Droop Control Research Articles

Comparative Analysis and Improvement of Generalized Droop Control and Virtual Synchronous Generator for Rate of Change of Frequency Constraint and Transient Power Suppression

ABSTRACTSince the microgrid lacks inertia compared to the conventional grid with synchronous generators, the microgrid is unable to address the frequency change issues resulting from the integration of large‐scale distributed generation. Due to the ability to provide virtual inertia, generalized droop control (GDC) and virtual synchronous generator (VSG) control are considered effective solutions for improving frequency regulation. However, in response to external frequency disturbances, the grid‐connected inverters may experience a significant transient active power overshoot caused by GDC and VSG. In this paper, the GDC is used as the fundamental control architecture, and then the small signal models of the GDC and VSG are compared and analyzed under various disturbances. A reduced‐order method for the GDC model is proposed to simplify the analysis of GDC. Additionally, GDC adaptive inertia (GDCAI) and adaptive inertia for operation mode switching (AIOMS) are proposed to mitigate frequency fluctuations and improve active power response. The effectiveness of the two control strategies is verified by MATLAB/Simulink simulation and StarSim hardware‐in‐the‐loop (HIL) experiment.

Multi-timescale modeling and order reduction towards stability analysis of isolated microgrids

Microgrids incorporate a significant proportion of renewable energy sources and power electronic converters in the energy conversion process, creating a sustainable and clean energy infrastructure. However, the multi-timescale dynamics of microgrids are interactively coupled under a nonlinear structure, which makes it difficult to gain insight into the instability mechanisms without a high-fidelity reduced-order model that preserves the main dynamic behaviors of the system. For the isolated AC microgrid dominated by voltage source inverters (VSI), a detailed state-space model of the system, including the inverter, network, and load, is first developed. Based on this model, the eigenvalue analysis is carried out, and a participation factor analysis tool is also utilized to identify the relevant dynamics that have a strong impact on the system's dominant mode. Furthermore, to simplify the system modeling process without losing essential dynamic interactions, a novel multi-timescale coupled reduced-order model is proposed using a transfer function-based order reduction method, which retains the open-loop gain characteristics to preserve the critical couplings between fast inner loop dynamics and slow droop control dynamics. Finally, the accuracy of the reduced-order model is verified by comparing it with the detailed model and the conventional singular perturbation reduced-order model through eigenvalue distribution and time-domain simulation analysis.

Fault in Converter Interfaced Micro Grid Using Detection and Identification of Hybrid Technique

ABSTRACTThis paper introduces a novel hybrid approach, termed ZOA‐SNN, for fault detection and identification in converter‐interfaced microgrids. By integrating the Zebra Optimization Algorithm (ZOA) with Spiking Neural Network (SNN) technology, the proposed method provides a comprehensive solution suitable for both grid‐connected and autonomous microgrid operation scenarios. The technique effectively isolates faults in the microgrid while maintaining operation continuity, particularly in islanded conditions. When operating in grid‐connected mode, distributed generators (DGs) provide electricity as needed. When the grid is not available, power sharing amongst DGs is controlled by voltage angle droop control. By isolating malfunctioning portions, the proposed protection system reduces load shedding, while DG control guarantees smooth islanding and resynchronization. Evaluation on the MATLAB platform demonstrates the superior performance of the proposed technique compared to existing algorithms such as Augmented Lagrangian Particle Swarm Optimization (ALPSO), Graph Convolutional Network (GCN), and Buffalo Optimization (BO). With an accuracy, recall, precision, and F1‐score reaching 98.5%, 99.2%, 99.1%, and 99.1%, respectively, the ZOA‐SNN approach excels in fault detection and classification. Additionally, it significantly reduces computation times for parameter calculation, enhancing efficiency in microgrid control systems. These results highlight the innovation and advantages of the ZOA‐SNN approach in enhancing the reliability and efficiency of fault detection systems in microgrid environments.

