PHD - Industrial Course On DC Microgrids PDF

Industrial PhD Course on
DC Microgrids
Lecturers
Josep M. Guerrero Professor - Aalborg University, Denmark
Sanjay K. Chaudhary Associate Professor - Aalborg University, Denmark
Enrique Rodriguez Diaz Postdoc fellow -Aalborg University, Denmark
www.microgrids.aau.dk
List of participants for Industrial/Ph.D. Course in Microgrids
10th 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
Industrial/Ph.D. Course on DC Microgrids
10th Edition: June 25 –June 26, 2018
Course schedule
PHD COURSE ON DC - MICROGRIDS
DAY1: DAY2:
08:30 LECTURE – P101-19 LECTURE – P101-19
Registration
Course Overview
Presentation of
Speakers
L4 - DC Collection Grids:
Wind Power Plants
L1 - DC Distribution
Microgrids
10:00 COFFEE BREAK
10:30 LuNCH BREAK LECTURE – P101-19
L2 - Control of Power
Electronics Converters
for DC Microgrids
L5 - Hierarchical Control
of DC Microgrids
L3 - Paralel Control
Schemes for DC
Microgrids
12:00 LUNCH BREAK
13:00 LABORATORY LABORATORY
Lab I- Design of Control

Parameters for DC
Microgrids
Lab V- Control design of a
standalone voltage-droop
Lab II - Simulation regulated DC MicroGrid
Evaluation of Stand-
alone Converter with DC
Voltage Control
14:30 COFFEE BREAK
Lab III - Design of the Lab VI- Distributed ESS

hierarchical control for Balancing by Using a
DC microgrids Fuzzy Inference System
Lab IV - Simulation
Evaluation of a DC Clossing session
microgrid
16:30
Who is Josep M. 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 浙江大学 (China).
June 25 – June 26, 2018 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 Editor‐in‐Chief 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
Enrique Rodriguez Diaz PostDoc. Researcher - Aalborg University, Denmark Energy Systems.
www.et.aau.dk
11‐Apr‐16 Industrial/PhD Microgrids Course, Aalborg University 1 Industrial/PhD Microgrids Course, Aalborg University 2
Who is Sanjay Chaudhary Who is Zheming Jin

He received the B.Sc. and Msc degrees in Electronics Engineering at the
University of Oviedo, Oviedo, Spain, in 2012 and 2014,respectively. He
obtained his PhD degree in Power Electronics from Aalborg Universitet,
He obtained his B. Tech. (Electrical Engg.) in 2000 from Denmark, in 2018, where currently is a Postdoctoral Researcher. In 2017,
Aligarh M. University, India and M. Tech. (Electrical Engg.) in he was a guest researcher at the Power Electronic Laboratory at EPFL. He is
2002 from Indian Institute of Technology, Kanpur, India, with a member of the International Electrotechnical Commission System
Evaluation Group SEG4 on Low Voltage DC Applications, Distribution, and
specialization in Power Systems. From 2002 he worked with
Safety for Use in Developed and Developing Economies. His research
ABB Ltd. in India for three years. In 2005, he joined interests include DC distribution systems and control of power converters
Honeywell Technology Solutions Lab, Bangalore. and microgrids.
He started his Ph.D. research on ‘Control and Protection of
Wind Power Plants with VSC‐HVDC Connection’ at Aalborg
University in 2008 and he received his Ph. D. degree in 2011.
Currently he is an Associate Professor at the same University.
His main interests are on grid connection of renewable

energy, power systems, HVDC and FACTS, and other power
electronic applications in power systems.
11‐Apr‐16 Introduction to HVDC and FACTS Course October 22‐25, 2013 11‐Apr‐16 Industrial/PhD Microgrids Course, Aalborg University 4

Course Schedule
PHD COURSE ON DC - MICROGRIDS
DAY1: DAY2:
8:30 LECTURE – P101-19 LECTURE – P101-19
Registration
Course Overview
L4 - DC Collection Grids:
Presentation of Speakers
Wind Power Plants
L1 - DC Distribution
Microgrids
10:00 COFFEE BREAK
10:30 LuNCH BREAK LECTURE – P101-19
L2 - Control of Power
Electronics Converters for
DC Microgrids L5 - Hierarchical Control of
DC Microgrids
L3 - Paralel Control
Schemes for DC Microgrids
12:00 LUNCH BREAK
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 COFFEE BREAK
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
11‐Apr‐16 Industrial/PhD Microgrids Course, Aalborg University 5
Outline
• Current war
• DC Microgrids configurations
• DC Microgrids at home
• DC Microgrids facilities
• Conclusions
DC Distribution Microgrids • References
Josep M. Guerrero, Professor
Department of Energy Technology
joz@et.aau.dk
http://www.et.aau.dk
25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 1 25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 2
DC Distribution Microgrids DC Distribution Microgrids

Advantage of DC transmission systems
 no reactive power loading of the transmission line
 complete control of energy flow
 no reactive power loading of the transmission line
 reduced losses
Why Back to Back links?
 Different system frequencies
 No additional short circuit power contribution to connected
networks
 Fully controllable power flow

± 500 kV HVDC Transmission Line
Problems in AC microgrids:
 Synchronization of distributed generators
 Inrush current (transformers, Induction motors, Induction generators)
 Three‐Phase Unbalance (single‐phase loads, single‐phase generators such
as photovoltaic)
Recent Trends
 Introduction of many Inverter loads (AC/DC and DC/AC conversions are
Europe HVDC projects with
Asia HVDC lines transfer power from rural areas to urban centers
included)
submarine cables  Introduction of distributed generations with DC output (photovoltaic, fuel
cell,variablespeed type wind turbine, microturbine, gas engine)
 Needs for higher quality power
DC‐Coupled Microgrids
 DC microgrids/nanogrids
 DC distributed power systems (DPS)
 Applications: VRM, ‐48 V telecom systems, DC‐link for UPS systems
 Isolated systems: avionic, automotive, marine…
Source: ABB

Demonstrations of 300‐400V DC MicroGrids in the world
DC Microgrids:
 Distributed scheme of load side converters provide a high quality power.
 Various forms of electric power (e.g 1‐100V, 3‐200V, DC 100V) can be obtained
without transformers.
 Hierarchical disconnection of load points.
 When a temporary overload occurs at one load, electric power can be shared by
using additional electric power lines between load side converters.
 Synchronization of distributed generators are not necessary.
 Fluctuation of generated power of distributed generators and load power can be
compensated in the dc line by using energy storage devices.
 Loads are not affected by voltage sag, voltage swell, three‐phase voltage
unbalance, and voltage harmonics.
 Power quality is not affected by Inrush current, single‐phase loads and single‐
phase generators.
 Higher efficiency than AC microgrid.
300‐400V DC Operational and Demo Sites Worldwide (Europe, USA and Japan)
Converter interfaces for DC Microgrids
 Grid Side converter (GSC): links the ac grid and dc microgrid system. Depending on
DC Microgrid topology microgrid power rating, GSC could be either a single or three phase ac/dc converter.
Important feature of GSC is unity power factor (UPF) operation.
 Load Side Converter (LSC): is the family of converters connected between the dc line
and end loads. For instance, connected between the dc line and high brightness (HB)
LED is a dc‐dc converter. Currently, most of the power electronic interfaces for loads are
designed to operate on ac voltage. Thus, it is a major challenge to shift from ac system
to dc system.
AC Residential system
 Renewable Side Converter (RSC): comprises of the power electronics interface between
the dc bus and renewable sources such as solar photovoltaic (PV), wind turbine, fuel cell
etc.
 Storage Side Converter (SSC): includes interface devices between dc bus and storage
elements. Different SSCs are required for different technologies such as battery,
AC commercial system flywheel, super capacitor etc. SSC design must ensure long operation life of the storage
elements.

DC Microgrid Voltage Level:
Existing AC system is 400 V and 230 V
DC Microgrid Voltage Level:
DC Microgrid voltage levels
 Efficiency: System efficiency depends on the power conversion stages between the
sources and loads. As the power conversion stage and its efficiency depends on voltage
 400V: This voltage level has been used in dc datacenters. This is relatively
levels, system efficiency also depends on dc bus voltage level.
high voltage and hence highly effective grounding and protection
techniques are required.
 Cost: The cost of GSC, LSC, SSC and RSC topologies depends on the voltage levels. Cabling
 325V: It is equal to the peak of the ac phase voltage. Standard single
size is decided by the current to be carried, which in turn depends on the system power
phase power supplies with diode bridge input stage have dc link voltage of
and voltage level. Converters and cabling constitute the second largest share in the
325 V. Hence, existing supplies are compatible with this dc voltage level.
system cost, after the renewable sources. Typically, converter and cabling costs increase
 230V: It has the same root mean square value as that of the existing ac
with the reduction in voltage level. This limits the use of low dc voltage for high power
system. Hence, the resistive loads (mostly heating) rated to operate with
application.
the existing ac system need not be modified, if this voltage level is used.
 120V: It is an intermediate level between very low voltage and the existing
 Safety: Very low voltage (less than 50V) is considered safe for humans up to 3 seconds of
ac system voltage.
direct contact. However, even for this voltage range, grounding practice is necessary for
 48V: It is used in the telecom sector, hence supporting devices for this
the protection of devices/equipments.
voltage level are available.

