Hierarchical Coordinated Control of DC Microgrid
with Wind Turbines
Lirong Zhang, Yi Wang, Heming Li, P in Sun
School of Electrical and Electronic Engineering, North China ElectricP ower University, Baoding, China
E-mail: zhanglr19850727@163.com
Abstract-Control and operation of a DC microgrid under various
operating conditions are investigated in this paper. A wind
turbines based DC microgrid configuration is used to accurately
describe different operation modes firstly. For a DC mcrogrid
system, an abnormal DC voltage caused by power fluctuations
can disrupt normal operation or even cause the whole system to
collapse. Therefore, to improve the system stability, this paper
proposes a hierarchical coordinated control strategy according
to the DC voltage variation range. Under any condition, there
must be at least one DC terminal being responsible for DC
voltage control. On this basis, the control method for each power
electronic converter is described under different control levels.
Finally, the validity of the proposed hierarchical control strategy
is demonstrated by simulations on a DC microgrid with wind
turbines using MA TLAB/Simulink in different operation modes,
considering various operating conditions, such as variations of
wind speed and load, AC grid fault, and load shedding.
I. INTRODUCTION
Microgrid has become a main way for integrating
distributed generation and loads, which can reduce the impact
on power system caused by the penetration of renewable
energy systems [ I]. In the microgrid, most of the distributed
power supplies and energy storage system adopt power
electronic converters to connect with grid or loads, which can
improve the stability and flexibility of integrated system
control [2]. Except for some DC sources such as solar cells
and fuel cells, the AC sources with instable voltage or
frequency such as wind turbines and miniature gas turbines,
also need DC link to connect to AC grid. A DC microgrid
refers to a DC distributed power system in which power
sources, energy storage system and loads are connected
together via DC transmission lines. Compared to AC
microgrid, DC microgrid adopts one centralized AC grid­
connected inverter instead of the separate inverter for each
power source, which reduces the cost and loss. Moreover,
there is no need to take reactive power and system frequency
into account. It is helpful to coordinately control system
operation and damp active power fluctuations. Therefore, the
study of DC microgrid has become a new development
direction for the microgrid technology [3].
At present, some research on structures, operation modes,
and control methods for DC microgrid have been done [3-6].
However, the different operation conditions have not been
fully considered, especially the coordination control strategies
under different conditions need further research. For all
978-1-4673-2421-2/12/$31.00 ©2012 IEEE 3547
kinds of renewable energies, wind power generation with
power electronic interfaces is suited to be microgrid power
supply, e.g., direct-drive permanent magnet synchronous
wind generator with simple structure and high efficiency has
faster response than miniature gas turbine and fuel cell. But
because of the high fluctuation of wind energy, it particularly
needs to coordinated control to ensure a stable operation
under the various conditions. Thus, this paper takes the DC
microgrid using wind turbines as an example to develop new
system operation and control method. However, the operation
and control principles will be largely the same for the DC
microgrids using other renewable energy generations.
In the commonly used control schemes [7], the master­
slave control method strongly relies on fast communication
between the master controller and slave controllers, once the
communication fails, the microgrid cannot work normally.
For a DC mcrogrid system, the DC voltage must be well
maintained with a limited variation band under all conditions.
Abnormal DC voltage caused by power fluctuations can
disrupt normal operation or even cause the whole system to
collapse. Therefore, this paper proposes a hierarchical
coordinated control strategy according to DC voltage
variation range. Under any condition, at least one converter is
responsible for DC voltage control.The DC voltage is used as
the control signal for the operating mode switching. Each unit
is controlled independently and each converter switches its
control method by monitoring its own DC voltage instead of
using other communication link. As a result, the central
manager in traditional control is omitted, the system control
structure is simplified, the reliability is improved and the cost
is reduced.
The objective of this paper is to investigate new
coordinated control methods under different operation
conditions for DC microgrid to provide secure and reliable
