Grid-forming Power Converter Research Articles

FRT Capability of Grid-Forming Power Converters: An Antiwindup Scheme

FRT Capability of Grid-Forming Power Converters: An Antiwindup Scheme

Control Algorithm of Energy Storage System Based on Virtual Synchronous Generator

Frequency control is one of the most important tasks in electric power systems. However, as a result of the ongoing introduction into modern power systems of inertia-free generating facilities based on power converters, mainly renewable energy sources, this task is becoming more complex. This specificity is especially severe in microgrids, which are characterized by significant frequency changes. An effective way to solve such a problem is the use of energy storage systems (ESS) with grid-forming power converters. For this purpose, the paper develops a new structure of the control algorithm based on a current-controlled virtual synchronous generator (CC-VSG), in which the damping of oscillations is implemented via a feedforward controller. Also, a proportional-integral control loop is added to the structure of the CC-VSG to control the state of charge of the ESS. A methodology based on the separation of bandwidths of different control loops is proposed for tuning the CC-VSG. To confirm the obtained results, time-domain simulation of the microgrid with ESS using the PSCAD software was performed.

Advanced Control Approach Based on a Super-Twisting Sliding Mode for a Cascade Voltage and Current Control Topologies of a Grid-Supporting Grid-Forming Power Converters

Advanced Control Approach Based on a Super-Twisting Sliding Mode for a Cascade Voltage and Current Control Topologies of a Grid-Supporting Grid-Forming Power Converters

An Adaptive Inertia and Damping Control Strategy Based on Enhanced Virtual Synchronous Generator Model

In modern converter-dominated power systems, total inertia is very variable and depends on the share of power generated by renewable-based converter-interfaced generation (CIG) at each specific moment. As a result, the limits required by the grid codes on the rate of change of frequency and its nadir or zenith during disturbances become challenging to achieve with conventional control approaches. Therefore, the transition to a novel control strategy of CIG with a grid-forming power converter is relevant. For this purpose, a control algorithm based on a virtual synchronous generator (VSG) is used, which simulates the properties and capabilities of a conventional synchronous generation. However, due to continuously changing operating conditions in converter-dominated power systems, the virtual inertia formed by VSG must be adaptive. At the same time, the efficiency of adaptive algorithms strongly depends on the used VSG structure. In this connection, this paper proposes an enhanced VSG structure for which the transfer function of the active power control loop was formed. With the help of it, the advantages over the conventional VSG structure were proven, which are necessary for the effective adaptive control of the VSG parameters. Then, the analysis of the impact of the VSG parameters on the dynamic response using the transient characteristics in the time domain was performed. Based on the results obtained, adaptive algorithms for independent control of the virtual inertia and the parameters of the VSG damper winding were developed. The performed mathematical modeling confirmed the reliable and effective operation of the developed adaptive control algorithms and the enhanced VSG structure. The theoretical and experimental results obtained in this paper indicate the need for simultaneous development and improvement of both adaptive control algorithms and VSG structures used for this purpose.

Deadbeat Voltage Control for a Grid-Forming Power Converter With LCL Filter

Grid-forming power converters are controlled as voltage sources to regulate the grid voltage and frequency. These converters can increase power system strength if they impose a voltage waveform resilient to grid transients. For this reason, in this paper, we propose a deadbeat control strategy of the capacitor voltage for high power converters with <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">LCL</i> filter. To damp the <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">LCL</i> resonant poles, an active damping strategy is developed, based on a modification of the deadbeat control law. With this purpose, a notch filter is applied to the electrical variables allowing to emulate different damping resistances for the fundamental component and the harmonics. As a result, the active damping does not introduce tracking errors of the fundamental frequency component, while it provides damping to the filter resonance. The proposed strategy does not require knowledge of the grid impedance, an interesting feature in grid-connected power converters because the grid impedance is generally unknown. Experimental results validate the proposed strategy.

Freely Customized virtual generator model for grid-forming converter with hydrogen energy storage

Currently, there is a large-scale penetration of renewable energy sources (RES) in power systems around the world, most of which are based on the power converter technology. The result of such penetration is the emergence of frequency and voltage regulation problems in power systems with RESs. An effective way to solve the mentioned problems is the use of energy storage systems (ESS), among which hydrogen ESSs are promising. However, the quality of such solution mainly depends on the approach to the power converters control. One of the most effective is a grid-forming power converter control strategy. Within this strategy, many scientific groups have proposed the concept of a virtual synchronous generator (VSG). However, the existing VSG models use a series structure with a stiff direction of signals, which completely mimics conventional synchronous generators. In this regard, the fundamental problems inherent in such a structure arise, e.g., a coupling between active and reactive power control. This paper describes a freely configurable VSG model (FC-VSG), in which the structural control blocks can be transferred from one level to another, and the levels themselves can be installed not only in series, but also in parallel. The case studies carried out made it possible to identify the configuration of the FC-VSG, which excludes the fundamental problems inherent in the conventional VSG structures. At the same time, the most efficient and reliable frequency and voltage regulation is provided, which has been proved by qualitative and quantitative comparison, including with the conventional VSG structure.