Impact of Impedances and Solar Inverter Grid Controls in Electric Distribution Line with Grid Voltage and Frequency Instability

The penetration of solar energy into centralized electric grids has increased significantly during the last decade. Although the electricity from photovoltaics (PVs) can deliver clean and cost-effective energy, the intermittent nature of the sunlight can lead to challenges with electric grid stability. Smart inverter-based resources (IBRs) can be used to mitigate the impact of such high penetration of renewable energy, as well as to support grid reliability by improving the voltage and frequency stability with embedded control functions such as Volt-VAR, Volt–Watt, and Frequency–Watt. In this work, the results of an extensive experimental study of possible interactions between the unstable grid and two residential-scale inverters from different brands under different active and reactive power controls are presented. Two impedance circuits were installed between Power Hardware-in-the-loop (P-HIL) equipment to represent the impedance in an electric distribution line. Grid voltage and frequency were varied between extreme values outside of the normal range to test the response of the two inverters operating under different controls. The key findings highlighted that different inverters that have met the same requirements of IEEE 1547-2018 responded to grid instabilities differently. Therefore, commissioning tests to ensure inverter performance are crucial. In addition to the grid control, the residential PV installed capacity and physical distances between PV homes and the substation, which impacted the distribution wiring impedance which we characterized by the ratio of the reactive to real impedance (X/R), should be considered when assigning the grid-supporting control setpoints to smart inverters. A higher X/R of 3.5 allowed for more effective control to alleviate both voltage and frequency stability. The elimination of deadband in an aggressive Volt-VAR control also enhanced the ability to control voltage during extreme fluctuation. The analysis of sudden spikes in the grid responses to a large frequency drop showed that a shallow slope of 1.5 kW/Hz in the droop control resulted in a >65% lower sudden reactive power overshoot amplitude than a steeper slope of 2.8 kW/Hz.

A multi-energy inertia-based coordinated voltage and frequency regulation in isolated hybrid power system using PI-TISMC

This paper proposes novel multi-energy inertia support for simultaneous frequency and voltage control of an isolated hybrid power system (IHPS). Multi-energy storage (gas inertia – hydrogen storage, thermal inertia – solar thermal storage, hydro inertia – gravity hydro storage, chemical inertia – battery energy storage) supported by demand side management (DSM) for simultaneous voltage and frequency regulation and backed by biodiesel generators, are the essential elements of IHPS. A novel control strategy of concurrent virtual droop control, virtual damping control, virtual inertia control, and virtual negative inertia control is proposed to utilise multiple inertia sources and to improve LFC and AVR performance effectively. The effective coordination of inertia sources in eradicating oscillations in IHPS, is aided by a developed cascaded proportional integral-tilt-integral-sliding mode (PI-TISMC) controller. The performance of PI-TISMC is compared with PID, PI-PID, and PI-SMC controllers. A maiden attempt has been done by training five diverse classes of optimization techniques to optimize the parameters of controllers in the present work. The results are evaluated in MATLAB and it is evident from the results that the performance of frequency control is improved by 6.5%, 7.8% and 3.4 s (over shoot, undershoot, and settling time). The performance of frequency control is improved by 6.5%, 7.8% and 3.4 s (over shoot, undershoot, and settling time). Similarly, the performance of voltage control is improved by 6.7%, 4.8% and 2.3 s (over shoot, undershoot, and settling time) by employing developed PI-TISMC controller and proposed concurrent inertia control. The combination exhibits superior performance in minimizing oscillations in IHPS due to variations in loading and solar insolation.

A new integrated modelling and control of ternary pumped storage hydro power generation for small signal stability studies

