Control of Grid Interactive Inverter Systems
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1 Control of Grid Interactive Inverter Systems Dr. M.Nanda Kumar Professor Dept. of Electrical Engg. Govt. Engineering College, Thrissur
2 What is a Grid interactive inverter? DC Source Inverter AC Grid TCR 2
3 Why Grid interactive inverter is required? 60% of Energy consumption is from fossil fuel resulting an emission of 6.5 billion tons of CO 2 into atmosphere environment pollution, global warming Fossil fuel sources like coal, oil etc. are getting depleted day by day Distributed generation with renewable sources (solar cells, wind power etc.) may be a solution to these problems Since power content of these sources are varying and to make voltage, frequency etc., acceptable to the present transmission system Grid interactive inverters are essential TCR 3
4 Content Photovoltaic Power System Control Schemes of Grid Interactive Inverter Systems (Literature survey) Objective Main Features of Proposed Grid Interactive Inverter Hysteresis controller Volt-sec analysis of buck and boost converters Analysis of minimally switched grid interactive inverter Derivation of circuit topologies and switching tables for different power factors Simulation study and results Hardware implementation of the scheme Analysis of experimental results. TCR 4
5 Photovoltaic (PV) Power system PV power system can be classified as (i) Stand alone (ii) Hybrid (iii) Grid connected TCR 5
6 Photovoltaic (PV) Power system (cont.) -Stand alone Used in remote areas with no access to utility Battery AC load PV cell Inverter TCR 6
7 Photovoltaic (PV) Power system (cont.) -Hybrid - more reliable TCR 7
8 Photovoltaic (PV) Power system (cont.) -Grid connected This can be small system such as residential rooftop or large grid connected system Reliability and efficiency of the system can be enhanced by connecting the sources to AC grid. TCR 8
9 Grid interactive inverter Requirement of real and reactive power injection If grid connected inverter injects active power only, the reactive power required by the load should be supplied by the AC source leading to a poor power factor at the source side TCR 9
10 CONTROL SCHEMES OF GRID INTERACTIVE INVERTER (Literature survey) -Instantaneous p-q Theory (Akagi -1984) (proposed by Barbosa P.G (1998), for real and reactive power injection) p v i v i q v i v i va v v b v v c ia i i b i i c * i a * * 1 3 i i (2 / 3) b * * 2 2 i i c TCR 10 * 1 * v v p * * v v q i i
11 Instantaneous p-q Theory (cont.) ia i i b i i c va v v b v v c 2 2 Reactive power = q v i v i = reference reactive power capacitor voltage is compared with the reference voltage V ref and given to a PI controller. The PI controller output is the reference real power, p* to be injected from the PV source to the grid * q TCR 11
12 Instantaneous p-q Theory (cont.) Reference currents to hysteresis controller, i a *, i b *, and i c* are generated using current reference calculation block as given below * 1 * v v p * * v v q i i 1 0 * i a * * 1 3 i ib (2 / 3) * * 2 2 i i c i, i, i are given to hysteresis controller * * * a b c as reference signal TCR 12
13 Schematic diagram of a 3-phase hysteresis controller di VL slope of inductor current dt L V Voltage across inductor L TCR 13
14 CONTROL SCHEMES OF GRID INTERACTIVE INVERTER (cont.) PWM Control Technique (proposed by Huang S.J and F.S.Pai, (2001) for power flow control through grid connecter inverter) TCR 14
15 Grid interactive inverter - proposed DC Source Inverter AC Grid TCR 15
16 Objective Design & Implementation of the switching algorithm of grid interactive inverter for bidirectional real and reactive power control and harmonic compensation with reduced switching loss and constant switching frequency. TCR 16