Comparison of dc and ac systems for residential application Comparison of dc and ac systems for commercial application

Microgrid to Macrogrid interconnection New microgrid distribution topologies in buildings

DC 24V‐ Infrastructure
The key application areas for EMerge Alliance dc standard as implemented for building interiors
standardization of dc power use in
buildings include: 24 VDC 380 VDC
✔Interiors and occupied spaces where
lighting and control loads dominate
the need for dc electricity
✔Data centers and telecom central
offices with their dc powered
information and communications
technology (ICT ) equipment
✔Outdoor electrical uses, including
electric vehicle charging and outdoor
light‐emitting diode (LED ) lighting
✔Building services, utilities, and HVAC
with variable‐speed drive (VSD ) and 380 VDC 24 & 380 VDC
electronic dc motorized
equipment.
EA’s dc standards as implemented in a data center
Lighting and controls on a solar‐powered dc Microgrid at University of
California San Diego.
(Source: Armstrong World Industries)

DC Microgrid at Xiamen University, China
Barriers: The Challenges of Increased DC Use in Buildings
 150 kWp PV
 System
The use of dc power is not without it challenges. These fall into 5 major categories:  DC Lighting
1) lack of application and equipment standards for dc power distribution  Energy Storage
2) lack of common understanding and basic application knowledge of building distribution‐  Air Conditioning
 Electric Vehicle
level dc  Charge Station
3) differences in safety and power protection device application  Data Center
4) lack of a robust ecosystem to support the use of dc in building‐level electrification  Home
 And Office
5) unclear pathway for moving from ac‐centric power distribution to dc‐inclusive distribution  Appliances
schemes.
Cloud‐based energy monitor,
The first 3 challenges are being addressed with increasing resources by such standards and management, and control system
Optimal equipment choice and
trade organizations as: operation of direct‐current
MicroGrids
EA , the European Telecommunications Standards Institute (ETSI ), the International Efficiency Comparison:
 DC vs. AC
Electrotechnical Commission (IEC ), IEEE , NE MA, NFPA, the Power Sources Manufacturers  Lighting: 92% vs.78%
Association (PSMA), the Smart Grid Interoperability Panel (SGI P) of the National Institute of  AC: 93%vs. 87%
Standards and Technology (NIST ), UL , and others.  Data Center: 78% vs.64%
 EV Charger: 94% vs.76%

DC Building (EPARC, Taiwan) DC 380 V
DC Building (EPARC, Taiwan) DC 380 V
 150 kWp PV
 System
 DC Lighting
 Energy Storage
 Air Conditioning
 Electric Vehicle
 Charge Station
 Data Center
 Home
 And Office
 Appliances
Cloud‐based energy monitor,

management, and control system
Optimal equipment choice and
operation of direct‐current
microgrids
Efficiency Comparison:
 DC vs. AC
 Lighting: 92% vs.78%
 AC: 93%vs. 87%
 Data Center: 78% vs.64%
 EV Charger: 94% vs.76%

Green Home (Korea) DC 380 V Fukuoka Smart House DC 380 V (Japan)
 LVDC 380 V  Home Energy Management Systems
 MV Distribution level 22.9 kV  Bidirectional Meters

DC microrids for data centers & servers DC microrids for data centers & servers
Supplying digital loads. A classical solution:
Data server
PDU ‐. Power Distribution Unit.
Four power conversions can result in a poor efficiency of the system PSU ‐. Power Supply Unit
Online UPS system is easily available in the market

Typical UPS system for datacenter Different types of centralized power supply system with battery backup
380 V DC distribution bus at facility
Centralized supply system (b) Multilocation* centralized supply system
* the DC/DC converters were physically located in different places, thus requiring safety
If to replace AC uninterruptable distribution power line at facility level by the DC line, as it is shown later, more than 7% shielding because of the presence of the highvoltage bus.
overall efficiency improvement and 10% to 30% saving in cost of operation can be achieved.

Example of distributed power architecture Typical AC distribution architecture
(dotted components are optional)
IBC
 Commercial UPS system solution
PIBC  Two AC buses (AC main & critical AC bus)
PBUS PPOL  High number of conversions (until 5)
Source: Leonardo Energy
Source: Intechopen

Typical DC distribution architecture DC distribution architecture with intermediate bus
 Front ends are used
 High voltage DC bus
 Low number of conversions  Intermediate low voltage bus
Source: Leonardo Energy Source: Leonardo Energy

Intel DC microgrids for servers Intel DC microgrids for servers
Conventional 480Vac distribution in the United States
Specialized (Delta‐conversion) AC UPS; with transformer in PDU in US (480Vac input)
and without transformer in Europe (400Vac input)
400Vac : Conventional in Europe with 400Vac input; proposed for US with 480Vac input
Rack‐level DC
 Online UPS system
 Series‐parallel UPS system
A Pratt, et al. “Evaluation of 400V DC Distribution in Telco and Data Centers to Improve Energy Efficiency”

Intel DC microgrids for servers Intel DC microgrids for servers
Facility‐level 48Vdc
Facility‐level 400Vdc
Facility‐level 550V / 48V DC

Front ends
DC – AC Demonstration Facility
Isolated DC output UPS with wide range output
Non‐isolated DC output UPS with split bus and narrow range output
Small scale demonstration comparing conventional a high efficiency AC architecture (on
right) with 380V DC facility‐level distribution (on left).
Overhead lights operated on 380Vdc as well.

Sendai Microgrid Project
DC – AC Demonstration Facility
Small scale demonstration setup for AC (top) and DC (bottom)
7% improved efficiency and 6% savings with DC

Sendai Microgrid Project Sendai Microgrid Project





Sendai Microgrid Project Fukushima

Fukushima Sendai Microgrid Project
Events timeline for a microgrid in Sendai, Japan, after the March 11, 2011 earthquake.
K. Hirose, “Performance of the Sendai Microgrid During the 2011 Earthquake and Tsunami”
Japan residential DC microgrid
DC Microgrid Ring (Japan)
Kakigano, H.; Miura, Y.; Ise, T.; , "Low‐Voltage Bipolar‐Type DC Microgrid for Super High Quality
Distribution," Power Electronics, IEEE Transactions on , vol.25, no.12, pp.3066‐3075, Dec. 2010

Comercial DC Microgrid Comercial DC microgrid
REbus™ is an open standard for DC electricity distribution. Primary Source Units (PSU)
REbus™ microgrid is a flexible energy network that lets you make and use clean
renewable energy for home, business, school, or neighbourhood. (400V)
Load Units (LU)
Powerline Communication
• Robust narrowband FSK modulation
• Programmable transmission data rate up to 30kbps
• Programmable communication frequency from
50kHz to 500kHz
• Complete Media Access Control (MAC) logic
• CSMA/CD type collision detection and resolution
• Programmable automatic preamble generation
• Programmable automatic packet‐priority
management with four levels
• Error detection (CRC 16) REbus™
Residencial DC microgrid Configurations of PV generation systems
PV Microgrid configuration
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 , vol.26, no.10,
pp.3032‐3045, Oct. 2011

PV microgrid operation PV microgrid operation
Mode I Mode II
Mode III Mode IV
Kai Sun; Li Zhang; Yan Xing; Guerrero, J.M.; , "A Distributed Control Strategy Based on DC Bus Signaling for Modular Photovoltaic Kai Sun; Li Zhang; Yan Xing; Guerrero, J.M.; , "A Distributed Control Strategy Based on DC Bus Signaling for Modular
Generation Systems With Battery Energy Storage," Power Electronics, IEEE Transactions on , vol.26, no.10, pp.3032‐3045, Oct. 2011 Photovoltaic Generation Systems With Battery Energy Storage," Power Electronics, IEEE Transactions on, Oct. 2011
Conclusions References
[1] Kojima, Y. Koshio, M. Nakamura, S. Maejima, H. Fujioka, Y. Goda, T.A,
‐ DC microgrids are gaining popularity in residential “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): 1‐6.
‐ DC microgrids are a good solution for autonomous [2] Barnes, M. Kondoh, J. Asano, H. Oyarzabal, J. Ventakaramanan, G. Lasseter, R.
Hatziargyriou, N. Green, T. “Real‐World MicroGrids: ‐An Overview,” System of Systems
systems when trying to combine: PV systems with Engineering, 2007. SoSE '07. IEEE International Conference on, 16‐18 April 2007,
batteries. page(s): 1‐8.
[3] S.Morozumi, "Technology Development For Grid‐Connection Issues", International
‐ DC microgrids can naturally interface: Telecommunications Energy Conference, Renewable Energy 2006, Chiba, Japan, Oct. 2006
o DC sources: 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 DC storage: supercapacitors, batteries. Kassel, Germany. Symposium on Microgrids, Montreal, June 2006.
o DC loads: LEDs, electronic loads. [5] J.M. Guerrero, J. C. Vasquez, et Al., “Hierarchical Control of Droop‐Controlled DC and AC
Microgrids –A General Approach Towards Standardization,” IEEE Transactions
‐ In general, DC microgrids are more efficient than AC 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
• Feedback linearization control
• One cycle control
• Buck converter
• Half‐bridge with synchronous rectifiers
Control of Power Converters for DC • Half‐bridge current doubler rectifier
Microgrids • Conclusions
• References
joz@et.aau.dk
25‐June‐18 Industrial/PhD Microgrids Course, Aalborg University 1 25‐June‐18 Industrial/PhD Microgrids Course, Aalborg University 2
Control of Power Converters for DCMG Control of Power Converters for DCMG
Feedback linearization control Feedback linearization control
 Open loop
dynamics
m(x): nonlinear term
 Control synthesis
System dynamics Relative degree
 Closed loop dynamics
 Relative degree r is the number of times that you can derivate the output
function y until the control variable u appears

 Example: Buck converter
 Regulation control objective
 Open loop dynamics:  Equivalent circuit  Bilinear model
 Generalized control synthesis
 Open loop dynamics
 Average open loop output voltage dynamics
 Controller with integrator
 No steady‐state error, since no losses has been considered
Nonlinear control

 One cycle control – a particular case
 Averaging filter
 With a cutoff frequency higher enough the dynamics are barely affected
Control Art of Switching Converters, Keyue Ma Smedley, 1991, PhD Thesis
One Cycle Control One cycle control
 Steady‐state output voltage
 Dynamics taking into account losses:
 The controller cannot avoid the steady‐state error
Control Art of Switching Converters, Keyue Ma Smedley, 1991, PhD Thesis
One cycle control Half‐bridge with synchronous rectifiers
 OCC with feedback linearization control
 Complementary control  Simmetrical control
 Pole placement and steady‐state error elimination
Half‐bridge with synchronous rectifiers Half‐bridge with synchronous rectifiers
 Bilinear model  Steady‐state
 Regulation curve  Equivalent Circuit
L. Garcia de Vicuna, J.M. Guerrero, J. Matas, M. Castilla, J. Miret, “Simple nonlinear controller to reduce line and load
disturbances in HBCC converter ”, Electronics Letters Volume: 38 , Issue: 25,2002, pp.1751‐1752.

 Open loop output voltage dynamics  Zero dynamics
 Relative degree (2) is lower that the system dynamics (4)  system
partly linearized:
 Internal dynamics (nonlinearized)
 External dynamics (linearized)
 Closed loop dynamics (external dynamics)
L. Garcia de Vicuna, J.M. Guerrero, J. Matas, M. Castilla, J. Miret, “Simple nonlinear controller to reduce line and load  Small signal dynamics to study the internal dynamics
disturbances in HBCC converter ”, Electronics Letters Volume: 38 , Issue: 25,2002, pp.1751‐1752.
 Adding an integral term  order of the systems increases in one  Eigen values analysis:
new state variable:
 Small signal 5th order dynamics
 System is stable if E > 2Vc2  0 < u < 0.5

 Closed loop eigenvalues analysis:  Control implementation
Coincides with the imposed external dynamics
 Robustness conditions  External dynamic stability condition
(Routh)
 Variable frequency solution
 Once cycle control
 Large signal model Vs switching model
 Large signal dynamics imposed. Internal and external dynamics stability
guaranteed.