Pumped storage hydro power generation (PSHPG), a reliable renewable energy source with an energy storage feature, can impart efficient damping torque to power system oscillations to improve small signal stability with appropriate modelling and additional compensation through the governor. But ternary PSHPG (T-PSHPG) has the unique feature of hydraulic short circuit (HSC) mode, where both pumping and generating modes operate simultaneously. This study presents a novel fourth-order modified Heffron Phillips (MHP) model of T-PSHPG in coordination with a multi-band Power system stabilizer (MB-PSS) employing 2-way penstock, where primary penstock circulates water from the upper reservoir to the lower reservoir through the turbine and secondary penstock divides primary penstock, thereby creating short-circuit path through the pump. Also, this model includes additional reactive power droop control to maintain the voltage profile. A new state space matrix has been developed for coordinating T-PSHPG in HSC mode with MB-PSS. The control parameters of the proposed coordinated model are set by a new multi-objective differential evolution-improved particle swam optimization (DE-IPSO) algorithm. With variable load, random solar and wind source penetrations, it has been found that the proposed model can provide adequate damping actions. The sensitivity of the proposed model has been observed by varying critical model parameters by ±50 %. For all conditions, the settling time of speed variation is within 2.672 s to 5.951 s and the minimum damping ratio lies within 0.105 to 0.455. The minimum damping ratio is 0.32 and the settling time is found to be 3.1 s for system response subject to sudden solar power variation, which has been observed by shifting system eigenvalues toward the left half of the complex plane. Time and frequency domain parameters with sensitivity analysis predict system oscillations being damped effectively with consistency for the proposed modelling and control strategy. The results are verified in real-time with OPAL-RT real-time digital simulator. It has been justified by the present study that appropriate modelling of T-PSHPG along with coordinated control action provided by MB-PSS can handle critical power system oscillations efficiently and effective damping torque can be imparted in HSC mode.

Adaptive Variable Universe Fuzzy Droop Control Based on a Novel Multi-Strategy Harris Hawk Optimization Algorithm for a Direct Current Microgrid with Hybrid Energy Storage

In the off-grid photovoltaic DC microgrid, traditional droop control encounters challenges in effectively adjusting the droop coefficient in response to varying power fluctuation frequencies, which can be influenced by factors such as line impedance. This paper introduces a novel Multi-strategy Harris Hawk Optimization Algorithm (MHHO) that integrates variable universe fuzzy control theory with droop control to develop an adaptive variable universe fuzzy droop control strategy. The algorithm employs Fuch mapping to evenly distribute the initial population across the solution space and incorporates logarithmic spiral and improved adaptive weight strategies during both the exploration and exploitation phases, enhancing its ability to escape local optima. A comparative analysis against five classical meta-heuristic algorithms on the CEC2017 benchmarks demonstrates the superior performance of the proposed algorithm. Ultimately, the adaptive variable universe fuzzy droop control based on MHHO dynamically optimizes the droop coefficient to mitigate the negative impact of internal system factors and achieve a balanced power distribution between the battery and super-capacitor in the DC microgrid. Through MATLAB/Simulink simulations, it is demonstrated that the proposed adaptive variable universe fuzzy droop control strategy based on MHHO can limit the fluctuation range of bus voltage within ±0.75%, enhance the robustness and stability of the system, and optimize the charge and discharge performance of the energy storage unit.

Oscillation Suppression of Grid-Following Converters by Grid-Forming Converters with Adaptive Droop Control

The high penetration of renewable energy sources (RESs) and power electronics devices has led to a continuous decline in power system stability. Due to the instability of grid-following converters (GFLCs) in weak grids, the grid-forming converters (GFMCs) have gained widespread attention featuring their flexible frequency and voltage regulation capabilities, as well as the satisfactory grid-supporting services, such as inertia and damping, et al. Notably, the risk of wideband oscillations in modern power grids is increasingly exacerbated by the reduced number of synchronous generators (SGs). Thus, the wideband oscillation suppression method based on adaptive active power droop control of GFMCs is presented in this paper. First, the stability of the hybrid grid-forming and grid-following system is obtained according to the improved short circuit ratio (ISCR), where the GFMC is in parallel at the point of common coupling (PCC) of the GFLC. Then, an adaptive adjustment strategy of the active power droop control is proposed to enhance the oscillation suppression capability across the full frequency range, thereby mitigating the wideband oscillation caused by phase-locked loop (PLL) synchronization in the GFLCs. Additionally, a first-order inertia control unit is added to the active and reactive power droop controllers to mitigate frequency and voltage variations as well as suppress potential mid-to-high frequency resonance. Finally, the wideband oscillation suppression strategy is validated by the simulation and experimental results.

