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A Wireless Controller To Enhance Dynamic
A Wireless Controller To Enhance Dynamic
Abstract—This paper presents a novel control strategy for par- the droop method [8]–[11]. To achieve good power sharing, the
allel inverters of distributed generation units in an ac distribution control loop makes tight adjustments over the output voltage fre-
system. The proposed control technique, based on the droop con-
quency and amplitude of the inverter, in order to compensate the
trol method, uses only locally measurable feedback signals. This
method is usually applied to achieve good active and reactive power active and reactive power unbalances [12]. This concept steams
sharing when communication between the inverters is difficult due from the power system theory, in which a generator connected
to its physical location. However, the conventional voltage and fre- to the utility mains drops its frequency when the power required
quency droop methods of achieving load sharing have a slow and increases [13].
oscillating transient response. Moreover, there is no possibility to
modify the transient response without the loss of power sharing In the literature, there are many control schemes based on the
precision or output-voltage and frequency accuracy. In this work, a droop method to share linear loads [14]. Nevertheless, nowadays
great improvement in transient response is achieved by introducing the proliferation of nonlinear loads has become a problem, be-
power derivative-integral terms into a conventional droop scheme. cause the units must both share harmonic current and to balance
Hence, better controllability of the system is obtained and, conse- active and reactive power. In [15], a controller was proposed
quently, proper transient performance can be achieved. In addi-
tion, an instantaneous current control loop is also included in the to share nonlinear loads by adjusting the output voltage band-
novel controller to ensure proper sharing of harmonic components width with the delivered harmonic power. However, this tech-
when supplying nonlinear loads. Simulation and experimental re- nique has two main limitations: the controller uses an algorithm
sults are presented to prove the validity of this approach, which which is too complicated to calculate the harmonic current con-
shows excellent performance as opposed to the conventional one. tent, and the harmonic current sharing is achieved at the expense
Index Terms—Distributed generation (DG), droop control of reducing the stability of the system. Recently, novel control
method, nonlinear loads. loops that adjust the output impedance of the units by adding
virtual resistors [16] or reactors [17] have been included in the
I. INTRODUCTION droop method, with the purpose to share the harmonic current
content properly. In another approach [18], every single term of
V. SMALL-SIGNAL MODELING
Fig. 5. Block diagram of the proposed controller. To analyze the stability and the transient response, a small-
signal model of the parallel-inverter system is proposed. An ob-
DG electrical ac interface system. To improve the dynamics of jective of the above controllers is to avoid the existence of a
the system, the following novel droop-based control scheme is circulating current among the inverters. Hence, this current can
proposed: be an interesting variable to investigate; however, it is a fast
and oscillating variable, which can complicate the analysis of
the system. To facilitate this analysis, from Fig. 2, the envelope
signal of the current drawn to the bus can be found
(5)
(7)
(6)
By taking the usual approximations , , and
where is the derivative coefficient of the reactive power ; , we can derive
, , and are the integral, proportional, and derivative co-
efficients of the active power . Note that if we take into account
(8)
that , the steady-state voltage and the frequency
droops coincide exactly with those obtained with the conven-
tional method, expressed by (3) and (4). where is a small variation of the phase difference. As it can
The proposed control scheme allows us to modify the tran- be seen, the envelope of is proportional to the power angle .
sient response, act on the control coefficients, and, at the same Consequently, a small-signal analysis is proposed to obtain the
time, keep the static droop characteristic. Also, it minimizes dynamics of taking into account the well-known infinite bus
the transient circulating current among the units and further im- approximation [13], [19].
proves the dynamic performance of the whole system. In fact, First, we must take into account the expression of the low-
the coefficients and fix the steady-state droop function pass filters, shown in Fig. 5, which averages the instantaneous
while , , and are selected to guarantee stability and active and reactive power values. By using (1) and (2), and mod-
good transient response. eling the low-pass filters as a first-order system, it yields to
(13)
(14)
(15)
Fig. 11(a) depicts that the transient behavior turns slower and
less damped when increasing , due to the fact that the real
pole becomes dominant, as shown Fig. 6(a). Fig. 11(b) shows
the tendency to obtain a more oscillatory response when in-
creasing , since it attracts the conjugated poles toward the
imaginary axis, as can be seen in Fig. 6(b). Combining these two
degrees of freedom with the tight adjust of , we can obtain
Fig. 10. Transient response of circulating current and its approximated a better dynamic performance than in the conventional droop
envelope deduced from (8): (a) conventional droop method and (b) proposed
control method. method, since using the conventional one the transient response
can not be adjusted without change and values.