Half‐bridge with double current rectifier Half‐bridge with double current rectifier
 Large signal nonlinear model  Steady state
 Equivalent circuit
 Parabolic regulation curve
 Parabolic Regulation Curve
 Output voltage open loop dynamics
Regulation limit
 Inductors design
 Controller synthesis
 Output voltage closed loop dynamics

 Variable frequency implementation
 Controller expression
 Physical explanation
 Steady‐state current condition
 Sensing of both voltage rectifiers
 Controller expression

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), 1751‐1752
[2] JM Guerrero, LG de Vicuña, J Miret, J Matas, M Castilla, “A Non‐linear Feed‐
forward Control for the Half‐Bridge Converter with Current‐Doubler Rectifier”
IEEE IECON 2003.
[3] J Matas, LG de Vicuna, JM Guerrero, J Miret, M Castilla, “Non‐linear control of a
paralleled half‐bridge complementary‐control 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 current‐doubler 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
full‐bridge current doubler synchronous rectifier, Applied Power Electronics
Conference and Exposition, 2005

Outline
• Parallel control schemes
• Centralized control
• Master‐slave control
• Averaged control
• Droop control
Parallel Control Schemes for DC
• Virtual impedance
Microgrids
• Adaptive voltage positioning (AVP)
Josep M. Guerrero, Professor • Conclusions
Department of Energy Technology • References
joz@et.aau.dk
Parallel control schemes for DCMG Parallel control schemes for DCMG
Classification:
 Droop methods: output voltage droops when load increases. 1) Active load sharing controllers
 Active load sharing methods: combine a control mode with a processing A. Control structures
current load error scheme.  Inner CS loop
 Outer CS loop
 External controller
B. Balancing current schemes
 Methods of average current sharing
 Master‐slave methods
2) Droop methods
Advantages:
 Easy to implement and expand the paralleled system
 Don´t need any interconnection between the controllers
 High modularity and reliability
Main disadvantage:
 Trade‐off between regulation and load sharing

Active Load sharing controllers Active Load sharing controllers
1. Inner CS loops 2. Outer CS loop
 The inner current sharing loops. Use error current signals to adjust the voltage reference
 Voltage loops can be common or distributed.
 In CMC the load sharing is done by giving each controller the reference current. Advantages:
 Good modularity and standardization for production
Advantages:  Flexibility in the system configuration, easy to expand and to maintain.
 Stable output current sharing  Excellent fault tolerant in case of a single module failure
 Tight output voltage regulation
Limitations:
Limitations:  Possible instabilities during
 Degrade system modularity: the transient
• Control asymmetry  Problems with parametric
 Poor fault tolerance: difference between modules:
• Centralized voltage regulator pure integrators must be avoided.
4. Outer Control Loop
3. External controller
Distribute load current sharing signals to the controllers
An external controller compare all the signals of the common load with the
modules signals
Advantages:
 Easy to implement active methods of interleaving
 Good current sharing and output voltage regulation
 Easy to implement fault monitors
Disadvantages:
 More interconnections between
the modules and the external
controller degrade reliability
 Modularity degradation

5. Average methods
Every module generate signal proportional to its average output
current to generate the current sharing reference a Iref.
1= ... = n= 1
Wi(s): gain proportional to the nominal current of the module i.
M(s)∙(iref ‐ io) used to adjust output voltage.
Intersil HIP6301 control IC
6. Master‐slave methods
Classification according to the Master role:
Advantages:
 Dedicated Master.
 Current sharing signals stables and precise  Rotate Master
 Automatic Master (democratic)
 One interconnection: load sharing bus
 Noise immunity Rotate Master
 Improve system reliability: every module is able to be the master, according to
Disadvantages:
a specific logic control
 Reliability not very high  in
 Disadvantage: The voltage can fluctuate due to the continuous change of
 Poor fault tolerance
master
 Practical: Complicate implementation.

Automatic master
 1, 2, …, n are connected to an ideal diode
 This scheme automatically selects as a master the module with more output
current. Similar than average method, but substituting R by D.
 Unitrode UC3907 & UC3902
Advantages:
 Only one wire interconnection
 Good fault tolerance (automatic disconnection)
 Easy to expand and modify the parallel system
Limitations:
 Poor transient current sharing. Need for soft‐start
 Possible fault in the sharing control
 Noise sensitivity. UC3907 gives small offset to master
Droop control and Virtual Impedance Droop control and Virtual Impedance
Droop control Droop control in DC
• Parallel connected voltage sources
• Series connected (stacked) current sources  Equivalent circuit  Droop control – static performances
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
 Current sharing vs virtual impedance
Output Plane Analysis of Load‐Sharing in Multiple‐Module Converter Systems and voltage setting errors
John S. Glaser and Arthur F. Witulski
Droop control in DC Droop control in DC
 Virtual impedance
 Current for each converter j
 Considering equal virtual resistances and voltage settings
 Considering voltage setting error
 Voltage deviation
 Max current error
 Current for each converter j
Droop control in DC
 For N=2 converters
 Output voltage
 Current deviation

Adaptive voltage positioning ‐ AVP Load transient response for different closed-loop output
impedance profiles
 Ways of implementation
a) Non‐resistive impedance
b) Resistive impedance
 Calculate Vc = f(Vdroop, Vo)
c) Quasi‐resistive impedance
M. Lee, “Modeling and Design for a Novel Adaptive Castilla, M.; Guerrero, J.M.; Matas, J.; Miret, J.; Sosa, J.; , "Comparative study of hysteretic controllers for

Voltage Positioning (AVP) Scheme for Multiphase VRMs” single‐phase voltage regulators," Power Electronics, IET , vol.1, no.1, pp.132‐143, March 2008
Generalized block diagram of the hysteretic regulator
(a) Power stage circuit. Synchronous buck converter.
(b) Control configuration.
Castilla, M.; Guerrero, J.M.; Matas, J.; Miret, J.; Sosa, J.; , "Comparative study of hysteretic controllers for Castilla, M.; Guerrero, J.M.; Matas, J.; Miret, J.; Sosa, J.; , "Comparative study of hysteretic controllers for
single‐phase voltage regulators," Power Electronics, IET , vol.1, no.1, pp.132‐143, March 2008 single‐phase voltage regulators," Power Electronics, IET , vol.1, no.1, pp.132‐143, March 2008
Thevenin equivalent circuit Output impedance design
AVP design
Voltage at no load
Castilla, M.; Guerrero, J.M.; Matas, J.; Miret, J.; Sosa, J.; , "Comparative study of hysteretic controllers for Castilla, M.; Guerrero, J.M.; Matas, J.; Miret, J.; Sosa, J.; , "Comparative study of hysteretic controllers for
single‐phase voltage regulators," Power Electronics, IET , vol.1, no.1, pp.132‐143, March 2008 single‐phase voltage regulators," Power Electronics, IET , vol.1, no.1, pp.132‐143, March 2008
Adaptive voltage positioning Conclusions
‐ Parallel control schemes can be used and combined in DC
microgrids:
o Master/slave – Unitrode approach
o Average current sharing – Intersil approach
o Droop control
‐ Droop control have been developed for DC/DC converters.
‐ Droop control and virtual impedance are similar concepts in DC.
‐ In low voltage/high current applications for VRM/POL converters
it is called AVP: adaptive voltage positioning.
‐ Droop control can be designed to make the closed loop
impedance to be pure resistive in order to have best dynamics.
 Additional AVP control loop

References
[1] Guerrero, J.M.; Vasquez, J.C.; Matas, J.; de Vicuna, L.G.; Castilla, M.; , "Hierarchical Control of Droop‐Controlled AC
and DC Microgrids—A General Approach Toward Standardization," Industrial Electronics, IEEE Transactions on ,
vol.58, no.1, pp.158‐172, Jan. 2011 doi: 10.1109/TIE.2010.2066534 URL:
http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5546958&isnumber=5662271
[2] Xiaonan Lu; Guerrero, J.; Teodorescu, R.; Kerekes, T.; Kai Sun; Lipei Huang; , "Control of parallel‐connected
bidirectional AC‐DC converters in stationary frame for microgrid application," Energy Conversion Congress and
Exposition (ECCE), 2011 IEEE , vol., no., pp.4153‐4160, 17‐22 Sept. 2011 doi: 10.1109/ECCE.2011.6064335 URL:
[3] 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 , vol.26,
no.10, pp.3032‐3045, Oct. 2011 doi: 10.1109/TPEL.2011.2127488 URL:
[4] Xiaonan Lu; Kai Sun; Guerrero, J.M.; Vasquez, J.C.; Lipei Huang; Teodorescu, R.; , "SoC‐based droop method for
distributed energy storage in DC microgrid applications,"Industrial Electronics (ISIE), 2012 IEEE International
Symposium on , vol., no., pp.1640‐1645, 28‐31 May 2012 doi: 10.1109/ISIE.2012.6237336 URL:
[5] Anand, S.; Fernandes, B.; Guerrero, J.; , "Distributed Control to Ensure Proportional Load Sharing and Improve
Voltage Regulation in Low Voltage DC Microgrids," Power Electronics, IEEE Transactions on , vol.PP, no.99, pp.1, 0
doi: 10.1109/TPEL.2012.2215055 URL:
[6] Guerrero, J.; Chandorkar, M.; Lee, T.; Loh, P.; , "Advanced Control Architectures for Intelligent Microgrids – Part II:
Power Quality, Energy Storage, and AC/DC MicroGrids,"Industrial Electronics, IEEE Transactions on , vol.PP, no.99,
pp.1, 0 doi: 10.1109/TIE.2012.2196889 URL:
25‐June‐18 Industrial/PhD Microgrids Course, Aalborg University 29
Outline
• Motivation
• AC vs. DC Collector Grid
• DC collector grid topologies
• DC‐DC converters
• References
DC Collector Grid for Offshore Wind
Power Plants
Sanjay K Chaudhary, Associate Prof
skc@et.aau.dk
Offshore Wind Power Plant Typical offshore wind power plant layout
1
GSC
LCL
Filter
CB & CT
MV feeder #1 36 kV Coll.
Two ac‐dc conversion stages
Chopper
Resistor
Bus#1
WTG#1
150 kV Coll
Bus #1
Three transformer stages!
GSC
MV feeder #2
WTG#2
3 150 kV
Bus#2
4
36 kV Coll. HV
feeder #1
B1
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 Very long medium voltage ac cable network
Vg 400 kV
170 kV kV, 1400A, 200km DC Cable

170 kV
Vf2
Xph1 Xph2 Xt2 P+ jQ Cable X‐section Length Diameter Weight

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

WPP with dc collector grid Ac vs, DC Power Equations
1 2 or 3 dc‐dc conversion
Dc/dc MVdc feeder #1 2 stages for dc‐transformer
HV Coll Bus
WTG#1 Dc/dc
#1
action depending upon
Dc/dc MVdc feeder #2
grid layout design.
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
Assuming same rms currents, i.e. , peak line to ground voltages,

OFFSHORE ONSHORE
kV, 1300A, 100 km HVDC Cable and power factor, cos 0.94, the ac power carried by the three

3
Xph2 Xt2 P+ jQ
core cable is equivalent to the dc power carried by the two core cable.
3 , 3
cos 1 _
AC transformers are more VSC1 VSC2
2 2 , 2
efficient than dc‐dc VSC based HVDC Transmission
Power losses in ac cables are over 50% higher than that in dc for the same rms current.
converters!
Moreover, ac resistance is higher than dc resistance due to screen and proximity effects.
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 SAB has poor transformer utilization!
 Heavy line frequency transformer is replaced with medium-voltage high-
frequency DC/DC converters DC‐DC Collector grid with single active bridge (SAB) DC‐DC converter
 Redcued footprint size and weight. Ref. [6] C. Meyer, M. Hoing, A. Peterson, and R. W. De Doncker, “Control and Design of DC Grids for Offshore Wind Farms,” IEEE Trans. Ind. Appl., vol. 43, no.
6, pp. 1475–1482, 2007.