17 Grid interactive inverter proposed (cont.) a Grid b c L a L b L c DC source Inverter I a I b I c TCR 17
18 Main Features of Proposed Grid Interactive Inverter In inverter mode of operation, injected current is in phase to the grid voltage Power flows from DC source to AC grid TCR 18
19 Main Features of Proposed Grid Interactive Inverter (cont.) In rectifier mode of operation, injected current is 180 out of phase with grid voltage Power flows from AC grid to DC source TCR 19
20 Main Features of Proposed Grid Interactive Inverter (cont.) Switching frequency is constant TCR 20
21 Main Features of Proposed Grid Interactive Inverter (cont.) Only two switches are controlled at high frequency at any instant of time and hence switching loss is reduced Current can be injected at any power factor Harmonic and reactive power compensation can be implemented Simple control circuitry using hysteresis current control with good dynamic response TCR 21
22 Schematic diagram of a 3-phase hysteresis controller di VL slope of inductor current dt L V Voltage across inductor L TCR 22
23 Hysteresis controller (cont.) R 1 R 2 h b R R1 R 1 2 V sat TCR 23
24 Reference current, actual current and switching pulses (ap & an) in hysteresis control scheme (cont.) TCR 24
25 Schematic diagram of a 3-phase constant frequency hysteresis controller TCR 25
26 Switching pulses in constant frequency hysteresis control scheme TCR 26
27 Volt-sec balance Buck converter Buck converter (practical) Buck converter circuit while the switch is position 1 v L = V g v(t) =V g -V V=dc component of v(t) TCR 27
28 Volt-sec balance Buck converter (cont.) Buck converter Buck converter circuit while the switch is position 2 V L (t) = - v(t) =-V TCR 28
29 Volt-sec balance Buck converter (cont.) Inductor voltage Output voltage TCR 29
30 () di () L t vl t L dt di () L t Vg V L dt dil () t Vg V dt L Volt-sec balance Buck converter (cont.) Change of inductor current can be calculated using following equations TCR 30
31 Volt-sec balance Buck converter (cont.) () di () L t VL t V L dt di () L t V dt L TCR 31
32 Volt-sec balance Buck converter (cont.) In in any switching converters under steady state the net change in inductor current over one switching period must be zero () di () L t vl t L dt 1 i ( T ) i (0) v ( t) dt T s L s L L L 0 T s 1 i ( T ) v ( t) dt i (0) L s L L L 0 In steady state initial and final values of inductor current are equal TCR 32
33 1 L Volt-sec balance Buck converter (cont.) Thus in steady state the integral of the inductor voltage must be zero T s 0 vl ( t) dt 0 unit = volt-sec or flux linkage Above equation states that the total area, or volt-seconds, under v L (t) waveform must be zero TCR 33
34 Volt-sec balance Buck converter (cont.) ( V V) DT V (1 D) T 0 g s s V DV g V DV g Thus buck converter is a Step down converter TCR 34
35 Volt-sec balance Boost converter Boost converter (ideal) Boost converter (practical) TCR 35
36 Volt-sec balance Boost converter (cont.) Boost converter circuit while the switch is position 1 Boost converter circuit while the switch is position 2 TCR 36
37 Volt-sec balance Boost converter (cont.) Inductor voltage in boost converter TCR 37
38 Volt-sec balance Boost converter (cont.) Appling volt-second applied to the inductor voltage over one switching period V DT ( V V )(1 D) T 0 g s g s V V g 1 D Voltage Conversion ratio = V V g 1 1 D Thus boost converter is a Step up converter TCR 38
39 Analysis of minimally switched grid interactive inverter TCR 39
40 Analysis of minimally switched grid interactive inverter (cont.) Let a = 0, b = 0 and c = E (with respect to ve DC bus) Equivalent circuit c b a TCR 40
