Modeling and Control of Three-Phase

High-Power High-Frequency Converters

Presented by:

Dushan Boroyevich, Rolando Burgos,

Igor Cvetkovic, and Bo Wen
IEEE COMPEL 2018
Padova, Italy, June 25-28,
2018
 Outline
1. Introduction
2. Mathematical Framework
3. Switching Modeling and PWM
4. Average Modeling
5. Small-Signal Modeling
6. Closed-Loop Control
7. 3-Level Converters
8. Control System Synchronization
9. AC System Interactions
10. Electronic Synchronous Machine (Voltage Controlling Converter)
June 25, 2018 IEEE COMPEL 2018 2
Three-Phase Applications

Diode Rectifier SCR Rectifier

June 25, 2018 IEEE COMPEL 2018 3

Diode Rectifiers
THD 90% THD 80%

i i

Ig Io

+ 3V g +
Vg Vo Vo
-
-

Single-phase rectifier Three-phase rectifier

June 25, 2018 IEEE COMPEL 2018 4
Diode Rectifiers

- V g1 + Zg I g1
Ir Io

- V g2 + Zg I g2
i
+
Co Vo
- V g3 + Zg I g3 -

Three-phase rectifier with inductive filter THD 40%

June 25, 2018 IEEE COMPEL 2018 5

Three-Phase Applications
Power Factor Correction Other Three-Phase Converters

Three-phase  AC-DC rectifier

DC-DC
Input Filter PWM Filter
Converter  DC-fed inverter
Rectifier
 AC-DC-AC power converter
 Sinusoidal input current and unity power factor
 AC-AC power converter
 Bidirectional power flow capabilities
 Uninterruptible power system

i1 i1 i2 i3
 Active filters
i2  STATCOM
i3
 HVDC transmission station
 DC-AC grid-interface
Vac
I ac
I* - Vo
Reg. I Modul. PWM + -
+ V*
G* o
Reg. V
+
Circuit and control diagram Input current waveform
June 25, 2018 IEEE COMPEL 2018 6
Three-Phase Applications: Grid-Interface Converters

 Wind power applications

 Photovoltaic applications

 Energy Storage

June 25, 2018 IEEE COMPEL 2018 7

Three-Phase Applications
Two-Level Power Converters

Boost Rectifier Buck Inverter (VSI)

Buck Rectifier Boost Inverter (CSI)

June 25, 2018 IEEE COMPEL 2018 8

Generalized Structure of a Power Converter

?
Input Switching Output
Source Load
Filter network Filter

Controller

Feedforward Feedback

 Switching network is discontinuous and nonlinear

June 25, 2018 IEEE COMPEL 2018 9

 Steps in Modeling Three-Phase PWM Converters
1. Switching model 3. Average model in rotating d-q frame
 Time-discontinuous  Time-continuous
 Time-varying  Time-invariant
 Nonlinear  Nonlinear

2. Average model in stationary frame 4. Small-signal model in rotating d-q

 Time-continuous frame
 Time-varying  Time-continuous
 Nonlinear  Time-invariant
 Linear

June 25, 2018 IEEE COMPEL 2018 10

 Outline
1. Introduction
2. Mathematical Framework
3. Switching Modeling and PWM
4. Average Modeling
5. Small-Signal Modeling
6. Closed-Loop Control
7. 3-Level Converters
8. Control System Synchronization
9. AC System Interactions
10. Electronic Synchronous Machine (Voltage Controlling Converter)
June 25, 2018 IEEE COMPEL 2018 11
 Three-Phase Variables
Y-connection -connection
a v ab  v a  v b a
ia v bc  v b  v c ica
v an v ca v ab ia
v ca  v c  v a
v cn n
v bn
i ab
b i a  ica  i ab b
ib ibc v bc
c ib  i ab  ibc ib
c
ic ic  ibc  ica
ic
i a  ib  i c  0 i a  ib  i c  0
v ab  v bc  v ca  0 v ab  v bc  v ca  0
van  vbn  vcn  0 i ab  ibc  ica  0

June 25, 2018 IEEE COMPEL 2018 12

 Vector Representations of the Three-Phase Variables
Euclid vector representations

𝑣 𝑡 𝑖 𝑡
𝑣⃗ 𝑣 𝑡 𝚤⃗ 𝑖 𝑡
𝑣 𝑡 𝑖 𝑡

Euclid Space:
c
𝑣⃗
vc
b
1 0 0
𝑢 0 𝑢 1 𝑢 0 vb
0 0 1 a
va

June 25, 2018 IEEE COMPEL 2018 13

 Change of Coordinates (abc to )
i a  ib  i c  0 v ab  v bc  v ca  0
This defines a 2-dimensional subspace  , perpendicular to the vector
1 1 1T in abc-space.
c

 -space is traditionally

defined by:
• -axis is chosen as 1
1
projection of the a-axis 
onto  , 1 b
•  -axis is co-linear with
vector 1 1 1T
•  - axis is defined by
right-hand rule. 

a
June 25, 2018 IEEE COMPEL 2018 14
 Transformation Matrix
The transformation matrix γ
|| T / abc ||  1
b a
 1 1 
 1   
2 2 β
 
T / abc 
2
0
3

3 c
3 2 2 
 1 1 1 
  
 2 2 2  α
𝑣⃗ 𝑇 / · 𝑣⃗
𝚤⃗ 𝑇 / · 𝚤⃗

June 25, 2018 IEEE COMPEL 2018 15

 Example: State-Space Equations
ia
va R
L
𝑣 𝑉 cos 𝜔𝑡
vc vb 𝑣⃗ 𝑣 𝑉 cos 𝜔𝑡 2𝜋/3
ib L L 𝑣
R R 𝑉 cos 𝜔𝑡 2𝜋/3

ic
R 0 0 
𝑑𝚤⃗ R   0 R 0 
𝑣⃗ 𝐑𝚤⃗ 𝐋  0 0 R 
𝑑𝑡 𝑖
𝚤⃗ 𝑖
𝑑𝚤⃗ L 0 0 
𝑖
𝑑𝑡
𝐋 𝐑𝚤⃗ 𝐋 𝑣⃗ L   0 L 0 
 0 0 L 
June 25, 2018 IEEE COMPEL 2018 16
 Example: State-Space Equations
Vm
Im 
ia   cos(t   )  R 2   2 L2
i   I  cos(t  120   )
 b m   L
ic  cos(t  120   )    arctan
R

i  3 cos(t   )
i    Im   
 
 2  sin(t   ) 


id  3  cos  
i    Im   
 q 2   sin  

June 25, 2018 IEEE COMPEL 2018 17

 Transformation Matrix

A rotating vector in  space can be a constant vector in a rotating space


q
v vd   cos sin   v 
d v     v 
 q   sin  cos    
vq vd
  t
v     ( )d    ( 0 )
0

Where  is the rotating speed

June 25, 2018 IEEE COMPEL 2018 18
 Transformation Matrix
Preserve the same third axis, that is 0-axis is the same as -axis

vd   cos sin  0  v 

 v    sin    
 q  cos 0  v  
 v0   0 0 1  v 

Therefore

 cos sin  0
|| Tdq0 / αβγ ||  1
Tdq0 /    sin  cos 0
1
 0 0 1 Tαβγ / dq0  T
dq0 /  TT
dq0 / 

June 25, 2018 IEEE COMPEL 2018 19

 Example: Stationary and Rotating Reference Frame
ia
id L
va R Liq
R
L vd
vc vb L L
ib R R
iq L Lid
vq R
ic

𝑑𝚤⃗ 0 𝜔𝐿 𝑖 𝑑𝚤⃗
𝑣⃗ 𝐑𝚤⃗ 𝐋 𝑣⃗ 𝐑𝚤⃗ 𝑖
𝑑𝑡 𝜔𝐿 0 𝑑𝑡
𝑑𝚤⃗ 𝑑𝚤⃗
lim 0 lim 0
→ 𝑑𝑡 → 𝑑𝑡

June 25, 2018 IEEE COMPEL 2018 20

 Outline
1. Introduction
2. Mathematical Framework
3. Switching Modeling and PWM
4. Average Modeling
5. Small-Signal Modeling
6. Closed-Loop Control
7. 3-Level Converters
8. Control System Synchronization
9. AC System Interactions
10. Electronic Synchronous Machine (Voltage Controlling Converter)
June 25, 2018 IEEE COMPEL 2018 21
 Basic Topologies
p
Boost Rectifier sap sbp scp
Vdc  Vm
L vdc
va where Vm is the peak
v AB
vCA vb R value of the line-to-line
vBC C
vc input voltage

san sbn scn

n
Voltage Source Inverter (VSI)
p
sap sbp scp
L
vdc vc
vBC vCA
Vdc  Vm vb C Load
va v AB

san sbn scn

n
June 25, 2018 IEEE COMPEL 2018 22
 Basic Topologies
Buck Rectifier p L
Vdc
sap sbp scp
vA vdc VSI/BOOST RECTIFIER DC VOLTAGE RANGE

va Vm
vB
vb 3
vC C R
CSI/BUCK RECTIFIER DC VOLTAGE RANGE
Vdc  Vm
vc 2
san sbn scn

n
L p
Current Source Inverter (CSI)
sap sbp scp
vdc vc
3
Vdc  Vm vb Load
2 va
vA vB vC
san sbn scn
n C
June 25, 2018 IEEE COMPEL 2018 23
 Method of Modeling Switching Networks
Current bi-directional two-quadrant switch Switching Function
v i
1, v = 0, if switch s is closed
i v s =
s
0, i = 0, if switch s is open
v
i

Switching Constraints
 Voltage source or capacitor cannot be shorted
 Current source or inductor cannot be open

June 25, 2018 IEEE COMPEL 2018 24

 Voltage-Unidirectional Three-Phase Switching Network
p
Three-Switch (Single-Pole-Double-Throw) sap sbp scp
 Boost Rectifier
va
 Voltage Source Inverter
vb
vc
Allowed switching combinations: san sbn scn

sip  sin  1; i  {a, b, c} n

p idc
Defining: 1
 Voltage-unidirectional single- ia sa
ib va 0 1
pole-double-throw switch sb
vb 1 vdc
 Switching functions ic 0 sc
vc 0
si  sip  1  sin ; i  {a, b, c}
n
June 25, 2018 IEEE COMPEL 2018 25
 Current-Unidirectional Three-Phase Switching Network
Topology p
 Three-phase terminals are voltage controlled vA sap sbp scp idc
va
 DC port is current controlled vB
vb
 Six current-unidirectional, voltage-bi- vC vc
directional, switches san sbn scn
n
Allowed switching combinations:
p
sak  sbk  sck  1; k  { p, n} idc
vA
va
 Two single-pole-triple-throw (SPTT) vB
vb
current-unidirectional switches vC vc

n
June 25, 2018 IEEE COMPEL 2018 26
 Switching Model—Line Variables
Boost Rectifier/Voltage Source Inverter
p idc
ia 1
sa
ib va 0 1
sb
vb 1 vdc
ic 0 sc
vc 0

