Adaptive Droop Control Applied to Distributed

Generation Inverters Connected to the Grid

Juan C. Vásquez, Josep M. Guerrero Eduard Gregorio, Pedro Rodríguez Remus Teodorescu, Frede Blaabjerg
Dept. Automatic Control Systems and Computer Department of Electrical Engineering Institute of Energy Technology
Eng. Universitat Politecnica de Catalunya Universitat Politecnica de Catalunya Aalborg University
Urgell 187-08036-Barcelona, Spain Colom 1-08222-Terrassa, Spain 9220 Aalborg East, Denmark

Abstract-This paper proposes a novel control for voltage

source inverters connected to the grid. The control scheme is II. VOLTAGE AND CURRENT MONITORING AT THE PCC BY
based on the droop method, and it uses some estimated variables USING A SOGI-FLL
from the grid such as the voltage and the frequency, and the The grid characterization technique used in this paper is
magnitude and angle of the grid impedance. Hence, the inverter is
able to inject independently active and reactive power to the grid. based on processing the voltage and current phasors at the
The controller provides a proper dynamics decoupled from the point of PCC between the power converter and the grid. To
grid impedance. Simulation results are provided in order to show monitoring such voltage and current phasors, the frequency
the feasibility of the control proposed. locked loop based on the second order generalized integrator
(SOGI-FLL) is used due to its high precision, low
computational cost and frequency adaptation capability [7].
I. INTRODUCTION A SOGI is a frequency-adjustable resonator which can be
implemented by two cascaded integrators working in a close-
Distributed generation systems and microgrids are taking
loop [8]. Since the SOGI acts as an ideal integrator for a
importance when trying to increase the renewable energy
sinusoidal input at a particular frequency, the adaptive filter
penetration. In this sense, the use of intelligent power
seen in Fig. 1 (SOGI-AF) can be easily implemented. Transfer
interfaces between the sources and the grid is mandatory.
functions of this filter are given by (1), where ω’ and k set the
Usually, in order to inject energy to the grid current-source
center frequency and damping factor respectively.
inverters (CSI) are used, while in island or autonomous
operation voltage-source inverters (VSI) are used [1]. Voltage v′ kω ′s
D( s ) = ( s) = 2 , (1a)
sources inverters are very interesting since they don’t need any v s + kω ′s + ω ′2
external reference to stay synchronized [2], [3]. In fact, they
can operate in parallel with other inverters by using frequency qv′ k ω ′2
Q( s ) = ( s) = 2 , (1b)
and voltage droops, forming autonomous microgrids [4]. When v s + kω ′s + ω ′2
these inverters are required to operate in grid-connected mode,
they often change its behavior from voltage to current sources εv s 2 + ω ′2
E ( s) = ( s) = . (1c)
[5]. To achieve flexible microgrids, which are able to operate v s + kω ′s + ω ′2
2

in both grid connected and island mode, VSIs are required [6].
The droop method can be used to inject active and reactive v εv
power from the VSI to the grid by adjusting the frequency and k ∫
amplitude of the output voltage [2]-[4]. However, the ω′
conventional droop method needs for the knowledge of some v′
parameters of the grid in order to inject independently active ∫ qv′
and reactive power.
In this paper, we propose a control scheme based on the εv
droop method which automatically adjusts their parameters by
using an estimation method of the grid impedance based on Fig. 1. SOGI-based adaptive filter (SOGI-AF)
power variations caused by the VSI at the point of common
coupling (PCC). Transfer functions of (1) reveal that the system depicted in
___________________ of Fig. 1 simultaneously acts as a band-pass, low-pass and
This work was supported by the Spanish Ministry of Science and Technology notch filter on the input signal v. If v is a sinusoidal signal, v’
under grants CICYT ENE 2006-15521-C03-01/CON and ENE2007-67878- and qv’ will be sinusoidal signals as well, being qv’ 90º-lagged
C02-01/ALT. respect v’ independently of both the frequency of v and the

