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IET Power Electronics

Research Article

Research of the high supply voltage quality ISSN 1755-4535


Received on 13th December 2017
Revised 16th March 2018
control for solid-state transformer Accepted on 27th April 2018
E-First on 18th June 2018
doi: 10.1049/iet-pel.2017.0926
www.ietdl.org

Chunming Tu1, Fan Xiao1 , Zheng Lan1, Zhikang Shuai1


1National Electric Power Conversion Control Engineering Technology Research Center, Hunan University, Changsha 410082, People's Republic

of China
E-mail: woliaokk123@126.com

Abstract: The harmonics flow characteristic of microgrid will be changed when solid-state transformer (SST) replaces solid-
state switch or traditional transformer (TT). The supply voltage quality of SST is related to its control strategy at this time.
Therefore, a high supply voltage quality control strategy for SST has been proposed in this study. First, the supply voltage
characteristics of SST and TT have been compared, and finding that the voltage quality is easy to worsen when SST working
without power quality control strategy. Then, the voltage quality regulating mechanism of SST has been analysed. In addition, a
novel control strategy which includes the direct voltage control loop and the virtual impedance loop has been proposed for SST.
The characteristics of the voltage loop and virtual impedance loop are analysed. The computational burden, harmonic extraction
and phase-locked-loop are considered in the voltage control loop. The compensational state can vary with the surplus
compensation capacity by adopting the virtual impedance loop. Finally, the experimental results verified the validity and
effectiveness of the presented control strategy.

1 Introduction C, the harmonic current which is flowing through C can be filtered


by PAPF. It is worth pointing out that PAPF is difficult to control
With the development of distributed generation and distributed the voltage quality of point of common coupling (PCC)
storage system, microgrid has been proposed to integrate those completely, because PAPF can only compensate the harmonic
elements into the grid [1]. Microgrid has the advantages in current flow from one side. When a SAPF is connected at C, the
efficiency, technological and controllable which is attracting [2]. harmonic voltage flow from the upside or downside can be
For microgrid, solid-state transformer (SST) provides a good eliminated. It is easy to find that this kind of method is also a
solution to manage the power flow among different types of regional governance method. Therefore, adopting HAPF and SAPF
sources and loads which is much better than solid-state switch [3, to adjust the voltage quality of PCC should consider the
4]. Except the application for hybrid microgrid, SST also has many distribution of non-linear load which is onerous and cost. To
other potential applications, such as energy storage system, traction overcome this limitation, a high supply voltage quality strategy
transformer and motor driving system. Voltage transformation and which can neglect the distribution characteristic of non-linear load
electrical isolation are the basic functions for SST like traditional will be very attractive for the SST-based microgrid.
transformer (TT). Current regulation, power flow control, power Now, the power quality problem of power electronic converter
quality management, fault limitation are the new functions which based system has been paid much attention, and strategies were
differ from TT [5, 6]. proposed to maintain low-voltage total harmonic distortion (THD)
Previous research mainly focused on the topology optimisation for microgrid voltage [19]. To improve the voltage quality of the
[7, 8], power control [9] and voltage balance control [10, 11]. For network with distributed converters, a cooperative harmonic
different application requirements, various topologies and control filtering strategy was proposed in [20]. In [21], a multi-resonance
strategies are proposed in succession. The design and controller was proposed for harmonic and unbalance compensation
demonstration of SST based on traditional component [12, 13] and in an islanded microgrid. The drawback is that the compensation
advanced components [5, 14] are discussed. To match different capacity is un-controllable. Considering the compensation capacity
voltage level and power rating, cascade H-bridge multilevel (CHB) limitation of converters, a harmonic droop control strategy was
[5, 7, 8, 12] and modular multilevel converter (MMC) [7, 8] are proposed [22] to improve the voltage of PCC, but this method is
adopted for SST. Relevant voltage balance strategy and power- over dependent on the type of load impedance. Then, a new droop
sharing strategy are proposed to improve the operation efficiency control method was proposed in [23] which is insensitive to load
of SST. In [11], the power-sharing strategy of dual active bridge type. However, the droop coefficients calculation is complicated. It
(DAB) for SST has been proposed to improve the operation is well known that the output impedance of a converter plays an
efficiency. SST is the main hub of AC/DC hybrid microgrid to important role in harmonic power sharing [24]. Therefore, a droop
maintain system stabilitye by reasonable energy management controller with resistive output impedances was proposed for
strategy. In [15], the power coordination control strategy between inverters to share non-linear loads [25]. The voltage quality can be
PV system and SST has been proposed. The power coordination improved by adjusting the output impedance of DG converter [26].
control strategy of SST and energy storage battery is shown in [16]. Combining the existing research and considering the operation
It is easy to find that abovementioned researches are mainly on characteristics of SST, a novel high supply voltage quality control
the optimisation of SST. However, the supply voltage quality for SST-based microgrid has been discussed in this paper. In
characteristic of SST-based microgrid is lack of research. The load Section 2, the topology and control strategy of SST are reviewed,
distribution of SST-based grid is shown in Fig. 1, the solid line and and then the supply voltage characteristic of the SST is analysed.
the dotted line are the harmonic flow direction. Parallel active In Section 3, the essence of PCC voltage quality adjustment when
power filter (PAPF) [17] and series active power filter (SAPF) [18] facing voltage type and current type harmonic are discussed. A
are optional schemes to improve the voltage quality for the novel control strategy for SST to adjust its output voltage quality is
traditional distribution system. When PAPF is connected at point proposed. Simulation and experimental results have verified that

