Control of PWM Converters For Renewable Energy Systems: Marco Liserre

Grid-connected PWM voltage source converters: opportunities and challenges
Control of PWM converters for

renewable energy systems
Marco Liserre
liserre@ieee.org
Marco Liserre liserre@ieee.org

Control of PWM
Grid-connected converters
PWM voltage for renewable
source converters: energy
opportunities systems
and challenges
Aims, pre-requisites, teaching methods

Grid-connected PWM converters are gaining increasing importance in view of a
growing contribution of Distributed Power Generation Systems (DPGS) to the
total power flow in the European electric utility. This is also owed to an
increasing inflow from Renewable Energy Sources (RES).
The course reviews some of the most important aspects related to the advanced
control of grid-connected PWM converters with attention paid to DPGS based on
RES.
Pre-requisites
Basic power converters. Control theory
Lectures, supported by projector and blackboard, personalized feedback and coaching to improve every aspect of the student's work. Slides and exercises will be available at http://www.tf.uni-kiel.de/etech/LEA/?a=links the day before the lecture. Slides will be available in printed version the day of the lecture for
students.
Teaching methods

Control of PWM
and challenges
Course contents
Power Converters for Distributed Power Generation Systems
 Grid-connected PWM voltage source converters: opportunities and challenges
 Overview of Distributed Power Generation Systems (DPGS) and Renewable Energy Systems (RES)
 Grid requirements to connect DPGS based on RES
 Review of modulation and basic control system, harmonic compensation

 Grid filter design and stability of the current control loop
Control of the grid-connected power converter



Grid converter operation (dc and ac control loops)
Grid synchronization
 Grid Converter control and future functions
 Modulation and control for cascaded multilevel converters
 Non-linear control

Control of PWM
and challenges
Course contents
Control of DPGS
 Anti-islanding techniques for small DPGS
 Control of Grid Converters Under Grid Faults (Low Voltage Ride Through- LVRT)
 Micro-grid operation Droop control
 HVDC, STATCOM, Active filter
 Modulation, PI control and P+res control, Harmonic control

 LCL-filter: stability issues
 Synchronization of the converter
Exercises (computer simulations)
 Cascaded control of grid converter
 Anti-islanding
 LVRT

Control of PWM
and challenges
Course contents
Exercises (laboratory)
 LCL-filter stability problems
 STATCOM operation of the grid converter to support the grid voltage
Expected knowledge
Knowledge of the main issues related to power conditioning in DPGS based on
renewable energy systems, function of the grid converter
Examination method
Oral based on a presentation of a research described in a scientific paper. A general knowledge of the course contents is
expected
Course assistant
Dipl. Ing. Jörg Dannehl [jda@tf.uni-kiel.de]

Control of PWM
and challenges
Bibliography
1. N. Mohan, T. M. Undeland and W. P. Robbins, “Power Electronics: Converters, Applications, and
Design” Wiley, 2002, ISBN-10: 0471226939
2. B. Bose, “Modern Power Electronics and A.C. Drives”, Prentice Hall, 2001, ISBN 013016743.
3. D.G. Holmes and T. Lipo, Pulse Width Modulation for Power Converters : Principles and Practice,
2003, ISBN 0471208140.
4. M. P. Kazmierkowski, R. Krishnan, F. Blaabjerg, “Control in Power Electronics”, Academic Press,
2002, ISBN 0-12-40277205.
5. J. Machowski, J. Bialek, J. Bumby, “Power System Dynamics: Stability and Control ” Wiley, 2008,
ISBN-10: 0470725583.
6. T. Ackermann, “Wind Power in Power Systems”. John Wiley & Sons, Ltd., 2005.
7. F. Blaabjerg, R. Teodorescu, M. Liserre, A. V. Timbus, “Overview of Control and Grid
Synchronization for Distributed Power Generation Systems”, IEEE Transactions on Industrial
Electronics, October 2006, vol. 53, no. 5, pp. 1398-1408.
8. R. Teodorescu, F. Blaabjerg, M. Liserre and P. Chiang Loh, “Proportional-Resonant Controllers and
Filters for Grid-Connected Voltage-Source Converters”, IEE proceedings on Electric Power
Applications, September 2006, vol. 153, no. 5, pp. 750-762.
9. M. Liserre, R. Teodorescu, F. Blaabjerg, “Stability of Photovoltaic and Wind Turbine Grid-
Connected Inverters for a Large Set of Grid Impedance Values”, IEEE Transactions on Power
Electronics, January 2006, vol. 21, no.1, pp. 263-272.
10. P. Rodriguez, A. Timbus, R. Teodorescu, M. Liserre and F. Blaabjerg, “Flexible Active Power
Control of Distributed Power Generation Systems During Grid Faults”, IEEE Transactions
on Industrial Electronics, October 2007, vol. 54, no. 5, pp. 2583-2592.
Grid-connected PWM voltage source

