Analysis and Control of A Single-Phase Single-Stage Grid-Connected

Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
Grid-connected
PV system
(GPV)
PV array Analysis and control of a single-phase
Power Inverter
Utility Grid
GPV considered
single-stage grid-connected photovoltaic
Control
Objectives
Typical Control
inverter
Scheme
Ideal Conditions
Assumptions
Initial Analysis Carlos Meza, Domingo Biel
Control
Objective
Controller
Simulations IOC - UPC
Non-Ideal
Conditions
Assumptions ACES Meeting - April 10th, 2008
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Outline
Inverter
Carlos Meza
1 Introduction
Introduction
Grid-connected
Grid-connected PV system (GPV)
PV system
(GPV) PV array
PV array
Power Inverter
Power Inverter
Utility Grid
GPV considered
Utility Grid
Control
Objectives
GPV considered
Typical Control
Scheme
Control Objectives
Ideal Conditions Typical Control Scheme
Assumptions
Initial Analysis 2 Ideal Conditions
Control
Objective Assumptions
Controller
Simulations Initial Analysis
Non-Ideal Control Objective
Conditions
Assumptions Controller
Modeling
Controller Simulations
3 Non-Ideal Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Introduction - GPV system
Inverter
Carlos Meza
Introduction
Grid-connected
PV system
(GPV)
PV array
DC Power AC Power
Power Inverter
Utility Grid
GPV considered , , ...
Control
Objectives
Typical Control
Scheme
Group of PV panels Power Conditioning System Utility Grid
Ideal Conditions
Assumptions
Initial Analysis
Control
It is desirable that a Grid-connected PV (GPV) System is able to:
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
Grid-connected
PV system
(GPV)
PV array
DC Power AC Power
Power Inverter
Utility Grid
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller • Deliver a sinusoidal current to the utility grid in phase with the
Simulations
Non-Ideal
utility grid voltage.
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
Grid-connected
PV system
(GPV)
PV array
DC Power AC Power
Power Inverter
Utility Grid
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Simulations
Non-Ideal
Conditions
Assumptions
• Extract the maximum available power from the photovoltaic
Modeling
Controller
array.
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
Grid-connected
PV system
(GPV)
PV array
DC Power AC Power
Power Inverter
Utility Grid
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
array.
The previous actions are taken care by the power conditioning system.
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
Grid-connected
PV system
(GPV)
PV array
DC Power AC Power
Power Inverter
Utility Grid
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
array.
In order to fulfill the aforementioned requirements the GPV system

has to be properly characterized (i.e. modeled).
Analysis and
control of a
1φ1S GPV
, , ... Introduction - PV array
Inverter
Carlos Meza
• The basic building element of a photovoltaic generator is the PV
Introduction
Grid-connected cell.
PV system
(GPV)
PV array
Power Inverter
Utility Grid
GPV considered
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
PV system
(GPV)
PV array
• A PV panel is conformed of several PV cells connected in series
Power Inverter and/or parallel.
Utility Grid
GPV considered
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
PV system
(GPV)
PV array
Utility Grid
GPV considered
Control
• The electrical characteristics of a PV cell is non-linear,
Objectives
Typical Control
dependent on the PV cell’s temperature and incident irradiance
Scheme
and with maximum power point characteristics.
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
PV system
(GPV)
PV array
Utility Grid
GPV considered
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions 3.5
290 K
Initial Analysis 3
Control 295 K
Current (A)
2.5
Objective 2
300 K
Controller 1.5
Simulations 1
305 K
Non-Ideal 0.5 310 K
Conditions 0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Assumptions Voltage (V)
Modeling
Controller 1.2
Power (W)
0.8
0.6
0.4
0.2
0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Voltage (V)
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
PV system
(GPV)
PV array
Utility Grid
GPV considered
Control
Objectives
Typical Control
Scheme
Ideal Conditions
3.5
Assumptions
3
600 W·m−2
Initial Analysis
700 W·m−2
Current (A)
Control 2.5
Objective 2
800 W·m−2
Controller 1.5
Simulations 1 900 W·m−2
0.5
Non-Ideal 1000 W·m−2
Conditions 0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45
Modeling
1.2
Controller
Power (W)
1
0.8
0.6
0.4
0.2
0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45
Voltage (V)
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
PV system
(GPV)
PV array
Utility Grid
GPV considered
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
3.5
3 PV cell model
Current (A)
Control 2.5 h “ ” i
Objective
Controller
2
1.5
icell = Igc − Isat exp vηv
cell
T
− 1
Simulations 1
Non-Ideal 0.5 • Igc :light-induced current.

Conditions 0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45
Assumptions Voltage (V) • Isat , η: parameters that
Modeling
Controller
1.2 depends on the semiconductor
material.
Power (W)
1
0.8
0.6
0.4 • vT : thermal voltage. Depends
0.2
0
on the semiconductor material
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45
Voltage (V) and PV cell’s temperature.
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
PV system
(GPV)
PV array
Utility Grid
GPV considered
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Adopted PV array model PV cell model
Control h “ ” i
Objective fpv (vpv ) = Λ − ρ(vpv ) icell = Igc − Isat exp vηv
cell
− 1
Controller T
Simulations
ρ(vpv ) = Ψ exp (αvpv ) • Igc :light-induced current.
Non-Ideal
Conditions
Assumptions • Λ = (Igc + Is )np . • Isat , η: parameters that
Modeling
Controller • Ψ = Is np . depends on the semiconductor
ns
material.
• α= ηvT
.
• vT : thermal voltage. Depends
ns and np are the number of PV on the semiconductor material
cells connected in series and parallel. and PV cell’s temperature.
Analysis and
control of a
1φ1S GPV
Introduction - Power Inverter
Inverter
Carlos Meza
• The topology of the power inverter stage depends on the way
Introduction
Grid-connected the PV panels are grouped.
PV system
(GPV)
PV array
Power Inverter
Utility Grid
GPV considered
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
PV system
(GPV)
PV array
• In this work it is assumed that all the available PV panels are
Power Inverter grouped together and connected to the utility grid by means of a
Utility Grid
GPV considered unique power inverter.
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
PV system
(GPV)
PV array
Utility Grid
Control
Objectives
Typical Control
• This configuration is ofter referred as “Central Inverter”.
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
PV system
(GPV)
PV array
Utility Grid
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Utility
Power Inverter
PV array Grid
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
PV system
(GPV)
PV array
Utility Grid
Control
Objectives
Typical Control
Scheme
Ideal Conditions
• As a power inverter topology a full-bridge inverter is chosen.
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
PV system
(GPV)
PV array
Utility Grid
Control
Objectives
Typical Control
Scheme
Ideal Conditions
• As a power inverter topology a full-bridge inverter is chosen.
Assumptions
Initial Analysis
Control
Objective
Controller ipv = fpv (x1 ) x2
Simulations
Non-Ideal L
Conditions
+
δ δ̄
Assumptions
Modeling x1 C
Controller
vg
−
δ̄ δ
Analysis and
control of a
1φ1S GPV
Introduction - Utility Grid
Inverter
Carlos Meza
Introduction
Grid-connected
PV system
(GPV)
PV array
Power Inverter
Utility Grid
GPV considered
Control An ideal utility grid is assumed, i.e.,
Objectives
Typical Control
Scheme
Ideal Conditions vg = A sin(ωt)
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations where A and ω are considered constant.
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Introduction - GPV considered
Inverter
Carlos Meza
Introduction
DC Power AC Power
Grid-connected
PV system
(GPV)
PV array , , ...
Power Inverter
Utility Grid
GPV considered
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
ipv = fpv (x1 ) x2
Grid-connected
PV system
(GPV) L
PV array δ δ̄
Power Inverter +
Utility Grid x1 C
GPV considered vg
−
Control
Objectives δ
Typical Control
δ̄
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
ipv = fpv (x1 ) x2
Grid-connected
PV system
(GPV) L
PV array δ δ̄
Power Inverter +
Utility Grid x1 C
GPV considered vg
−
Control
Objectives δ
Typical Control
δ̄
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
C ż1 = −µz2 + fpv (z1 )
Modeling
Controller
Lż2 = µz1 − vg ,
where z1 and z2 are the averaged

values of x1 and x2 , respectively.
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
ipv = fpv (x1 ) x2
Grid-connected
PV system
(GPV) L
PV array δ δ̄
Power Inverter +
Utility Grid x1 C
GPV considered vg
−
Control
Objectives δ
Typical Control
δ̄
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
δ is generated via PWM scheme
Non-Ideal
Conditions
C ż1 = −µz2 + fpv (z1 ) with an input signal µ ∈ [−1, 1]
Assumptions
Modeling outputted by the controller.
Controller
Lż2 = µz1 − vg ,