41 Analysis of minimally switched grid interactive inverter (cont.) I st loop equation: -V La +V Lc =E V c + V a (1) 2 nd loop equation: -V Lb +V Lc = E V c +V b (2) V V V La Lb Lc = E Vc Va E Vc Vb Solving for V La, V Lb and V Lc V La = -E/3-V a, V Lb = -E/3-V b, V Lc = 2E/3-V c TCR 41
42 V La, V Lb, V Lc and Eqvt. Circuit for different switching combinations Modes a b c V La V Lb V Lc Eqvt. circuit Va -Vb -Vb E -E/3-Va -E/3-Vb 2E/3-Vc 3 0 E 0 -E/3-Va 2E/3-Vb -E/3-Vc 4 0 E E -2E/3-Va E/3-Vb E/3-Vc 5 E 0 0 2E/3-Va -E/3-Vb -E/3-Vc 6 E 0 E E/3-Va -2E/3-Vb E/3-Vc 7 E E 0 E/3-Va E/3-Vb -2E/3-Vc 8 E E E -Va -Vb -Vc TCR 42
43 Voltage across inductors L a (V La ), L b (V Lb ) and L c (V Lc ) during (0 60) grid voltage region when node a is held at 0,E =350V, V grid (rms)=120v E V LL volt-sec balance cannot be realized volt sec balance can be realized TCR 43
44 Voltage across inductors L a (V La ), L b (V Lb ) and L c (V Lc ) during (0 60) grid voltage region when node b is held at 0 E =350V, V grid (rms)=120v Volt sec balance can be realized TCR 44
45 Grid voltage region Analysis of minimally switched grid interactive inverter (cont.) Phase a a=e a=0 Phase b b=e b=0 Phase c c=e c=0 Inference (0-60 ) X X X X X b is the uncontrolled phase & kept at 0 a & c are the controlled phases X Inductor voltages are not (+ve and ve) during the entire (0-60 ) grid voltage region for different switching combinations (volt-sec balance equation can not be realized by any switching combination) Inductor voltages are +ve and ve during the entire (0-60 ) grid voltage region for different switching combination (volt-sec balance equation can be realized by choosing different switching combination) TCR 45
46 Analysis of minimally switched grid interactive inverter (cont.) -Inference- Grid voltage region Controlled phases Uncontrolled phase (0-60 ) Phases a & c Phase b and it is kept at 0 ( ) Phases b & c Phase a and is kept at E ( ) Phases a & b Phase c and it is kept at 0 ( ) Phases a & c Phase b and it is kept at E ( ) Phases b & c Phase a and it is kept at 0 ( ) Phases a & b Phase c and it is kept at E TCR 46
47 Selection of switch in the controlled phases If the direction of injected current is +ve top switch in that leg is controlled If the direction of injected current is -ve bottom switch in that leg is controlled TCR 47
48 Circuit topology for different power factors Dual buck topology for a p.f angle of 0 0 Inverter mode of operation TCR 48
49 Buck and boost topology for a p.f. angle of 60 0 (lag) TCR 49
50 Dual boost topology for a p.f. angle of (lag) Rectifier mode of operation TCR 50
51 Switching table for different power factor angles 0 0 Voltage region S ap S an S bp S bn S cp S cn ( ) C - - ON C - ( ) ON - - C - C ( ) C - C - - ON ( ) - C ON - - C ( ) - ON C - C - ( ) - C - C ON - CSwitch is controlled at high frequency, ONSwitch is kept ON through out the voltage region sector - Switch is OFF TCR 51
52 Switching table for a power factor angle of 60 0 (lag) Voltage region S ap S an S bp S bn S cp S cn ( ) - C - ON C - ( ) ON - - C C - ( ) C - - C - ON ( ) C - ON - - C ( ) - ON C - - C ( ) - C C - ON - C Switch is controlled at high frequency, ON Switch is kept ON through out the voltage region sector - Switch is OFF TCR 52
53 Switching table for a power factor angle of (lag) Voltage region S ap S an S bp S bn S cp S cn ( ) - C C ( ) - - C - C - ( ) - C - C - - ( ) C C - ( ) C - C ( ) C - C CSwitch is controlled at high frequency - Switch is OFF TCR 53
54 Injected current Grid voltage Reactive power compensation Equivalent circuits during (030) and (3060) grid voltage region v a v v b c Phase angle in degrees 10 5 I c I a I b Phase angle in degrees TCR 54
