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Abstract—This paper presents a current control for single phase implemented for the interconnection of certain renewable
grid connected inverters. The method allows for inverter active and energy resources to the grid [3].
reactive power control. The method uses the Direct-Quadrature (DQ) Many DG systems are installed at residential or rural
synchronous reference frame transformation for single-phase locations which are often only served by a single phase of the
converters. This method transforms an orthogonal pair consisting of electrical distribution system. In these cases a single-phase
the inverter output current and a time shifted version of this current inverter is required. The FACTS systems previously mentioned
from a stationary frame to a rotating frame synchronous to the are typically larger scale three-phase systems, therefore if we
fundamental output frequency. Alternatives to using the time shifted wish to implement equivalent power electronic converter
current are discussed. The steady state current components in this
control algorithms in single-phase inverters they must either be
rotating DQ frame are DC values and thus PI control methods
modified to suit that application or new algorithms must be
can be used with zero error. A household scale grid-tie inverter is
used as an example application of this method. A Simulink developed.
simulation model and results where the inverter output is controlled Some three-phase compensation algorithms also suffer from
to match a local load's active and reactive power demand is the inability to generate sinusoidal current waveforms in the
presented. utility side when utility voltages and/or currents are not
balanced [4] which could be a motive to further investigate
Index Terms— Pulse width modulated inverters, Reactive single-phase compensation techniques.
power control, Power electronics. In the past, sine wave inverters used open loop feed- forward
control with output RMS voltage feedback to regulate the
I. INTRODUCTION magnitude for standalone applications. Grid-tie systems require
a more instantaneous control system to achieve lower Total
A. H-Bridge
The H-bridge is also known as a full bridge. This is a simple
circuit topology with low component count which leads to low
cost and high efficiency [1]. This topology was chosen over a
half bridge which consists of only one pair of switches because
a lower DC voltage source is required. Half bridge inverters
require twice the DC voltage and two capacitors in series are
Fig. 3. Switched load used in simulation
required to provide the neutral output. The H-Bridge is
modeled using the Universal Bridge Simulink model block
V. DQ SINGLE-PHASE TRANSFORM
with two legs. The gates of the H-bridge are driven by a Pulse
Width Modulation (PWM) generator discussed in section V. A. DQ transform
The average amplitude of the voltage output of the H-Bridge As previously mentioned, the single-phase DQ transform is
(VAB in figure 1) over a switching cycle is directly an important element in the control circuit of the inverter
proportional to the commanded duty cycle of the inverter system. The DQ transform is an example of a state space
(±100%) and the amplitude of the DC bus [5]. transform. The state of a system at any instant t0 is the smallest
B. Output Filter set of variables which is sufficient to determine the behavior of
Inverters require an output filter to limit the high the system for all time t > t0 when the inputs to the system are
frequency current ripple. There is a tradeoff between filter known [12]. This system state can be specified in many
component size and switching frequency. The former increase different ways which means the state variable are not unique.
inverter size and cost whereas the later increases switching Alternative state representations can be obtained via linear
power loss. The output filter selected for simulation is the LCL transformation.
filter. This filter has gained popularity due to its smaller size The three phase DQ transform can be implemented directly
however it presents potential stability problems in control [11]. from the ABC time varying signal space to the DQ space with
the linear transformation in (1) [3].
490
⎡vd ⎤ ⎡sin ωt sin (θ − 2π 3) sin (θ + 2π 3) ⎤ ⎡va ⎤ Equations (4) and (5) gives the resulting id and iq values for
⎢ ⎥ 2⎢ ⎥⎢ ⎥ this ideal sinusoidal case. These values are constant DC
⎢ q ⎥ 3 ⎢cos ωt cos(θ − 2π 3) cos(θ + 2π 3) ⎥ ⎢vb ⎥
v = (1)
values for fixed amplitude and phase input as previously
⎢v ⎥ ⎢⎣1 2 12 12 ⎥⎦ ⎢⎣vc ⎥⎦ described.
⎣ 0⎦
where θ=ωt, and ω = electric system frequency
i d = A sin (ωt + δ ) sin (ωt ) + A sin (ωt + δ − π 2)(− cos(ωt ))
This transform can also be accomplished by first (4)
= A cos δ
transforming to the αβ space. The αβ space is used in PQ
theory and three phase voltages and currents are represented as i q = A sin (ωt + δ ) cos(ωt ) + A sin (ωt + δ − π 2)(sin (ωt ))
a single vector which rotates about the stationary (5)
= A sin δ
orthogonal axes thus α and β projections of sinusoidal abc
values are themselves sinusoidal. It should be noted here that DC components of the original
The transformation from αβ space to DQ can then be signal are mapped to AC signals at the fundamental
achieved by effectively rotating the αβ frame at the frequency in the rotating DQ frame. Thus the presence of a
fundamental frequency as shown in Figure 4. In this rotating DC component will result in control system oscillation and
frame the resulting D and Q vectors will be constant for make zero steady state error impossible. In order to transform
sinusoidal signals at the fundamental frequency. What this back to the real and imaginary frame the inverse transform is
indicates is that the transformation to the synchronous frame applied as shown in (6). Again, if cos(ωt) is considered the
requires two orthogonal components, the equivalent of the αβ reference this transform must be modified (i.e. replace sin(ωt)
components of three-phase systems. In other words, to achieve with cos(ωt) and cos(ωt) with-sin(ωt)).