converters: opportunities and challenges
Marco Liserre
liserre@ieee.org

Power Electronics Scenario

Device
 GTOs are already obsolete. IGBT and

IGCT will compete
 High voltage high power silicon carbide
power devices will play important roles
Converter
 Multi-level converters (particularly diode-clamped and cascaded H-

bridges) will be the most important
 Multi-MW induction and synchronous motor drives now routinely use
multi-level PWM converters (instead of traditional cycloconverters)


Optimal design and control
 Intelligent control and optimal design are indispensable tools
 Controllers based on PWM will be the dominant technology (average-based
or on-off)
 The choice in high power system will be between the frequency-domain
approach or time-domain approach (predictive) and efficiency will be the
driver
 Diagnosis and fault-tolerant control will be a standard feature for high
power converters
Open-Loop Bode Editor (C)
150 G.M.: 2.08 dB
Freq: 2.07e+003 Hz
notch
filter
predictive
100 Stable loop
Magnitude (dB)
50
control i*
i
0
tON tON
0
Ts Ts
k k 1 k2
-100 frequency shaping
hase (deg)
Marco Liserre
-200
liserre@ieee.org

Utility applications
 Power electronics is revolutionizing the field of power engineering
 Voltage-fed multi-terminal HVDC will be very important
 FACTS and STATCOM will be very important for P and Q control
 Renewable energy systems (wind and photovoltaic) are becoming very
important
consumption
Grid-connected PWM voltage source converters will be the intelligent
interface for loads, generation systems, storage systems and flexible
transmission
production
The Importance

The PWM grid converter, a kind of new

synchronous machine ?
 The synchronous machine has a central role in the centralized power system
 The “synchronous converter” major player in the future power system
 Interfacing power production, consumption, storage and transportation within

the future power system based on smart grids P

V  
VL

  
E Q
Ig
 Based on semiconductor technology and signal processing

The PWM grid converter frequency behavior

PWM carrier and sideband
1 harmonics
n
voltage
h
 The PWM grid converter is equivalent to multiple synchronous
machines
harmonic order
1 h n
P P P
. . . .
  
V   V   V  
VL VL VL
  
  
E Q   
Q   
E Q
Ig E Ig
Ig
 The grid converter can control the active and reactive power flow in a
vast frequency range
The Need

A glance to the distributed power generation

Current Power System
Future Power System
 Less central power plants and more Distributed Power Generation

Systems
A glance to the renewable energy systems

Mechanical power Electrical power
Wind power
Rotor Gearbox (obtional) Generator Power converter Supply grid
(obtional)
Consumer
Power conversion & Power transmission Power conversion &

Power conversion Power transmission
power control power control
Electrical control
Power control
Pref Qref
 Wind systems require optimized grid converter at high power

 3.6-6 MW prototypes running
 2 MW WT are still the "best seller" on the market!

Doubly-fed
induction generator
Grid  Doubly-fed is the most
Gear
adopted soltion in wind
Pitch systems
AC DC
DC AC
Pref Qref
Induction
generator  Full power converter can be
Gear
AC
DC
DC
AC
used either with
asynchronous generator or
Pitch Pref Qref
synchronous generator
PM-synchronous
Generator
(multipole permanent
magnet gearless solution is
Multi-pole
Grid
AC DC
DC AC the most promising)
Pitch Pref Qref


+ L
LCL Trafo
PV Panels dc-dc dc-ac
C Low pass &
String boost PWM-VSI Grid
filter
N
-
PWM Vdc PWM
IPV Ig
Vdc Grid Current
VPV Control Synchronization Control Vg
Basic functions (grid conencted converter)
Anti-Islanding Grid /PV plant

MPPT
Protections Monitoring
PV specific functions
Active filter MicroGrid Grid support

control Control (V,f,Q)
Ancillary functions
 Photovoltaic systems require high-efficient and multi-functional grid

converters
A glance to the transmission system
 Right Of Way (ROW) restrictions
 Need of connection: distance between production and consumers, economics of scale, wider choice of
generating plants, reduction in reserve capability, etc
 Increase of power carrying capability vs transient stability

A glance to the transmission system
 separate control loops active and reactive power

HVDC based on  active power control
PWM grid  one station controls the active power
converter offers . .  other station controls the DC-link voltage
 reactive power control
 reactive power or AC side voltage

A glance to the power quality
Series and parallel

active filters
enhance grid power
quality
compensating
voltage sag,
harmonic, reactive
power, etc .
q
 
VL 
VG VPCC STATCOM

A glance to the load demand
 Active rectifier is adopted as active front-end for medium and high

power systems like multi-drive systems and single drives working
frequently in regenerative operation like cranes, elevators . .

