PHD Course On DC Microgrids

DC Microorils
DC Loads
/DC /DC /DC /DC

DC DC DC DC
DC
AC/
Distributed generation
Industrial/PhD course on DC Microgrids

in Theory and Practice
Lecturers
Josep M. Guerrero Professor - Aalborg University, Denmark
Juan C. Vasquez Associate Professor - Aalborg University, Denmark
Sanjay K. Chaudhary Associate Professor - Aalborg University, Denmark
Lab Responsible
Zheming Jin Ph.D student-Aalborg University, Denmark
www.et.aau.dk
List of participants for Industrial/Ph.D. Course in Microgrids
7th Edition: May 1st-May 2nd, 2017
Course Participants
Nr. Name e-mail

1 Ji Wu jiwu@et.aau.dk
2 Zhaoxia Xiao zhx@et.aau.dk
3 Mingshen Li msh@et.aau.dk
4 Babak Yousefi Khanghah byk@et.aau.dk
5 Ismail El Kafazi eki@et.aau.dk
6 Faicel El Aamri fea@et.aau.dk
7 Kerui Li kli@et.aau.dk
8 Yahya Naderi yna@et.aau.dk
9 Ying Meng yim@et.aau.dk
10 Gibran Agundis gat@et.aau.dk
11 Mohamed Al-Hasheem mah@et.aau.dk
12 Bahram Shakerighadi bas@et.aau.dk
13 Nils van der Blij N.H.vanderBlij@tudelft.nl
14 Guoling Wang guw@et.aau.dk
15 Wattala Fernando w.fernando@napier.ac.uk
16 Xing Xiaowen xix@et.aau.dk
17 Nor Baizura Binti Ahamad nbb@et.aau.dk
WhoisJosepM.Guerrero
Received the B.S. degree in telecommunications engineering, the M.S. degree in

electronics engineering, and the Ph.D. degree in power electronics from the Technical
University of Catalonia, Barcelona, Spain. He was an Associate Professor at the same
university, where he teaches courses on digital signal processing, control theory, and
renewable energy systems. Since 2004, he has been responsible for the Renewable
Energy Lab, Escola Industrial de Barcelona. His research interests include photovoltaics,
wind energy conversion, uninterruptible power supplies, storage energy systems, and
microgrids. He has been a visiting Professor at Zhejiang University (China).
April 11 April 13, 2016 From 2011 he became a full Professor in Microgrids at Aalborg University.
Lecturers
Josep M. Guerrero, Professor - Aalborg University, Denmark
Dr. Guerrero is an Associate Editor of the IEEE Transactions on Industrial
Juan C. Vasquez, Associate Professor -Aalborg University, Denmark Electronics, the IEEE Transactions on Power Electronics, the IEEE
Industrial Electronics Magazine, and the EditorinChief of the
Sanjay K. Chaudhary Associate Professor- Aalborg University, Denmark
International Journal of Integrated Energy Systems. He is involved on
several IEEE IES Committees, and he usually chairs and organizes
sessions in IES and PELS conferences. Currently, he is the Chair of the
Lab Responsible IEEE Industrial Electronics Society Technical Committee on Renewable
Zheming Jin Ph.D student - Aalborg University, Denmark Energy Systems.
www.et.aau.dk
11Apr16 Industrial/PhDMicrogridsCourse,AalborgUniversity 1 Industrial/PhDMicrogridsCourse,AalborgUniversity 2
WhoisJuanC.Vasquez WhoisSanjayChaudhary
He has received B.S degree and M.S in Electronics Engineering from the
Universidad Autonoma de Manizales (UAM), Colombia with specialization in control
He obtained his B. Tech. (Electrical Engg.) in 2000 from
and industrial automation, where he has been teaching courses on digital circuits,
servo systems, and systems of flexible manufacturing. Aligarh M. University, India and M. Tech. (Electrical Engg.) in
Since 2008, he is involved with the Power Electronic and Control Systems (SEPIC) 2002 from Indian Institute of Technology, Kanpur, India, with
Research Team, Department of Electrical and Electronic Engineering, Technical specialization in Power Systems. From 2002 he worked with
University of Catalonia, where he got a grant by the Spanish Ministry of Education
and Science.
ABB Ltd. in India for three years. In 2005, he joined
Honeywell Technology Solutions Lab, Bangalore.
In December 2010 he got the Ph.D. degree in Automatic He started his Ph.D. research on Control and Protection of
Control, Robotics, and Artificial Vision from the Technical Wind Power Plants with VSCHVDC Connection at Aalborg
University of Catalonia, Barcelona where was teaching
courses on Renewable Energy Systems. Recently, He is
University in 2008 and he received his Ph. D. degree in 2011.
working at Aalborg University as an Assistant Professor in Currently he is an Associate Professor at the same University.
Microgrids.
His research interests include system modeling, simulation, His main interests are on grid connection of renewable
hierarchical control and power management applied to energy, power systems, HVDC and FACTS, and other power
distributed power generation systems in AC/DC Microgrids. electronic applications in power systems.
11Apr16 Industrial/PhDMicrogridsCourse,AalborgUniversity 3 11Apr16 IntroductiontoHVDCandFACTSCourseOctober2225,2013

WhoisZheming Jin CourseSchedule
PHD COURSE ON DC - MICROGRIDS
DAY1: DAY2:
8:30 LECTURE P101-19 LECTURE P101-19
He received the B.S. and the M.S. degree in electrical
Registration
engineering, in Beijing Jiaotong University, Beijing, China in Course Overview
L4 - DC Collection Grids:
Presentation of Speakers
2013 and 2015, respectively. He is currently working towards Wind Power Plants
L1 - DC Distribution
his Ph.D. degree in the Department of Energy Technology at Microgrids
10:00 COFFEEBREAK
Aalborg University, Aalborg East, Denmark. 10:30 LuNCH BREAK LECTURE P101-19
L2 - Control of Power
His research interests include power electronics, modeling, Electronics Converters for
DC Microgrids L5 - Hierarchical Control of
control and integration of energy storages in DC Microgrids L3 - Paralel Control
DC Microgrids
and electrified transportation. Schemes for DC Microgrids

12:00 LUNCHBREAK
13:00 LABORATORY LABORATORY
Lab I- Design of Control
Parameters for DC
Microgrids Lab V- Control design of a
Lab II - Simulation standalone voltage-droop
Evaluation of Stand-alone regulated DC MicroGrid
Converter with DC Voltage
Control
14:30 COFFEEBREAK
15:00 LABORATORY LABORATORY
Lab III - Design of the Lab VI- Distributed ESS

hierarchical control for DC Balancing by Using a Fuzzy
microgrids Inference System
Lab IV - Simulation
16:30 Evaluation of a DC Clossing session
microgrid
11Apr16 Industrial/PhDMicrogridsCourse,AalborgUniversity 5 11Apr16 Industrial/PhDMicrogridsCourse,AalborgUniversity 6

Outline
Currentwar
DCMicrogridsconfigurations
DCMicrogridsathome
DC Microgridsfacilities
Conclusions
DC Distribution Microgrids References
JosepM.Guerrero,Professor
DepartmentofEnergyTechnology
joz@et.aau.dk
http://www.et.aau.dk
11Apr16 Industrial/PhDMicrogrids Course,AalborgUniversity 1 11Apr16 Industrial/PhDMicrogridsCourse,AalborgUniversity 2
DC Distribution Microgrids DC Distribution Microgrids

AdvantageofDCtransmissionsystems
noreactivepowerloadingofthetransmissionline
completecontrolofenergyflow
noreactivepowerloadingofthetransmissionline
reducedlosses
WhyBacktoBacklinks?
Differentsystemfrequencies
Noadditionalshortcircuitpowercontributiontoconnected
networks
Fullycontrollablepowerflow
11Apr16 Industrial/PhDMicrogridsCourse,AalborgUniversity 3 11Apr16 Industrial/PhDMicrogrids Course,AalborgUniversity 4

500kVHVDCTransmissionLine
ProblemsinACmicrogrids:
Synchronizationofdistributedgenerators
Inrushcurrent(transformers,Inductionmotors,Inductiongenerators)
ThreePhaseUnbalance(singlephaseloads,singlephasegeneratorssuch
asphotovoltaic)
RecentTrends
IntroductionofmanyInverterloads(AC/DCandDC/ACconversionsare
EuropeHVDCprojectswith
AsiaHVDClinestransferpowerfromruralareastourbancenters
included)
submarinecables IntroductionofdistributedgenerationswithDCoutput(photovoltaic,fuel
cell,variablespeed typewindturbine,microturbine,gasengine)
Needsforhigherqualitypower
DCCoupledMicrogrids
DCmicrogrids/nanogrids
DCdistributedpowersystems(DPS)
Applications:VRM,48Vtelecomsystems,DClinkforUPSsystems
Isolatedsystems:avionic,automotive,marine
Source:ABB