Adaptive Grid Impedance Shaping Approach Applied for Grid-Forming Power Converters

This paper proposes an adaptive grid impedance shaping approach, implemented through a variable structure virtual impedance control strategy (VS-VIS), to improve the power flow control of grid-forming power converters (GF-PC). In this strategy, an equivalent grid impedance estimator (EGIE) evaluates the feeder X/R ratio to determine the required virtual impedance to reach the grid shaping objective. Besides, the virtual impedance definition also considers the converter power rating to ensure the system&#x2019;s feasibility. A virtual negative resistance series interconnected with a positive virtual reactance implements the virtual impedance. Moreover, the required virtual impedance is only updated when the X/R ratio extrapolates deviation limits determined by allowed grid voltages boundaries specified by the standards. Besides, the virtual reactance is split into two parts that use the conventional and sliding mode (SMC) approaches. The first implements the main part of required virtual reactance, while the second provides a fine-tuning action matching the X/R control objectives and compensating grid impedance uncertainties. This grid-shaping method provides a smooth compensation increasing the GF-PC resilience under grid impedance variation. These features constitute a novelty compared to the shaping methods presented in the literature. Experimental tests obtained from a GF-PC laboratory setup demonstrate the effectiveness and robustness of the proposed grid impedance shaping method.

External Inertia Emulation Controller for Grid-Following Power Converter

The advent of renewable energy has posed difficulties in the operation of power systems whose net inertia is becoming critically low. To face such challenges, grid-forming power has been one of the potential solutions pursued by the industry and research community. Although promising, grid-forming power converters are still immature for mass deployment in power systems. In the meanwhile, an enormous amount of grid-following power converters has been underexploited when it comes to grid-supporting functionalities. Therefore, this article proposes an external inertia emulation controller (eIEC) for grid-following power converter to provide frequency support to the grid. For the purpose of minimizing installation efforts and resources, the controller is designed in such a way that it can be implemented in an external controller communicating with the grid-following power converter via an industrial communication link. This article also investigates the effect of communication delay on the stability performance of the proposed controller. In addition to the detailed analysis, hardware-in-the-loop experiments are also carried out to validate the proposed eIEC.

Multi-Rotor Virtual Machine for Grid-Forming Converter to Damp Sub-Synchronous Resonances

Grid-forming power converters (GFMC) have been widely adopted in power systems as an attractive solution against the challenges imposed by the ever-increasing penetration of renewables. Despite its versatility, GFMC is employed only to provide islanded operation, grid regulations, and synthetic inertia. To further extend the use of GFMC in enhancing power system stability, this paper proposes a multi-rotor virtual machine (MRVM) controller to attenuate sub-synchronous oscillations. Driven by the formulation of a virtual synchronous machine (VSM), the proposed MRVM implements a VSM-based GFMC with several virtual rotors whose electromechanical characteristics can be individually adjusted to target specific oscillatory modes in the system. In this work, the MRVM’s working principle is described in detail and tuning guidelines are proposed to simplify the selection of control parameters by using frequency-domain techniques and the eigenvalue locus analyses. To validate the performance of the MRVM, an IEEE benchmark grid model is adopted namely, the three-machine-infinite-bus system. It is evident from the results that the MRVM (i) provides higher degrees of freedom when dealing with sub-synchronous oscillations, and (ii) outperforms conventional GFMC, especially in damping intra-area power oscillations.

On the Coupling of Power-Related and Inner Inverter Control Loops of Grid-Forming Converter Systems

In the last decade, different control concepts for the synchronisation of voltage-controlled power converters have been proposed in order to form converter-based power systems. The interoperability of these grid-forming power controls is often analysed based on reduced-order models covering only the slow controls or modes. In this article, the coupling of the outer, power-related and inner, inverter output-related control of multiple grid-forming power converter systems is analysed, based on a minimal working example. The elementary study cases each consist of a different grid-forming converter coupled with an external (and passive) grid. Here, the investigated stability problems are already manifested in the simplest possible setup. The analysis of these coupling effects is performed by modelling the system in impedance-based, state-space and phase portrait-based frameworks. In particular, small coupling impedances, like short transmission lines or small short circuit impedances, can be challenging for the controller stability of grid-forming converters while the inner controls can even enhance this issue. The impact of this phenomenon and the participating subsystems are identified in this work. Thus, recommendations concerning modelling techniques and their legitimate assumptions are given. Laboratory experiments validate the performed analysis by indicating a close correlation between analytical models and experimental results.