978-1-4244-1666-0/08/$25.00 '2008 IEEE 2420

values of ω’ and
G k. This interesting characteristic is used later
to obtain the V phasor representing the instantaneous voltage
v. The error signal εv is zero when the tuning frequency ω’
matches to the frequency ω of the input signal v. Therefore,
this error signal is used to render the filter frequency-adaptive
by adding an extra frequency-locking loop. Fig. 2 shows the
Bode diagram of E(s) and –Q(s). This diagram reveals that εv
and -qv’ are in counterphase when ω’< ω and they are in phase
when ω’> ω. Therefore, a frequency error signal εf can be
achieved by multiplying both signals, this is:
ε f = − qv′ ⋅ ε v . (2)
The mean value of εf is negative when ω’< ω and vice versa,
being only zero when ω’= ω. Since only the dc-value of εf is of
interest here, a frequency-locked loop (FLL) can be easily
achieved by applying an integral controller with a gain of γ to
this frequency error signal as Fig. 3 shows.
10
0
−Q ( s )
Magnitude (dB)
reference frame. ThereGfore, a crucial issue in the right
detection of the phasor V is that ω’ keeps rigorously equal to
the grid frequency ω through different samples of the voltage
v. When v is transiently altered by any cause, e.g. by the action
of a grid-connected inverter performing droop-control, the
detected frequency ω’ will experiment a transitory evolution
toward the steady state frequency ω. Such transitory values of
ω’ should be discarded by the integration block calculating the
angle θ’. In this work, this feature is achieved by setting a
sampling-time at the input of the integration block higher than
the transitory interval of ω’.
The aforementioned SOGI-FLL is also applied to monitoring
the current
G injected into the PCC i in order to obtain the current
phasor I = id + jiq . The fact that the SOGI-FLL acts as a
selective filter for detecting two in-quadrature output signals,
see (1), is a very interesting feature to attenuate harmonics on
the moniGtored voltage
G and current and accurately detect the
phasors V and I at the fundamental grid frequency.
The detected voltage and current in-quadrature signals

-10
E (s)
-20 should be projected on the same d-q rotating reference frame to
-30 obtain coherent voltage and current phasors. Therefore, as
-40 shown in Fig. 5, the FLL block is only implemented on the
-50 monitored voltage v and the angle θ’ is calculated from the
180
Phase of − Q ( s ) integration of the voltage frequency.
135

εf <0 εf >0
Phase (deg)

90

45 III. IDENTIFICATION OF THE GRID PARAMETERS

0

-45 The general form of the droop-control method results from a

Phase of E ( s )
-90
-1 0 1 2 3 4
linear interpretation of the grid in which distributed power
10 10 10 10 10 10
Frequency (Hz) generators are connected to. Therefore, the grid can be seen
from the PCC of a power generator as a simple Thevenin
Fig. 2. Frequency adaptation principle of the SOGI-FLL
circuit constituted by a grid impedance Zg and a header voltage
Vg. Even though the v-i characteristic of the ac grid can not be
v εv represented by a simple two-dimensional Cartesian plane, Fig.
k ∫ 4 helps to illustrate further explanations about the impedance
ω′
detection method used in this work since it depicts the
v′
relationship between voltage and current phasors at the PCC
∫ qv′ for a particular frequency.
qv′
−1
ω ff
εf ω′ G
εv γ
∫ G
V pcc
ΔV pcc ⎧⎨ G
Fig. 3. Diagram of the SOGI-FLL
G⎩ Zg
G Vg
The voltage phasor V = vd + jvq representing the sinusoidal
voltage v at the frequency ω is obtained by projecting the two G
I pcc
in-quadrature signals [v’; qv’] on a rotating d-q reference G G
⎧
⎨
⎩

frame, that is: I sc ΔI pcc

⎡vd ⎤ ⎡ v′ ⎤ ⎡ cos(θ ′) sin(θ ′) ⎤
⎢ v ⎥ = [Tdq ] ⎢ ′⎥ ; [Tdq ] = ⎢ ⎥, (3) Fig. 4. v-i characteristic of the grid for a particular frequency
⎣ q⎦ ⎣ qv ⎦ ⎣ − sin(θ ′) cos(θ ′) ⎦
where θ’ is obtained by integrating the detected frequency ω’. From the measurement of the voltage and current phasors at
This frequency is the angular speed of the d-q rotating the PCC at two different operating points, linearity in the v-i