Demonstrationsof300400VDCMicroGrids intheworld
DCMicrogrids:
Distributedschemeofloadsideconvertersprovideahighqualitypower.
Variousformsofelectricpower(e.g 1100V,3200V,DC100V)canbeobtained
withouttransformers.
Hierarchicaldisconnectionofloadpoints.
Whenatemporaryoverloadoccursatoneload,electricpowercanbesharedby
usingadditionalelectricpowerlinesbetweenloadsideconverters.
Synchronizationofdistributedgeneratorsarenotnecessary.
Fluctuationofgeneratedpowerofdistributedgeneratorsandloadpowercanbe
compensatedinthedclinebyusingenergystoragedevices.
Loadsarenotaffectedbyvoltagesag,voltageswell,threephasevoltage
unbalance,andvoltageharmonics.
PowerqualityisnotaffectedbyInrushcurrent,singlephaseloadsandsingle
phasegenerators.
HigherefficiencythanACmicrogrid.
300400VDCOperationalandDemoSitesWorldwide(Europe,USAandJapan)
ConverterinterfacesforDCMicrogrids
GridSideconverter(GSC):linkstheacgridanddcmicrogrid system.Dependingon
DCMicrogrid topology microgrid powerrating,GSCcouldbeeitherasingleorthreephaseac/dcconverter.
ImportantfeatureofGSCisunitypowerfactor(UPF)operation.
LoadSideConverter(LSC):isthefamilyofconvertersconnectedbetweenthedcline
andendloads.Forinstance,connectedbetweenthedclineandhighbrightness(HB)
LEDisadcdcconverter.Currently,mostofthepowerelectronicinterfacesforloadsare
designedtooperateonacvoltage.Thus,itisamajorchallengetoshiftfromacsystem
todcsystem.
ACResidentialsystem
RenewableSideConverter(RSC):comprisesofthepowerelectronicsinterfacebetween
thedcbusandrenewablesourcessuchassolarphotovoltaic(PV),windturbine,fuelcell
etc.
StorageSideConverter(SSC): includesinterfacedevicesbetweendcbusandstorage
elements.DifferentSSCsarerequiredfordifferenttechnologiessuchasbattery,
ACcommercialsystem flywheel,supercapacitoretc.SSCdesignmustensurelongoperationlifeofthestorage
elements.

DCMicrogrid VoltageLevel:
ExistingACsystemis400Vand230V
DCMicrogrid VoltageLevel:
DCMicrogrid voltagelevels
Efficiency:Systemefficiencydependsonthepowerconversionstagesbetweenthe
sourcesandloads.Asthepowerconversionstageanditsefficiencydependsonvoltage
400V:Thisvoltagelevelhasbeenusedindcdatacenters.Thisisrelatively
levels,systemefficiencyalsodependsondcbusvoltagelevel.
highvoltageandhencehighlyeffectivegroundingandprotection
techniquesarerequired.
Cost:ThecostofGSC,LSC,SSCandRSCtopologiesdependsonthevoltagelevels.Cabling
325V:Itisequaltothepeakoftheacphasevoltage.Standardsingle
sizeisdecidedbythecurrenttobecarried,whichinturndependsonthesystempower
phasepowersupplieswithdiodebridgeinputstagehavedclinkvoltageof
andvoltagelevel.Convertersandcablingconstitutethesecondlargestshareinthe
325V.Hence,existingsuppliesarecompatiblewiththisdcvoltagelevel.
systemcost,aftertherenewablesources.Typically,converterandcablingcostsincrease
230V:Ithasthesamerootmeansquarevalueasthatoftheexistingac
withthereductioninvoltagelevel.Thislimitstheuseoflowdcvoltageforhighpower
system.Hence,theresistiveloads(mostlyheating)ratedtooperatewith
application.
theexistingacsystemneednotbemodified,ifthisvoltagelevelisused.
120V:Itisanintermediatelevelbetweenverylowvoltageandtheexisting
Safety: Verylowvoltage(lessthan50V)isconsideredsafeforhumansupto3secondsof
acsystemvoltage.
directcontact.However,evenforthisvoltagerange,groundingpracticeisnecessaryfor
48V:Itisusedinthetelecomsector,hencesupportingdevicesforthis
theprotectionofdevices/equipments.
voltagelevelareavailable.

Comparisonofdcandacsystemsforresidential application Comparisonofdcandacsystemsforcommercial application

Microgrid toMacrogrid interconnection Newmicrogrid distributiontopologiesinbuildings

DC24V Infrastructure
Thekeyapplicationareasfor EMerge Alliancedcstandardasimplementedforbuildinginteriors
standardizationofdcpowerusein
buildingsinclude: 24VDC 380VDC
Interiorsandoccupiedspaceswhere
lightingandcontrolloadsdominate
theneedfordcelectricity
Datacenters andtelecomcentral
officeswiththeirdcpowered
informationandcommunications
technology(ICT)equipment
Outdoor electricaluses,including
electricvehiclechargingandoutdoor
lightemittingdiode(LED)lighting
Buildingservices,utilities,andHVAC
withvariablespeeddrive(VSD)and 380VDC 24 &380VDC
electronicdcmotorized
equipment.
EAsdcstandardsasimplementedinadatacenter
LightingandcontrolsonasolarpowereddcMicrogrid atUniversityof
CaliforniaSanDiego.
(Source:ArmstrongWorldIndustries)

DCMicrogrid atXiamenUniversity,China
Barriers:TheChallengesofIncreasedDCUseinBuildings
150 kWp PV
System
Theuseofdcpowerisnotwithoutitchallenges.Thesefallinto5majorcategories: DC Lighting
1)lackofapplicationandequipmentstandardsfordcpowerdistribution Energy Storage
2)lackofcommonunderstandingandbasicapplicationknowledgeofbuildingdistribution Air Conditioning
Electric Vehicle
leveldc Charge Station
3)differencesinsafetyandpowerprotectiondeviceapplication Data Center
4)lackofarobustecosystemtosupporttheuseofdcinbuildinglevelelectrification Home
And Office
5)unclearpathwayformovingfromaccentricpowerdistributiontodcinclusivedistribution Appliances
schemes.
Cloudbased energy monitor,
Thefirst3challengesarebeingaddressedwithincreasingresourcesbysuchstandardsand management, and control system
Optimal equipment choice and
tradeorganizationsas: operation of directcurrent
MicroGrids
EA,theEuropeanTelecommunicationsStandardsInstitute(ETSI),theInternational EfficiencyComparison:
DCvs.AC
Electrotechnical Commission(IEC),IEEE,NEMA,NFPA,thePowerSourcesManufacturers Lighting:92%vs.78%
Association(PSMA),theSmartGridInteroperabilityPanel(SGIP)oftheNationalInstituteof AC:93%vs.87%
StandardsandTechnology(NIST),UL,andothers. DataCenter:78%vs.64%
EVCharger:94%vs.76%

DCBuilding(EPARC,Taiwan)DC380V
DCBuilding(EPARC,Taiwan)DC380V
150 kWp PV
System
DC Lighting
Energy Storage
Air Conditioning
Electric Vehicle
Charge Station
Data Center
Home
And Office
Appliances
Cloudbased energy monitor,

management, and control system
Optimal equipment choice and
operation of directcurrent
microgrids
EfficiencyComparison:
DCvs.AC
Lighting:92%vs.78%
AC:93%vs.87%
DataCenter:78%vs.64%
EVCharger:94%vs.76%

GreenHome(Korea)DC380V FukuokaSmartHouseDC380V(Japan)
LVDC380V
HomeEnergyManagementSystems
MVDistributionlevel22.9kV BidirectionalMeters

DCmicrorids fordatacenters &servers DCmicrorids fordatacenters &servers
Supplyingdigitalloads.Aclassicalsolution:
Dataserver
PDU .PowerDistributionUnit.
Fourpowerconversionscanresultinapoorefficiencyofthesystem PSU .PowerSupply Unit
OnlineUPSsystemiseasilyavailableinthemarket

TypicalUPSsystemfordatacenter Differenttypesofcentralizedpowersupplysystemwithbatterybackup
380VDCdistributionbusatfacility
Centralizedsupplysystem (b)Multilocation*centralizedsupplysystem
*theDC/DCconverterswerephysicallylocatedindifferentplaces,thusrequiringsafety
IftoreplaceACuninterruptabledistributionpowerlineatfacilitylevelbytheDCline,asitisshownlater,morethan7% shieldingbecauseofthepresenceofthehighvoltage bus.
overallefficiencyimprovementand10%to30%savingincostofoperationcanbeachieved.

Exampleofdistributedpowerarchitecture TypicalACdistributionarchitecture
(dottedcomponentsareoptional)
IBC
CommercialUPSsystemsolution
PIBC TwoACbuses(ACmain&criticalACbus)
PBUS PPOL Highnumberofconversions(until5)
Source:LeonardoEnergy
Source:Intechopen

TypicalDCdistributionarchitecture DCdistributionarchitecturewithintermediatebus
Frontendsareused
HighvoltageDCbus
Lownumberofconversions Intermediatelowvoltagebus
Source:LeonardoEnergy Source:LeonardoEnergy

IntelDCmicrogrids forservers IntelDCmicrogrids forservers
Conventional480VacdistributionintheUnitedStates
Specialized(Deltaconversion)ACUPS;withtransformerinPDUinUS(480Vacinput)
andwithouttransformerinEurope(400Vacinput)
400Vac:ConventionalinEuropewith400Vacinput;proposedforUSwith480Vacinput
RacklevelDC
OnlineUPSsystem
SeriesparallelUPSsystem
APratt,etal.Evaluationof400VDCDistributioninTelcoandDataCenters toImproveEnergyEfficiency

IntelDCmicrogrids forservers IntelDCmicrogrids forservers
Facilitylevel48Vdc
Facilitylevel400Vdc
Facilitylevel550V/48VDC

Frontends
DC ACDemonstrationFacility
IsolatedDCoutputUPSwithwiderangeoutput
NonisolatedDCoutputUPSwithsplitbusandnarrowrangeoutput
SmallscaledemonstrationcomparingconventionalahighefficiencyACarchitecture (on
right)with380VDCfacilityleveldistribution (onleft).
Overheadlightsoperatedon380Vdcaswell.