The opportunities and

challenges

 The increase in the power leads to the use of more voltage levels:
 Single-cell converter
 Multi-cell converter
 Design and Control challenges and opportunities:

 Lower switching frequency
 More powerful computational device
 Solutions:
 Non-linear analysis
 Optimization with deterministic and stochastic techniques

Single-cell converter

 Wind turbine systems: high Vdc
power -> 5 MW converter 2

0V 0V 0V
 Photovoltaic systems: many

dc-links for a Vdc
transformerless solution 2

A B C
 predictive control to achieve the best control performance with
minimum commutation
 advanced grid filter design to deal with a low switching frequency

Multi-cell converter
 Many converters forming

cells connected in series to
share the power
 Both for wind and

photovoltaic solutions
 Passivity-based control to manage the power transfer from each cell

independently
 Reliability study to optimize each component and the choice of the cell
structure
Passivity-based control of a cascade converter

Dynamical test
dc voltage reference dc load steps on the two buses
step on one bus leading to different loads
Measured DC voltages [50 V/div] and grid current [4 A/div] (2330 F)

Modified Phase Shifted Carrier PWM

 The different dc voltages can be managed using a proper modulation
N
4   1 N
v(t )  M  Vi cos 0t    
dc
J 2 n 1  mM  cos  m  n  1   Vi dc cos 2mct   2n  10t  2m i 
i 1  m1 n   2m i 1
original modified
Shifting angles =0º, 120º and 240º Shifting angles =0º, 36º and 191º
 The original PSC-PWM angles can be obtained as a particular solution

 Asymmetrical PWM angles can be obtained dividing the obtained results
by 2

Main topics
 Grid monitoring: detection and synchronization
v vd vf Voltage
Phase Loop
Controlled v
Detector Filter
Oscillator
 Current control: harmonic rejection and stability

Open-Loop Bode Editor (C)
150 G.M.: 2.08 dB
notch
Freq: 2.07e+003 Hz filter
100 Stable loop
Magnitude (dB)
50
 Micro-grid management and grid support: power control strategies

-100
Phase (deg)
-200
2Ø
-300 P.M.: 28.1 deg
Freq: 597 Hz
-400
0 1 BUS n BUS n+1
2 3 4
10 10 10 10 10
BUS 1 BUS 2 BUS 3 Frequency (Hz)
3Ø
3Ø
BUS m BUS m+1 converter
grid interaction
WT  back  to  back  system
Marco Liserre (usually part of wind park ) liserre@ieee.org
Grid monitoring: detection and

synchronization

Detection of grid conditions

islanding detection
Test to verify the detection of the

islanding condition in a short time
Test to verify immunity of the method

(no false trip) to frequency variation

Synchronization
 Synchronization will be crucial for all the grid connected inverters to
adapt their behavior in any grid condition
 Single PLL based on a second order integrator acting as a sinusoidal
follower is the building block of a class of advanced synchronization
methods

v v v  vq 
k  PI

 ff
qv
  / dq
SRF-PLL
qv vd
SOGI-QSG v 

v k s
D( s)  ( s)  2
v s  k s   2
Synchronization
 Detection of the positive and negative sequences will be important
during grid-faults
 Three-phase system synchronization needs a vectorial approach and
a dual PLL
o2
s 2  2o s  o2
vq vq  
v v

2 2
vq PI

d q
[Tdq] vd
v  SRF-PLL  ff
 

  v  
v
v v
w’ e
qv
v’
1 v qv’
v 2
v SOGI-QSG(a )
v w’ e v
qv
v’
1 v qv’
2
SOGI-QSG(b)
v  
v
DSOGI v
PNSC
Current control: harmonic

rejection and stability

Current Control and LCL-filter
IEEE Std 1547-2003 "IEEE Standard for

1. IEC Standard 61000-3-
1.
Interconnecting Distributed Resources with Electric 6, “Electromagnetic harmonic limit

Power Systems", 2003. Compatibility,
5th 5-6 %
Assessment of
Emission Limits for 7th 3-4 %
Distorting Loads in 11th 1.5-3 %
MV and HV Power
13th 1-2.5 %
Systems”, 1996.

