Professional Documents
Culture Documents
August 2, 2018
UNIVERSIDAD TECNOLÓGICA DE PEREIRA
Doctoral Engineering Program
Area of Electrical Engineering
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Table of contents
General index i
1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
2 Problem Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
3 Justification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
4 Literature review . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
5 Referential framework . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
5.1 Passivity-based control . . . . . . . . . . . . . . . . . . . . . . . . . 6
5.2 Hamilton’s systems . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
5.3 Lyapunov stability theory . . . . . . . . . . . . . . . . . . . . . . . 9
5.4 Stability analysis of PCH systems . . . . . . . . . . . . . . . . . . . 11
5.5 Interconnected systems . . . . . . . . . . . . . . . . . . . . . . . . . 11
5.6 Dynamical system under analysis . . . . . . . . . . . . . . . . . . . 12
5.6.1 Dynamical model of a PWM-VSC for DERs integration . 13
5.6.2 Dynamical model of a PWM-CSC for SMES integration . 14
6 Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
6.1 General Objective . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
6.2 Specific Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
6.3 Scope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
7 Methodology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
8 Expected results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
9 Available resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
10 Activity schedule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
References 23
1 General information
Title: Passivity-based analysis and control of AC microgrids.
2 Problem Statement
Modern electrical networks have changed from classical hydro-thermal electric systems
with passive loads to active electrical networks with distributed energy resources (DERs)
which includes renewable generation [1], energy storage systems [2–4] and dynamic loads
[5–8]. These technologies can be integrated to the electric power systems by using power
electronic converters under the concept of microgrids (MGs) [9–11], allowing improvements
in voltage regulation, reducing power oscillations caused by renewable energy, performing
frequency regulation and supplying energy to the loads during service outages [6]. However,
these improvements can be only achieved by using effective control strategies that consider
the MG as a whole and not only as individual components [12, 13].
Although there is not a standard definition, the U.S. Department of Energy, defines
a MG as “a group of interconnected loads and distributed energy resources with clearly
defined electrical boundaries that acts as a single controllable entity with respect to the
grid and can connect and disconnect from the grid to enable it to operate in both grid-
connected or island modes”. Figure 1 shows schematically this concept.
In all MGs there exists power electronic converters based on forced commutation (e.g
voltage/current source [14] [12, 15]) or line commutation technologies [16]. These allow
advanced control strategies for operation in transient and steady state [5]. Diverse control
strategies have been explored in the specialized literature, namely: fuzzy-logic [17, 18],
feedback linearization [14, 15, 19], model predictive [20] and passivity-based control [21–
25], among others. Nevertheless, proportional-integral controls [5, 26] are the most used
approach.
Main grid
P, Q
Microgrid
AC AC AC AC
AC AC DC DC G
Load 1
Microturbine
+−
G
These controls are used when the MG operates in interconnection mode; however, they
must be modified in island mode in order to support voltage profile and regulate electrical
frequency by using a primary and secondary control strategies [27] that in turns, can be
centralized or distributed [6]. The former is highly efficient but relies on the communication
system [28] while the latter requires fewer communication channels, which implies fewer
investment costs and allows scalability [?, 29].
Closed-loop stability must be guaranteed in the increasingly complex MGs. However,
in many cases, the optimal tuning of a proportional-integral control in one device, could
affect negatively the stability of the grid. This is because the model of the system is
oversimplified and the control is locally designed. In this context, we can pose the following
research question ¿How to control each component such that the stability of the entire
MG is guaranteed under interconnected and islanded operation modes?
To answer this question it is necessary to use a generalized theory with the following
characteristics:
Passivity-based control can be an appropriate control strategy that fulfills all these re-
quirements. However, a research project is required in order to apply this control paradigm
to MGs taking into account all the complexities inherent to power networks.
Notice that in specialized literature there exist few references that propose the appli-
cation of the passivation theory to operate ac power MG considering the natural passive
model of the electrical power system. Nevertheless, this approaches are mainly focuses in
single-phase electrical networks [30]. In review section 4 a detailed review of the state of
art will be presented.
