HICSS-34 Tutorial 14 January 3, 2001

mGrid Operation and Control

PSERC

Robert H. Lasseter
University of Wisconsin

Giri Venkataramanan
University of Wisconsin

A. P. Sakis Meliopoulos
Georgia Institute of Technology
© 2001 University of Wisconsin Board of Regents

University of Wisconsin and Georgia Institute of Technology 1

HICSS-34 Tutorial 14

Micro-Grid Operation and Control

Robert H. Lasseter University of

Wisconsin
A.P.Sakis Meliopoulos Georgia Institute of
Technology
Giri Venkataramanan University of
Wisconsin
R.H.Lasseter University-of-Wisconsin
PSERC
Outline
1. Overview of Micro-sources (1/2 hr)
2. Problems and Issues related to
Distribution Systems (1 hr)
3. Power Electronics (1hr)
4. Operation and Control of Micro-Grids
Needs and Challenges (1/2Hr)

R.H.Lasseter University-of-Wisconsin
PSERC
 Power Generation Applications
100s MWs kWs
Power Generation

Central Plant Distributed Generation

1 MW
T/D grid On site generation
•Peaking •Back-up power
units: •Local power & heat
•Cost •Isolated site
deferrals: •Local voltage support
•Voltage •Cost reduction
support: •Load management

Micro Grid

R.H.Lasseter University-of-Wisconsin
PSERC
 Micro-Turbine Basics

Hot Air
Recuperator

Turbine
Generator Air

Power
electronics
Compressor
3 Phase ~ 480V AC
R.H.Lasseter University-of-Wisconsin
PSERC
70kW Micro turbine

•Installed at $1000/kW
(target is $350/kW)
•Efficiency 30%
•Air foil bearings
•expect in excess of
40,000 hours of
reliable operation.
•Operation speed
90,000-100,000 RPMs
R.H.Lasseter University-of-Wisconsin
PSERC
Fuel cell System

R.H.Lasseter University-of-Wisconsin
PSERC
 Automotive Influence on Fuel Cell
Development
Experimental Prototype F.C.
F.C. car cars (G.M., D- Production of
(Toyota) C., Toyota) F.C. vehicles

1997 2000 2005

Daimler-Chrysler Fuel cell buses

$324 million commonplace
investment

Car Fuel Cells must be under

$100/kW

R.H.Lasseter University-of-Wisconsin
PSERC
Ballard PEM Fuel Cell

R.H.Lasseter University-of-Wisconsin
PSERC
7 kW Plug Power System
PEM Fuel Cell/water heater

QuickTime™ and a
Photo - JPEG decompressor
are needed to see this picture.

R.H.Lasseter University-of-Wisconsin
PSERC
Distributed Generation
Business Characterization
U. S. Electricity Market $250 Billion Per Year
Distributed Generation Expected to Capture 10-
20% of Market in 10 years
Players - Illustrative List
Allied-Signal
• Micro-Turbines
Siemens
• Fuel Cells
Solar Turbine/Caterpillar Tractor
• Engines/turbines
Capstone Turbine
• Micro-Turbines
GE
• Fuel Cells/Turbines
Others - Ballard, Allison, Williams, Plug Power, PowerCell
R.H.Lasseter University-of-Wisconsin
Commercial Units/Packaged Solutions Coming to Market PSERC
 Generation Efficiencies

1 MW

70%

With CHP Hybrid

60%
CHP Fuel cell CCTG
50% Fuel Cell

40% Micro Gas

Turbine Turbine
30% Reciprocating Old
Engines steam
20%
10kW 100kW 1 MW 10MW 100MW 1000MW
R.H.Lasseter University-of-Wisconsin
PSERC
On Site Generation
Efficiencies
Microturbine 30-200 kW 30/80%
PA Fuel Cells 200-2000 kW 40/78% Power
PEM Fuel Cells 5-250 kW 40/78% Electronic
Hybrid FC/MT 200-2500 kW <70%
interface

Roof top PV 1-10 kW

Recip Engine 0.5-4 MW 38/80%

R.H.Lasseter University-of-Wisconsin
PSERC
 Factors Impacting Grid
Connectivity
GENERATOR TYPE Synchronous - hydro, engine-driven
Induction - wind turbines, small hydro
Power electronic - micro turbines, fuel cells,
self-commutated
line-commuted

Transmission > 66 kV
INTERCONNECTION Sub transmission 24-66 kV
VOLTAGE Distribution 4-16 kV
Customer 120-480 V

Rating Small
GENERATOR
Fault Current
ELECTRIC Islanding
CHARACTERISTICS Voltage Control

R.H.Lasseter University-of-Wisconsin
PSERC
Micro-source Issues
• Low power < 100 kw
• Low voltage 120-480 volts
• Inertia-less
• Power electronic interface
• Interconnection cost
• Control (large numbers)
• Market interactions