Instantaneous voltage equation Instantaneous current equation

𝑣 𝑆 𝑆 𝑆 𝑖
𝑣 𝑆 𝑆 𝑣 𝑆 𝑣 𝑖 𝑆 𝑆 𝑆 · 𝑖
𝑣 𝑆 𝑆 𝑆 𝑖

Note that: 𝑆 𝑆 𝑆
… ;… 𝑣 𝑣 𝑣 ;…
June 25, 2018 IEEE COMPEL 2018 27
 Relationship between Line-to-Line Current and Phase Current
ia
iab 𝑖 𝑖 𝑖
ib
ica 𝑖 𝑖 𝑖
ibc 𝑖 𝑖 𝑖
ic

𝑖 𝑖 𝑖 𝑖 𝑖 𝑖 2𝑖 𝑖 𝑖 3𝑖

Assuming that 𝑖 𝑖 𝑖 0

1 1 1
𝑖 𝑖 𝑖 Similarly 𝑖 𝑖 𝑖 𝑖 𝑖 𝑖
3 3 3

𝑖 𝑆 𝑖 𝑆 𝑖 𝑆𝑖 𝑆 𝑖 𝑖 𝑆 𝑖 𝑖 𝑆 𝑖 𝑖
𝑖
𝑖 𝑖 𝑆 𝑆 𝑖 𝑆 𝑆 𝑖 𝑆 𝑆 𝑆 𝑆 𝑆 𝑖
June 25, 2018 IEEE COMPEL 2018
𝑖 28
 Switching Model – Line Variables
Boost Rectifier / Voltage Source Inverter
p idc
ia 1
sa
ib va 0 1 𝑣 𝑆 ·𝑣
sb
vb 1 vdc
ic 0 sc
vc 𝑖 𝑆 ·𝑖
0

n
Where:
𝑣 𝑣 𝑣 𝑆 𝑆 𝑆 𝑖
𝑣 𝑣 𝑣 𝑣 𝑆 𝑆 𝑆 𝑆 𝑖 𝑖
𝑣 𝑣 𝑣 𝑆 𝑆 𝑆 𝑖

June 25, 2018 IEEE COMPEL 2018 29

 Switching Model—Phase Variables
Boost Rectifier/Voltage Source Inverter
p idc
ia 1
sa
ib va 0 1 𝑣 𝑆 ·𝑣
sb
vb 1 vdc
ic 0 sc
vc 0 𝑖 𝑆 ·𝑖

n
Where:
𝑣 𝑣 𝑆 𝑖
𝑣 𝑣 𝑣 𝑆 𝑆 𝑖 𝑖
𝑣 𝑣 𝑆 𝑖

June 25, 2018 IEEE COMPEL 2018 30

 Outline
1. Introduction
2. Mathematical Framework
3. Switching Modeling and PWM
4. Average Modeling
5. Small-Signal Modeling
6. Closed-Loop Control
7. 3-Level Converters
8. Control System Synchronization
9. AC System Interactions
10. Electronic Synchronous Machine (Voltage Controlling Converter)
June 25, 2018 IEEE COMPEL 2018 31
 Average Circuit Modeling
t
1
 Applying an average operator to the switching model: x (t )  
T t T
x()d
t
1
Switch duty cycle d ap  sap (t )  
T t T
sap ( τ ) dτ

Phase-leg duty cycle d a  d ap  1  d an

t
1
Line-to-line duty cycle d ab  sab (t )  
T t T
sab ( τ )dτ  d a  d b

KVL and KCL v  0 i  0

d iL d vC
Linear components vR  RiR vL  L iC  C
dt dt

June 25, 2018 IEEE COMPEL 2018 32

 Averaging of Quadratic Terms
vab  sab  vdc
t
1
vab  
T t T
sab ( τ )  vdc ( τ )d τ  sab  vdc  d ab  vdc

If maximum-frequency components of 𝑣 𝑡 are ≪

𝑆⃗ ·𝑣 𝑆⃗ ·𝑣 𝑑⃗ ·𝑣

𝑆⃗ · 𝚤⃗ 𝑆⃗ · 𝚤⃗ 𝑑⃗ · 𝚤⃗

June 25, 2018 IEEE COMPEL 2018 33

 Average Model of Three-Phase Boost Rectifier
p idc
Switching Model
1 vdc 𝑑𝚤⃗ 1 1
ia L
s 𝑣⃗ 𝑆⃗ ·𝑣
v AB ib va a 1 R 𝑑𝑡 3𝐿 3𝐿
0
vCA
vBC ic vb sb 1 𝑑𝑣 1 𝑣
0 C 𝑆⃗
vc sc 𝑑𝑡 𝐶
· 𝚤⃗
𝑅𝐶
0
𝑣 𝑖 n 𝑆 𝑆 𝑆 𝑑
𝑣 𝑣 𝑖 𝑖 Averaging 𝑆 𝑆 𝑆 𝑆 𝑑̅ 𝑑
𝑣 𝑖 𝑆 𝑆 𝑆 𝑑
iab vdc Average Model
ia
d ca  vdc R
v AB ib L d ab  vdc 𝑑𝑖 1 1
𝑣 𝑑̅ · 𝑣̅
vCA vBC ic ibc C 𝑑𝑡 3𝐿 3𝐿
idc
𝑑𝑣 1 𝑣̅
ica 𝑑̅ ·𝑖
d bc  vdc 𝑑𝑡 𝐶 𝑅𝐶
June 25, 2018 IEEE COMPEL 2018 34
 Another Equivalent Circuit of the Boost Rectifier
iab 3L

v AB
d ab  vdc

ibc 3L vdc
vBC
d bc  vdc C R
d ab  iab d bc  ibc d ca  ica
ica 3L

vCA
d ca  vdc

 Third order system due to degeneration

June 25, 2018 IEEE COMPEL 2018 35

 State-Space Equations in abc and dq0 Frames—Boost Rectifier
𝑑
𝑑 𝚤̅ 1 𝑣̅ 1
𝚤̅ 𝑣̅ 𝑑 · 𝑣̅
𝑑𝑡 𝚤̅ 3𝐿 𝑣̅ 3𝐿
𝑑
abc coordinates
𝑑𝑣̅ 1 𝚤̅ 𝑣̅
𝑑 𝑑 𝑑 · 𝚤̅
𝑑𝑡 𝐶 𝚤̅ 𝑅𝐶

𝚤̅ 𝑣̅ 0 𝜔 0 𝚤̅ 𝑑
𝑑 1 1
𝚤̅ 𝑣̅ 𝜔 0 0 𝚤̅ 𝑑 · 𝑣̅
𝑑𝑡 𝚤̅ 3𝐿 𝑣̅ 3𝐿
0 0 0 𝚤̅ 𝑑 dq0 coordinates
𝚤̅
𝑑𝑣̅ 1 𝑣̅
𝑑 𝑑 𝑑 · 𝚤̅
𝑑𝑡 𝐶 𝚤̅ 𝑅𝐶

June 25, 2018 IEEE COMPEL 2018 36

 Equivalent Circuit in dq0 Frame—Boost Rectifier
id 3L 3Liq
vd
dd  vdc

iq 3L vdc
3Lid
vq C R
dq  vdc
dd  id dq  iq d0  i0

i0 3L  The cross-coupling terms 3𝜔𝐿𝚤̅ and 3𝜔𝐿𝚤̅ in dq0 coordinates

v0
d0  vdc account for the voltage drops across the inductances, at line
frequency, in abc coordinates (j3𝜔𝐿𝚤̅ , j3𝜔𝐿𝚤̅ , and j3𝜔𝐿𝚤̅ )

June 25, 2018 IEEE COMPEL 2018 37

 0-Channel
𝑣̅ 𝑣̅ 𝑣̅ ≡ 0 𝑣̅ ≡ 0
Since 𝚤̅ 𝚤̅ 𝚤̅ ≡ 0 𝚤̅ ≡ 0
𝑑 𝑑 𝑑 ≡0 𝑑 ≡0

 -channel can be omitted

i0 3L
v0
d0  vdc

June 25, 2018 IEEE COMPEL 2018 38

 Equivalent Circuit in dq0 Frame—Boost Rectifier
id 3L 3Liq
vd
dd  vdc
vdc

C R
iq 3L 3Lid dd  id dq  iq
vq
dq  vdc

𝑑 𝚤̅ 1 𝑣̅ 0 𝜔 𝚤̅ 1 𝑑
· 𝑣̅
𝑑𝑡 𝚤̅ 3𝐿 𝑣̅ 𝜔 0 𝚤̅ 3𝐿 𝑑
dq coordinates
𝑑𝑣̅ 1 𝚤̅ 𝑣̅
𝑑 𝑑 · 𝚤̅
𝑑𝑡 𝐶 𝑅𝐶
June 25, 2018 IEEE COMPEL 2018 39
 Equivalent Circuits in dq0 Frame
id idc L
Boost Rectifier

id 3L 3Liq

Buck Rectifier
vd vd vdc
d d  vdc vdc dd idc dd  vd
vpn
C R dq  vq
iq 3L 3Lid d d  id d q  iq
iq C R
vq vq do  vo
d q  vdc
dq idc

id 3L vd L idc id
3Liq  C vq vd
dd  vdc C R d d  vd R
idc  C vq d d  idc C
v pn

CSI
d q  vq
VSI

vdc vdc
iq
dd  id dq  iq iq 3L d o  vo  C vd vq
3Lid vq
R
dq  vdc C R d q  idc C
 C vd