3 Justification
The electric power system plays an important role in the economic development of any
country. Colombia has an interconnected power system with a liberalized market, but
there are challenges which require research under the new paradigm of the MGs. The
country relies on the hydroelectricity complemented by a minor percentage of thermo-
electricity which is required in order to deal with the phenomena of El Niño. This is a
complex whether pattern that results when temperatures in the Pacific Ocean increases
form the norm. Although it is a natural phenomenon that typically occurs every two to
seven years, the 2015-2016 El Niño was particularly intense as consequence of the global
warming. The level of the reservoirs decreases to less than 20%. This event demonstrated
the requirement for a diversified energy matrix.
There is a high potential of wind and solar energy in the Country; moreover, these
potentials increase when El Niño occurs. Hence, wind and solar are complementary to
hydroelectricity. These new renewable resources should be integrated into the paradigm of
MGs since large photovoltaic power stations could create additional environmental impacts
and compromise the use of land in agriculture.
On the other hand, there are some zones in the country which lack a reliable power
service. These non-interconnected zones include more than 1500 small towns totaling more
than 1 million inhabitants. MGs are also a promising alternative for the integration of
renewable sources and energy storage in these zones. Therefore, a research at a local level
is required to deal with the particular characteristics of the Colombian system taking into
account an equilibrium between theory and practice.
In this context, the strategies classically employed to operate conventional grids need
to be improved or changed, in order to consider the impact of variations in the energy
delivered by DERs [31]; besides, to improve the speed response of existing control strategies
to hold the correct system operation during power outages caused by external failures [6].
This research project focuses to explore the passivity properties of electrical grids
based on Hamiltonian formulations, in order to guarantee stability in closed-loop using
Lyapunov’s theory for autonomous systems [22, 23]. This control strategy was selected
because it allows to design global stable controllers by dividing the electrical network
into small subsystems [32]. For all subsystems it is possible to use Hamilton theory to
developed passive controllers that preserve their passive nature when interconnected with
• Energy storage systems such as: superconducting coils using current source converter
technologies, supercapacitors and batteries employing voltage source converter tech-
nologies.
4 Literature review
This section presents a detailed literature review in the context of designing passivity
based controllers for distributed energy resources and MGs. The analysis is concentrated
in superconducting coils, supercapacitors, batteries, and photovoltaic and wind genera-
tion. Additionally, are presented general approximations to analyze entire ac MGs under
passivation theory approach.
In Table 1 the most popular control strategies for energy storage devices are presented.
The energy storage technologies presented will be the technologies analyzed in this research
project.
Notice that in Table 1 it is common to find diverse control strategies for any storage
devices technology; although, the passivity-based control it is also common, those articles
focuses only of analyzing one specific device, without taking into account the rest of the
electrical network, which does not bring the possibility to extend the stability properties
to all electrical network.
On the other hand, in Table 2 is presented the most important approaches to control
wind and photovoltaic generators in power systems.
In Table 2 has been presented some papers that explore different control techniques
to integrate wind and photovoltaic generators in power MGs, notices that passivity-based
control theory appears recurrently in the review of the state of art, which implies that it
correspond an actual and powerful control strategy for distributed generators, as well as,
energy storage technologies.
In the literature related were found two approximations that analyze the whole mi-
crogrid as a completed entity. The first case [30] explores the structural properties of
MGs via passivation theory; nevertheless, this work focuses particularly in single-phase
MG with linear and nonlinear components. In the second case, see [60], are studying the
operating conditions that allow remaining stable an inverter-based MG. Additionally, it
is important to mention that there exist stability analysis in DC microgrids, as can be
consulted in [61–65]
Based on the previous state of art, it is clear that there are not approaches that
analyze three-phase MGs considering distributed generators and energy storage devices
at the same time via passivation theory. This situation is used in this research project as
an opportunity for investigation. The passivity theory is chosen as a tool of analysis of
electrical networks due to the most of the elements analyzed in this investigation can be
modeled by using Hamiltonian formulations [30].
5 Referential framework
This section presents a basic description of the referential framework that is necessary to
understand this proposal. First, general concepts of passivity-based control are shown.
Next, basic properties of Hamiltonian systems are presented. Third, a general theory to
analyze time-invariant dynamical systems using Lyapunov stability theorems is defined.
Fourth part shows the stability analysis of Hamiltonian system using Lyapunov’s theorem.