values of x1 and x2 , respectively.
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
ipv = fpv (x1 ) x2
Grid-connected
PV system
(GPV) L
PV array δ δ̄
Power Inverter +
Utility Grid x1 C
GPV considered vg
−
Control
Objectives δ
Typical Control
δ̄
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
δ is generated via PWM scheme
Non-Ideal
Conditions
C ż1 = −µz2 + fpv (z1 ) with an input signal µ ∈ [−1, 1]
Assumptions
Modeling outputted by the controller.
Controller
Lż2 = µz1 − vg ,
Recall that:
values of x1 and x2 , respectively. fpv (z1 ) = Λ − ρ(z1 )
ρ(z1 ) = Ψ exp (αz1 )
Analysis and
control of a
1φ1S GPV
Introduction - Control Objectives
Inverter
Carlos Meza
Introduction
ipv = fpv (x1 ) x2
Grid-connected
PV system
(GPV) L
PV array δ δ̄
Power Inverter +
Utility Grid x1 C
GPV considered vg
−
Control
Objectives δ
Typical Control
δ̄
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations Control objectives for the case under study:
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
ipv = fpv (x1 ) x2
Grid-connected
PV system
(GPV) L
PV array δ δ̄
Power Inverter +
Utility Grid x1 C
GPV considered vg
−
Control
Objectives δ
Typical Control
δ̄
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Non-Ideal
Conditions • To deliver a sinusoidal current in phase with the utility grid
Assumptions
Modeling
voltage, i.e., z2ss = k vg , where k is constant during a grid
Controller period.
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
ipv = fpv (x1 ) x2
Grid-connected
PV system
(GPV) L
PV array δ δ̄
Power Inverter +
Utility Grid x1 C
GPV considered vg
−
Control
Objectives δ
Typical Control
δ̄
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Non-Ideal
Conditions • To deliver a sinusoidal current in phase with the utility grid
Assumptions
Modeling
voltage, i.e., z2ss = k vg , where k is constant during a grid
Controller period.
• To regulate the averaged value of z1 to a value that assures the
maximum power extraction from the PV array.
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction 8
Grid-connected
PV system MPP
Current (A)
(GPV) 6
PV array
Power Inverter 4
Utility Grid
GPV considered 2
Control
Objectives
0
Typical Control 0 100 200 300 400 500 600 700
Scheme
Voltage (V)
Ideal Conditions
Assumptions
4000
Initial Analysis MPP
Power (W)
Control
Objective 3000
Controller
Simulations 2000
Non-Ideal 1000
Conditions
Assumptions 0
Modeling 0 100 200 300 400 500 600 700
Controller Voltage (V)
Analysis and
control of a
1φ1S GPV
Introduction - Typical Control Scheme
Inverter
Carlos Meza
Introduction
Grid-connected vg
PV system z1∗
(GPV) Outer Loop k z2∗
PV array
Power Inverter
Controller Inner Loop
Utility Grid z2 Controller
GPV considered
Control
Objectives µ
Typical Control
Scheme z1
Ideal Conditions PWM
Assumptions
Initial Analysis
{δ, δ̄}
Control
Objective
Controller
Simulations fpv (z1 ) z2
Non-Ideal
Conditions L
Assumptions + C δ δ̄
Modeling z1 vg
Controller
−
δ̄ δ
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
vg
z1∗ z2∗
Outer Loop k
Introduction Controller
Inner Loop
Grid-connected
PV system z2 Controller
(GPV)
PV array µ
Power Inverter
z1
PWM
Utility Grid
GPV considered {δ, δ̄}
Control
Objectives z2
fpv (z1 )
Typical Control
Scheme L
+ C δ δ̄
Ideal Conditions z1 vg
−
Assumptions
δ̄ δ
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
vg In the published literature...
z1∗ z2∗
Outer Loop k
Inner Loop • The inner control loop is widely
Grid-connected
discussed.
(GPV)
PV array µ
Power Inverter
z1
PWM
Utility Grid
GPV considered {δ, δ̄}
Control
Objectives z2
fpv (z1 )
Typical Control
Scheme L
+ C δ δ̄
−
Assumptions
δ̄ δ
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
z1∗ z2∗
Outer Loop k
Grid-connected
discussed.
(GPV)
µ
PV array
z1 • A linear inner current controller is
Power Inverter
PWM usually used, e.g., the so-called
Utility Grid
GPV considered {δ, δ̄} “P+R controller” using a
Control
Objectives z2
resonator at the grid frequency.
fpv (z1 )
Typical Control
Scheme L
+ C δ δ̄
−
Assumptions
δ̄ δ
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
z1∗ z2∗
Outer Loop k
Grid-connected
discussed.
(GPV)
µ
PV array
Power Inverter
Utility Grid
Control
Objectives z2
fpv (z1 )
Typical Control
Scheme L • The outer voltage loop has paid
+ C δ δ̄
Ideal Conditions z1 vg less attention.
−
Assumptions
δ̄ δ
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
z1∗ z2∗
Outer Loop k
Grid-connected
discussed.
(GPV)
µ
PV array
Power Inverter
Utility Grid
Control
Objectives z2
fpv (z1 )
Typical Control
+ C δ δ̄
−
Assumptions
Initial Analysis
δ̄ δ • A complete stability analysis of
Control
Objective
the system is not addressed
Controller possibly because of the
Simulations
time-varying non-linear nature of
Non-Ideal the system.
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
z1∗ z2∗
Outer Loop k
Grid-connected
discussed.
(GPV)
µ
PV array
Power Inverter
Utility Grid
Control
Objectives z2
fpv (z1 )
Typical Control
+ C δ δ̄
−
Assumptions
Initial Analysis
Control
Objective
Simulations
Conditions
Assumptions In this presentation...
Modeling
Controller
• An analysis of the GPV system considering its non-linear time-varying
dynamics will be presented.
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
z1∗ z2∗
Outer Loop k
Grid-connected
discussed.
(GPV)
µ
PV array
Power Inverter
Utility Grid
Control
Objectives z2
fpv (z1 )
Typical Control
+ C δ δ̄
−
Assumptions
Initial Analysis
Control
Objective
Simulations
Conditions
Modeling
Controller
• Initially the system will be studied assuming that all the parameters are
known. An inner loop “P+R controller” will be studied in this case.
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
z1∗ z2∗
Outer Loop k
Grid-connected
discussed.
(GPV)
µ
PV array
Power Inverter
Utility Grid
Control
Objectives z2
fpv (z1 )
Typical Control
+ C δ δ̄
−
Assumptions
Initial Analysis
Control
Objective
Simulations
Conditions
Modeling
Controller
• Initially the system will be studied assuming that all the parameters are
known. An inner loop “P+R controller” will be studied in this case.
• Assuming that the PV array electrical characteristics is unknown, a
closed-loop system with a two-loop control scheme will be studied.
Analysis and
control of a
1φ1S GPV
Analysis and Control Under Ideal Conditions
Inverter
Carlos Meza
Introduction
Grid-connected
PV system
(GPV)
PV array
Power Inverter
Utility Grid
GPV considered
As a first step taken to analyze the system consists on considering
Control
Objectives
that all its parameters are known. Therefore, in this section it is
Typical Control
Scheme
assumed that
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
Grid-connected
PV system
(GPV)
PV array
Power Inverter
Utility Grid
GPV considered
Control
Objectives
Typical Control
Scheme
assumed that
Ideal Conditions • The PV array is formed of identical PV panels under the same
Assumptions
Initial Analysis external stimuli, i.e., the same irradiance and temperature.
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
Grid-connected
PV system
(GPV)
PV array
Power Inverter
Utility Grid
GPV considered
Control
Objectives
Typical Control
Scheme
assumed that
Assumptions
Control
Objective • The electrical characteristics of the PV array is fully known.
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
Grid-connected
PV system
(GPV)
PV array
Power Inverter
Utility Grid
GPV considered
Control
Objectives
Typical Control
Scheme
assumed that
Assumptions
Control
Objective • The electrical characteristics of the PV array is fully known.
Controller
Simulations
• The grid voltage is sinusoidal, i.e., vg = A sin(ωt), where A and
Non-Ideal
Conditions ω are known constants.
Assumptions
Modeling
Controller
Analysis and
control of a Consider the dynamics of the adopted model of the system:
1φ1S GPV
Inverter C ż1 = −µz2 + fpv (z1 )
Carlos Meza
Lż2 = µz1 − vg .
Introduction
Grid-connected
PV system
(GPV)
PV array
Power Inverter
Utility Grid
GPV considered
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
1φ1S GPV Steady-state
Inverter C ż1 = −µz2 + fpv (z1 ) behavior when
Carlos Meza
z2ss = kA sin(ωt)
Lż2 = µz1 − vg .
Introduction where k is constant.
Grid-connected In the desired steady-state z2 = z2ss = k vg = k A sin(ωt).
PV system
(GPV)
PV array
Power Inverter
Utility Grid
GPV considered
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
Carlos Meza
z2ss = kA sin(ωt)
Lż2 = µz1 − vg .
PV system
(GPV)
PV array
From the system dynamics it is possible to obtain,
Power Inverter
Utility Grid z1ss C ż1ss = P(z1ss ) − k 2 A2 Lω sin(ωt) cos(ωt) − kA2 sin2 (ωt),
GPV considered
Control where z1ss is T -periodic and P(z1ss ) = fpv (z1ss )z1ss represents the PV array
Objectives
Typical Control generated power.
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
Carlos Meza
z2ss = kA sin(ωt)
Lż2 = µz1 − vg .
PV system
(GPV)
PV array
Power Inverter
GPV considered
Objectives
Scheme
Ideal Conditions
In order to foresee the role of k in the system’s steady-state behavior, each term
Assumptions in is averaged over one grid-cycle (T ), i.e.,
Initial Analysis Z nT Z nT
Control 1 1
Objective z1ss C ż1ss dt = P(z1ss ) dt
Controller T (n−1)T T (n−1)T
Simulations | {z }
Non-Ideal =0
Conditions Z nT
1
Assumptions
Modeling
− k 2 A2 Lω sin(ωt) cos(ωt) dt
T (n−1)T
Controller
| {z }
=0
Z nT
1
− kA2 sin2 (ωt) dt
T (n−1)T
| {z }
=0.5kA2
Analysis and
Carlos Meza
z2ss = kA sin(ωt)
Lż2 = µz1 − vg .
PV system
(GPV)
PV array
Power Inverter
GPV considered
Objectives
Scheme
Ideal Conditions
In order to foresee the role of k in the system’s steady-state behaviour, each term
Assumptions in is averaged over one grid-cycle (T ), i.e.,
Initial Analysis Z nT
Control 1
Objective P(z1ss ) = P(z1ss ) = 0.5kA2 ,
Controller T (n−1)T
Simulations
Non-Ideal where the upper bar denotes an averaging function defined in the following way:
Conditions
Z nT
Assumptions
Modeling (·) = (·) dτ
Controller (n−1)T
Then, the PV array power vs. voltage curve can also be interpreted as a scaled
version of the k vs. z̄1 curve as it is shown next.
Analysis and
control of a
Inverter
Maximum Power Point behavior when
Carlos Meza
z2ss = kA sin(ωt)
Introduction (vpv (P1 ),P1 ) (vpv (P1 ),P1 ) where k is constant.
Grid-connected
PV system
(GPV)
PV array
P
Power Inverter
Utility Grid
GPV considered
Control
Objectives
Typical Control
Scheme
Ideal Conditions
vpv
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
Inverter
Carlos Meza
z2ss = kA sin(ωt)
Introduction (z̄1 (k1 ),k1 ) (z̄1 (k1 ),k1 ) where k is constant.
Grid-connected
PV system
(GPV)
PV array
k
Power Inverter
Utility Grid
GPV considered
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
z̄1
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
Inverter
Carlos Meza
z2ss = kA sin(ωt)
Grid-connected
PV system
(GPV)
PV array
k
Power Inverter
Utility Grid
GPV considered
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
z̄1
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
From the previous analysis it is clear that in the desired steady-state,
Conditions
Assumptions
Modeling
• The value of k is proportional to the extracted PV power.
Controller
Analysis and
control of a
Inverter
Carlos Meza
z2ss = kA sin(ωt)
Grid-connected
PV system
(GPV)
PV array
k
Power Inverter
Utility Grid
GPV considered
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
z̄1
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
From the previous analysis it is clear that in the desired steady-state,
Conditions
Assumptions
Modeling
• The value of k is proportional to the extracted PV power.
Controller
• For a given value of k there are two possible values of z̄1 .