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Fig. 1  Microgrid with SST

Fig. 2  Topology of SST

the novel control strategy has a good performance in PCC voltage


quality.

2 Supply voltage characteristic of SST


2.1 Review of SST Fig. 3  Equivalent circuit with TT
(a) Configuration of a grid based on TT, (b) Harmonic equivalent circuit
The topology of three-stage SST is shown in Fig. 2. In the frontend
stage, CHB [12] and MMC [7] are adopted for modular design. non-linear load, ZS′ is the equivalent impedance for grid system, ZL
Therefore, the frontend stage will be easily extended to different is the equivalent impedance of linear load. It can be noticed that the
voltage level and power rating. For the DC/DC stage [5], the PCC voltage quality is determined by the equivalent impedance of
employment of high frequency (HF) transformer is conducive to grid and transformer, and these parameters are usually invariant.
increase the power density and modularity for SST. The secondary Thus, the PCC voltage quality with TT is easy to quantitative
sides of the DC/DC converters are connected in parallel to analysis.
comprise the low-voltage DC bus for the last stage [27]. It is worth The configuration of the grid with SST is shown in Fig. 4a. The
to mention that the bidirectional energy transmission ability of existence of multiple DC bus leads to the harmonic current of the
DC/DC stage is important for SST to control multi-dimensional LVAC system that cannot pass through SST to pollute the high-
energy flow. For the last stage, a DC/AC converter is used to voltage system, as shown in Fig. 4b. The harmonic voltage of PCC
interface with the low-voltage microgrid system to realise the is
power exchange between AC grid and DC bus.
To ensure stable operation of the SST, a coordinated control 1 1 1
strategy is indispensable. In general, the frontend stage controls the V PCC = V h ZL_V + + +1
ZPET ZL ZL_C
sinusoidal property of grid-connected current on the HVAC side (2)
and the voltage sum of all the cascade cells on the HVDC side. The 1 1 1 1
+Ih + + +
HF isolated unit controls the LVDC bus voltage, the power balance ZPET ZL ZL_C ZL_V
of each DC/DC converter cell on the LVDC parallel side and the
voltage balance of all the cascade cells on the HVDC side. The last where ZPET is the equivalent impedance of SST. As shown in (2),
stage controls the LVAC voltage or the sinusoidal property of grid- the voltage quality is determined by ZPET, which is determined by
connected current on the LVAC side and the active power of SST. the control strategy and hardware parameters of SST. The classical
In this paper, the focus is on the supply voltage quality of SST, so control strategy of the last stage is shown in Fig. 5 [28], where io is
only the voltage control strategy of the last stage has been shown.
the output current of SST, iof and ioh are the fundamental and
harmonic components of iL, respectively. The response of voltage
2.2 Supply voltage characteristic of TT and SST
controller and impedance are given as
The equivalent circuit of the grid with TT is shown in Fig. 3a. It
can be inferred from Fig. 3b that the PCC harmonic voltage UO = GV (s)Uref − Zof (s)iof − Zoh(s)ioh (3)
expression is
GU (s)GI (s)KPWM
1 1 1 GV (s) = (4)
V PCC_h = V h ZL_V + + +1 s2LC + (GI (s)KPWM)s + GU (s)GI (s)KPWM + 1
Z′S ZL ZL_C
(1)
1 1 1 1 sL + GI (s)KPWM
+Ih + + + Zof (s) = (5)
Z′S ZL ZL_C ZL_V s2LC + (GI (s)KPWM)s + GU (s)GI (s)KPWM + 1