R.H.Lasseter University-of-Wisconsin
PSERC
 Micro Source Dynamics
DC Bus AC

AC
Generator
DC

• Type of Inverter
• Response of “Prime Mover”

R.H.Lasseter University-of-Wisconsin
PSERC
 Inverter P-Q response

CSI - Line
Commutated
Line Commutated
pu
VSI - PWM
with
P
Voltage
Linecontrol
&
Q

R.H.Lasseter Time seconds

University-of-Wisconsin
PSERC
 20 sec

R.H.Lasseter University-of-Wisconsin
PSERC
 Micro-Source Dynamics
DC Bus AC
AC
Power Source
DC

Power Micro-turbine Fuel Cells

1.0 20-100 seconds
0.5

0.0
10 20
time sec.
R.H.Lasseter University-of-Wisconsin
PSERC
Load Tracking Problem
Power electronics
– Inertia-less system
– Fast response
Instantaneous power balance
– Connect to grid
– Use storage on dc bus
– Storage on the ac bus
– Include rotating machines in Micro-grid

R.H.Lasseter University-of-Wisconsin
PSERC
Quality of Power Perspectives
UTILITIES
There are less than four
interruptions per year
with a cumulative
interrupted average of
less than 2-hours/year
95 percent of
interruptions are due to
faults or outages on the
T/D system
80 percent of the
interruptions are due to
distribution system
components
R.H.Lasseter
University-of-Wisconsin
CUSTOMER’S
Electricity problems
disrupting equipment and
production are originated
by voltage sags, with
duration less than 1/2
second
There are about 10-15
times per year that voltage
sags occur with the
voltage dropping below
70%
Production equipment
contains electronics
sensitive to power quality
problems
PSERC
Micro-grid concept assumes:
• Large clusters of micro-sources and
storage systems
• Close to loads with possible CHP
applications
• Provide Quality of Power required by
Customer
• Presented to the grid as a single
controllable unit (load & source)

R.H.Lasseter University-of-Wisconsin
PSERC
Load Control using a
Connected Micro Grid

Load control
Pload

Control P set point

R.H.Lasseter University-of-Wisconsin
PSERC
Next

1. Problems and Issues related to

Distribution Systems Power
2. Power Electronics Sources

R.H.Lasseter University-of-Wisconsin
PSERC
 mGrid Operation and Control

Problems and Issues

Related to
Distribution Systems

A. P. Sakis Meliopoulos
Georgia Institute of Technology

Tutorial 14
HICSS-34
Jan 3, 2001
PSERC
Georgia Tech 1
The mGRID Concept – Distribution System Backbone
Photovoltaics

Interface
Protection

RTU Converter

CATV&
Micro-Grid Management Communications
System RTU

RTU

Data
Aqcuisition Sensitive Load
Control

RTU
Static
Conditioner
Fuel Cell

Variable
Speed
Drives

Converter
Interface
Protection
Interface

PSERC
Protection

Converter Microturbine / Generator

Georgia Tech 2
Distribution System Backbone Issues

Safety
Voltage Profile
Power Quality
Reliability
Protection
Unbalance/Asymmetry
Stray Voltages and Currents
Electromagnetic Compatibility Issues
Non-autonomous/Autonomous Operation
PSERC
Georgia Tech 3
 Safety Ventricular Fibrillation

calves
Let-Go Current

sheep

pigs
300

Fibrillating Current (mA RMS)

100
Minimum
Fibrillating

Ferris Dogs
200 Current (0.5%)
80
Let-Go Current (Milliamperes) - RMS

Kiselev Dogs
Dogs
60
100
Maximum
40 Non-Fibrillating
Current (0.5%)
99.5%

Dangerous Current 50% 0

0.5%
20 0 20 40 60 80 100
Let-Go Threshold
Body Weight (kg)
Safe Current
0
5 10 50 100
Frequency (Hz)
500 1000 5000
PSERC
Georgia Tech 4
 The Electrocution Parameters

A1 A2

rbody

A1 A2

Veq
req
PSERC
Georgia Tech 5
Applicable Standards (IEEE & IEC):
Non-Fibrillating Body Current as a Function of Shock Duration

PSERC
Georgia Tech 6
Earth Current / GPR / Worst Case Condition

P ro g ra m X F M - P a g e 1 o f 1

c : \ w m a s te r \ ig s \ d a t a u \ g p r _ e x 0 1 - M a y 1 4 , 2 0 0 0 , 0 1 : 5 1 :4 4 . 0 0 0 0 0 0 - 2 0 0 0 0 0 . 0 s a m p le s / s e c - 2 4 0 0 0 S a m p le s