June 25, 2018 IEEE COMPEL 2018 40

 Outline
1. Introduction
2. Mathematical Framework
3. Switching Modeling and PWM
4. Average Modeling
5. Small-Signal Modeling
6. Closed-Loop Control
7. 3-Level Converters
8. Control System Synchronization
9. AC System Interactions
10. Electronic Synchronous Machine (Voltage Controlling Converter)
June 25, 2018 IEEE COMPEL 2018 41
 Linearization
𝑑𝑥⃗
Autonomous dynamic system: 𝑓⃗ 𝑥⃗, 𝑢
𝑑𝑡
If 𝑓⃗ is analytic it can be expressed as Taylor series:
𝜕𝑓⃗ 𝑥⃗ , 𝑢 𝜕𝑓⃗ 𝑥⃗ , 𝑢 1
⃗
𝑓 𝑥⃗, 𝑢 ⃗
𝑓 𝑥⃗ , 𝑢 · 𝑥⃗ 𝑥⃗ · 𝑢 𝑢 ·
𝜕𝑥⃗ 𝜕𝑢 2!
𝜕 𝑓⃗ 𝑥⃗ , 𝑢 𝜕 𝑓⃗ 𝑥⃗ , 𝑢 𝜕 𝑓⃗ 𝑥⃗ , 𝑢
· 𝑥⃗ 𝑥⃗ 2 · 𝑥⃗ 𝑥⃗ 𝑢 𝑢 · 𝑢 𝑢 𝐾
𝜕𝑥⃗ 𝜕𝑥⃗𝜕𝑢 𝜕𝑢
Retaining the first 3 terms results in linear approximation of 𝑓⃗ :
𝜕𝑓⃗ 𝑥⃗ , 𝑢 𝜕𝑓⃗ 𝑥⃗ , 𝑢
𝑓⃗ 𝑥⃗, 𝑢 𝑓⃗ 𝑥⃗ , 𝑢 · 𝑥⃗ 𝑥⃗ · 𝑢 𝑢
𝜕𝑥⃗ 𝜕𝑢
But the dynamic system is NOT in canonical form:
𝑑𝑥⃗ 𝜕𝑓⃗ 𝑥⃗ , 𝑢 𝜕𝑓⃗ 𝑥⃗ , 𝑢 𝜕𝑓⃗ 𝑥⃗ , 𝑢 𝜕𝑓⃗ 𝑥⃗ , 𝑢
≅ · 𝑥⃗ ·𝑢 𝑓⃗ 𝑥⃗ , 𝑢 · 𝑥⃗ ·𝑢
𝑑𝑡 𝜕𝑥⃗ 𝜕𝑢 𝜕𝑥⃗ 𝜕𝑢
𝑥⃗ 𝐀 𝑥⃗ 𝐁 𝑢 𝑔⃗ 0
June 25, 2018 IEEE COMPEL 2018 42
 Linearization
𝑑𝑥⃗ 𝜕𝑓⃗ 𝑥⃗ , 𝑢 𝜕𝑓⃗ 𝑥⃗ , 𝑢
𝑓⃗ 𝑥⃗, 𝑢 ≅ 𝑓⃗ 𝑥⃗ , 𝑢 · 𝑥⃗ 𝑥⃗ · 𝑢 𝑢
𝑑𝑡 𝜕𝑥⃗ 𝜕𝑢
If 𝑥⃗ , 𝑢 is an equilibrium point 𝑋⃗, 𝑈 , and 𝑥, 𝑢 is perturbation around it:

𝑓⃗ 𝑋, 𝑈 ≡ 0 𝑥⃗ 𝑋 𝑥⃗ 𝑢 𝑈 𝑢 𝑥⃗ 𝑋 𝑥⃗ 𝑢 𝑈 𝑢
𝑑𝑋 𝑑𝑥⃗ 𝑑𝑋 𝑑𝑥⃗ 𝑑𝑥⃗
0
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑𝑥⃗ 𝜕𝑓⃗ 𝑥⃗, 𝑢 𝜕𝑓⃗ 𝑥⃗, 𝑢
≅ · 𝑥⃗ ·𝑢
𝑑𝑡 𝜕𝑥⃗ , 𝜕𝑢 ,

𝑥⃗ 𝐀 · 𝑥⃗ 𝐁·𝑢

𝜕𝑓⃗ 𝑥⃗, 𝑢 𝜕𝑓⃗ 𝑥⃗, 𝑢

𝐀 𝐁
𝜕𝑥⃗ , 𝜕𝑢 ,

June 25, 2018 IEEE COMPEL 2018 43

 Average Large-Signal Model—Boost Rectifier
id 3L 3Liq
vd
dd  vdc
vdc

C R
iq 3L 3Lid
dd  id dq  iq
vq
dq  vdc

A steady-state operating point:

Vd Vdc
Dd  Id 
3 Vdc R  Dd
Vd  Vm (Vm: Max line-to-line voltage)
2
3LI d
Vq  0 Dq   Iq  0
Vdc

June 25, 2018 IEEE COMPEL 2018 44

 Small-Signal State-Space Model – Boost Rectifier
𝐷 𝑉
0 𝜔 0 1
𝚤̃ 3𝐿 𝚤̃ 3𝐿 0
𝑑 𝐷 𝑉 𝑑 3𝐿 𝑣
𝚤̃ 𝜔 0 𝚤̃ 0 1
𝑑𝑡 3𝐿 𝑣 3𝐿 𝑑 0 𝑣
𝑣 3𝐿
𝐷 𝐷 1 𝐼 𝐼
0 0
𝐶 𝐶 𝑅𝐶 𝐶 𝐶

𝑥⃗ 𝐀 𝑥⃗ 𝐁 𝑢 𝐃 𝑣⃗

Intrinsic Control Disturbance

System Dynamics Input Input

June 25, 2018 IEEE COMPEL 2018 45

 Small-Signal Circuit Model – Boost Rectifier

~ 3L ~
id 3Liq

v~d Dd  v~dc

~ v~dc
dd Vdc
C R
~ ~ ~ ~
Dq  iq
dd  I d Dd  id dq  I q
~ ~
iq 3L 3L id

Dq  v~dc
v~q

~
dq Vdc

June 25, 2018 IEEE COMPEL 2018 46

 Boost Rectifier Open-Loop Transfer Functions

~ ~ K iddq  ( s  z iddq )
id K iddd  ( s  z iddd 1 )  ( s  z iddd 2 ) id
~  ~ 
dd ( s  p1 )  ( s  p 2 )  ( s  p 2* ) dq ( s  p1 )  ( s  p 2 )  ( s  p 2* )

June 25, 2018 IEEE COMPEL 2018 47

 Boost Rectifier Open-Loop Transfer Functions
v~dc K vdcdd  ( s  z vdcdd 1 )  ( s  z vdcdd 2 )  ( s  z RHP )
~ 
dd ( s  p1 )  ( s  p 2 )  ( s  p 2* )
80 60

40
60

20
40
0
20
-20

0 -40

200 200

150
100
100
0
50

0 -100

-50 -200
1 10 100 1000 10000 100000 1 10 100 1000 10000 100000

v~dc K vdcdq  ( s  z vdcdq 1 )  ( s  z RHP )

~ 
dq ( s  p1 )  ( s  p 2 )  ( s  p 2* )

June 25, 2018 IEEE COMPEL 2018 48

 Poles of Boost Rectifier
800

600

400

200

Imaginary
0

-200

-400

-600

-800
-40 -35 -30 -25 -20 -15 -10 -5 0
Real

Pole map for –1 < Dd < 1 and –1 < Dq < 1 and:

3
Vd   6  230   60 2 L  1 mH
2
Vq  0 R  10  C  2.5 mF
June 25, 2018 IEEE COMPEL 2018 49
 Sampling &
Digital Delay Modulator
Delay
Computational
Delay
~ v~dc
~ ref dd e  sTc v~dc

dd e  sTd BOOST
~
RECTIFIER id  sTc ~
e id
~ SMALL-SIG.
~ dq ~
d qref  sTq MODEL iq ~
e  sTc
e iq

“Digital Control Interface”

Simplified approximations in continuous time domain:

sTdel sTdel 2
1 
e  sTdel  2 12
sTdel sTdel 2
1 
2 12
Often choose: Tdel  Tc  Td  Tq  Tsampling  Tswitching Total digital delay  2  Tswitching
June 25, 2018 IEEE COMPEL 2018 50
 Outline
1. Introduction
2. Mathematical Framework
3. Switching Modeling and PWM
4. Average Modeling
5. Small-Signal Modeling
6. Closed-Loop Control
7. 3-Level Converters
8. Control System Synchronization
9. AC System Interactions
10. Electronic Synchronous Machine (Voltage Controlling Converter)
June 25, 2018 IEEE COMPEL 2018 51
 AC Sweep in Switching Model Simulation (PLECS)

June 25, 2018 IEEE COMPEL 2018 52

 Measurement Set-up
d d _ ref tf id _ dd id

d q _ ref tf iq _ dq iq

d d _ ref tf iq _ dd iq

d q _ ref tf id _ dq id

http://www.keysight.com/en/pdx-x201771-pn-E5061B/ena-series-network-analyzer?cc=GB&lc=eng
June 25, 2018 IEEE COMPEL 2018 53
 Software Frequency Response Analyser Tool

https://pixabay.com/en/photos/laptop/
http://www.ti.com/tool/SFRA#3
https://www.youtube.com/watch?v=8z8PpZdYh7U
https://store.ti.com/LAUNCHXL-F28379D-C2000-Delfino-MCUs-F28379D-LaunchPad-Development-Kit-P50584.aspx?HQS=ecm-tistore-promo-janlaunchpad-
null-store-LAUNCHXL-F28379D-wwe
June 25, 2018 IEEE COMPEL 2018 54
 Current Loop Design—Boost Rectifier
id 3L 3Liq
vd d d  vdc

C R vdc
iq 3L 3Lid d d  id d q  iq
vq d q  vdc
dd dq
id iq
Digital Control Interface
id d dref d qref
vref
Hv Hid
idref
iq
v’dc
iqref Hiq

June 25, 2018 IEEE COMPEL 2018 55

 Control-to-Current Transfer Function
70

60
Magnitude [dB]

50

40

30

20

10 ~
id K iddd  ( s  z iddd 1 )  ( s  z iddd 2 )
~ 
( s  p1 )  ( s  p 2 )  ( s  p 2* )
-100
dd
-150
Phase [°]

-200

-250

-300
0.1 1 10 100 1000 10000 100000
Frequency [Hz]