SendaiMicrogrid Project
DC ACDemonstrationFacility
SmallscaledemonstrationsetupforAC(top)andDC(bottom)
7%improvedefficiencyand6%savingswithDC

SendaiMicrogrid Project SendaiMicrogrid Project





SendaiMicrogrid Project Fukushima

Fukushima SendaiMicrogrid Project
Eventstimelineforamicrogrid inSendai,Japan,aftertheMarch11,2011earthquake.
K.Hirose,PerformanceoftheSendaiMicrogrid Duringthe2011EarthquakeandTsunami
JapanresidentialDCmicrogrid
DCMicrogrid Ring(Japan)
Kakigano,H.;Miura,Y.;Ise,T.;,"LowVoltageBipolarTypeDCMicrogrid forSuperHighQuality
Distribution,"PowerElectronics,IEEETransactionson,vol.25,no.12,pp.30663075,Dec.2010

Comercial DCMicrogrid Comercial DCmicrogrid
REbus isanopenstandardforDCelectricitydistribution. PrimarySourceUnits(PSU)
REbusmicrogrid isaflexibleenergynetworkthatletsyoumakeanduseclean
renewableenergyforhome,business,school,orneighbourhood.(400V)
LoadUnits(LU)
Powerline Communication
RobustnarrowbandFSKmodulation
Programmabletransmissiondatarateupto30kbps
Programmablecommunicationfrequencyfrom
50kHzto500kHz
CompleteMediaAccessControl(MAC)logic
CSMA/CDtypecollisiondetectionandresolution
Programmableautomaticpreamblegeneration
Programmableautomaticpacketpriority
managementwithfourlevels
Errordetection(CRC16) REbus
Residencial DCmicrogrid ConfigurationsofPVgenerationsystems
PVMicrogrid configuration
KaiSun;LiZhang;YanXing;Guerrero,J.M.;,"ADistributedControlStrategyBasedonDCBusSignaling forModular
PhotovoltaicGenerationSystemsWithBatteryEnergyStorage,"PowerElectronics,IEEETransactionson,vol.26,no.10,
pp.30323045,Oct.2011

PVmicrogrid operation PVmicrogrid operation
ModeI ModeII
ModeIII ModeIV
KaiSun;LiZhang;YanXing;Guerrero,J.M.;,"ADistributedControlStrategyBasedonDCBusSignaling forModularPhotovoltaic KaiSun;LiZhang;YanXing;Guerrero,J.M.;,"ADistributedControlStrategyBasedonDCBusSignaling forModular
GenerationSystemsWithBatteryEnergyStorage,"PowerElectronics,IEEETransactionson,vol.26,no.10,pp.30323045,Oct.2011 PhotovoltaicGenerationSystemsWithBatteryEnergyStorage,"PowerElectronics,IEEETransactionson,Oct.2011
Conclusions References
[1] Kojima, Y. Koshio, M. Nakamura, S. Maejima, H. Fujioka, Y. Goda, T.A,
DCmicrogrids aregainingpopularityinresidential Demonstration Project in Hachinohe: Microgrid with Private Distribution Line,
System of Systems Engineering, 2007. SoSE '07. IEEE International Conference
applications. on, April 2007, page(s): 16.
DCmicrogrids areagoodsolutionforautonomous [2] Barnes, M. Kondoh, J. Asano, H. Oyarzabal, J. Ventakaramanan, G. Lasseter, R.
Hatziargyriou, N. Green, T. RealWorld MicroGrids: An Overview, System of Systems
systemswhentryingtocombine:PVsystemswith Engineering, 2007. SoSE '07. IEEE International Conference on, 1618 April 2007,
batteries. page(s): 18.
[3] S.Morozumi, "Technology Development For GridConnection Issues", International
DCmicrogrids cannaturallyinterface: Telecommunications Energy Conference, Renewable Energy 2006, Chiba, Japan, Oct. 2006
o DCsources:PV,fuelcells. [4] Morozumi, "Overview of Microgrid Research and Perspektive", 2005 Yearly Report of the
Institute for Solar Development Activities in Japan", International Energy Technology,
o DCstorage:supercapacitors,batteries. Kassel, Germany. Symposium on Microgrids, Montreal, June 2006.
o DCloads:LEDs,electronicloads. [5] J.M. Guerrero, J. C. Vasquez, et Al., Hierarchical Control of DroopControlled DC and AC
Microgrids A General Approach Towards Standardization, IEEE Transactions
Ingeneral,DCmicrogrids aremoreefficientthanAC on Industrial Electronics, 2011
microgrids. [6] Kai Sun; Li Zhang; Yan Xing; Guerrero, J.M.; , "A Distributed Control Strategy Based on DC
Bus Signaling for Modular Photovoltaic Generation Systems With Battery Energy
Storage," Power Electronics, IEEE Transactions on, Oct. 2011

Outline
Feedbacklinearizationcontrol
Onecycle control
Buckconverter
Halfbridgewithsynchronousrectifiers
Control of Power Converters for DC Halfbridgecurrentdoublerrectifier
Microgrids Conclusions
References
joz@et.aau.dk
Control of Power Converters for DCMG Control of Power Converters for DCMG
Feedbacklinearizationcontrol Feedbacklinearizationcontrol
Openloop
dynamics
m(x):nonlinearterm
Controlsynthesis
Systemdynamics Relativedegree
Closedloopdynamics
Relativedegreer isthenumberoftimesthatyoucanderivatetheoutput
functiony untilthecontrolvariableu appears

Example:Buckconverter
Regulationcontrolobjective
Openloopdynamics: Equivalentcircuit Bilinearmodel
Generalizedcontrolsynthesis
Openloopdynamics
Averageopenloopoutputvoltagedynamics
Controllerwithintegrator
Closedloopdynamics
Controlsynthesis
Closedloopdynamics
Nosteadystateerror,sincenolosseshasbeenconsidered
Nonlinearcontrol

Onecyclecontrol aparticularcase
Averagingfilter
Closedloopdynamics
Withacutoff frequencyhigherenoughthedynamicsarebarelyaffected
ControlArtofSwitchingConverters,Keyue MaSmedley,1991,PhDThesis
One Cycle Control Onecyclecontrol
Closedloopdynamics
Steadystateoutputvoltage
Dynamicstakingintoaccountlosses:
Thecontrollercannotavoidthesteadystateerror
ControlArtofSwitchingConverters,Keyue MaSmedley,1991,PhDThesis
Onecyclecontrol Halfbridgewithsynchronousrectifiers
OCCwithfeedbacklinearizationcontrol
Complementarycontrol Simmetrical control
Poleplacementandsteadystateerrorelimination
Halfbridgewithsynchronousrectifiers Halfbridgewithsynchronousrectifiers
Bilinearmodel Steadystate
Regulationcurve EquivalentCircuit
L.GarciadeVicuna,J.M.Guerrero,J.Matas,M.Castilla,J.Miret,Simplenonlinearcontrollertoreducelineandload
disturbancesinHBCCconverter,ElectronicsLettersVolume:38,Issue:25,2002,pp.17511752.

Openloopoutputvoltagedynamics Zerodynamics
Relativedegree(2)islowerthatthesystemdynamics(4) system
partlylinearized:
Internaldynamics(nonlinearized)
Externaldynamics(linearized)
Controlsynthesis
Closedloopdynamics(externaldynamics)
L.GarciadeVicuna,J.M.Guerrero,J.Matas,M.Castilla,J.Miret,Simplenonlinearcontrollertoreducelineandload Smallsignaldynamicstostudytheinternaldynamics
disturbancesinHBCCconverter,ElectronicsLettersVolume:38,Issue:25,2002,pp.17511752.
Addinganintegralterm orderofthesystemsincreasesinone Eigenvaluesanalysis:
newstatevariable:
Smallsignal5th orderdynamics
Systemisstableif E>2Vc2 0<u<0.5
11Apr16 Industrial/PhDMicrogridsCourse,AalborgUniversity 19 11Apr16 Industrial/PhDMicrogrids Course,AalborgUniversity 20

Closedloopeigenvaluesanalysis: Controlimplementation
Coincideswiththeimposedexternaldynamics
Robustnessconditions Externaldynamicstabilitycondition
(Routh)
Variablefrequencysolution
Oncecyclecontrol
LargesignalmodelVs switchingmodel
Largesignaldynamicsimposed.Internalandexternaldynamicsstability
guaranteed.