P h a s e _ A _ L in e _ C u r r e n t_ _ B U S 1 0 (k A )
2 .5 0 1

1 .6 9 4

8 8 7 .3 m

8 0 .7 6 m

-7 2 5 .8 m

-1 .5 3 2

-2 .3 3 9

-3 .1 4 6

-3 .9 5 2
E a r t h _ C u r r e n t _ _ G r o u n d _ a t _ B U S 2 0 (k A )
1 .0 5 2

7 1 7 .1 m

3 8 2 .5 m

4 7 .8 1 m
Important Issues
-2 8 6 .8 m
Grounding and Bonding
-6 2 1 .5 m

-9 5 6 .1 m Single Ground/Multi Ground

-1 .2 9 1

-1 .6 2 5
Load/DER Configuration
4 4 .0 2 0 4 4 .0 4 0 4 4.06 0 4 4 .0 8 0 4 4 .1 0 0 Transmission Interconnection

PSERC
Georgia Tech 7
 Power Quality
Disturbances
Lightning
Switching
Power Faults
Feeder Energization inrush currents, Motor Start
Loading imbalance
Harmonics, Resonance
EMI

Impact on End User

Voltage Distortion, Sags, Swells, Outages and Imbalances

Design Options
Configuration
Grounding
Overvoltage Protection (arresters), Fault Protection
Use of Steel/Aluminum conduit, Etc.
PSERC
Georgia Tech 8
Lightning Caused Voltage Sags, Swells and Outages

S
wf

A B C
N
S

dt

PSERC
Georgia Tech 9
Lightning Caused Voltage Sags, Swells and
Outages

Effects of Grounding and Protection

PSERC
Georgia Tech 10
Voltage Sags & Swells and Grounding

R0/X1
6
Coefficient of
5
95/164 Grounding
100/173

actual
4 VLG
90/155
C g
= no min al
3 VLG
85/147
2
80/138
1 75/129

70/121
X0/X1

PSERC
0 1 2 3 4 5 6
57/100 65/117

Georgia Tech 11
 Voltage Sags & Swells During a Ground Fault A

V A A

V A

V A A

L R

B U S 10 B U S 20 B U S 30 B U S 40

V A

V A

Transmission Line Voltage & Current Profile Close V A

Distribution Line, 12 kV
Comments
Displayed Quantity Voltage Reference Nominal Voltage Plot Mode
Volt age Remote Earth Absolute
Neutral
6.92 kV (L-L) The Data of the Figure can
Current Deviation
Ground
be used to generate
Distance
nomograms and statistical
2.00
1.250 distributions of voltage sags
0.00 _A
and swells for a specific
-5.810 location (IEEE P1346)
Voltage (kV)

-2.00 _B
0.3334 A better approach is outlined
-4.00 _C next
_A 0.9744
-6.00 _B _N
_C
0.00
_N
-8.00
0.00 0.75 1.50 2.25 3.00 3.75
BUS40
Program IGS - Form CODE_102A
Distance (miles) BUS50
PSERC
Georgia Tech 12
 Statistical Distribution of Voltage Sags/Swells
4.0
Fuse
Arrester

3.0
Transformer L1 Sensitive
N Electronic
L2 Equipment
G

Voltage (kV)
Ground Loop
2.0
Ground Rods

1.0
Probabilistic Approach to Power Quality
Analysis

PQ Characterization

PSERC
106 105 104 103 102 10 1 0.1 0.01
Design Options for PQ Enhancement Frequency (Hz)

Georgia Tech 13
 Ferroresonance
5
Comments
2 PHASES
4 ENERGIZED Resonance Between the
Inductance of a Steel Core
and the Circuit Capacitance
Maximum Overvoltage (pu)

3
Vulnerable Systems:
Medium Voltage Cable with
1 PHASE
ENERGIZED
Transformers/Regulators
2
Cases of “Stuck” Pole –
Single Phase Protection
1

0
0.1 1 10 100 1000
Capacitive/Inductive Impedance Ratio PSERC
Georgia Tech 14
 Comments
Harmonic Resonance
Harmonic Resonance Has
Multiple Modes and
Resonance Frequencies
BUS100

BUS90
System May Be Vulnerable
1 2
BUS80
BUS110
When Resonance Coincides
BUS120
BUS30 BUS40 with a Harmonic Frequency
BUS50

BUS60

BUS70
When Problem is Known,
Solution is Very Simple -
Detuning
Frequency Scan At 2-Node Port: BUS70_A to BUS70_N Positive Sequence Frequency Scan at Bus BUS70/ P
Impedance Magnitude Impedance Magnitude
1000 1000 Frequency
Frequency
(Hz) (Hz)
334.5 100 334.5
Magnitude (Ohms)
Magnitude (Ohms)

100

Magnitude 10.0
Magnitude
(Ohms) (Ohms)
10.0 163.4 872.1
1.00

1.00 0.100
0.00 400 800 1200 1600 2000 Table 0.00 400 800 1200 1600 2000 Table
Frequency (Hz) Frequency (Hz)
Impedance Phase Impedance Phase
120 150 Frequency
Frequency
(Hz) (Hz)
80.0 75.0
334.5
Phase ( Deg)
Phase ( Deg)

