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Date of publication xxxx 00, 0000, date of current version xxxx 00, 0000.
Digital Object Identifier 10.1109/ACCESS.2017.DOI

Mechanism of PV Generation System

Damping Electromechanical Oscillations
MINGXIAN LI1 , LIANSONG XIONG2 , (MEMBER, IEEE), HUA CHAI3 , LIANCHENG XIU4 ,
JIE HAO5
1
College of Electrical and Power Engineering, China University of Mining and Technology, Xuzhou, CO 221116, China.
2
School of Automation, Nanjing Institute of Technology, Nanjing, CO 211167, China.
3
Department of Electrical Engineering, Shanxi University, Taiyuan, CO 030013, China.
4
School of Electrical Engineering and Automation, Wuhan University, Wuhan, CO 430072, China.
5
Electric Power Research Institute, State Grid Shanxi Electric Power Company, Taiyuan CO 030001, China.
Corresponding author: LIANSONG XIONG (e-mail: xiongliansong@163.com).
This work is supported by National Natural Science Foundation of China Fund (No. 51707091).

ABSTRACT For physically understanding the dynamic response of the photovoltaic (PV) integrated
power system for electromechanical oscillations damping, firstly, this paper develops the linear mathe-
matical model of a single machine infinite bus system integrated by the PV grid-tied inverter under the
electromechanical time scale. Then, based on the electric torque analysis method, and the functional route
of the PV grid-tied inverter variable active power control (P -control) and reactive power control (Q-control)
with the power angle or grid frequency feedback as the input control signal, the key factors and influence
laws of the integrated system inertia, damping level and synchronization capability are investigated. The
developed model shows that enlarging the proportional-integral-derivative (PID) controller parameters of P
and/or Q-control loop can effectively change electromagnetic power distribution to suppress the imbalance
power, and equivalently improve the system damping level, synchronization capability and inertial effect,
respectively, contributing to actively adjust the grid frequency oscillation amplitude, period and recovery
speed to maintain the system control stability according to the grid code demand. Besides, under the same
inverter capacity constraint, P -control mode is proved more advantageous than Q-control mode to damp
electromechanical oscillations. Finally, the correctness of the physical mechanism analysis is verified by
MATLAB simulations and RT-LAB experiments.

INDEX TERMS Photovoltaic (PV), Electromechanical oscillation, Inertial, Damping, Synchronization

ability, Grid-tied inverter.

I. INTRODUCTION output, termed Q-control mode, e.g. static var compensators

Low frequency electromechanical oscillations (usually 0.1–
2.5 Hz) are regarded as one of the major limiting factors
in active power transfer over the long transmission lines,
and frequently trigger the related frequency protection relays,
adversely affecting the power system stability [1]. To this
end, previous works have developed different measures for
electromechanical oscillation damping.
Traditionally, power system stabilizer (PSS) integrated
with synchronous generator (SG) is usually the most com-
mon measure for oscillation damping, which, however, can-
not well adapt to the change of operating state between the
SG and the power grid [2-3]. Flexible AC transmission sys-
tem (FACTS) devices are used to offer extra damping effect
support by controlling the grid-tied inverter reactive power
(SVC), static synchronous compensators (STATCOM) [4],
thyristor controlled series compensators (TCSC) [5] and con-
vertible static compensator (CSC) [6], the above-mentioned
solutions mainly affect the grid voltage to change the system
power distribution for oscillation damping indirectly [7].
Energy storage system (ESS) equipped with oscillation
damping controllers is also developed to enhance the power
system stability [8], which can further enhance the system
oscillation damping level than only P or Q-control mode by
controlling the active and reactive power output simultane-
ously (i.e., P & Q-control mode) [9]. However, high battery
hardware cost limits its large-scale installation and operation.
Analogously, for the interarea oscillation damping, a power
modulation mode of wind generation with P & Q-control is

VOLUME 4, 2016 1

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developed in [10]. The infinite grid PCC SG

As clean and abundant renewable energy, photovoltaic Z2 Pm
U V Z1 E
(PV) generation system has been widely developed to alle- G M
Pe
viate the energy crisis, and profoundly changed the dynamic Vabc
Z0 AC
and operating characteristics of the conventional power sys- Iabc
tem, bringing a series of new challenges and solutions on the P DC
system control stability [11]. Adverse effects of high pene- Q S PV
PLL
tration PV power generation on the power system dynamic Vd
Vabc abc 0 f0 Iabc abc Id
stability have been studied by some researchers. −+ + ω θ
dq Vq PI 2π ∫ dq Iq
The more inverter-based PV systems, the lower inertia + f
θ
level and the weaker oscillation damping ability of the power
δ 0 Fig. 8 Id0 θ
grid [12-14]. It is demonstrated in [15-17] that the potential of δ −+ +
+ Id*
reduction in power system stability is more with significant Power AC current
control + control
amount of inertia-less power injection from PV plants into f− + + Iq* S
f0
the grid. The large-scale PV plant equipped with a robust PID Fig. 9 Iq0 Iq Id SPWM