Halfbridgewithdoublecurrentrectifier Halfbridgewithdoublecurrentrectifier
Largesignalnonlinearmodel Steadystate
Equivalentcircuit
Parabolicregulationcurve
ParabolicRegulationCurve
Outputvoltageopenloopdynamics
Regulationlimit
Inductorsdesign
Controllersynthesis
Outputvoltageclosedloopdynamics

Variablefrequencyimplementation
Controllerexpression
Physicalexplanation
Steadystatecurrentcondition
Sensingofbothvoltagerectifiers
Controllerexpression

Control of Power Converters for DCMG DC Distribution Microgrids

[1] L Garcia de Vicuna, JM Guerrero, J Matas, M Castilla, J Miret, Simple nonlinear
controller to reduce line and load disturbances in HBCC converter Electronics
Letters 38 (25), 17511752
[2] JM Guerrero, LG de Vicua, J Miret, J Matas, M Castilla, A Nonlinear Feed
forward Control for the HalfBridge Converter with CurrentDoubler Rectifier
IEEE IECON 2003.
[3] J Matas, LG de Vicuna, JM Guerrero, J Miret, M Castilla, Nonlinear control of a
paralleled halfbridge complementarycontrol converter system with a single
wire current sharing Industrial Electronics Society, 2003. IECON'03.
[4] JM Guerrero, LG de Vicuna, J Matas, J Cruz, J Miret, Parallel operation of half
bridge converters with currentdoubler rectifier using feedback linearization
control, Industrial Electronics, 2004 IEEE International Symposium on 2, 1159
1164
[5] JM Guerrero, LG de Vicuna, N Berbel, J Sosa, M Castilla, Simple feedback
linearizing controller to reduce audiosusceptibility and load disturbance in the
fullbridge current doubler synchronous rectifier, Applied Power Electronics
Conference and Exposition, 2005

Outline
Parallelcontrolschemes
Centralizedcontrol
Masterslavecontrol
Averagedcontrol
Droopcontrol
Parallel Control Schemes for DC
Virtualimpedance
Microgrids
Adaptivevoltagepositioning(AVP)
JosepM.Guerrero,Professor Conclusions
DepartmentofEnergyTechnology References
joz@et.aau.dk
Parallel control schemes for DCMG Parallel control schemes for DCMG
Classification:
Droopmethods:outputvoltagedroopswhenloadincreases. 1)Activeloadsharingcontrollers
Activeloadsharingmethods:combineacontrolmodewithaprocessing A.Controlstructures
currentloaderrorscheme. InnerCSloop
OuterCSloop
Externalcontroller
B.Balancingcurrentschemes
Methodsofaveragecurrentsharing
Masterslavemethods
2)Droopmethods
Advantages:
Easytoimplementandexpandtheparalleledsystem
Dontneedanyinterconnectionbetweenthecontrollers
Highmodularityandreliability
Maindisadvantage:
Tradeoffbetweenregulationandloadsharing

ActiveLoadsharingcontrollers ActiveLoadsharingcontrollers
1.InnerCSloops 2.OuterCSloop
Theinnercurrentsharingloops. Useerrorcurrentsignalstoadjustthevoltagereference
Voltageloopscanbecommonordistributed.
InCMCtheloadsharingisdonebygivingeachcontrollerthereferencecurrent. Advantages:
Goodmodularityandstandardizationforproduction
Advantages: Flexibilityinthesystemconfiguration,easytoexpandandtomaintain.
Stableoutputcurrentsharing Excellentfaulttolerantincaseofasinglemodulefailure
Tightoutputvoltageregulation
Limitations:
Limitations: Possibleinstabilitiesduring
Degradesystemmodularity: thetransient
Controlasymmetry Problemswithparametric
Poorfaulttolerance: differencebetweenmodules:
Centralizedvoltageregulator pureintegratorsmustbeavoided.
4.OuterControlLoop
3.Externalcontroller
Distributeloadcurrentsharingsignalstothecontrollers
Anexternalcontrollercompareallthesignalsofthecommonloadwiththe
modulessignals
Advantages:
Easytoimplementactivemethodsofinterleaving
Goodcurrentsharingandoutputvoltageregulation
Easytoimplementfaultmonitors
Disadvantages:
Moreinterconnectionsbetween
themodulesandtheexternal
controllerdegradereliability
Modularitydegradation

5.Averagemethods
Everymodulegeneratesignalproportionaltoitsaverageoutput
currenttogeneratethecurrentsharingreferenceaIref.
1=...=n=1
Wi(s):gainproportionaltothenominalcurrentofthemodulei.
M(s)(iref io)usedtoadjustoutputvoltage.
Intersil HIP6301controlIC
6.Masterslavemethods
ClassificationaccordingtotheMasterrole:
Advantages:
DedicatedMaster.
Currentsharingsignalsstablesandprecise RotateMaster
AutomaticMaster(democratic)
Oneinterconnection:loadsharingbus
Noiseimmunity RotateMaster
Improvesystemreliability:everymoduleisabletobethemaster,accordingto
Disadvantages:
aspecificlogiccontrol
Reliabilitynotveryhigh in
Disadvantage:Thevoltagecanfluctuateduetothecontinuouschangeof
Poorfaulttolerance
master
Practical:Complicateimplementation.

Automaticmaster
1,2,,nareconnectedtoanidealdiode
Thisschemeautomaticallyselectsasamasterthemodulewithmoreoutput
current.Similarthanaveragemethod,butsubstitutingRbyD.
Unitrode UC3907&UC3902
Advantages:
Onlyonewireinterconnection
Goodfaulttolerance(automaticdisconnection)
Easytoexpandandmodifytheparallelsystem
Limitations:
Poortransientcurrentsharing.Needforsoftstart
Possiblefaultinthesharingcontrol
Noisesensitivity.UC3907givessmalloffsettomaster
Droop control and Virtual Impedance Droop control and Virtual Impedance
Droopcontrol DroopcontrolinDC
Parallelconnectedvoltagesources
Seriesconnected(stacked)currentsources Equivalentcircuit Droopcontrol staticperformances
V V
R1 R2 V1 V1
I1 I2 V2 V2
Vp
V1 V2
Vp Vp

i2 i1 I is i2 i1 I
a) b)
V1 V2
V V
V1
I1 I2
V2 V1
Is V2
c) is i2 i1 I d) is i2 i1 I
Currentsharingvs virtualimpedance
OutputPlaneAnalysisofLoadSharinginMultipleModuleConverter Systems andvoltagesettingerrors
JohnS.GlaserandArthurF.Witulski
DroopcontrolinDC DroopcontrolinDC
Virtualimpedance
Currentforeachconverterj
Consideringequalvirtualresistancesandvoltagesettings
Consideringvoltagesettingerror
Voltagedeviation
Maxcurrenterror
Currentforeachconverterj
DroopcontrolinDC
ForN=2converters
Outputvoltage
Currentdeviation

Adaptivevoltagepositioning AVP Load transient response for different closed-loop output
impedance profiles
Waysofimplementation
a)Nonresistiveimpedance
b)Resistiveimpedance
CalculateVc =f(Vdroop,Vo)
c)Quasiresistiveimpedance
M.Lee,Modeling andDesignforaNovelAdaptive Castilla,M.;Guerrero,J.M.;Matas,J.;Miret,J.;Sosa,J.;,"Comparativestudyofhystereticcontrollersfor

VoltagePositioning(AVP)SchemeforMultiphaseVRMs singlephasevoltageregulators,"PowerElectronics,IET,vol.1,no.1,pp.132143,March2008
Generalized block diagram of the hysteretic regulator
(a)Powerstagecircuit.Synchronousbuckconverter.
(b)Controlconfiguration.
Castilla,M.;Guerrero,J.M.;Matas,J.;Miret,J.;Sosa,J.;,"Comparativestudyofhystereticcontrollersfor Castilla,M.;Guerrero,J.M.;Matas,J.;Miret,J.;Sosa,J.;,"Comparativestudyofhystereticcontrollersfor
singlephasevoltageregulators,"PowerElectronics,IET,vol.1,no.1,pp.132143,March2008 singlephasevoltageregulators,"PowerElectronics,IET,vol.1,no.1,pp.132143,March2008
Thevenin equivalentcircuit Outputimpedancedesign
AVPdesign
Voltageatnoload
Castilla,M.;Guerrero,J.M.;Matas,J.;Miret,J.;Sosa,J.;,"Comparativestudyofhystereticcontrollersfor Castilla,M.;Guerrero,J.M.;Matas,J.;Miret,J.;Sosa,J.;,"Comparativestudyofhystereticcontrollersfor
singlephasevoltageregulators,"PowerElectronics,IET,vol.1,no.1,pp.132143,March2008 singlephasevoltageregulators,"PowerElectronics,IET,vol.1,no.1,pp.132143,March2008
Adaptive voltage positioning Conclusions
ParallelcontrolschemescanbeusedandcombinedinDC
microgrids:
o Master/slave Unitrode approach
o Averagecurrentsharing Intersil approach
o Droopcontrol
DroopcontrolhavebeendevelopedforDC/DCconverters.
DroopcontrolandvirtualimpedancearesimilarconceptsinDC.
Inlowvoltage/highcurrentapplicationsforVRM/POLconverters
itiscalledAVP:adaptivevoltagepositioning.
Droopcontrolcanbedesignedtomaketheclosedloop
impedancetobepureresistiveinordertohavebestdynamics.
AdditionalAVPcontrolloop