40.0 0.00
Phase Phase
(Degrees) (Degrees)
0.00 -75.0
5.501
-40.0 -150

PSERC
-80.0 -225
0.00 400 800
Frequency (Hz)
1200 1600 2000 Close 0.00 400 800
Frequency (Hz)
1200 1600 2000 Close
Pro gram WinIGS - Fo rm FSCAN_RES Pro gram WinIGS - Fo rm FSCAN_RES

Georgia Tech 15
Reliability
Reliability Indices for Distribution Systems Reliability Measures
(Utility Perspective) (Customer Perspective)

SAIFI: System Average Interruption Frequency Index Voltage Sags

(interruptions/year and customer) Voltage Swells
Total Number of Customer Interruptions per Year
SAIFI =
Total Number of Customers Served
Momentary Outages
Load Interruption
SAIDI: System Average Interruption Duration Index
(hours/year and customer) EMI
Total Number of Customer Interruptions Durations per Year
SAIDI =
Total Number of Customers Served
Comments
CAIDI: Customer Average Interruption Duration Index
(hours/interruption) Good Methods for Utility
Total Number of Customer Interruption Durations per Year Applications Exists
CAIDI =
Total Number of Customer Interruptions
(Markovian)
ASAI: Average Service Availability Index
End User/DER Methods
Total Customer Hours Service Availability per Year
ASAI = Needs Further Research
Customer Hours Service Demand
(NonMarkovian Processes) PSERC
Georgia Tech 16
 Cost of Reliability
Example
Power requirements: 3000 VA power
Average power consumption is 2000 Watts
Power utility reliability: SAIFI = 1.5, SAIDI = 45, Momentary = 30
Sector customer damage function: commercial per Table Below

Calculations
MWhrs consumed: 17.52
Cost of two 20 minute outages: (3.0)(17.52)(2) = 105.12
Cost of five 1 minute outages: (1.0)(17.52)(5) = 87.60
Cost of momentary: (1.0)(17.52)(30) = 525.60
Annual cost of interruptions: 718.32

Comments
Cost of utility power (assuming $0.10 pwr kWhr): $1,752 per year

Survey of Cost of Interruption Sector Customer Damage Function ($/MWhr)

Sector\Duration Mom 1 Min 20 min 1 hr 4 hr 8 hr 24 hrs

Residential 0 0 0.1 0.4 3.0 6.0 20
Commercial 1.0 1.0 3.0 10.0 36.0 74.0 94.0
Industrial
Large User
6.0
2.0
6.0
2.0
13.0
2.0
24.0
3.0
64.0
3.0
106.0
4.0
135.0
5.0
PSERC
Georgia Tech 17
Reliability Research Issues
Battery Energy = 15 min
Cap Prob Freq Dur
0 5e-4 13.0 0.3
R R R
300 3e-6 9e-4 30
600 3e-3 0.46 58
900 0.996 13.5 648

Battery Energy = 30 min

I I I
Cap Prob Freq Dur
0 7.2e-5 13.0 0.3
300 2.7e-5 5e-3 47
600 3.8e-3 0.52 65
900 0.9961 13.5 648

PSERC
Georgia Tech 18
Protection
Typical DERs Protection
Protection Issues
Fault Protection (Current Limited
DERs, Remote Contribution,
Ground Impedance, etc.)

Faulted Circuit Indication

Fault Location and Isolation

Detection of Hot “Down”

Conductors

PSERC
Georgia Tech 19
 Unbalance/Asymmetry
1 zmax − zmin 1 ymax − ymin
Most Power Circuits Are Asymmetric S1 = S2 =
2 z1 2 y1

0.06

Asymmetry Factor
0.04

0.02 Series Admittance

Shunt Admittance

0.0
180 660 1140 1620 2100
Frequency (Hz)

Other Sources
Single Phase Loads
End Use Equipment
Induction Motors PSERC
Georgia Tech 20
Induction Motor Response to Unbalance/Asymmetry
Typical Distribution System Example
Device Terminal Multimeter Close