2421
characteristic of Fig. 4 allowsG writing (4), (5) and (6) for G IV. ADAPTIVE DROOP CONTROL
estimating the grid impedanceG Z g , the open-circuit voltage Vg , In this section, based on the estimation of the grid
and the short-circuit current I sc of the grid, respectively. parameters provided by the identification algorithm, an
G G G
G ΔV pcc V1 − V2 adaptive droop controller able to inject active and reactive
Zg = Zg θg = G = G G (4)
ΔI pcc I1 − I 2 power into the grid with high accuracy is proposed.
GG G G
G G G G I1V2 − I 2V1 A. Power flow analysis
Vg = Vg φg = V pcc (i ) − Z g I pcc (i ) = G G (5) From Fig. 4 we can calculate the active P and reactive Q
I1 − I 2
G G G GG powers injected to the grid by the VSI [15], [16]
G G V pcc (i ) I 2V1 − I1V2 1
I sc = I sc φsc = I pcc (i ) − G = G G (6) P= ⎡( EV cos φ − V 2 ) cos θ + EV sin φ sin θ g ⎤ (7a)
Zg V1 − V2 Zg ⎣ ⎦
where Z g and θ g are the magnitude and the angle grid 1
Q= ⎡( EV cos φ − V 2 ) sin θ − EV sin φ cos θ g ⎤ (7b)
impedance, respectively. Several techniques for detecting the Zg ⎣ ⎦
grid impedance are either directly or indirectly based on this
where E and φ are the magnitude and phase of the VSI, V is
basic principle. A well known technique consists on processing
the grid voltage respectively. Notice that both expressions
the voltage and current variations at the PCC caused by the
depend highly on the grid impedance (Z∠θ). Consequently, we
connection of different loads [9]. Other techniques process the
propose to transform P and Q to novel variables, which are
voltage at the PCC after injecting noncharacteristic current
independent from the magnitude and phase of the grid
harmonics into the grid [10][11]. There are also techniques in
impedance:
which either nonsinusoidal, amplitude modulated or wideband
frequency currents are injected to the grid for processing the Pc = Z g ( P sin θ − Q cos θ ) (8a)
voltage variation at the PCC [12]-[14]. In this work, the grid Qc = Z g ( P cos θ + Q sin θ ) (8b)
parameters are estimated from the active and reactive power
variations generated by a grid-connected converter in which a
being Pc(s) and Qc(s) the linear compensators of the phase
droop-controller is implemented. The cornerstone of this
and the amplitude. By substituting (7) into (8), it yields the
estimation technique is the accuracy in the on-line
following expressions:
measurement of voltage and currents phasors at the PCC,
which is performed by the system based on the SOGI-FLL Pc = EV sin φ (9a)
described in §II. Fig. 5 shows the whole diagram of the Qc = EV cos φ − V 2 (9b)
algorithm used in this work to identify the grid
G paGrameters.
G It is Note that Pc is mainly dependent on the phase φ, while Qc is
worth to say that the estimated values for Z g , Vg and I sc are depends on the voltage difference between the VSI and the grid
transiently wrong after each change in the grid parameters. (E – V).
These transient values can not be sent to the droop-controller These control variables (Pc and Qc) are independent from the
of the grid-connected inverter. For this reason, a small buffer grid impedance, so we can use them into the droop control
of three rows is added at the output of the grid parameters method to inject active and reactive power.
identification block of Fig. 5. The value of any grid parameter
used by the droop-control only will be updated when the B. Droop control technique
differences between all the three values stored in the three-row In order to inject the desired active and reactive powers
buffer are inside a 5% tolerance band. (defined as P* and Q*), the following droop method which uses
the transformation (8) is proposed
φ = −G p ( s ) Z g ⎡⎣( P − P* ) sin θ g − ( Q − Q* ) cos θ g ⎤⎦ (10a)
i pcc i′ id G
E = E * − Gq ( s ) Z g ⎡⎣( P − P* ) cos θ g + ( Q − Q* ) sin θ g ⎤⎦ (10b)
i ⎡⎣Tdq ⎤⎦ Zg
qi′ iq
ω′ εi G
θ′ Fig. 6 shows the block diagram of the implementation of the
Vg
G droop controller to inject the desired active P* and reactive
v pcc v′ vd
v ⎡⎣Tdq ⎤⎦ I sc power Q*.
qv′ vq
ω′ εv
Gp(s) and Gq(s) are the compensator transfer functions of Pc
θ′
and Qc, respectively
∫ mi + m p s + md s 2
qv′ G p ( s) = (11a)
ω′ ωss′
εv s
ni + n p s
ω′ Gq ( s ) = (11b)
s
Fig. 5. Block diagram of the grid parameters identification algorithm