Analysis and
control of a
1φ1S GPV
Control Objective
Inverter
Carlos Meza
Introduction
Grid-connected Maximum Power Point
PV system
(GPV)
PV array
Power Inverter (z̄1 (k1 ),k1 ) (z̄1 (k1 ),k1 )
Utility Grid
GPV considered
k
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller z̄1
Simulations
Non-Ideal
Conditions
Assumptions
For this case the following control objective is designated:
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Control Objective
Inverter
Carlos Meza
Introduction
Grid-connected Maximum Power Point
PV system
(GPV)
PV array
Power Inverter (z̄1 (k1 ),k1 ) (z̄1 (k1 ),k1 )
Utility Grid
GPV considered
k
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller z̄1
Simulations
Non-Ideal
Conditions
Assumptions
For this case the following control objective is designated:
Modeling
Controller • To deliver a sinusoidal output current in phase with the utility
grid voltage, i.e., z2∗ = kvg where z2∗ is the desired value of z2
and k is a positive constant.
This is tantamount to defining how much power we want to extract
from the PV panels.
Analysis and
control of a
1φ1S GPV
Controller
Inverter
Carlos Meza
Introduction
From the dynamical equations of the system:
Grid-connected
PV system
(GPV) C ż1 = −µz2 + fpv (z1 )
PV array
Power Inverter
Utility Grid Lż2 = µz1 − vg .
GPV considered
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Controller
Inverter
Carlos Meza
Introduction
Grid-connected
PV system
(GPV) C ż1 = −µz2 + fpv (z1 )
PV array
Power Inverter
GPV considered
Control
Objectives
Typical Control Defining the system’s output y to be z2 and differentiating the
Scheme
output once:
Ideal Conditions
1
Assumptions
Initial Analysis
ẏ = ż2 = (µz1 − vg ).
Control
L
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Controller
Inverter
Carlos Meza
Introduction
Grid-connected
PV system
(GPV) C ż1 = −µz2 + fpv (z1 )
PV array
Power Inverter
GPV considered
Control
Objectives
Scheme
output once:
Ideal Conditions
1
Assumptions
Initial Analysis
ẏ = ż2 = (µz1 − vg ).
Control
L
Objective
Controller Defining a “new” control input w to be of the form
Simulations
Non-Ideal
Conditions w = µ z1 ,
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Controller
Inverter
Carlos Meza
Feedback
Introduction Linearization
Grid-connected
PV system Controller
(GPV) C ż1 = −µz2 + fpv (z1 )
PV array
Power Inverter
GPV considered
Control
Objectives
Scheme
output once:
Ideal Conditions
1
Assumptions
Initial Analysis
ẏ = ż2 = (µz1 − vg ).
Control
L
Objective
Simulations
Non-Ideal
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Controller
Inverter
Carlos Meza
Feedback
Grid-connected
PV system Controller
(GPV) C ż1 = −µz2 + fpv (z1 )
PV array
Power Inverter
GPV considered
Control
Objectives
Scheme
output once:
Ideal Conditions
1
Assumptions
Initial Analysis
ẏ = ż2 = (µz1 − vg ).
Control
L
Objective
Simulations
Non-Ideal
Assumptions
Modeling
Controller yields the following linear relationship:
1
ż2 = (w − vg ).
L
Analysis and
control of a
1φ1S GPV
Controller
Inverter
Carlos Meza
Using w the system’s dynamics can be written as: Feedback
Grid-connected
PV system wz2 Controller
(GPV) C ż1 = − + fpv (z1 )
PV array z1
Power Inverter
Utility Grid
1
GPV considered
Control
ż2 = (w − vg ).
Objectives L
Typical Control
Scheme
Ideal Conditions
Assumptions • By means of the input-output linearization, the dynamics of the
Initial Analysis
Control system is decomposed into an external part (the dynamics of the
Objective
Controller output current) and an internal “unobservable” part, i.e., the
Simulations
dynamics of the capacitor voltage.
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Controller
Inverter
Carlos Meza
Grid-connected
(GPV) C ż1 = − + fpv (z1 )
PV array z1
Power Inverter
Utility Grid
1
GPV considered
Control
ż2 = (w − vg ).
Objectives L
Typical Control
Scheme
Ideal Conditions
Initial Analysis
Objective
Simulations
Non-Ideal
Conditions
• The external part consists of a linear output relation between z2
Assumptions
Modeling and w which makes it possible to use the well known linear
Controller
control techniques.
Analysis and
control of a
1φ1S GPV
Controller
Inverter
Carlos Meza
Grid-connected
(GPV) C ż1 = − + fpv (z1 )
PV array z1
Power Inverter
Utility Grid
1
GPV considered
Control
ż2 = (w − vg ).
Objectives L
Typical Control
Scheme
Ideal Conditions
Initial Analysis
Objective
Simulations
Non-Ideal
Conditions
• The external part consists of a linear output relation between z2
Assumptions
Modeling and w which makes it possible to use the well known linear
Controller
control techniques.
• The internal part needs to be analyzed in order to assure the
stability of the closed-loop system.
Analysis and
control of a
1φ1S GPV
Controller - Current dynamics
Inverter
Carlos Meza Initially we will consider a controller for the output current of the system. We will
deal with the voltage dynamics later.
Introduction
Grid-connected
PV system
(GPV)
PV array
Power Inverter
Utility Grid
GPV considered
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Introduction
Grid-connected
Consider the dynamics of the output current with the control signal w:
PV system 1
(GPV) ż2 = (w − vg ).
PV array L
Power Inverter
Utility Grid
GPV considered
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Introduction
Grid-connected
PV system 1
(GPV) ż2 = (w − vg ).
PV array L
Power Inverter
Utility Grid
Adding a controller GL in the way depicted next
GPV considered
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Introduction
Grid-connected
PV system 1
(GPV)
PSfrag ż2 = (w − vg ).
PV array L
Power Inverter
Utility Grid
GPV considered Vg (s)
Control
Objectives
Typical Control Z2∗ (s) W (s) 1 Z2 (s)
Scheme GL (s)
sL
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective and using the following expression for GL :
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Introduction
Grid-connected
PV system 1
(GPV)
PSfrag ż2 = (w − vg ).
PV array L
Power Inverter
Utility Grid
GPV considered Vg (s)
Control
Objectives
Typical Control Z2∗ (s) W (s) 1 Z2 (s)
Scheme GL (s)
sL
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective and using the following expression for GL :
Controller
KI s
Simulations GL = K P + .
Non-Ideal s2 + ω 2
Conditions it is possible to obtain the desired output current dynamics.
Assumptions
Modeling
Controller • The aforementioned controller is often used to control power inverters.
• This controller is sometimes referred as an integrator for sinusoidal signals
due to the fact that it has the same effect on a sinusoidal signal than a
typical integrator has on a DC signal
• The term “resonant controller” or p + resonant (P+R) controller is also
used when a proportional controller is added.
Analysis and
control of a
1φ1S GPV
Controller - Voltage dynamics
Inverter
Carlos Meza
Introduction
Grid-connected This controller only accounts for the inductor current dynamics, while rendering
PV system
(GPV) the capacitor voltage dynamics “unobservable” from the controller viewpoint.
PV array
Power Inverter
Utility Grid
GPV considered
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
PV system
PV array
Power Inverter
Utility Grid If the internal dynamics is stable, i.e., that z1 remains bounded during the
GPV considered tracking of z2 , the usefulness of this current control approach will be proved.
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
PV system
PV array
Power Inverter
Control
Objectives
Typical Control Rigorously, we would have to study the dynamics of z1 for the designed control
Scheme
signal µ, i.e.,
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
PV system
PV array
Power Inverter
Control
Objectives
Typical Control Rigorously, we would have to study the dynamics of z1 for the designed control
Scheme
signal µ, i.e.,
Ideal Conditions
Assumptions
Initial Analysis  ﬀ”
1“ KI s
Control
Objective
µ = KP e2 (t) − L−1 E 2 (s)
Controller
z1 s2 + ω 2
Simulations C ż1 = −µz2 + fpv (z1 )
Non-Ideal
Conditions Lż2 = µz1 − vg ,
Assumptions
Modeling where e2 (t) = z2 − z2∗ and E2 (s) = L{e2 (t)}.
Controller
The study of the previous set of equations is quite burdensome and therefore a
simpler way to analyze the system’s internal dynamics is explored.
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction Consider the dynamics of the system rewritten in the following way:
Grid-connected
PV system
(GPV)
PV array
Power Inverter
Utility Grid
GPV considered
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Grid-connected „ «
PV system Imax z2 fpv (z1 )
(GPV) ż1 = −µ + (1)
PV array C Imax Imax
Power Inverter „ «
Utility Grid Imax z1 vg
GPV considered ǫż2 = µ − ,
Control
C Vmax Vmax
Objectives
Typical Control where ǫ = LImax /Vmax C and the state variables z1 and z2 have been
Scheme
normalizes, i.e., I z2 ∈ [−1, 1] and V z1 ∈ [−1, 1]
Ideal Conditions max max
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
(GPV) ż1 = −µ + (1)
Control
C Vmax Vmax
Objectives
Scheme
Assumptions
Initial Analysis
Given that, for practical applications, Imax ≪ Vmax and L < C then ǫ ≪ 1,
Control which implies that ż2 ≫ ż1 , that is, z2 is able to change more rapidly than z1
Objective
Controller
and therefore a time-scale separation exists.
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
(GPV) ż1 = −µ + (1)
Control
C Vmax Vmax
Objectives
Scheme
Assumptions
Initial Analysis
Given that, for practical applications, Imax ≪ Vmax and L < C then ǫ ≪ 1,
Control which implies that ż2 ≫ ż1 , that is, z2 is able to change more rapidly than z1
Objective
Controller
and therefore a time-scale separation exists.
Simulations
Setting ǫ = 0:
Non-Ideal
Conditions
1
Assumptions ż1 = (−µz2 + fpv (z1 )) (2)
Modeling C
Controller
0 = µz1 − vg ,
According to Kokotovic et. al as ǫ ≪ 1 the dynamics of (1) are well approximated