Distributed Autonomous Economic Control Strategy for the AC/DC Interconnected Microgrid Considering the Regulation Boundary of the Consensus Variable

ABSTRACTThe autonomous economic control for the islanded AC/DC interconnected microgrid has various modes due to the restriction of the feasible regions of inner and inter‐microgrid resources. To properly handle the cooperative relationship between resources with different regulation characteristics and realize the frequency, voltage stability, and economic operation of the AC/DC interconnected microgrid, a distributed control strategy considering the regulation boundary of the consensus variable is proposed. Firstly, the influence of the variable feasible regions on the consensus control objective is analyzed, and the fundamental principle of the consensus control algorithm considering the variable regulation boundary is expounded. Secondly, the trilevel control strategy consisting of the local equipment control and inner and inter‐microgrid cooperative control is constructed. The local equipment control adopts droop control, and the cooperative control adopts consensus control to realize the elimination of the frequency and voltage deviation and the economic dispatch of active power within and between microgrids. Finally, the AC/DC interconnected microgrid model is built based on PSCAD/EMTDC, and the simulation results verify the effectiveness of the proposed control strategy.

Centralised Control and Energy Management of Multiple Interconnected Standalone AC Microgrids

When microgrids operate autonomously, they must curtail the surplus of renewable energy sources (RES) while minimising reliance on gas. However, when interconnected, microgrids can collaboratively minimise RES curtailment and gas consumption due to the ability of exchanging power. This paper presents a centralised controller and energy management of multiple standalone AC microgrids interconnected to a common AC bus using back-to-back converters. Each microgrid consists of RES, a battery, a gas-powered auxiliary unit, and a load. The battery’s state of charge (SOC) is controlled and is used in the AC bus frequency to indicate whether the microgrid has a surplus or shortage of power. High-level global droop control exchanges power between the microgrids. The optimisation problem for this interconnected system is modelled cooperatively to determine the optimal dispatch solution that minimises the energy cost from the auxiliary unit. The optimal dispatch is solved in three cases using the Nelder–Mead simplex algorithm under different settings: one-variable optimisation, three-variable optimisation with the standard droop equation, and three-variable optimisation with a modified droop equation. The optimised performance results are compared with those of the non-optimised benchmark to determine the percentage of optimal performance. The simulation results show that the total energy cost from the auxiliary unit is minimised by 8.98%.

Towards non-virtual inertia control of renewable energy for frequency regulation: Modeling, analysis and new control scheme

Currently, when renewable generation participates in frequency regulation, the traditional control method is to emulate synchronous generators through virtual inertia control. However, virtual inertia has a time delay, so essentially, it is a fast power response. Meanwhile, virtual inertia control is likely to be affected by frequency fluctuation since it responds to the derivative of frequency. Hence, it’s worth exploring non-virtual inertia control for renewable energy when participating in frequency regulation. For this reason, a novel two-segment droop control scheme for renewable energy frequency regulation is proposed in this research. Firstly, the extended system frequency regulation (SFR) model, which contains virtual inertia with time delay, is built and analytically solved by order decrement based on the Routh approximation method. Afterwards, according to the analytical solution, time delay affects the frequency response of renewable energy. It can also be analytically proved that the non-virtual inertia control, e.g., sole droop control, could replace virtual inertia under the same frequency deviation. Still, more energy may be needed for frequency regulation. Furthermore, a novel two-segment droop control is presented, and to analytically prove its ability to replace virtual inertia, the impulse function balancing principle and the integration by parts algorithm were adopted to address the initial conditions of the differential equation. Based on the analytical expression, it can be analytically proved that a lower frequency deviation can be obtained under the same frequency regulation energy. Accordingly, a parameter-setting method for two-segment droop control was proposed. Finally, the effectiveness of the proposed method is verified by using a two-area system frequency response model, and the results reveal that it can be used to replace virtual inertia and has better performance.