DC Collector Grid Topologies DC-DC Converter Topologies
WTG dc output converted to
MVdc, and then the collected • AC transformers allow the voltage to be stepped up for
power is converted to HVdc. transmission and stepped down for distribution and
consumption.
• Technically dc transformer is impossible. Dc-dc converters can
WTG dc output directly provide such a functionality.
collected and converted to
HVdc.  Isolated Topologies
– Single Active Bridge
– Double Active Bridge
– Resonant converters (series and parallel)
 Non-isolated Topologies
– LCL dc-dc converter
WTG dc output directly
collected and converted to
HVdc.
Ref. [2] F. Deng, ‘Design and Control of A DC Grid for Offshore Wind Farms’, PhD Thesis, AAU 2012.
DC-DC Converter: Active Bridge Series connection of DAB dcdc converters
Input side in parallel connection
Transformer with unity turns ratio, to provide isolation
Single active Bridge
Output side in series connection to reach MV levels.
Double active Bridge
V 2
· · 0
3 2 3
Series connection of the dc/dc converters to obtain the MV dc level
[12]
Resonant dc-dc converter Non-isolated LCL resonant dc-dcconverter
Fundamental frequency rms
line‐neutral ac voltage are:
4
2 sin 1
2
4
Seies resonant converter 2 sin 1
2 Two‐phase dc/dc converter topology
• Series resonant circuit between the capacitor and the leakage inductance
• GCT based inverter, with soft‐switching The currents in the LCL
• Medium frequency transformer with amorphous metal alloy core circuit are related by,
• By default unidirectional power flow;
• Over 99% efficiency is claimed at 1 kHz switching frequency.
Thyristors and an auxiliary switch
are added to allow some reverse
powerflow capability. 1.8% loss is claimed for 100‐MW, 40‐
kV/600‐kV, LCL resonant converter.
[11] [2]
Switched capacitor based resonant converter DC Grid Simulation model in PSCAD
Modular resonant switched ‐
capacitor (RSC) Cell:
6
• a high‐efficiency
• Non‐isolated RSC step‐up
converter The dynamics of the
• soft switching for all switches dc grid can be studied
and diodes through simulation in
• No magnetic component PSCAD/EMTDC or
• Modular structure PLECS.
[3, 5]
Summary References
1) F. Deng, ‘Design and Control of A DC Grid for Offshore Wind Farms’, PhD Thesis, AAU 2012.
• A good deal of research is focussed on developing DC collector 2)

3)
D. Jovcic and L. Zhang, “LCL DC/DC Converter for DC Grids,” IEEE Trans. Power Deliv., vol. 28, no. 4, pp. 2071–2079, Oct. 2013.
A. Parastar and J.‐K. Seok, “High‐Gain Resonant Switched‐Capacitor Cell‐Based DC/DC Converter for Offshore Wind Energy
grid for wind power plants. 4)
Systems,” IEEE Trans. Power Electron., vol. 8993, no. c, pp. 1–1, 2014.
S. Kenzelmann, “Modular DC / DC Converter for DC Distribution and Collection Networks PAR,” École Polytechnique Fédérale
de Lausanne (EPFL), 2012.
• Savings in cables transformer costs are significant for offshore 5) W. Chen, A. Q. Huang, C. Li, G. Wang, and W. Gu, “Analysis and Comparison of Medium Voltage High Power DC/DC Converters
wind power applications. 6)

for Offshore Wind Energy Systems,” IEEE Trans. Power Electron., vol. 28, no. 4, pp. 2014–2023, Apr. 2013.
C. Meyer, M. Hoing, A. Peterson, and R. W. De Doncker, “Control and Design of DC Grids for Offshore Wind Farms,” IEEE Trans.
Ind. Appl., vol. 43, no. 6, pp. 1475–1482, 2007.
• Various configurations of dc-dc converters and dc grid layout 7) N. Holtsmark, H. J. Bahirat, M. Molinas, B. A. Mork, and H. K. Hoidalen, “An All‐DC Offshore Wind Farm With Series‐Connected
have been proposed. Turbines: An Alternative to the Classical Parallel AC Model?,” IEEE Trans. Ind. Electron., vol. 60, no. 6, pp. 2420–2428, Jun.

2013.
8) D. M. Larruskain, I. Zamora, O. Abarrategui, and Z. Aginako, “Conversion of AC distribution lines into DC lines to upgrade
• Medium frequency transformer design has been proposed to transmission capacity,” Electr. Power Syst. Res., vol. 81, no. 7, pp. 1341–1348, Jul. 2011.
reduce the transformer weight. 9) C. S. Schifreen and W. C. Marble, “Charging Current Limitations in Operation or High‐Voltage Cable Lines [includes

discussion],” Trans. Am. Inst. Electr. Eng. Part III Power Appar. Syst., vol. 75, no. 3, Jan. 1956.
10) M. Stieneker, B. J. Mortimer, N. R. Averous, H. Stagge, and R. W. De Doncker, “Optimum design of medium‐voltage DC
• DC collector grid design is a hot topic for research and collector grids depending on the offshore‐wind‐park power,” in 2014 IEEE Symposium on Power Electronics and Machines for
Wind and Water Applications, 2014.
development! 11) C. Meyer and R. W. De Doncker, “Design of a Three‐Phase Series Resonant Converter for Offshore DC Grids,” 2007 IEEE Ind.
Appl. Annu. Meet., pp. 216–223, Sep. 2007.
12) M. Stieneker, J. Riedel, N. Soltau, H. Stagge, and R. W. De Doncker, “Design of series‐connected dual‐active bridges for
integration of wind park cluster into MVDC grids,” EPE2014.
13) N. Denniston, A. M. Massoud, S. Ahmed, and P. N. Enjeti, “Multiple‐Module High‐Gain High‐Voltage DC–DC Transformers for
Offshore Wind Energy Systems,” IEEE Trans. Ind. Electron., vol. 58, no. 5, pp. 1877–1886, May 2011.

Outline
• Voltage droop: Primary control
• Secondary control
• Secondary control for DC microgrids
• Tertiary control for DC microgrids
• Clusters of DC Microgrids
Hierarchical Control of DC Microgrids • Conclusions
• References
joz@et.aau.dk
Hierarchical control of DC microgrids Hierarchical control of DC microgrids

Generic dc microgrid Conception of dc microgrids
Anand, S.; Fernandes, B. G.; Guerrero, J. M.; , "Distributed Control to Ensure Proportional Load Sharing and Improve
Voltage Regulation in Low‐Voltage DC Microgrids," Power Electronics, IEEE Transactions on , vol.28, no.4, pp.1900‐
1913, April 2013 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 Dg units
References Secondary
+ control
Low Bandwidth Communications
Energy
Tertiary
Management
control
System (EMS)
Primary Dg units
control
Hierarchical Control of DC Microgrids Hierarchical Control of DC Microgrids

Droop control
• Grid connected converters
• MPPT (PV and WT) converters Droop control
• Energy storage converters • Energy Control Center (ECC)
Solar converter
V [V ]
Converter rating
A
B
C
D
Actual
MPPT
0 I gA I gB I gC I gD Ig
Future Electronic Power Distribution Systems – A contemplative view – Future Electronic Power Distribution Systems – A contemplative view –

Dushan Boroyevich, Igor Cvetković, Dong Dong, Rolando Burgos, Fei Wang, Fred Lee Dushan Boroyevich, Igor Cvetković, Dong Dong, Rolando Burgos, Fei Wang, Fred Lee
Hierarchical Control of dc Microgrids Centralized secondary control
Anand, S.; Fernandes, B. G.; Guerrero, J. M.; , "Distributed Control to Ensure Proportional Load Sharing and Improve Anand, S.; Fernandes, B. G.; Guerrero, J. M.; , "Distributed Control to Ensure Proportional Load Sharing and Improve
Voltage Regulation in Low‐Voltage DC Microgrids," Power Electronics, IEEE Transactions on , vol.28, no.4, pp.1900‐ Voltage Regulation in Low‐Voltage DC Microgrids," Power Electronics, IEEE Transactions on , vol.28, no.4, pp.1900‐
1913, April 2013 1913, April 2013

Independent control Unequal load sharing due to error in nominal voltages of two
parallel connected dc converters
Voltage Regulation in Low‐Voltage DC Microgrids," Power Electronics, IEEE Transactions on , vol.28, no.4, pp.1900‐ Anand, S.; Fernandes, B. G.; Guerrero, J. M.; , "Distributed Control to Ensure Proportional Load Sharing and Improve
1913, April 2013 Voltage Regulation in Low‐Voltage DC Microgrids," Power Electronics, IEEE Transactions on , vol.28, no.4, pp.1900‐
1913, April 2013
Distributed secondary control Average current sharing
1913, April 2013
1913, April 2013

Distributed secondary control Distributed Secondary Control
Voltage Regulation in Low‐Voltage DC Microgrids," Power Electronics, IEEE Transactions on , vol.28, no.4, pp.1900‐ Anand, S.; Fernandes, B. G.; Guerrero, J. M.; , "Distributed Control to Ensure Proportional Load Sharing and Improve Voltage
1913, April 2013 Regulation in Low‐Voltage DC Microgrids," Power Electronics, IEEE Transactions on , vol.28, no.4, pp.1900‐1913, April 2013

