3PhaseInverterControlLoopDesign

SmartCtrlTutorial
3PhaseGridConnectedPVInverter ControlLoopDesign

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3PhaseInverterControlLoopDesign SmartCtrl1isageneralpurposecontrollerdesignsoftwarespecificallyforpowerelectronicsapplications. This tutorial is intended to guide you, step by step, to design the inner control loop in dq axis of a 3 phase grid connected PV inverter from its imported frequency response. The outer control loop design andthemaximumpowerpointtracking(MPPT)arenotincludedinthistutorial. ThefigurebelowshowsthePVinvertersystemwiththecurrentfeedback.

PWM Modulator

P*

Id*
2 p vd + q v q id = 2 2 3 vd + vq +

PI
-

d q

a b c

Q*

iq =

2 p v q q vd 2 2 + vq 3 vd

Iq*
+

PI
-

id iq

d q

a b c

There are different ways to control such a system. One approach is to use the axis decoupling by means offeedforwardcontrolasshowninthefigurebelow.
K sc

id _ REF

d + 1 K sc
d K sc i

Rid
L VG L VG

d d

V G V

1 Ls + r

d i

K sc iq

1 K sc

iq _ REF

+
Riq

d q
V G V

1 Ls + r

iq

K sc

Due to the axis decoupling, this approach requires large amount of computations. For low cost applications (low cost P, PIC, DSP or small FPGA), a simplified control strategy is needed, as shown in the next figure. In the simplified approach, direct PI control (without feedforward paths for axis decoupling)isused.

SmartCtrliscopyrightin2010byCarlosIIIUniversityofMadrid,GSEPPowerElectronicsSystemsGroup,Spain

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3PhaseInverterControlLoopDesign

Id

PI

d d

0.5VDC (Ls + r ) (Ls + r )2 + (L )2

I d
+ +
0.5VDC L

Iq

+ -

PI

d q

(Ls + r )2 + (L )2

0.5VDC (Ls + r ) (Ls + r )2 + (L )2

I q

The plant (grey colored area) can be rewritten as it is shown in the figure. The obtained transfer functionscanbeclassifiedasfollows: Mutualtransferfunctions:

I d and I q d d d q

Selftransferfunctions:

I q , and I d d d d q

Taking into account the symmetry of the balanced 3phase inverter system, two identical PI controllers canbetuned.InordertodesignthisPIcompensator,therearetwopossibilities:theconverterplantcan be either the mutual transfer function or the self transfer function. Due to the higher bandwidth and betterstability,itispreferabletousetheselftransferfunction. ThefirststepwillbetovalidatethetheoreticalselfandmutualtransferfunctionsbymeansofaPSIMAC analysisofthe3phasegridconnectedinverter.

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3PhaseInverterControlLoopDesign 1. ACAnalysisinPSIM

The frequency response of the plant is obtained from the average model of the 3phase inverter in dq axisbymeansofthePSIMACanalysis,asshownbelow.

ACsweep control

ACsource

Thefrequencyresponsefromtheacanalysisisshownbelow:

Before proceeding with the control loop design, we would validate the ac sweep results. The figure below shows the frequency response obtained with PSIM (green trace) and from theoretical analysis (red trace). The comparison shows that the simulation result matches very well with the theoretical result.

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3PhaseInverterControlLoopDesign

60

ci)

(dB)

m1 ( Freci)

40

20

20 10

100

110

110

Frecuency Freci (Hz)

100 1 ( Freci)

degrees

200

300

10

100

Frecuency Freci (Hz)

110

110

Once the frequency responseisobtained,inPSIM,gotoUtilities>Launch/ExporttoSmartCtrl(or clickontheiconRunandExporttoSmartCtrl)toexporttheacsweepresulttoSmartCtrl. TheloadedtransferfunctioninSmartCtrlisshownbelow.

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3PhaseInverterControlLoopDesign 2. ControlloopdesignwithSmartCtrl

2.1 Selectthesensortype: Thefeedbackcurrentsensortypeisselectedfromapulldownlistboxasshownbelow.

In this case, the hall effect sensor is selected. Then define the sensor gain and the bandwidth (pole frequency)oftheHalleffectsensor.
Sensor gain Polefrequency

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3PhaseInverterControlLoopDesign 2.2 Selecttheregulatortype Selecttheregulatortypeoftheregulatorpulldownlistbox.