where V PCC_h is the PCC harmonic voltage, V h is the voltage of where GU (S) is the gain function of voltage loop which adopts
voltage-type harmonic source, Ih is the current of current-type proportional–integral (PI) regulator, GI (S) is the gain function of
harmonic source, ZL_V and ZL_C are the equivalent impedance of current regulators, Zof (s) is the equivalent fundamental impedance

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Fig. 6  Equivalent impedance of SST and TT

Fig. 4  Equivalent circuit with SST


(a) Configuration of a grid based on SST, (b) Harmonic equivalent circuit

Fig. 7  Voltage and current waveforms of TT


(a) Waveform of HVAC, (b) Waveform of LVAC

of HVAC and LVAC are the same, which means that harmonic
current cannot be isolated by TT.
The voltage and current waveforms with SST are shown in Fig.
8a and b. It can be found in Fig. 8 that the current waveform of
HVAC is sinusoidal and the current waveform of LVAC is
distorted, which means that harmonic current can be isolated by
Fig. 5  Control sketch of the output stage of SST SST. Comparing Figs. 7b and 8b, we can find that, the PCC voltage
quality is worse when SST operates without voltage quality control
of SST, Zoh(s) is the equivalent harmonic impedance of SST. The strategy. However, this phenomenon has not been taken seriously
by any theses.
first and second parts of (3) are fundamental components, therefore
it will not affect the supply voltage quality. The third part of (3)
includes harmonic current and harmonic impedance, and it is the 3 High supply voltage quality control strategy
intrinsic factor which distorts the voltage waveform. 3.1 Voltage quality regulation mechanism of SST

2.3 Simulation result The harmonic elimination mechanisms with voltage-type harmonic
and current-type harmonic are analysed in this section. The
The equivalent impedance of SST and TT are shown in Fig. 6. It is equivalent circuit with voltage-type harmonic has been shown in
easy to find that the impedance of TT is less than SST in the low- Fig. 8, where V sh is the harmonic voltage, ZVh is the equivalent
frequency band. Different supply voltage characteristics of SST impedance of voltage-type harmonic source, ZL is the equivalent
and TT with non-linear load have been carried out with MATLAB/ impedance of linear loads.
Simulink in this section. The configuration of LVAC system is It can be inferred from Fig. 9 that
based on Figs. 3a and 4a. The voltage of HVAC is 10 kV, the
voltage of LVAC is 0.4 kV, the impedance of linear load is 1.5 Ω, GV (s)Uref − V PCC
the impedance of non-linear load is 2 Ω and the reactance of TT is = I1 (6)
Zoh
0.18 mH.
The voltage and current waveforms of TT are shown in Fig. 7a
V PCC
and b. The voltage THD is 8.2%, and the current waveform shapes I2 = (7)
ZL

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V PCC − V sh Y oh(s)GV (s) 1
I3 = (8) V pcc = U + I (11)
ZVh Y oh(s) + Y L + Y VH ref Y oh(s) + Y L + Y VH sh