55 Modes of operation of ac/dc converter for various p.f angles (lag) during ( ) region of line cycle TCR 55
56 Simulation study TCR 56
57 Voltage sector identification O/P of ZCD in phase a ( ) ( ) O/P of ZCD in phase b ( ) ( ) O/P of ZCD in phase c ( ) ( ) TCR 57
58 Voltage sector identification (cont.) 0 o 60 o 120 o 180 o 240 o 300 o 360 o O/P of ZCD phase A O/P of ZCD phase C O/P of ZCD phase B T 1 =A*C T 3 =A*B TCR 58
59 Grid voltage sectors TCR 59
60 Current polarity identification Ia(ref) Ib(ref) x a x a ' x b x b ' Ic(ref) x c x c ' TCR 60
61 Switching pulses to switches Sap &San q (( T T T T ) x ) a T x ap a p 2 a q (( T T T T ) x ) a T x a p & a n ' ' an a n 5 a are from hysteresis controller TCR 61
62 Enabling signals for hysterisis current control Enabling signal to +ve current -ve current T 1 T 2 T 3 T 4 T 5 T 6 T 1 T 2 T 3 T 4 T 5 T 6 q ap q an q bp q bn q cp q cn TCR 62
63 Switching pulses to switches Sbp &Sbn q (( T T T T ) x ) b x bp b p b q (( T T T T ) x ) b T x ' ' bn b n 1 b b p & b n are from hysteresis controller TCR 63
64 Switching pulses to switches Scp &Scn q (( T T T T ) x ) c T x cp c p 6 c q (( T T T T ) x ) c T x ' ' cn c n 3 c c p & c n are from hysteresis controller TCR 64
65 Control Schematic for real and reactive power control TCR 65
66 Simulation Results TCR 66
67 Grid voltage and injected current for a power factor angle of 0 0 (inverter mode) TCR 67
68 Grid voltage and injected current for a power factor angle of 60 0 (lag) TCR 68
69 Grid voltage and injected current for a power factor angle of (rectifier mode) TCR 69
70 Reactive compensation TCR 70
71 Bi-directional power control -an example Grid voltage 115V (phase) Injected current 10A (phase) P.F Angle (lag) Real power (injected) Reactive power (injected) W 0 W W 2988 W W 2988 W W 0 W W -2988W W W TCR 71
72 Transient response subjected to reversing of power at Sec. TCR 72
73 FFT plot of the injected current of phase a in inverter mode of operation (a) in conventional hysteresis control scheme and (b) in proposed control scheme TCR 73
74 Frequency components of the injected current of phase a up to 23 rd harmonic in the proposed scheme (THD=4.7%) TCR 74
75 Injected current & grid voltage (with harmonics 10% THD) TCR 75
76 Switching Loss TCR 76
77 Switching signals to the switch Sap during conv. hysteresis, dual buck, dual boost, and buck & boost modes of operation TCR 77
78 Switching device voltage, current and power loss for one cycle in the conventional hysteresis control scheme TCR 78
79 Switching device voltage, current and power loss for one cycle in the proposed switching scheme TCR 79
80 Reduction in loss(%) in the proposed control scheme compared to conventional hysteresis control scheme Mode of operation Modified hysteresis control with constant frequency Conventional hysteresis control with constant frequency Dual Buck (Injected current in phase to grid voltage) Dual Boost (Injected current 180º out of phase with grid voltage) Buck &Boost (Injected current 60º lag with grid voltage) TCR 80
81 Switching losses for different circuit topologies Dual buck Dual boost Buck & boost Conv. Hyst. Control with variable frequency Conv. Hyst. Control with fixed frequency Proposed scheme TCR 81
82 Harmonic Compensation TCR 82
83 Active Power Filter (APF) Based on topology APF can be classified as (i) Shunt active power filter (ii) Series active power filter (iii) Hybrid active power filter TCR 83
84 Shunt active power filter used to compensate, current harmonics reactive power and load current unbalance static VAR generator in power system networks for stabilizing and improving voltage profile TCR 84
85 Series active power filter Eliminates voltage unbalance, sag. swell etc. TCR 85