controller is developed in [18], providing the PV inverter with

oscillation damping ability.
A novel control mode of the PV solar farm as STATCOM
(termed PV-STATCOM) is suggested in [19-20] to enhance
the system damping with discontinuing its real power gen-
eration function briefly, then, while power oscillations are
damped, the solar farm restores real power output to pre-
disturbance level and keeps the damping function activated.
Moreover, an energy function-based design of damping con-
troller is presented in [21], which, however, is relatively com-
plex in design. A minimax linear quadratic gaussian-based
oscillation damper for a large-scale PV plant is suggested to
provide the desired damping support [22].
Besides, the grid topology, component performance,
steady-state operating point, power control mode and loca-
tion of the PV generation system will all affect the system
oscillation mode [22-24]. The existing work mainly focuses
on the oscillation damper design and the improvement of PV
power output control. However, few work has investigated
the related physical mechanisms, especially the influence
of power control modes, control parameters and inverter
location on the power system dynamic characteristics, which
contributes to design more effective PV control strategies to
improve the system inertia and damping.
The main contributions of this paper are summarized as
follows.
• A linearized mathematical model is developed in this
paper to reflect the interaction process between the
power grid and PV generation system under the elec-
tromechanical time scale.
• This paper reveals in detail the physical mechanisms of
system inertia, damping and synchronization capability
under typical control strategies with different detection
signal feedback modes, including the effect of PID
controller gain and PV grid-tied position on the inte-
grated system dynamic characteristics, which provides
theoretical support for damping strategies optimization.
• Regulation capacity ratio (RCR) indicator developed in
this paper proves that P-control has a stronger ability
than Q-control for the PV suppressing electromechani-
cal oscillations.
2 VOLUME 4, 2016
FIGURE 1: Model of the studied integrated SMIB system
The remainder of this paper is organized as follows. Sec-
tion II introduces background on the PV generation system
for oscillation damping, including an integrated single ma-
chine infinite bus (SMIB) system, the electric torque analysis
method and the inverter output power control strategy. Sec-
tion III develops the linear mathematical SMIB model for
the interaction process modeling. Section IV investigates the
physical mechanism of PV system damping electromechan-
ical oscillation. The correctness of the proposed mechanism
analysis method is verified in Section V. The conclusions are
drawn in Section VI.
II. BACKGROUND ON PV DAMPING OSCILLATIONS
A. MODEL OF INTEGRATED POWER SYSTEM
The SG-dominated electromagnetic devices play an impor-
tant role in power generation. As seen in Figure 1, to ef-
fectively and briefly demonstrate the inertia, synchronization
and damping characteristics of the power system integrated
by PV generation system, a SMIB system composed of a SG,
a PV and a DC/AC grid-tied inverter, is taken as a specific
example in this paper as pointed in [19, 24-25] to explain
the dynamic interaction mechanism among the SG, the PV
inverter and the infinite grid.
In Figure 1, Pm and Pe are the mechanical input power
and the electromagnetic power, respectively. P and Q are
the inverter active and reactive output power injected into
the grid. δ and f represent the SG power angle and grid
frequency, respectively, and δ0 and f0 represent their steady-
state value. E, U , V , Z1 , Z2 and Z0 respectively represent
the voltage vector and the equivalent line reactance between
i) the SG, ii) the infinite grid, iii) the PV grid-tied inverter
and the point of common coupling (PCC). Vabc and Iabc
are the output voltage and current of PCC, respectively. Id
and Iq are the inverter active and reactive output current in
the dq frame, respectively, Id∗ and Iq∗ represent their current
reference, respectively. Id0 and Iq0 are the inverter active and
reactive steady-state output current.

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The electromechanical oscillations caused by the generator f

rotor relative swing reflect the process of the rotor kinetic
energy exchange and the system electromechanical energy
conversion, including (but not limited to) the ultra-low fre-
quency, the low frequency and the sub-synchronous oscil-
lations. The grid imbalance active power is regarded as the
endogenous driving force for electromechanical oscillation
of the SG-dominated power system.
The grid frequency dynamic process can be described as
follows [23]
dω
2H = Pm − Pe − D (ω − ω0 ) (1)
dt
where H and D (per unit) represent the rotor internal inertia
and damping constants, respectively. ω represents the angular
frequency detection value at PCC under transient conditions
and equals 2πf , ω0 represents the grid steady-state angular
frequency.
Hence, in power system steady-state condition, the me-
chanical input power Pm equals the electromagnetic power
Pe (viz. f =f0 ); when the power imbalance occurs (viz.
Pm 6=Pe ), the grid frequency extremely deviates from its rated
value f0 due to the low inertia H or damping D and lack of
the extra dynamic power support [1].
B. THE ELECTRIC TORQUE ANALYSIS METHOD
The electric torque analysis method is utilized in this paper
to analyze how the PV generation system affects the dynamic
characteristics of the SG-dominated power system from the
physical mechanism perspective.
During the grid frequency dynamic process, assuming that
the mechanical input power Pm is constant and linearizing
(1), the standard dynamic equation can be utilized to describe
the grid frequency dynamic process, yielding
 which are generally considered without the damping or iner-
 d∆δ = ∆ω
 tia capability. Hence, with the booming of PV power gener-
dt (2)
d∆ω
 2H
 = −∆Pe − D∆ω
dt
In the classic electric torque analysis method, the dynamic
process of the grid frequency and power angle can be de-
scribed as

 d∆δ = ∆ω

dt
d∆ω (3)
 TJ
 = −TD ∆ω − TS ∆δ
dt
where TJ , TD , and TS represent the equivalent inertia, damp-
ing and synchronization coefficient of the generator rotor
under transient conditions, respectively, which are analyzed
as follows.
1) The inertia coefficient TJ : TJ reflects the inertia effect
of SG-dominated power system and determines the rate
of change of frequency (RoCoF); with TJ increasing,
RoCoF can be further suppressed to avoid the rotor
mechanical fatigue [see the blue curve in Figure 2].
VOLUME 4, 2016
f0
|RoCoF| J
ΔfD No power control
|RoCoF| N TD increasing
TJ increasing
ΔfN
tmax t
FIGURE 2: Comparison of different characteristic coefficients
PV DC/AC
Grid
P
X
Cdc
+
Udc Vabc
Q
FIGURE 3: A typical topology of grid-tied PV generation system
2) The damping coefficient TD : the frequency deviation
∆f can be further decreased with TD increasing, which
thus leads to the smaller oscillation amplitude and the
faster recovery speed of generator rotor [see the green
curve in Figure 2].
3) The synchronization coefficient TS : the power system
synchronization stability will be improved with TS
increasing, hence, changing the generator rotor oscil-
lation frequency and contributing to the more robust
grid frequency.
However, most grid-tied inverters of PV or wind power
generation operate in the constant power mode with P0 ,
ation, the conventional power system experiences a negative
change in dynamic and operational characteristics, e.g. the
reduction in proportion of SG-dominated electromagnetic
devices. As a result, the equivalent coefficients TJ , TD and TS
are reduced, further weakening the grid frequency stability of
future power system [15].
C. POWER CONTROL OF PV GENERATION SYSTEM
To provide the dynamic power support for the imbalance
power suppression, the PV grid-tied inverter could operate
in the variable power control mode (i.e., P and/or Q-control)
with its output power deviating from the constant power P0 .
A grid-tied PV generation system is described in Figure 3
to demonstrate its output power control mode. Where, Cdc
and Udc represent the DC side capacitor and its voltage,
respectively. X is the equivalent inductance of Z0 in Figure
1. In general cases of grid-tied inverter modeling in the dq
frame, the d-axis is usually aligned with the PCC voltage V
(i.e. Vq =0) [26-27].
3

