Compound Current Contorl of the H6 Topology Single-phase Grid-connected

Inverter
YanpingWu1,2, YunWang1,2*, Rong Yang1, GuoqingGuo1,2, YuChen1,2, XiaohuaWang1
1
College of Mechanical and Control Engineering, Shenzhen University, China
2
Shenzhen Key Laboratory of Electromagnetic Control, China
Email: wangyun@szu.edu.cn

Abstract: When the single-phase PV （photovoltaic） grid- state error and better anti-interference ability compared with
connected inverter with H6 topology applies conventional PI single PI / quasi-PR / repetitive control. A10kw experimental
controller to track the sinusoidal reference current, the steady- prototype of single-phase photovoltaic grid-connected in-
state-error will be generated and its anti-interference capability verter system is built to verify the theoretical analysis and re-
becomes poor. To deal with this problem, in this paper an com- sults indicate that harmonic suppression of grid-connected
pound current control strategy based on quasi-PR (Proportional
current is realized.
Resonant) and repetitive control is proposed. The fundamental
of the compound current controller is introduced, and the tun-
ing method of the controller parameters is analyzed. The grid- II. H6 TOPOLOGY MODELING AND ANALYSIS
connected current harmonic suppression performance of the de-
A. The H6 topology and principle
signed compound current is validated on a single-phase photo-
voltaic grid-connected inverter experiment platform. The diagram of photovoltaic grid-connected inverter sys-
tem with single-phase H6 topology as show Fig1. The system
Key words: photovoltaic grid-connection; H6 topology; quasi- consists of Boost circuit, H6 topological inverter circuit and
PR controller; repetitive controller; harmonic suppression filter circuit. The H6 topology can effectively inhibit leakage
current, and H6 topology has the advantages of small THD
I. INTRODUCTION and high efficiency. In the Fig1. is the Boost circuit di-
The non-isolated grid-tied photovoltaic inverter has high ode, is the Boost circuit inductance, and are the di-
efficiency, small size, low cost and other advantages; therefor rect current (DC) regulated capacitor, - are the switch
it has been widely used in the field of photovoltaic grid sys- of MOSFET, and are the switch of IGBT, and
tem[1]-[2]. However, Non-isolated grid-tied photovoltaic in- are the secondary diode, and are the filter induct-
verter have the problems of leakage current [2]-[4]. To the ance, is the filter capacitor [5]-[6]. In the H6 topological
disadvantages of Non-isolated grid-tied photovoltaic inverter, inverter circuit, - operates at high frequencies, and
many domestic and international scholars have done detailed operates at power frequency, and have the same
research with that, and they put forward many new topology. driving signal, and have the same driving signal.
For example: the H5 topology, the H6 topology and the Heric
H6 topology Filter circuit
topology[5]-[7], etc. Among them, the H6 topology can ef- Boost circuit

fectively inhibit leakage current, and the H6 topology has the

L1 L2

advantages of small THD (Total Harmonics Distortion) and VD1 VT2 VT3

high efficiency. C1 VT1 C2 VG1

VD2
VG2 C3
AC

The common control algorithm of PV grid-connected in- PV VD3

verter is: the PI (Proportional Integral) controller, the current A L3

B
VT4 VT5

hysteresis controller, the repetitive controller, the quasi-PR

controller, etc. the PI controller with simple structure, high Fig1.The diagram of photovoltaic grid-connected inverter system with
reliability and good robustness significant advantages, how- single-phase H6 topology
ever, the PI controller for current loop cannot achieve zero-
tracking-error in single-phase grid-connected inverter, and According to the grid-connected inverter system sche-
the poor anti-jamming capability to the grid interference [8]. matic diagram show in Fig.1, the control block diagram of the
Inter current limiting and with good stability for the current system can be obtained by ignoring the filtered capacitor cur-
hysteresis controller, however, the switching frequency of rent, as show in Fig.2.
current hysteresis control is not fixed [9]. The Repetitive con-
troller can track the periodic signal without static error, how- ug
iref K 1 ig
ever, the repetitive control has poor dynamic performance G(s) Ts S + 1 SL + R
[10]. The PR controller gain at the fundamental frequency ap-
proaches infinity, the PR controller can be achieved on a fixed
Fig.2 The block diagram of inverter controller
frequency sinusoidal command signal static error tracking
control, however, the PR controller is susceptible to the influ- The inverter element is approximated as a proportional el-
ence of power grid frequency [11]. ement with small inertia, among them, K is the equivalent
In this paper a compound current controller including the gain of the inverter, is the time constant of the inertial link,
quasi-PR and the repetitive control is presented, with the ad- namely the switch period, is the reference value of grid
vantages of higher fundamental frequency gain, lower steady connection current, G(s) is the transfer function of the con-
troller, L is the sum of the inductors and , R is the in-
Project supported by the Science and Technology Re-
ductance series equivalent resistance, is the grid voltage,
search and Development Foundation of Shenzhen
(No.JCYJ20170817100841792, JCYJ20170818144254033) is the grid-connected current.
and National Nature Science Foundation of China
(No.61773266).
 B. The harmonic analysis of H6 bridge PV inverter
sin(3 − )− { sin[( + 2)ωt − φ] +
power generation: 4 2 +1
Assume that the grid voltage ( ) and the inverter output
sin[( − )+ sin( φ]} − {
current are respectively ( ): +1 −1 2 +1