Fractional order slide mode droop control for simultaneous voltage and frequency regulation of AC microgrid

AbstractThis research proposes the application of fractional‐order sliding mode control (FOSMC) at the primary controller level to improve the stability of an islanded microgrid by adjusting its voltage and frequency. The control strategies used in the microgrid are performed in two levels (primary and secondary) in the islanded mode. Practically, most previous studies have worked to improve the primary controller. Droop control is one of the most commonly used methods at the primary level and is adopted in this study as well. The sliding mode control (SMC) strategy is normally used to control linear equations. Thus, the non‐linear microgrid equations were transformed into some linear ones using the input‐output feedback linearization technique. Further, a fractional sliding surface was acquainted. The sliding surface and FOSMC were designed to reject system uncertainties and organize the voltage and frequency. Design parameters were chosen using the Lyapunov stability theorem. The validation of the proposed method using Simulink‐MATLAB confirms its effectiveness in enhancing level power sharing, regulating frequency, and maintaining voltage stability across the system.

Bad data identification method considering the on-load tap changer model

With the connection and integration of renewable energy, the on-load tap-changer (OLTC) has become an important device for regulating voltage in distribution networks. However, due to non-smooth and non-linear characteristics of OLTC, traditional bad data identification and state estimation methods for transmission network are limited when applied to the distribution network. Therefore, the nonlinearity and droop control constraints of the OLTC model are considered in this paper. At the same time, the quadratic penalty function is introduced to realize the fast normalization of the tap position. It proposes a two-stage bad data identification method based on mixed-integer linear programming. In the first stage, suspicious measurements are identified using projection statistics and maximum normalized residual methods for preprocessing the measurement data. In the second stage, a linearization approach utilizing hyhrid data-physical driven is applied to handle nonlinear constraints, leading to the development of a bad data identification model based on mixed-integer linear programming. Finally, the proposed methodology is validated using a modified IEEE-33 node test feeder example, demonstrating the accuracy and efficiency of bad data identification.

ENERGY MANAGEMENT IN HYBRID PV-WIND-BATTERY STORAGE-BASED MICROGRID USING DROOP CONTROL TECHNIQUE

The paper presents an efficient energy management system designed for a small-scale hybrid microgrid incorporating wind, solar, and battery-based energy generation systems using the droop control technique. The heart of the proposed system is the energy management system, which is responsible for maintaining power balance within the microgrid. The EMS continuously monitors variations in renewable energy generation and load demand and adjusts the operation of the energy conversion systems and battery storage to ensure optimal performance and reliability. The primary objective of the energy management system is to maintain power balance within the microgrid, even in the face of fluctuations in renewable energy generation and load demand. This involves dynamically adjusting the operation of the renewable energy sources and battery storage system to match the instantaneous power requirements of the microgrid. Overall, the paper presents a comprehensive approach to designing and implementing an efficient energy management system for a small-scale hybrid wind-solar-battery-based microgrid to extract maximum profit from electricity generation. By integrating renewable energy sources with energy storage and advanced control algorithms, the proposed system aims to enhance the reliability, stability, and sustainability of the microgrid's power supply.

Advanced frequency control schemes and technical analysis for large-scale PEM and Alkaline electrolyzer plants in renewable-based power systems

Integrating electrolyzers into power systems can significantly contribute to sustainable energy via the generation of green hydrogen while also enhancing frequency stability through effective regulation of the electrolyzers’ operating power. This study gives a comprehensive analysis of large-scale electrolyzer plants when providing frequency support to power systems. First, the authors present a model predictive control (MPC)-based secondary frequency controller, combined with a droop controller as the primary frequency controller and a virtual inertia controller. Additionally, the study introduces a universal system frequency response (U-SFR) modeling approach that enables high accuracy, low computation burden, and reduced initial parameters as a testbed. Finally, an in-depth analysis is conducted, focusing on different technical aspects of large-scale electrolyzer plants when providing frequency support services. Case studies integrating PEM and Alkaline electrolyzers into the modified IEEE 39-bus system with over 50% wind power penetration are conducted. It is found that the proposed U-SFR model achieves high accuracy with lower computational time compared to detailed physical models. Additionally, model predictive controllers improve frequency quality more effectively than PID and PID-FLC methods. PEM electrolyzers are found to be more efficient in providing grid frequency support than alkaline electrolyzers due to their technical characteristics. Finally, smaller hydrogen tanks may frequently breach storage constraints, negatively impacting the system’s frequency response capability.