ThePIregulatorisselectedinthiscase.ThePIregulatorspecificationwindowisshownbelow.
Modulator gain R11value

For an equivalent analog implementation of the compensator, it is necessary to set the modulator gain and the value of the resistance R11. In this case the resistance value is not important because the PI regulator to be implemented in PSIM is given by the values of the proportional gain andthetimeconstantinsdomaintransferfunctionblockdiagram. 2.3 Selectthecrossoverfrequencyandthephasemargin Once all the control loop transfer functions are defined, the crossover frequency and the phase marginmustbeselected.Clickonthe"Set.."buttonandthesolutionsmapwillbedisplayed.

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3PhaseInverterControlLoopDesign

Now, select the crossover frequency and the phase margin of the loop just by clicking within the whitezoneandclickOKtocontinue.Theselectedpair(PMandfcross)willprovidedstableoperation. OptimizationprocesscouldbecarriedoutinthemainSmartCtrlwindow.

Once the crossover frequency and the phase margin have been selected, the solution map will be shown on the right side of the input data window. If, at any time, these two design parameters needtobechanged,justclickontheshownsolutionmap(Seenextfigure).

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3PhaseInverterControlLoopDesign

Now accept the selected configuration and confirm the design, the program will automatically showtheperformanceofthesystemintermsoffrequencyresponse,etc. TheregulatorcomponentstobeusedinPSIMaretheKpandKintvalues.

Regulator components

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3PhaseInverterControlLoopDesign 3. Closedloopperformance InordertochecktheclosedloopperformanceoftheregulatordesignedinSmartCtrl,aclosedloop simulation with PSIM will be carried out. Both the simulation schematic circuit and the simulation resultsareshownbelow.
Icc_pwm A IGBT1 IGBT2 IGBT3 VAB_pwm V 1 1 6.2831 50
K

1m

V Va V Vb V Vc 100m

V wt

VA_pwm

wt T

500V
IGBT4 gnd IGBT5 IGBT6 Ia Ib Ic 0.3183m. 1. 0.3183m. 1. 0.3183m. 1. Ia_fil Ib_fil Ic_fil

1 a b c Id_fil
V
a b c d q o K

Vmod_a
V

Vge1
V

Id_fil Iq_fil
ac V

Vmod_a Vmod_b
V

-1

Vge2
V

wt Vd a
a d q o K

Iq_fil

Vmod_b Vmod_c
V

Vge3
V

Vmod_c Vtri V

vd* -1
V

b c

vq* Vq

1500Hz

c wt

PIcomponents calculatedby SmartCtrl

P
5k Vmod_a Vmod_b Vmod_c 15k 165m

P_ref
V

vd* 2/3
K

Id_ref
V

Id*

PI
1.89538m 8.24078m

d K q o

a b c

vq*

Q_ref
15k 300m

abs Iq_ref 2/3

PI

-1 wt

vq*

Iq_fil

Iq*

Direct PI control
Iq*

vd*

abs

Power References Generation

V p_dq

1.5 V q_dq vq*

vd* vq*

abs

Id_fil vq* Iq_fil vd*

Id_fil

Iq_fil

Ia_fil 100.00 50.00 0.0 -50.00 -100.00 p_dq 30.00K 20.00K 10.00K 0.0K -10.00K -20.00K q_dq 20.00K 15.00K 10.00K 5.00K 0.0K -5.00K Va 200.00 100.00 0.0 -100.00 -200.00 0.0 0.10 0.20 Time (s) 0.30 0.40 Ia_fil Q_ref P_ref Ib_fil Ic_fil

ActivePower Step

ReactivePower Step

10

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3PhaseInverterControlLoopDesign As it can be seen from the simulation results, the control loop, designed in SmartCtrl and validated in PSIM, provides a good performance to the 3phase PV inverter system without the use of feedforwarddecouplingloops. This example shows that, SmartCtrl in combination with PSIM, with the capability to import frequencyresponseresultsfromPSIM,provideafastandpowerfulplatformforcontrolloopdesign andoptimizationofanypowerconvertersystems.

11

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