BUS100 Case: System Asymmetry and Imbalance Example

Device: Induction Motor
BUS90

Total Power Voltage L-G Phase Quantities

BUS80

1 2
BUS110 Per Phase Power Current L-L Symmetric Comp
BUS120
BUS30 BUS40 Voltages P 367.6 kW, Q 178.3 kVar
BUS50
MCLOAD1_A Va S = 4 08.5 kVA, PF = 89.97 %
BUS60 Va Pa 120.2 kW, Qa 69.04 kVar
BUS70
MCLOAD1_B Vb Pb 114 .8 kW, Qb 50.20 kVar
1 2
Ic Sa
S
Sc
Ia Pc 132.5 kW, Qc 59.09 kVar
MCLOAD2 MCBUS1
MCLOAD1_C Vc Sb Va = 255.2 V, 55.34 Deg
Vb = 24 5.3 V, -63.85 Deg
IM ANGSPEED2
RGROUND Ref Vc Vc = 24 9.0 V, 175.7 Deg
MCLOAD1
Currents Ia = 54 3.0 A, 25.4 7 Deg
IM ANGSPEED1 Ib = 510.9 A, -87.4 6 Deg
MCLOAD1_A Ia Ic = 582.9 A, 151.6 Deg
MCLOAD1_B Ib
Comments MCLOAD1_C Ic
Ib Vb

Combined Effects of System Pro gram WinIGS - Fo rm FDR_M ULTIM ETER

Component Asymmetry and

Imbalanced Loads

Important Factors:
Configuration
Transformers
Load Balancing PSERC
Georgia Tech 21
 Stray Voltages and Currents
~
I sky
Sky Wire

HA
Comments
LA
HB
LB

HC
LC
Single Phase Loads Generate
Neutral

Current Flow in the Parallel Path of

~
I neutral
Neutral and Soil/Grounds

~
Counterpoise
Ground Mat
Ground Rod Ground Rod Typical Distribution 50-70% in
I counterpoise
~
I earth Neutral, 50-30% in Soil/Grounds

Neutral Voltage Typically 2 to 12

CATV
Volts

Properly Designed mGRIDs can Practically Eliminate Stray Voltages and Currents PSERC
Georgia Tech 22
Electromagnetic Compatibility Issues
SOURCE
BUS10 BUS100 Magnetic Field Near Nonmagnetic Conduit Enclosed Circuit
G
Plot Circle Radius Plot Along Straight Line Return
Plot Along Conduit Centered Circle
0.500 Feet Update
BUS200
Magnetic Field
6.00 inches
375

Example of Two Series 300

Circuits in Magnetic and 225

MilliGauss
Aluminum Conduits BUS400
150

75.0
1Ph

0.00
0.00 90.0 180 270 360
Magnetic Field Near Steel Conduit Enclosed Power Circuit (ID=3) Angle(Degrees)

Return Zoom In Zoom Out Zoom All Angle 319.1 Field 365.9
Plot Circle Radius Plot Along Straight Line
Program GEM I - Form EM F_CI RCLE
Plot Along Conduit Centered Circle
0.50 Feet Update
Magnetic Field
6.00 inches
76.0 Comments
72.0

68.0
EMI can generate serious
MilliGauss

problems
64.0

60.0
The mGRID concept offers an
56.0 opportunity to rethink design
0.00 90.0 180 270 360
issues and optimize EMI
PSERC
Angle(Degrees)

Zoom In Zoom Out Zoom All Angle 244.1 Field 75.81

Program GEM I - Form EM F_CI RCLE
performance

Georgia Tech 23
 WEMPEC

Inverters in Microgrids

Giri Venkataramanan
Department of Electrical and Computer Engineering
University of Wisconsin-Madison

3 Jan 2001

Giri@engr.wisc.edu
3 Jan 2001 Microgrids Short Course GV 1
 WEMPEC

Outline

• Description of inverter types and

characteristics
• Inverter control objectives
• Inverter dynamic modeling
• Summary

3 Jan 2001 Microgrids Short Course GV 2

 WEMPEC

Inverter types

z PWM inverter
z Multilevel inverter
z Naturally commutated current source
inverter

3 Jan 2001 Microgrids Short Course GV 3

 WEMPEC

PWM Synthesis – A, B & C phases

Vdc
Va Vb Vc

• Phase shift between waveforms

may be varied
• Amplitude of waveforms may be
dissimilar
• All the three phase voltages
could have an average Vdc/2
common mode voltage
• Causes a neutral shift
• Will cancel out in the line-line
voltages

3 Jan 2001 Microgrids Short Course GV 4

 WEMPEC

Realization using IGBTs

Va Vb Vc
Vdc

3 Jan 2001 Microgrids Short Course GV 5

 WEMPEC

Multilevel Inverters

Vdc

+ other phases

Vdc

Vdc

+ other phases

Vdc

3 Jan 2001 Microgrids Short Course GV 6

 WEMPEC

Typical waveforms
Pole voltage
Vdc

Vdc/2

Line-Line Voltage

Stepped synthesis
also possible
3 Jan 2001 Microgrids Short Course GV 7
 WEMPEC

Three Phase Current Source Inverter

• Two Pole Three Throw Switches

Stiff Current
1P3T

1P3T

3 Jan 2001 Microgrids Short Course GV 8

 WEMPEC

CSI Converter Realization (Thyristors)