References
[1] Guerrero,J.M.;Vasquez,J.C.;Matas,J.;deVicuna,L.G.;Castilla,M.;,"HierarchicalControlofDroopControlledAC
andDCMicrogridsAGeneralApproachTowardStandardization,"IndustrialElectronics,IEEETransactionson,
vol.58,no.1,pp.158172,Jan.2011doi:10.1109/TIE.2010.2066534URL:
http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5546958&isnumber=5662271
[2] XiaonanLu;Guerrero,J.;Teodorescu,R.;Kerekes,T.;KaiSun;Lipei Huang;,"Controlofparallelconnected
bidirectionalACDCconvertersinstationaryframeformicrogrid application,"EnergyConversionCongressand
Exposition(ECCE),2011IEEE,vol.,no.,pp.41534160,1722Sept.2011doi:10.1109/ECCE.2011.6064335URL:
[3] KaiSun;LiZhang;YanXing;Guerrero,J.M.;,"ADistributedControlStrategyBasedonDCBusSignaling forModular
PhotovoltaicGenerationSystemsWithBatteryEnergyStorage,"PowerElectronics,IEEETransactionson,vol.26,
no.10,pp.30323045,Oct.2011doi:10.1109/TPEL.2011.2127488URL:
[4] XiaonanLu;KaiSun;Guerrero,J.M.;Vasquez,J.C.;Lipei Huang;Teodorescu,R.;,"SoCbaseddroopmethodfor
distributedenergystorageinDCmicrogrid applications,"Industrial Electronics(ISIE),2012IEEEInternational
Symposiumon,vol.,no.,pp.16401645,2831May2012doi:10.1109/ISIE.2012.6237336URL:
[5] Anand,S.;Fernandes,B.;Guerrero,J.;,"DistributedControltoEnsureProportionalLoadSharingandImprove
VoltageRegulationinLowVoltageDCMicrogrids,"PowerElectronics,IEEETransactionson,vol.PP,no.99,pp.1,0
doi:10.1109/TPEL.2012.2215055URL:
[6] Guerrero,J.;Chandorkar,M.;Lee,T.;Loh,P.;,"AdvancedControlArchitecturesforIntelligentMicrogrids PartII:
PowerQuality,EnergyStorage,andAC/DCMicroGrids,"IndustrialElectronics,IEEETransactionson,vol.PP,no.99,
pp.1,0doi:10.1109/TIE.2012.2196889URL:
11Apr16 Industrial/PhDMicrogridsCourse,AalborgUniversity 29
Outline
Motivation
ACvs.DCCollector Grid
DCcollector grid topologies
DCDCconverters
References
DCCollector GridforOffshoreWind
PowerPlants
Sanjay K Chaudhary, Associate Prof
Department of Energy Technology
skc@et.aau.dk
Offshore Wind Power Plant Typical offshore wind power plant layout
1
GSC
LCL
Filter
CB & CT
MV feeder #1
Twoacdcconversionstages
Chopper
36 kV Coll.
Resistor
WTG#1
Bus#1
150 kV Coll
Bus #1
Threetransformerstages!
GSC
MV feeder #2
3
WTG#2
4
36 kV Coll.
Bus#2
HV
feeder #1
B1 150 kV
B2
HV
feeder #2
GSC MV feeder #3 36 kV Coll.
Bus#3
150 kV Coll
Bus #2
WTG#3
GSC MV feeder #4 A4
Feeder circuit breaker (CB)

WTG#4
o/c relay current transformer (CT)
33kV Coll. Bus#4

400MW offshore WPP
OFFSHORE ONSHORE
5 2 Verylongmediumvoltageaccablenetwork
Vg 400 kV
170 kV kV, 1400A, 200km DC Cable

170 kV
Vf2
Xph1 Xph2 Xt2 P+ jQ CableXsection Length Diameter Weight

Vc2
Vc1
Vdc2
Vdc1
150 kV
VSC1 VSC2 150mm2 54km 9.2cm 16kg/m
Anholt Windpowerplantlayout
VSC based HVDC Transmission 240mm2 28km 10.1cm 20kg/m
500mm2 69km 12.1cm 32kg/m http://www.dongenergy.com/

WPP with dc collector grid Ac vs, DC Power Equations
1 2or3dcdcconversion
Dc/dc MVdc feeder #1 2 stagesfordctransformer
HV Coll Bus
WTG#1 Dc/dc
#1
actiondependingupon
Dc/dc MVdc feeder #2
gridlayoutdesign.
HV
feeder #1
WTG#2
HV
Dc/dc feeder #2
MVdc feeder #3
HV Coll Bus
WTG#3 Dc/dc #2
Dc/dc MVdc feeder #4 3

cos 2
WTG#4 2
800MW offshore WPP
Assumingsamerms currents,i.e. ,peaklinetogroundvoltages,

OFFSHORE ONSHORE
kV, 1300A, 100 km HVDC Cable andpowerfactor,cos 0.94,theacpowercarriedbythethree

3
Xph2 Xt2 P+ jQ
corecableisequivalenttothedcpowercarriedbythetwocorecable.
3 , 3
cos 1 _
ACtransformersaremore VSC1 VSC2
2 2 , 2
efficientthandcdc VSC based HVDC Transmission
Powerlossesinaccablesareover50%higherthanthatindcforthesamerms current.
converters!
Moreover,acresistanceishigherthandcresistanceduetoscreenandproximityeffects.
Ac- vs. DC Collector Grid DC collector grid
DC System:
DC system is free from reactive power management issues.
Reactive power management is moved to the connection point with the
ac system.
Cable capacitance charging current:
AC cable reduces the active power rating, thus, longer distances cannot
be covered by AC cables.
DC transmission is not affected by cable charging current, so that VAR
compensators are not required.
Fewer Cables
Fewer cable are required for DC system
DC resistance is lower than ac resistance
Medium frequency transformer SABhaspoortransformerutilization!
Heavy line frequency transformer is replaced with medium-voltage high-
frequency DC/DC converters DCDCCollectorgridwithsingleactivebridge(SAB)DCDCconverter
Redcued footprint size and weight. Ref.[6]C.Meyer,M.Hoing,A.Peterson,andR.W.DeDoncker,ControlandDesignofDCGridsforOffshoreWindFarms,IEEETrans.Ind.Appl.,vol.43,no.
6,pp.14751482,2007.