2422
 Note that in practice the derivative term in Gq(s) is avoided ⎛ mi + m p s + md s 2 ⎞ V sin Φ eˆ( s ) + VE cos Φ φˆ( s )
since it barely affects to the system dynamics. φˆ( s) = − ⎜ ⎟⎟ (17a)
⎜ s 1 + (T 2 ) s
⎝ ⎠
Adaptive
P* ⎛ ni + n p s ⎞ V cos Φ eˆ( s ) − VE sin Φ φˆ( s )
−
Droop
eˆ( s) = − ⎜ ⎟ . (17b)
+ Pc
G p (s) + Controller
⎝ s ⎠ 1 + (T 2 ) s
P
− By combining (17a) and (17b), it can be obtained the
P/Q 
Decoupling E* E ω * following fourth order characteristic equation
Transformation
Q*
− (Eq. 8)  
Vref *
a4 s 4 + a3 s 3 + a2 s 2 + a1 s + a0 = 0 (18)
+ Qc φ
Q Gq ( s ) Vc * = E sin(ω t − φ ) Being
φ a4 = T 2 + 2Tmd VEcosΦ
Zg θg Droop functions

a3 = 4T + 4md n pV 2 E + 2VcosΦ ( 2md E + Tn p + Tm p E )

Fig. 6. Block diagram of the adaptive droop control.
a2 = 2VcosΦ (Tmi E + Tni + 2n p + 2m p ) + 4V 2 E ( m p n p + md ni ) + 4
C. System dynamics a1 = 4VcosΦ ( ni + mi E ) + 4V 2 E ( mi n p + m p ni )
A small signal analysis is provided, in order to show the
system stability and the transient response, allowing the a0 = 4ni mi EV 2
designer to adjust the control parameters [17-18]. Taking into
Where the steady-state values of the active and reactive power
account that P and Q are the average values of instantaneous
are P = P* and Q = Q*, and, from (7), the steady-state phase
active and reactive power p(t) and q(t)
and amplitudes can be calculated as follows
1 t −T
P = vd id + vq iq = ∫ p (t )dt (12a) ⎛ P* sinθ g − Q* cosθ g ⎞
T t Φ = tan −1 ⎜ * ⎟ , (19a)
1 t −T
Q = vq id − vd iq = ∫ q (t )dt (12b)
⎜ P cosθ g + Q* sinθ g + V 2 Z g ⎟
⎝ ⎠ ( )
T t
V cosθ g + PZ g
2
being T the period of the grid frequency. By using the first E= (19b)
order Padé approximation, (
V cosθ g cosΦ + sinθ g sinΦ )
2 − Ts
e −Ts ≈ (13)
2 + Ts
V. SIMULATION RESULTS
the average value P and Q can be expressed as follows
1 − e −Ts 1 The control proposed was tested through proper simulations
P= Pi ≈ Pi (14a) of a single-phase VSI connected to the grid. Table I shows the
s 1 + (T 2 ) s
main control and system parameters used.
1 − e −Ts 1 Fig. 7 shows the transient response of P and Q for changes
Q= Qi ≈ Qi . (14b)
Ts 1 + (T 2 ) s step in P* (from 1500 to 2000 W at t=1s) and Q* (from 500 to
250 VAr at t=2s). Note the good decoupling of P and Q
By substituting (10) into (14), and doing a small signal
injection. Fig. 8 shows the good resemblance between the
approximation in order to linearize the equations, it yields
system phase dynamics and the model (18). The model has
pˆ c ( s ) =
1
1 + (T 2 ) s
(
V sin Φ eˆ( s ) + VE cos Φ φˆ( s ) (15a) ) been proved for wide system parameters, showing its validity.

