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1, JANUARYIFEBRUAKY 1993
136
I. INTRODUCTION
S DC TO AC power converters feeding power to ac supply systems become more numerous, the issues relating
to their control need to be addressed in greater detail. Inverters
connecting dc power supplies to ac systems occur in numerous
applications. Photovoltaic power plants and battery storage
installations are examples of such applications. In either case,
the inverter interfaces could be connected to a common ac
system. Distributed uninterruptible power supply (UPS) systems feeding power to a common ac system are also possible
examples. In addition, over the past several years, there has
been considerable interest in applying inverter technology to
low voltage dc (LVDC) meshed power transmission systems.
The feasibility from the control viewpoint of an LVDC mesh
has been demonstrated in [l]. The transmission system could
typically consist of inverters connected at several points on
the LVDC mesh, providing power to ac systems that could
be interconnected as well. Multiple inverters connected to a
common ac system essentially operate in parallel and need to
be controlled in a manner that ensures stable operation and
prevents inverter overloads. Although inverter topologies used
Paper IPCSD 92-16, approved by the Industrial Power Converter Committee
of the IEEE Industry Applications Society for presentation at the 1991 Industry
Applications Society Annual Meeting, Dearborn, MI, September 28-October
4. This work was supported by NSF grant 8 818 339 and EPRI Agreement
RP7911-12. Manuscript released for publication April 25, 1992.
M. C. Chandorkar and D. M. Divan are with the Department of Electrical
and Computer Engineering, University of Wisconsin, Madison, WI 53706.
R. Adapa is with the Electric Power Research Institute, Palo Alto, CA
94303.
IEEE Log Number 9204199.
clamped (NPC) inverter [3], it is possible to achieve substantial harmonic reduction at reasonably low PWM switching
frequencies.
A standalone ac system may be described as one in which
the entire ac power is delivered to the system through inverters.
In a standalone ac system, there are no synchronous alternators
present in the system that would provide a reference for the
system frequency and voltage. All inverters in the system need
to be operated to provide a stable frequency and voltage in the
presence of arbitrarily varying loads. This paper first develops
a control method for an inverter feeding real and reactive
power into a stiff ac system with a defined voltage, as shown
in Fig. 1. This forms the basis of a control method suitable for
standalone operation. The inverter is a VSI with gate turn-off
(GTO) thyristor switches, operating from a dc power source,
and feeding into the ac system through a filter inductor. In
a standalone system, a filter capacitor is needed to suppress
the voltage harmonics of the inverter. The requirements for
controlling such an interface are described in the next section.
Later sections describe the development of an effective control
scheme to meet these requirements and present simulation
results obtained from the study of a power distribution system
with parallel-connected inverters.
11. REQUIREMENTS OF THE CONTROL SYSTEM
137
P = X!L sin6
Q=
Lf
Lf
- =cos6
w Lf
V
d
1 :Inverter Voltage Vwtor 1
0:
(a)
(b)
Fig. 3. (a) Inverter output voltage vectors; (b) inverter switch positions.
reactive power P* and Q*, the real and reactive power P and
Q fed by the inverter into the ac system can be controlled by
a method that controls the time integral of the inverter output
voltage space vector. This concept has previously been applied
extensively to ac motor drives [ 5 ] , [6]. The entire control of
the inverter is performed in the stationary d-q reference frame
and is essentially vector control. The transformation from the
physical a-b-c reference frame to the stationary d-q-n reference
frame is described by the following equations [7].
138
PI
L o w Pass
Filter
Regulator
flux vector
are defined as
1
t
$du
Vddr
(4)
ac system.
In (9), e, and e d are the q- and d-axis components, respectively, of the ac system voltage vector E. In addition, i, and i d
are the components of the current vector 7. When i , and i d are
expressed in terms of the fluxes, the equation is expressed as
--CO
/
t
$,U
(5)
--CO
The magnitude of
& is
In this expression,
and
are the magnitudes of the ac
system and the inverter flux vectors, respectively, and 6, is the
6, = tan-' (7) spatial angle between the two flux vectors. w is the frequency
of rotation of the two flux vectors. The expression for reactive
The d and y axis components of the ac system voltage flux power transfer for Fig. 1 can be derived in a similar manner.
vector
its magnitude, and angle are defined in a similar This is
and
is defined as
manner. The angle between
3 w
(12)
Q = - -[$U$, COS - 7 / 5 3 .
6, = 6, - Se.
2 L.f
(8)
.I::(
5,
P = -(eqi,
2
+edid).
(9)
6.
139
"
TABLEI
CHOICEOF SWITCHINGVECTOR
Sector No. (Location of
I
z)
I I m r v v v 1
Increase
Decrease &
.ii
33
N
0
10
c>
LIU 0
- 6 00
-2.011
2 00
h v
In
6 00
11
VS
A. Control of $, and 6,
The control of 4, and 6, forms the first level of control
and directly controls the inverter switching. The choice of
the inverter switching vector is made on the basis of the
deviations of $,, and 6, from the set values $: and 6;
and the position of the inverter flux vector in the d-q plane
given by 6,. If the deviation of 6, from 6; is more than
a specified limit, a zero switching vector is chosen. If this
deviation is less than a specified limit or if $, deviates from
$: by more than a specified amount, a switching vector that
increases 6, and changes $, in the correct direction is chosen.