= √2 cos( )+∑ √2 cos( ) (1) sin[( + 2) − + sin( − )+ sin[(

+1 −1
+ )] + ∑ sin[( − 2) − ]} (8)
= √2 cos( − )+∑ √2 cos( − ) (2)

When the power grid voltage and output current are not har-
Equation (1)-(2), is the power voltage fundamental ef-
monic. When the = = 0( = 2,3,4, … . , n), the cur-
fective value. is the grid connected current fundamental ef-
rent loop setting is:
fective value. is the power voltage j-harmonic current ef-
fective value. is the grid connected current j-harmonic ∗ ∗
= ( − ) cos(ωt) − sin( − )−
current effective value. is the grid connected current fund- 4
amental component, lagging behind power voltage funda- sin(3 − ) (9)
mental component phase angle. is the j-harmonic current
component, lagging behind j-harmonic voltage component Equation (9), when the grid voltage and output current
phase angle. The effect between the harmonic of inverter out- have no harmonics, the grid-connected current contains only
put current and the harmonic of grid voltage is ignored, the three harmonics. when the power grid in the third harmonic,
grid connected inverter output power is: As detailed by (7)-(9).
= + =2 ∑ cos( − ) cos( ) (3)
∗ ∗
= ( − ) cos(ωt) − sin( − )−
4
It can be derived that the input power of inverter ( ) will be: sin(3 − )− { sin(5 − )
+ sin(3 − ) + sin(3 + ) + sin( − ) (10)
≈ + (4)

Equation (8), It can be seen that the bus voltage ripple of

Where represent the bus capacitance, is the av- twice of the power frequency will participate in the control of
erage bus voltage, is the average input current, is the the outer voltage loop. And the bus voltage ripple of the twice
bus voltage fluctuation. and are the approximately ripple will cause the sine wave of the current internal loop
equal. controller to the 3th harmonic components in the given cur-
rent. Causing the grid connected current to contain the 3th
= (5) harmonic. Equation (8)-(10), It can be seen that when there
the 3th harmonics in the grid voltage. The bus voltage will
It can be derived that the bus voltage ripple of inverter generate the 4th voltage ripples, which will lead to the 5th
( ) will be: harmonic components in the sine wave of the current inner
loop controller given current, generating the 5th harmonic
= sin(2 − )+ { sin[( + 1) currents, which will then cause the 7th current ripples. Even
2 +1 when the latter inverter only work in the current loop, bus
voltage as amplifier output signal by the current loop SPWM
ωt − φ] + sin[( − 1)ωt + φ]} + {
−1 signal form the output voltage of the inverter ac side, in the
inverter output voltage by bus capacitance exist the 2th ripple
+1
sin[( + 1)ωt + ]+
−1
sin[( − 1) ωt contains three voltage harmonic, the harmonic effect after the
inductance inverter current contains the 3th harmonic current
+ ]} (6)
C. The H6 control system modeling
Equation(6), It can be seen that the bus capacitance volt- Inverter output voltage positive and negative half cycle
age of single-phase inverter system has secondary voltage analysis is similar [11]-[12], the following analysis only in-
ripple, and the bus voltage also contains high-order ripple verter output voltage positive half cycle. If the bus voltage
caused by voltage harmonic of power grid and output current is keep unchanged in the K switching cycle. The output
harmonic of inverter. When the current and voltage double voltage V(t) on the AC side of the H6 bridge PV inverter can
closed loop control is adopted, the voltage loop is set as the be express as:
proportional regulator. The current loop setting is: , ≤ < +
V(t) = = (11)
0, + ≤ < ( + 1)
∗ ∗ )− )
= ( − ) cos( cos( (7)
T is the current loop sampling period, is the turn on
is the voltage outer loop controller parameters. Equa- time of switching tube in the KT switching cycle. Equa-
tion (6)-(7): tion (12) by the average output voltage ̅ ( ) on the AC side
of the k switching period inverter is:
∗ ( ∗ ) cos( )−
= − sin( − )− ̅( ) = = ( ) (12)
4
 ( ) is the KT switching period duty cycle. The real sig- system needs to have a certain stability margin in the control-
nal is invariant in one period and can be used as an equivalent ler design process. As show in Fig.5. A local map of the root
zero order hold. Binding equation (12), the real signal is in- locus of the system near the origin. Dominant poles affect the
variant in one period and can be used as an equivalent zero- dynamic performance of the system, the farther the dominant
order holder is: pole is from the imaginary axis, faster the system dynamic
response. But the larger the overshoot of the control signal,
V(s) = ( ) ( ) (13) the dominant pole must be designed with both dynamic per-
formance and stability in mind, It should be set at a distance
By adding bus voltage decoupling link into the control from the virtual axis so that the system has a certain stability
system software, the bus voltage can be offset approximately, margin [14]-[15].
and the delay link can be replaced approximately by the iner-
tia link. Equation (14), is the filter inductance, is the in-
ductance equivalent resistance. Binding equation (11)-(13),
generalize controlled object of inverter system inductance
mathematical ( ( )) is:

( )= (14)
.

H6 bridge PV inverter current regulating loop control

block diagram as fig.3. Which ( ) is the grid voltage feed- Fig.4. The Generalized root locus of Fig.5. The Generalized root lo-
forward transfer function. ( ) is the current feed-back cus near the origin
transfer function. ( ) is the inverter AC side output volt-
B. The design of repetitive controller
age.
Ug The design of repetitive controller includes Q(z) and
Gn(s) S(z), and S(z) = ( ), is the repetitive control gain,
Iref
Gi(s) 1/(0.5Ts+1) 1/(Ls+r)
IL is the advanced link, ( ) is the low pass filter. The sys-
tem has N poles on the unit circle and the system is critical
Hi(s) stable, system critical stability. In practical engineering, filter
Fig.3.The H6 bridge PV inverter current loop control structure element Q(z) is usually added in the positive feedback loop
of repetitive control, the transfer function for the internal
After the current controller, the H6 bridge PV inverter module of the repetitive control is ( ).
current inner loop control transfer function ( ( )) is:
( )= (19)
( )= ( ) (15) ( )
.

Q(z) link is usually a constant less than 1 or a transfer

III. CONTROLLER ANALYSIS
function with low pass filter property. The poles of the inter-
A. The design of the quasi-PR controller nal mode of the system are usually arranged in the unit circle
The inverter system current inner loop control transfer to enhance the robustness of the system.
function as in equation (16), = 3.14. The parameters of S(z) determines the performance of the repetitive control-
the controller to be designed and . In the paper. The ler. The controlled object of the single-phase grid-connected
root locus method is use to observe the influence of controller inverter is a first-order link, and the controlled object has poor
parameters on system performance, and the controller para- high-frequency attenuation characteristics. Therefore, S(z)
meters are the designed. selects the second-order filter to improve the high-frequency
characteristics of the system. The transfer function of the fil-
( )= ( ) ( ) ter is C(s), filter function C(s) Bode Diagram as show in Fig.6.
2 1 1
= + (16)
+2 + 0.5 +1 + C(s) = (20)

As show equation (17) is the of the generalize root lo-

cus expression.

+2 +
1 + = 0 (17)
(0.5 + 1)( + )( +2 + )+

As show equation (18) is the of the generalize root lo-

cus expression.
+2 +
1 + = 0 (18) Fig6. The Bode Diagram of filter C(s)
((0.5 + 1)( + ) + )( +2 + )

As show in Fig.4. The global graph of the generalized root C. The design of the compound controller
locus of with constant to the . The simplified system is This paper adopts the compound control structure of par-
the minimum phase system, but in reality, the system is a non- allel type as show Fig.7. The quasi-PR controller is responsi-
minimum phase system due to delay and non-linearity, so the
ble for tracking the given signal to improve the dynamic per- Fig.10. The results by compound controller
formance of the system, and the repetitive controller is re-
sponsible for suppressing the output current harmonic of the V. CONCLUSION
inverter, The transfer function of the composite control sys- In this paper, a compound control based on compound
tem as show equation (21). ( ) is the mathematical controller for H6 topology based PV inverter subject to grid
model of controlled object , ( ) is the quasi-PR control- voltage distortions is designed, which can improve the har-
ler, ( ) is the repetitive controller, H( ) is the current monics suppression performance of output current harmonics
feedback transfer function, Q( ) is the filter link. as well as increase the control system stability. With the ad-
vantages of higher fundamental frequency gain, lower steady
y(z) =
( )
( (z) + ( ) ( )+ ( )) (21) state error and better anti-interference ability compared.
( ) ( ) ( ) ( )

GPQR(Z)
VI. REFERENCE
d(z)
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