The fifth section presents the main characteristic of interconnected systems. Finally, in
the sixth part, a nonlinear dynamical formulations for integration of distributed energy
resources through power electronic converters is modeled. These models will be the base
for this research.
where x(t) ∈ R are state variables of the dynamical system, H(x(t)) : Rn → R is the
n
energy function of the dynamical system, commonly known as Hamilton function and
E(x(t)) : Rn → R represents the internal energy generation by the dynamical system.
Internal energy, given by E(x(t)), defines the demeanor of the dynamical system. In
case of passive systems, they do not generate energy by themselves, which implies that
they only store or dissipate the energy received from the external sources. For this reason,
a passive system defined by (1) can be rewritten changing E(x(t)) for D(x(t)) as follows:
Z t
uT (τ ) y (τ ) dτ
H (x (t)) − H (x (0)) + D (x (t)) = (2)
0
d
H (x (t)) ≤ u(t)T y(t)
dt
where D(x(t)) : Rn+ → R takes into account the dissipation effect in the dynamical system,
for example, the resistive effects in an electrical systems or friction in case of rotating
machines. The second part of (2) shows that a dynamical system is passive when the
total energy stored is always less or equal than the input energy. Equality is fulfilled for
conservative systems [68] and it has units of power.
Figure 2 shows a typical behavior of a generic energy storage function for a passive
system. Notice that the energy storage function of this generic passive system has a
minimum in xo (the minimum point can be local or global).
H(x)
x
xo
The main idea of the classical passivity-based control theory is to incorporate energy
principles in the design of the controllers. In this context, it is adopted a control strategy
that uses the intrinsic interconnection properties present in the dynamics of the system
and the controllers as interconnected energy devices. In this way, the passive structure
of the dynamical system is maintained by the closed-loop control by changing the energy
storage function in order to achieve a desired set-point [35].
The philosophy of the passivity-based control theory is depicted in the Fig. 3, where
the energy storage function is moved from the original minimum xo to a desired operative
point x∗ . This goal is achieved transforming H(x) into HD (x) through of the inputs of
the system [69].
H(x) H(x)
HD (x)
HD (x∗ )
H(xo )
x
x∗ xo
Stability properties of the dynamical system are maintained by preserving its passive
properties [35, 69].
gradient of the Hamilton function (H(·) ∈ R), G(·) ∈ Rn×p is the input matrix, y ∈ Rp and
u ∈ Rp are named the port variables and their inner product corresponds to the power
supplied by the dynamical system.
When the Hamilton’s system has bounded inputs, it is possible to find general condi-
tions to demonstrate passivity properties on the dynamical systems by using Lyapunov’s
theory as follows:
Ḣ (x) = ∇H(x)T ẋ
(4)
T T
Ḣ (x) = ∇H(x) [J (x, u) − R (x)] ∇H (x)+∇H(x) G (x) u
After rearrange some terms in (4) is obtained (5).
Ḣ (x) ≤ y T u (6)
Remark that (6) is a passive system since the change in the total energy stored is less
than or equal to the total energy supplied by the inputs ∀t ≥ 0 [35].
Definition 5.1 i. The zero solution x(t) ≡ 0 to (7) is Lyapunov stable if, for all > 0,
there exists δ = δ() > 0 such that if kx(0)k < δ, then kx(t)k < δ, t≥ 0.
ii. The zero solution x(t) ≡ 0 to (7) is (locally) asymptotically stable if it is Lyapunov
stable and there exists δ > 0 such that if kx(0)k < δ, then lim x (t) = 0.
t→∞
iii. The zero solution x(t) ≡ 0 to (7) is (locally) exponentially stable if it is Lyapunov
stable and there exist positive constants α, β and δ such that if kx(0)k < δ, then
kx(t)k ≤ α kx(0)k e−βt , t ≥ 0.
iv. The zero solution x(t) ≡ 0 to (7) is globally asymptotically stable if it is Lyapunov
stable and for all x(0) ∈ Rn , lim x (t) = 0.
t→∞
v. The zero solution x(t) ≡ 0 to (7) is globally exponentially stable if there exist positive
constants α and β such that kx(t)k ≤ α kx(0)k e−βt , t ≥ 0, for all x(0) ∈ Rn .
vi. Finally, the zero solution x(t) ≡ 0 to (7) is unstable if it is not Lyapunov stable.
