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Abstract where the phase current is measured and the output voltage
is real time calculated so that it is equal to the back EMF
The purpose of this paper is to investigate the interaction of that a synchronous generator would produce under the same
the Virtual Synchronous Generator (VSG) units with the grid. conditions on the grid [4]. The Virtual Synchronous Generator
Within this scope, test-scenarios of different power systems (VSG) models the rotational inertia of a synchronous machine
with increasing VSG penetration levels, are simulated and without considering other synchronous machine properties [5].
evaluated. The ability of a battery storage system to provide
primary frequency regulation, as part of a virtual synchronous
generator, is also examined whereas several control strategies
are used to properly manage the battery storage system ac-
cording to the technical specifications of the ENTSO-E.
Introduction
978-1-4799-0199-9/13/ $31.00
c 2013 IEEE
2
required which responds to slow frequency deviations. For this
reason a droop part is added to eq. (2) as follows:
dω
PV SG = Kd + Kp (ω − ωref ) (3)
dt
According to eq. (3), a VSG exchanges power with the grid in
case the frequency deviates from the nominal value and/or a
rate of change of frequency is detected. The Kd coefficient is a
constant that defines the amount of active power interchanged
Fig. 3. Configuration of a VSG unit consisting of a High and Low level
with the network when the maximum specified rate of change control.
of frequency (Hz/s) occurs. The Kp is the droop coefficient
and defines the power that needs to be absorbed or injected
The model of the VSG’s power circuit, consists of a three
into the system due to the deviation of frequency from the
phase controlled current source. As long as no switching
reference value [7].
devices are included, the “average model” of the VSG is based
on the energy conservation principle, which means that the
The control law of eq. (3) is depicted in Fig. 2 in a block
instantaneous power on the AC side must be the same with
diagram form. The controller contains a derivative term that
the DC side (assuming ideal conversion). The DC current can
may produce abrupt reference signal leading the system over
be therefore computed as:
its operation limits. Therefore, it is good practice to filter the
frequency in order to calculate the active power reference of
the VSG. v a ia + v b ib + v c ic
PDC = PAC ⇐⇒ IDC = (4)
VDC
Low level control
The purpose of the low level control is to calculate the Battery modeling
output current. Fig. 3 shows the most important parts of
the three phase VSG control unit. The first block performs The battery energy storage system is implemented according to
the transformation of the abc-phase voltages at the point of the Kinetic Battery Model (KiBaM) [8]. This model is divided
common coupling to the synchronous reference. The parameter into two parts as shown in Fig. 4:
3
!
Fig. 5. One area system comprising a SG and a VSG connected to the grid.
4
x 10
2
Load [W]
1
0
−1
0 1 2 3 4 5 6 7 8 9 10
(a) Time [sec]
Fig. 4. The principle of Kinetic Battery Model.
1.0004 0%
The capacity model is able to address both the recovery and
Frequency [pu]
10%
1.0002
the rate capacity effect of the battery. The first one refers to 1
30%
one refers to the effect where less charge can be drawn from (b) Time [sec]
10%
The voltage model of the second block considers the battery 2
30%
the battery.
Fig. 6. Frequency and active power of the system during load variations. a)
Load profile, b) Frequency responce, c) Active power response.
Operation and Results
The objective of this section is to prove that the VSG is capable load deviation does not exceed 20% of the nominal power
to decrease the size of frequency deviations that are caused by of the generating station (112 kVA). The penetration of the
load variations in different networks. In order to evaluate the VSG increases gradually. In this way three sub-scenarios are
contribution of the VSG in the overall stability of the system, examined, with penetration levels of 0%, 10%, and 30%,
its steady state operation is disturbed by changing the actual respectively. Graph (b) Fig. 6 illustrates the frequency response
total load of the system. The disturbances are evaluated in of the power system due to the load changes while the
respect to the penetration level of the VSG. penetration level of the VSG increases. The active power
produced and absorbed by the VSG for each level of VSG
The penetration level can be calculated as a function of the penetration is depicted in Graph (c) of Fig. 6.
nominal VSG active power generation over the total load
demand [9]. Simulation of the VSG in a two area system
P.38
600 MVA-60 Hz
m 13.8 kV-500 kV1 m Givernor1
Pm Pm
Pm A A a A A A A a A A Pm
m m
B B b B B B B b B B
Vf2 Vf_ Vf_ Vf2
Givernor
C C c C C C C c C C
Machine 1 600 MVA-60 Hz Z1 -Z0 Z1 -Z1 Machine 2
C
A
B
C
A
B
Z1-Z0 2
Z1-Z0 3
C
A
B
Vabc_B500 (pu)
C
A
B
Vabc_B500
Iabc_B22 (A)
VSG1 A a
[Iabc_B22]
V series capacitors (kV) A B b
0 -K- B C c
I_Fault (A)
C B1
Multimeter V2kV
0 Grid
C
A
B
Multimeter1
Z1-Z0 1
Freq
Fig. 7. Two area system comprising two SG’s and VSG. Vabc_B500
!
Machine 3
C
A
B
Goto
250 MVA 16.5kV
"#$%& 3600 rpm2
600 MVA-60 Hz
Givernor2
16.5 kV-500 kV2 m
Pm
A A a A A Pm
B B b B
B
m
C C c C Vf_ Vf2
Continuous C
Z1-Z0
40
20
10
0 1.006
1.002
1.003
Frequency [pu]
No−VSG
1.001 10 % 1.0015
1
1
0.999
0.9985
0.998
0.997
0.997
!