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Rotor speed DC voltage AC current

control timescale control timescale

PPV
PPV-max control timescale
*
PLL
grid frequency control terminal voltage control AC current control
* power angle control DC voltage control
* P0 1Hz 2Hz 10Hz 20Hz 100Hz Bandwidth
1s 0.5s 0.1s 0.05s 0.01s Timescale
Electromechanical timescale Electromagnetic timescale

FIGURE 5: Classification of control timescales of generalized inverter

0 power generation system
Udcmin Umppt Uoc Udc

FIGURE 4: Non-linear operation characteristic of PV generation system

Hence, the inverter output power can be obtained as

3 3
 P = (Vd Id +Vq Iq ) = Vd Id ∝ Id

2 2
(4)
 Q = 3 (Vq Id − Vd Iq ) = − 3 Vd Iq ∝ Iq
 (7), viz, Id ∈ [0, Idmax ] and Iq ∈ [-Iqmax , Iqmax ].
2 2
From (4), it can be noticed that the PV output power PPV
can be tuned by the change of controlled power P (viz. Id ).
As shown in Figure 1, the power angle δ (power) or the
grid frequency f is usually chosen as the feedback signal
for the inverter variable power control modes to damp elec-
tromechanical oscillation [20, 28]. The analysis is revealed
as follows.
The electromagnetic power Pe can be expressed as
EV sin δ
Pe =
X outer loop control dynamics is comparable to that of the
Linearization of (5) yields
E (sin δ0 ∆V + V0 cos δ0 ∆δ)
∆Pe =
X tromagnetic time scale which is notably different from the
Considering s∆δ=∆ω=2π∆f , it should be recognized
from (6) that the change of δ or f could reflect the deviation
of system electromagnetic power Pe , which are widely used
in previous work [28, 30, 31].
To utilize the controlled active output power for dynamic
power support, P0 should be set smaller than the maximum
output power PPV−max , which may reduce the PV inverter
generation power. To this end, after the real power genera-
tion, the left capacity of grid-tied inverter could be utilized to
provide the dynamic reactive power support (i.e., Q-control
and/or P & Q-control) [20].
As shown in Figure 4, Udcmin represents the inverter min-
imum DC voltage, and the allowable operation range of Udc
is set between Umppt and Uoc in this paper, since compared
with Udc ∈ [Udcmin , Umppt ] or [Udcmin , Uoc ], PPV could
be proportionally tuned from 0 to PPV−max with higher
sensitivity, which is beneficial to improve the PV generation
system control stability.
Moreover, the PV generation system cannot absorb the
active power due to its physical structure constraints, hence,
P should be greater or equal to 0, and the reactive output
power Q is limited by the inverter designed capacity S.
Therefore, the allowable range of the controlled power P
and Q can be given as
4 VOLUME 4, 2016

0 ≤ P√
≤ PPV−max
(7)
|Q| ≤ S 2 − P 2
To avoid the overcurrent fault of PV inverter, the allowable
operation range of Id and Iq could be set according to (4) and
As the nonlinear operation characteristic of PV generation
system and the inverter out power shown in Figure 3, Figure
4 and (4), it should be noted that for the PV inverter single-
stage control mode without the control loop of PV inverter
DC voltage Udc , the change of Udc thus reflects the change
of PV output power PPV .
III. INTERACTION PROCESS MODELING
As shown in Figure 1, since the outer loop of inverter
control is well designed in response to the seconds-level
frequency dynamics, the time scale related to the inverter
(5)
grid frequency dynamics (corresponding to the electrome-
chanical time scale). The inner loop, designed to react to
the milliseconds-level grid current dynamics, has an elec-
(6)
electromechanical scale.
Therefore, as seen in Figure 5, under the occurrence of
disturbance, the dynamics of the integrated system could be
divided into the electromechanical time scale (seconds-level
response) and electromagnetic time scale (milliseconds-level
response) [27-29]. For the single-stage PV inverter without
DC voltage control loop in this paper, the former includes
power angle loop and grid frequency control loop, the latter
includes phase locked loop, i.e., PLL (about 100 ms) [30] and
AC current control loop (about 10 ms).
Focusing on the dynamic process of the SG-dominated
power system under electromechanical time scale, the elec-
tromagnetic time scale could be omitted due to their rela-
tively separated response. Therefore, to model the interac-
tion process between the PV inverter and the SG-dominated
power system, the physical SMIB system in Figure 1 could
be simplified. In this paper, several assumptions for studying
electromechanical oscillation damping are given as follows.
• Neglecting the regulation of the AC current control loop.
Assume that the output current vectors of the PV grid-
tied inverter can instantaneously track their reference
values, respectively, viz., Id =Id∗ , Iq =Iq∗ .
• Neglecting the synchronous phase detection process of
the grid voltage vector signal, viz., PLL.