June 25, 2018 IEEE COMPEL 2018 56

 Control-to-Current Transfer Function
70

60
Magnitude [dB]

50

40

30

20

10

~ *
180 iq K iqdq  ( s  z iqdq )  ( s  z iqdq )
~ 
160
dq ( s  p1 )  ( s  p 2 )  ( s  p 2* )
Phase [°]

140

120

100

80
0.1 1 10 100 1000 10000 100000
Frequency [Hz]

June 25, 2018 IEEE COMPEL 2018 57

 Current Loop Gain
80

60
Magnitude [dB]

40

20

-20

-50

-100
Phase [°]

-150

-200

-250

-300

-350
0.1 1 10 100 1000 10000 100000
Frequency [Hz]

 D channel loop-gain
 Bandwidth is limited by delay (fsw=20kHz)
June 25, 2018 IEEE COMPEL 2018 58
 Current Loop Gain
100

80
Magnitude [dB]

60

40

20

-20

-50

-100

-150
Phase [°]

-200

-250

-300

-350
0.1 1 10 100 1000 10000 100000
Frequency [Hz]

 Q channel loop-gain
 Bandwidth is limited by delay (fsw=20kHz)
June 25, 2018 IEEE COMPEL 2018 59
 Current Regulation
5 5

Magnitude [dB]
0 0

-5 -5

-10 -10

-15 -15

-20 -20
0.1 1 10 100 1000 10000 100000
0 0
-50
-100 -100

Phase [°]
-150
-200
-200
-250 -300
-300
-350 -400
0.1 1 10 100 1000 10000 100000 0.1 1 10 100 1000 10000 100000
Frequency [Hz] Frequency [Hz]

~ ~
id iq
~ ~
idref iqref

 Peak is more pronounced when gain increases

June 25, 2018 IEEE COMPEL 2018 60
 Current Loop with D and Q Decoupling
 ref
vref dd
Hv Hid d dref
idref
v’dc i’d 3L/v’dc

i’q 3L/v’dc

Hiq  ref d qref

iqref dq

𝑑 𝑑 𝑒 𝑑 3𝜔𝐿𝑖 /𝑣 𝑒 𝑑 3𝜔𝐿 𝑒 𝑖

𝑑 𝑑 𝑒 𝑑 3𝜔𝐿𝑖 /𝑣 𝑒 𝑑 3𝜔𝐿 𝑒 𝑖
June 25, 2018 IEEE COMPEL 2018 61
 Decoupled D and Q Channels
0
   vdc  sTd
3L d d vdc  3ωLiq  d d vdc  3ωL e iq  3ωLiq
id 
vdc
vd 
dd  vdc vdc

C R
iq 3L dd  id dq iq
vq 
dq  vdc    vdc  sTq
d q vdc  3ωLid  d q vdc  3ωL e id  3ωLid

vdc
0
 Similar to two parallel dc-dc boost converters after d and q decoupled
June 25, 2018 IEEE COMPEL 2018 62
 Output Voltage Loop Design
10

5
Magnitude [dB]

-5

-10

-15

v~dc
-20
K  ( s  z RHP )
Gc  ~ 
(s  p L )  (s  p H )
0
idref
-50
Phase [°]

-100

-150

-200
0.1 1 10 100 1000 10000 100000
Frequency [Hz]

June 25, 2018 IEEE COMPEL 2018 63

 Compensator Design
𝑠
𝐾 1
𝑧
Voltage compensator: 𝐻
𝑠 1 𝑠/𝑝

 Place zv as high as possible for required phase

margin
 Place pv for loop-gain attenuation
 Attainable voltage-loop bandwidth: 𝜔 𝑍

pv should be close to RHP zero to provide

sufficient gain margin and loop gain attenuation
beyond crossover frequency

With high enough Kv the dominant pole of closed-

loop system will be close to zv
June 25, 2018 IEEE COMPEL 2018 64
 Time-Domain Simulation Results

Phase voltage and current Dc bus output voltage

in PFC operation

June 25, 2018 IEEE COMPEL 2018 65

 Control Design of Voltage Source Inverter

Signal sensing and digital

control delays are included

June 25, 2018 IEEE COMPEL 2018 66

 Control-to-Current Transfer Function

June 25, 2018 IEEE COMPEL 2018 67

 Control-to-Current Cross Transfer Functions

June 25, 2018 IEEE COMPEL 2018 68

 Current Loop Gain

Ki Ki
D-Channel Loop-Gain H id  Kp  H iq  K p 
s s
June 25, 2018 IEEE COMPEL 2018 69
 Current Regulation

~ ~
id iq
~ ~
idref iqref
June 25, 2018 IEEE COMPEL 2018 70
 AC Voltage Loop

Lac Rac

Vdc Cdc

Cac
Filter Filter

PWM ADC ADC

Ki
H vd  Kp 
DSP
3ωL idref
+
+
abc PI
iqref
‐
dq s
dq PI
+
‐ abc Ki
‐
3ωL H vq  Kp 
idref
PI
vdref
+
‐
s
dq
vqref
iqref +
PI ‐ ‐
abc

June 25, 2018 IEEE COMPEL 2018 71

 Current Reference-to-Voltage Transfer Function

v~d v~q
~ ~
idref iqref
June 25, 2018 IEEE COMPEL 2018 72
 Improving Voltage Source
DQ-Frame Decoupled Controller for VSI

vdref idref dd
+ PI + - PI +
- - - -
ωC 3ωL
vd Vdc
id
iq 3ωL
vq
ωC Vdc
+
-
+
+ -
+
+ dq
vqref PI iqref PI

June 25, 2018 IEEE COMPEL 2018 73

 Experimental D-Q Frame Impedance
30
20 without dec

Magnitude
10
0

(dB)
-10
-20
Zdd with dec Zdq
180
Phase 90
(deg) 0
-90
-180
20 without dec Z Zqq
qd
Magnitude

10
(dB)

0
-10 with dec
-20
180
90
Phase
(deg)

0
-90
-180
102 103 104 10 2 10 3 104
Frequency (Hz)
June 25, 2018 IEEE COMPEL 2018 74
 Software Frequency Response Analyzer—STATCOM
LOAD

SOURCE
STATCOM
Grid
PC

June 25, 2018 IEEE COMPEL 2018 75

 STATCOM Controller
Ac inductor and dc cap
resonance damped by deadtime

June 25, 2018 IEEE COMPEL 2018 76

 STATCOM Outer Loop-Gains

Pole introduced by
discharging resistor

June 25, 2018 IEEE COMPEL 2018 77

 Software Frequency Response Analyzer—Boost Rectifier

June 25, 2018 IEEE COMPEL 2018 78

 D-Axis Control-to-Current Loop-Gain

𝚤̃ 𝚤̃
𝑑 𝚤̃
June 25, 2018 IEEE COMPEL 2018 79
 Q-Axis Control-to-Current Loop-Gain

𝚤̃ 𝚤̃
𝑑 𝚤̃
June 25, 2018 IEEE COMPEL 2018 80
 Outline
1. Introduction
2. Mathematical Framework
3. Switching Modeling and PWM
4. Average Modeling
5. Small-Signal Modeling
6. Closed-Loop Control
7. 3-Level Converters
8. Control System Synchronization
9. AC System Interactions
10. Electronic Synchronous Machine (Voltage Controlling Converter)
June 25, 2018 IEEE COMPEL 2018 81
 Vienna (Type) Rectifier Topology Used
AC Boost Main Neutral
DC-Bus
Mains Inductors Bridge Point Switch
+vdc

Ia +Van +vp
va
vb vn
vc
+vn

Three-level non-regenerative rectifier

Developed originally as front-end for power supplies
Has good power density characteristics

June 25, 2018 IEEE COMPEL 2018 82

 Space Vectors and Duty Cycles 2.5

2
V
I
an

a
1.5

1  1  1 0  1  1
0.5

1  1  1 0

-0 . 5

-1

1  1 0 0  1 0 1  1 0
1 0  1 0 0 - 1 1 0  1 -1 . 5

-2

-2 . 5

0 0 0
0 0 .0 0 5 0.01 0.015 0 .0 2 0.025 0.03

0  1  1 1 0 0
1  1  1 1  1  1
1 0 0 0 - 1 - 1

0 0  1
1

1 0  1 V
an Avg

1 0  1 1 1 0 0  1 0 1  1 0

0.8
I
a
0.6

0.4

0.2

1  1  1 0  1  1 1  1  1 0

-0.2

-0.4

Twenty five total space vectors -0.6

-0.8

-1
0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016

June 25, 2018 IEEE COMPEL 2018 83

 Space Vectors and Duty Cycles 2.5

2
V
I
an

a
1.5

1  1  1 0  1  1
0.5

1  1  1 0

-0 . 5

-1

1  1 0 0  1 0 1  1 0
1 0  1 0 0 - 1 1 0  1 -1 . 5

-2

-2 . 5

0 0 0
0 0 .0 0 5 0. 0 1 0.015 0 .0 2 0.025 0.03

0  1  1 1 0 0
1  1  1 1  1  1
1 0 0 0 - 1 - 1

0 0  1
1

1 0  1 V
an Avg

1 0  1 1  1 0 0  1 0 1  1 0

0.8
I
a
0.6

0.4

0.2

1  1  1 0  1  1 1  1  1 0

-0.2

-0.4

Twenty five total space vectors -0.6

-0.8

Eight vectors active at a time, one double vector -1

0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016

June 25, 2018 IEEE COMPEL 2018 84

 Circuit-Oriented Modeling Approach

 v p  vn v p  vn 
vk 0   signik     1  S k 

 2 2 

vk0
d R 1 1  v p  vn v p  vn  1
ik   ik  v sk   signik   1  S k   v0 n

dt L L L 2 2  L

d 1 1
dt
vp/n    1  S k   ik  1  signik   idc
2C k  a ,b,c C

June 25, 2018 IEEE COMPEL 2018 85

 Switching-Transfer-Function Based Modeling
v p  vn v p  vn
vk 0  H k  Hk
2 2
H k 1 H k 1
vk 0  Hk vp  Hk vn
2 2

vk 0  S kp v p  S kn vn

Phase-leg model is equivalent to three-level NPC converter

Assumption:
Switching functions Skp comply with topological restrictions
of Vienna-type rectifiers