86 Hybrid active power filter Used for compensation of high power systems Power rating of active power filter can be reduced significantly TCR 86
87 Instantaneous p-q theory for extracting harmonic currents va v v b v v c p q harmonic real power = harmonic reactive power i, i, i are given to hysteresis controller * * * a b c as reference signal ia i i b i i c TCR 87
88 3-Phase diode bridge rectifier TCR 88
89 3-PHASE LOAD CURRENT FOR A 3-PHASE DIODE BRIDGE WITH RESISTOR TCR 89
90 Control Schematic for harmonic compensation TCR 90
91 3-phase harmonic current component extractor TCR 91
92 3-PHASE HARMONIC CURRENTS TCR 92
93 switching algorithm during (0º-60º) of line cycle Current polarity Controlled switches Status of uncontrolled switch Circuit topology I a = +ve, I b = -ve, I c = +ve S ap & S cp S bn = ON Dual Buck I a = +ve, I b = +ve, I c = -ve S ap & S cn S bn = OFF Buck & Boost I a = +ve, I b = -ve, I c = -ve I a = -ve, I b = +ve, I c = +ve I a = -ve,i b = -ve, I c = +ve I a = -ve, I b = +ve, I c = -ve S ap & S cn S bn = ON Buck & Boost S an & S cp S bn = OFF Buck & Boost S an & S cp S bn = ON Buck & Boost S an & S cn S bn = OFF Dual Boost TCR 93
94 Grid voltage, reference harmonic current and switching pulses in case of harmonic compensation for a non-linear load of 3- phase diode bridge with resistive load TCR 94
95 Harmonic compensation considering a non-linear load of 3-phase diode bridge with resistive load (45) TCR 95
96 FFT plot of the source current (after compensation) in the frequency range of 0250kHz TCR 96
97 Amplitude spectrum of the source current after compensation (THD=4.8%) TCR 97
98 Harmonic compensation considering a non-linear load of 3-phase diode bridge with R-L load (45 and 30mH ) TCR 98
99 Harmonic compensation considering a non-linear load of 3-phase diode bridge with R-C load (45 and 1000F ) TCR 99
100 Hardware Circuits & Results TCR 100
101 Block diagram representation for practical set up of the control scheme TCR 101
102 Block diagram of control circuit board TCR 102
103 Schematic diagram of grid voltage sector identifier TCR 103
104 Schematic diagram of reference current polarity identifier TCR 104
105 3-phase reference current generator block diagram TCR 105
106 3-Phase reference current generation TCR 106
107 Triangular signal generator TCR 107
108 Current sensor with signal conditioning circuit TCR 108
109 Hysteresis controller TCR 109
110 Dead band generator TCR 110
111 Dead band generator (cont.) TCR 111
112 3-phase harmonic current component extractor (cont.) TCR 112
113 Grid voltage & injected current of phase-a for a pf. angle of 0 - Inverter mode of operation TCR 113
114 Switching pulses q ap, q an, q bp, q bn in inverter mode of operation, observed in 4 channel CRO TCR 114
115 Grid voltage & injected current of phase-a for a p.f angle of 60 TCR 115
116 Grid voltage & injected current of phase-a for a p.f angle of 90- Reactive compensation TCR 116
117 Grid voltage & injected current of phase-a for a p.f angle of 180-Rectifier mode of operation TCR 117
118 Switching pulses q ap, q an, q bp, q bn in rectifier mode of operation, observed in 4 channel CRO TCR 118
119 Source current(after compensation), injected harmonic current and non-linear load current for a load of 3-phase bridge circuit with resistive load TCR 119
120 Switching loss of inverter for different circuit topologies (W) DC bus voltage = 155V, Grid voltage =80V, Injected current=5a (r.m.s), Switching frequency =10kHz Power injected = 700W Circuit Topology Dual boost Dual buck Buck & boost Proposed scheme Conv.hyst.control with constant switching frequency Conv.hyst.control with out constant switching frequency TCR 120