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U  − XT=kX V 0 X E δ P-control Id0 Id

− + −
U d* *
Uabc
+ I d* +
kp1+skd1 PI
PCC δ0 + dq
The power grid SG
Ib Ig + + abc
kp2+skd2 PI
Id Iq δ0 I q* + U q* SPWM
+ I −
−
q0
δ Q-control Iq θ
Power angle control Current control
FIGURE 6: Simplified model of integrated power system
FIGURE 8: Power angle feedback-based control mode of PV inverter

E
and
Vg k (E sin δ0 + XId0 )
δ V η= (13)
o θ (1 + k) V0 + k (XIq0 − E cos δ0 )
Vb
Substituting (12) into (6), one obtains
U
FIGURE 7: Voltage phasor diagram ∆Pe = α∆δ − β∆Id − µ∆Iq (14)
where
Based on the above analysis, the PV inverter could thus kE 2 sin δ0 EV0 cos δ0
α= (−η cos δ0 − sin δ0 ) + (15)
be simplified into a controlled active current source and (1 + k) X X
a controlled reactive current source, describing its P and
Q-control mode, respectively. Consequently, the integrated ηEk sin δ0
β= (16)
SMIB system model in Figure 1 can be simplified into the 1+k
circuit model in Figure 6, where the SG can be equivalent to
kE sin δ0
E∠δ and the series reactance X. µ= (17)
Moreover, XT is the equivalent reactance between the 1+k
PCC and the power grid, and equals kX. The location In (15), α is the inherent synchronization coefficient of
coefficient k is defined to describe the grid-tied location of the studied system and its terms respectively describes the
PV generation system, i.e., when k>1, it indicates that the system inherent synchronization stability margin, the influ-
PV inverter is closer to the SG; for 0<k<1, the PV inverter ences of the PV grid-tied inverter location and the steady-
is closer to the power grid. I g and I b represent the current state operating point on the system synchronous stability.
phasors of the equivalent line reactance Z1 and Z2 in Figure In (16) and (17), β and µ are the grid-tied inverter control
1. Then, presume E and U are equal and constant. coefficients of P and Q-control mode, respectively, describ-
Therefore, the corresponding voltage phasor diagram of ing the effects of the inverter location, the steady-state oper-
the simplified model could be shown in Figure 7. ating point of the system itself and of the PV inverter on the
The active power absorbed by the power grid yields integrated power system control capability.
V U sin θ
P∞ = (8) IV. PHYSICAL MECHANISM ANALYSIS OF THE
kX
INTEGRATED SYSTEM DAMPING OSCILLATION
Using Kirchhoff0 s current law, it holds that According to Figure 1, the PV inverter variable power control
E∠δ − V ∠0◦ V ∠0◦ − U ∠ − θ mode damping electromechanical oscillation mainly includes
+Id ∠0◦ +Iq ∠90◦ = (9) the power angle (power) feedback and the grid frequency
jX jkX
feedback mode in existing work [20, 28-32]. These above
According to (9), we have
 two control modes could affect the dynamic characteristics
kE cos δ − kV − kXIq = V − U cos θ of grid frequency, respectively.
(10)
kE sin δ + kXId = U sin θ Based on the linear mathematical model developed in
Section III, the interaction process between the inverter and
Hence, (10) can be further rewritten as
the power system for oscillation damping will be explained
2
U 2 = k 2 (E sin δ + XId ) in detail in this Section from the perspective of physical
2
(11) mechanism.
+ [V + k (V − E cos δ + XIq )]
Linearization of (11) yields A. POWER ANGLE FEEDBACK
kE While setting the detected power angle as the feedback input
∆V = (−η cos δ0 − sin δ0 ) ∆δ signal, the integral (I) controller usually has the non-linear
1+k (12)
ηkX kX effect on the system dynamic response, and the conventional
− ∆Id − ∆Iq oscillation damping algorithm generally does not utilize the I
1+k 1+k
VOLUME 4, 2016 5

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controller to control the inverter power output. Hence, there is f P-control Id0 Id
no literature and engineering practice using the I controller- − + − *
f0
+ + I d* + U d* Uabc
λp1+sλd1+λi1/s PI
based power angle feedback mode, and this paper does not dq
analyze it specifically.
+ + abc
Besides, the time delay caused by the detection of power λp2+sλd2+λi2/s PI
f0 I q* + U q* SPWM
+ I −
−
grid state variables (power, gird frequency and power angle) f Q-control
q0
Iq θ
and its negative effects on the controller are ignored in this Frequency control Current control
paper, contributing to simplify analysis process [32].
FIGURE 9: Grid frequency feedback-based control mode of PV inverter
For the PD controller-based power angle feedback mode
shown in Figure 8, it can be noticed that the proportional or
derivative (P or D) controller can proportionally regulate the In sum, while detecting the power angle as the feedback
PV inverter power output through the power angle deviation input signal and using the P and D controller, the PV inverter
(∆δ=δ0 -δ) or its derivative, respectively, where kp1 and kd1 variable power control mode could equivalently enhance the
represent the P and D controller parameters of P -control synchronous ability and oscillation damping level of the
loop. kp2 and kd2 represent the P and D controller parameters integrated power system.
of Q-control loop, and Iq0 is usually set as 0 for the PV
inverter power generation. Moreover, the units of P and D B. GRID FREQUENCY FEEDBACK
controller are A/rad and A • s/rad. Similarly, when the grid frequency is set as the feedback
When the detected power angle is greater than the rated input signal, the PV inverter often uses the PID controller to
power angle (i.e., δ>δ0 ), to release the rotor partial kinetic modulate the inverter power output [28]. As shown in Figure
energy, the PV inverter should reduce the active output power 9, λp , λi and λd represent the PID controller parameters of P
and/or the reactive power absorbed from the power grid to or Q-control loop, respectively. Besides, the units of P, I and
restrain the grid frequency from increasing. D controller are A/Hz, A and A/(Hz) .
2
Conversely, the PV inverter should increase the active When the grid frequency f is greater than its rated value
output power and/or the absorbed reactive power for the f0 (i.e., f >f0 ), in such case, to provide extra dynamic power
system imbalance power suppression, contributing to provide support and suppress the imbalance power for avoiding the
the system with oscillation damping capacity and enhance the grid frequency increasing, the inverter should reduce the
integrated system control stability. The interaction process is active output power and/or the absorbed reactive power.
investigated as follows. Counter, the PV inverter should increase the active output
The active and reactive output current can be described as power and/or the absorbed reactive power.
Id = (δ0 − δ) (kp1 + skd1 ) + Id0 (18) From Figure 9, linearization of the controlled active and
reactive output current could be described as
Iq = (δ0 − δ) (kp2 + skd2 ) + Iq0 (19)
∆Id = −λi1 ∆δ/2π − λp1 ∆f − sλd1 ∆f (27)
Linearizing (18)––(19) and considering s∆δ=∆ω, we have
∆Iq = −λi2 ∆δ/2π − λp2 ∆f − sλd2 ∆f (28)
∆Id = −kp1 ∆δ − kd1 ∆ω (20)
Substituting (27) and (28) into (14), one obtains
∆Iq = −kp2 ∆δ − kd2 ∆ω (21)
Substituting (20) and (21) into (14), one obtains ∆Pe = [α+ (βλi1 +µλi2 ) /2π] ∆δ
(29)
+ (βλp1 +sβλd1 +µλp2 +sµλd2 ) ∆f
∆Pe = (α + βkp1 + µkp2 ) ∆δ + (βkd1 + µkd2 ) ∆ω (22)
Substituting (29) into (2), we can deduce that
Substituting (22) into (2), we can deduce that
d∆ω
d∆ω [2H+ (µλd2 +βλd1 ) /2π]
2H = − (α + βkp1 + µkp2 ) ∆δ dt
dt (23) (30)
= − [α+ (βλi1 +µλi2 ) /2π] ∆δ
− (D + βkd1 + µkd2 ) ∆ω
− [D + (µλp2 + βλp1 ) /2π] ∆ω
Comparing (23) with (3), we have
Comparing (30) with (3), we have
TJ = 2H (24)
TJ = 2H+ (βλd1 +µλd2 ) /2π (31)
TS = α + βkp1 + µkp2 (25)
TS = α+ (βλi1 +µλi2 ) /2π (32)
TD = D + βkd1 + µkd2 (26)
TD = D + (βλp1 + µλp2 ) /2π (33)
It can be concluded from (24), (25) and (26) that adjusting
the controller parameters kp1 , kp2 , kd1 , and kd2 of the P and From (31), (32) and (33), it can be concluded that for the
Q-control loop can affect the generator rotor synchronization grid frequency as feedback signal, the controller parameters
and damping coefficient, respectively. λp , λi and λd of P and/or Q-control loop can equivalently
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Author et al.: Preparation of Papers for IEEE TRANSACTIONS and JOURNALS