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Time [sec]
Fig. 8. Frequency response for two modes of operation: with 10% penetration
of VSG and without VSG for the two area system. Fig. 10. Grid frequency variation for two modes of operation: with a 5%
penetration of a VSG and without a VSG for the 9-bus simulation system.
Battery based VSG for frequency regulation A control strategy, is considered where the batteries are
charging at non-critical periods (|Δf | < 20 mHz) and a
In this section the effect of operating the VSG for primary separate algorithm is taking to consideration the state of charge
frequency regulation on the battery energy storage system is of the storage. The objective is - alongside with primary
investigated. The management of batteries imposes selective frequency regulation - to maintain the battery state of charge at
restrictions on the operation of VSG, e.g. when the battery is the reference level, charging or discharging respectively, when
fully charged no more active power can be absorbed. Several the SOC is less or greater than the specified value SOCref .
battery management strategies have been assessed according to A small portion 1 % to 5 % of Pnom is used for charge-
the minimum battery capacity required for the accomplishment recharge power. The control algorithm can be formulated in
of frequency regulation [12]. the following equation:
The current framework uses real frequency data for the time
period 1st to 8th of July 2012 that were provided by the ⎧
⎨ df
Greek independent power transmission operator (ADMIE). For Kp · (f − fref ) + Kd ·
, |Δf | ≥ 20 mHz
PV SG = dt
simulation reasons we choose a hypothetical primary reserve ⎩K · sgn(SOC − SOC ) |Δf | < 20 mHz
soc ref
contract of Pn = 1 MW which states that the system is able (6)
to produce this power for at least 15 min in accordance to
ENTSO-E. Consequently, the minimum acceptable energy of where sgn is the sign function and Ksoc denotes the charge-
the storage system would be: Ereserve = Pn · h/4. discharge power when the system is out of the critical window.
The main function of the frequency control is to compensate Fig. 12, illustrates the depth of discharge of the storage as
the frequency deviations from the grid. The size and the rate of a function of time for different modes of operation with
change of the deviation determine how much power should be charge-discharge power of 1 %, 3 %, and 5 % of Pn . The
exchanged with the network. When the frequency is changed minimum energy that needs to be reserved in the BESS for
to values that exceed the non critical window, the control the operation of frequency regulation, during the simulation
should react by absorbing or injecting power according to eq. period, is closely related to the amount of charge-discharge
(3). power. The lower the recharge rate, the greater the depth of
discharge of the BESS and therefore, the larger amount of
Conclusively, the primary reserve power Pn should be pro- minimum energy is required to be reserved.
vided when the maximum allowed frequency deviation of
±200 mHz occurs or when the maximum specified rate of Proportional charge-discharge strategy: This control strat-
change of frequency (0.4 Hz/s) is realized. egy applies the notion of analog control in the state of
charge of the batteries. In the previous control strategy the
Control strategies charging-discharging power remained constant at a predeter-
mined power level, regardless the proximity of the battery
Constant charge-discharge strategy: Since the VSG controls SOC to the SOCref . In proportional control, any deviation
are designed to work bidirectionally, the nominal state of from the specified value (SOCref in our case) is considered
charge should be in the middle of the upper and lower as an error and, therefore the larger the error, the greater
operational boundaries of the storage system. If we determine the power that restores the system to its reference condition.
the maximum depth of discharge up to 40 % of the total The objective now is to regulate the battery SOC when the
capacity of the storage, then the reference state of charge is system is inside the non-critical window with variable charge-
SOCref = 80 %. discharge power, which depends on how far from the SOCref
the system is [13].
0.1
0.3
0.4
⎧
⎪ df
⎨Kp · (f − fref ) + Kd · , |Δf | ≥ 20 mHz
0.5
PV SG = dt
⎪ (SOC − SOCref )
1% ⎩Ksoc · , |Δf | < 20 mHz
0.6 3%
5%
ΔSOCmax
(7)
0.7
0 1 2 3 4 5
Time (points) 5
Fig. 12. Depth of discharge of the storage as a function of time for the
constant fraction Ksoc/ΔSOCmax is calculated in such a way
constant recharge control with charge-discharge power of 1 %, 3 %, and 5 % that a portion of charge-discharge power (0.01Pn to 0.05Pn )
of nominal power Pn . is activated when the change in the state of charge reaches
6
the operational boundaries of the storage system. Therefore, only in few instances throughout the simulated time period
the charge-discharge power is a portion of the normalized when the BESS is in a critical state.
coefficient Ksoc by the ratio (SOC−SOCref )/ΔSOCmax .
Conclusions
The graph in Fig. 13 show the depth of discharge of the storage
as a function of time for different modes of operation with This paper provides a validation of the operation of the VSG
KSOC of 1 %, 3 %, and 5 % of Pn . in several test-networks. Simulations show that by increasing
the level of penetration of the VSG, the frequency deviation
0.1
induced by the load variations is improved.
0.2
0.3
system with virtual inertia support for the frequency regulation
0.4
is also provided. The simulation scenarios considered herein
uses real frequency data for a time period of a week. A method
0.5
is adopted to evaluate the battery management strategies
0.6
1%
3%
according to the minimum required battery capacity needed
5% for the accomplishment of frequency regulation. The results
0.7
0 1 2 3 4 5
show a good performance of both constant and proportional
Time (points) 5
x 10
charge-discharge strategies. The impact of different recharge
powers to the overall operation is investigated showing that
Fig. 13. Depth of discharge of the storage as a function of time for different
modes of operation with KSOC of 1 %, 3 %, and 5 % of Pn . a recharge power as small as 3 % of Pn is adequate for the
maintenance of the BESS.
Fig. 14, places together the maximum depth of discharge
and the maximum charge-discharge power that occurred as a References
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