Advanced Decentralized DER Control for Islanded Microgrids
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1 Advanced Decentralzed DER Control for Islanded Mcrogrds M. J. Hossan and J. Lu Queensland Mcro and anotechnology Centre Grffth School of Engneerng Grffth Unversty, Gold Coast, Australa Abstract Voltage and frequency regulatons are man requrements for autonomous operaton of an solated mcrogrd wth electroncally nterfaced dstrbuted energy resource (DER) unts. Ths paper presents a robust decentralzed control desgn scheme for a mult-der mcrogrd to enhance ts voltage and frequency regulatons. The proposed control scheme utlzes lnear quadratc (LQ) decentralzed control scheme to desgn controllers, whch are robust to the uncertanty n the network and system nonlneartes. The effectveness of the proposed controller s demonstrated through smulaton on a test system, wth complete nonlnear models, for large dsturbances. It s found that the desgned controller provdes excellent performance durng transent perods as well as restores the pre-dsturbance steady-state operaton wthn prescrbed tme frame. Index Terms-- DER unts, mcrogrd, dstrbuton systems, lnear quadratc control, robust control. I. ITRODUCTIO Durng the next decade, mcrogrds wll emerge as a major enabler of the smart grd for the ntegraton of small and medum szed DER unts nto the electrcty grd. Mcrogrds offer a promsng cost effectve soluton to the ntegraton of renewable energy wth reduced losses, lower transmsson and dstrbuton costs, hgher energy effcency, and a number of envronmental and economc benefts []. However, the coexstence of multple energy resources wth versatle dynamc propertes and electrcal characterstcs has rased concerns over the stablty, control and effcency of mcrogrds. The control and operaton of mcrogrds are challengng especally durng slanded mode due to the none/less nertal, dspatchable and non-dspatchable and nonfrm characterstcs of DER unts. These characterstcs of DER unts mght gve rse to load-trackng problems n mcrogrd slanded mode of operaton. In order to ensure stablty n transents as well as steady states, DER unts n autonomous mode use local control and mantan the voltage and frequency wthn ther predefned lmts. The real and reactve powers are controlled so that the DER unts properly share the total load by regulatng frequency and voltage. Ths control must be relable, fast and M. A. Mahmud and T. Azz School of Software and Electrcal Engneerng, Swnburne Unversty of Technology, Melbourne, Australa. Faculty of Engneerng, Amercan Internatonal UnverstyBangladesh, Dhaka, Bangladesh. robust because when voltage magntude and frequency undergo unacceptable excursons, the mcrogrd collapses completely. Although centralzed DER control s theoretcally possble, decentralzed scheme based on droop characterstcs offers cost effectve and effcent soluton. It uses only local measured sgnals and does not requre large data transfer and relable communcaton lnks []. Mcrogrd control s a complex ssue, and s consequently the subject of ncreasng research efforts around the world. The control scheme proposed n [] contans nner voltage control loop for controllng the three-phase nverter voltage. It proposes an external power control loop for controllng real and reactve power flow and hence, facltates power sharng among DER unts when fault occurs and mcrogrd slands. A voltage power droop/frequency reactve boost control scheme s proposed n [4] that allows multple voltage source converters (VSCs) to operate n parallel. Reference [5] proposes a modfed droop n order to force the non-dspatchable generator to share the load accordng to ther avalable nput mechancal powers. The authors n [6] propose a mcrogrd voltage and frequency control scheme whch s syntheszed to allow converters wth standard nductor nterface and dq (drect and quadrature axs)-frame current control to operate n ntentonal slandng mode. The developed model and control strateges n [-6] are lnear and based on pre-specfed crcut confguratons, whch may not necessarly guarantee stablty and robustness under large dsturbances or a change n network confguraton. Robust control technques are proposed n [7-] to address the problem of lnear controllers. In [7] lnear quadratc Gaussan method s used to desgn a robust controller consderng known load confguraton and uncertan parameters. Reference [8] presents a control structure for mcrogrd converters based on drect-voltage control and optmzed dynamc power sharng. Model uncertanty and load dsturbances are consdered n desgnng H control for voltage and current loop n [9]. However, n [7-] nonlneartes of the swtchng converters are not consdered. The uncertanty n DER unts s neglected n []. A centralzed control technque s used n [4] whch s not practcal for enormous DER unts n the dstrbuton systems.