6 12 3

2.5
5 11
2

1.5

TS
4 10

TJ
TD

1
3 9
0.5

0
2 8
0 2 4 6 8 10 0 2 4 6 8 10
0 2 4 λp1 6 8 10 λd1 λi1
(a) (b) (c)
FIGURE 10: Influence of the controller parameters on (a) damping level, (b) inertia and (c) synchronization capability.

9.4
14 6
9.2
12 9 5
10 8.8 4
TD

TS
TJ

8 8.6 3
6
8.4 2
4
8.2 1
2
8
0 2 4 k 6 8 10 0 2 4 k 6 8 10 0 2 4 6 8 10
k
(a) (b) (c)
FIGURE 11: Influence of the inverter location on (a) damping level, (b) inertia and (c) synchronization capability.

TABLE 1: Mitigation mechanism of PV system for oscillation damping

Equivalent coefficient Power angle feedback Frequency feedback
TJ 2H
TS α+(βkp1 +µkp2 )
TD D+(βkd1 +µkd2 )
affect the rotor inertia, synchronization and damping coeffi-
cient, i.e., changing the integrated system inertia, synchro-
nization ability and damping level, respectively.
When the power disturbances result in the grid frequency
with a significant ∆f and RoCoF, it can be noticed that
compared with the power angle feedback mode, choosing the
grid frequency as feedback input signal not only can directly
suppress ∆f and RoCoF to avoid frequently triggering the
related protection relays, but affect the system synchronous
ability, inertia and damping, simultaneously. Besides, the
detection of the grid frequency is relatively easier than power
angle, therefore, the grid frequency feedback modes are
commonly used in mechanism analysis or engineering.
To sum up, the physical mechanism of PV generation
system damping the electromechanical oscillation of SG-
dominated power system is summarized in Table 1.
For other control methods (e.g. the STATCOM and ESS
schemes) adopted to achieve the active or reactive dynamic
power support, the equivalent inertia, synchronization and
damping coefficients of the integrated power system can still
be analyzed according to the proposed analysis method.
VOLUME 4, 2016
C. INFLUENTIAL FACTORS OF OSCILLATION DAMPING
Based on the above analysis, the integrated system inertia
effect, synchronization capability and damping level are all
2H+(βλd1 +µλd2 )/2π determined by
α+(βλi1 +µλi2 )/2π i) The system structural parameters, including the installa-
tion position k of the PV grid-tied inverter and the transmis-
D+(βλp1 +µλp2 )/2π sion line impedance X.
ii) The controller parameters, mainly the PV inverter con-
trol parameters in response to the grid frequency dynamic
process.
iii) The steady-state operating point parameters, including
the SG steady-state power angle δ0 , the PCC voltage V0 , the
utility grid voltage E, the output current Id0 and Iq0 , etc.
To clarify the influence of the above factors on the sys-
tem dynamic characteristic based on the frequency feedback
mode with PID controller, for example, the quantitative rela-
tionship between the controller parameters of P-control loop
(i.e.,λp1 , λi1 and λd1 ) and the equivalent coefficients in
(31)––(33) are respectively shown in Figure 10, where, k=1,
V0 =0.8, E=1, δ0 =π/3, Id0 =0.5, D=2, H=4.
From (27)––(29) and Figure 10, as the controller param-
eters increase, the active and reactive output current of the
PV inverter are thus larger, leading to the change of Pe and
abundant suppression of system imbalanced power. Due to
the stronger dynamic power support implemented by the PV
inverter, the system damping, inertia and synchronization co-
efficient are enlarged simultaneously. Besides, the regulation
restriction of the controller coefficients must be considered:
i) the designed capacity of PV inverter to avoid the device
overcurrent, ii) the real power generation demand. When the
controller parameters of PV inverter are less than 0, as a re-
7

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 P
f [p.
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0.995 information: DOI
λd1=0
10.1109/ACCESS.2020.3011456, IEEE 5Access λd1=40
λd1=60
0.99
Author et al.: Preparation of Papers for IEEE TRANSACTIONS and JOURNALS
0
0.985 19 19.2 19.4 19.6 19.8 20
19 19.2 19.4 t [s] 19.6 19.8 20
TABLE 2: The main parameters of the circuit t [s]