June 25, 2018 IEEE COMPEL 2018 86

 Switching and Average Models in abc-Coordinates

d
dt
R 1 1
 1
ik   ik  v sk  S kp v p  S kn vn  v0 n
L L L L
d R 1 1
  1
ik   ik  v sk  d kp v p  d kn vn  v0 n
dt L L L L
d 1 1
d
dt
vp 
1
C 
1
S kp ik  idc
C dt
vp   d kp ik  idc
C k  a ,b , c C
k  a ,b , c
d 1 1
d
dt
vn  
1

1
S kn ik  idc
C k  a ,b , c C dt
vn  
C  d knik  idc
k  a ,b , c
C
June 25, 2018 IEEE COMPEL 2018 87
 500
Vd

Average Model in D-Q Frame

400
300 Vq

[V] / [A]
200 Id
100 Iq
0
-100
5 10 15 20 25 30

800

700

600 Vdc

[V]
500 Vp

400 Vn

300
5 10 15 20 25 30
Time [ms]
1
ddp
0.5 dqp
ddn
0 dqn

d id  R id  1 v sd  1 d dp  d dn  v p  1 v0 n 

i    i    v   d 
 d qn   vn  L v0 n 
-0.5
0 0.5 1 1.5 2 2.5
dt  q L  q  L  sq  L  qp
0.5
dz
T
d v p  1 d dp  d dn  id  1 idc 
 v   d  0

dt  n  C  qp  d qn  iq  C idc 
-0.5
0 0.5 1 1.5 2 2.5
June 25, 2018 IEEE COMPEL 2018 Time [ms] 88
 D & Q Axes Current-Control Loop-Gains
Bode Diagram I d/Idref 0 Bode Diagram I q/Iqref 0
From: I d ref To: I d From: Iq ref To: Iq I q/Iqref 10
I d/Idref 10
80 80
I d/Idref 20 I q/Iqref 20
60 60
I d/Idref 30 I q/Iqref 30
Magnitude (dB)

Magnitude (dB)
40 40
I d/Idref 40 I q/Iqref 40
20 20 I q/Iqref 50
I d/Idref 50
0 I d/Idref 60 0 I q/Iqref 60
-20 -20

-40 -40
360 180

0
180
Phase (deg)

Phase (deg)
-180

0
-360

-180 -540
1 2 3 4 5 1 2 3 4 5
10 10 Frequency
10 (Hz) 10 10 10 10 Frequency
10 (Hz) 10 10

𝚤̃ 𝚤̃
𝚤̃ 𝚤̃
June 25, 2018 IEEE COMPEL 2018 89
 Neutral-Point Loop-Gain and Output Impedance
Bode Diagram  V/ Vref 0 Bode Diagram Zdc 0
From: DVref To: DV From: Idc To: Vdc
 V/ Vref 10 Zdc 30
40 20
 V/ Vref 20 Zdc 60
20
 V/ Vref 30 10 Zdc 90
Magnitude (dB)

Magnitude (dB)
0
 V/ Vref 40 Zdc 120
-20 0
 V/ Vref 50 Zdc 150
-40  V/ Vref 60 Zdc 180
-10
-60

-80 -20
360 90

270 45
Phase (deg)

Phase (deg)
180 0

90 -45

0 -90

-90 -135
0 1 2 3 4 1 2 3 4 5
10 10 Frequency
10 (Hz) 10 10 10 10 Frequency
10 (Hz) 10 10

∆𝑣 𝑣
𝑍
∆𝑣 𝚤̃
June 25, 2018 IEEE COMPEL 2018 90
 Bode Diagram Ydq 0
AC Terminal Input Admittance From: Vd From: Vq
Ydq 30
0
Ydq 60

To: Id
-100 Ydq 90
Ydq 120
-200

Magnitude (dB) ; Phase (deg)

720 Ydq 150
To: I d

0
Ydq 180

-720 𝚤̃
0 𝑌
𝑣
To: Iq

-100

-200
720
To: Iq

-720
2 3 4 5 2 3 4 5
10 10 10 Frequency
10 10 (Hz) 10 10 10

June 25, 2018 IEEE COMPEL 2018 91

 Outline
1. Introduction
2. Mathematical Framework
3. Switching Modeling and PWM
4. Average Modeling
5. Small-Signal Modeling
6. Closed-Loop Control
7. 3-Level Converters
8. Control System Synchronization
9. AC System Interactions
10. Electronic Synchronous Machine (Voltage Controlling Converter)
June 25, 2018 IEEE COMPEL 2018 92
 Phase-Locked Loop (PLL) Controller Synchronization

s
va vb vc ia ib ic

idc d dc
Tabcdq iqc d qc Tdqabc


v dc
PLL
Tabcdq v c

PI 
q 1 
s

 PLL finds the angle of the voltage source, so that controller can control the
variables in correct dq frame
 Controller commands need to be transferred back to abc frame with correct angle
June 25, 2018 IEEE COMPEL 2018 93
 SRF-PLL
Synchronous D-Q Frame PLL q 1 
vS

v S vSd 1 vsq 1
vSa
vSb
v Sc
T  v S T 
dq 1 v Sq 1
 vsd 1
d 1
 
'

Phase-lock Loop (PLL) 

v S vSd 1
vSa v S d 1
' '
vSb
v Sc
T  v S T 
dq 1
v Sq 1 k p  ki  
vsd 1

q 1
' vsq 1 
 

June 25, 2018 IEEE COMPEL 2018 94

 Small-Signal Propagation Path Through PLL
s Average model of power
id 3L stage in system dq frame
s
s vdc dd
vds 3ωLiq idc
vdc
C
iq
s
3L R
s s s s
id dd iq dq
s
vqs K v 3ωLid
s
Ki vdc dq Kv Under steady‐state 
two vectors are 
aligned
Tθ Tθ Under perturbation 
 two vectors are not 
aligned
Tθ    cos  sin  
T   
PLL dynamics  sin   cos 
Two dq frames: system dq frame and controller dq frame
PLL dynamics influence input impedance of AFE
June 25, 2018 IEEE COMPEL 2018 95
 Small-Signal Model of AFE Impedance
~ c ~ s v~dcs
d Gdel d G vd
s
~
Yin : input admittance GdPLL Kv v Gve
G vd : transfer function ~ s
iL
Gid
matrix from 𝑑⃗ to 𝑣
Kv
G ve : transfer function Yin
matrix from 𝑣⃗ to 𝑣 Kv Ki
G id : transfer function
matrix from 𝑑⃗ to 𝚤̃⃗ GiPLL ~ c
iL
Gdei v~dcc ~
vdcref  0
Gci Gcv

June 25, 2018 IEEE COMPEL 2018 96

 AFE Input Impedance Measurement Results

June 25, 2018 IEEE COMPEL 2018 97

 Output Impedance of Grid-Tied Inverter
v~qs
Lac va ~ s
Vdc ia vb v
ib vc
Filter Filter

DSP line-to- ~ s
+ + phase transf
iL
SVM
- + + ~s
abc - iq
θ
dα dβ dq PLL
v~qs
dd id iq idref
θ αβ ~s
dq dq Controller iqref iq
 Negative incremental resistance
in q channel!
June 25, 2018 IEEE COMPEL 2018 98
 Inverter Impedance with PLL and Current Control

June 25, 2018 IEEE COMPEL 2018 99

 Inverter Impedance with PLL and Current Control
50

Magnitude
0

(dB)
-50
90
Zdd Zdq
Phase 0
(deg) -90
-180
40
s
20 Vd
Magnitude

s
0 Id
(dB)

Zout_il_PLL_50Hz
-20 Zqd Zout_il_PLL_100Hz
Zqq
Zout_il_PLL_200Hz
-40
90 400 Hz Line
 

0 Frequency
Phase
(deg)

-90
-180  

100 10 2
10 100
4
102 104
Frequency (Hz)
June 25, 2018 IEEE COMPEL 2018 100
 Outline
1. Introduction
2. Mathematical Framework
3. Switching Modeling and PWM
4. Average Modeling
5. Small-Signal Modeling
6. Closed-Loop Control
7. 3-Level Converters
8. Control System Synchronization
9. AC System Interactions
10. Electronic Synchronous Machine (Voltage Controlling Converter)
June 25, 2018 IEEE COMPEL 2018 101
 Balanced Three-Phase AC System Small-Signal Stability Analysis
Impedance based small-signal analysis for AC system

250 v
sd
200
Votlage [V]

Votlage [V]
150
100
50
vsq
0
-500 0.01 0.02 0.03 0.04 0.05
Load 1 Time [sec]

Synchronous rotating frame

Dc Bus
bus Load 2
Ac  Standard small-signal
Source analysis can be applied,

…
like in DC systems
Zo Zi
Load n

June 25, 2018 IEEE COMPEL 2018 102

 Stability at AC Interfaces
Notional hybrid ac/dc microgrid subsystem
PV Grid
Energy
Storage
ZG
PVC ESC
1- AC bus stability depends on
output and input impedances
ac distr.
ac Load IBC El. Motor 2- Stability must be ensured at
every interface in the system
dc Load

POL MD
dc distr.

IBC – Intermediate Bus Converter PVC – PV Converter

MD – Motor Drive ESC – Energy Storage Converter
POL – Point of Load Converter

June 25, 2018 IEEE COMPEL 2018 103

 Balanced Three-Phase AC System Small-Signal Stability Analysis—
Linearization
RS LS

ωLSisq isd + vd s 
Z dd s  
id s 
vsd vd id
vcd C ωCSvcq iq  0
S
-
RS LS vq s 
isq + Z qd s  
vsq
ωLSisd id s  iq  0
vcq iq
CS ωCSvcd
- vq s 
Z qq s  
iq s  id  0
vd s   Z dd s  Z dq s  id s  vd s 
 v s    Z s  Z s  i s  Z dq s  
iq s 
 q   qd qq  q  id  0

June 25, 2018 IEEE COMPEL 2018 104

 Balanced Three-Phase AC System Small-Signal Stability—
Generalized Nyquist Criterion

Characteristic Loci
4 1 ( j  ) 2 ( j  )
2

Imaginary
0

-2
Return ratio is:
-4
 Z dds Z dqs  Ydds Ydds 
L ( s )  Z S s   YL ( s )    
Ydds 
-1 0 2 4 6 8 10
 Z qds Z qqs  Ydds Real

Generalized Nyquist Criterion (GNC)

 L11 ( s ) L12 ( s ) 
Ls     Eigenvalues of L(s) =
L ( s ) L ( s ) 𝟏 𝟐
 21 22 
June 25, 2018 IEEE COMPEL 2018 105
 Balanced Three-Phase AC System Small-Signal Stability—
Generalized Nyquist Criterion

Current [A] Voltage [V]

400 vd
300
200
100 vq

id
600
400
Return ratio is:
200 iq
 Z dds Z dqs  Ydds Ydds 
L ( s )  Z S s   YL ( s )     0 0.1 0.2 0.3 0.4
 Z qds Z qqs  Ydds Ydds  Time [s]

Generalized Nyquist Criterion (GNC)

 L11 ( s ) L12 ( s ) 
Ls     Eigenvalues of L(s) =
L ( s ) L ( s ) 𝟏 𝟐
 21 22 
June 25, 2018 IEEE COMPEL 2018 106
 Selected Types of System-Level Dynamic Interactions: Constant Power Load
Power hyperbola - Static

Notional hybrid ac/dc microgrid subsystem

PV Grid P=viii=const.
Energy
Storage
ZG
vi  vi
R 
PVC ESC ii
ii Incremental
Negative
ac distr. Resistor
ac Load IBC El. Motor

dc Load RMD ZMD

POL MD P ZSeq
dc distr.