121 CONTROL CIRCUIT SET UP CURRENT SENSING BOARD LINK INDUCTOR OUTMUX 3-PHASE DIODE BRIDGE RECTIFIER VOLTAGE SECTOR & CURRENT POLARITY IDENTIFIER HARMONIC EXTRACTOR 3-PHASE HYSTERESIS CONTROLLER 3-PHASE REFERENCE CURRENT GENERATOR TCR 121
122 Current sensing board TCR 122
123 Experimental set up TCR 123
124 DC SourceDC generator driven by 3-phase induction motor TCR 124
125 Grid voltage & injected current of a phase for inverter mode of operation TCR 125
126 Grid voltage & injected current of a phase for rectifier mode of operation TCR 126
127 Grid voltage & injected current of a phase for a power factor angle of 60 TCR 127
128 Application example At present the battery life checking in locomotive has been done by disconnecting battery discharging fully again charging observing the discharging rate Using the proposed technique, the charging and discharging of battery can be performed without disconnecting by interacting with AC grid TCR 128
129 Application example (cont.) Photo voltaic source supplies the local DC load Excess amount of energy can be pumped into AC grid Shortage of energy on DC side can be met from AC grid TCR 129
130 Conclusion A simple hysteresis control with constant switching frequency to control the bidirectional power flow between DC source and AC grid. Switching algorithm for bi-directional power control, reactive and harmonic compensation Switching losses are reduced because only two switches are controlled at any instant of time time. Current injected into grid is in phase to the grid voltage in inverter mode and 180 out of phase with grid voltage in rectifier mode of operation Design and implementation of control circuitry Implementation of bi-directional real and reactive power control & harmonic compensation Experimental verification of the control scheme TCR 130
131 References [1] M.Rastogi, N.Mohan, A.A.Edris, Filtering of harmonic currents and damping of resonance in power systems with a hybrid-active filter, Proceedings of the IEEE APEC 95, pp [2] M Rastogi, N.Mohan, A.A.Edris, Hybrid active filtering of harmonic currents in power systems, IEEE Trans. Power Delivery, vol.10, No.4, oct.1995 [3] J.T.Boys, A.W.Green, Current-forced single-phase reversible rectifier IEE Proceedings, Vol.136, No.5, pp , Sep [4] Z.Lai, K.M.Smedley, A family of continuous-conduction mode powerfactor-correction controllers based on the general pulse width modulator, IEEE Trans. on Power Electronics, Vol.13, N0.3, pp , May 1998 [5] S.Singer, Applications of loss-free resistors in power processing circuits, PESC 89 Record, Vol.2, pp TCR 131
132 References(Contd.) [6] D.Shmilovitz, D.Czarkowski, Z.Zaber, A Novel Rectifier/Inverter with Adjustable Power Factor, PESC 99, Vol.1, pp [7] A.W.Green, J.T Boys, Hysteresis Current-forced three phase voltage sourced reversible rectifiers, IEE proceedings Vol.136, May 1998, pp [8] P.G. Borbosa, L.G.B.Rolim, E.H.Wantanabe, R.Hanitsch, Control Strategy for grid-connected DC-AC Converters with load power factor correction, IEE Proc. Gen., Trans., Distri., Vol.145, No.5, Sept 1998, pp [9] M.Azizur Rahman; Ali M. Osheiba; Azza E.Lashine, Analysis of current Controllers for Voltage-Source Inverter, IEEE Trans. on Industrial Electronics, Vol.44, No.4, Aug 1997, pp [10] K.M.Smedley; Chengming Qiao, Three phase Grid Connected Inverter Interface for Alternative Energy Sources with Unified Constant- frequency Integration Control, Industry Applications Conference, 2001, Vol.4, pp [11] K.M.Smedley; Chengming Qiao, General 3-phase PFC Controller for Rectifiers with parallel connected Dual Boost Topology, IEEE Trans. on Power Electronics, Vol.17, No.6, Nov.2002, pp TCR 132
133 TCR 133
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