By using that model, we can extract the root locus family that
qˆc ( s ) =
1
1 + (T 2 ) s
(
V cos Φ eˆ( s ) − VE sin Φ φˆ( s ) ) (15b) can be seen in Figs. 9, 10, and 11, by changing mp, md, and nd.
In order to guarantee the stability condition (input/output
where the low-case variables with the symbol ^ indicate small behavior) of the closed-loop system dynamics, a poles study of
signal values, and uppercase variables are the steady-state the fourth order identified model is employed. The
values. By using (10), (11) and (15), it can be obtained performance of this kind of systems is often viewed in terms of
 ⎛ mi + m p s + md s 2 ⎞ a pole dominance set of it can be seen. In one hand, the A0
φ s( ) = − ⎜⎜ ⎟⎟ pˆ c ( s ) (16a) coefficient of the characteristic equation depends basically of
⎝ s ⎠ mi and ni parameters that influence directly over the fast
⎛ ni + n p s ⎞ response of the system making it more damped. In some
eˆ( s ) = − ⎜ ⎟ qˆc ( s ) . (16b) practical cases is possible to adjust this parameters for fine-
⎝ s ⎠ tuning purposes. The fourth order system can be simplified to a
From (16), it can be derived the following expressions third, second, or even first-order system.

2423
 Fig. 12 shows an example of P dynamics, using the control x 10
-3

10
without and with the Z estimation loop, for grid impedance
variations (R = 1, 2, and 3 Ω). As it can be seen, this loop
8
decouples to a large extend the dynamics from the grid
impedance.
6

Phase [rd]
4
TABLE I. SYSTEM PARAMETERS
Symbol Parameter Value Units
V Grid voltage amplitude 311 V 2

ω∗ Grid frequency 50 Hz Model

Real
R Grid resistance 2 Ω 0
L Grid inductance 3 mH
Z Grid impedance module 2.3 Ω
θ Grid impedance angle 28.8 º -2
0 0.2 0.4 0.6 0.8 1
S Nominal apparent power 4 kVA Time [s]
mi Integral droop Pc coefficient 0.0018 Ws/rd
mp Proportional droop Pc coefficient 0.00005 W/rd Fig. 8. Dynamic response of the system and the model (18).
md Derivative droop Pc coefficient 4·10–7 W/rd·s
ni Integral droop Qc coefficient 0.05 VAr·s/V Roo t Loc u s
np Proportional droop Qc coefficient 0.0004 VAr/V 30

20

λ3
10
Im aginary Ax is
2500

λ1 λ2
0
2000 P
-10
λ4
P [W] & Q [VAr]

1500
-20

1000 -30
-100 -80 -60 -40 -20 0
R e a l A x is

500 Fig. 9. Root locus for 1·10– 6 < md < 4·10– 5.

Q

0
0 0.5 1 1.5 2 2.5 3 Root Loc us
time [s] 1

0.8

0.6

Fig. 7. Transient response of P and Q injected to the grid by the VSI. 0.4
Im aginary Ax is

0.2 λ4
λ1
λ2 λ3
0

- 0.2

- 0.4

- 0.6

- 0.8

-1
- 350 - 300 - 250 -200 -150 -100 - 50 0
Real A x is

Fig. 10. Root locus for 0.0004 < np < 0.01.

2424
 Root Locus
1 reactive power to the grid. The proposed droop control uses
0.8
such parameters to close the loop, achieving a tight P and Q
regulation. Thanks to the feedback variables of the estimator,
0.6
the system dynamics is well decoupled from the grid
0.4
parameters. The results point out the applicability of the
0.2 proposed control scheme to distributed generation VSIs for
Imaginary Axis

λ2 λ3
λ1 λ4
0 microgrid applications.
-0.2
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-0.4
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