Chaper 6

Dynamic Modeling
Presentation #3

Dr. Weidong Xiao

School of Electrical and Information Engineering

University of Sydney, Australia

2017
c

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Outline

1 Dynamics of DC bus voltage interfaced with dual active bridge

Small signal model
Model verification

2 Power conditioning configuration

3 DC link dynamics for single phase interconnection

Small signal model
Model verification

4 DC link dynamics for three phase interconnection

Small signal model
Model verification

5 Summary

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Dynamics of DC bus voltage

The battery buffer is an important component in DC microgrids and

standalone systems to balance the power difference between power
generation and load demand.
Since dynamic analysis and feedback control play a critical role in real-world
power electronic applications, it is important to find an effective way to
characterize the system dynamics for regulating charge and discharge cycles
of the battery management.
The control objective includes:
current regulation in the battery bulk charge cycle;
voltage regulation in the absortion charge cycle;
voltage regulation of the DC bus in DC microgrid;
seamless transition between charge and discharge.
The battery power interface should be able to regulate the DC link voltage in
the DC microgrid through the regulated power either injection or extraction
from the DC bus.

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Bidirectional dual active bridge topology for the output voltage regulation

The DC bus can be modelled as a capacitor, CDC in parallel with an

equivalent load resistor, RL .
The inductance, L, is not considered for the dynamic model since it forms an
impedance effect and interacts with the high frequency switching.
The dynamic effect of the inductance can be separated from the dominant
frequency for the overall system.
The dynamics of the DC link voltage is mainly dominated by the RC circuit
including CDC and RL .

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Dynamics of DC bus voltage interfaced with dual active bridge

The model in s-domain is expressed as the standard 1st-order transfer

function, where the symbols of ϕ̃ and ṽdc represent the small-signal variants
of the phase shift and the output voltage, respectively.
K0
  G0 (s) =
RL Vbat 2ϕ τ0 s + 1
1−
ṽdc (s) ωLπN π RL Vbat

2ϕ

= where K0 = 1− and τ0 = RL CDC
ϕ̃(s) RL CDC s + 1 ωLπN π
Parameter change Magnitude (K0 ) Time constant (τ0 )
CDC increasing no effect increasing
L increasing decreasing no effect
N increasing decreasing no effect
fsw increasing decreasing no effect
ϕ increasing decreasing no effect
RL increasing increasing increasing

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Case study and model verification

Comparison between the output of the developed small signal model with the
simulation result using the switching model.
−3
5 x 10

Perturbation (rad)
0

−5
0 0.002 0.004 0.006 0.008 0.01

382
Voltage (V)

380
vdc
378 vdc−small
0 0.002 0.004 0.006 0.008 0.01
Time (s)

The output of the small signal model shows no information of the switching
ripples, but captures the critical dynamics in response the step change of the
phase angle shifting.
The waveform show the first order response, as the mathematical model.
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DC link circuit

The DC link is important to interface the PVSC and the GSC in the two-stage
conversion system.
In the single-stage conversion system, the DC link is merged with the PV link
acting as the interface between the PV source circuit and the GSC.

The dynamics of the DC link can be

described that the dynamics of vdc is
caused by the interaction among
idc (t), iinv (t), and the DC link
capacitor, Cdc .
In the single-stage conversion
system, the voltage of the DC link is
the same voltage of the PV terminal.
The modeling for the single stage
conversion system follows the same
principle as the two stage conversion
system.
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Dynamics of DC link for single-phase AC grid interconnection

In single-phase grid interconnection, high volume capacitance is applied to

the DC link to filter the double line frequency ripple.
The significant energy buffer causes a relatively slow dynamics on the DC link
voltage.
The dynamics of the DC link voltage has been represented by the interaction
with the input power (pdc ) and output power (pinv ) of the DC link.
When the DC to AC conversion loss is neglected, the energy equilibrium can
be demonstrated by
dvdc pdc − pgrid
Cdc =
dt vdc
dvdc 1 2pdc − vmag imag
=
dt Cdc 2v
| {z dc }
h(vdc ,imag )

The variables of vmag and imag represent the amplitude of the grid voltage and
current.
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Dynamics of DC link for single-phase AC grid interconnection

The small-signal variation of the DC link voltage, ṽdc , is represented in the

mathematical model in corresponding to the small signal of the amplitude of
the grid current, ĩmag .  
d ṽdc ∂h  ∂h 
Following the linearization process, = ṽdc + ĩmag
dt ∂vdc SS ∂imag SS
The difference between the values of 2Pdc and Vmag Imag can be considered to
zero in steady state.
Therefore, the small signal model representing the variation of the DC link
voltage in response to the amplitude change of the grid injection current is
expressed by
The model shows the integral characteristics of the DC
d ṽdc Vmag
=− ĩmag link voltage in response to any small variation of the
dt 2Cdc Vdc extracting current from the steady state.
The static gain is a negative value, calculated by -Vmag /(2Cdc Vdc ).
It shows that any unbalance from the equilibrium can lead the DC link voltage
deviate in the rate that corresponds to the static gain of the small signal
model.
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Simulink model for evaluating the small signal model

The blocks of the H-bridge, AC modulation, AC filter, and DC link model have
been introduced in Chapter 5.

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Dynamic comparison between the simulation model with the small signal model

The DC link voltage response can be evaluated by comparing the output of

the small signal model with the large signal simulation.
The increasing variation is noticeable in the waveform of igrid at at the moment
of 60 ms.
The output of the mathematical model that is indicated as vdc−small , does not
show any information about the double line frequency ripples.
20

10

igrid (A)
The model captures the 0

−10
critical dynamics of the
−20
integral behavior. 50 100 150 200 250

It clearly shows the 382

vdc
match in term of the 380 v
DC link

dc−small

slope rate. 378

376
50 100 150 200 250
Time (ms)

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Dynamics of DC link for three-phase AC grid interconnection

Similar analysis for the single-phase system can be applied to the

three-phase DC/AC conversion in connection with the DC link.
In steady state, the equilibrium of the current value is expressed as
3VLN Imag
Pdc − √ =0
2
Assuming the injected DC current is constant, the variation of the DC link
voltage can be expressed in the small signal model when a small
perturbation, ĩmag is introduced.

d(vdc + ṽdc ) 3VLN (Imag + ĩmag )

Cdc = Idc − √
dt 2Vdc
Linearization leads to the small-signal model, as expressed in
 
ṽdc (s) 3VLN 1
= −√
ĩmag (s) 2Vdc Cdc s

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Dynamic comparison between the simulation model with the small signal model

The output of the mathematical model captures the critical dynamics

regarding to the integration of the current deviation.

(A)
0

grid
i

−5

40 60 80 100 120 140

560
DC link

555

vdc
550
v
dc−small
40 60 80 100 120 140
Time (ms)

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Summary

In the case of battery power interface, the dynamic model is explored for the
special topology, dual active bridge (DAB).
It is shown that the topology is suitable to be used as the power interface for
DC microgrid or a system with DC link.
When the voltage dynamics of the DC link is concerned, the system shows a
first-order transfer function according to the small-signal model.
In the grid-tied PV system, the voltage variation of the DC link responses to
the interaction between the injected current and extracted current
corresponding to the capacitance of the DC link.
The DC link voltage dynamics shows the integral behavior, which is
expressed in the small signal model.
In summary, it is one important step to verify the developed mathematical
model by comparing the output with the large signal simulation.
It is important for the small signal model to capture the key system dynamics,
but ignore the switching ripples in both voltage and current signals.

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