This is essentially accomplished by hysteresis comparators for
the set values and then using a look-up table to choose the
correct inverter output voltage vector. The considerations for
developing the look-up table are dealt with in [ 5 ] . The choice
' 1.694
1l.727
1l.760
1'.794
1l.827
s 1'.860
T *10-1
of inverter switching vector is dictated by the value of 6,.
Fig. 6. Inverter voltage and current waveforms.
The d-q plane is divided into six sectors for 6, as shown in
Fig. 3(a), which also shows the inverter switching vectors.
The inverter switch positions for the vectors are shown in Fig. the power system of Fig. 1 are presented in Figs. 5-7. The dc
3(b). The value of 6, determines the choice of two possible bus voltage is taken to be 10 kV, and the line-to-line voltage
inverter switching vectors apart from the zero vector. One of the ac system is taken to be 3.3 kV rms. The inductor L
vector increases the magnitude $,, and the other decreases is 17 mH. Fig. 5 gives the plot of the locus of the inverter
it, whereas both tend to increase 6,. Thus, to decrease 6,, the flux vector
The locus is seen to be close to a circle since
zero switching vector is chosen. To correct the value of $,,, the magnitude $, is very tightly controlled. Fig. 6 shows the
one of the two active switching vectors is chosen, depending inverter line-to-line voltage ?& and the inverter line current iu
on the sign of the correction required. Table I gives the choice for P* = 1MW and Q* = 500 kvar. Fig. 7 shows the response
of active vectors for given positions of the inverter flux vector, of the inverter to step changes in Q* and P*, successively. It
which is specified by 6,. In this manner, $, and 6, are tightly is noted that there is a disturbance in P when Q* is changed
controlled to lie within specified hysteresis bands by means and a disturbance in Q when P* is changed. In each case, the
of inverter switching. The tip of the inverter flux vector is P-I regulators modify the set values of :
6 and 4,: to main
guided along an almost circular path. Control of $, and 6, the P and the Q at the set values. In addition, the tight contro
in this manner results in a PWM voltage waveform at the of P and Q within limits is apparent from Fig. 7.
inverter output.
I v . CONTROL OF INVERTERS IN A STANDALONE SYSTEM
B. Simulation Results
The control of a single inverter feeding a stiff ac system
-
6.
140
frequency of
are obtained from the outermost loop, which
implements specified droop characteristics for the frequency
with P and magnitude with Q, as mentioned in Section 11. The
entire control is, thus, a three-level structure. The innermost
control level controls
and 6, and is the same as that
described in the previous section. The second level controls
the ac side frequency and the voltage at each inverter and
6 and $: for the innermost level. The
provides set points :
third level computes the set points for frequency and voltage
for each inverter. The two outer control levels are described
below.
A. Control of Frequency and Voltage
ol
0.02
0.06
0.11
0.15
0.20
0.25
ties now forms the basis of the control scheme for multiple
inverters in standalone system environments. The essential
difference in the control scheme is that in the standalone
system, there is no ac side voltage available for reference. The
inverters themselves produce the ac system voltage, which is
fed back to control the inverters. There is thus a possibility
of controlling the voltage and the frequency of the ac system
by inverter control. Fig. 8 shows two inverters feeding into
a standalone ac system. The inverters are interfaced to the ac
system through LC filters. The two inverters are connected by
a tie line, and each inverter has a local load. The dc power
source represents a 10-kV dc power transmission mesh. The
nominal voltage on the ac system is 3.6 kV rms line to line, and
the nominal frequency is 60 Hz. Each inverter is a six-pulse
VSI made up of GTO switches.
Fig. 9 shows the block diagram of the control of inverters
in a standalone system. As in the single inverter case, the two
and 6, for each
variables that are directly controlled are
inverter. Middle control loops are then used to control the
magnitude and angular frequency of the ac system voltage
vector E. The set points f o r the magnitude and angular
CHANDORKAR
et
---
I - - -
---
--
--
I
I
J
,
Feedback ' PandQ &E*=f(Q)
Voltage
Innerbop:
---
Droops
AC System
141
SYStelll
Voltage
Vector
_--
--T--
E*
Inverter
oand
+ Flux
Control
Calc.
Vector
vvand
_--
Sp
---
WV
vv*
Inverter
-1
I
I
Vector
Control
+Inverter
Switches
1-
I
AC System Voltage
Feedback
Inverter Voltage
Feedback
E
Fig. 9. Inverter control scheme-standalone
ac system.
*
0'
sx
(14)
(15)
From Filter
142
Ef = Eo
- n;(Qoi - Q;) = f ; ( P ) .
(17)
Po2 = 0.6
(radls)/W
0.28
U. 24
U.32
U.4U
U.36
MW
mz = -1.75 x
n2
= -2.0 x
(radls)/W
V/var.
O.ZI1
11.24
0.28
0.32
0.36
U.40
' I - L'
U.2U
U.24
0.28
0.32
0.36 S
0.40
V. CONCLUSIONS
[3]
[4]
[5]
[6]
[7]
[8]
143