1P3T
z Natural
Stiff current
commutation
z Leading power
factor load

Three phase a
voltages

1P3T

3 Jan 2001 Microgrids Short Course GV 9

 WEMPEC

3 wire direct output

• DC voltage level has to
be bigger than peak line-
line voltage

• No path for zero

sequence currents from
inverter

3 Jan 2001 Microgrids Short Course GV 10

 WEMPEC

4 wire interface using star-delta

transformer
• DC voltage level free
variable because of
transformer turns ratio

• Zero sequence currents

on star side circulates
within the loop of the delta
side

3 Jan 2001 Microgrids Short Course GV 11

 WEMPEC

Single line equivalent circuit and phasor

diagram

Vi Vi
IL
Vo
IL
It
It
Vac Vac
Vo

• Vac – PCC voltage

• Vo – Point of Load (POL)
Voltage

3 Jan 2001 Microgrids Short Course GV 12

 WEMPEC

Microgrid Energy and Power Quality

Management Functions

• Load profile control

• Source utilization
• Peak-shaving
• Reactive power injection

• POL voltage control

• Voltage imbalance correction

3 Jan 2001 Microgrids Short Course GV 13

 WEMPEC

Voltage sag correction

Nominal condition
Vi

IL
It
Vac
Vo
Operation under sag
(Same real power transfer
level)

Operation under sag

(Reduced real power to
grid)

3 Jan 2001 Microgrids Short Course GV 14

 WEMPEC

Voltage imbalance correction

• Input voltage – Brown

• Output voltage – Cyan
• Phase currents – Green

• Note increase in current

stress on phases with
large sag

3 Jan 2001 Microgrids Short Course GV 15

 WEMPEC

Fault Management

Vi

IL
It
Vac
Vo

Fault

3 Jan 2001 Microgrids Short Course GV 16

 WEMPEC

Operation under transients

z Load transients
z System transients
– Capacitor switching
– Power quality events
z Delayed source response
z Islanding
z Reconnection

3 Jan 2001 Microgrids Short Course GV 17

 WEMPEC

Key Control Issues

z Power flow control

z Frequency control
z Local voltage control
z Reactive power control

z Power sharing
z Frequency matching

3 Jan 2001 Microgrids Short Course GV 18

 WEMPEC

Power throughput of inverter

VacVo
P= sin δ
Xt
2 • Angle between Vac and
Vo VacVo
Q= − cos δ Vo determines power flow
Xt Xt
• Magnitude of Vo
determines reactive power
flow

3 Jan 2001 Microgrids Short Course GV 19

 WEMPEC

Modeling objectives

• Need to model dynamic properties

• Control input and real power flow or power
angle
• Control input and reactive power flow or
voltage magnitude

3 Jan 2001 Microgrids Short Course GV 20

 WEMPEC

Typical controller structure

(classical)
+ Vac

1
PWM -
Converter Vo It
Ls
+ + and IL
Current LC Filter
Voltage Regulator
Voltage Controller Vi
command - -
Current
feedback

Voltage feeback

3 Jan 2001 Microgrids Short Course GV 21

 WEMPEC

Typical controller structure

Flux vector
+ Vac
1
PWM Vo - It
Converter Ls
+ Flux and
Regulator LC Filter
Flux Vi
command
-

Flux 1
feedback
λi Vi
s
IL
Vo
It
λi Vac

3 Jan 2001 Microgrids Short Course GV 22

 WEMPEC

Key control variables

Magnitude and Phase angle

z Modulation input
z Inverter output
z Filter inductor current output
z Capacitor voltage output

3 Jan 2001 Microgrids Short Course GV 23

 WEMPEC

Key control variables

j∠m ( t )
m(t ) = m(t ) e
j∠vi ( t )
vi (t ) = vi (t ) e
j∠iL ( t )
iL (t ) = iL (t ) e
j∠vo ( t )
vo (t ) = vo (t ) e
Instantaneous phase quantities are projections of the
rotating vectors on appropriate axes
3 Jan 2001 Microgrids Short Course GV 24
 WEMPEC

Dynamic Equations
d
L iL = vdc m cos(∠m − ∠iL ) − vo cos(∠vo − ∠iL )
dt
d
L iL ∠iL = vdc m sin(∠m − ∠iL ) − vo sin(∠vo − ∠iL )
dt
d vo
C vo = iL cos(∠iL − ∠vo ) −
dt R
d vo
C vo ∠vo = iL sin(∠iL − ∠vo ) −
dt R

3 Jan 2001 Microgrids Short Course GV 25

 WEMPEC

Steady state operating condition

0 = Vdc M cos(∠M − ∠I L ) − Vo cos(∠Vo − ∠I o )

L I L ω = Vdc M sin(∠M − ∠I L ) − Vo sin(∠Vo − ∠I L )

