Virtual Synchronous Generators as Potential

Solution for Electricity Grid Compliance Studies

V. S. K. Murthy Balijepalli, Member, IEEE, Abhisek Ukil, Senior Member, IEEE, N. Karthikeyan,
Amit K. Gupta, Senior Member, IEEE, Yang Shicong, Member, IEEE

Abstract—Concept of Virtual Synchronous Generator (VSG) such requirement where generator has to stay connected with
to control inverters for emulating synchronous generator charac-
the grid for certain time period during a grid fault [2]. It
teristics in grid integration of distributed energy resources (DER)
demands voltage support through reactive power management
is an emerging research area. Such distributed generators with
diesel primeovers also have to comply to different electricitytechniques.
grid codes where Low Voltage Ride Through (LVRT) is a key Virtual Synchronous Generator (VSG) is an emerging novel
requirement. VSG and LVRT are two independent topics, and concept to tackle stability issues of grid connected DERs. Lack
has not been simultaneously studied. VSG approach to LVRT for of inertial response of renewable type DERs and dependency
grid compliance studies especially when connected in parallel to
on PLL for synchronizing with grid makes them vulnerable
the diesel generators has not yet been explored. This has wider
potential industrial applications in the paradigm of Smarter during the severe grid faults and it leads to non-functioning of
Grids. Considering the above, this paper presents the state- the converter. Here, the concept of VSG [3]–[5] can be applied
of-art literature review of the VSG and LVRT requirements to control converters to behave like synchronous generator and
in the changing grid (smart) environment. Further, analytical stay connected to the grid. Using VSG, emulation of virtual
modeling of control of VSG for LVRT is presented for better inertia by power injection from/to the Energy Storage System
understanding of the subject under discussion. Preliminary sim-
(ESS) is popular [6]–[12].
ulations established that the VSG as a potential solution for grid
compliance studies. Finally, some future trends and challenges On the other hand, DERs like diesel generators have to
sustain both rotor oscillations and voltage fluctuations and
in the application of this technology in grid compliance studies,
particularly as a solution for LVRT, are discussed to motivatehave to stay connected to the grid during fault conditions
future contributions. as specified in the respective grid code of a country [14].
Index Terms—VSG, Grid Compliance, Smart Grid, Diesel
Generators, LVRT VSG having an advantage of emulating synchronous generator
characteristics suits well for the grid code compliance of the
N OMENCLATURE diesel generators where it can be connected parallel with a
synchronous generator with diesel primemover. To explore the
Vgrid &Igrid , Vt grid voltage & current, inverter voltage
potential of VSG in grid compliance studies, this paper has
fgrid frequency of the grid carried out a survey of VSG concepts and its applications as
Vref , reference voltage reported in the literature. Positioning of the VSG as a solution
SOC state of charge to the LVRT problem has been studied with respect to its
Pin , Pout input and output powers anticipated inherent capabilities of low cost control solution
and effective in controlling both active power and reactive
J rotor inertia moment
power. Analytical approach for control of VSG for the LVRT
ωm rotor speed is discussed. Further, some future trends and challenges in the
D damping factor further development of this technology as a solution for LVRT
ωg rotating speed of grid voltage are discussed.
θm virtual mechanical phase II. R ECENT A DVANCES IN VSG T ECHNOLOGY AND
δ phase difference between Vt and Vgrid I NDUSTRIAL A PPLICATIONS
A. Literature Review
I. I NTRODUCTION Most of the literature on VSG is focused on improving
ELECTRICITY grid environment is slowly changing from inertial response of DERs. For example, a virtual synchronous
control scheme for doubly fed induction generator based wind
unidirectional power flows to bidirectional flows and operation turbines to provide inertia contribution in particular when
of retail electricity markets focused on delivery has been scaled integrated into weak ac grid with low short-circuit ratio is
up to distribution feeders [1]. Distributed energy resources presented in [6]. Theoretical analysis and simulation results
(DER) including small generators with diesel prime-movers proven that such system displays superiority in stability es-
are rapidly expanding for grid integration. Evolution of grid pecially when connected to relatively low short circuit ratio
network [6]. A typical VSG operating with renewable sources
codes are simultaneously happening in various regions to is shown in Fig.1.
maintain the stability of the power system while accommo- In reference [7], VSG methods and dynamic characteristics of
dating the high penetration levels of DERs. LVRT is one droop characteristics in both stand-alone mode and synchronous-
 control, should also be treated properly to obtain desirable stable
state performance. Reference [17] proposed an approach to achieve
such oscillation damping and proper transient active power sharing by
adjusting the virtual stator reflectance based on state-space analyses.
Synchronization unit is a must have component for grid connected
inverters. Reference [19] demonstrated the feasibility of removing
such system and experimentally established that it can improve the
performance of frequency tracking, real power control, and reactive
Fig. 1. A Typical VSG Diagram [15] power control by more than 65%, 83%, 68% respectively. Refer-
ence [20] presented the synchronous generator emulation control
(SGEC) strategy for the VSC-HVDC station. An inertia element is
generator-connected mode are studied to understand the modeling introduced into the frequency-power droop to determine the command
considerations of the swing equation. Authors’ highlighted that to reference of the frequency.
emulate with DERs such as diesel generators for grid compliance Classification of the papers reported in the literature based on
studies the control block shown in Fig.5 has to modify in such a different parameters is shown in Table I. It is observed that primary
way that electrical angle fed to the PWM block has to be calculated
from virtual mechanical phase and number of poles of generator. TABLE I
C LASSIFICATION OF THE PAPERS REPORTED IN THE LITERATURE BASED
For example, the control algorithm for a medium speed reciprocating
ON DIFFERENT STUDY GROUPS
diesel engine generator (750 rpm), with 4 pole generator, the electrical
angle will be twice the virtual mechanical phase according to the
relation (θe =Np *θm where Np is number of pole pairs). Study Group(s) Reference(s)
Reference [9] explored the damping effect of the alternating inertia VSG with Microgrids (for droop controller [3]–[5], [7], [8], [11],
with VSG to express a virtual inertia property and its application operation and virtual inertia) [17], [21], [24], [47]
in stability of nearby machines in power system. Reference [10] VSG with only connection of Energy stor- [12], [24], [41], [42], [47]
investigated the inertial dynamics of virtual synchronous controlled age to grid (NO distributed generators)
doubly fed induction generator-based wind turbines. Established the VSG with only Wind energy system [6], [10], [12]
superiority of VSG on inertial support capability and operation stabil- VSG with only Solar energy/Photo-voltaic [15], [43]–[45]
ity to the typical PLL-based vector control in weak grid conditions. system
In reference [11], the concept of consensus based control has been
VSG with Diesel generator setup [12], [46]
applied to study the droop control problem of VSGs connected in
parallel. VSG in HVDC/FACTS [18], [20], [42]
VSG’s ability to produce virtual inertia from energy storage during VSG in grid compliance studies research gap
a short operation time is well reported in the literature. Reference [15]
presented an oscillation damping approach for a DG using the VSG. application of VSG is in improving the inertial response of micro-
A novel control system is presented for the VSG, which solves the grids. VSG based Journal and conference publications chronology is
output power oscillation. shown in Fig. 2. A trend line has been derived to check the potential
of publications and timely technology interventions.
110 B. Industrial Applications
Conference Publications
100 Changing grid environment for smarter grids demands more robust
Journal Publications
control for integration of grid-connected distributed resources. It
Articles available in Literature