Robust Sliding Mode and Mixed $H_2$/$H_\infty$ Output Feedback Primary Control of AC Microgrids

In this article, a unified, robust hierarchical control structure is proposed for operating networked multi distributed generation grid-forming power converters in islanded alternating current (ac) microgrids (MGs). The primary control level stabilizes the frequency and the voltage of an ac MG through a cascaded structure, consisting of a droop controller, a mixed <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$H_2$</tex-math></inline-formula> / <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$H_\infty$</tex-math></inline-formula> -based voltage controller, and an adaptive backstepping integral nonsingular fast terminal sliding mode control (ABINFTSMC) for current loop. In the inner control loop, an adaptive robust nonlinear controller is designed for regulating and tracking of the current reference in the presence of unknown bounded uncertainties and external disturbances. The outer loop controller design problem is formulated by a set of linear matrix inequalities and then solved as a multiobjective optimization problem, by using a fuzzy decision-making tool (FDMT) to provide the best tradeoff solution. Besides, the conventional distributed protocol has been used in the secondary layer to compensate for the deviation caused by the primary layer. Finally, the effectiveness of the proposed control scheme is evaluated through offline time-domain simulation studies based on different scenarios in the MATLAB/Simulink environment for a test MG system.

Grid Impedance Estimation Through Grid-Forming Power Converters

In more-electronics power systems, grid-forming power converters, which operate as ac voltage sources, regulate the grid frequency and voltages in replacement of synchronous generators. Notably, grid impedances greatly influence the small signal and voltage stability of grid-forming converters. As such, prior knowledge of grid impedances can be very helpful for controller design. However, grid impedance estimation schemes are normally designed for current-controlled grid-following converters. Moreover, they are either very complicated or only yield grid inductances in a generally intrusive way. To fill this research gap, an impedance estimation method well suited to grid-forming converters is proposed. The method consists of four operating modes, which work well in voltage and power control cases. In the voltage control case, the voltage amplitude perturbation or phase angle information is exploited. Subsequently, the grid inductance and resistance are derived from power measurement. Alternatively, the active or reactive power information serves to estimate the grid impedance in the power control case. The proposed method features an easy implementation without any harmonic distortion, safety concern, or dependence on control parameters. Moreover, the method operates nonintrusively in most scenarios. Furthermore, a novel Kalman filtering scheme is proposed to provide added incentives. Finally, simulation and experimental results validate the effectiveness and simplicity of the proposed method.

Frequency Stability of Synchronous Machines and Grid-Forming Power Converters

An inevitable consequence of the global power system transition toward nearly 100% renewable-based generation is the loss of conventional bulk generation by synchronous machines (SMs), their inertia, and accompanying frequency- and voltage-control mechanisms. This gradual transformation of the power system to a low-inertia system leads to critical challenges in maintaining system stability. Novel control techniques for converters, so-called grid-forming strategies, are expected to address these challenges and replicate functionalities that, so far, have been provided by SMs. This article presents a low-inertia case study that includes SMs and converters controlled under various grid-forming techniques. In this article, the positive impact of the grid-forming converters (GFCs) on the frequency stability of SMs is highlighted, a qualitative analysis that provides insights into the frequency stability of the system is presented, we explore the behavior of the grid-forming controls when imposing the converter dc and ac current limitations, the importance of the dc dynamics in grid-forming control design as well as the critical need for an effective ac current limitation scheme are reported, and finally, we analyze how and when the interaction between the fast GFC and the slow SM dynamics can contribute to the system instability.

A Lyapunov Framework for Nested Dynamical Systems on Multiple Time Scales With Application to Converter-Based Power Systems

In this article, we present a Lyapunov framework for establishing stability with respect to a compact set for a nested interconnection of nonlinear dynamical systems ordered from slow to fast according to their convergence rates, where each of the dynamics is influenced only by the slower dynamics and the successive fastest one. The proposed approach explicitly considers more than two time scales, it does not require modeling multiple time scales via scalar time constants, and provides analytic bounds that make ad-hoc time-scale separation arguments rigorous. Motivated by the technical results, we develop a novel control strategy for a grid-forming power converter that consists of an inner cascaded two-degree-of-freedom controller and dispatchable virtual oscillator control as a reference model. The resulting closed-loop converter-based ac power system is in the form of a nested system with multiple time scales. We apply our technical results to obtain explicit bounds on the controller set points, branch powers, and control gains that guarantee almost global asymptotic stability of the multiconverter ac power system with respect to a prespecified solution of the ac power flow equations. Finally, we validate the performance of the proposed control structure in a case study using a high-fidelity simulation with detailed hardware validated converter models.