12
1.005
Parameter Value Parameter Value
10
Line-to-line voltage U 380 V Z1 0.1+j0.1mΩ 1 λd1=0
820 λd1=40

f [p.u.]
λd1=60

P [kW]
Line-to-line voltage E 380 V Z2 0.3+j0.3mΩ 0.995
6
λd1=0
λd1
p1=40
=0
15 λλd1
p1=60
=1000
Switching frequency 15 kHz Z0 0.01+j0.018Ω 4
0.99
λp1=2000

P [kW]
2
Line-to-line voltage V 400 V DC voltage 940 V 10
0.985
0 19 19.2 19.4 19.6 19.8 20
Grid frequency 50 Hz Pm 0.5 p.u. t [s]
19 19.2 19.4 19.6 19.8 20
5
Id0 10 A S 50 kVA 12 (a) t [s]

10 0
Uoc 965 V Umppt 820 V 0.4 19 19.2 19.4 19.6 λd1=0 19.8 20
8 t [s] λd1=40
λd1=60

P [kW]
|RoCoF| [p.u./s]
60.3 λd1=0
sult, weakening the system synchronization capability, inertia 1.005
4
λd1=40
λd1=60
and damping level with the aggravated power imbalance. 0.2
21
Moreover, the quantitative relationship between the PV

f [p.u.]
inverter installation position k and the equivalent coefficients 0
0.1
0.995 λd1=0
are shown in Figure 11. Assume that the total impedance 19 19.2 19.4
t [s]
19.6 λd1=4019.8 20
λd1=60
X+XT in Figure 6 is constant, where, X+XT =(1+k)X=1, 0.990
19 19.2 19.4 19.6 19.8 20
λp1 =10, λi1 =10, λd1 =1, V0 =0.8, E=1, δ0 =π/3, Id0 =0.5, t [s]
0.985
0.4
D=2, H=4. 19 19.2 (b)
19.4 19.6 19.8 20
From Figure 11, the larger the location coefficient k (i.e. t [s]
P [kW] |RoCoF| [p.u./s]

0.3 λd1=0
the closer the PV inverter is to the SG), the larger the system 12 λd1=40
inertia and damping coefficients. Moreover, the equivalent λd1=60
10
0.2
coefficients TS reaches its maximum value at k=4, instead of λd1=0
8 λd1=40
being proportional [see Figure 11(c)]. It can be noticed from λd1=60
0.1
(14) that the change of coefficient k can equivalently affect 6

α, β and µ, and thus change the deviation of Pe , resulting in 4

0
the change of system power distribution. 2
19 19.2 19.4 19.6 19.8 20
t [s]
Hence, the optimal location of the PV grid-tied inverter
0
can be chosen to improve the required mitigation capability
19 19.2 19.4 19.6 19.8 20
(TJ , TD or TS ) for electromechanical oscillation damping. t [s]
Obviously, compared with changing the structural parame- (c)
ters and steady-state operating points of the power system,
FIGURE 0.4
12: Simulation results for D controller dominated scenario in P-
adjusting the inverter controller parameters is the easiest way control mode: (a) grid frequency, (b) RoCoF and (c) the active output power.
for the power system inertia, damping and synchronization
|RoCoF| [p.u./s]

0.3 λd1=0
effects regulation. It is suitable for the online frequency λd1=40
dynamics control and the recommended operation mode by λd1=60
0.2
many scholars. A. P-CONTROL DOMINATED SCENARIO
When the0.1 PV inverter only operates in P-control mode, the
V. SIMULATIONS AND EXPERIMENTAL VERIFICATIONS reactive output current Iq should be set to 0. The simulation
MATLAB/Simulink-based simulations and RT-LAB-based results with
0 different D controller parameters λd1 are shown
experiments are both utilized to verify the correctness of in Figure 12 19
and the19.2 19.4
remaining 19.6
parameters
t [s]
19.8
are 20
kept zero.
physical mechanism analysis in this paper. Since the grid It can be noticed from Figure 12(a) and (b) that as λd1
frequency feedback-based PV inverter power control mode is increases, the D controller can actively enhance the generator
similar with the power angle feedback mode, the simulation rotor inertia (i.e., the larger the frequency oscillation period)
and experimental scenarios only consider the grid frequency and suppress the rate of change of frequency RoCoF, thus
feedback control mode. improving the grid frequency control stability, however, ∆f
The power grid circuit topology and the main parameters is hardly changed (i.e., without enhancement of the generator
are shown in Figure 1 and Table 2. Assuming that the power rotor damping). These simulation results are consistent with
grid is disturbed at t=19 s, i.e., the SG mechanical input the theoretical analysis in (31). Besides, the notable increase
power suddenly decreases, which will lead to the power of λd1 also enlarges the PV inverter active power output
system undergo a frequency disturbance adjustment process. [see Figure 12(c)]. It can be noticed that the more active
power released by the PV inverter to the power grid, the
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Author et al.: Preparation of Papers for IEEE TRANSACTIONS and JOURNALS

38 卷 第 1 期 电 网 技 术 5

38 卷 第 1 期 电 网 技 术 5
1.005 1.005
38 卷 第 1 期 电 网 技 术 3

1
1.005 1

f [p.u.]
f [p.u.] f [p.u.]