I1 = I2 + I3 (9) where Y oh(s) = 1/Zoh(s), Y L = 1/ZL, Y Vh = 1/ZVh. V PCC is the PCC


voltage. ZL is the impedance of linear load. Zoh is the impedance of
According to (6)–(9), we can get that SST. ZVH is the impedance of harmonic current source. Ish the
voltage of harmonic current source.
Y oh(s)GV (s) Y Vh It is easy to find that, adjusting the equivalent impedance of
V PCC = U + V (10)
Y oh(s) + Y L + Y Vh ref Y oh(s) + Y L + Y Vh sh SST is an effective method to improve the PCC voltage no matter
facing voltage-type harmonic or current-type harmonic. Based on
where Y oh(s) = 1/Zoh(s), Y L = 1/ZL, Y Vh = 1/ZVh. V PCC is the PCC this mechanism, virtual impedance has been adopted widely to
voltage. ZL is the impedance of linear load. Zoh is the impedance of resolve the harmonic problem in the inverter parallel system [29].
SST. ZVh is the impedance of harmonic voltage source. V sh the It should be emphasised that virtual impedance is sensitive to the
voltage of harmonic voltage source. load impedance, so the efficiency of this method needs further
It is easy to find that the harmonic voltage components of V PCC consideration.
come from V sh. The coefficient in front of V sh will affect the PCC
voltage directly, even lead to harmonic resonance. Therefore, 3.2 High supply voltage quality control strategy for SST
adjusting Y oh is a method to improve the voltage of PCC. The THD To ensure high supply voltage quality in low-frequency range, this
of PCC voltage will decrease significantly as Y oh(s)/(Y L + Y VH) section shows the control strategy for SST in Fig. 11. The proposed
gets bigger gradually. control strategy includes three parts. The first part is the signal
The equivalent circuit with current-type harmonic has been extract loop which will process the sampling data for voltage
shown in Fig. 10. At this time, the PCC voltage is control loop and virtual impedance loop. The second part is the
voltage control loop which adoptes direct voltage control. The third
part is the virtual impedance loop which can change the output
impedance of SST dynamic. The relationship of the three part will
be discussed below.
It is worth to mention that when taking SST to improve the
PCC voltage quality, the control strategy which works without load
harmonic current extraction is prerequisite. Then, the compensation
capacity of SST should be considered. Considering the focus of
this study is the last stage of SST, the following assumptions are
made: (i) the frontend stage and DC/DC stage has been well
designed to provide a stable input DC voltage for the DC/AC
converters; (ii) switching frequencies of all converter stages are
much higher than the grid frequency. Meanwhile, three problems
have been considered before control strategy has been proposed.

(i) How to choose the voltage reference: voltage reference includes


amplitude and phase, and a suitable voltage reference will increase
the compensation efficiency.
(ii) How to choose the voltage regulator for voltage control loop:
PI regulator has been used widely for its advantages in simplicity
and adaptive ability; but PI regulators can only achieve infinite
gain at DC signal. Thus, taking DC signal as the control target
needs to extract the DC signal with multiple ABC→d–q→ABC
conversion. It will waste lot of computation time in the digital
signal processor (DSP).
(iii) How to deal with the compensation capacity of SST:
maintaining power balance for LVAC system is important for SST,
so it is inevitable to consider the compensation capacity limitation
of SST when carrying out high supply voltage quality control.

Fig. 8  Voltage and current waveforms of SST


(a) Waveform of HVAC, (b) Waveform of LVAC

Fig. 9  Equivalent circuit with harmonic voltage source Fig. 10  Equivalent circuit with harmonic current source

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Fig. 11  High supply voltage quality control strategy of SST

3.3 Analysis of the voltage control loop 3.4 Analysis of the virtual impedance loop
For (i) and (ii), voltage control loop will take the PCC voltage as Voltage control loop can improve the PCC voltage quality, but this
the import directly. Voltage regulator adopts proportional–resonant method cannot estimate the compensation capacity to change its
(PR) controller. PR controller has three advantages. (i) PR working mode. To resolve this problem, a novel virtual impedance
controller is more suitable for AC signal control than PI controller, loop has been proposed in this section. The proposed virtual
so voltage control loop will be effective. (ii) PR controller can be impedance loop has two advantages; it can not only be used to
used to select the resonant frequency signal. Thus, the fundamental change the output impedance, but also can change the adjusting
control term and voltage harmonic mitigation term are decoupled effect on the basis of surplus compensation capacity.
well. (iii) PR controller can realise voltage harmonics Load current feed is widely used to change the impedance.
compensation without any harmonic extractions and phase-locked- From (12), the output voltage can be expressed as
loops. So the computation time in the DSP will be reduced
significantly. U0 = GU (s)V ref − ZPET(s)iout (16)
The expression for the output voltage Uo of the closed-loop
system can be derived from Fig. 10 and is given as where ZPET is the equivalent output impedance of SST; iout is the
output current.
GU (s)GI (s)KPWM At this time, fundamental and harmonic impedance share the
UO = 2 Uref
s LC + (GI (s)KPWM)s + GU (s)GI (s)KPWM + 1 same expression. The forward path gain from the current controller
(12) to the hardware loop can be expressed as
sL + GI (s)KPWM
− 2 (s)io
s LC + (GI (s)KPWM)s + GU (s)GI (s)KPWM + 1 GIR = GI (s)KPWM / GI (s)KPWM + sL (17)