to (2). Moreover, the error involved in this approximation is small, i.e., O(ǫ).
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Therefore, the following equation will be studied,
Introduction
Grid-connected kA2 kA2
PV system z1 C ż1 = z1 fpv (z1 ) − + cos(2ωt),
(GPV) 2 2
PV array
Power Inverter
kA2 kA2
Utility Grid
z1 C ż1 = z1 (Λ − Ψeαz1 ) − + cos(2ωt)
GPV considered 2 2
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
(GPV) 2 2
PV array
Power Inverter
kA2 kA2
Utility Grid
z1 C ż1 = z1 (Λ − Ψeαz1 ) − + cos(2ωt)
GPV considered 2 2
Control
Objectives
Typical Control The following change of variables is applied:
Scheme
Ideal Conditions
Assumptions E = 0.5Cz12
Initial Analysis r
Control
„ q «
Objective
2E α 2E
P(E) = Λ − Ψe C
Controller C
Simulations
Non-Ideal kA2
Conditions ϕ(t) = cos(2ωt),
2
Assumptions
Modeling where E represents the energy stored in the capacitor and P is the power
Controller
generated by the PV array.
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
(GPV) 2 2
PV array
Power Inverter
kA2 kA2
Utility Grid
z1 C ż1 = z1 (Λ − Ψeαz1 ) − + cos(2ωt)
GPV considered 2 2
Control
Objectives
Typical Control The following change of variables is applied:
Scheme
Ideal Conditions
Assumptions E = 0.5Cz12
Initial Analysis r
Control
„ q «
Objective
2E α 2E
P(E) = Λ − Ψe C
Controller C
Simulations
Non-Ideal kA2
Conditions ϕ(t) = cos(2ωt),
2
Assumptions
Modeling where E represents the energy stored in the capacitor and P is the power
Controller
generated by the PV array.
From these change of variables we obtain:
kA2
Ė = P(E) − + ϕ(t).
2
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza In order to validate the usefulness of the current controller designed it is necessary
to proof the stability of the solutions of the differential equation
Introduction
Grid-connected kA2
PV system Ė = P(E) − + ϕ(t).
(GPV) 2
PV array
Power Inverter
For a given k the aforementioned differential equation has two solutions:
Utility Grid
GPV considered
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Introduction
Grid-connected kA2
(GPV) 2
PV array
Power Inverter
Utility Grid
EMPP
GPV considered
Control
Objectives
Typical Control
Scheme
∗ ∗
ERH
Ideal Conditions ELH
Assumptions P
Initial Analysis M>0 M<0
Control
Objective
Controller
Simulations
EOC
Non-Ideal
Conditions ELH ERH
Assumptions E
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Introduction
Grid-connected kA2
(GPV) 2
PV array
Power Inverter
Utility Grid
EMPP
GPV considered
Control
Objectives
Typical Control
Scheme
∗ ∗
ERH
Ideal Conditions ELH
Assumptions P
Initial Analysis M>0 M<0
Control
Objective
Controller
Simulations
EOC
Non-Ideal
Conditions ELH ERH
Assumptions E
Modeling
Controller The stability analysis can be simplified studying the “error dynamics”:
kA2
Ė ∗ = P(E ∗ ) − + ϕ(t), (3)
2
∗
where E is the steady-state value of E for a given k. With this equation yields,
Ẽ˙ = P̃(E, E ∗ ) = P(E) − P(E ∗ ),
where Ẽ = E − E ∗ , P : E 7→ R and E ⊂ R+ .
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
EMPP
Introduction
Grid-connected
PV system
(GPV)
∗ ∗
ERH
PV array ELH
P
Power Inverter
Utility Grid M>0 M<0
GPV considered
Control
Objectives
Typical Control
Scheme EOC
Ideal Conditions
ELH ERH
Assumptions
Initial Analysis
E
Control
Objective
In order to analyze the stability of Ẽ˙ = P̃(E, E ∗ ) = P(E) − P(E ∗ ), the following
Controller Lyapunov function is considered:
Simulations
V = 0.5 Ẽ 2 ,
Non-Ideal
Conditions which is a positive definite function and its derivative is:
Assumptions
Modeling V̇ = Ẽ P̃(E, E ∗ ).
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
EMPP
Introduction
Grid-connected
PV system
(GPV)
∗ ∗
ERH
PV array ELH
P
Power Inverter
Utility Grid M>0 M<0
GPV considered
Control
Objectives
Typical Control
Scheme EOC
Ideal Conditions
ELH ERH
Assumptions
Initial Analysis
E
Control
Objective
In order to analyze the stability of Ẽ˙ = P̃(E, E ∗ ) = P(E) − P(E ∗ ), the following
Controller Lyapunov function is considered:
Simulations
V = 0.5 Ẽ 2 ,
Non-Ideal
Conditions which is a positive definite function and its derivative is:
Assumptions
Modeling V̇ = Ẽ P̃(E, E ∗ ).
Controller
The stability analysis is splitted in th following parts:
• First the solution ELH ∗ and the set E
LH := {E|0 ≤ E < EMPP } is considered.
• Then, the solution ERH ∗ and the set E