Droop control. Adaptive Voltage Positioning (AVP)
DC‐Bus Signaling: A Distributed Control Strategy for a Hybrid Renewable Nanogrid

John Schönberger
Hierarchical Control of DC Microgrids Droop control for DC MGs
Droop control
• DC signaling: using DC voltage microgrid
• Regions:
 Constant Voltage Droop control
 Constant Power
and
Average
Sharing
DC‐Bus Signaling: A Distributed Control Strategy for a Hybrid Renewable

PracticaI Design Considerations of Current Sharing Control for Parallel VRM Applications
Nanogrid John Schönberger Weihong Qiu, Zhixiang Liang, Intersil Corporation
Droop control for DC MGs Droop control for DC MGs
Droop control Droop control
• Set points error influence (due to sensor errors and power mismatch)
• Virtual impedance implementation
io  V * / Rdroop
Vo  V *  Rdroop  io
Ohm’s law!
Vo  V1  Rdroop  io1
Vo  V2  Rdroop  io 2
Rdroop  V * / io • Virtual impedance influence io  V * / Rdroop

for no load , io means io1  io / 2
and io 2  io / 2  0!
For light loads, high Io means that one converter could absorber power!
Analysis, Design, and Performance Evaluation of Droop Current‐Sharing Method
Brian T. Irving and Milan M. JovanoviC, Delta Products Corporation Analysis, Design, and Performance Evaluation of Droop Current‐Sharing Method
Brian T. Irving and Milan M. JovanoviC, Delta Products Corporation
Secondary Control for Microgrids Tertiary Control for Microgrids
Secondary control for DC microgrids Tertiary control for DC microgrids
• Tertiary control expression and implementation
• Primary control – Droop control:
 vo  k p '  iG*  iG   ki '   iG*  iG  dt
vref   vo
vo*  vref   vo  RD ·io
vref
• Voltage Restorer:
 vo  k p  vMG
*
 vMG   ki   vMG
*
 vMG  dt
In a DC microgrid, the voltage sources can use a virtual resistance.

The voltage reference can be readjusted by the secondary control, avoiding voltage
deviations. A deadband also can be performed. Before the DC MG is connected to the DC stiff grid, the secondary control
can make both voltages equal.
Primary Control Secondary Control
Guerrero, J.M.; Vasquez, J.C.; Matas, J.; de Vicuna, L.G.; Castilla, M.; , "Hierarchical Control of Droop‐Controlled AC
and DC Microgrids—A General Approach Toward Standardization," Industrial Electronics, IEEE Transactions on , vol.58,
no.1, pp.158‐172, Jan. 2011
Hierarchical Control of DC Microgrids Droop control for AC/DC MGs
Tertiary control
Typical AC/DC hybrid microgrid system
Bidirectional power flow

Droop control for AC/DC MGs Droop control for AC/DC MGs
Modeling of Single-Phase Bridge
Modeling of a DC microgrid
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
iα1   RL1  i
 α1   1  v
 α   1   d α1  uN2
ub2
    i    v    d 
d iβ1  L1
  β1   
L1
 β
L1
  β1  vdc Lgrid Lconv icconv2
  uc2
dt iα2   RL2  iα2   1  vα   1   d α2 
           d a2udc d b2udc d c2udc d a2iaconv2 d b2ibconv2 d c2icconv2
iβ2   L2  iβ2   L2  vβ   L2   dβ2  C
 RL2   1  1
      C
 L2   L2   L2  C
dvdc 1 iα1  iα2  vdc
 ([d α1 dβ1 ]    [d α2 dβ2 ]   )  Average model of three‐phase parallel
dt C iβ1  iβ2  RC rectifiers in a‐b‐c frame

AC/DC Microgrid interfaces
AC/DC Microgrid interfaces – Rectifier mode
Xiaonan Lu; Guerrero, J.; Teodorescu, R.; Kerekes, T.; Kai Sun; Lipei Huang; , "Control of parallel‐connected bidirectional Xiaonan Lu; Guerrero, J.; Teodorescu, R.; Kerekes, T.; Kai Sun; Lipei Huang; , "Control of parallel‐connected bidirectional

AC‐DC converters in stationary frame for microgrid application," Energy Conversion Congress and Exposition (ECCE), AC‐DC converters in stationary frame for microgrid application," Energy Conversion Congress and Exposition (ECCE),
2011 IEEE , vol., no., pp.4153‐4160, 17‐22 Sept. 2011 2011 IEEE , vol., no., pp.4153‐4160, 17‐22 Sept. 2011

Root locus of AC current controller
AC/DC Microgrid interfaces – Inverter mode
Root locus of DC voltage controller
Xiaonan Lu; Guerrero, J.; Teodorescu, R.; Kerekes, T.; Kai Sun; Lipei Huang; , "Control of parallel‐connected bidirectional AC‐DC converters in stationary Xiaonan Lu; Guerrero, J.; Teodorescu, R.; Kerekes, T.; Kai Sun; Lipei Huang; , "Control of parallel‐connected bidirectional AC‐DC converters in stationary

frame for microgrid application," Energy Conversion Congress and Exposition (ECCE), 2011 IEEE , vol., no., pp.4153‐4160, 17‐22 Sept. 2011 frame for microgrid application," Energy Conversion Congress and Exposition (ECCE), 2011 IEEE , vol., no., pp.4153‐4160, 17‐22 Sept. 2011
Hierarchical Control of DC Microgrids Secondary Control for Microgrids
Root locus of AC voltage controller Secondary control for DC microgrids
udc

udc δV
+- PI
To Rectifier II
DC Voltage Secondary
Controller
Secondary Control Level
cosθ iα1 HC

iα1 -
+

udc udc PR udc
÷
αβ
 PWM
idc
Rd -+ ++ +- PI
iβ1 +
PR ÷ -abc Generator
-
DC Droop DC Voltage sinθ iβ1 HC
Controller Controller
Current Ref. AC Current
Generator Controller
Primary Control Level
Hierarchical control diagram of a parallel PWM rectifier system
Xiaonan Lu; Guerrero, J.; Teodorescu, R.; Kerekes, T.; Kai Sun; Lipei Huang; , "Control of parallel‐connected bidirectional AC‐DC converters in stationary
frame for microgrid application," Energy Conversion Congress and Exposition (ECCE), 2011 IEEE , vol., no., pp.4153‐4160, 17‐22 Sept. 2011

Secondary Control for Microgrids Secondary Control for Microgrids
Secondary control for DC microgrids Secondary control for DC microgrids
iα

udc
Control diagram of inner current loop and

udc parallel Harmonic Compensation
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
Control diagram of the secondary controller including a delay unit 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
Secondary Control for Microgrids Hierarchical Control of DC Microgrids
Implementation of secondary control for DC microgrids Electrical scheme of the experimental system
Virtual
resistance
The primary and secondary control levels can be implemented similarly as in an AC MG.
In this case, the BW can be higher since the virtual resistance acts instantaneously.
Experimental results for hierarchical control of DC
microgrids PMG PG1

DC voltage step response DC voltage deviation caused by droop controller
PS1 PG2

PS2 PG3
AC current in Converter I when step DC voltage robustness test with Source: “Distribution Voltage Control for

DC voltage reference value employed secondary control with 63Hz bandwidth DC Microgrid with Fuzzy Control and Gain‐Scheduling Control,” H. Kakigano et Al.

SoC balancing control SoC balancing control
SoC: Waveforms of SoC1 and SoC2 with different power exponent n.
Control diagram for each converter
SoC Adaptive droop controllers: n=6

n=3
Xiaonan Lu; Kai Sun; Guerrero, J.M.; Vasquez, J.C.; Lipei Huang; Teodorescu, R.; , "SoC‐based droop method for distributed energy
storage in DC microgrid applications," Industrial Electronics (ISIE), 2012 IEEE International Symposium on , vol., no., pp.1640‐1645,
28‐31 May 2012
Tertiary Control for Microgrids Tertiary Control for Microgrids
Implementation of Tertiary control for DC microgrids Implementation of Tertiary control for DC microgrids
Stiff DC source
Tertiary Control
The primary, secondary and Tertiary control levels can be implemented similarly as in an AC MG
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.
Microgrid Clusters:
Voltage regulator
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 Power flow regulator 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
Cyber network
 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, IEEE Transactions
25‐June‐18 Industrial/PhD Microgrids Course, Aalborg University 47 25‐June‐18 Energy Conversion, Early Access. 2014]
Industrial/PhD Microgrids Course, Aalborg University 48
Small signal modeling of DC Microgrid clusters Real-time simulation results
Close loop eigenvalues of the system with
Small signal model of two interconnected dc MGs with all control loops Case study: Study 1: evaluation of the controller
(red) and without (blue) SOC dynamics
0.02
Three interconnected dc MGs Bus voltages Current flow between the MGs
SOC1 (0)
50 15
1 1 0.01
PV DC
DC LC filter Tie line 1,2 LC filter 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 WT
DC LC filter
1 2
DC WT
-0.01 DC LC filter
DC 48
Load 2
SOC2  v21 Rd1 400 -0.02
Communication
47
5
b12 F1 ( s ) -5 -4 -3
Real
-2 -1 0
-4
Battery1 DC
DC
LC filter Network LC filter DC
DC
Battery1
200 x 10
Imaginary
i 2,3 46 0
Load 1
3 DC
DC Battery2
k p1 s  k i 1 1 RL1 0 Battery2 DC
LC filter LC filter DC
45
Tie line 2,3

vMG  1s  1 RL1C1s  1
Z 2,3  Z1,2
s -200 -5
v1avg MG 1 MG 2
44
v2avg 1 -400
a12 G1 ( s )  MG 3
 v11 vMG v1 43 -10
s -600 Load 3 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
LC filter
LC filter
LC filter
LC filter
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)
80
Battery1
Battery2
s
WT
PV
20
v2avg 
vMG k p 2 s  ki 2 1 RL2 Lt
Impact of line inductance ( ) on the
s  2s 1 RL2C2 s  1 stability of system 15 60
SOC1
b21 F2 ( s ) 10
 v22
R2
d 1000 L=4 mH  Real‐time simulation 5
40
SOC2 iL2 L=0.5 mH

1 2 500 20
s Cb 2  dSPACE DS1006 0
2 4 6 8 10 12 0 2 4 6 8 10 12
Imaginary
SOC2 (0) Time (s) Time (s)
0
 Each dc MG consists of four units. MG1 units’ current
 One droop‐controlled unit; it can represents groups of droop‐controlled 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 droop‐controlled mode 1
0
 Impact of different parameters on the system stability  Neighboring communication -1
-2
2 4 6 8 10 12
25‐June‐18 Industrial/PhD Microgrids Course, Aalborg University 49 25‐June‐18 Industrial/PhD Microgrids Course, Aalborg UniversityTime (s) 50
Real-time simulation results Conclusions
Study 2: Impact of communication delay Study 3: Load change effect  Multi‐functional distributed secondary control strategies for ac Microgrids