2 Durng the swtchng of mcrogrds from grd connected to slanded mode, the operatng pont move far away from the nomnal operatng pont. Ths paper presents a robust control technque to desgn controllers for converters consderng nonlneartes and operatng pont devatons. The desgned controller provdes guaranteed performance and stablty characterstcs over a pre-specfed regon around the equlbrum pont. The rest of the paper s organzed as follows: Secton II provdes the mathematcal modelng of a mcrogrd system wth DER unts. The proposed control strategy and uncertanty modelng are presented n Secton III and the control desgn algorthm s descrbed n Secton IV. The performance of the controller s demonstrated through a seres of nonlnear smulatons n Secton V. Concludng remarks and suggestons for future work are gven n Secton VI. II. MODELIG OF THE MICROGRID A schematc dagram of a typcal mcrogrd s shown n Fg. where Vdc s an deal DC voltage source equvalent to a DER. Fg. shows the sngle lne dagram of two subsystems. where Rf s the equvalent resstance accountng for the swtchng and transformer losses, Lf s the flter and leakage reactance of the transformer, VL s the voltage across the RLC load, and Rt and Lt are lne resstance and nductance, respectvely. L f I d = Vd R f I q + ω I q VLd L f I q = Vq R f I d ω I d VLq Lt I td = VLd Rt I q + ω I tq VLdj L I = V R I ω I V t tq Ld t d td () () () (v) Lqj CV Ld = I d I td + ωvlq C I cd CV Lq = I q I tq ωvtd C I cq L I Ld = VLd Rl I Lq + ω I Lq L L I Lq = VLq Rl I Ld ω I Ld L where V = Vd + Vq. VLq (v) VLd (v) Rl Rl (v) (v) The real and reactve power njected by the DER at the th bus s gven by: P = j = VL VLj (Gj cos δ j + Bj sn δ j ) Q = j = VL VLj (Gj sn δ j + Bj cos δ j ) The stator vector for subsystem s x = [ I d I q I td I tq Vtd Vtq I Ld I Lq ]T (x) The measured output and control nput are y = [Vtd Vtq ]T, u = [Vd Vq ]T. The reference voltage and voltage source angle are obtaned usng the followng droop control law: δ = m ( P Prated ) V = Vrated n (Q Qrated ) (x) where superscrpt represents reference value, m and n are droop coeffcents and values of droop coeffcents are taken from []. III. COTROL STRATEGY AD UCERTAITY Fg.. Schematc dagram of a mcrogrd subsystem. Fg. llustrates a schematc dagram of the DER control system n whch host bus voltage and frequency are regulated. ρ δ = f (P) V = f (Q ) Fg. Sngle lne dagram of mcrogrd subsystem. The mathematcal modelng of th subsystem n dq frame s gven by equatons ()-(v) []: δ ρ Vt Vt δ V td Vtd Vtq Vtq Vd V q Fg.. Block dagram of DER control strategy. The real and reactve power output of the DER are used to calculate δ and V usng the droop control strategy n equaton (x)and р s the dq-frame reference angle. The robust decentralzed control scheme s shown n Fg. 4 n whch local uncertanty ncludes system nonlneartes and the other
3 uncertanty due to nterconnecton of DER unts. One controller s desgned for each DER unt. Parameter Uncertantes r x c = { A [ B R BT B BT ] X }x c from j {j th Interconnecton Dynamcs Local Uncertanty th Controller to and j } Interconnecton Dynamcs (for subsystems other than th subsystem) th Plant u Ths reformulaton s used to desgn the robust controller for DER unts. The robust controller as shown n Fg. s desgned usng the equatons []: (xv) + [Y X ] C TyW [ y (t ) C y x c ] u = R BT X x c. (xv) where X and Y are the the solutons to the followng par of parameter-dependent coupled algebrac equatons []: AT Y + Y A + Y B B T Y [C TyW C y C T C ] =, z (xv) y AT X + X A + C T C X [ B R BT B B T ] X = Fg. 4. Block dagram of robust decentralzed control. (xv) The power system model ()-(v) s descrbed by the followng large-scale system comprsng number of subsystems denoted by S, =,,... []: S : x (t ) = A x x (t ) + B u (t ) + + E ξ (t ) + L r (t ) z (t ) = C x x (t ) + D ξ (t ) ζ (t ) = G x x (t ) + H u (t ) y (t ) = C y x x (t ) + D y ξ (t ) where x R n s the state vector, u R nput, ξ R p m (x) (x) (x) (xv) the control the perturbaton, ζ R h the uncertanty q g the controlled output, y R the output, z R measured output, and the nput r descrbes the effect of the other subsystems (S,..., S-, s+,..., S) on subsystem S. The complete dynamc system s lnearzed about the desred equlbrum pont: one part conssts of the states of the devces n the