RH := {E|EMPP ≤ E < EOC } is
analyzed.
• Finally, the remaining conditions not considered in the previous cases are
studied.
Analysis and
control of a
1φ1S GPV
Inverter ∗ and the set E
1. Solution ELH LH := {E|0 ≤ E < EMPP }
Carlos Meza
Introduction
Grid-connected
PV system The derivative of V for all E ∈ ELH is:
(GPV)
PV array ∗
Power Inverter V̇ = ẼLH P̃LH (E , ELH ), (4)
Utility Grid
GPV considered ∗ ∗
Control where P̃LH = PLH − P(ELH ), PLH : ELH 7→ R, ẼLH = E − ELH and E ∈ ELH .
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Carlos Meza
Introduction
Grid-connected
(GPV)
PV array ∗
Utility Grid
Objectives
Typical Control By the mean value theorem equation (4) can be written in the following
Scheme
way:
Ideal Conditions 2 ∗
Assumptions
V̇ = ẼLH M(E , ELH ).
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Carlos Meza
Introduction
Grid-connected
(GPV)
PV array ∗
Utility Grid
Objectives
Scheme
way:
Assumptions
Initial Analysis ∗
Control Notice that function M(E , ELH ) is always positive for E ∈ ELH , e.g., for a
Objective
Controller time instant t = t1 where E (t1 ) ∈ ELH , M is equal to:
Simulations
˛
Non-Ideal ` ∗ ´ dP(E ) ˛˛
Conditions M E (t1 ), ELH (t1 ) =
Assumptions dE ˛E=E1
Modeling
Controller
where E1 ∈ ELH is a point on the line segment connecting E (t1 ) with
∗
ELH`(t1 ), and∗ given´ that only the left-hand side is being considered
M E (t1 ), ELH (t1 ) > 0.
Analysis and
control of a
1φ1S GPV
Carlos Meza
Introduction
Grid-connected
(GPV)
PV array ∗
Utility Grid
Objectives
Scheme
way:
Assumptions
Initial Analysis ∗
Control Notice that function M(E , ELH ) is always positive for E ∈ ELH , e.g., for a
Objective
Controller time instant t = t1 where E (t1 ) ∈ ELH , M is equal to:
Simulations
˛
Non-Ideal ` ∗ ´ dP(E ) ˛˛
Conditions M E (t1 ), ELH (t1 ) =
Assumptions dE ˛E=E1
Modeling
Controller
where E1 ∈ ELH is a point on the line segment connecting E (t1 ) with
∗
ELH`(t1 ), and∗ given´ that only the left-hand side is being considered
M E (t1 ), ELH (t1 ) > 0.
∗
The error dynamics considering ELH is unstable.
Analysis and
control of a
1φ1S GPV
2. Solution ERH RH := {E|EMPP ≤ E < EOC }
Carlos Meza
Introduction
Grid-connected
PV system
(GPV)
PV array
Power Inverter Similarly, the aforementioned procedure can be applied to the right-hand
Utility Grid
GPV considered
side of the P vs E curve.
Control
Objectives
the derivative of V for all E ∈ ERH is:
Typical Control
Scheme ∗
V̇ = ẼRH P̃RH (E , ERH ), (5)
Ideal Conditions
Assumptions ∗
Initial Analysis where P̃RH = PRH − P(ERH ) and PRH : ERH 7→ R.
Control
Objective Using the mean value theorem, equation (5) can be written in the
Controller
Simulations
following way:
2 ∗
Non-Ideal
V̇ = ẼRH M(E , ERH ). (6)
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
2. Solution ERH RH := {E|EMPP ≤ E < EOC }
Carlos Meza
Introduction
Grid-connected
PV system
(GPV)
PV array
Power Inverter Similarly, the aforementioned procedure can be applied to the right-hand
Utility Grid
GPV considered
side of the P vs E curve.
Control
Objectives
the derivative of V for all E ∈ ERH is:
Typical Control
Scheme ∗
V̇ = ẼRH P̃RH (E , ERH ), (5)
Ideal Conditions
Assumptions ∗
Initial Analysis where P̃RH = PRH − P(ERH ) and PRH : ERH 7→ R.
Control
Objective Using the mean value theorem, equation (5) can be written in the
Controller
Simulations
following way:
2 ∗
Non-Ideal
V̇ = ẼRH M(E , ERH ). (6)
Conditions
∗
Assumptions In this case function M(E , ERH ) is always negative for E ∈ ERH and
Modeling ∗
Controller therefore the origin of the error dynamics when ERH is considered is stable
for all E ∈ ERH .
Analysis and
control of a
1φ1S GPV
Inverter
3. Other Cases
Carlos Meza
Introduction
Grid-connected
Even though the equilibrium point Ẽ = 0 is unstable when E ∗ = ELH
∗
, this
∗ ∗
PV system
(GPV) might not be the case when E = ERH and E (0) ∈ ELH . In this case:
PV array
Power Inverter
Utility Grid
GPV considered
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective EMPP
Controller
Simulations
Non-Ideal
Conditions ∗ ∗
ELH ERH
P
Assumptions
Modeling
Controller M>0 M<0
EOC
ELH ERH
E
Analysis and
control of a
1φ1S GPV
Inverter
3. Other Cases
Carlos Meza
Introduction
Grid-connected
∗
, this
∗ ∗
PV system
PV array
Power Inverter • Ẽ < 0
Utility Grid
GPV considered
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective EMPP
Controller • Ẽ˙ = P̃(E , E ∗ ).
Simulations
Non-Ideal • V = 0.5E˜2 .
Conditions ∗ ∗
ELH ERH
• V̇ = Ẽ P̃(E , E ∗ ).
P
Assumptions
Modeling
Controller M>0 M<0
EOC
ELH ERH
E
Analysis and
control of a
1φ1S GPV
Inverter
3. Other Cases
Carlos Meza
Introduction
Grid-connected
∗
, this
∗ ∗
PV system
PV array
Utility Grid
∗ ∗
GPV considered • If P(E (0)) > P(ERH (0)) ⇒ V̇ = Ẽ P̃(E , ERH ) < 0 and then E will
Control
Objectives increase until it reaches the right-hand side of the the P vs. E curve.
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective EMPP
Simulations
Conditions ∗ ∗
ELH ERH
• V̇ = Ẽ P̃(E , E ∗ ).
P
Assumptions
Modeling
Controller M>0 M<0
EOC
ELH ERH
E
Analysis and
control of a
1φ1S GPV
Inverter
3. Other Cases
Carlos Meza
Introduction
Grid-connected
∗
, this
∗ ∗
PV system
PV array
Utility Grid
∗ ∗
GPV considered • If P(E (0)) > P(ERH (0)) ⇒ V̇ = Ẽ P̃(E , ERH ) < 0 and then E will
Control
Objectives increase until it reaches the right-hand side of the the P vs. E curve.
Typical Control
Scheme ∗ ∗
• If P(E (0)) < P(ERH (0)) ⇒ V̇ = Ẽ P̃(E , ERH ) > 0 and then E will
Ideal Conditions
Assumptions
decrease until the inverter condition is lost.
Initial Analysis
Control
Objective EMPP
Simulations
Conditions ∗ ∗
ELH ERH
• V̇ = Ẽ P̃(E , E ∗ ).
P
Assumptions
Modeling
Controller M>0 M<0
EOC
ELH ERH
E
Analysis and
control of a
1φ1S GPV
Simulations
Inverter
Carlos Meza
Introduction
Grid-connected
PV system
(GPV)
PV array
Power Inverter
Utility Grid
GPV considered k = 0.063
Control
Objectives
Typical Control
Scheme z1 (0) =638.4 V
Ideal Conditions
Assumptions
k
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
z1
Analysis and
control of a
1φ1S GPV
Simulations
Inverter
Carlos Meza 650
Introduction
600
Grid-connected
PV system
(GPV)
Voltage(V)
550
PV array
Power Inverter
Utility Grid
500
GPV considered
Control
Objectives
450
Typical Control
Scheme
z1
< z1∗ >dc
Ideal Conditions 400
0 0.5 1 1.5 2 2.5 3
Assumptions
Initial Analysis
Time(s)
Control
Objective
Current(A)
Controller 20
Simulations
0
Non-Ideal
z2
Conditions −20 0.1vg
kA
Assumptions
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2
Modeling
Controller
Time(s)
Current(A)
20
z2
−20 z2∗
kA
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time(s) −3
x 10
Analysis and
control of a
1φ1S GPV
Simulations
Inverter
Carlos Meza
Introduction
Grid-connected
PV system
(GPV)
PV array
Power Inverter
Utility Grid
GPV considered k = 0.063
Control
Objectives
Typical Control
Scheme z1 (0) =410.2 V
Ideal Conditions
Assumptions
k
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
z1
Analysis and
control of a
1φ1S GPV
Simulations
Inverter
Carlos Meza 600
Introduction 500
Grid-connected
PV system
(GPV)
Voltage(V)
400
PV array
Power Inverter 300
Utility Grid
GPV considered
200
Control
Objectives
Typical Control 100
Scheme
z1
Ideal Conditions < z1∗ >dc
0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
Assumptions
Time(s)
Initial Analysis
Control
Objective 30
Controller
Simulations 20
Non-Ideal
Conditions 10
Current(A)
Assumptions
Modeling 0
Controller
−10
−20
−30 z2
k
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
Time(s)
Analysis and
control of a
1φ1S GPV
Analysis and Control under Non-Ideal Conditions
Inverter
Carlos Meza
Next the same GPV inverter will be considered
Introduction
Grid-connected with the same conditions as before but assuming
PV system
(GPV) that the solar irradiance value is unknown.
PV array
Power Inverter
Utility Grid
GPV considered
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Next the same GPV inverter will be considered We do not know how
Introduction
with the same conditions as before but assuming much power the PV
Grid-connected
PV system array is capable of
(GPV) that the solar irradiance value is unknown. generating
PV array
3.5
Power Inverter
3
Utility Grid
Current (A)
2.5
GPV considered
2
Control
Objectives 1.5
Typical Control 1
Scheme 0.5
Ideal Conditions 0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45
600 W·m−2
Initial Analysis
1.2
Control 700 W·m−2
Power (W)
Objective 1
800 W·m−2
Controller 0.8
Simulations 0.6 900 W·m−2