Theorem 5.1 (Lyapunov’s Theorem) Consider the nonlinear dynamical system (7)
and assume that there exists a continuously differentiable function V : D → R such that
V(0) = 0, (8)
V(x) > 0, x ∈ D, x 6= 0, (9)
∇V(x)T f (x) ≤ 0, x ∈ D. (10)
Then the zero solution x(t) ≡ 0 to (7) is Lyapunov stable. If, in addition,
u1 e2 y2
+ S1
–
y2 e2 + u2
S2 +
Proof: Let H1 (x) and H2 (x) be the storage functions of S1 and S2 , respectively. If
either component is a memoryless function, take Hi = 0. Then, eTi yi ≥ Ḣi . From the
feedback connection in Fig. 4, it is possible to obtain (18):
Renewable generation
Renewable generation
ENERGY
STORAGE
DC DC DC
Converter
AC AC AC
Main feeder
AC
DC
AC Grid
Controlable loads
Noncontrolable loads
Figure 5: Interconnection of distributed energy resources and loads that conform a typical
microgrid scheme
Main grid
LT , RT
− AC
vk ek
LSC
vdc
isk ik
idc + DC
Ck
PWM-CSC
VSC ik
The dynamical model of the system can be easily obtained applying Kirchhoff’s laws,
energy balance based on the second Tellegen’s theorem and the Park’s invariant power
transformation to become abc reference frame into dq reference frame. In (20) it is shown
the resulting autonomous Hamiltonian model of this dynamical system,
LT ẋ1 −RL −ωLT md x1 ed
diag LT ẋ2 = ωLT −RL mq x2 − eq (20)
CSC ẋ3 −md −mq 0 x3 −iGD
LT ẋ1 −RT −ωLT 1 0 0 x1 ed
LT
ẋ2
ωLT −RT 0 1 0
x2
eq
diag
C
ẋ3 =
−1 0 0 −ωC md
x3 −
0
C ẋ4 0 −1 ωC 0 mq x4 0
LSC ẋ5 0 0 −md −mq 0 x5 0
(21)
These models can be rearranged as a Hamiltonian systems.
6 Objectives
6.1 General Objective
To design passivity-based controllers for distributed energy resources integration in three-
phase power microgrids.
2. To analyze the structural properties of the dynamical models obtained using different
references frames.
4. To develop a general dynamical model that allows to operate the microgrid using the
three-phase representation and to take into account different operating scenarios.
6.3 Scope
This research project is delimited by the following conditions.
X Photovoltaic generation.
X Wind generation.
X Superconducting coils.
X Supercapacitors.
X Batteries based on lead-acid or ion-lithium technologies.
7 Methodology
In order to develop this project considering general and specific aims presented in the
section 6, we divide this research project into seven main activities as follows:
• Activity 2 select the most appropriate dynamical models to represent the dynamical
behavior of different power electronic converters, such as voltage source converters
and current source converters. In addition of studying passivity-based control theory
by using Hamilton models and Lyapunov stability theory.
• Activity 4 define the distribution system (or microgrid) configuration where will
be integrated all distributed energy resources, evaluate the dynamic performance of
the proposed controllers using passivity based control theory and compare it with
classical control techniques, such as, proportional-integral controllers or linear matrix
inequalities, among others.
• Activity 7 publication and redaction of journal and conference papers and thesis
document.
8 Expected results
From a scientific perspective, the main result that is expected to be obtained is to achieve
a deep knowledge of the different dynamic representations of microgrids and their compo-
nents and, from this, to develop novel control schemes, passivity-based, that guarantee an
adequate operation of the microgrid. The main result will be constituted by a collection
of particular results that are detailed the above section. In a quantitative context, the
expected results from this research work are listed
9 Available resources
A detailed budget regarding funding sources is presented in Table 3. All values per item
are given in Colombian pesos.
10 Activity schedule
Work \ Semester I II III IV V VI VII
Activity 1 X X X X
Activity 2 X X X
Activity 3 X X X X X
Activity 4 X X X X X
Activity 5 X X X X
Activity 6 X X
Activity 7 X X X X X
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