an orthogonal plane, the projections of two or more variables
are necessary [3]. This is a problem in single-phase systems. ⎡I r ⎤ ⎡sin ωt cos ωt ⎤ ⎡ I d ⎤
I ri = ⎢ ⎥ = T −1 I dq = ⎢ ⎥⎢ ⎥ (6)
I
⎣ i⎦ ⎣cos ωt − sin ωt ⎦ ⎣ I q ⎦
B. Simplified technique
Other techniques for implementing the single-phase
DQ transform avoid the need for a second orthogonal variable
by using notch filters tuned at twice the line frequency
[13][6]. In this case the transform is applied with i q = 0.
The resulting derivation is shown in equation series (7) and
(8).
Fig. 4. Rotating DQ Frame It can be seen that similar results to the original are
obtained however a double line frequency sinusoid is
In order to get around this requirement several methods
added. It is this double frequency component that must be
have been suggested to generate the missing orthogonal vector.
filtered in order to obtain the DC quantities desired for zero
One method involves using the capacitor current of an output steady state error.
LC filter as in [5]. This current is 90 degrees out of phase with This simplified technique was simulated without the use of
the output voltage. Another is to use a quarter period time notch filters and because of the DC component in the D
delayed version of the signal as the orthogonal vector as in [7]. and Q components, zero steady state error was possible. This
This is the method that is examined here. was the method that was described for the in-class
If we consider a current signal to be transformed to the DQ presentation. The results of this simulation are not presented
frame using the time delay method we can refer to the actual in this report as it was decided to implement the time delay
current signal as the real current, ir, and the time delayed version instead.
version the imaginary current, ii, where the real current
corresponds to the α and the imaginary to the β. Equations for i d = A sin (ωt + δ ) sin (ωt )
ideal sinusoidal versions of these currents are given in (2.a) and [
= A (cos δ ) sin 2 (ωt ) + (sin δ )(sin ωt ) cos(ωt ) ] (7)
(2.b) A
= ( cos δ ) − A [sin δ sin (2ωt ) − (cos δ ) cos(2ωt )]
i r = A sin (ωt + δ ) (2.a) 2 2
i q = A sin (ωt + δ )(− cos(ωt ))
ii = A sin (ωt + δ − π 2 ) = − A cos (ωt + δ ) (2.b)
[
= − A (sin δ ) cos 2 (ωt ) + (cos δ )(sin ωt ) cos(ωt ) ] (8)
The linear transform corresponding to the rotation of the αβ −A
frame is given in (3). Note that this transform is different if = (sin δ ) − A [sin δ sin (2ωt ) + (cos δ ) cos(2ωt )]
2 2
cos(ωt) is considered the reference (i.e. replace sin(ωt) with
cos(ωt) and cos(ωt) with -sin(ωt)). C. DQ Transform Circuit
⎡I d ⎤ ⎡sin ωt − cos ωt ⎤ ⎡ I r ⎤ The simulation model used to implement the single-phase
I dq = ⎢ ⎥ = TI ri = ⎢ ⎥⎢ ⎥ (3) DQ transform is shown in figure 5. The generation of the sine
⎣I q ⎦ ⎣cos ωt sin ωt ⎦ ⎣ I i ⎦
and cosine signals involved is discussed in the next section.
491
The transport delay achieves the π/2 phase shift. This commanded current and the inverter output current is
transport delay can easily be implemented using a digital subtracted to generate D and Q error signals which are then
controller shifted queue [6]. fed into PI controllers. The PI controllers adjust their output
so as to eliminate this error.
The PI controller output is then transformed back to the
stationary frame using only the “real” portion of the inverse
transform shown in (6). This output is used to command the
PWM generator which controls the output voltage of the H-
bridge. Because the simulated example inverter control
attempts to match both the active and reactive components of
the load current the error signal could be generated in the
stationary frame before the DQ transform and thus only one
DQ transform block would be required. This topology was
not used because the ability to control active power
independent of load is a more likely scenario for a grid-tie
inverter. In this case only the Q component of the load current
would be required to achieve reactive power compensation.