0.4
Non-Ideal 0.2
1000 W·m−2
Conditions
0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Next the same GPV inverter will be considered We do not know how
Introduction
with the same conditions as before but assuming much power the PV
Grid-connected
PV system array is capable of
(GPV) that the solar irradiance value is unknown. generating
PV array
Power Inverter
Utility Grid
GPV considered
Under these assumptions the GPV inverter’s controller have to
Control
Objectives
accomplish the following control objectives:
Typical Control
Scheme
Ideal Conditions
C.1 To deliver a sinusoidal output current in phase with the utility
Assumptions grid voltage, i.e., z2ss = kvg where z2ss is the steady-state value
Initial Analysis
Control of z2 and k has to remain constant during one grid period T .
Objective
Controller
Simulations C.2 To regulate the T -averaged value of z1 to a given desired value
Non-Ideal
Conditions
z̄1∗ .
Assumptions
Modeling Notice that only z̄1∗ is given.
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
How to obtain z2∗ from z̄1∗ without knowing all the parameters of the
Introduction
Grid-connected system?
PV system
(GPV)
PV array
Power Inverter
Utility Grid
GPV considered
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
PV system
(GPV)
PV array Usually an external (outer) control is added in order to generate z2∗ .
Power Inverter
Utility Grid vg
z1∗
Outer Loop k z2∗
GPV considered
Control
Objectives z2 Controller
Typical Control
Scheme µ
z1
Assumptions
Initial Analysis {δ, δ̄}
Control
Objective fpv (z1 ) z2
Controller
L
Simulations + C δ δ̄
z1 vg
Non-Ideal −
Conditions δ̄ δ
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
PV system
(GPV)
Power Inverter
Utility Grid vg
z1∗
Outer Loop k z2∗
GPV considered
Control
Typical Control
Scheme µ
z1
Assumptions
Initial Analysis {δ, δ̄}
Control
Objective fpv (z1 ) z2
Controller
L
z1 vg
Non-Ideal −
Conditions δ̄ δ
Assumptions
Modeling
Controller
But what about the stability of the system?

How to define the parameters of the controller?
Analysis and
control of a
1φ1S GPV
Inverter
Carlos Meza
Introduction
PV system
(GPV)
Power Inverter
Utility Grid vg
z1∗
Outer Loop k z2∗
GPV considered
Control
Controller Inner Loop In this presentation...
Typical Control The system’s adopted model
Scheme µ
z1 will be analyzed with a
Assumptions
two-control loop scheme in
Initial Analysis {δ, δ̄} order to find a methodology to
Control
Objective fpv (z1 ) z2 design the controllers.
Controller
L
z1 vg
Non-Ideal −
Conditions δ̄ δ
Assumptions
Modeling
Controller
But what about the stability of the system?

How to define the parameters of the controller?
Analysis and
control of a
1φ1S GPV
Modeling
Inverter
Carlos Meza
Considering a the time-scale separation between z1 and z2 we will analyze
Introduction
Grid-connected
the system assuming that the output current is sinusoidal in phase with the
PV system
(GPV)
utility grid. The previously defined current controller is used.
PV array
Power Inverter
Utility Grid
GPV considered
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Modeling
Inverter
Carlos Meza
Introduction
Grid-connected
PV system
(GPV)
PV array
Power Inverter Starting from the previously defined power-balance equation,
Utility Grid
GPV considered
Control
E˙ = P(E ) − 0.5k(t)A2 + ϕ(t),
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Modeling
Inverter
Carlos Meza
Introduction
Grid-connected
PV system
(GPV)
PV array
Utility Grid
GPV considered
Control
E˙ = P(E ) − 0.5k(t)A2 + ϕ(t),
Objectives
Typical Control !!
Scheme
r r
2E 2E
Ideal Conditions P(E ) = Λ − Ψ exp α .
Assumptions C C
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Modeling
Inverter
Carlos Meza
Introduction
Grid-connected
PV system
(GPV)
PV array
Utility Grid
GPV considered
Control
E˙ = P(E ) − 0.5k(t)A2 + ϕ(t),
Objectives
Typical Control !!
Scheme
r r
2E 2E
Assumptions C C
Initial Analysis
Control
Objective
and linearizing around a constant value E ∗ , i.e.,
Controller
Simulations P(E ) ≈ P(E ∗ ) + m (E − E ∗ ),
Non-Ideal
Conditions where
Assumptions
r ! r !!
Modeling 1 2E ∗ 2E ∗
Controller m = q Λ − Ψ exp α 1+α .
C 2E ∗ C C
C
Analysis and
control of a
1φ1S GPV
Modeling
Inverter
Carlos Meza
Introduction
Grid-connected
PV system
(GPV)
PV array
Utility Grid
GPV considered
Control
E˙ = P(E ) − 0.5k(t)A2 + ϕ(t),
Objectives
Typical Control !!
Scheme
r r
2E 2E
Assumptions C C
Initial Analysis
Control
Objective
and linearizing around a constant value E ∗ , i.e.,
Controller
Simulations P(E ) ≈ P(E ∗ ) + m (E − E ∗ ),
Non-Ideal
Conditions where
Assumptions
r ! r !!
Modeling 1 2E ∗ 2E ∗
Controller m = q Λ − Ψ exp α 1+α .
C 2E ∗ C C
C
We obtain the following linearized expression:

kA2
Ė = P(E ∗) + m (E − E ∗ ) − + ϕ(t).
2
Analysis and
control of a
1φ1S GPV
Modeling
Inverter
Carlos Meza
kA2
Ė = P(E ∗) + m (E − E ∗ ) − + ϕ(t).
Introduction 2
Grid-connected
PV system
(GPV)
PV array
Power Inverter
Utility Grid
GPV considered
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Modeling
Inverter
Carlos Meza
kA2
Ė = P(E ∗) + m (E − E ∗ ) − + ϕ(t).
Introduction 2
Grid-connected
PV system k should not vary within one grid cycle. To obtain a model of the system
(GPV)
PV array that describes its behavior at every grid cycle T the linearized model is
Power Inverter
Utility Grid
integrated over a grid period T :
GPV considered
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Modeling
Inverter
Carlos Meza
kA2
Ė = P(E ∗) + m (E − E ∗ ) − + ϕ(t).
Introduction 2
Grid-connected
(GPV)
Power Inverter
Utility Grid
GPV considered
kA2
Control
Z nT Z nT „ «
Objectives
Typical Control
E˙ dt = P(E ∗ ) − m E ∗ − + m E dt + ϕ(t) dt,
Scheme (n−1)T (n−1)T 2
Ideal Conditions
Assumptions notice that,
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Modeling
Inverter
Carlos Meza
kA2
Ė = P(E ∗) + m (E − E ∗ ) − + ϕ(t).
Introduction 2
Grid-connected
(GPV)
Power Inverter
Utility Grid
GPV considered
kA2
Control
Z nT Z nT „ «
Objectives
Typical Control
Ideal Conditions
Initial Analysis
Z nT
Control
Objective ϕ(t)dt = 0.
Controller (n−1)T
Simulations
Non-Ideal
and using the following approximation
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Modeling
Inverter
Carlos Meza
kA2
Ė = P(E ∗) + m (E − E ∗ ) − + ϕ(t).
Introduction 2
Grid-connected
(GPV)
Power Inverter
Utility Grid
GPV considered
kA2
Control
Z nT Z nT „ «
Objectives
Typical Control
Ideal Conditions
Initial Analysis
Z nT
Control
Controller (n−1)T
Simulations
Non-Ideal
Conditions
Z nT
Assumptions E (nT ) + E ((n−1)T )
Modeling E dt ≈ T,
Controller (n−1)T 2
Analysis and
control of a
1φ1S GPV
Modeling
Inverter
Carlos Meza
kA2
Ė = P(E ∗) + m (E − E ∗ ) − + ϕ(t).
Introduction 2
Grid-connected
(GPV)
Power Inverter
Utility Grid
GPV considered
kA2
Control
Z nT Z nT „ «
Objectives
Typical Control
Ideal Conditions
Initial Analysis
Z nT
Control
Controller (n−1)T
Simulations
Non-Ideal
Conditions
Z nT
Assumptions E (nT ) + E ((n−1)T )
Modeling E dt ≈ T,
Controller (n−1)T 2
a T-sampled data model of the system can be obtained:
c1 E (nT ) − c2 E ((n−1)T ) = T PE ∗ − mT E ∗ − 0.5A2 T k((n−1)T ).
where c1 = 1 − 0.5mT and c2 = 1 + 0.5mT .

Analysis and
control of a
1φ1S GPV
Modeling
Inverter
Carlos Meza
T-sampled data model
Introduction
Grid-connected
PV system c1 E (nT ) − c2 E ((n−1)T ) = T PE ∗ − mT E ∗ − 0.5A2 T k((n−1)T ).
(GPV)
PV array
Power Inverter Applying the Z-transform and solving E(z) yields,
Utility Grid
GPV considered
Control z ´ 0.5A2 T K
T PE ∗ − mT E ∗ −
`
Objectives E= ,
Typical Control c1 z − c2 c1 z − c2
Scheme
Ideal Conditions The previous equation defines a T-averaged model of the system that
Assumptions
Initial Analysis describes the dynamic behavior of E near a given point E ∗ . This model
Control
Objective shows to be very useful when designing the outer loop controller as it is
Controller
Simulations explained next.
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Controller
Inverter
Carlos Meza
T-sampled data model
Introduction
Grid-connected
z ´ 0.5A2 T K
T PE ∗ − mT E ∗ −
PV system
`
(GPV) E= ,
PV array c1 z − c2 c1 z − c2
Power Inverter
Utility Grid
GPV considered
Adding a linear controller GC as shown
Control
PE ∗
Objectives
Typical Control
Scheme zmT
zT
Ideal Conditions
Assumptions
Initial Analysis
E∗ K 1 E
Control Gc 0.5A2 T c1 z−c2
Objective
Controller
Simulations
Non-Ideal
Conditions yields the following closed-loop expression
Assumptions
Modeling
Controller zT PE ∗ − zmT E ∗ 0.5A2 T Gc (E ∗ − E)
E= − .
c1 z − c2 c1 z − c2
Analysis and
control of a
1φ1S GPV
Controller
Inverter
Carlos Meza
The stability analysis is carried out studying the characteristic polynomial
Introduction
Grid-connected
q(z) of the closed-loop dynamics with a controller Gc .
PV system
(GPV)
PV array
Choosing the following controller:
Power Inverter
z−β
Utility Grid Gc = γc ,
GPV considered z−1
Control
Objectives
Typical Control
the characteristics polynomial yields,
Scheme
Ideal Conditions q(z) = c1 z2 + (−0.5A2 T γc − c1 − c2 )z + c2 + 0.5A2 T γc β.
Assumptions
Initial Analysis Applying the Jury test
Control
Objective • Condition 1: q(z)|z=1 > 0, implies that given that β < 1
Controller
Simulations
γc < 0.
Non-Ideal
Conditions
Assumptions
• Condition 2: q(z)|z=−1 > 0, implies that
Modeling
Controller 8
|γc | < .
A2 T (1 + β)
• Condition 3: |c2 + 0.5A2 T γc β| < c1 , implies that
2mT 4
< |γc | < 2 .
A2 T β A Tβ
Analysis and
control of a
1φ1S GPV
Controller
Inverter
Carlos Meza The Jury conditions give us a criteria to set the controller parameters γc
Introduction and β for a given value of m.
Grid-connected
PV system
(GPV)
PV array
Power Inverter
Utility Grid
GPV considered
Control
Objectives
Typical Control
Scheme
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Controller
Inverter
Grid-connected
PV system
(GPV)
How to determine m given that it depends on the electrical characteristics
PV array of the PV array?
Power Inverter
Utility Grid r ! r !!
GPV considered 1 2E ∗ 2E ∗
Control m = q Λ − Ψ exp α 1+α .
Objectives
C 2E
∗ C C
Typical Control
Scheme C
Ideal Conditions
Assumptions
Initial Analysis
Control
Objective
Controller
Simulations
Non-Ideal
Conditions
Assumptions
Modeling
Controller
Analysis and
control of a
1φ1S GPV
Controller
Inverter
Grid-connected
PV system
(GPV)
Power Inverter
Objectives
C 2E
∗ C C
Typical Control
Scheme C
Ideal Conditions 40
Assumptions mmax = 22 1000Wm−2

800Wm−2
Initial Analysis 20 500Wm−2
Control 300Wm−2
Objective
Controller 0
Simulations
Non-Ideal −20
m (Ws−1 )
Conditions
Assumptions −40
Modeling
Controller
−60
−80
Operating Range
−100
−120
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Energy Stored in the Capacitor E (J)
Analysis and
control of a
1φ1S GPV
Controller
Inverter
Grid-connected
PV system
(GPV)
Power Inverter
Objectives
C 2E
∗ C C
Typical Control
Scheme C
Ideal Conditions 40
Assumptions mmax = 22 1000Wm−2

800Wm−2
Chose the value of m
Initial Analysis
Control
20 500Wm−2
300Wm−2 according to the operating
Objective range and the maximum
Controller 0
Simulations solar irradiance (e.g.,