Harmonic rejection
 Using Multiple Synchronous Reference Frames (MSRFs)
5
i
q7 
e j 5
 i
q5 d5

 7
i
d7
e  j 7
i


2 K ih  c s
 Using selective filters based on resonant controllers G h ( s )  
h 3,5,7 s 2  2 c s   h  2

Hybrid solution

Repetitive current control

The resonant controller can track a sinusoidal signal, a repetitive controller can
track a periodic signal
The control action should be limited

FRep  z 
ih
FDFT k FIR e
 i
i* i i ' Gc Gi Gp
 
i
2   2   i
FDFT  z      hNh cos  h  i  N a     z
N 1
i 0
N  N 
Rejection of grid voltage background distortion
no harmonic
control
harmonic control

Rejection of harmonics caused by non-linearities

The frequency behaviour of the non-linear inductance can be studied splitting
the model in a linear part and a non-linear part in accordance with the Volterra
theory. 5
The Volterra-series expansion of the flux is   t    i  t 

i 1
L1 i1 i
  n  i1 ,..., in1    i ,i   2  i1  
in  i3  3 1 2 i2 
L1 L1 L1
v   e
 
non-linear inductance
1  t   L1i1  t 

2  t   L2 i1  t 
2

3  t   2 L2 i1  t  i2  t   L3i1  t 
3

4  t   2 L2 i1  t  i3  t   L2 i2  t   3L3 i1  t  i2  t   L4 i1  t 
2 2 4

5  t   2 L2 i1  t  i4  t   3L3i1  t  i3  t   3L3 i1  t  i2  t   4L4 i1  t  i2  t   L5 i1  t 
2 2 3 5

Volterra-series expansion inductor model

input current at ω1= 50 Hz
input current at ω2= 150 Hz
input current at (ω1 + ω2 )
I15
flux spectrum of the non-linear inductance i  t   I sen 1t   10sen1t  5sen31t  sen51t 
5 5 5
1 1
16
When two sinusoids of different frequencies are applied simultaneously intermodulation components are
generated
They increase the frequency components in the response of the system and the complexity of the analysis

High current non-linearity

resonant controller repetitive controller
a a
THD= 8.1% THD= 4.9%

b b
Grid current with non-linear inductor and repetitive

Grid current with non-linear inductor and resonant
controller: a) (1) grid current [10A/div]; (2) grid
controller: a) (1) grid current [10A/div]; (2) grid
voltage [400V/div]; (A) grid voltage spectrum voltage [400V/div]; (A) grid voltage spectrum
[10V/div]; (B) grid current spectrum [0.5A/div]; (C)
[10V/div]; (B) grid current spectrum [0.5A/div]; (C)
a period of the grid voltage; (D) a period of the grid
a period of the grid voltage; (D) a period of the grid
current; b) a period of the grid current (simulation current; b) a period of the grid current (simulation
results) [10A/div].
results) [10A/div].
Grid converters connected through an LCL-filter

0
-10
-20
L1
i -30
LCL
magnitude (Db)
v -40
-50
L1+L 2
-60
-70
1 2 3 4 5
10 10 10 10 10
frequency (Hz)
ig  hsw  2
z LC

ripple attenuation i hsw   2 res   2 sw
Passive damping
 As the damping resistor increases, both stability is enforced and the losses grow
but at the same time the LCL-filter effectiveness is reduced.
Magnitude
[dB]
50
ig i
L2 ic L1 0
D(z)G(z)
e Cf vc v D(z)Gd(z)
-50
2 3
Rd 10
Frequency [Hz]
10
10
 2 Rd 2 
-1 0
 s  s  z LC  0 100 200 300 400 500
i(s) 1  L2 

15
10
v( s) L1s  2 LT Rd 2 
5
 s  s   res  0
 L1 L2 
-5
-10
-15
0 50 100 150 200 250 300 350 400 450 500

Active damping
 The aim is to shape the harmonic spectrum around the resonance frequency
Gf
GAD
z-1GAD Gf

Genetic algorithm active damping

optimal position of the poles optial position of the poles
1.5 1 .5
1 1
0.5 0 .5
0 0
-0.5 -0 .5
-1
-1
-1 .5
final result of GA
-1.5 -1.5 -1 -0.5 0 0.5 1 1.5
-1.5 -1 -0.5 0 0.5 1 1.5
GA optimize a4  i  z 4  a3  i  z 3  a2  i  z 2  a1  i  z  a0  i 
this controller Dd  z  i 
b4  i  z 4  b3  i  z 3  b2  i  z 2  b1  i  z  b0  i 