Grid-Forming Power Converters Tuned Through Artificial Intelligence to Damp Subsynchronous Interactions in Electrical Grids

The integration of non-synchronous generation units and energy storage through power electronics is introducing new challenges in power system dynamics. Specifically, the rotor angle stability has been identified as one of the major obstacle with regards to power electronics dominated power systems. To date, conventional power system stabilizer (PSS) devices are used for damping electromechanical oscillations, which are only tuned sporadically leading to significant deterioration in performance against the ever-changing operating conditions. In this paper, an intelligent power oscillation damper (iPOD) is proposed for grid-forming converters to attenuate electromechanical inter-area power oscillation. In particular, the iPOD is applied to a synchronous power controller (SPC) based grid-forming power converter to increases gain of the active power control loop at the oscillatory frequency. Predictions regarding the mode frequency, corresponding to the current operating points, are given by an artificial intelligence ensemble model called Random Forests. The performance of the proposed controller is verified using the two area system considering symmetrical fault for random operating points. In addition, a comparison with PSS installed in each generator reveals the individual contribution with respect to the inter-area mode damping.

A Sliding Mode Control Strategy for a Grid-Supporting and Grid-Forming Power Converter in Autonomous AC Microgrids

A Sliding Mode Control Strategy for a Grid-Supporting and Grid-Forming Power Converter in Autonomous AC Microgrids

Improved Voltage Unbalance and Harmonics Compensation Control Strategy for an Isolated Microgrid

This paper suggests an enhanced control scheme for a four-leg battery energy storage systems (BESS) under unbalanced and nonlinear load conditions operating in the isolated microgrid. Simplicity, tiny steady-state error, fast transient response, and low total harmonic distortion (THD) are the main advantages of the method. Firstly, a new decoupled per-phase model for the three-phase four-leg inverter is presented. It can eliminate the effect of power stage coupling on control design; thus, the three-phase four-leg power inverter can be viewed as three single input single output (SISO) control systems. Then, using an improved orthogonal signal generation method, the per-phase model of the four-leg inverter in the stationary and synchronous frame is derived. As the second step, a per-phase multi-loop control scheme for the four-leg inverter under unbalanced load conditions is suggested. The proposed control strategy has the ability to provide balanced output voltages under unbalanced load conditions by avoiding the need to deal with the symmetrical components. Finally, a multi-resonant harmonic compensator is used to actively prevent low-order harmonic currents to distort the output voltages of the three-phase four-leg grid-forming power converter. Simulations results are also presented to verify the performance of the suggested control strategy.

Synchronization of Power Inverters in Islanded Microgrids Using an FM-Modulated Signal

A microgrid can operate in island mode, isolated from the main grid during certain time intervals. When operated in island mode, the electronic converters of the microgrid must keep the voltage and frequency of the microgrid inside the desired range. The converters of a microgrid can be classified into three groups: 1) grid-feeding; 2) grid-supporting; and 3) grid-forming power converters. The grid-forming converters operate as a voltage source, and require an external synchronization signal provided by the microgrid central controller. Both the noise and the delay in the synchronization signals received by the grid-forming converters are critical issues, which deteriorate the quality of the microgrid voltage and may overload those converters. The synchronization signals must be robust and suitable for operating in noisy environments. In this paper, the synchronization signal is frequency-modulated to be transmitted, being robust against noise. The transmission is done through an industrial RS-485 line with a low delay. The demodulation is performed with a low computational load by the control processors of the grid-forming power converters.

An Improved Control Strategy for a Four-Leg Grid-Forming Power Converter under Unbalanced Load Conditions

This paper proposes an improved multiloop control strategy for a three-phase four-leg voltage source inverter (VSI) operating with highly unbalanced loads in an autonomous distribution network. The main objective is to balance the output voltages of the four-leg inverter under unbalanced load conditions. The proposed control strategy consists of a proportional-integral (PI) voltage controller and a proportional current loop in each phase. The voltage controller and the current control loop are, respectively, used to regulate the instantaneous output voltage and generate the pulse width modulation (PWM) voltage command with zero steady-state tracking error and fast transient response. A voltage decoupling feedforward path is also used to enhance the system robustness. Since the outer voltage loop operates in the synchronous reference frame, tuning and stability analysis of the PI controller is far from being straightforward. In order to cope with this challenge, the stationary reference frame equivalent of the voltage controller in the rotating frame is derived. Subsequently, a systematic design based on a frequency response approach is provided. Simulation results are also carried out using the DIgSILENT PowerFactory software to verify the effectiveness of the suggested control strategy.