49  normal averaging method
200 ms delay MG1 49.5 MG1
DPFC activated MG2
MG2 ‒ local controller, all‐to‐all communication, finely tuned parameters needed
MGs Voltages (V)
48.5 MG3
MGs Voltages (V)
49 MG3
 gossip‐based method
48 48.5
‒ token ring manner, synchronization & transmission scheduling
48
47.5
 Consensus‐based 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
400 ms delay Time (s)
‒ frequency/active power regulation
MGs Voltages (V)
48.5
48
Results show proper control of dc bus ‒ voltage regulation: restoration to the nominal value or maintaining within an acceptable
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
500 ms delay
 Hierarchical control of dc Microgrids and dc Microgrids clusters
MGs Voltages (V)
48.5
eliminate load disturbances properly.
48  Central voltage controller inside the  SOC‐based 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: SOC‐based regulation, spars communication
Time (s)
 Real‐time simulations
25‐June‐18 Industrial/PhD Microgrids Course, Aalborg University 51 25‐June‐18 Industrial/PhD Microgrids Course, Aalborg University
• 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.; , "SoC‐based
• 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.1640‐1645, 28‐31
• Back‐to‐back conversion is one example of DC‐coupling between different AC networks May 2012
• DC‐coupling 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 Low‐Voltage DC Microgrids," Power
 • Total active power control Electronics, IEEE Transactions on , vol.28, no.4, pp.1900‐1913, 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 parallel‐connected bidirectional AC‐DC 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/DC‐DC/AC conversion for WT and other turbines‐based sources. pp.4153‐4160, 17‐22 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 DC‐coupled microgrid: Computers in Simulation, Available online 7 August 2012, ISSN 0378‐4754,
 • 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 droop‐controlled AC and DC microgrids—A general approach toward standardization,’’
low bandwidth communications are needed to perform this control level. IEEE Trans. Ind. Electron, vol. 58, no. 1, pp. 158–172, Jan. 2011.
 • Tertiary control allows to import/export energy to a external stiff DC source.

DC MICROGRIDS COURSE
Laboratory Exercises
Aalborg, Denmark
June 25 – June 26
2018
Contents
Lab I Design of Control Parameters for DC Microgrids
Lab II Simulation Evaluation of Stand-alone Converter with DC Voltage Control
Lab III Design of Hierarchical Control for DC Microgrids
Lab IV Evaluation of Hierarchical Control for DC Microgrids
Lab V Control design of a standalone voltage-droop regulated DC Microgrid
Lab VI Distributed Energy Storage System Balancing by Using a Knowledge-based

Fuzzy Inference System
2
LAB I – DESIGN OF CONTROL PARAMETERS FOR DC
MICROGRIDS
INTRODUCTION
The objective of this lab is to guide the student to achieve AC current and DC voltage control
for a DC microgrid. And also, droop controller for load current sharing is designed. Matlab
rlocus, margin, bandwidth commands are used for designing the controller parameters.
CONTROL SCHEME
The overall hierarchical control diagram established as shown in Fig. 1.1, which will be
introduced in detail as follows:
Fig.1.1 Overall hierarchical control diagram
GPR, Gd and Gf are the transfer functions of PR controller, PWM delay unit and LC filter
respectively.
K iI s
GPR  K pI 
s  o 2
2
(1.1)
being KpI and KiI proportional and resonant parameters respectively andωthe angular
frequency.
1
Gd 
1  1.5  Ts  s (1.2)
3
beingTs switching period.
1  RDCs
Gf 
Lgrid LconvCs 3  (Lgrid  Lconv )RDCs 2  ( Lgrid  Lconv )s (1.3)
being Lgrid and Lconv filter inductances in the grid and converter side,C filter capacitor andRD
damping resistance.The control diagram of DC voltage loop is shown in Fig.1.3.
Fig.1.3 Control diagram of DC voltage loop

In Fig.1.3, for the bandwidth of inner AC current loop is much higher than that of the outer
voltage loop, AC current loop is replaced by a delay unit Gc. GPI is the DC voltage PI controller
and Gdcplant is the transfer function for id to udc.
Kiv
GPI  K pv  (1.4)
s
being Kpv and Kiv proportional and integrator parameters respectively.
1
Gc  (1.5)
1  3Ts  s
beingTs switching period.
uˆdc Ed RL
Gdcplant   
iˆd U dc sCdc RL  1 (1.6)
beingEd steady state value of AC voltage in d axis, Udc steady state value of DC voltage, Cdc
DC capacitor, RL load resistor.
After designing the AC current and DC voltage loops, droop controller in the primary control
level should be employed. In parallel rectifier system, droop effect is shown by means of DC
current sharing. The virtual resistor Rd is selected to make sure that DC voltage is in the
acceptable range, as shown in (1.7).
4
I dc(FL)
R u
d dcmax
u dcmin
(1.7)
being udcmax and udcmin the upper and lower boundary of DC voltage. Idc(FL) the full load
current in the DC side. Rdis the virtual resistor.As a result,
R  (u
d dcmax
udcmin
)/ I dc(FL)
(1.8)
LABORATORY TASKS
Task 1: Design AC current PR controller
Using the equations (1.1), (1.2)and (1.3), design the AC current controllers with the
following requirements and considering the sampling period Ts used in the laboratory
(fs=10kHz).
Requirements:
• The current loop should be stable, (closed loop) with a phase margin larger than 45˚.
Hint: use rlocus and margin Matlab function.
Task 2: Design DC voltage PI controller
Using the equations (1.4), (1.5)and (1.6),design the DC voltage controller with the following
requirements and considering the sampling period Ts used in the laboratory (fs=10kHz). Here,
Ed is selected as 3 / 2  230V  282V .
Requirements:
• The voltage loop should be stable, (closed loop) with a phase margin larger than 30˚.
Hint: use rlocus and margin Matlab function.
Task 3: Design DC droop controller
Using the equation (1.8), design the AC current controllers with the following
requirements:
• The upper and lower boundaries of the acceptable DC voltage are 590V and 610V
respectively and full load DC current is 5A.
Each group should write a short report. Send the report by email to joz@et.aau.dk
5
LAB II –SIMULATION EVALUATION OF STAND-ALONE
CONVERTER WITH DC VOLTAGE CONTROL
INTRODUCTION
The aim of this lab is to guide the student to test experimentally the designed control of a
DC microgrid including DC current droop control. Also, the student will see DC voltage
deviation and restore them to nominal values by means of a secondary control strategy.
SIMULATION STRUCTURE
SYSTEM PARAMETERS
Danfoss FC 302 inverter
Dspace 1103
Lconva  Lconvb  Lconvc  1.8mH
Ca  Cb  Cc  4.7  F
Lgrida  Lgridb  Lgridc  1.8mH
Cdc  600 F
RL  100
Sampling Frequency  10kHz
6
Fig.2.1 Control Desk layout for voltage control in a DC MG.
DESCRIPTION
The control layout is organized as follows:
- Start/stop button to enable/disable the Rectifier 1 and 2.

- Slider control module to set the virtual resistances. The value is shown close to the slider.
- Sliders module to set the dc voltage reference value as well as difference of dc voltage
reference of converters. The value is shown close to the slider.
- Sliders for tuning each controller parameters.
- Numeric inputs to set the resistive load and dc capacitor.
- System measurements numeric scopes.
- Some scopes for monitoring dc voltage, dc current, and converters output currents.
Based on the control scheme depicted in Lab VIII, the student will be able to not only control
the DC voltage inside a DC microgrid, but also to maintain the DC output current sharing.
7
LABORATORY TASKS
Task 1: DC bus voltage forming by parallel rectifiers
• Start Rectifier #1 and #2(By default the DC reference value is also initialized to 600V)
• Set Virtual resistor of Rectifier 1 and 2 to 3Ω and obtain the steady waveforms of DC
voltage and DC currents.
• Set the DC difference of voltage reference values to 1V by using the “Delta Vdc” button
and obtain DC steady-state current waveforms. Calculate the current deviation (I)
compare it with the experimental one.
• After all waveforms have been obtained, return the value of the “Delta Vdc” slider back
to 0 and stop both rectifiers.
Task 2: Proportional current sharing by parallel rectifiers
• Start Rectifier #1 and #2.

• Set virtual resistor of Rectifier #1 to 1.5Ω and 3Ω for Rectifier #2. Is the load current
shared proportionally?.
• Additionally, change the value of “Delta Vdc” slider to 2. Is the load current shared
proportionally?. Why?
• Change the values of Virtual resistant 1 and 2 to achieve again a proportional current
sharing.
• Obtain all the waveforms of DC current in each scenario.
Each group should write a short report. Send the report by email joz@et.aau.dk
8
LAB III – DESIGN OF HIERARCHICAL CONTROL FOR
DC MICROGRIDS
INTRODUCTION
The objective of this lab is to guide the student to achieve each control level of a hierarchical
control system. Previously designed local AC current, DC voltage and droop controllers are for
the primary control level. Secondary controller for restoring the DC voltage and tertiary
controller for DC grid current regulation will be reached in this lab. Matlab rlocus, margin,
bandwidth commands are used for designing the controller parameters.
CONTROL SCHEME
The control sheme of the hierarchical control system is shown in Fig.3.1.
Fig.3.1 Control scheme of the hierarchical control system
The principle of the secondary controller for restoring the DC voltage is shown in Fig.3.2
and the control sheme of the secondary controller is depicted in Fig.3.3.
9
vdc
Secondary
Response
Primary
Response
0 idc idc(FL) idc

Fig.3.2 The principle of the secondary controller
Fig.3.3 Control scheme of the secondary control level
PI control is used in DC voltage secondary control, as shown in (3.1).
Kiv2
GPI2  Kpv2  (3.1)
s
The control scheme of the tertiary control level is shown in Fig.3.4.
Fig. 3.4 Control scheme of the tertiary control level
As same as the secondary controller, PI controller is also employed in the tertiary control
level, as shown in (3.2).
Kii3
Gpi3  K pi3  (3.2)
s
10
LABORATORY TASKS
Task 1: Design secondary controller
Using the equation (3.1) and the previously achieved results in Lab I, design the secondary
controller with the following requirements and considering the sampling period Ts used in the
laboratory (fs=10kHz).
Requirements:
• The current loop should be stable.
Hint: use rlocus Matlab function.
Task 2: Design tertiary controller
Using the equation (3.2) and the previously achieved results in Lab I,design the tertiary
controller with the following requirements and considering the sampling period Ts used in the
laboratory (fs=10kHz).
Requirements:
• The current loop should be stable. Hint: use rlocus Matlab function.
11
LAB IV – EVALUATION OF HIERARCHICAL CONTROL
FOR DC MICROGRIDS
INTRODUCTION
The aim of this lab is to guide the student to test experimentally the designed hierarchical
control system of a DC microgrid, including the primary, secondary and tertiary control levels.
The student will see DC voltage deviation and restore them to nominal values by means of a
secondary control strategy and the DC grid-connected current control by means of a tertiary
control strategy.
SIMULATION STRUCTURE
12
Fig.4. Layout for Hierarchical control in a DCMG
DESCRIPTION
The control layout is organized as follows:
- Start/stop button to enable/disable the Rectifier 1 and 2.