Non-Ideal −20
1000 Wm−2 ).
m (Ws−1 )
Conditions
Assumptions −40
Modeling
Controller
−60
−80
Operating Range
−100
−120
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Energy Stored in the Capacitor E (J)
Analysis and
control of a
1φ1S GPV
Controller Design Example
Inverter
Carlos Meza
Introduction
Consider the following GPV inverter and control scheme
Grid-connected
PV system
(GPV) vg
z1∗
PV array Outer Loop k z2∗
Power Inverter Controller Inner Loop
Utility Grid z2 Controller
GPV considered
Control µ
Objectives z1
Typical Control PWM
Scheme
{δ, δ̄}
Ideal Conditions
Assumptions fpv (z1 ) z2
Initial Analysis
L
Control + C δ δ̄
Objective z1
vg
Controller −
Simulations δ̄ δ
Non-Ideal
Conditions
Assumptions
Modeling
Controller with C=2.2 mF, L=0.95 mH, vg = 31.4 sin(100πt) V and the following
controller:
z − 0.85
Gc = γc ,
z−1
Two cases will be analyzed: γc = −0.025 and γc = −0.1.
Analysis and
control of a
1φ1S GPV
Inverter
Example 1
Carlos Meza
Introduction
40 γc = −0.025
Grid-connected
PV system Stability Range
(GPV) 20 P2
PV array P1
Power Inverter m (Ws−1 ) 0
Utility Grid
GPV considered −20
Control
Objectives −40
γc = −0.1
Typical Control
Scheme −60 Stability Range
Ideal Conditions
−80
Assumptions Operating Range
Initial Analysis −100
Control
Objective −120
Controller 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Simulations Energy Stored in the Capacitor E (J)
Non-Ideal
Conditions
Assumptions Figure: Reference variation for example 1. P1 = [3.37 J, 4.83 Ws−1 ],
Modeling
Controller
P2 = [3.07 J, 9.21 Ws−1 ]
Reference signal:
∗
8
< 3.37 J (z1 = 55.4 V) for t<4s
∗ ∗
E = 3.07 J (z 1 = 52.8 V) for 4s≤t<8s
3.37 J (z1∗ = 49 V) for t≥8s
:
Analysis and
control of a
1φ1S GPV
Inverter
Example 1
Carlos Meza
Introduction
Grid-connected 100
PV system
(GPV) P2 P1
80
P (W)
PV array
Power Inverter 60
Utility Grid
GPV considered 40
Control
Objectives 20
1 1.5 2 2.5 3 3.5 4 4.5 5
Typical Control
Scheme T-Sampled Energy Stored in the Capacitor E (J)
2
Ideal Conditions
Assumptions 4
Time (s)
Initial Analysis 6
Control γc = −0.025
Objective 8
Controller 10
Simulations
12
1 1.5 2 2.5 3 3.5 4 4.5 5
Non-Ideal
Conditions T-Sampled Energy Stored in the Capacitor E (J)
2
Assumptions
Modeling 4
Time (s)
Controller 6
γc = −0.1
8
10
12
1 1.5 2 2.5 3 3.5 4 4.5 5
T-Sampled Energy Stored in the Capacitor E (J)
Analysis and
control of a
1φ1S GPV
Inverter
Example 2
Carlos Meza
Introduction
40 γc = −0.025
Grid-connected
PV system Stability Range
(GPV) 20 P3
P2
PV array
Power Inverter m (Ws−1 ) 0
Utility Grid
GPV considered −20
Control
Objectives −40
γc = −0.1
Typical Control
Scheme −60 Stability Range
Ideal Conditions
−80
Assumptions Operating Range
Initial Analysis −100
Control
Objective −120
Controller 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Simulations Energy Stored in the Capacitor E (J)
Non-Ideal
Conditions
Assumptions Figure: Reference variation for example 2. P2 = [3.07 J, 9.21 Ws−1 ],
Modeling
Controller
P3 = [2.641 J, 12.68 Ws−1 ]
Reference signal:
∗
8
< 3.07 J (z1 = 52.8 V) for t<4s
∗ ∗
E = 2.64 J (z 1 = 49 V) for 4s≤t<8s
3.07 J (z1∗ = 52.8 V) for t≥8s
:
Analysis and
control of a
1φ1S GPV
Inverter
Example 2
Carlos Meza
Introduction
Grid-connected
100
PV system
(GPV) P2
80 P3
PV array
Power Inverter P(W) 60
Utility Grid
GPV considered 40
Control
Objectives 20
1 1.5 2 2.5 3 3.5 4 4.5 5
Typical Control
Scheme T-Sampled Energy Stored in the Capacitor E (J)
2
Ideal Conditions
Assumptions
Time (s)
4
Initial Analysis
Control γc = −0.025
Objective 6
Controller
Simulations
8
1 1.5 2 2.5 3 3.5 4 4.5 5
Non-Ideal
Conditions
2
Assumptions
Modeling 4
Time (s)
Controller
6
γc = −0.1
8
10
12
1 1.5 2 2.5 3 3.5 4 4.5 5
Analysis and
control of a
1φ1S GPV
Inverter
Experimental Results
Carlos Meza
Introduction
Grid-connected
PV system
(GPV)
PV array 100
Power Inverter
Utility Grid 90
GPV considered P1 : z1∗ = 57.2 V P1
Control
Objectives
80 P2 : z1∗ = 57.2 V
Typical Control
Scheme 70
Ideal Conditions
Power (W)
60 1000 Wm−2
Assumptions
Initial Analysis 50
Control
Objective
40
Controller
Simulations 500 Wm−2 P2
30
Non-Ideal
Conditions 20
Assumptions
Modeling 10
Controller
0
0 10 20 30 40 50 60 70
Voltage (V)
Analysis and
control of a
1φ1S GPV
Inverter
Experimental Results
Carlos Meza
Introduction
Grid-connected
PV system
(GPV)
PV array 15
Power Inverter 10
Utility Grid
5
GPV considered
Control 0
Objectives
Typical Control −5
Scheme
−10
0 0.5 1 1.5 2 2.5 3 3.5 4
Ideal Conditions
Time (s)
Assumptions
Initial Analysis 15 15
Control
Objective 10 10
z1
Controller z̄1∗
5 5
Simulations z2
0 vg 0
Non-Ideal
Conditions −5 −5
Assumptions −10 −10

1.35 1.4 1.45 1.5 2.65 2.7 2.75 2.8
Modeling
Controller Time (s) Time (s)
Figure: Experimental Test. z1 , z̄1∗ and vg at 5 V/div; z2 at 1 A/div.

Analysis and
control of a
1φ1S GPV
Conclusions
Inverter
Two Control Loop
Carlos Meza
Introduction
Grid-connected
PV system
(GPV)
PV array
Power Inverter Two Control Loop
Utility Grid
GPV considered
Control
Objectives
Typical Control
Contributions
Scheme
Ideal Conditions
• A method to design the parameters of the outer voltage control loop
Assumptions based on a T-sampled data model technique that uses the system’s
Initial Analysis
Control energy-balance equation considering the non-linear characteristics of
Objective
Controller the PV generator.
Simulations
Non-Ideal
• An stability analysis for the two proposals that shows that this control
Conditions scheme can be robust with respect to uncertainties of the PV array for
Assumptions
Modeling the whole range of PV generator operating conditions (local stability).
Controller
• A set of simulation and experimental results that validate the
behavior of the system in closed-loop with the proposed controllers.

Analysis and Control of A Single-Phase Single-Stage Grid-Connected

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Analysis and Control of A Single-Phase Single-Stage Grid-Connected

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Analysis and

In order to fulfill the aforementioned requirements the GPV system

Non-Ideal 0.5 • Igc :light-induced current.

where z1 and z2 are the averaged

where z1 and z2 are the averaged

• For a given value of k there are two possible values of z̄1 .

According to Kokotovic et. al as ǫ ≪ 1 the dynamics of (1) are well approximated

• Then, the solution ERH ∗ and the set E

Carlos Meza 650

Carlos Meza 600

Simulations 0.6 900 W·m−2

But what about the stability of the system?

But what about the stability of the system?

We obtain the following linearized expression:

a T-sampled data model of the system can be obtained:

c1 E (nT ) − c2 E ((n−1)T ) = T PE ∗ − mT E ∗ − 0.5A2 T k((n−1)T ).

where c1 = 1 − 0.5mT and c2 = 1 + 0.5mT .

Assumptions mmax = 22 1000Wm−2

Assumptions mmax = 22 1000Wm−2

Simulations solar irradiance (e.g.,

Assumptions −10 −10

Figure: Experimental Test. z1 , z̄1∗ and vg at 5 V/div; z2 at 1 A/div.

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