supply to loads. Firstly, this paper presents a configuration of
DC microgrid with wind turbines, and proposes and analyzes
three different operation modes. Secondly, the three-level
hierarchical coordinated control strategy is proposed. On this
basis, the control method for each power electronic converter
is described under different control levels, including the
control mode switching for each converter when DC voltage
is abnormal. Finally, the simulations are carried out in
different operation modes respectively, considering various
operating conditions such as variations of wind speed and
load, grid AC fault, to validate the proposed hierarchical
control for DC microgrid system.
 II. SYSTEM CONFIGURATION AND OPERATION MODES
The DC microgrid with wind turbines considered is
schematically shown in Fig. I. As for a typical DC microgrid,
it consists of the following four elements.
(I) Generation unit. Each wind turbine using permanent
magnet synchronous generator (PMSG) is connected to the
DC bus via an AC/DC voltage source converter (VSC) W­
VSC. They usually operate at the maximum power point
tracking (MPPT) mode to extract maximum wind power, but
generation curtailment might be required to protect the
system under certain conditions.
(2) Energy storage unit. Battery energy storage (BES) unit
is connected to the DC grid via a bidirectional DCIDC
converter Bi-DCIDC. It can operate at charging mode, and
can also provide necessary DC voltage regulation if needed,
such as AC gird fault or islanding.
(3) Energy consumption unit. DC load is connected to DC
grid directly or via a DCIDC converter. AC load is connected
to DC grid via an ACIDC converter L-VSC. Appropriate load
shedding based on predefined load priority levels may be
necessary to ensure normal operation during the conditions of
insufficient power supply.
(4) Grid-connected converter. The DC microgrid is
connected to power distribution network via a bidirectional
converter G-VSC and a circuit breaker. Grid integration and
islanding operation modes can be achieved by controlling the
circuit breaker on-off. During normal grid integration mode,
the G-VSC is responsible to maintain a constant DC voltage.
Three different operation modes are proposed for the DC
microgrid in this paper.
A. Grid Integration-uncontrolled Mode
This mode refers to AC grid connection operation via the
G-VSc. As the balance node, the G-VSC controls the DC
voltage and can automatically balance any power surplus or
deficit within the DC microgrid through the connected AC
distribution grid, and the required power does not exceed G­
VSC's maximum power limit. Neglecting the power losses,
the power provided by the G-VSC is
(1) BES unit, and the DC voltage will drop. So, load shedding is
1--- - --------------------- - ------------
! PDC_L
: +
!VdC_T�I
l _____ � � \I��
__ __
- _______________________
Fig. 1. System structure of a DC microgrid with wind turbines
3548
where PG, PWT, and PB refer to the power input to the DC grid
from the G-VSC, the wind turbines, and the BES unit,
respectively. PL is the power consumed by DC and AC loads.
Under this mode, the wind turbines track maximum wind
power, the BES unit is charged with constant power in order
to store energy for other modes, and load shedding is not
required.
B. Grid Integration-controlled Mode
This mode refers to the G-VSC limits the exchange power
between the DC microgrid and the AC grid. The G-VSC
operates at current limit mode and becomes incapable of
regulating the DC voltage. Two possible conditions can be
considered, i.e., the exchange power exceeds the G-VSC's
maximum power limit, or a short period AC grid fault results
in AC voltage dip and a significant reduction of the maximum
power transferred by the G-VSc. In order to keep the system
stable, the BES unit must switch its control from charging
mode to DC voltage control mode to balance the power
fluctuation, stabilizing the system at a new operation
condition.The power provided by the BES unit is
(2)
If PB is within the maximum power range of the BES unit,
the DC voltage can be fully regulated. When the BES unit
cannot control the DC voltage because of the large variation
of wind speed and loads or insufficient energy storage, load
shedding or generation curtailment of wind turbines will be
required to keep the system stable.
C. Islanding Mode
This mode refers to disconnection with the AC grid, the
DC microgrid becomes an islanding system and the G-VSC is
no longer in operation. The task of DC voltage control rests
on the BES unit which can balance power fluctuations
through charge or discharge. The required power from the
BES unit is
(3)
However, during conditions of low wind or heavy load, the
battery discharging power may exceed the power rating of the
implemented to prevent the system collapse. Moreover,
