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I. INTRODUCTION
of produced energys converted in power plants by
synchronous generators. These generators have many
beneficial characteristics in electrical power grids, such
as Grids stability, damping around an equilibrium point for
small disturbances and power compensator effect.
Virtual Synchronous Machine (VISMA) is an alternative
method for electrical Grid feeding. Its concept consists in a
three-phase inverter control system in such way it behaves as a
synchronous generator, taking profit from the mentioned
benefits of synchronous generators. This control system
requires instantaneous grid voltage measurement to supply
synchronous machine algorithm in a Digital Signal Processor
(DSP) to determine instantaneous stator currents. To complete
the cycle, the computed stator currents have to take effect at
the Grid. For this purpose, a closed-loop current control
system is implemented to drive inverter currents at the Grid.
OST
q
d
(2)
(3)
(5)
(6)
(7)
(8)
(14)
(9)
Movement equation is obtained applying Newtons second
law:
(10)
(16)
Rotor absolute angle is:
(11)
D5
RL Filter
ea
eb
ec
ua
UDC
UDC
2
D3
ub
uc
D2
D4
D6
(18)
Systems diagram block is represented in Fig. 3:
i d*
ud
i q*
uq
ed
id
iq
eq
3
B. Symmetric Optimum Method
Controller gains have a great importance in control systems
performance, such as speed response, stability, regulation and
overshooting.
Symmetric Optimum Method was designed to maximize
phase margin, optimizing systems performance in the
occurrence of disturbances and sudden changes in regulatory
inputs. This Method establishes a pretended transfer function,
adapting controller gains, so the equivalent dynamic system
matches the desired transfer function.
Applying diagram block algebra to the dynamic system
represented in Fig.3, considering R0, the following closed
loop transfer function is obtained for id and iq currents:
(19)
Applying Symmetric Optimum Methods general equation,
optimized controller gains are given by:
(20)
TABLE I
PER UNIT SYSTEM
Symbol
Ub [V]
UTb [V]
UDCb [V]
b [rad/s]
Ib [A]
Lb [H]
Description
Base Value
Grid Voltage
Output Voltage
DC link Voltage
Angular Speed
Output Current
Induction
400
70
200
100
5
0,0446
Description
Low-pass filter inductance
Low-pass filter resistance
Transformers voltage
PWM frequency
Inverter time constant
Inverter static gain
Carrier wave amplitude
Integral time constant
Proportional Gain
Integral Gain
Value
0,015 [H]
0,8 []
70 : 400 [V]
6000 [Hz]
83,3 [s]
20,5
0,0745
0,333 [ms]
0,3135
941
Value p.u.
0,336
0,057
1:1
---------------
V. RESULTS
Autotransformer
ua
ub
abc
ud uq
dq
Synchronous id*
Machine
i*
Algorithm q
r abc
SPWM
dq
id
iq
ud
uq
r
dq
abc
DSP
Fig.
7 Connection Transient: id*(blue; 0,4 p.u./div),
iq*(purple; 0,4p.u./div)
Fig. 7 shows that currents id* and iq* have a damping effect
that tends to a no-load steady state. Fig. 8 displays VISMA in
this final steady state:
Description
Synchronous Reactance d axis
Stator dispersion
Mutual inductance in d axis
Synchronous Reactance q axis
Mutual inductance in d axis
Field inductance
Damping winding inductance in d axis
Damping winding inductance in q axis
Stator resistor
Field resistor
Damping winding resistor in d axis
Damping winding resistor in q axis
Field voltage
Inertia Constant
Value
0,85
0,12
0,73
0,48
0,36
0,2049
0,16
0,1029
0,1
0,02
0,0204
0,0212
0,007
0,1
5
compensating effect for Grid disturbances:
REFERENCES
[1]
J. P. S. Paiva, Redes de Energia Elctrica Uma
Anlise Sistmica, IST Press, 2011
[2] Generator Grid Connection Guide V2, Westernpower,
2011
[3]
Y. Chen, R. Hesse, D. Turschner and H. Beck,
Dynamic Properties of the Virtual Synchronous Machine,
Institute of Electrical Power Engineering, Clausthal, Germany
[4]
R. Hesse, D. Turschner and H. Beck, Micro grid
stabilization using the Virtual Synchronous Machine,
Institute of Electrical Power Engineering, Clausthal, Germany
[5]
G. Marques, Dinmica das Mquinas Elctricas,
Instituto Superior Tcnico, 2007.
[6]
G. Marques, Controlo de Motores Elctricos,
Instituto Superior Tcnico, 2007
[7]
J. C. P. Palma, Accionamentos Electromecnicos de
Velocidade Varivel, Fundao Calouste Gulbenkian, 2008
[8]
J. F. Silva, Sistemas de Converso Comutada:
Semicondutores e Conversores Comutados de Potncia,
Instituto Superior Tcnico, 2012
[9]
A. Jorge, Estudo e implementao Experimental de
Conversores AC/DC de Onda Sinusoidal Dissertao para
Obteno de Grau de Mestre, Instituto Superior Tcnico, 2009
[10] D. Carreira, Desenvolvimento de um Sistema de
Armazenamento de Energia Hbrido Dissertao para
Obteno de Grau de Mestre, Instituto Superior Tcnico, 2012
[11]
S. Preitl, R. Precup, Points of View In Controller
Design by Means of Extended Symmetrical Optimum
Method, Politehnica University of Timisoara, Romania
[12] Mizera, Roman, Modification of Symmetric
Optimum Method, XXX. ASR 2005 Seminar, Instruments
and Control, Ostrava, April 29, 2005.
[13] P.C. Krause, O.Wasynczuk, S. D. Sudhoff Analysis
of Electric Machinery and Drive Systems, IEEE press, 2002
[14] J. Santana, Conversores Comutados para Energias
Renovveis, Instituto Superior Tcnico, 2012
[15] MICROCHIP, dsPIC30F4011/4012 Datasheet,
MICROCHIP
Technology
Inc,
2008
(http://www.microchip.com)
[16] MICROCHIP, Using MPLAB ICD 2 Poster MICROCHIP
Technology
Inc,
2004
(http://www.microchip.com)
[17] MICROCHIP, dsPIC30F Family Reference Manual,
MICROCHIP Technology Inc, 2005
[19] LEM, Voltage Transducer LV 25-P datasheet, 2012
(http://www.lem.com)
[20] LEM, Current Transducer LTSR 25-NP datasheet,
2012 (http://www.lem.com)