Comparison with non-linear optimisation method

 Comparison with the non-linear Levenberg-Marquardt optimisation
method already used for passive damping design
0.92
1.12
 The non-linear least-square method finds a point characterized by

1.12 while the absolute minimum is 0.92
Micro-grid management and

grid support: power control
strategies

Introduction
 The grid converter can operate as grid-feeding or grid-forming device
 Main control tasks
 manage the dc-link voltage (if there is not a dc/dc converter in
charge of it)
 inject ac power (active/reactive)
 A third option is the operation as grid-supporting device (voltage,
frequency, power quality)

Droop control for grid forming or supporting

 The droop control is not only used in island application when it is needed to a have a
wireless load sharing but also in order to support the grid
 In this case grid-feeding and grid-forming schemes can be modified accordingly

including droop control
grid feeding grid forming

P&Q Control Strategies Under Grid Fault

Instantaneous Active Reactive Control (IARC)
P
p , q [k W , k v a r]
i*p  g v ; g 2
2
• Distorted and unbalanced current
v 1 • Instantaneous power perfectly
Q controlled
i*q  b v  b
0
; 2
p
• Overcurrent trip risk
v -1
q
Positive- Negative-Sequence Compensation (PNSC)

10
P
i g
*
p

v 
v 
 ; g  
2 2 5
v  v • Active or reactive
i [A]
Q
0
power without
i*q  b   v   v   ; b  2 2 oscillations
-5
v  v
-10
Balanced Positive Sequence (BPS)

10
P • Bothe active and
i*p  G  v  ; G  5
 2
v reactive power with
i [A]
0
oscillations
Q -5
i*q  B  v  ; B 
 2
v -10
-40 -30 -20 -10 0 10 20 30 40 50 60
t [ms]

Conclusions
 Key drivers
 Technology for different country voltages/frequencies and
codes/standards
 Avoid bulky transformers, reduce part count, increase efficiency
 Stability of new power systems based on DPGS
 Major challenges are:

 Synchronization with the grid
 Stability of current and voltage loops
 Proper harmonic control
 Detecting the grid disconnection without communication
 Managing soft re-connection to the grid
 Micro-grid control and optimum management of energy storage

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Grid-connected PWM voltage source converters: opportunities and challenges

Control of PWM converters for

Marco Liserre liserre@ieee.org

Aims, pre-requisites, teaching methods

Marco Liserre liserre@ieee.org

 Review of modulation and basic control system, harmonic compensation

Control of the grid-connected power converter

Marco Liserre liserre@ieee.org

 Modulation, PI control and P+res control, Harmonic control

Marco Liserre liserre@ieee.org

Marco Liserre liserre@ieee.org

Grid-connected PWM voltage source

Marco Liserre liserre@ieee.org

Power Electronics Scenario

 GTOs are already obsolete. IGBT and

 Multi-level converters (particularly diode-clamped and cascaded H-

Marco Liserre liserre@ieee.org

Power Electronics Scenario

Power Electronics Scenario

Marco Liserre liserre@ieee.org

The PWM grid converter, a kind of new

 The “synchronous converter” major player in the future power system

 Interfacing power production, consumption, storage and transportation within

 Based on semiconductor technology and signal processing

The PWM grid converter frequency behavior

Marco Liserre liserre@ieee.org

A glance to the distributed power generation

Future Power System

 Less central power plants and more Distributed Power Generation

A glance to the renewable energy systems

Power conversion & Power transmission Power conversion &

 Wind systems require optimized grid converter at high power

A glance to the renewable energy systems

Marco Liserre liserre@ieee.org

A glance to the renewable energy systems

Anti-Islanding Grid /PV plant

Active filter MicroGrid Grid support

 Photovoltaic systems require high-efficient and multi-functional grid

A glance to the transmission system

 Right Of Way (ROW) restrictions

 Increase of power carrying capability vs transient stability

Marco Liserre liserre@ieee.org

A glance to the transmission system

 separate control loops active and reactive power

Marco Liserre liserre@ieee.org

A glance to the power quality

Series and parallel

Marco Liserre liserre@ieee.org

A glance to the load demand

 Active rectifier is adopted as active front-end for medium and high

Marco Liserre liserre@ieee.org

The opportunities and

Marco Liserre liserre@ieee.org

 Design and Control challenges and opportunities:

Marco Liserre liserre@ieee.org

Marco Liserre liserre@ieee.org

 Many converters forming

 Both for wind and

 Passivity-based control to manage the power transfer from each cell

Passivity-based control of a cascade converter

Marco Liserre liserre@ieee.org

Marco Liserre liserre@ieee.org