Fig. 5. Time Delay Single Phase DQ Transform
D. Pulse Width Modulation Pulse Generator
The inverse transform is implemented at the load following
The control loop is completed with the PWM pulse
control level discussed in the next section. Only the “real”
generator which can be seen in the top level simulation
signal needs to be generated in this case.
schematic shown in Figure 7. The output of the load following
control circuit is used to modulate the PWM gate signals. A
VI. LOAD FOLLOWING CONTROL
modulation process example is shown in Figure 8. By changing
A. Control Circuit the amplitude and phase of the command signal to the PWM
The load following control circuit is shown in Figure 6. This generator the magnitude and phase of the inverter output
circuit includes sine and cosine reference generation, two DQ voltage can be controlled. The load following current controller
transform blocks, D and Q PI controllers and the inverse DQ thus adjusts the inverter output voltage such that the inverter
transformation. output current matches the load current in both phase and
magnitude. The Simulink PWM generator block was used to
generate the gate pulses as it is easily configured to generate
the appropriate output for an H-bridge.
492
VII. SIMULATION RESULTS reactive power are increased. This can be seen as the current
magnitude increases and phase shift to compensate. After the
A time domain simulation of the circuit shown in Figure 7
second switching event the current returns to its original
and previously described was carried out in the MATLAB
magnitude and phase.
Simulink environment. The total simulation time was 0.45
seconds and the inductive load was switched in at 0.15 seconds
and out at 0.3 seconds. The simulation circuit parameters are
shown in Table I.
493
VIII. CONCLUSIONS
This paper presented a description of the synchronous rotating
frame current control for single-phase inverters. The method
uses a time delayed version of the original output current signal
as the orthogonal variable used in the linear transform to the
synchronous frame. An example application of this control for
a household scale grid-tie inverter system was described.
Simulink models of this application were presented which
demonstrate local load following using switched inductive
load. Time domain simulation results of this example have
been presented. These results demonstrated the active and
reactive load power demand compensation capabilities of this
control method.
IX. REFERENCES
[1] Y.Xue, L. Chang, S.B. Kjær, J. Bordonau, and Toshihisa Shimizu,
Fig. 12. Inverter Output Current, Time Shifted Inverter Output Current, D “Topologies of Single-Phase Inverters for Small Distributed Power
Generators: An Overview ,” IEEE Transactions on Power Electronics,
component of output current, Q component of Output current.
vol. 19, pp. 1305-1314,.Sept. 2004
F. PWM Modulation Signal [2] F. Blaabjerg, R. Teodorescu, M. Liserre, and A. Timbus, “Overview
of control and grid synchronization for distributed power generation
An example waveform showing the combination of the D systems,” Industrial Electronics, IEEE Transactions on, vol. 53, no 5,
and Q PID output after having performed the inverse DQ pp. 1398-1409, Oct. 2006.
transform is shown in Figure 14. [3] J. D. Glover, M. S. Sarma, and T. J. Overbye, Power System Analysis
and Design (4th Edition), Toronto: Thomson, p. 228-235, 1950.
[4] M. Tarafdar. Haque, “Single-Phase PQ Theory,”in Proceedings of
Power Electronics Specialists Conference, Vol. 4, pp. 1815-1820,
2002.
[5] M.J. Ryan and R.D. Lorenz, “A synchronous-frame controller for a
single phase sine wave inverter,” in Proceedings of Applied Power,
Electronics Conference., Vol. 2 , pp. 813-819, 1997.
[6] R. Zhang, M. Cardinal, P. Szczesny, and M. Dame, “A grid Simulator
with Control of Single-Phase Power Converters in D-Q Rotating
Frame,” Power Electronics Specialists Conference, Vol. 3, pp. 1431-
1436, 2002.
[7] M. Gonzales, V. Cardenas and F. Pazos, “DQ Transformation
Development for Single-Phase Systems to Compensate Harmonic
Distortion and Reactive Power,” 9th IEEE International Power
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[8] S. Silva, B. Loopes, B. Filho, R. Campana, and W. Bosventura,
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[9] J. M. Aller, A. Bueno, T. Paga, “Power system analysis using space-
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Q PI control output. [10] S. Premrudeepreechacharn, T.Poapornsawan, “Fuzzy logic control
of predictive current control fro grid-connected single phase
inverter,” IEEE Photovoltaic Socialists Conference, pp. 1715-1718,
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[11] H.R. Karshenas, H. Saghafi, “Basic Criteria in Designing LCL Filters
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[13] U.A. Miranda and L.G.B. Rolin, “A DQ Synchronous Reference
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Fig. 14. Combination of D and Q PID output after the inverse DQ transform to
form PWM modulation signal
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