- Start button to enable droop control. A led close to the Start droop button will show
when droop control is activated.
- Slider control module to set the DC voltage reference value. The value is shown close
to the slider.
- Start/stop button to enable/disable the secondary controller and tertiary controller. A led
close to the Start buttons will show when secondary and tertiary control levels are
activated.
- Regulators for tuning each controller.
- A system measurements scope, for monitoring voltages and currents
Based on the control scheme depicted in Lab III, the students will be able to control the local
DC voltage, AC current and droop controllers. At the same time, they can restore the DC bus
voltage by means of secondary controller and control the DC-side grid-connected current by
means of tertiary controller.
13
LABORATORY TASKS
Task 1: Secondary control to restore DC voltage in the microgrid
• Set Virtual resistor of Rectifier 1 and 2 to 3Ω and obtain the steady waveforms of DC
voltage and DC currents.
• Calculate the DC voltage deviation (V) caused by primary control and compare it with
the experimental one.
• Press ‘Start Secondary Control’ button to see the restoration of DC voltage and obtain
the transient voltage waveform. By adjusting the secondary control parameters, the error
of DC voltage should be lower than 1V.
Task 2:Tertiary control to control the DC-side grid-connected current in the microgrid
• Make sure that the DC bus voltage is restored by the secondary controller and the error
of DC voltage is lower than 1V.
• Press ‘Start Tertiary Control’ button, and obtain the waveform of DC-side grid-
connected current.
• Set the reference value of grid-connected current as 0 A → 1 A→ 0 A→ -1 A→ 0 A
and obtain the transient waveform of DC-side grid-connected current.
• Reset all the reference values to 0 and stop both rectifiers.
Each group should write a short report. Send the report by email to joz@et.aau.dk
14
LAB V –CONTROL DESIGN OF A STANDALONE
VOLTAGE-DROOP REGULATED DC MICROGRID
INTRODUCTION
This exercise is focused on coordinated tuning of control parameters of a multi-source DC

MicroGrid. At first, student will learn how to use the state-space technique for modeling the
coupled differential equations that represent particular elements of the DC MG. Then, these
equations will be linked to assemble the state-space model of the general N-unit system. Impact
analysis of changing virtual-resistance is performed for both configurations, as this control
parameter has an influence on stability.
CONTROL SCHEME
Connection of voltage-droop controlled distributed energy resource (DER) with the

corresponding control circuit to the common DC bus is shown in Fig. 5.1.
Fig.5.1 DER connected to the common DC bus
This kind of control configuration defines the operating point of the unit in a static sense as
vo  vref ,MG  Rd io (5.1)
For the purpose of attenuating the switching harmonics, LC filter is generally employed at the
output of dc/dc converter. Voltage and current control loops are usually realized as standard PI
controllers. Therefore, for dynamic analysis of the single unit system, 4 state variables can be
straightforwardly defined:
15
• x1 = Output of the integrator of the voltage loop
• x2 = Output of the integrator of the current loop
• x3 = Filter inductor current
• vc = Filter capacitor voltage (equal to the common bus voltage if unit is directly
connected).
If a lossless and non-isolated buck dc-dc converter is considered, system of Fig. 5.1 can be
modeled with coupled differential equations:
 x&1   I v Rd x3  I v vc  I v vref ,MG


 x&2  I c x1  I c ( Rd Pv  1) x3  I c Pv vc  I c Pv vref ,MG
 PV V PV ( R P  1) V P P 1 V P P 1
 x&3  c in x1  in x2  c in d v x3  in v c vc  in v c vref ,MG (5.2)
 L L L L L
 1 1
v&c  x3  vc
 C R L C
These complete equations can be broken down to the converter loop for tuning current
controller:
1 V
x&2   vc  in duty
L L
1 1 (5.3)
v&c  x2  vc
C RLC
and current loop for tuning voltage controller:

 x&1  I c x2  I ciref

 Vin V P 1 V P
 x&2  x1  in c x2  x3  in c iref (5.4)
 L L L L
& 1 1
vc  C x2  R C vc
 L
16
where Rd is the virtual resistance, Pv, Pc, Iv and Ic are the control parameters associated with
voltage and current control loops, Vin is the source input voltage, L and C are the inductance
and capacitance of converter output filter and RL is the equivalent resistance of the load.
SIMULATION TEST BED

Simulated system consists of 4 sources, i.e. two secondary batteries, a PV array and a small
wind turbine.
Fig. 5.2 Simulation File layout for the DC MG
INITIAL SYSTEM PARAMETERS

dSPACE 1006
Vref,MG = 48 V;
C=2.2e-3 F;
L=1.8e-3 H;
Rloss=0 Ω;
Rd=0.5Ω;
Pv=0.5;
Iv=1000;
Pc=1;
Ic=100;
a=0.023;
b=0.04;
17
LAYOUT DESCRIPTION
The layout is organized as follows:
- Sliders for adjusting the voltage, and virtual resistances

- Control Block for adjusting the microgrid reference voltage (default setting is 48V)
- Slider for changing the system load and the loss resistance within the inductors
- Control Block for tuning of parameters of secondary controller
- Scopes for monitoring the common voltage and currents of particular source
- Logic switches for changing the operating mode of particular source (voltage-droop
control or constant power mode)
- Displayes for reaing the values of state of charge, common bus voltage, and voltage
reference given by secundary control.
LABORATORY TASKS
The following parameters can be considered as fixed for all tasks within this exercise:
Vin=100V;
vref,MG=48V;
C=2.2e-3F;
L=1.8e-3;
RL=20Ω;
Task 1: Construction of one-unit state-space model and tuning the parameters of inner control
loops
Using the equations shown in (5.3) and (5.4), design the associated state-space models of the
system:
x Ax  Bu
(5.5)
y  Cx
At first, tune the parameters of inner current loop to achieve a stable response. To do that easily,
call sisotool(system_con(1,1))from Matlab command window. Note that system_con is a state-
space model of (5.3).
18
Place one pole and one zero into a root-locus editor at first (marked in red in Fig. 5.3). Then set
the location of the pole to zero in order to enforce the controller to be a standard PI (marked in
magenta in Fig. 5.3). Open Analysis Plots tab and pick the step response from input to output
(marked in orange in Fig. 5.3). Use on-line bode tuning procedure (marked in green color in
Fig. 5.3) to find appropriate Pcand Ic. Once you have done this, insert these values to (5.4) and
repeat the procedure for tuning the voltage controller.
Place one pole and one zero

anywhere in the plot below
Set the location of the Use step response as

pole to zero analysis tool
Fig.5.3 Tuning procedure of the converter control loops.
Hint: Use Matlab functions ss, ss2tf and Matlab sisotool. First tune the inner control loop (tune
the controller for converter loop). Then use the loop you derived to tune the inner voltage loop
(tune the controller of the current loop). Refer to the folder Lab V available on your USB drives
for further assistance.
Task 2: Rd impact analysis on system stability

Using the control parameters from Task 1, use the complete system model (5.2) to find the
range of Rd values where the damping factor of the system is in the rand 0.3 to 0.7. Find also
2
the Rd value for which the damping factor of the system is   .
2
Hint: Use Matlab functions poles, rlocus and sgrid.
Task 3: Common voltage control by 4 paralleled sources
• Start the simulation and the microgrid
19
• Put Rd values equal to 0.5Ω
• decrease the resistance of the system load, observe the voltage deviation on the common
bus and note down the resistance where common voltage falls below 44V (with all the
Rd settings equal to 0.5Ω).
• Find several combinations of Rd values to reduce the voltage deviation to 46V and write
them down.
• Return Rd values to 0.5Ω and switch the third source to the constant-power injection
mode (On MPPT-PV). Set the power to 300W and load resistance to 3Ω. Write down
the common voltage and use the following equation to calculate analytically the needed
Vref to return the common voltage to 48V (Needed action from the secondary control).
Write it down.
2
vref v   1 1 
  ref   4 PCP   
Rd  Rd   Rd Rload 
VDC 
 1 1 
2  
 Rd Rload 
where equivalent Rd is calculated as follows
1
Rd  n
R
i 1
d ,i
• Explain graphically the difference of restoring the common voltage by means of

adapting Rd values or Vref (see Fig 5.2).
Task 4: Analysis of secondary control for restoring the common voltage deviation
• Start the simulation and the microgrid

• Use the same configuration as in last point of Task 1. Turn on the centralized secondary
control to restore the common voltage by means of integral action. Compare the value
of resulting Vref value with the one computed analytically.
• Increase the inductor resistance losses to 0.5Ω per converter and observe the change in
Vref. How come is the effect the same as in the previous point?
20
• Try to increase the speed of secondary controller (Kp, Ki). Write down the parameter
values that cause instability. Explain why the bandwidth of secondary controller is
limited, and what the limiting factor is.
• Turn off the centralized secondary controller and set the parameters of secondary
controller as follows: KP,sec=0.5, KI,sec=50 (Distributed controllers will adopt that
settings). Turn on the distributed secondary controllers sequentially and capture the
response. Why doesn’t the current sharing work anymore?
Write a short report containing the results and your conclusions from the simulations, and email
it to joz@et.aau.dk and juq@et.aau.dk .
21
LAB VI– DISTRIBUTED ENERGY STORAGE SYSTEM
BALANCING BY USING A KNOWLEDGE BASED FUZZY
INFERENCE SYSTEM
INTRODUCTION
The main aim of this lab exesrcise is to completely understand how the virtual resistance
(Rd) ,defined in Lab V, can be used in order to adjust the power sharing in a islanded DC
microgrid with distributed energy estorage systems. The virtual resistance can be adjusted in
order to balance the stored energy between distributed energy storage systems. Comonly,
several different gain scheduling approaches has been proposed in order to achieve the balance
between distributed energy storage systems. Particularly, in this lab a simple estrategy based
on an intuituve knowledge base fuzzy system will be propouse for equalize the state of chage
of distributed energy storage systems based on batteries. For this lab it is recommended the
MATLAB version 2014.
SIMULATION SETUP
The simulated islanded DC microgrid, consist of 3 sources. In this case, a renewable energy
source based on PV generators and two energy storage systems based on batteries as can be
seen in Fig. 6.1.
DC/DC
Converter Battery Array 1
I ESS 1 I Bat1
DC/DC
PV Array Converter
I RES 1 VDC SoC Bat 1
PWM Current *
VPV I PV I ref + + V
control PI
- -
DC
FIS
PWM loop
VDC W1
I ref Current
MPPT control Rd
loop Primary Control Battery 1
Sign( VDC )
DC Common Bus
Primary Control RES 1 DC/DC Converter Battery Array 2