Z Seq Z MD

June 25, 2018 IEEE COMPEL 2018 107

 Selected Types of System-Level Dynamic Interactions: Constant Power Load

Notional hybrid ac/dc microgrid subsystem Nyquist plot of the return

ratio eigenvalues
PV Grid
Energy  1 ( s ) 0 
 0  eig ( Z S YL )
Storage   2 ( s ) 
ZG
PVC ESC P
ZS YL
ZS
ac distr. ZL
ac Load IBC El. Motor

dc Load

POL MD
dc distr. Incremental
Negative Resistor
in dd-impedance channel

June 25, 2018 IEEE COMPEL 2018 108

 Selected Types of System-Level Dynamic Interactions: Synchronization
(with power regeneration)
Interaction caused by the va
vb
phase-locked loop (PLL) vc
Notional hybrid ac/dc microgrid subsystem
PV Grid ωo=120π
vd
abc
Energy θ + + vq
1/s Σ PI dq
Storage
P ZG Z PVC
PVC ESC
ZPVC
Incremental
ac distr. Negative Resistor
El. Motor in qq-impedance
ac Load IBC channel

dc Load

POL MD
dc distr.

June 25, 2018 IEEE COMPEL 2018 109

 Selected Types of System-Level Dynamic Interactions: Synchronization
(with power regeneration)

Notional hybrid ac/dc microgrid subsystem Nyquist plot of the return

PV ration eigenvalues
Grid
Energy 1 ( s ) 0 
Storage  0   eig ( Z S YL )
P ZG   2 ( s ) 

PVC ESC
ZPVC
ac distr.
ac Load IBC El. Motor

dc Load

POL MD
dc distr.

June 25, 2018 IEEE COMPEL 2018 110

Selected Types of System-Level Dynamic Interactions: Aggregate Load Uncertainty

Notional hybrid ac/dc microgrid subsystem

PV IBC loop gain
Grid
Energy
Storage 2 kHz
ZG 1.3 kHz

PVC ESC

ac distr.
ac Load IBC El. Motor
68°
dc Load 31°

POL MD
dc distr.

June 25, 2018 IEEE COMPEL 2018 111

 Instability in Traditional System Caused by Partial Loss of Generation
@ 5s Load
2 7 8 9 3
Total
PLoad  PGen1  PGen 2
Gen 2. Gen 3. ≈ 180 MW ≈ 370 MW
(192 MVA) Load (128 MVA)
5 6
9-bus subsystem Load Large transient causes overall
Western Electricity system instability due to
undamped power oscillations
Coordinating Council
between Generators 1 and 3.
(240 GW Installed Capacity)
Gen 1. 1 4
(247.5 MVA) Active and Reactive Power at the bus No.4
What if Generator at the during loss of generation transient
bus 1 is replaced with the 120
full-power grid interface

Power [MW, Mvar]

converter operating as a 80
virtual generator?
40

DC 0
AC

PV Farm -40
5 10 15 20 25 30
Time [s]
June 25, 2018 IEEE COMPEL 2018 112
 Outline
1. Introduction
2. Mathematical Framework
3. Switching Modeling and PWM
4. Average Modeling
5. Small-Signal Modeling
6. Closed-Loop Control
7. 3-Level Converters
8. Control System Synchronization
9. AC System Interactions
10. Electronic Synchronous Machine (Voltage Controlling Converter)
June 25, 2018 IEEE COMPEL 2018 113
 Average Model of a Power Electronics Converter
- Voltage Source Converter (VSC)-
PV DC-DC Is
L
Power vdc C
Electronics
Converter vd
abc
vq
Modulation 1/s PI dq
θe
dd dq PLL
What is a relationship dq Transformation
id r s L
with a synchronous

+
-
machine model? + ωeLiq v
Idc dd vdc
vdc - d

Is d d id d q iq
G C iq rs L

+
-
+ dq vdc ωeLid v
Dynamic (average) - q

power converter model

All-Electrical system
June 25, 2018 IEEE COMPEL 2018 114
 Model of a Synchronous Generator - Salient-pole Rotor (Anisotropic) -
Boiler High-, Medium-, and Low-Pressure Turbines
d-axis
Total Moment of Inertia
valve
Tm J Stator

HP MP LP Rotor - field & damper wind.

q-axis
Stator vF
Damper vF iF
Field winding windings rF Stator windings
LF (AC out.)
r D iD id rs
d
J  Tm  Te  k f 
dt
LD Ld vd
Mech.input Ω = ωe/p
ψd

+
Tm

-
ω eψ q
kf J Te
r Q iQ iq rs
Mechanical
subsystem LQ Lq vq
ψq

+
-
June 25, 2018
Electrical subsystem ωeψd IEEE COMPEL 2018 115
 Model of a Synchronous Generator - Salient-pole Rotor (Anisotropic) -
Boiler High-, Medium-, and Low-Pressure Turbines
d-axis
Total Moment of Inertia
valve
Tm J Stator

HP MP LP Rotor - field & damper wind.

q-axis
Stator vF
Damper vF iF
Field winding windings rF Stator windings
LF (AC out.)
r D iD rs
id rs Lγid

+
-
Ld ω L ivd Electrical
L+D
ψ'd Ω e γ q
vd subsystem can
e' e/p
Mech.input ΩΩ =Tω - be combined
ψd

+
TTmm

-
ψ'd id ψ'q iq ω eψ q and “coupled”
kkff J Te iq r s L γ to an electrical
r Q iQ iq rs

+
-
equivalent of
Mechanical
+ ψ' Ω
q
ω e L γ id v the mechanical
- q
subsystem LQ L q v q subsystem…

ψq

+
-
June 25, 2018
Electrical subsystem ωeψd IEEE COMPEL 2018 116
 Supplementary slide
The machine equations can be rewritten into the following form, defining flux
derivatives per rotor position rather than time (the main reason for this reformatting is
to factor out the term dependent on the angular speed):

d d d e d d d
vd  rs id  e q   rs id   e q  e  rs id   p ( d  q )
d e dt d e d e
d q d e d q d q
vq  rs iq   e d   rs iq   e d  e  rs iq   p(  d )
d e dt d e d e

vd  rs id   d'
 vq  rs iq   q'

Where:
 d d 
 d'  p   q 
 d e 

 d q 
  p
'
 d 
q
d
 e  
June 25, 2018 IEEE COMPEL 2018 117
 Supplementary slide
Furthermore, active power at the machine terminals comprises following
components: joules losses, rate of change of the energy accumulated in the
magnetic field, and mechanical power converted to electrical:

d d d q
Pdq  (i  i )  rs  id
2
d
2
q  iq  e ( d iq  q id )  (id2  iq2 )  rs  P gap
dt dt
Assuming lossless electromechanical conversion from rotor to stator, all of the
power (except joules losses) is delivered from the rotor (Pgap). Lumping this power
into the form of an “equivalent” torque, it could be written:

1  d d
Pgap d q  e
Te    id  iq   ( d iq  qid )  id d  iq q
' ' '

   dt dt  

June 25, 2018 IEEE COMPEL 2018 118

 Model of a Synchronous Generator - Salient-pole Rotor (Anisotropic) -
Boiler High-, Medium-, and Low-Pressure Turbines
d-axis
Total Moment of Inertia
valve
Tm J Stator

HP MP LP Rotor - field & damper wind.

q-axis
Stator vF
Damper Lγ
windings id rs The same concept
Field winding

+
-
can now be applied
+ ψ'd Ω ω e L γi q v to a converter!
Ω Te' - r L d
id s γ
Tm ψ'd id ψ'q iq

+
Flux
Flux

-
Lγ ω L i Electrical
kf J + iψ q' r
Ω s e γ q relationships
relationships
subsystem can
Ω Te' d vd

+
-
- added…
beadded…
combined
Tm ψ'd id ψ'q iq + ψ' Ω ω e L γ id v and “coupled”
and pp
q q
……and
kf J ωωe e
- r
iq s L γ to an electrical
self-
self-synchronization
synchronization

+
-
equivalent of
θeθe + ψ' Ω idiωd eLγiidqiq
ωω
1/s
1/s q vq the mechanical
e eisispptimes
times -
higher
higherthan thanΩΩ
ψψ'd 'd  ( s()s )LL( s()s ) i i GG( s()s ) vsubsystem…
dd dd dd v
FF
ψψ'q 'q vvFF
June 25, 2018
q (q s()s)LLq (q s()s ) iqiq IEEE COMPEL 2018 119
 Electronic Synchronous Machine
DC-DC
Is L
PV Power vdc
Electronics
C
Converter

Modulation All that needs to be done

θe dd dq to emulate a simple
synchronous machine!
1/s
i d rs L
“ d ” C(s)

+
-
J  Tm  Te  k f  1/K
dt K + dd vdc ωeLiq v
vdc Idc - d

Is d d id d q iq
G C iq r s L

+
-
dvdc + dq vdc ωeLid v
C  I s  I dc  Gvdc - q
dt
id iq
However, for emulation of dd
the particular synchronous
vF
Desired machine dynamics
machine: dq
June 25, 2018 IEEE COMPEL 2018 120
 Supplementary slide
-25

Phase [deg] Magnitude [dB]