prolonged discharge may result in low battery energy storage
and in order to guarantee power supply to the most critical
loads, appropriate load shedding also becomes necessary.
Besides, during conditions of high wind or light load, the
battery charging power or energy storage capacity could also
exceed its rating value. The BES unit cannot regulate the DC
voltage and, thus, the DC voltage increases. Consequently,
the wind turbines generation power should be reduced
initially by using the W-VSC and then the pitch control
mechanism of the wind turbine system.
III. HIERARCHICAL COORDINATED CONTROL
Abnormal DC voltage indicates the power fluctuation
within DC microgrid. The DC voltage can determine the
conversions of both system operation modes and converters'
control methods.The proposed hierarchical control refers to a voltage source control strategy based on AC voltage d-q
multilevel coordination control according to the DC voltage components regulation. Because there is no power source
variation range (LlVdc) of each DC terminal as shown in Fig. 2, voltage for vector orientation, from Fig. 3(d), the voltage
which consists of three control levels. Under each control phase angle Bs used for reference frame transformation is
level, at least one converter is responsible for DC voltage achieved by integrating a constant frequency ill; rather than
control. Each DC terminal works independently and each using conventional phase-locked-loops.
converter switches its control method by monitoring its
B. The Second Control Level
own DC voltage instead of using other communication
The second control level happens during O.OS::S; III Vdcl<O. 1,
links. The three control levels and the control strategies for
corresponding to the situation that the G-VSC is not enable to
each converter under different control levels are described as
control the DC voltage under grid integration-controlled
following.
mode and islanding mode.
A. The First Control Level Under this level, the W-VSC operates at MPPT mode, the
The first control level happens during ILlVdcl<O.OS (in per G-VSC switches from DC voltage control mode to current
unit), corresponding to grid integration-uncontrolled mode. limit operation, and the BES unit must control the DC voltage
The W-VSC operates atMPPT mode. Using the stator flux within a certain level. It can be seen from Fig. 4, a hysteresis
oriented control, the decoupling control of the stator active band is used to avoid unnecessary repetitive control mode
and reactive power is achieved by regulating the q- and d-axis switching during operation. Once the DC voltage at the BES
rotor currents respectively [8]. Fig. 3(a) shows the dual unit terminal exceeds its normal variation band (±O.OS), the
closed-loop control strategy. The inner-loop regulates the BES unit regulates the charging/discharging current in order
stator current, and the outer-loop generates the active power to maintain a constant DC voltage. The DC voltage controller
reference p*opt or the active power current reference tq is also designed using a dual close-loop structure. V*deB is set
according to MPPT control which depends on the rotating at l.OS p.u. or 0.9S p.u. for DC overvoltage or undervoltage
speed Wr ofPMSG.The reactive power current reference td is conditions, respectively, as shown in Fig. 2.
set at zero in stator flux oriented reference frame.
C. The Third Control Level
The G-VSC controls the DC voltage constant. Using the
The third control level happens during 0.1 qLlvdcl<O.IS,
grid voltage oriented control, the decoupling control of the
two conditions can be considered. 0.1 ::S; LlVdc<O.IS
active and reactive power is achieved by regulating the d- and
corresponds to the situation that the battery charging power
q-axis grid currents, respectively [9]. The outer-loop DC
exceeds its rating PB_max or the SOC reaches 80% in grid
voltage controller generates the active power current
reference signal for the inner-loop current regulation as
shown in Fig. 3(b). The reactive power current reference is in
generally set at zero according to the unity power factor
(a)
control.The DC voltage reference V*deG is 1 p.u..
The BES unit is charged with constant current. State of
charge (SOC) refers to energy storage capacity, defined as the
percentage of the rest storage capacity in the rate capacity. In
order to prolong the battery life, the battery energy
management system should limit energy storage and voltage
within a certain range [10-11].The SOC is set at 40%-80% in
this paper. When the SOC reaches 80%, the charging current
is set at zero. The charging control is achieved by regulating
the duty cycle of the Bi-DCIDC as shown in Fig. 3(c).
The aim of the L-VSC is to ensure the output voltage
amplitude and frequency constant. The L-VSC uses the
Fig. 3. Vector control diagrams under the first control level (a) W-VSC (b)