subsystem (x) and the other wth the rest of the states (r); the matrces A, B and Cy are approprately chosen from the complete lnearzed model equatons. In ths paper measured outputs (y) and control output (z) are smlar T T sgnals,.e. y = z = [Vtd Vtq ] and u = [Vd Vq ]. The most challengng problem s the determnaton of uncertanty matrces E and L whch ncludes the uncertanty due to system nonlnearty and nterconnecton. A new reformulaton technque proposed n [4] s used to quantfy the hgher order terms whch are generally neglected n Taylor seres for conventonal lnearzaton. The nonlnear converters of DER unts are modelled as a lnear part plus a nonlnear part, the nonlnear term beng the Cauchy remander term n the Taylor seres expanson. Bounds derved for ths Cauchy remander term are used to defne an uncertan lnear model for whch a robust control desgn s performed. In ths paper, n the desgn of the lnear controller, the Cauchy remander s ncorporated as an uncertan term thus quantfyng the devatons from the equlbrum pont. The procedure for the new reformulaton s descrbed n [4]. where R = DT D, W = D y D yt and θ = θ n, n =, n C D, C = D =, / / (τ + θ ) G (τ + θ ) H B = τ / E θ / L, D y = τ / D y. [ ] [ ] For complete descrpton of the control desgn scheme, please see []. IV. IV. COTROL ALGORITHM The test system as shown n Fg. 5 (ncluded after the reference secton) s dvded nto two subsystems and a multvarable controller s desgned for each subsystem. The control desgn algorthm s mplemented usng the followng steps: () Model the mcrogrd usng equatons ()-(v) and solve t for the steady state. () Reformulate the nonlnear system usng the technque proposed n [4] and determne the matrces gven n (x)-(xv). () From the nonlnear smulatons of the faulted system ncludng ntentonal slandng, obtan the range of the varaton of all the state varables. (v) Quantfy the uncertan term from the analytcal expresson developed n [4] and check that t satsfes the norm bound constrant []. (v) Solve the Rcatt equatons (xv) and (xv). (v) The controller s gven by equatons (xv) and (xv). V. CASE STUDIES The sngle lne dagram of the test mcrogrd s shown n Fg. 5. The parameters for ths mcrogrd are gven n [5]. The system conssts of three.8 kv feeders whch are connected to the large system through a 69 kv radal lne. The total load of the system s 7. MW and.97 MVAR. Out of fve loads, four loads are lnear and the other one s a nonlnear dode rectfer load. There are two DER unts n the system, a photovoltac generator and a full converter based
4 controller can ensure stablty durng swtchng from grd connected to slanded mode and provdes robust performance..7.6 Reactve power (MVAR) wnd turbne. Both generators are connected to the system va voltage source converters (VSC). Each DER unt s modeled wth a constant DC voltage source, an nsulated gate bpolar transstor based VSC and a flter. Each dstrbuton lne s represented by lumped seres RL branches. The performance of the controller s tested for the followng dsturbances to verfy the robustness performance: (A) Severe Three Phase Fault The objectve of ths case study s to demonstrate that the desgned controller can ensure stablty by mantanng frequency and voltage wthn statutory lmts and share load among DERs durng a severe three phase fault n grd connected mode. A three phase fault s appled at s on PCC and cleared after fve cycles. Fgs. 6 and 7 show the termnal voltage and reactve power output of DER. It s clear from the fgures that the proposed controller ensures stable operaton durng severe transents and the post fault condton. Each DER controller autonomously and effectvely responds to the change n system confguraton. From the smulated results t can be seen that the system returns to steady state wthn. s wth zero steady state error Tme (s) Fg. 7. Reactve power of DER for three phase fault on PCC. 6 4 Real power (MW) Termnal Voltage (pu)..8.6 DER DER Tme (s). Fg. 8. Real power output of DER durng slandng Tme (s) Fg. 6. Termnal voltage of DER for three phase fault on PCC. In ths case the performance of the controller s nvestgated for pre-planned slandng. Intally the mcrogrd was workng n a grd connected mode. Before the slandng DER and DER were supplyng MW and.5 MW, respectvely and the remanng MW was mported from the grd. At t= s, an ntentonal slanded command s appled to the 69 kv lne breakers and the real power set pont of DER s changed from.5 MW to 4.5 MW through the acton of ts governor. Fgs. 8 and 9 show the real power sharng between DER unts and termnal voltage excursons. Both the DER unts control ther reactve power to control the termnal voltage. From ths study t s clear that the proposed.999 PCC Voltage (pu) (B) Intentonal Islandng Tme (s) Fg. 8. PCC voltage durng slandng. 5