-30
Ld (s), Lq(s), and G(s) describe -35
well an electrical dynamics of -40 39 [mH]
a synchronous machine
-45
-50 Ld ( j ), Ld ( s)
-55
including: 0
 Field Winding -30
30 kW Synchronous  Saliency -60
Generator  Damper Windings -30
14 [mH]

Phase [deg] Magnitude [dB]

-35

 d ( s )   Ld ( s )  id  G ( s )  vF -40
-45 Lq ( j ), Lq ( s )
Measured point-by-point*
 q ( s )   Lq ( s )  iq Curve-fitted transfer function 30

0
Additionally, mechanical dynamics estimated from -30
two slow-down tests (in order to solve for kf and J ): 0

Phase [deg] Magnitude [dB]

-20
J = 0.32 [kgꞏm2] -40
200 0.16 [s]
kf = 0.01 [kgꞏm2/s] -60
G ( j ), G ( s )
Ω [rad/s]

150 -80
100 Ω = pωe 45
0
50 Tm
-45
kf J Te -90
2 4 6 8 10
Time [s] 10-4 10-2 10 0 10 2
Frequency [Hz]
June 25, 2018 *IEEE guide for standstill frequency response (SSFR) testing - Std.115A-1987 IEEE COMPEL 2018 121
 Virtual Inertia
DC-AC
600 µF L1=250 µH L2=250 µH LL RL ΔRL
DC
Power vdc
Supply Power
Electronics

vdc
actual Converter 35µF vab
2
+vbc
2
+vca
2
sw
C(s) Modulation - +
30 kW Voltage Source ∑ Vref
vdcdesired Tdq abc θe θe T
Hv
Converter (VSC) abc dq
1/K id i q vF
ωe dd dq desired
vdc ψd (s), ψq (s), L1, L2
RD I dc / Vdc  (1  sRD C ) 1/s θe
C (s)  vdc
actual

RD I dc / Vdc  (1  sRD C desired )

LL RL ΔRL
Motor Induction Synch.
Drive Motor Generator

vab
2
+vbc
2
+vca
2
sw
+
vF

-
- +
30 kW Synchronous
∑ Vref
Generator Hv

June 25, 2018 IEEE COMPEL 2018 122

 Virtual Inertia (cont’d)
DC-AC
L1=250 µH L2=250 µH
Motor Induction Synch. ZoGen DC 600 µF ZoCon
Drive Motor Generator
Power vdc
Supply Power
Electronics
vab
2
+vbc+vca
2 2
vdc
actual Converter 35µF vab
2
+vbc+vca
2 2

+ - + - +
J = 0.32 [kgꞏm2] vF
2
C(s) Modulation 2
Vo_ref

-
∑
Vo_ref ∑

vdcdesired T θe θe T
CJekv  80 mF Hv dq/abc abc/dq Hv
1/K id iq vF
ωe dd dq
vdcdesired ψd (s), ψq (s), L1, L2
Output Impedance plots 1/s θe v actual
dc
20 15
Zdd Zdq
Ph. [deg] Mag. [dB]

10
10
0
-10 5 ZoGen
90
45
180
ZoCon (600 µF)
0 150
ZoCon (Virtual Inertia)
20
Zqd Zqq
Ph. [deg] Mag. [dB]

5
0
-5
0 The same “machine-like”
-10 -20 dynamics seen from AC
135 90
90
side of power converter
45 0 achieved!
0
-90
10 0 10 2 10 0 10 2
June 25, 2018 Frequency [Hz] Frequency [Hz] IEEE COMPEL 2018 123
 Experimental Demonstration of the Equivalence

Machine and Converter Dynamics Fully Matched!

20 20
idq [A]

idq [A]
16 16
Capacitance
12 equivalent to 12
240 machine inertia: 240
220 J = 0.32 [kgꞏm2] 220
vdq [V]

vdq [V]
200 200
180 Model Output 180 Model Output
160
Experiment Experiment
160
11 12 13 14 11.5 12 12.5 13 13.5 14 14.5
Time [s] C ekv
 80 mF Time [s]

ωve dc[rad/s]
[rad/s]
Ωe [rad/s]

178
356 J 356
365

[V]
176
352 Compared to 352
360
174
348 348
C  600  F AC output frequency
ω

AC output frequency 355

11 12 13 14 11.5 12 12.5 13 13.5 14 14.5
Time [s] 130 times smaller Time [s]
June 25, 2018 capacitance! IEEE COMPEL 2018 124
 System-Level Operation with Real and Electronic Machine Coupled
Virtual
Generator Generator Motor Drive Utility
DC AC
AC AC
1/K
θe LOAD LOAD Load step at ~ 2.5s
1/s
DC-link
voltage droop  Frequency of the AC –voltages and currents directly Speed droop
proportional to omega and DC-link voltage!
 Power converter synchronizes seamlessly
with no PLL required

180

Gen. Mech. Speed Ω [rad/s]

376 20
DC-link Voltage vdc [V]

374 15 179

Phase Current [A]

372 10 56.6 Hz 178
370 5 (178 rad/s) 177
368 0 176
366 175
-5
364 55.7 Hz 174
-10
362 (175 rad/s)
-15 173
360
-20 172
358
1 2 3 4 5 2 3 4 1 2 3 4 5
Time [s] Time [s] Time [s]
June 25, 2018 Generator current Converter current IEEE COMPEL 2018 125
 Mitigating Instability with Power Electronics-Interfaced Renewable Generation?
@ 5s Load
2 7 8 9 3 Total
PLoad  PGen1  PGen 2
Gen 2. Gen 3. ≈ 180 MW ≈ 370 MW
WECC (192 MVA) Load (128 MVA)
9-bus system 5 6
Fast-reacting power electronics
Load
System with exactly equaivalent
can dispatch necessary active
VSM at the bus No.4 features
and reactive power very fast
same instability!
DC
AC and hence stabilize the system!
Gen 1. 1 4
PV Farm (247.5 MVA) Active and Reactive Power at the bus No.4
during loss of generation transient
 Replacing Generator 1 with a Virtual 120
Generator behaving exactly the same

Power [MW, Mvar]

as Generator 1 80
 However, if converter emulates lower
inertia, instability can be avoided! 40

 Grid-tied converter not operating at 0

peak power but regulating voltage and
frequency! -40
5 10 15Time [s] 20 25 30
June 25, 2018 IEEE COMPEL 2018 126
 List of References - 1
[1] R. H. Park, “Two-reaction theory of synchronous machine I and II,” AIEE Trans., vol. 48, and vol. 52, 1929 and 1993.
[2] P.C. Krause, Analysis of Electric Machinery, McGraw Hill, 1986.
[3] R. D. Middlebrook, and S. Cuk, “A general unified approach to modeling switching converter power stages,” IEEE PESC’76, Rec., 1976, pp. 18-
34.
[4] K. D. T. Ngo, “Low frequency characterization of PWM converters,” IEEE Trans. Power Electron., vol PE-1, 1986, pp. 223-230.
[5] P. T. Krein, J. Bentsman, R. M. Bass, and B. Lesieture, “On the use of averaging for the analysis of power electronic systems,” IEEE Trans.
Power Electron., vol. 5, no. 5, 1990, pp. 182-190.
[6] C. T. Rim, D. Y. Hu, and G. H. Cho, “Transformers as equivalent circuits for switches: general proofs and d-q transformation-based analyses,”
IEEE Trans. Ind. Appl., Vol. 26, no. 4, 1990, pp. 777-785.
[7] S. R. Sanders, J. M. Noworolski, X. Z. Liu, and G. C. Verghese, “Generalized averaging method for power conversion circuits,” IEEE Trans.
Power Electron., vol. 6, no. 2, 1991, pp. 251-259.
[9] P. Bauer, and J. B. Klaassens, “Dynamic modelling of AC power converters,” IEEE PCC 1993 Rec., pp. 502-507, 1993.
[10] S. Hiti, D. Boroyevich, and C. Cuadros, “Small-signal modeling and control of three-phase PWM converters,” in Proc. IEEE Ind. Applict. Soc.
Annu. Meeting, Oct. 1994, pp. 94-107.
[11] S. Hiti, and D. Boroyevich, “Small-signal modeling of three-phase PWM modulators,” in Proc. IEEE Power Electron. Spec. Conf., Jun. 1996, pp.
550-555.
[12] S. Hiti, D. Boroyevich, and F. C. Lee, “A new control algorithm for three-phase PWM buck rectifier with input displacement factor compensation,”
IEEE Trans. Power Electron., vol. 9, no. 2, pp. 173-180, 1994.

June 25, 2018 IEEE COMPEL 2018 127

 List of References - 2
[12] H. Mao, D. Boroyevich, and F. C. Lee, "Novel reduced-order small-signal model of a three-phase PWM rectifier and its application in control design and
system analysis," IEEE Trans. Power Electron., vol. 13, no. 3, pp. 511-521.
[13] H. Soo-Bin, C. Nam-Sup, R. Chun-Taik, and C. Gyu-Hyeong, “Modeling and analysis of static and dynamic characteristics for buck-type-three-phase PWM
rectifier by circuit dq transformation,” IEEE Trans. Power Electron., vol. 13, no. 2, pp. 323-336, 1998.
[14] R. Zhang, F. C. Lee, D. Boroyevich, and M. Hengchun, “New high power, high performance power converter systems,” IEEE Trans. Power Electron., vol.
15, no. 3, pp. 456-463, 2000.
[15] D. Ke, L. Ping, K. Yong, and C. Jian, “Decoupling current control for voltage source converter in synchronous rotating frame,” in Proc. Power Electron. And
Drive Sys., 2001, vol. 1, pp. 39-43.
[16] D. N. Zmood, D. G. Holmes, and G. H. Bode, “Frequency-domain analysis of three-phase linear current regulators,” IEEE Trans. Ind. Appl., vol. 37, no. 2,
pp. 601-610, 2001.
[17] Y. Yang, M. Kazerani, and V. H. Quintana, “Modeling, control and implementation of three-phase PWM converters,” IEEE Trans. Power Electron., vol. 18,
no. 3, pp. 857-864, 2003.
[18] R. Burgos, E. P. Wiechmann, and J. Holtz, “Complex state-space modeling and nonlinear control of active front-end converters,” IEEE Trans. Ind. Electron.,
vol. 52, no. 2, pp. 363-377, 2005.
[19] M. Liserre, F. Blaabjerg, and S. Hansen, “Design and control of an LCL-filter-based three-phase active rectifier,” IEEE Trans. Ind. Appl., vol. 41, no. 5, pp.
1281-1291, 2005.
[20] L. Yacoubi, K. Al-Haddad, L. A. Dessaint, and F. Fnaiech, “Linear and nonlinear control techniques for a three-phase three-level NPC boost rectifier,” IEEE
Trans. Ind. Electron., vol. 53, no. 6, pp. 1908-1918, 2006.
[21] S. Yongsug and T. A. Lipo, “Modeling and analysis of instantaneous active and reactive power for PWM AC/DC converter under generalized unbalanced
network,” IEEE Trans. On Power Electron., vol 21, no. 3, pp. 1530-1540, 2006.
[22] N. B. Hadj-Youssef, K. Ai-Haddad, H. Y. Kanaan, and F. Fnaiech, “Small-signal perturbation technique used for DSP-based identification of a three-phase
three-level boost-type Vienna rectifier,” IET, Electric Power Appli., vol. 1, no. 2, pp. 199-208, 2007.

