Smart Microgrids–ELE6427

Modeling and Synchronization Techniques

1
2

Outline
 Introduction
 Mathematical Modeling of Microgrids
 Synchronizations
 Control of Grid-Connected DG
 Islanding Detection
 Control of Multi-DG Microgrids in Islanded
Mode
 Centralized Disturbance Detections using
PMUs
3

1- Introduction: Disadvantages of Conventional Grid

 Conventional power systems (designed in
40’s and 50’s) are unidirectional
 Inefficient:
 33% of fuel energy is converted to electricity
 8% of generation is lost along transmission lines
4

Disadvantages of Conventional Grid

 Only top 10% of grid

is visible
 Includes transmission
network and top part
of distribution
network
 Grid suffers from
domino effect failures
5

Rationale for a New Grid:

 Reduce carbon emissions and help

environmental quality
 Conserve energy
 Meet increasing demand for electricity
 Reduce the price of electricity
 Improve operational efficiency
 Improve security and safety
6

What is a Smart Grid?

“Smart grid” refers to hardware, software,

control systems, and communication systems
added to power system to achieve the
aforementioned goals and:
 to combat climate change, and
 to let renewable energies, e.g., PV array,
wind turbine, be the bigger energy providers.
7 Comparison Between Smart Grid and
Conventional Power System

Conventional Grid: Smart Grid:

1- electromechanical digital
2- centralized generation distributed generation (DG)
3- few sensors sensors throughout
4- failures and blackout adaptive and islanding
5- manual check/test remote check/test
6- few customer choices many customer choices
7- blind self-monitoring
8- limited control pervasive control
8

Microgrid Is Part of a Smart Grid

Penetration of DG units has brought about concept of
Microgrid (MG).
Microgrid
DG1
Grid
PV Array VSC
Main Grid
PCC
CB

DG2 Load
VSC1 VSC2 1

Wind
turbine

DG3
Load
Matrix
MTG 2
converter
unit

Load
3
9

Some Problems with Smart Grid

Technical challenges with smart grid:

 Controllers that can accommodate both modes of
operation and transition between two modes
 Accurate and fast detection of islanding for
seamless transition from grid-connected to
islanded mode
 Optimal power management in a microgrid
 Protection against faults in grid-connected and
islanded mode
 ….
10

MG Control Strategies

The existing control strategies include:

 Conventional techniques, e.g., droop
control,
 Robust control approaches, e.g., Hinf, u-

synthesis, SMC, adaptive back-stepping, …

11

Islanding Detection and Control Strategies

 Islanding detection based on negative-sequence

current injection: Active islanding detection
 Control strategy for a grid-connected DG unit:
dq-current control (vector control)
 Control strategy for an islanded DG unit:
voltage/frequency control
 Control of multi-DG microgrids: parallel
connection, radial structure
12

Existing Methods of Islanding Detection

 Passive Resident Methods

 Active Resident Methods
 Communication-based Methods

The existing islanding detection methods are

relatively slow and suffer from non-detection
zone (NDZ). Therefore, an active islanding
detection method which injects a disturbance
signal, is proposed. The proposed method is fast
and accurately detects islanding event (complies
with IEEE 1547 and UL 1741 standards).
13

2- Mathematical Modeling of Microgrids

 A reliable dynamic model is required for

control design.
 For three-phase balanced systems, Park’s
transformation (dq0) is an efficient tool.
 For unbalanced systems, we use Clarke’s
transformation (αβ0) or abc-frame.
14 Clarke’s Transformation (Stationary
Reference Frame)

Or in the complex form

15

Clarke’s Transformation: Example

A set of three-phase balanced signals:

Thus:
16

Clarke’s Transformation
jβ
𝑥𝑥𝑐𝑐 𝑥𝑥αβ 𝜙𝜙̇

ɸ(t)
α
𝑥𝑥𝑎𝑎

𝑥𝑥𝑏𝑏

Remark: Here zero-sequence is zero, 𝑥𝑥0 =0.

17

Clarke’s Inverse Transformation

The inverse transformation is given by:

Where the inverse transformation is:

18

Clarke’s Transformation: Negative-Sequence

A set of negative-sequence:

Thus:
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Clarke’s Transformation: Harmonics

Three-phase signal polluted with harmonics:

Thus (why? Prove it!):

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Power in Three-wire Three-phase Systems

va ia
Three-phase
vb ib Three-wire
vc ic System
21

Power in Three-wire Three-phase Systems

Instantaneous real power:

Instantaneous reactive power:

Instantaneous complex power:

22
Park’s Transformation (Rotating Reference
Frame)
abc-dq0 transformation:

dq0-abc transformation:

Where:
23

Park’s Transformation: Example

A set of three-phase balanced signals:

Thus:
24

Park’s Transformation: Example

If , then:
q

jβ

𝑥𝑥αβ
𝑥𝑥𝑐𝑐
𝑥𝑥𝑞𝑞 d
θ0
ϕ 𝑥𝑥𝑑𝑑 θ
α
𝑥𝑥𝑎𝑎

𝑥𝑥𝑏𝑏
25

Power in Three-wire Three-phase Systems

Instantaneous power:
26

Modeling in reference frames: Example

Potential Island
DR Unit

VSC Grid
+ vt,abc it,abc vs,abc
S
Pin Vdc PCC
Rdc
Cdc Rt Lt
_

Local Load
Gating signals

it,abc
Gating u
signal Controller vs,abc
generator
27

Modeling in reference frames: Example

28

Modeling in reference frames: Example

Model in αβ − 𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓
29

Modeling in reference frames: Example

Model in 𝑑𝑑𝑑𝑑 − 𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓

What are the inputs-outputs? State-vector?

Disturbances? Control system structure?
30

3- Synchronization
• Need for synchronization?
• An AC source (DG) can deliver power to an electrical
network if it is running at the same frequency as the
network. Moreover, to control the flow of real/reactive
power between any two AC sources, we need to
accurately measure and adjust the phase difference
between the two sources.
• There are several methods for estimation of power
system frequency (synchronization techniques), e.g.,
FFT, KF, EKF, PLL, ….
• We introduce PLLs as they are robust w.r.t noise and
parameters uncertainties.
31

Rationale for Synchronization

V1<δ1 V2<δ2

jX

Assuming the same frequency for both sources:

32

Phase-Locked Loop (PLL)

Phase detector (PD)

Input Loop Filter Frequency Voltage-controlled Output

× (LF) Oscillator (VCO)

Phase difference between the input and output signals is

measured by PD, and is passed through LF to generate an
error signal driving VCO which generates the output.
33

Conventional Single-phase PLL

VCO
Central Freq.
ω0
PD
Phase-
Input Δω ω angle Output
×
LF and
Controller + 1/s
Sin/Cos
generator
34

Alpha-Beta Three-phase PLL

xa xα ɸ(t)
xb abc/αβ
ɸ=atan(xβ/xα)
xβ 2 2 A(t)
xc A=sqrt(x α+x β )

Can we obtain frequency from:

35

dq0 Three-phase PLL

VCO

PD Central Freq.
xd=A.cos(ϕ-θ) ω0
xa
xb Phase-angle
abc/dq xq=A.sin(ϕ-θ) Δω ω Θ(t)
xc LF and
Controller + 1/s

What happens to
performance if input
unbalanced?
36

Enhanced PLL (EPLL)

+
y(t)=A(t) sin(ϕ(t)) e(t)
A(t), ω(t), δ(t)
u(t)=A0 sin(ϕ0(t)) -
37

Enhanced PLL (EPLL)

-
ᶴ
u(t) + e(t) A(t) y(t)
× μ
1 ×

ω0
sin(.)

× μ
2 ᶴ + ᶴ ϕ(t)

μ cos(.)
3
38 Unified Three-phase Signal Processor
(UTSP)

• αβ-PLL structurally simple, but fails in noisy

environment
• dq-PLL is robust to noise, but fails when input is
unbalanced
• EPLL is robust to noise and unbalanced (Single-
phase), but slow and complicated for three-phase
systems
• Thus, we propose UTSP, which can adaptively
estimates symmetrical components and
parameters of three-phase signal, f, ROCOF, …
39

UTSP: Idea
yp(t)
yn(t)
yz(t)
Unified Vp
ua Three-phase Vn
ub Vz
Signal
uc Processor
ϕpnz(t)
(UTSP)
ω(t)
ώ(t)
40

UTSP: Model
Fundamental component of three-phase input u(t):

Input is decomposed into its symmetrical components, i.e.:

where
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UTSP: Model
Output y(t) is also decomposed into its symmetrical
components as: where

We also define:
42

UTSP: Dynamical Equations

Where e=u-y
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UTSP: Block Diagram

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UTSP: Simulation Results

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UTSP: Simulation Results

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UTSP: Main Features

• Provides a noticeably higher degree of immunity to
noise, and thus can be used for reliable detection of
small magnitudes of instantaneous negative- and
positive-sequence.
• Proposes fast transient response.
• Estimates parameters of a three-phase signal including
frequency, magnitudes and phase-angles of sequence
components, ROCOF.
• Can be used as the main building block of a phasor
measurement unit (PMU)
• Can be implemented in discrete time-domain with a low
sample rate (about 1kHz).
47

Other PLL Techniques

• Adaptive Notch Filter

• Frequency-locked Loop (FLL) based second
order generalized integrator (SOGI)
• Quadrature PLL (QPLL)
• Single-phase dq-PLL
• …..