90 Paperprojection=0.1221*(sin(year−pi))+0.001604*((year−10)2)−6389

80
(as per trend)
78 paves the way for the VSG to be applied in various DER control
Expecting VSG design for Grid Compliance studies
72 strategies involving various applications. VSG technology has many
70
66 potential industrial applications impacting emerging areas of power
60 Start of extended application of VSG in Convertor control applications industry. Some of these are mentioned below:
Microgrid and
50 low inertial cases • Grid-tied inverters in Microgrid applications - VSG has direct

40
applications in the control strategies of grid-tied inverters esp.,
in the DER integration .
30
• Vehicle-to-grid applications- VSG based EV charger can con-
20 Concept of VSG
tribute to the spinning reserve and frequency regulation of the
10 power system [23]. VSG has high impact on the evolution of
V2G applications for reliability and power quality based pricing
0
2007 2008 2009 2010 2011 2012 2013 2014 2015 2016 2017 2018 models.
Year
• Microgrid controllers
• LVRT absorbers
Fig. 2. VSG based Journal and conference publications chronology Connection Diagram of VSG with diesel generator is shown in
Fig. 3.
Reference [16] presented a self-tuning control strategy for energy
storage systems to support dynamic frequency control. Optimal III. G RID C OMPLIANCE , LVRT R EQUIREMENTS AND VSG
parameters like virtual inertia and damping coefficient are calculated Grid code is a technical specification to comply with under defined
to minimize a cost function that involves the frequency deviations set of conditions for different parameters like over voltage, over
(amplitude and rate of change) and the power flow through the and under frequency, rate-of-change-of-frequency, reactive power
ESS [16]. capability, etc. Low voltage ride-through is a condition where the
Active power oscillation and improper transient active power voltage in the grid where the DER is connected may temporarily
sharing are observed when basic VSG control is applied. The problem reduced due to a fault or large load change in the grid. It is a key
of reactive power sharing error, inherited from conventional droop aspect of grid compliance in many grid codes [26]. The required