I ESS 2 I Bat 2
I Load
Load SoC Bat 2
VDC
W2
FIS
Primary Control Battery 2
Fig.6.1 Configuration of the DC microgrid.
22
In the simulated microgrid, the renewable energy system operates under constant power mode.
Meanwhile, the energy storage systems operate under voltage-droop mode and consequently,
the voltage ate the common bus is defined by the following equation,
VDC  V *DC  Rd I ESSi (6.1)
Where (VDC ) the voltage at the common bus is, (V *DC ) is the reference voltage, ( I ESSi ) is
the output current at each energy storage system.
The power sharing between energy storage units can be adjusted in order to balance the state of
charge between them by weighting the virtual resistance by a factor Wi . Therefore, equation
(8.1) can be rewritten as:
VDC  V *DC  Wi Rd I ESSi (6.2)
In this lab the factor  i will be adjusted in order to obtain equalization of the state of charge
(SoC) of distributed energy storage systems. Afterwards, based on your own experience, a
knowledge base fuzzy inference system (FIS) will be obtained in order to perform the
equalization of the SoC automatically.
INITIAL SYSTEM PARAMETERS
V *DC = 48 V;
Battery Capacity =0.02 (A/h);
Initial SoC battery 1=65%;
Initial SoC battery 2=75%;
Rd=0.5Ω;
Maximum power from RES=400W;
LAYOUT DESCRIPTION
The simulation file is composed by three main blocks (see Fig. 6.2):
- Control Block: Used for adjusting the main parameters of the system. By double
clicking this block we can see the control mask of the system, which is composed by
(see Fig. 8.3):
o W1 and W1 sliders for adjusting manually the weighting factor Wi of each
ESS.
o Reset function for restarting the simulation to initial conditions.
o The initial conditions parameters.
23
o Power from RES slider: it is used for changing ther power generated from the
RES. This is usefull for changing the operation of the bateries from change to
discharge and viceverse.
o Fuzzy inference System: this part contains the link to the Fuzzy Logic Toolbox
of MATLAB and the box for enabling the FIS operation.
- Microgrid Model: DCMG. This block contains the model of the microgrid shown in
Fig. 6.1.
- Scope: in the scope we can visualize:
o the state of charge for battery 1 ( SoCBatt1 ) and 2 ( SoCBatt 2 ) ,

o the output current of each ESS ( I ESSi ) ,
o the diference between SoC Difft  SoCBatt1  SoCBatt 2
o The voltage at the common bus (VDC )
Fig.8.2 Simulation Layout.
Fig.6.3 Control Block Mask.
24
LABORATORY TASKS
Task 1: Manual Adjustment of Wi for SoC equalization.
• Put the “Power from RES” slider at 300 W.

• Adjust the values of the slider W1 and W2 at 0.5 in order to get equal power sharing.
• Start the Simulation.
• Observe that the output current from both ESS is practicaly equal one to the other.
• Adjust the values of the slider W1 and W2 in order to achieve asimtothic aproximation
of SoCBatt1 and SoCBatt2.
• Observe how the output current from both ESS is shared in acordance to the values at
W1 and W2.
• Observe the output voltage (VDC ) and obtain the sign of the voltage deviation
( Sign( VDC )) .
VDC  V *DC  VDC (6.3)
• Reset the system as many time as you need in order to achive good asymtotic aproach
of the SoC.
o NOTE: To reset and set the system it is necessary to select the Reset box, next
press the butom Apply, then deselect the Reset box and press Apply once again.
• Now, put the “Power from RES” slider at 50 W (for evaluating the equalization under
battery discharge).
• Adjust the values of the slider W1 and W2 in order to achieve asimtothic aproximation
of SoCBatt1 and SoCBatt2.
• Observe how the output current from both ESS is shared in acordance to the values at
W1 and W2.
• Observe the output voltage (VDC ) and obtain the sign of the voltage deviation
( Sign( VDC )) .
• Reset the system as many time as you need in order to achive good asymtotic aproach
of the SoC.
• Explain, the results considering the ( Sign( VDC )) and how the weighting factors
should be adjusted in acordance to ( Sign( VDC )) .
25
Task 2: Fuzzy adjustment of Wi for automatic equalization.
Based on the knowledge obtained from the previous task, it is expected to derive a fuzzy
inference system (FIS) that summarizes all the qualitative knowledge acquired in the previous
task for balancing the stored energy between distributed ESS.
A FIS can easily summarize the qualitative knowledge about the expected behavior of a system
by means of simple If-Then rules. For instance:
If the SoC is LOW and The ( Sign( VDC )) is POSITIVE Then W is SMALL.
Fuzzy rules are statements like “SoC is LOW”, where “LOW” is a linguistic label, defined by
a fuzzy set of the variable SoC. A fuzzy set is a set in which the membership of an element is
graded from 0 to 1. On the contrary to ordinary membership where the element belongs (1) or
not (0) to a set, in a fuzzy set the elements can belong to a fuzzy set to a certain degree. Fuzzy
sets are very useful for representing vague concepts, such as low temperature, expensive dinner,
state of charge, etc.
Additional explanation of fuzzy systems and how to use the Fuzzy Logic Toolbox of MATLAB
will be given during the lab.
The specific tasks for tis lab are:
• Load the Fuzzy Logic Toolbox from the “Call FIS toolbox” link (see Fig. 8.4).
• The inputs of the fuzzy system will be the SoC and the Sign(ΔVDC).
• To output of the fuzzy system will be the weighting factor Wi .

• Define Fuzzy Sets for inputs and outputs.
• Define fuzzy rules based on your knowledge and the expected behavior of the system
for equalization.
• Set the designed FIS.
• Enable the FIS operation.
• Test your Design.
• Adjust your design as many times as necessary for achieve good equalization of SoC
under charge and discharge.
• Comment the results.
26
Fig.6.4 Link for the FIS editor.
Please. Do not hesitate to ask assistance in case you need additional explanation about fuzzy
systems or help with the use of the toolbox.
MATLAB 2013.
In case you have MATLAB 2013 there are small changes at the control block that you have to
take into account. For instance, for calling the Fuzzy toolbox you have to write the following
instruction on the Command Window:
fuzzy RD;
Write a short report containing the results and your conclusions from the simulations, and email
it to joz@et.aau.dk.
27

PHD - Industrial Course On DC Microgrids PDF

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

PHD - Industrial Course On DC Microgrids PDF

Uploaded by

Copyright:

Available Formats

Industrial PhD Course on

10th Edition: May 1st-May 2nd, 2017

Nr. Name e-mail

Lab I- Design of Control

Lab III - Design of the Lab VI- Distributed ESS

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

11‐Apr‐16 Industrial/PhD Microgrids Course, Aalborg University 1 Industrial/PhD Microgrids Course, Aalborg University 2

Who is Sanjay Chaudhary Who is Zheming Jin

His main interests are on grid connection of renewable

11‐Apr‐16 Introduction to HVDC and FACTS Course October 22‐25, 2013 11‐Apr‐16 Industrial/PhD Microgrids Course, Aalborg University 4

Lab III - Design of the Lab VI- Distributed ESS

DC Distribution Microgrids DC Distribution Microgrids

25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 3 25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 4

25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 5 25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 6

DC Distribution Microgrids DC Distribution Microgrids

25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 9 25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 10

DC Distribution Microgrids DC Distribution Microgrids

25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 11 25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 12

25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 13 25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 14

DC Distribution Microgrids DC Distribution Microgrids

25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 15 25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 16

25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 17 25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 18

DC Distribution Microgrids DC Distribution Microgrids

25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 19 25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 20

25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 21 25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 22

DC Distribution Microgrids DC Distribution Microgrids

Cloud‐based energy monitor,

25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 23 25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 24

25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 25 25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 26

DC Distribution Microgrids DC Distribution Microgrids

25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 27 25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 28

DC Distribution Microgrids DC Distribution Microgrids

25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 31 25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 32

25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 33 25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 34

DC Distribution Microgrids DC Distribution Microgrids

25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 35 25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 36

25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 37 25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 38

DC Distribution Microgrids DC Distribution Microgrids

25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 39 25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 40

25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 41 25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 42

DC Distribution Microgrids DC Distribution Microgrids

25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 43 25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 44

25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 45 25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 46

DC Distribution Microgrids DC Distribution Microgrids

25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 47 25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 48

25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 49 25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 50

DC Distribution Microgrids DC Distribution Microgrids

25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 51 25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 52

25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 53 25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 54

DC Distribution Microgrids DC Distribution Microgrids

DC Distribution Microgrids DC Distribution Microgrids

DC Distribution Microgrids DC Distribution Microgrids

25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 65 25‐Jun‐18 Industrial/PhD Microgrids Course, Aalborg University 66

25‐June‐18 Industrial/PhD Microgrids Course, Aalborg University 3 25‐June‐18 Industrial/PhD Microgrids Course, Aalborg University 4

 Open loop dynamics:  Equivalent circuit  Bilinear model

25‐June‐18 Industrial/PhD Microgrids Course, Aalborg University 5 25‐June‐18 Industrial/PhD Microgrids Course, Aalborg University 6

25‐June‐18 Industrial/PhD Microgrids Course, Aalborg University 7 25‐June‐18 Industrial/PhD Microgrids Course, Aalborg University 8

 Complementary control  Simmetrical control

25‐June‐18 Industrial/PhD Microgrids Course, Aalborg University 13 25‐June‐18 Industrial/PhD Microgrids Course, Aalborg University 14

25‐June‐18 Industrial/PhD Microgrids Course, Aalborg University 15 25‐June‐18 Industrial/PhD Microgrids Course, Aalborg University 16

25‐June‐18 Industrial/PhD Microgrids Course, Aalborg University 17 25‐June‐18 Industrial/PhD Microgrids Course, Aalborg University 18

 System is stable if E > 2Vc2  0 < u < 0.5

25‐June‐18 Industrial/PhD Microgrids Course, Aalborg University 19 25‐June‐18 Industrial/PhD Microgrids Course, Aalborg University 20