where Uref is the voltage reference, and it includes fundamental where GIR is the current forward path gain.
voltage and harmonic voltage. io is the output current of SST. Taking GIR−1
(s) as the gain of feedback signal iout, the fed forward
GU (S) is the gain function of voltage loop which adopts PI signal can be expressed as
regulator. GI (S) is the gain function of current regulators. L and C
−1
are the parameters of the output filter. A = GIR × k × iout (18)
U1_ref and Uh_ref are the reference voltage of fundamental and
harmonic, respectively where k is the compensation factor.
From (18) and Fig. 11, the output voltage UO can be expressed

Uref = Uref_1 + Uref_h as
(13)
Uref_h = ∑ MhUout_h(t) GU (s)GI (s)KPWM
h = 3, 5, 7, 11… UO = Uref
s2LC + (GI (s)KPWM)s + GU (s)GI (s)KPWM + 1
where Mh is harmonic voltage compensation factor which can be (19)
(1 − k)(sL + GI (s)KPWM)
used to control the PCC voltage THD directly. The fundamental − (s)iout
s2LC + (GI (s)KPWM)s + GU (s)GI (s)KPWM + 1
voltage regulators and harmonic voltage mitigation are listed here
It can be found that, the compensation factor k in the feed-forward
Krwcs
Gu_1(s) = Kp1 + (14) term can control the impedance directly.
s + 2wcs + w12
2
In this paper, only the harmonic current is fed forward to
modify the harmonic impedance, and the fundamental impedance
Krhwchs remains unchanged. Equation (19) can be expressed as
Gu_h(s) = Kph + ∑ s2 + 2wchs + wh2
(15)
h = 3, 5, 7, 11
U0 = GU (s)V ref − ZPET(s)iof − (1 − k)ZPET(s)ioh (20)
where Kp1 is the proportional gain of fundamental, Kr is the
resonant controller gain for fundamental voltage regulator, Kph is where iof and ioh are the fundamental and harmonic currents,
the proportional gain of harmonic voltage, Krh is the resonant respectively.
When k = 1, the harmonic impedance is zero, and when k = 0,
controller gain for harmonic voltage regulator, w1 and wh are the
the system is uncompensated. Depending on the requirement of the
resonant frequencies. application, the value of k can be chosen flexible.

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The value of k is based on the power limit of SST virtual impedance loop has a little affect to the HFT and winding
terminal voltage. This is also an advantage for SST, which is called
k = k∗ − m(S0 − S) (21) as power quality isolation.