DC Collector Grid Topologies DC-DC Converter Topologies
WTGdcoutputconvertedto
MVdc,andthenthecollected AC transformers allow the voltage to be stepped up for
powerisconvertedtoHVdc. transmission and stepped down for distribution and
consumption.
Technically dc transformer is impossible. Dc-dc converters can
WTGdcoutputdirectly provide such a functionality.
collectedandconvertedto
HVdc. Isolated Topologies
Single Active Bridge
Double Active Bridge
Resonant converters (series and parallel)
Non-isolated Topologies
LCL dc-dc converter
WTGdcoutputdirectly
collectedandconvertedto
HVdc.
Ref.[2]F.Deng,DesignandControlofADCGridforOffshoreWindFarms,PhDThesis,AAU2012.
DC-DC Converter: Active Bridge Series connection of DAB dcdc converters
Inputsideinparallelconnection
Transformerwithunityturnsratio,toprovideisolation
SingleactiveBridge
OutputsideinseriesconnectiontoreachMVlevels.
DoubleactiveBridge
V 2
0
3 2 3
Seriesconnectionofthedc/dcconverterstoobtaintheMVdclevel
[12]
Resonant dc-dc converter Non-isolated LCL resonant dc-dcconverter
Fundamentalfrequencyrms
lineneutralacvoltageare:
4
2 sin 1
2
4
Seies resonantconverter 2 sin 1
2 Twophasedc/dcconvertertopology
Seriesresonantcircuitbetweenthecapacitorandtheleakageinductance
GCTbasedinverter,withsoftswitching ThecurrentsintheLCL
Mediumfrequencytransformerwithamorphousmetalalloycore circuitarerelatedby,
Bydefaultunidirectionalpowerflow;
Over99%efficiencyisclaimedat1kHzswitchingfrequency.
Thyristors andanauxiliaryswitch
areaddedtoallowsomereverse
powerflow capability. 1.8%lossisclaimedfor100MW,40
kV/600kV,LCLresonantconverter.
[11] [2]
Switched capacitor based resonant converter DC Grid Simulation model in PSCAD
Modularresonantswitched
capacitor(RSC) Cell:
6
ahighefficiency
NonisolatedRSCstepup
converter Thedynamicsofthe
softswitchingforallswitches dcgridcanbestudied
anddiodes throughsimulationin
Nomagneticcomponent PSCAD/EMTDCor
Modularstructure PLECS.
[3,5]
Summary References
1) F.Deng,DesignandControlofADCGridforOffshoreWindFarms,PhDThesis,AAU2012.
2) D.Jovcic andL.Zhang,LCLDC/DCConverterforDCGrids,IEEETrans.PowerDeliv.,vol.28,no.4,pp.20712079,Oct.2013.
A good deal of research is focussed on developing DC collector 3) A.Parastar andJ.K.Seok,HighGainResonantSwitchedCapacitorCellBasedDC/DCConverterforOffshoreWindEnergy
Systems,IEEETrans.PowerElectron.,vol.8993,no.c,pp.11,2014.
grid for wind power plants. 4) S.Kenzelmann,Modular DC/DCConverter forDCDistributionandCollectionNetworksPAR,colePolytechniqueFdrale
deLausanne(EPFL),2012.
Savings in cables transformer costs are significant for offshore 5) W.Chen,A.Q.Huang,C.Li,G.Wang,andW.Gu,AnalysisandComparisonofMediumVoltageHighPowerDC/DCConverters
forOffshoreWindEnergySystems,IEEETrans.PowerElectron.,vol.28,no.4,pp.20142023,Apr.2013.
wind power applications. 6) C.Meyer,M.Hoing,A.Peterson,andR.W.DeDoncker,ControlandDesignofDCGridsforOffshoreWindFarms,IEEETrans.
Ind.Appl.,vol.43,no.6,pp.14751482,2007.
Various configurations of dc-dc converters and dc grid layout 7) N.Holtsmark,H.J.Bahirat,M.Molinas,B.A.Mork,andH.K.Hoidalen,AnAllDCOffshoreWindFarmWithSeriesConnected
Turbines:AnAlternativetotheClassicalParallelACModel?,IEEETrans.Ind.Electron.,vol.60,no.6,pp.24202428,Jun.
have been proposed. 2013.
8) D.M.Larruskain,I.Zamora,O.Abarrategui,andZ.Aginako,ConversionofACdistributionlinesintoDClinestoupgrade
Medium frequency transformer design has been proposed to transmissioncapacity,Electr.PowerSyst.Res.,vol.81,no.7,pp.13411348,Jul.2011.
9) C.S.Schifreen andW.C.Marble,ChargingCurrentLimitationsinOperationorHighVoltageCableLines[includes
reduce the transformer weight. discussion],Trans.Am.Inst.Electr.Eng.PartIIIPowerAppar.Syst.,vol.75,no.3,Jan.1956.
10) M.Stieneker,B.J.Mortimer,N.R.Averous,H.Stagge,andR.W.DeDoncker,OptimumdesignofmediumvoltageDC
DC collector grid design is a hot topic for research and collectorgridsdependingontheoffshorewindparkpower,in2014IEEESymposiumonPowerElectronicsandMachinesfor
WindandWaterApplications,2014.
development! 11) C.MeyerandR.W.DeDoncker,DesignofaThreePhaseSeriesResonantConverterforOffshoreDCGrids,2007IEEEInd.
Appl.Annu.Meet.,pp.216223,Sep.2007.
12) M.Stieneker,J.Riedel,N.Soltau,H.Stagge,andR.W.DeDoncker,Designofseriesconnecteddualactivebridgesfor
integrationofwindparkclusterintoMVDCgrids,EPE2014.
13) N.Denniston,A.M.Massoud,S.Ahmed,andP.N.Enjeti,MultipleModuleHighGainHighVoltageDCDCTransformersfor
OffshoreWindEnergySystems,IEEETrans.Ind.Electron.,vol.58,no.5,pp.18771886,May2011.

Outline
Voltagedroop:Primary control
Secondary control
Secondary controlforDCmicrogrids
TertiarycontrolforDCmicrogrids
ClustersofDCMicrogrids
Hierarchical Control of DC Microgrids Conclusions
References
joz@et.aau.dk
Hierarchical control of DC microgrids Hierarchical control of DC microgrids

Genericdcmicrogrid Conceptionofdcmicrogrids
Anand,S.;Fernandes,B.G.;Guerrero,J.M.;,"DistributedControltoEnsureProportionalLoadSharingandImprove
VoltageRegulationinLowVoltageDCMicrogrids,"PowerElectronics,IEEETransactionson ,vol.28,no.4,pp.1900
1913,April2013 H. El Fadil, F. Giri, Josep M. Guerrero, Adaptive sliding mode control of interleaved parallel boost converter for fuel cell energy generation system,
Mathematics and Computers in Simulation, Available online 7 August 2012, ISSN 0378-4754, 10.1016/j.matcom.2012.07.011.

Hierarchical control strategy Design of control loops
Other Control layers are separated with bandwidths

Microgrid Speed of inner current control loop bounded by physical
equipment
Measurements Every other layer programmed to be an order of
magnitude slower
_ Primary
control Dgunits
References Secondary
+ control
LowBandwidthCommunications
Energy
Tertiary
Management
control
System(EMS)
Primary Dgunits
control
Hierarchical Control of DC Microgrids HierarchicalControlofDCMicrogrids

Droopcontrol
Gridconnectedconverters
MPPT(PVandWT)converters Droopcontrol
Energystorageconverters EnergyControlCenter(ECC)
Solarconverter
V [V ]
Converter rating
A
B
C
D
Actual
MPPT
0 I gA I gB I gC I gD Ig
FutureElectronicPowerDistributionSystems Acontemplative view FutureElectronicPowerDistributionSystems Acontemplative view

Dushan Boroyevich,IgorCvetkovi,Dong Dong,RolandoBurgos,Fei Wang,FredLee Dushan Boroyevich,IgorCvetkovi,Dong Dong,RolandoBurgos,Fei Wang,FredLee
HierarchicalControlofdcMicrogrids Centralizedsecondarycontrol
Anand,S.;Fernandes,B.G.;Guerrero,J.M.;,"DistributedControltoEnsureProportionalLoadSharingandImprove Anand,S.;Fernandes,B.G.;Guerrero,J.M.;,"DistributedControltoEnsureProportionalLoadSharingandImprove
VoltageRegulationinLowVoltageDCMicrogrids,"PowerElectronics,IEEETransactionson ,vol.28,no.4,pp.1900 VoltageRegulationinLowVoltageDCMicrogrids,"PowerElectronics,IEEETransactionson ,vol.28,no.4,pp.1900
1913,April2013 1913,April2013

Independentcontrol Unequalloadsharingduetoerrorinnominalvoltagesoftwo
parallelconnecteddcconverters
VoltageRegulationinLowVoltageDCMicrogrids,"PowerElectronics,IEEETransactionson ,vol.28,no.4,pp.1900 Anand,S.;Fernandes,B.G.;Guerrero,J.M.;,"DistributedControltoEnsureProportionalLoadSharingandImprove
1913,April2013 VoltageRegulationinLowVoltageDCMicrogrids,"PowerElectronics,IEEETransactionson ,vol.28,no.4,pp.1900
1913,April2013
Distributedsecondarycontrol Averagecurrentsharing
1913,April2013
1913,April2013
Hierarchical Control of DC Microgrids Hierarchical Control of DC Microgrids

Distributedsecondarycontrol DistributedSecondaryControl
VoltageRegulationinLowVoltageDCMicrogrids,"PowerElectronics,IEEETransactionson ,vol.28,no.4,pp.1900 Anand,S.;Fernandes,B.G.;Guerrero,J.M.;,"DistributedControltoEnsureProportionalLoadSharingandImproveVoltage
1913,April2013 RegulationinLowVoltageDCMicrogrids,"PowerElectronics,IEEETransactionson ,vol.28,no.4,pp.19001913,April2013

HierarchicalControlofDCMicrogrids Hierarchical Control of DC Microgrids
Droopcontrol.AdaptiveVoltagePositioning(AVP)
DCBusSignaling:ADistributedControlStrategyfor aHybrid Renewable Nanogrid

JohnSchnberger
HierarchicalControlofDCMicrogrids DroopcontrolforDCMGs
Droopcontrol
DCsignaling:usingDCvoltagemicrogrid
Regions:
ConstantVoltage Droopcontrol
ConstantPower
and
Average
Sharing
DCBusSignaling:ADistributedControlStrategyfor aHybrid Renewable

PracticaI DesignConsiderationsofCurrentSharingControlfor Parallel VRMApplications
Nanogrid JohnSchnberger Weihong Qiu,Zhixiang Liang,IntersilCorporation
DroopcontrolforDCMGs DroopcontrolforDCMGs
Droopcontrol Droopcontrol
Setpointserrorinfluence(duetosensorerrorsandpowermismatch)
Virtualimpedanceimplementation
io V * / Rdroop
Vo V * Rdroop io
Ohmslaw!
Vo V1 Rdroop io1
Vo V2 Rdroop io 2
Rdroop V * / io Virtualimpedanceinfluence io V * / Rdroop

for no load , io means io1 io / 2
and io 2 io / 2 0!
Forlightloads,highIo meansthatoneconvertercouldabsorberpower!
Analysis,Design,andPerformanceEvaluationofDroopCurrentSharingMethod
BrianT.IrvingandMilanM.JovanoviC,DeltaProducts Corporation Analysis,Design,andPerformanceEvaluationofDroopCurrentSharingMethod
BrianT.IrvingandMilanM.JovanoviC,DeltaProducts Corporation
SecondaryControlforMicrogrids TertiaryControlforMicrogrids
SecondarycontrolforDCmicrogrids TertiarycontrolforDCmicrogrids
Tertiary controlexpressionandimplementation
Primarycontrol Droopcontrol:
vo k p ' iG* iG ki ' iG* iG dt
vref vo
vo* vref vo RD io
vref
VoltageRestorer:
vo k p vMG
*
vMG ki vMG
*
vMG dt
InaDCmicrogrid,the voltage sources can use avirtualresistance.