Fig. 3. Connection Diagram of VSG with diesel prime-mover based DER
LVRT behavior is defined in various grid codes. For example, Fig. 4
shows the LVRT profile for German grid code [27]. The goal of
1 sizing of energy storage to absorb required active power without
MUST Required to Remain Online
0.8
Voltage (in p.u)
0.6
Not Required to Remain Online
0.4
0.2
0
−0.5 0 0.15 0.5 1 1.5
Time (in sec)
Fig. 4. LVRT profile defined in German grid code
fault ride through is for these distributed generating units to behave
like conventional power plants as much as possible. This mainly
implies that the unit must be able to continue operating without
loss of stability even during periods of low voltage in the grid.
Some grid codes also require that there must be a specific amount
of reactive current injection during low voltage while others set
operating frequency ranges of the grid that the generator must be
able to ride through [14]. Another prominent feature of many grid
codes is the voltage restoration after the fault period. This period
focuses on the voltage recovery profile back to nominal voltage after
fault clearing. It is important that the generating unit meets this
requirement in the fastest time possible after fault clearing to prevent
unnecessary tripping of the generator.
The network configuration of the interconnection point of common
coupling of a DER may be at a strong or at a weak point in the system,
affecting the LVRT characteristics of DERs [28]–[39]. For example,
the LVRT requirement of a DER in a strong grid would be less than
that in a weak grid. LVRT increases the cost of a DER (here, let
us consider a diesel generator) since it usually requires additional
equipment or a modification of the control strategies to facilitate
it. Therefore, the need for LVRT equipment should be evaluated in
the light of the characteristics of the grid at the connecting point.
The short-circuit capacity at a given point in the electrical network
represents its system strength [25].
Several approaches have been proposed for meeting the LVRT
requirements. Approaches can be divided into three categories
1) Power converter control improvement
2) Additional hardware installation
3) Optimal point of common coupling determination
Exploring the VSG as a potential solution to the LVRT problem
falls into Category-1 where improvement of the control of the
power converter has to be dealt. FACTS devices like STATCOM,
UPFC, and SVC are prominently used and researched to mitigate
the LVRT problem for grid code compliance studies [39]. All these
systems can, in one way or another, provide instantaneous and
variable reactive power compensation in response to the grid voltage
transients (voltage sag, swell, harmonics, etc.), enhancing the grid
voltage stability [40]. These devices (AF, STATCOMs, DVRs, and
UPFCs) are currently gaining importance due to more demanding grid
codes [27], which even require low voltage-ride-through capability
during voltage sags. However, it was observed that these devices are
not economically feasible in the context of DER integrated to the
power distribution system.
In case of the DER of diesel generator type, when there is a grid
fault, VSG has to emulate inertia to absorb active power from the
DER. The control loop will be based on mechanical speed and the
amount of power to be absorbed by the VSG is directly proportional
to the deviation in speed of diesel generator from the nominal value.
The idea is to minimize the speed variation of diesel generator during
LVRT and thereby maintaining the synchronism with the grid. Proper
reaching its upper limits is an challenge here.
IV. B ENEFITS OF VSG
Based on the literature review presented in the earlier sections, the
benefits of VSG are summarized here.
A. General Benefits
General benefits of VSG are as follows:
• Improved transient response
• Enabling inertial response in non-SG systems
• Better controllability
• Faster response time
B. Specific to LVRT
Specific to LVRT in the grid compliance studies, VSG can be a
cost effective solution compared to its peers i.e FACTS devices which
has yet to be established. Rapid recovery of the voltage to comply to
the LVRT profile is effective with the power electronic based devices,
which has well established by using FACTS [29].
V. A NALYTICAL M ODELING FOR C ONTROL OF V IRTUAL
S YNCHRONOUS G ENERATOR FOR LVRT
Ability of supplying the reactive power is the critical parameter
which influences drastically during the fault conditions for LVRT
compliance. Analytical modeling for control of VSG for LVRT has
due significance in understanding the reactive power capability [15].
We consider a synchronous generator connected to an infinite bus
and kinetic energy expressed as
1 2
K.E = ∗ J ∗ ωm (1)
2
Eq. (1) is differentiated and represented as shown in Eq. (2)
dωm
Pin − Pout = Jωm − D.∆ωm (2)
dt
The structure of the VSG is shown in Fig. 5. VSG inverter is driven
by the Eq.(2) and as a result it behaves as a synchronous generator.
Frequency detector and the power meter blocks are used to measure
the grid frequency and output power. Grid frequency is used to
calculate ∆ωm . VSG control block using Eq.(2) calculates the virtual