MPC-Based Droop Control Scheme for Fatigue Load Suppression in Wind Farms Based on Asynchronous Distributed Manner

MPC-Based Droop Control Scheme for Fatigue Load Suppression in Wind Farms Based on Asynchronous Distributed Manner

A cooperative distributed droop gains adjustment in DC microgrids

Direct Current (DC) microgrids are a very promising solution to integrate renewable energy sources, energy storage systems and loads. The main goals of a microgrid controller are to achieve voltage regulation and load sharing among multiple distributed generators (DGs). Distributed control techniques are widely adopted to address these two objectives. Most of the existing distributed methods in the literature adjust the deviation caused by the conventional droop control by adding two additional terms. In this work, a new cooperative distributed controller to adjust the droop gains of DGs is proposed. The proposed method achieves average voltage regulation and proportional current sharing in a unified manner. It does not require additional corrective terms, resulting then in a simple control structure. Moreover, it relies only on exchanging one communication variable among neighboring DGs, which reduces the communication overhead. The stability of the proposed controller is analyzed using a small signal model of the system. The effectiveness of the proposed controller is evaluated under common load changes, local load variations, communication link failures and communication delays. The designed control scheme is verified through Hardware-In-the-Loop (HIL) tests using NI PXIe real-time simulator.

Enhanced grid stability in PV systems using an improved Luo converter and neural network-based droop control

Enhanced grid stability in PV systems using an improved Luo converter and neural network-based droop control

Modeling method of photovoltaic power generation grid connection based on particle swarm optimization neural network

Aiming at the complex structure, numerous equipment, intricate control and protection logic, as well as the existence of numerous unmodeled dynamics and black-box device models in photovoltaic (PV) grid-connected systems, a modeling method based on Particle Swarm Optimization Neural Network (PSO-NN) is proposed to address the inability of pure mechanism models to accurately simulate their operational dynamics. Utilizing the differences in active power response waveforms under Voltage-Frequency (Vf) control, Power-Reactive Power (PQ) control, and Droop control as criteria for control strategy identification, a PSO-NN model is constructed for PV grid-connected systems, with inputs comprising temperature, humidity, light intensity, voltage, and frequency disturbances, and outputs being active and reactive power. To validate the model's effectiveness, a PV grid-connected system model is built in a self-developed simulation software and connected to an IEEE 14-bus distribution network for simulation verification. The results demonstrate that the proposed PV grid-connected model can effectively identify the types of Vf control, PQ control, and Droop control strategies, and accurately reflect the dynamic response characteristics of active and reactive power under various voltage and frequency disturbances.

Distributed economic operation control in low-voltage resistive hybrid AC/DC microgrid clusters with interlinking converters

Connecting adjacent and diverse microgrids to form hybrid microgrid clusters improve the economic viability and the reliability of each microgrid in islanded operations. To realize the global economic operation among low-voltage resistive microgrid clusters, a two-level control strategy for subgrid control and microgrid clusters control is proposed in this study. In the case of subgrids, where the line impedance of the low-voltage grid is primarily resistive, we design the AC voltage increment droop (Vac-IC) and the DC voltage increment droop (Vdc-IC) to effectively distribute power. The Vac-IC and Vdc-IC droop controls cannot achieve economic power distribution due to the mismatched line impedances. Therefore, a distributed economic operation control based on the consensus algorithm is proposed in this study to eliminate the influence of mismatched line impedances on economic power distribution. In the context of microgrid clusters, the deviation of increment costs serves as an event-driven signal designed for Interlinking Converters (ILCs), aiming to optimize power exchange between adjacent subgrids. The coordination between the subgrid control and microgrid clusters control achieves global economic operation. Finally, Matlab/Simulink simulation verifies that the islanded hybrid microgrid clusters with the proposed strategy realize the economic operation well.