Vo
0 = I L cos(∠I L − ∠Vo ) −
R
Vo
C Vo ω = I L sin(∠I L − ∠Vo ) −
R

3 Jan 2001 Microgrids Short Course GV 26

 WEMPEC

Steady state operating condition

0 = Vdc M cos(φ miL ) − Vo cos φvoiL

L I L ω = Vdc M sin φ miL − Vo sin φvoiL

Vo
0 = I L cos φiL vo −
R
Vo
C Vo ω = I L sin φiLvo −
R

Classical phasor solution

3 Jan 2001 Microgrids Short Course GV 27

 WEMPEC

Small signal model at operating point

x&= Ax + Bu ~
 ~iL 
 ~
u= m ∠i
y = Ex + Fu x =  ~L
v 
 ~ o

∠vo 
 − Vo − ωC Vo 
2

 0 ωI L 2

 LR I L IL L 
 
− ωC Vo − Vo 
2
 −ω Vdc cos φ miL 
0  
 IL 2
IL L LR I L 
2
L
A=   V sin φ 
B=
miL 
 Vo −1 
dc

 − ω Vo ω Vo   L IL 
 RC I L
RC
  0 
 ω 1 −ω −1   
 I  
RC 
0
 L RC Vo

3 Jan 2001 Microgrids Short Course GV 28

 WEMPEC

Transfer function
z Magnitude of modulation to output voltage
60

40
MG(f k)
20

0
1 .10 1 .10
3 4
10 100
fk

AG( f k) 90

180
1 .10 1 .10
3 4
10 100
fk

3 Jan 2001 Microgrids Short Course GV 29

 WEMPEC

Perturbations in time domain

200

Voac( t , 1000 )
0
Voa ( t , 1000 )

200
0 1 2 3 4 5 6 7 8 9 10
t ⋅ 1000
50

Ioa( t , 1000 )
0
Ioac( t , 1000 )

50
0 1 2 3 4 5 6 7 8 9 10
t ⋅ 1000

3 Jan 2001 Microgrids Short Course GV 30

 WEMPEC

Vectors on the Complex Plane

300

200

100

Im( Vocomplex( t , 1000 ) ) 0

100

200

300
300 200 100 0 100 200 300
Re( Vocomplex( t , 1000 ) )

60
Output current complex vector
40

20

Im( Iocomplex( t , 500 ) ) 0

20

40

60
60 40 20 0 20 40 60
Re ( Iocomplex( t , 500 ) )

3 Jan 2001 Microgrids Short Course GV 31

 WEMPEC

Properties of the dynamic model

Eigen frequencies of small signal model
 −313.396 + 629.17i 

 −313.396 − 629.17i 
 −313.396 + 509.17i 

 −313.396 − 509.17i 
Eigen frequencies of LC filter = 569 Hz
(incl. damping effects)
Excitation frequency = 60 Hz

3 Jan 2001 Microgrids Short Course GV 32

 WEMPEC

Dynamic interaction issues

z Angle input to output transfer functions

z Cross coupling transfer functions
z Selection of controllers and tuning
z Outer loop effects (Real and reactive power,
droop, etc.)
z Frequency synchronization
z Interactions between multiple parallel units
z EMI filter interactions

3 Jan 2001 Microgrids Short Course GV 33

 WEMPEC

Summary
z Inverter modeling important aspect of
microgrid design
z Stiff dc bus with adequate storage
decouples prime mover dynamics
z Inverter dynamic model based on rotating
vectors
z Model reduces to phasor model at steady
state
z Small signal model properties outlined
z Various transfer functions can be
determined, (esp. angle and frequency)
z Extend and integrate into system models
3 Jan 2001 Microgrids Short Course GV 34
Operation and Control of
Micro-Grids

Robert H. Lasseter
University of Wisconsin

R.H.Lasseter University-of-Wisconsin
PSERC
Micro-grid concept assumes:
• Large clusters of micro-sources and
storage systems
• Close to loads with possible CHP
applications
• Customer Quality of Power
• Presented to the grid as a single
controllable unit (load & source)

R.H.Lasseter University-of-Wisconsin
PSERC
 • Solid state breaker
Micro Grid • Generation & storage
• Motor Loads
open
13.8 kV

480V
480V

5 6
480V

8 M5
9

M8 M9

R.H.Lasseter University-of-Wisconsin
PSERC
 Control of P &Q using PWM
Inverters

Vinv E

Inverter
P ∝δ p 0 Vinv
Q ∝Vinv
δ
0 E
R.H.Lasseter University-of-Wisconsin
PSERC
Basic P Q Controller
Va ψv ψv o
Flux
V Vector δv
b
Calculator Inverter
Vc
Flux Inverter r
ψE Vector
E Control Switch
a Flux e
E Vector δE
b
Calculator
Ec δP o
Ia
Po
Ib
P _ + p-i δP o
I P&Q
c
Ea Calculation _ ψv o
p-i
Eb Q +
Qo
Ec