Two 1-kVA single-phase inverter units were built and tested
ensure stability and a good transient response as explained in in order to show the validity of the proposed approach. Each
the previous section. inverter consisted of a single-phase insulated gate bipolar tran-
Fig. 10 shows the startup circulating current and its approxi- sistor (IGBT) full-bridge with a switching frequency of 20 kHz
mated envelope deduced from (8), using the conventional droop and an output filter, with the following parameters:
method and the proposed control, respectively. These results mH, F, V, and V Hz.
confirm that the proposed controller achieves a better dynamic The controllers of these inverters were based on three loops: an
response than that of the classical droop method approach. Note inner current-loop, an outer PI controller that ensures voltage
that in spite of the initial current peak due to the initial phase- regulation [21], and the load-sharing controller, based on (5)
error between inverters, a faster transient response, better dy- and (6). The last controller was implemented by means of a
namic performance, and less circulating current are achieved TMS320LF2407A, fixed-point 40-MHz digital signal processor
with the proposed control solution. (DSP) from Texas Instruments (see Fig. 12), using the param-
Fig. 11 shows startup waveforms of the phase difference be- eters listed in Table I. The DSP-controller also includes a PLL
tween the inverters for different values of the coefficients of the block in order to synchronize the inverter with the common bus.
proposed controller, which proves that the transient response When this occurs, the static bypass switch is turned on, and the
of the system can be easily modified with these parameters. droop-based control is initiated.
GUERRERO et al.: WIRELESS CONTROLLER 1211
(a) (a)
(b) (b)
Fig. 13. Transient response of the circulating current (X-axis: 5 A/div, Y-axis: Fig. 14. Transient response of the active power P (X-axis: 500 W/div, Y-axis:
100 ms/div): (a) conventional droop method and (b) proposed control method. 200 ms/div): (a) conventional droop method and (b) proposed control method.
The dynamic performance of the parallel system is Fig. 14 depicts the active power transient behavior for both con-
experimentally evaluated in case of connecting inverter #2 trol schemes. These results show an overall improvement in the
when the inverter #1 is supplying all the power required by dynamic response of the proposed control solution.
the load. Fig. 13 shows the circulating-current using The second experimental test consists in supplying a non-
the (a) conventional droop method and (b) the one proposed. linear load by means of the two parallel inverter systems. Fig. 15
1212 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 19, NO. 5, SEPTEMBER 2004
Luis García de Vicuña received the Ingeniero de Miguel Castilla received the M.S. and Ph.D.
Telecomunicación and Dr.Ing. degrees from the Poly- degrees in telecommunication engineering from the
technic University of Catalunya, Barcelona, Spain, in Polytechnic University of Catalunya, Barcelona,
1980 and 1990, respectively, and the Dr.Sci. degree Spain, in 1995 and 1998, respectively.
from the Université Paul Sabatier, Toulouse, France, Since 2002, he has been an Associate Professor
in 1992. in the Department of Electronic Engineering,
From 1980 to 1982, he was an Engineer with Con- Polytechnic University of Catalunya, where he
trol Applications Company. He is currently an Asso- teaches analog circuits and power electronics. His
ciate Professor in the Department of Electronic Engi- research interests are in the areas of modeling,
neering, Polytechnic University of Catalunya, where simulation, and control of dc-to-dc power converters
he teaches power electronics. His research interests and high-power-factor rectifiers.
include power electronics modeling, simulation and control, active power fil-
tering, and high-power-factor ac/dc conversion.
José Matas received the B.S., M.S., and Ph.D. Jaume Miret (M’98) received the B.S. degree
degrees in telecommunication engineering from the in telecommunications and the M.S. degree in
Polytechnic University of Catalunya, Barcelona, electronics from the Polytechnic University of
Spain, in 1988, 1996, and 2003, respectively. Catalunya, Barcelona, Spain, in 1992 and 1999,
Since 1997, he has been an Associate Professor respectively, where he is currently pursuing the
in the Department of Electronic Engineering, Ph.D. degree.
Polytechnic University of Catalunya. His research Since 1993, he has been an Assistant Professor at
interests include power-factor-correction circuits, the Polytechnic University of Catalunya. His research
distributed power systems, and nonlinear control. interests include dc-to-ac converters, active power fil-
ters, and digital control.