Thevoltage reference canbereadjusted by the secondary control,avoiding voltage
deviations.Adeadband also canbeperformed. Before the DCMGisconnected tothe DCstiff grid,the secondary control
can make both voltages equal.
HierarchicalControlofDCMicrogrids HierarchicalControlofDCMicrogrids
PrimaryControl SecondaryControl
Guerrero,J.M.;Vasquez,J.C.;Matas,J.;deVicuna,L.G.;Castilla,M.;,"HierarchicalControlofDroopControlledAC
andDCMicrogridsAGeneralApproachTowardStandardization,"IndustrialElectronics,IEEETransactionson,vol.58,
no.1,pp.158172,Jan.2011
HierarchicalControlofDCMicrogrids DroopcontrolforAC/DCMGs
Tertiarycontrol
Typical AC/DC hybrid microgrid system
Bidirectional power flow

DroopcontrolforAC/DCMGs DroopcontrolforAC/DCMGs
Modeling of Single-Phase Bridge
ModelingofaDCmicrogrid
i
i ua1 Lgrid Lconv iaconv1
udc ub1 Lgrid Lconv ibconv1

d vdc d i udc uN1
Lgrid Lconv icconv1
uc1
d a1udc d b1udc d c1udc d a1iaconv1 d b1ibconv1 d c1icconv1
Switching model of single-phase bridge C udc RL

C
Average model of single-phase bridge C
RL1 1 1 ua2 Lgrid Lconv iaconv2
L L L
1 1 1 Lgrid Lconv ibconv2
i1 RL1 i
1 1 v
1 d 1 uN2
ub2
i v d
d i1 L1
1
L1

L1
1 vdc Lgrid Lconv icconv2
uc2
dt i2 RL2 i2 1 v 1 d 2
d a2udc d b2udc d c2udc d a2iaconv2 d b2ibconv2 d c2icconv2
i2 L2 i2 L2 v L2 d2 C
RL2 1 1
C
L2 L2 L2 C
dvdc 1 i1 i2 vdc
([d 1 d1 ] [d 2 d2 ] ) Averagemodelofthreephaseparallel
dt C i1 i2 RC rectifiersinabcframe

AC/DCMicrogrid interfaces
AC/DCMicrogrid interfaces Rectifiermode
XiaonanLu;Guerrero,J.;Teodorescu,R.;Kerekes,T.;KaiSun;Lipei Huang;,"Controlofparallelconnectedbidirectional XiaonanLu;Guerrero,J.;Teodorescu,R.;Kerekes,T.;KaiSun;Lipei Huang;,"Controlofparallelconnectedbidirectional

ACDCconvertersinstationaryframeformicrogrid application,"EnergyConversionCongressandExposition(ECCE), ACDCconvertersinstationaryframeformicrogrid application,"EnergyConversionCongressandExposition(ECCE),
2011IEEE,vol.,no.,pp.41534160,1722Sept.2011 2011IEEE,vol.,no.,pp.41534160,1722Sept.2011

RootlocusofACcurrentcontroller
AC/DCMicrogrid interfaces Invertermode
RootlocusofDCvoltagecontroller
XiaonanLu;Guerrero,J.;Teodorescu,R.;Kerekes,T.;KaiSun;Lipei Huang;,"ControlofparallelconnectedbidirectionalACDCconvertersinstationary XiaonanLu;Guerrero,J.;Teodorescu,R.;Kerekes,T.;KaiSun;Lipei Huang;,"ControlofparallelconnectedbidirectionalACDCconvertersinstationary

frameformicrogrid application,"EnergyConversionCongressandExposition(ECCE),2011IEEE,vol.,no.,pp.41534160,1722Sept.2011 frameformicrogrid application,"EnergyConversionCongressandExposition(ECCE),2011IEEE,vol.,no.,pp.41534160,1722Sept.2011
Hierarchical Control of DC Microgrids SecondaryControlforMicrogrids
RootlocusofACvoltagecontroller SecondarycontrolforDCmicrogrids
udc

udc V
+- PI
To Rectifier II
DC Voltage Secondary
Controller
Secondary Control Level
cos i1 HC

i1 -
+

udc udc PR udc

PWM
idc
Rd -+ ++ +- PI
i1 +
PR -abc Generator
-
DC Droop DC Voltage sin i1 HC
Controller Controller
Current Ref. AC Current
Generator Controller
Primary Control Level
HierarchicalcontroldiagramofaparallelPWMrectifiersystem
XiaonanLu;Guerrero,J.;Teodorescu,R.;Kerekes,T.;KaiSun;Lipei Huang;,"ControlofparallelconnectedbidirectionalACDCconvertersinstationary
frameformicrogrid application,"EnergyConversionCongressandExposition(ECCE),2011IEEE,vol.,no.,pp.41534160,1722Sept.2011

SecondaryControlforMicrogrids SecondaryControlforMicrogrids
SecondarycontrolforDCmicrogrids SecondarycontrolforDCmicrogrids
i

udc
Controldiagramofinnercurrentloopand

udc parallelHarmonicCompensation
1
1 s 5
x 10
4
x 10
4 6e+004 2
0.13 0.09 0.065 0.038 0.018
5e+004
3 0.19 1.5
4e+004
2 0.28 3e+004 1
2e+004
1 0.5
0.5
1e+004
Controldiagramofthesecondarycontrollerincludingadelayunit 0 0
1e+004
-1 0.5
-0.5
2e+004
-2 0.28 3e+004
-1
4e+004
-3 0.19
-1.5
5e+004
0.13 0.09 0.065 0.038 0.018

6e+004
-4
-6 -5 -4 -3 -2 -1 0 1 2 -2
4
-200 -150 -100 -50 0
x 10
SecondaryControlforMicrogrids HierarchicalControlofDCMicrogrids
ImplementationofsecondarycontrolforDCmicrogrids Electricalschemeoftheexperimentalsystem
Virtual
resistance
Theprimary andsecondary controllevels can beimplemented similarly asinan ACMG.
Inthis case,the BWcan behigher since the virtualresistance acts instantaneously.
HierarchicalControlofDCMicrogrids HierarchicalControlofDCMicrogrids
ExperimentalresultsforhierarchicalcontrolofDC
microgrids PMG PG1

DCvoltagestepresponse DCvoltagedeviationcausedbydroopcontroller
PS1 PG2

PS2 PG3
ACcurrentinConverterIwhenstep DCvoltagerobustnesstestwith Source:DistributionVoltageControlfor

DCvoltagereferencevalueemployed secondarycontrolwith63Hzbandwidth DCMicrogrid withFuzzyControlandGainSchedulingControl,H.Kakigano etAl.
18Apr17 Industrial/PhDMicrogridsCourse,AalborgUniversity 41 18Apr17 42

SoC balancingcontrol SoC balancingcontrol
SoC: WaveformsofSoC1andSoC2withdifferentpowerexponentn.
Controldiagramforeachconverter
SoC Adaptivedroopcontrollers: n=6

n=3
XiaonanLu;KaiSun;Guerrero,J.M.;Vasquez,J.C.;Lipei Huang;Teodorescu,R.;,"SoCbaseddroopmethodfordistributedenergy
storageinDCmicrogrid applications,"IndustrialElectronics(ISIE),2012IEEEInternationalSymposiumon,vol.,no.,pp.16401645,
2831May2012
TertiaryControlforMicrogrids TertiaryControlforMicrogrids
ImplementationofTertiarycontrolforDCmicrogrids ImplementationofTertiarycontrolforDCmicrogrids
StiffDCsource
TertiaryControl
Theprimary,secondaryandTertiarycontrollevelscanbeimplementedsimilarlyasinanACMG
DC Microgrid Clusters Consensus-based distributed control for dc Microgrid clusters
Objective I: To regulate the voltage within an acceptable range around the reference.
Objective II: To regulate the power flow between DC Microgrids according to SOC of batteries.
MicrogridClusters:
Voltageregulator
viavg
Increasing reliability

SOCi ,
Centralized for each dc MG;
No need for expansion of energy sources and storage capacity in terms of increasing load vi
smooth connection of MGs. vMGs j
Power flow between the MGs requires to be managed
Distributed over the MG cluster viavg
Gi ( s)
vi1
vi io _ j
Regulates the voltage inside each v avg
j
MG-i MG to the nominal value.