Vdc
G-VSC (c) Bi-DC/DC (d) L-VSC

1.15
Level 3 Wind turbines
1.1
Level 2 BES unit
1.05
1 --Level 1--- G-VSC (a)
0.95
Level 2 BES unit
0.9
Level 3 Load
0.85

(b)
Fig. 2. Hierarchical coordinated control strategy for DC microgrid Fig. 4. Vector control diagrams for Bi-DC/DC under the second control

3549
integration-controlled and islanding modes. Under this
situation, the wind turbines generation power should be
reduced. -0.15<LlVdc::S; -0.1 corresponds to the situation that
the battery discharging power exceeds its rating in grid
integration-controlled and islanding modes, and load
shedding should be implemented. Moreover, the SOC
reaching 40% also need appropriate load shedding.
Load shedding flowchart is shown in Fig. 5, taking four
loads as an example. When discharging power exceeds its
power rating, the BES unit operates at current limit and load
shedding is implemented based on the load terminal DC
voltage VdeL. When VdeL is below 0.85 p.u., the load with
lowest priority is tripped immediately. When the SOC
becomes lower than 40%, V*dc_B decreases to 0.9 p.u. and
remains at this value for a certain period. Subsequently, when
VdeL is below 0.9 p.u., the load with lower priority is tripped.
After a certain period, if the SOC is still below 40%, another
load shedding becomes needed as well. V*deB can go back to
the original value 0.95 p.u. if no further load shedding is
required. A hysteresis band is also used to avoid unnecessary
repetitive switching of the load shedding.
The details of the generation curtailment control, using the
W-VSC and the pitch control mechanism to protect the
system from overvoltage, will be reported in the future.
IV. SIMULATION STUDIES
In order to validate the proposed hierarchical control
strategy, simulation system has been built using
MATLAB/Simulink shown in Fig. 6. ThePMSG-based wind
turbines are rated at 60 kW. A 60 kW W-VSC and a 40 kW
G-VSC are used.The common DC voltage is set at 400 V. Ll
and L2 are constant power type AC loads both rated at 15 kW,
while L3 and L4 are constant resistance type DC loads both
set at 10.6 n. The priorities of Ll-L4 decrease in turn. Ll is
the most important load and cannot be switched out during
operation.The BES unit consists of a 120 VIlOOO A'h nickel­
metal hydride battery and a 30 kW Bi-DCIDC.
Fig. 5. Control flowchart for load shedding
3550
Simulation studies are carried out according to different
operation conditions under three operation modes, adopting
the proposed control strategies for this DC microgrid system.
In order to simulate the conditions of SOC reaching limitation
(40% and 80%), during the simulation, the charging rate and
discharging rate of the battery are set at 1200 times the actual
rate. In the simulation results, the voltage and rotating speed
are given using per unit value, DC bus voltage and rated
rotating speed ofPMSG are selected as base values.
A. Simulation in Grid Integration-uncontrolled Mode
As shown in Fig. 7, when the simulation starts, the wind
speed (v) is 8 m/s. The wind turbines rotor speed (cor) is
around 0.92 p.u. and the wind turbines generate
approximately 20 kW (PWT)' Ll and L3 are switched in, the
total load is about 30 kW (Pd. The initial SOC is 55%, the
battery is charged with constant power about 9 kW (PB), so
the SOC increases accordingly. As the system is grid
connected, the G-VSC outputs power 19 kW (PG) to
compensate the energy deficits. The DC voltage Vdc_G is
controlled by the G-VSC at 1 p.u.
At 6s, the wind speed changes to 11 mls and PWT increases
to 46 kW which is more than loads and battery demand, so
the surplus power 7 kW flows to the AC grid as shown in Fig.
7(e). L2 and L4 are switched in at 8 s and 12 s, respectively.
But the wind speed reduces to 9 mls at 14 s and L3 is
switched out at 16 s. It can be seen clearly from Fig. 7(e) that
the G-VSC adjusts its power output accordingly to maintain a
constant DC voltage of 1 p.u.. At about 12 s, the SOC reaches
80%, the charging power changes to 0, i.e., the charging is
stopped as predefmed. Through the effective control to each
unit, the DC bus voltage Vdc_G is controlled at about Ip.u, and
the DC voltage regulation is less than 2%.
B. Simulation in Grid Integration-controlled Mode
As shown in Fig. 8, the operation performances when the
simulation starts are the same as that in the grid integration­
uncontrolled mode. But at 6 s, a 500 ms three-phase AC fault
results in a large AC voltage dip as shown in Fig. 8(c). This
reduces the exported power by the G-VSC to almost 0 and
causes the DC voltage to drop immediately. As shown in Fig.
8(g-h), once the undervoltage value 0.95 p.u. is detected by
the BES unit controller, its operation mode is automatically
switched to DC voltage control from charging mode and it is
discharged to compensate the power loss caused by the G­
VSC.The DC voltage Vdc_B is maintained at about 0.95 p.u..
At 6.5 s, the AC fault is cleared and the AC voltage quickly
recovers.This causes a rapid increase of the G-VSC exported
power and the DC voltage, as shown in Fig. 8(d-e).
Consequently, the BES unit switches back to charging mode
and the G-VSC regains DC voltage control, Vdc_G is
controlled at Ip.u. again.
At 8 s, the generated power of wind turbines decreases and
L2 and L4 are switched in at 10 s. The G-VSC increases its
power export to balance the extra power demand. However,
the G-VSC rapidly reaches its power limit of 40 kW and can
no longer control the DC voltage, thus, the DC voltage droops.
 - �t- - 61
Grid

m �: �
Z, Z
PW"I j)G

2
11

+ l(
I
dc.... ---l t---.
2 ...-+-{
� � � B B3
t-----r- -,--------+-
I_V�k_WT --- ----I-V.
I _ -;-I
...-·-
-
11 kV
Wind turbines W-VSC G-VSC
60 kW 60kW 40kW

