − ig (k +1) +

d d q q
(21)
λVc v (k +1) − vc (k +1) + λVc v (k +1) − vc (k +1) +
*
cd d
*
cq q

λVdc V *dc (k +1) −Vdc (k +1)

The variables with ‘*’ index are the dynamically generated

reference signals. The cost function contains seven different Fig. 3: Inverter three-phase output phase voltage
terms with four weights, which are: λi , λg , λVc and λVdc .
The weights are carefully selected to be larger than zero to
ensure operation stability of the dynamic predictive control
system.

978-1-5386-6705-7/18/$31.00 ©2018 IEEE

Mag

Fig. 4: Spectrum of Inverter output voltage Fig. 8: Spectrum of inverter side inductor current

Fig. 5: Grid side inductor current Fig 9: Phase voltage of the inverter

Fig 10: grid q-axis current

Fig. 6: Spectrum of grid side inductor current

Fig. 11 reference and actual d-axis current of the grid side inductor
Fig. 7: Inverter side inductor current

978-1-5386-6705-7/18/$31.00 ©2018 IEEE

 [5]. E. Fuentes, C. Silva, D. Quevedo, and E. Silva, “Predictive speed
control of a synchronous permanent
magnet motor,” IEEE International Conference on Industrial
Technology, ICIT 2009, 2009, pp. 1–6.
[6]. S. Bolognani, L. Tubiana, and M. Zigliotto, “Extended Kalman
filter tuning in sensorless PMSM drives,”
IEEE Transactions on Industry Applications, vol. 39, no. 6, pp.
1741–1747, November/December 2003.
[7]. B. Isaloo, P. Amir, “Improved variable step size incremental
conductance method with high convergence speed for PV system”
Journal of Engineering Science and Technology Vol. 11, No. 4
(2016) 516 – 528.
Fig. 12 reference and actual d-axis current of the inverter side inductor.
[8]. F. Liu, S. Duan, F. Liu, B. Liu, and Y. Kang, “ A variable step
size INC method for PV system” IEEE Transactions On Industrial
Electronics, VOL. 55, NO. 7, JULY 2008.

Fig. 13 Capacitor dc voltage.

VII. CONCLUSION
A direct model based predictive control scheme has been
developed for a three-phase grid-connected photovoltaic
voltage source inverter. The system was simulated for direct
utilization of the solar power without any storage means. The
minimization of the proposed cost function was shown to be
effective in ensuring that the actual state variables track their
respective references, which is indicative of an excellent
dynamic operation. Furthermore, the inclusion of the dc-link
voltage control error in the cost function formulation was
successful at enforcing the MPPT voltage of the PV array.

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978-1-5386-6705-7/18/$31.00 ©2018 IEEE