rotor speed ωm . Standard Runge-Kutta method is used to obtain the
ωm . ωm is obtained by using virtual mechanical phase θm , and it is
fed to the inverter as a phase control command to obtain the output
voltage. Therefore, when the VSG inverter is connected to the infinite
bus, active and reactive power (P and Q) are expressed as
∗
P + jQ = Vgrid Igrid
2 (3)
Vt Vgrid Vt Vgrid cosδ − Vgrid
= sinδ + j
XL XL
By controlling the amplitude of VSG inverter output voltage to
become Vt cosδ > Vgrid , the inverter supplies reactive power to
the grid. Conversely, when Vt cosδ < Vgrid , the inverter consumes
reactive power. It can be seen that the voltage amplitude command
is obtained from the PI controller using feedback of Qout . The Q∗
of Fig.5 is the reactive power command [15].
Generally, for synchronous generator it is assumed that δ is under
30 degree but in this case sinδ ∼= δ and cosδ ∼ = 1, thus P is a function
of δ and, P and Q can be independently controlled.
Considering the above modeling details of VSG, in the case of
connecting VSG parallel to diesel generator for the purpose of LVRT
grid compliance studies, it is inadvertent that VSG can support the
system under study for LVRT compliance. However, the immediate
question to be posed is up to what extent it can support. For example,
consider the generator with the rating and parameters as mentioned
in [12], for a voltage dip of 0.2pu it requires support of atleast 0.63pu
of reactive power, which means using Eq.(3), VSG of such rating
can support upto 68% of the requirement. Hence, VSG connected in
parallel to DERs such as diesel generators can help in grid compliance
cases. Fig. 5 shows the active and reactive power control of such a
VSG module.
Fig. 5. Topology and control diagram of the VSG used in the simulation
VI. D ISCUSSIONS AND F UTURE T RENDS
1) The VSG in co-ordination with diesel generator can provide
flexible power generation at the point of common coupling in
grid compliance studies. In case of renewable energy sources
such as solar PV, devices can be directly connected to the
dc link of VSG through a boost converter for better inertial
response. The power sharing can be done between VSG and
diesel generator for economical operation. Any fast changes in
the load can be compensated by VSG as dynamics of diesel
generator is relatively slow.
2) VSG performance in enhancing the stability margin of a power
system has not been explored in the literature and which
has a significant potential in terms of addressing the LVRT
problem for grid compliance studies. A new outlook has to be
established for assessing the cost estimations in such studies.
3) Understanding of reliability considerations interms of modeling
and aggregation is key for application of VSG in grid compli-
ance studies, but not limited to LVRT problem.
4) VSGs are emerging rapidly in grid integration aspects. Reli-
ability focused equipment standards should be developed to
facilitate the reliable integration of additional VSGs into the
power grid in conjunction with all types of DERs.
5) When there are more diesel generators connected in parallel,
the rating of VSG has to be properly chosen. The return on
investment of VSG will be high in such cases and considering
the technical benefits, VSG will be the favorable choice where
ever flexible generation is necessary.
6) Diesel generator with VSG connected in parallel is able to
meet the local grid requirements. However, scaling of the VSG
in accordance with the rating of diesel generator sets and
requirement of grid code are the key aspects in focus. It need to
be judged up to what extent the LVRT problem can be tackled
using VSG concept.
VII. C ONCLUSIONS
This paper presented a survey of VSG concepts and its applications
as reported in the literature and explored the positioning of VSG
as a potential solution for grid compliance studies, esp., for LVRT
problem. It is identified that VSG approach to LVRT for grid
compliance studies specifically when connected in parallel to DERs
including diesel generators has not yet been fully explored. This
has potential for wider industrial applications in the paradigm of
Smarter Grids where real-time pricing and retail markets are active.
In this paper, it is discussed how VSG is applicable for LVRT
capability enhancement with reference to available literature. It can
also be useful to improve the power quality by mitigating the current
harmonics and voltage fluctuations at point of common coupling.
The reactive power and nonlinear current required by local loads
can be compensated by the VSG and hence primemover based DER
like diesel generator will be spared to supply active power and
hence operate at its maximum efficiency. Preliminary simulations
established the VSG as a potential solution for grid compliance
studies. Future trend indicates that development paradigm of VSG
may transform to application paradigm where operation of VSG will
be actively pursued with other devices in the areas of grid compliance.
ACKNOWLEDGMENT
This work was supported from the National Research Foundation
(NRF) Singapore under the Corp Lab@University Scheme
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