5 [6] VI. COCLUSIOS In ths paper a systematc procedure for desgnng robust decentralzed DER controllers s presented, whch eventually enhances the voltage and frequency stablty of slanded mcrogrds. The controller s desgned based on local measurement sgnals and the approprate ncluson of uncertanty n the desgn process enhances the robustness of the controller. The desgned controller guarantees stablty f the system post-fault operatng pont falls n the regon for whch the controller s desgned. It provdes feasble and smooth transton of the mcrogrd from the grd connected to slanded mode operaton. The smulaton studes valdate the desred performance of the mcrogrd subject to severe three phase fault and ntentonal slandng and hence, prove the effcacy and robustness of the desgned controller. The future am of ths work s to nclude the dynamcs of senstve loads n the desgn process of the controller. [7] [8] [9] [] [] [] REFERECES [] [] [] [4] [5]. Hatzargyruo, H. Assano, R. Iravan and C. Marnay, "Mcrogrds," IEEE Power and Energy Magazne, vol. 5, no. 4, pp , JulyAugust 7. J. A. P. Lopes, C. L. Morera and A. G. Madurera, Defnng control strateges for mcrogrd slanded operaton, IEEE Trans. on Power Systems, vol., no., pp. 96-9, May 6. Y. W. L, D. M. Vlathgamuwa and P. C. Loh, Desgn, analyss, and real-tme testng of a controller for multbus mcrogrd system, IEEE Transactons on Power Electroncs, vol. 9, no.5, pp. 95-4, Sept. 4. C. K. Sao and P. E. Lehn, Control and Power Management of Converter Fed Mcrogrds, IEEE Transactons on Power Systems, vol., no., pp , Aug. 8. M. Fazel, G. M. Asher, C. Klumpner, L. Yao and M. Bazargan, "ovel Integraton of Wnd Generator-Energy Storage Systems Wthn Mcrogrds, IEEE Transactons on Smart Grd, vol., no., pp. 7877, June. [] [4] [5] C. K. Sao and P. W. Lehn, Intentonal slanded operaton of converter fed mcrogrds," IEEE Trans. On Power delvery, vol., no., pp. 9-6, Aprl 5. H. Karm, H. kkhajoe and R. Iravan, "A lnear quadratc Gaussan controller for a stand-alone dstrbuted resource unt-smulaton case studes," n Proc. 7 IEEE Power Engneerng Socety General Meetng Conf., pp. -6. M. B. Delghab, "Advanced slanded-mode controller of mcrogrds," Ph.D. dssertaton, Dept. Elec. and Com. Eng., Unv. Western Ontaro, Ontaro, Canada,. Y. A.-R. I. Mohamed, H. H. Zeneldn, M. M. A. Salama and R. R. Seethapathy, "Seamless Formaton and Robust Control of Dstrbuted Generaton Mcrogrds va Drect Voltage Control and Optmzed Dynamc Power Sharng," IEEE Transactons on Power Electroncs, vol. 7, no., pp. 8-94, March. Chun-xa Dou, Fang Zhao, Zh-qan Bo, Xng-be Ja and Dong-le Lu, "H robust control of DC-AC nterfaced mcrosource n mcrogrds," n Proc. IEEE Power Engneerng and Automaton Conf., pp , 8-9 Sept.. A. H. Etemad, E. J. Davson and R. Iravan,"A Decentralzed Robust Control Strategy for Mult-DER Mcrogrds Part I: Fundamental Concepts," IEEE Transactons on Power Delvery, vol. 7, no. 4, pp , Oct.. R. Majumder, A. Ghosh, G. Ledwch and F. Zare, Power Management and power flow control wth back-to-back converters n a utlty connected mcrogrd, IEEE Transactons on Power Systems, vol. 5, no., pp. 8-84, May. M. J. Hossan, H. R. Pota and C. Kumble, Decentralzed robust statc synchronous compensator control to augment dynamc transfer capablty,, Journal of Renewable and Sustanable Energy, vol., no., pp. 7()-7(), March. M. J. Hossan, H. R. Pota, V. Ugrnovsk, and R. A. Ramos, Smultaneous STATCOM and ptch angle control for mproved fault rde-through capablty of fxed-speed wnd turbnes, IEEE Trans. on Sustanable Energy, vol., no., pp. 4 5, October. F. Katrae, M. R. Iravan and L. W. Lehn, Mcrogrd autonomous operaton durng and subsequent to slandng process, IEEE Transacton on Power Delvery, vol., no., pp , January 7 Fg. 5. Sngle lne dagram of the test mcrogrd system
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