R.H.Lasseter University-of-Wisconsin
PSERC
Basic P & Q Response

Current

R.H.Lasseter University-of-Wisconsin
PSERC
Micro Grid connected to T/D Grid

Micro-Sources Provide
• Control of local bus voltage
• Control of base power flow

Fast Load tracking is provided by the grid

Micro Grid: Dispatchable load to the grid

R.H.Lasseter University-of-Wisconsin
PSERC
 • P control
Micro Grid • V control of 8 & 9

13.8 kV

480V
480V

5 6
480V

8 M5
9

M8 M9

R.H.Lasseter University-of-Wisconsin
PSERC
P V controller 8 on
Bus 8

9 on
Bus 9

R.H.Lasseter University-of-Wisconsin
PSERC
Isolated Micro Grid
Issues
• Instantaneous power balance
– Use storage on dc bus
– Storage on the ac bus
– Include rotating machines in Micro-grid
• Load Sharing
• Frequency Control

R.H.Lasseter University-of-Wisconsin
PSERC
Island System
P ~ Sin(δ1−δ2)

V2 / δ 2 1 δ1
V/

L2 Increase L 2
L1
R.H.Lasseter University-of-Wisconsin
PSERC
 P ~ Sin(δ1−δ2)
ω0 > ω1 > ω2
ω0 V1

V2

δ2

R.H.Lasseter University-of-Wisconsin
PSERC
Frequency Droop

ω
P02 P01
ωo
ω1

ω min
P
P2max P1max

R.H.Lasseter University-of-Wisconsin
PSERC
Power Droop

ωi (t) = ω 0 − mi (Pc,i − Pi (t))

P δ
E

ω s
_ _
ωo k" Pc _ _ δP o
+ m 1 p-i
+ s
+ s +
_
+ k' -
+
Po

R.H.Lasseter University-of-Wisconsin
PSERC
P V Controller with Droop

ψ
E0
Eo + p-i
1 _
ψE I ψ
ω ω vo
s
ψ
E Q E v
Flux Inverter
P&Q
Vector Flux
Calculation V Calculation
δv Vector
I Control
P δE
ωo
Po Power with droop δ
Po

R.H.Lasseter University-of-Wisconsin
PSERC
Island • Solid state breaker
Micro Grid • Generation & storage
• Motor Loads
open
13.8 kV

480V
Non-critical Loads 480V

5 6
480V

8 M5
9

M8 M9

Critical Loads Critical Loads

R.H.Lasseter University-of-Wisconsin
PSERC
Voltage on Buses 8 & 9

R.H.Lasseter University-of-Wisconsin
PSERC
Injected P & Q Buses 8 & 9

R.H.Lasseter University-of-Wisconsin
PSERC
Frequency Droop

ω
P02 P01
ωo
ω1

ω min
P
P2max P1max

R.H.Lasseter University-of-Wisconsin
PSERC
Frequency at bus 8
Frequency Hz

Time seconds

R.H.Lasseter University-of-Wisconsin
PSERC
 Sensitive loads
(Quality & Service)

Power Quality is the attribute of

electric power which enables
utility customers’ electrical and
electronic equipment to operate
as intended

R.H.Lasseter University-of-Wisconsin
PSERC
Voltage Sensitivity
5-10 cycles

150

CBEMA
100

Type 1
50
Type
2
CBEMA
0
1 0 -1 100 101 102 103
R.H.Lasseter DurUniversity-of-Wisconsin
at ion ( 6 0 Hz Cy c les)
PSERC
 Shunt current injection
Voltage Sag Restored Voltage

1.0 1.0

0 0

-1.0 -1.0

injected current

Critical Load

R.H.Lasseter University-of-Wisconsin
PSERC
 Premium Power Micro Source

•Power Power Source AC

DC
•UPS DC
DC
•Voltage control
unbalance
frequency

R.H.Lasseter University-of-Wisconsin
PSERC
Voltage Sag Regulator
-*
Vs=0 Negative component
-
- -
V
V V
d
s c
abc dq PID dq-
-
V -
q Ø
dq- s dq
abc

s +*
V V
Inverter
s
+ +
V +
d V V
s c
abc dq PID dq+ -

+
V +
q Ø
dq+ s dq abc

Positive component
R.H.Lasseter University-of-Wisconsin
PSERC
 Inverter Response to SLG

R.H.Lasseter University-of-Wisconsin
PSERC
Micro Grids & Premium Power

• Generation Close to loads

– Local reliability
– Possible CHP applications
• Premium Power
– UPS functions
– Back-up service
– Custom Power functions

R.H.Lasseter University-of-Wisconsin
PSERC
Research Needs

1. Clear interfaces/functions to the

Grid
2. Micro-Grid protection
3. Plug & play controls
4. Placement tools including CHP.

R.H.Lasseter University-of-Wisconsin
PSERC