where S0 is the available compensation capacity of SST and S is the 3.5 Response characteristics
supplying power of SST
The voltage and impedance response of SST are given as
2 2 2
S0 = SN − P + Q (22) ∗
Uref GU (s)GI (s)KPWM
= 2 (26)
2
UO s LC + (GI (s)KPWM)s + GU (s)GI (s)KPWM + 1
S = Sout − P2 + Q2 (23)
UO sL + GI (s)KPWM
Sout = V out_rms ∗ Iout_rms (24) = 2 (27)
iout s LC + (GI (s)KPWM)s + GU (s)GI (s)KPWM + 1
where SN is rated capacity of SST, Sout is the apparent power of ∗
SST which includes fundamental power and harmonic power, where GV (s) is the response function of Uref , iout is the output
V out_rms is the valid values of Uout, Iout_rms is the valid values of Iout current of SST, Zout is the equivalent impedance of SST. To
k∗ is the compensation coefficient when So = S, and its range is distinguish the response characteristics of different voltage
regulators, PI regulator and PR regulator are analysed in this
[0 1]. m is designed as
section.
Fig. 12 shows the response of the voltage loops with PI
m = kmax − k∗ /So (25) regulator and PR regulator. As expected, the bule line (with PR
regulator) has a 0 dB and 0° response at the selected harmonic
where S = 0 when kmax = 1. When the harmonic output power of frequencies, which means that the supply voltage harmonics can be
SST is initially low, the value of the compensation factor will be mitigated effectively. It can be noticed that the response of the
high, which in turn lowers the harmonic impedance of the SST and voltage loops shown by the red line (with PI regulator) has very
leads to an increase in the harmonic output power and vice versa. low magnitude response at the harmonic frequencies. It means that
Compensation factor k makes the dynamic regulation of PCC PR controller is superior to PI controller in the response of AC
voltage become possible. voltage reference.
The adopted virtual impedance loop in the last stage will make Fig. 13 shows the equivalent impedance of SST with PI
the harmonic current flow into the SST. The harmonic current will regulator and PR regulator. It is obviously seen from Fig. 13 that
bring the ripple current and ripple voltage. However, the ripple the equivalent impedance with blue line is lower than the
current and ripple voltage are very small when compared with the equivalent impedance with red line at the selected harmonic
fundamental and harmonic currents [30]. For the DC/DC stage, it frequencies. It means that the PR controller is better than PI
can be treated as an ideal DC–DC transformer when the switching controller at reducing the impedance.
frequency is much higher than the ripple frequency [31]. To
transfer the ripple current, a special design [31] or controller [32]
must be adopted. For the DC/DC stage with PI controller, the 4 Experimental results
virtual impedance in the last stage has a little affect to the high The proposed method is verified on a test rig, and the circuit and
frequency transformer (HFT) and DC capacitor. Therefore, the control parameters can be seen from Table 1 and the configuration
of the system is illustrated in Fig. 4. The DSP is TMS320F28335,
and the switch frequency is 10 kHz.
(1) Mode I with k = 1 Fig. 14 shows the experimental results
when k = 1. At this time, the PCC fundamental voltage is 380 V
(50 Hz), the load current is 12 A. The PCC voltage is shown in Fig.
14b, and the voltage THD is high. To show the waveform better,
the high-frequency harmonic is filtered by the oscilloscope. It is
easy to find that, the output voltage will be distorted when working
without any power quality control.
(2) Mode II with k = 0.5 Fig. 15 shows the output voltage and
current of SST when k = 0.5, and load stays the same. Comparing
Figs. 14a and 15a is easy to find that the output current of SST are
different significantly, because the PCC voltage has been adjusted.
The PCC voltage gets better when adopting the direct voltage
control. However, it still has some distortion as shown in the circle

Fig. 12  Response of Uref marks from Fig. 15b. The interaction between SST and non-linear
load is weakened when the high supply voltage control strategy is
adopted.
(3) Mode III with k = 0 Fig. 16 shows the output voltage and
current of SST when k = 0. From Fig. 16b we can find that the
voltage waveform is smoother than the voltage waveform in Fig.
15b at the circle marks. It is worth emphasising that the THD of
PCC voltage is hardly reduced to 0%. First, only the harmonics
which have been selected are compensated, so the voltage
waveform is still distortion. Second, there is an optimisation space
for the parameter selection of PR regulator. Based on the
experiment result with different work model, the effectiveness of
the proposed control strategy has been proved. The PCC voltage
quality can be controlled better through the proposed direct voltage
control strategy.

Fig. 13  Equivalent impedance of SST

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Table 1 Experimental prototype parameters
Parameter Value
DC voltage of LVDC 750 V
AC voltage of LVAC 380 V
AC inductance 3 mH
AC capacitance 20 µF
linear load 50 Ω
non-linear load 50 Ω
switching frequency of AC link 10 kHz

Fig. 16  Voltage and current waveforms when k = 0


(a) Current waveform, (b) Voltage waveform

voltage quality. To improve the PCC voltage quality, a control


strategy which considers the compensation capacity and operation
characteristic of SST has been proposed. Experiments have
demonstrated the proposed approach.

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SST-based microgrid is a feasible method to improve the PCC

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