0
0.9951 0.995
-5 λi1=0 λd2=0
λi1=10000 λd2=100
-10 λi1=20000
0.99
0.995 0.99 λd2=200
λi1=0
-15 λi2=0
λi1=10000
λi2=20000 0.985
0.985
0.99 λi1=20000
-20 λi2=40000
19 19.2 19.4 19.6 19.8 20 19 19.2 19.4 19.6 19.8 20
-25 t [s] t [s]
0.985
-30 19 19.2 (a)
19.4 19.6 19.8 20
(a)
35 t [s]
19 19.230 19.4 19.6 19.8 20
t [s] 0.4
35
λi1=0 0.4
25
λd2=0
P [kW]P [kW]

λi1=10000

[p.u./s]
30
0.3
20 λi1=20000 λλd2 =100

[p.u./s]
d2=0
25 λi1=0 0.3
λλd2 =200
d2=100
λi1=10000

|RoCoF|
15 λd2=200
20 λi1=20000 0.2

|RoCoF|
10 0.2
15
5 0.1
10 19 19.2 19.4 19.6 19.8 20 0.1
t [s]
5 0
19 19.2 19.4 19.6 19.8 20 19 19.2 19.4 19.6 19.8 20
0
t [s]

P
t [s] 19 19.2 19.4 19.6 19.8 20
t [s]
(b) (b)
30
FIGURE 13: Simulation results for I controller dominated scenario in P- 30
20
control mode: (a) grid frequency and (b) the active output power.
20
10
Q [kVar]

10
0
Q [kVar]

0
1.005 -10 λd2=0
-10
-20 λλd2 =100
d2=0

1 λλ d2=100
=200
d2
-20
-30 λd2=200
f [p.u.]

0.995 λp1=0 -30

-40
λp1=1000 19 19.2 19.4 19.6 19.8 20
-40 t [s]
λp1=2000 19 19.2 19.4 19.6 19.8 20
0.99
t [s]

0.985
(c)
19 19.2 19.4 19.6 19.8 20 FIGURE1.00515: Simulation results for D controller dominated scenario in Q-
t [s] control 1.005
mode: (a) grid frequency, (b) RoCoF and (c) the reactive power.
(a) 1
f [p.u.]

1
λi2=0
f [p.u.]

20 0.995
The0.995
simulation results dominated by the λλi2i2=0
=20000
I controller are
λi2=20000
λ =40000
i2
λp1=0 shown 0.99in Figure 13. As only λi1 increases, the I controller
15 λi2=40000
λp1=1000 0.99
λp1=2000 can further
0.985
enhance the power system synchronous capa-
bility 0.985
[see Figure 13(a)], the increase of λ also enlarges
P [kW]

10 19 19.2 19.4 19.6 i1 19.8 20

the inverter 19active power
19.2 output, t [s] 19.6
19.4 simultaneously 19.8 [see Figure
20
t [s]
5
13(b)]. However, the rotor damping level and inertia effect
have not been improved, hence, the I controller is only bene-
ficial to enhancing the system synchronization capability.
0
19 19.2 19.4 19.6 19.8 20
t [s] It should be recognized from Figure 14 that as λp1 in-
(b)
creases, the system damping level and the PV inverter active
1.005
power output are enlarged, ∆f is gradually reduced, and
FIGURE 14: Simulation results for P controller dominated scenario in P-
control mode: (a) grid frequency and (b) the active output power.
the grid frequency recovery speed is changed significantly.
1 However, as shown in Figure 14(a), the P controller has little
f [p.u.]

positive effect on the frequency oscillation period under the

0.995 λd1=0
λd1=40
occurrence of power disturbance.
system imbalanced power can be further suppressed, hence,
λd1=60
the larger
0.99 the generator rotor inertia.

VOLUME0.985
4, 2016 9
19 19.2 19.4 19.6 19.8 20
t [s]
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12
 d2
-20
λd2=200
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-30 10.1109/ACCESS.2020.3011456, IEEE Access
-40
19 19.2 19.4 19.6 19.8 20 Author et al.: Preparation of Papers for IEEE TRANSACTIONS and JOURNALS
t [s]

different D controller parameters λd2 are shown in Figure 15,

1.005 it can be noticed that the gird frequency has showed different
dynamic output characteristics significantly.
1
As λd2 increases, the D controller gradually enhances the
f [p.u.]

0.995 λi2=0
rotor inertia effect. In Figure 15(c), the increase of λd2 also
λi2=20000 amplifies the inverter reactive power output simultaneously,
λi2=40000
0.99 which helps to suppress the system imbalanced power.
The simulation results with I and P controller are shown in
0.985
Figure 16 and 17, respectively. As λi2 or λp2 increases, the
19 19.2 19.4 19.6 19.8 20
t [s] I or P controller can further improve the rotor synchronous
第 38 卷 第 1 期 (a) 电 网 技 术 capability or damping 3 level, respectively [see Figure 16(a),
17(a)]. Simultaneously, the reactive power output of the PV
0
inverter are also enlarged [see Figure 16(b), 17(b)].
-5
Based on the above results, it can be noticed that in either
P or Q-control mode of PV inverter, enlarging the PID
-10
controller parameters have similar positive effects on the
Q [kVar]

-15 λi2=0
λi2=20000 three dynamic coefficients (i.e. TJ , TD , and TS ) of the SG-
-20 λi2=40000 dominated integrated system, which are consistent with the
-25 mechanism analysis in this paper.
-30
C. DEFINITION OF RCR INDEX
19 19.2 19.4 19.6 19.8 20
t [s] From Figure 2, TJ and TD have different suppression effects
(b) on RoCoF and ∆f . To quantitatively compare the effect of
FIGURE 16: Simulation results for I controller dominated scenario in Q- P and Q-control mode on the above coefficients, this paper
control mode: (a) grid frequency and (b) the reactive output power. defines the PV inverter regulation capacity ratio (RCR), the
core of this index is that the higher the inertia or damping
enhanced by the same inverter occupied capacity (i.e., the
1.005 smaller the RoCoF and ∆f ), the bigger the RCR index.
Hence, RCRJ and RCRD can respectively be defined as
1

|RoCoF|N − |RoCoF|J
f [p.u.]

0.995

0.99

0.985
19 19.2 19.4 19.6
P
λp2=0
λp2=3000
λp2=5000

19.8 20
RCRM J =

RCRM D =
|MJ |/S
|∆fN − ∆fD |
|MD |/S
(34)

(35)

t [s] where the subscript N , J and D represent the detected value

1.005 (a)
with the scenario of no power control, inertia enhancing and
damping enhancing, respectively, and M =P or Q, represent-
20 1 ing the PV inverter occupied power value of P or Q-control
f [p.u.]