-
m
Fe

� : : :
+

Z 2
FL
I_V"'-R
I-----.... I--I•3 1--+-{I
120V IOOOkh
--;-
--.------
--'- -l
B i-DODC VdCL_I
30kW L-VSC
Fig. 6. The simulated system schematic diagram of the DC microgrid with wind turbines

Subsequently, the BES unit switches to DC voltage control
upon the detection of the low voltage value 0.95 p.u .. Vdc_B is
again kept at 0.95 p.u.. L4 and L3 are switched out at 14 s and
16 s respectively, which results in the total imported power to
the DC microgrid being greater than the loads demand and
the DC voltage rises. Accordingly, the G-VSC and BES unit
switch back to DC voltage control mode and charging mode,
respectively.
C. Simulation in Islanding Mode
As shown in Fig. 9, when the simulation starts, the loads
L l-L4 are all switched in, PL is about 60 kW, and the wind
turbine generates approximately 46 kW. The BES unit is
discharged to compensate energy deficits and controls VdcB
at 0.95 p.u.. At 6 s, PWT drops, so the BES unit increases its
power output. At around 6.1 s, PB reaches the power limit of
30 kW and cannot increase further. As PWT still decreases, the
DC voltage starts to drop due to the power imbalance. Once
the load terminal DC voltage Vdc_L drops to 0.85 p.u. at
around 6.5 s, L4 is tripped immediately.This ensures that the

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2 4 6 10 12
Time (s)
14 16 18 20
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Time (s)
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Fig. 7. System operation performances during grid integration-uncontrolled Fig. 8. System operation performances during grid integration-controlled
mode mode

3551

t :: flEl+1111 1
! :: tiki! ;! !f 1
� i::flvllcplll j
� :� f� • · · · ·.) 1< s
� 20 ••••••. .J 1.· · · ·I< • · · · ·l
.
· · · · · · · · · · · · .. · · · · · , · · · · · · ·
! .:fitIIHLirll
·
1::�il !iJ
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:§ 0.8 5 L-_L-----L-_L-_L-_L-_L-_L-_L-----
2 4 6 8
-.J -l
Fig. 9. System operation performances during islanding mode with load
shedding
total load demand is matched and the BES unit regains
control Vdc_B at 0.95 p.u..
At around 10.5 s, the SOC is reduced to 40%, but the
battery continues to discharge in order to protect the most
important load LI. The BES unit controller thus reduces
V dc_B to 0.9 p.u. as shown in Fig. 9(g). When Vdc_L is less
than 0.9 p.u., L3 is tripped. After tripping L3 for 1 s, the SOC
is still less than 40% and the battery is still discharged, so L2
is tripped. This leaves only the most important load LI to
remain connected to the DC microgrid. The battery can now
actually start to get charged as the wind turbines generate
more power than the load demand, the SOC begins to
increase. At 13 s, after holding Vdc_B at 0.9 p.u. for 2 s, the
BES unit controller returns Vdc_B to 0.95 p.u.. When the
battery capacity returns to a relatively high level, some loads
can be reconnected to the microgrid depending on the specific
system operation requirement.
As seen from Figs. 7-9, the DC microgrid is well controlled
during various operating conditions, and the proposed
hierarchical control strategy is satisfactory.
V.
This paper presents an operation and control strategy for
DC microgrid to provide secure and reliable supply to loads.
Taking a DC microgrid with wind turbines as an example, the
system configuration and three operation modes i.e. grid
integration-uncontrolled mode, grid integration-controlled
mode and islanding mode, are described. A hierarchical
coordinated control strategy according to DC voltage
variation range is investigated in order to maintain a constant
DC voltage under different operation conditions. AC grid­
connected converter (G-VSC) is responsible for DC voltage
control and power balance under the first control level. The
battery energy storage (BES) unit replaces the G-VSC to
regulate DC voltage under the second control level.
Appropriate load shedding and generation curtailment are
required under the third control level. Moreover, the control
method for each power electronic converter is analyzed,
especially the control method switching when DC voltage is
, · · · · · · .. · · · · · · · · , · · · · · .. · . . . . .
:
abnormal. System simulation results corresponding to the
three different operational modes have validated the
feasibility of the hierarchical control strategy proposed for
DC microgrid. Under various operating conditions, such as
variations of wind speed and load, grid AC faults, and
islanding, the system shows the satisfactory operation
performances, thereby improving DC microgrid stability and
supply quality.
ACKNOWLEDGMENT
This project is supported by National Natural Science
Foundation of China (50977028).
.�
10 12 14 16 18 20
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