Question: How to regulate vMGi Source-j Maintains the bus voltages
Droop
vMG within an acceptable range. SOCi vi io _ m
the voltage and control the i control
Voltage control DC-DC Hi ( s)
vref and converter
SOC j vi2 mj
power flow for dc MG current control
Voltage secondary control Powerflowregulator SOCi
clusters simultaneously? idc
Averaging
Gsec (s)
vs Rd j Regulates power flow according
Problem: Power flow method
to SOC of batteries.

vMG
control is achieved at the i
Changes the level of voltage Average voltage estimator (dynamic consensus protocol)
expense of having voltage among MGs
Source-m
differences between MGs. Slow dynamic
Cybernetwork
Solution: Distributed SOC comparator
voltage control over the Spars communication
MGs.
vMGn
MG-n
Spanned across the cluster
Data exchange ( v avg, SOC )
[Q.Shafiee,T.Dragicevic,J. C. Vasquez, and J.M.Guerrero,IEEETransactions
EnergyConversion,EarlyAccess.2014]
Small signal modeling of DC Microgrid clusters Real-time simulation results
Closeloopeigenvaluesofthesystemwith
Small signal model of two interconnected dc MGs with all control loops Casestudy: Study1:evaluationofthecontroller
(red)andwithout(blue)SOCdynamics
ThreeinterconnecteddcMGs Bus voltages Current flow between the MGs
0.02
SOC1 (0) 15
50
1 1 0.01
PV DC
DC LCfilter Tieline1,2 LCfilter DC PV
DC
Imaginary
Cb1 Z1,2 0.1 j 0.00018 49
s
Tie-line Currents (A)

SOC1 iL1 0
i 1,2 10
MGs Voltages (V)

600 DC LCfilter DC
WT 1 2 LCfilter WT
-0.01 DC DC 48
Load2
SOC2 v21 Rd1 400 Communication 5
b12 F1 ( s )
-0.02
-5 -4 -3 -2 -1 0 Battery1 DC
DC
LCfilter Network LCfilter DC Battery1 47
Real -4 DC
200 x 10
Imaginary
i 2,3
Load1
3 DC
46 0
DC Battery2
k p1 s k i 1 1 RL1 0 Battery2 DC
LCfilter LCfilter DC
45
Tieline2,3

vMG 1s 1 RL1C1s 1
Z 2,3 Z1,2
v1avg s -200
MG1 MG2 -5
44
v2avg 1 -400
a12 G1 ( s ) MG3
v11 vMG v1 43 -10
s -600 Load3 2 4 6 8 10 12 0 2 4 6 8 10 12
v1
Time (s) Time (s)
-25 -20 -15 -10 -5 0
1 Real
LCfilter
LCfilter
LCfilter
LCfilter
Lt s Rt MGs currents injections SOC of dc MGs
30 100
DC
DC
DC
DC
v2
DC
DC
DC
DC
v1avg 1 v12 v v2 25
a21 G2 ( s ) MG
SOCs of MGs (%)

MGs Currents (A)
Battery1
80
Battery2
s
WT
PV
v2avg
vMG k p 2 s ki 2 1 RL2 Lt
Impactoflineinductance()onthe 20
s 2s 1 RL2C2 s 1 stabilityofsystem 15 60
SOC1
b21 F2 ( s ) 10
v22
R2
d 1000 L=4 mH Realtime simulation 5
40
SOC2 iL2 L=0.5 mH

1 2
dSPACE DS1006
500 0 20
Cb 2 2 4 6 8 10 12 0 2 4 6 8 10 12
s
Imaginary
SOC2 (0) Time (s) Time (s)
0
Each dc MG consists of four units. MG1 units current
One droopcontrolled unit; it can represents groups of droopcontrolled units. -500
RL combination of electronic loads and CPLs -1000 Rated voltage of the system is 48 V. 5
4
MG1 Currents (A)

Fast dynamic of duty ratio is virtually absorbed by the slow SOC integrator. -50 -40 -30 -20 -10 0 PV & WT work in MPPT, batteries 3
Real 2
Constant duty ratio work in droopcontrolled mode 1
0
Impact of different parameters on the system stability Neighboring communication -1
-2
2 4 6 8 10 12
Time (s)
Real-time simulation results Conclusions
Study2:Impactofcommunicationdelay Study3:Loadchangeeffect Multifunctional distributed secondary control strategies for ac Microgrids

49 normal averaging method
200msdelay MG1 49.5 MG1
DPFCactivated MG2
MG2 local controller, alltoall communication, finely tuned parameters needed
MGs Voltages (V)
48.5 MG3
MGs Voltages (V)
49 MG3
gossipbased method
48 48.5
token ring manner, synchronization & transmission scheduling
48
47.5
Consensusbased method
47.5
47
1 2 3 4 5 6 7 8 9 10 11 12 fully distributed, spars communication
Time (s) 47
49 1 2 3 4 5 6 7 8 9 10 11 12 Three control functions
400msdelay Time (s)
frequency/active power regulation
MGs Voltages (V)
48.5
Results show proper control of dc bus voltage regulation: restoration to the nominal value or maintaining within an acceptable
48
voltages and power flow. range
47.5
Control of power flow is achieved at reactive power regulation: line impedance effect, different parameters
47 the expense of having small voltage
1 2 3 4 5 6
Time (s)
7 8 9 10 11 12
deviations.
disturbance rejecting, communication impairments, resiliency to
Experimental validation:
link/inverter failure, plug n play capability
The proposed methodology is able to
49
500msdelay
Hierarchical control of dc Microgrids and dc Microgrids clusters
MGs Voltages (V)
48.5
eliminate load disturbances properly.
48 Central voltage controller inside the SOCbased adaptive droop method: small signal modeling
47.5
MGs ensures smooth connection of voltage regulator: centralized for each Microgrid, distributed over the cluster, smooth connection
MGs.
47
1 2 3 4 5 6 7 8 9 10 11 12
Cooperative power flow regulator: SOCbased regulation, spars communication
Time (s)
Realtime simulations
DC conversion, generation, storage, and distribution are becoming important again

[1] Xiaonan Lu; Kai Sun; Guerrero, J.M.; Vasquez, J.C.; Lipei Huang; Teodorescu, R.; , "SoCbased
HVDC systems allows the integration of large onshore and offshore wind farms droop method for distributed energy storage in DC microgrid applications," Industrial
Electronics (ISIE), 2012 IEEE International Symposium on , vol., no., pp.16401645, 2831
Backtoback conversion is one example of DCcoupling between different AC networks May 2012
DCcoupling microgrids are attractive due to: [2] Anand, S.; Fernandes, B. G.; Guerrero, J. M.; , "Distributed Control to Ensure Proportional
Inexistent reactive power problem Load Sharing and Improve Voltage Regulation in LowVoltage DC Microgrids," Power
Total active power control Electronics, IEEE Transactions on , vol.28, no.4, pp.19001913, April 2013
No synchronization problems (phase, frequency) [3]Xiaonan Lu; Guerrero, J.; Teodorescu, R.; Kerekes, T.; Kai Sun; Lipei Huang; , "Control of
No skin effect, reduction of losses parallelconnected bidirectional ACDC converters in stationary frame for microgrid
Integration of natural DC sources. Renewable energy sources: PV, H2. application," Energy Conversion Congress and Exposition (ECCE), 2011 IEEE , vol., no.,
Avoid the double AC/DCDC/AC conversion for WT and other turbinesbased sources. pp.41534160, 1722 Sept. 2011
Easy connection to storage energy systems like batteries. [4]H. El Fadil, F. Giri, Josep M. Guerrero, Adaptive sliding mode control of interleaved parallel
boost converter for fuel cell energy generation system, Mathematics and
The hierarchical control is required for a DCcoupled microgrid: Computers in Simulation, Available online 7 August 2012, ISSN 03784754,
Primary control is based on the droop method allowing the connection of different DC 10.1016/j.matcom.2012.07.011.
sources without any intercommunication. [5]J. M. Guerrero, J. C. Vasquez, J. Matas, L. G. de Vicuna, and M. Castilla, Hierarchical control
Secondary control avoids the voltage deviation produced by the primary control. Only of droopcontrolled AC and DC microgridsA general approach toward standardization,
low bandwidth communications are needed to perform this control level. IEEE Trans. Ind. Electron, vol. 58, no. 1, pp. 158172, Jan. 2011.
Tertiary control allows to import/export energy to a external stiff DC source.

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DC Microorils

/DC /DC /DC /DC

Industrial/PhD course on DC Microgrids

7th Edition: May 1st-May 2nd, 2017

Nr. Name e-mail

Received the B.S. degree in telecommunications engineering, the M.S. degree in

11Apr16 Industrial/PhDMicrogridsCourse,AalborgUniversity 1 Industrial/PhDMicrogridsCourse,AalborgUniversity 2

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and electrified transportation. Schemes for DC Microgrids

Lab III - Design of the Lab VI- Distributed ESS

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DC Distribution Microgrids DC Distribution Microgrids

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DC Distribution Microgrids DC Distribution Microgrids

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DC Distribution Microgrids DC Distribution Microgrids

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DC Distribution Microgrids DC Distribution Microgrids

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DC Distribution Microgrids DC Distribution Microgrids

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DC Distribution Microgrids DC Distribution Microgrids

Cloudbased energy monitor,

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DC Distribution Microgrids DC Distribution Microgrids

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DC Distribution Microgrids DC Distribution Microgrids

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DC Distribution Microgrids DC Distribution Microgrids

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DC Distribution Microgrids DC Distribution Microgrids

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DC Distribution Microgrids DC Distribution Microgrids

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DC Distribution Microgrids DC Distribution Microgrids

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DC Distribution Microgrids DC Distribution Microgrids

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DC Distribution Microgrids DC Distribution Microgrids

DC Distribution Microgrids DC Distribution Microgrids

DC Distribution Microgrids DC Distribution Microgrids

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Openloopdynamics: Equivalentcircuit Bilinearmodel

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Complementarycontrol Simmetrical control

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Systemisstableif E>2Vc2 0<u<0.5

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