10
mode. |RoCoF| is detected at oscillation starting moment,
0.995 λp1=0
λp1=1000
which corresponds to its maximum value, viz., |RoCoF|max ;
0 λp1=2000 the frequency deviation ∆f is detected at tmax pointed out in
Q [kVar]

0.99
-10 Figure 2, which corresponds to |∆f |max .
0.985
λp2=0 According to Figure 12, 14, 15 and 17, the desired calcu-
-20 λp2=3000
19 19.2 λ19.4
p2=5000
19.6 19.8 lation20parameters of RCR are collected in Table 3. From (34)
t [s]
-30 and (35), these RCR comparison results are drawn in Figure
-40 18. It can be concluded that with the same inverter occupied
19 19.2 19.4
t [s]
19.6 19.8 20 capacity, P -control mode has more positive effect than Q-
(b)
control on the dynamic characteristics of grid frequency. The
mechanism is as follows.
FIGURE 17: Simulation results for P controller dominated scenario in Q-
control mode: (a) grid frequency and (b) the reactive output power.
For the imbalance power suppression, P -control modes
usually directly change the electromagnetic power, but Q-
control modes affect the voltage distribution of the system to
B. Q-CONTROL DOMINATED SCENARIO indirectly achieve that. Hence, P -control mode can be more
Similarly, when the PV inverter operates in Q-control mode, effective and more direct for oscillation damping and more
Id should be set to 0. The simulation results dominated by promising to reducing the PV inverter design capacity.
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Author et al.: Preparation of Papers for IEEE TRANSACTIONS and JOURNALS

TABLE 3: The main parameters for RCR comparison

Control mode |∆f | MD |RoCoF| MJ

f [0.05 p.u./div]
No control 0.0153 0 0.4 0

P -control 0.0131 18.49 kW 0.314 12 kW

Q-control 0.014 32.44 kVar 0.32 32.42 kVar

Frequency No control P-control P&Q-control

35.83
t [0.2s/div]
RCR D (%)

RCR J (%)

RCR PD RCR PJ
0.59 RCR QD
(a)
RCR QJ

12.33
0.20

Udc [6.25 V/div]

(a) RCRD (b) RCRJ
FIGURE 18: Comparison for RCR index.

TABLE 4: The controller parameters of P-control (with λC1 ) and P & Q-

control (with λC1 +λC2 )
Experimental Scenario
Inertia effect enhancing
Damping level enhancing
Synchronization enhancing
DC voltage No control P-control P&Q-control
Controller parameters λC (C=p, i, d)
t [0.2s/div]
λd1 =100, λd2 =100
(b)
λp1 =2000, λp2 =2000
FIGURE 19: Experimental results of inertia enhancing scenario with P -
λi1 =10000, λi2 =10000 control and P & Q-control: (a) the grid frequency, (b) the DC voltage.

D. P & Q-CONTROL DOMINATED SCENARIO

f [0.05 p.u./div]

Considering the inverter capacity constraints, the controller

parameters of P and P & Q-control loop are set in Table 4.
The experimental results with different experimental scenario
are shown in Figure 19, 20, and 21, respectively.
It should be recognized that compared with the PV inverter
only operating in P -control mode, P & Q-control mode No control P-control P&Q-control
Frequency
can further enhance the inertia, damping level and synchro-
nization ability of the integrated power system, respectively, t [0.2s/div]
improving the capacity utilization ratio of the PV inverter and (a)
better suppress the system imbalance power.
Moreover, as shown in Figure 19(b), 20(b) and 21 (b), the
change of Udc with P & Q-control mode is less than P-
Udc [6.25 V/div]

control, contributing to the less power generation loss and

the higher PV inverter control stability. To use the controlled
active power to effectively suppress oscillation, according to
Figure 4 and (4), the positive and negative polarity of ∆f
thus decides the oscillation frequency of Udc by changing
the inverter output power P. Therefore, it can be seen that
the oscillation frequency in Udc shown in the experimental DC voltage No control P-control P&Q-control
waveforms is same with the grid frequency under the elec-
tromechanical time scale. t [0.2s/div]
Based on the RT-LAB experiment platform, to achieve (b)
the better frequency dynamic output performance during the FIGURE 20: Experimental results of damping enhancing scenario with P -
oscillation conditions, the PV grid-tied inverter power output control andP & Q-control (a) the grid frequency, (b) the DC voltage.
can be simultaneously modulated by P & Q-control.

VOLUME 4, 2016 11

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Author et al.: Preparation of Papers for IEEE TRANSACTIONS and JOURNALS
f [0.05 p.u./div]
Frequency No control P-control P&Q-control
t [0.2s/div]
(a)
DC voltage No control P-control P&Q-control
Udc [6.25 V/div]
t [0.2s/div]
(b)
FIGURE 21: Experimental results synchronization capability of damping
enhancing scenario with P -control and P & Q-control (a) the grid fre-
quency, (b) the DC voltage.
VI. CONCLUSIONS
To demonstrate the mechanism of PV damping electrome-
chanical oscillation , this paper develops the linear mathe-
matical model of a SMIB system integrated by the PV in-
verter under the electromechanical time scale. The proposed
model clearly reveals the relationship between the controlled
active and/or reactive power injected by the inverter into the
grid and the system synchronization capability, inertia and
damping level. Some conclusions are drawn as follows.
1) With the PD controller-based power angle feedback
mode, the PD parameters of P or Q-control loop
can proportionally enable affect the system synchro-
nization capability and damping level. For the grid
frequency feedback mode, the P, I and D parameters
of power control loop can simultaneously change the
studied system damping, synchronization capability
and inertia, respectively.
2) Moreover, the location of PV grid-tied inverter also
has different effects on the dynamic response of grid
frequency to some certain extent. P -control mode of
the PV inverter is proved to be more effective than Q-
control for electromechanical oscillations damping and
be beneficial to reduce the design inverter capacity.
Based on the above conclusions, our key future research
directions are as follows.
1) Investigate the influence law of PV output power limit
on typical control strategy and electromechanical os-
12
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cillation mode.
2) Explore the P & Q-control coordinated strategy of PV
generation system to improve its ability for electrome-
chanical oscillations suppression.
3) Study the effects of time delay caused by the signal
feedback on the PID controller performance under
transient condition in detail.
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