June 25, 2018 IEEE COMPEL 2018 128

 List of References - 3
[23] A. Tabesh and R. Iravani, “Multivariable dynamic model and robust control of a voltage-source converter for power system applications,” IEEE
Trans. Power Del., vol. 24, no. 1, pp. 462-471, 2009.
[24] I. Cvetkovic et al. “Un-terminated, low-frequency terminal-behavioral d-q model of three-phase converters,” in Proc. ECCE, 2001 IEEE, pp. 791-
798.
[25] L. Harnefors, A. Antonopoulos, S. Norrga, L. Angquist, and H. P. Nee, “Dynamic analysis of modular multilevel converters,” IEEE Trans. Ind.
Electron., vol. 60, no. 7, pp. 2526-2537, 2013.
[26] F. chierchie, L. Stefanazzi, E. E. Paolini, and A. R. Oliva, “Frequency analysis of PWM inverter with dead-time for arbitrary modulating signals,”
IEEE Trans. Power Electron., vol. 29, pp. 2850-2860, Jun. 2014.
[27] F. Gonzalez-Espin, E. Figueres, G. Garcera, R. Gonzalez-Medina, and M. Pascual, “Measurement of the loop gain frequency response of
digitally controlled power converters,” IEEE Trans. Ind. Electron., vol. 53, no. 5, vol. 57, pp. 2785-2796, Aug. 2010.
[28] B. Bahrani, A. Karimi, B. Rey, and A. Rufer, “Decoupled dq-current control of grid-tied voltage source converter using nonparametric models,”
IEEE Trans. Ind. Electron., vol. 60, pp. 1356-1366, Apr. 2013.
[29] Texas Instrument, “PowerSUITE digital power supply software frequency response analyzer tool for C2000TM MCUs”, available at
http://www.ti.com/tool/SFRA#3.
[30] B. Wen, R. Burgos, P. Mattavelli, D. Boroyevich, “Experimental evaluation of voltage source inverter switching model with embedded C code
controller,” in Proc. GCMS’13, no. 8, 2013.
[31] C. Se-Kyo, “A phase tracking system for three-phase utility interface inverters,” IEEE Trans. Power Electron., vol. 15, no. 3, pp. 431-438, May
2000.
[32] F. Blaabjerg, R. Teodorescu, M. Liserre, and A. V. Timbus, “Overview of control and grid synchronization for distributed power generation
systems,” IEEE Trans. Ind. Electron., vol. 53, no. 5, pp. 1398-1409, Oct. 2006.

June 25, 2018 IEEE COMPEL 2018 129

 List of References - 4
[33]L. Harnefors, "Modeling of Three-Phase Dynamic Systems Using Complex Transfer Functions and Transfer Matrices," IEEE Trans. Ind. Electron.,
vol. 54, no. 4, pp. 2239-2248, Apr 2007.
[34] L. Harnefors, M. Bongiorno, and S. Lundberg, "Input-Admittance Calculation and Shaping for Controlled Voltage-Source Converters," IEEE
Trans. Ind. Electron., vol. 54, no. 6, pp. 3323-3334, Dec 2007.
[35] D. Dong, B. Wen, P. Mattavelli, D. Boroyevich, and Y. Xue, “Grid-synchronization modeling and its stability analysis for multi-paralleled three-
phase inverter systems,” in Proc. 28th Annu. Appl. Power Electron. Conf. Expo., Mar. 2013, pp. 439-446.
[36] Z. Yao, P. G. Therond, and B. Davat, "Stability analysis of power systems by the generalised Nyquist criterion," International Conference on
Control, pp. 739-744, 1994.
[37] M. Belkhayat, "Stability Criterion for AC Power Systems with Regulated Loads," Doctor of Philosophy, Purdue University, 1997.
[38] E. A. A. Coelho, P. C. Cortizo, and P. F. D. Garcia, "Small-signal stability for parallel-connected inverters in stand-alone AC supply systems,"
IEEE Transactions on Industry Applications, vol. 38, no. 2, pp. 533-542, Mar 2002.
[39] Y. L. Familiant, K. A. Corzine, J. Huang, and M. Belkhayat, "AC Impedance Measurement Techniques," IEEE International Conference on
Electric Machines and Drives, pp. 1850-1857, 2005.
[40] J. Huang, K. Corzine, and M. Belkhayat, "Single-Phase ac Impedance Modeling for Stability of Integrated Power Systems," 2007 IEEE Electric
Ship Technologies Symposium, pp. 483-489, 2007.
[41] J. Huang, K. Corzine, and M. Belkhayat, "Single-Phase ac Impedance Modeling for Stability of Integrated Power Systems," 2007 IEEE Electric
Ship Technologies Symposium, pp. 483-489, 2007.
[42] R. Burgos, D. Boroyevich, F. Wang, K. Karimi, and G. Francis, "On the Ac stability of high power factor three-phase rectifiers," IEEE Energy
Conversion Congress and Exposition, pp. 2047-2054, 2010.
[43] H. Jing, K. A. Corzine, and M. Belkhayat, "Small-Signal Impedance Measurement of Power-Electronics-Based AC Power Systems Using Line-
to-Line Current Injection," IEEE Transactions on Power Electronics, vol. 24, no. 2, pp. 445-455, Feb 2009.
June 25, 2018 IEEE COMPEL 2018 130
 List of References - 5
[44] I. Cvetkovic, D. Boroyevich, D. Dong, P. Mattavelli, R. Burgos, M. Jaksic, et al., "Dynamic interactions in hybrid ac/dc electronic power
distribution systems," 8th International Conference on Power Electronics - ECCE Asia, pp. 2121-2128, 2011.
[45] I. Cvetkovic, M. Jaksic, D. Boroyevich, P. Mattavelli, F. Lee, Z. Shen, et al., "Un-terminated, low-frequency terminal-behavioral d-q model of
three-phase converters," IEEE Energy Conversion Congress and Exposition, pp. 791-798, 2011.
[46] G. Francis, R. Burgos, D. Boroyevich, F. Wang, and K. Karimi, "An algorithm and implementation system for measuring impedance in the D-Q
domain," IEEE Energy Conversion Congress and Exposition, pp. 3221-3228, 2011.
[47] J. Sun, "Impedance-Based Stability Criterion for Grid-Connected Inverters," IEEE Transactions on Power Electronics, vol. 26, no. 11, pp. 3075-
3078, Nov 2011.
[48] V. Valdivia, A. Lazaro, A. Barrado, P. Zumel, Ferna, C. ndez, et al., "Impedance Identification Procedure of Three-Phase Balanced Voltage
Source Inverters Based on Transient Response Measurements," IEEE Transactions on Power Electronics, vol. 26, no. 12, pp. 3810-3816.
[49] J. He, Y. W. Li, D. Bosnjak, and B. Harris, "Investigation and Active Damping of Multiple Resonances in a Parallel-Inverter-Based Microgrid,"
IEEE Transactions on Power Electronics, vol. 28, no. 1, pp. 234-246, Jan 2013.
[50] Z. Shen, M. Jaksic, P. Mattavelli, D. Boroyevich, J. Verhulst, and M. Belkhayat, "Design and implementation of three-phase AC impedance
measurement unit (IMU) with series and shunt injection," IEEE Applied Power Electronics Conference and Exposition, pp. 2674-2681, 2013.
[51] Z. Shen, M. Jaksic, B. Zhou, P. Mattavelli, D. Boroyevich, J. Verhulst, et al., "Analysis of Phase Locked Loop (PLL) influence on DQ impedance
measurement in three-phase AC systems," IEEE Applied Power Electronics Conference and Exposition, pp. 939-945, 2013.
[52] M. Jaksic, D. Boroyevich, R. Burgos, Z. Shen, I. Cvetkovic, and P. Mattavelli, "Modular interleaved single-phase series voltage injection
converter used in small-signal dq impedance identification," IEEE Energy Conversion Congress and Exposition, pp. 3036-3045, 2014.
[53] F. Liu, J. Liu, H. Zhang, and D. Xue, "Stability Issues of Z+Z Type Cascade System in Hybrid Energy Storage System (HESS)," IEEE
Transactions on Power Electronics, vol. 29, no. 11, pp. 5846-5859, Nov 2014.

June 25, 2018 IEEE COMPEL 2018 131

 List of References - 6
[54] T. Messo, J. Jokipii, J. Puukko, and T. Suntio, "Determining the Value of DC-Link Capacitance to Ensure Stable Operation of a Three-Phase
Photovoltaic Inverter," IEEE Transactions on Power Electronics, vol. 29, no. 2, pp. 665-673, Feb 2014.
[55] T. Roinila, M. Vilkko, and J. Sun, "Online Grid Impedance Measurement Using Discrete-Interval Binary Sequence Injection," IEEE Journal of
Emerging and Selected Topics in Power Electronics, vol. 2, no. 4, pp. 985-993, Feb 2014.
[56] D. Dong, B. Wen, D. Boroyevich, P. Mattavelli, and Y. Xue, "Analysis of Phase-Locked Loop Low-Frequency Stability in Three-Phase Grid-
Connected Power Converters Considering Impedance Interactions," IEEE Transactions on Industrial Electronics, vol. 62, no. 1, pp. 310-321, Jan
2015.
[57] B. Wen, D. Boroyevich, R. Burgos, P. Mattavelli, and Z. Shen, "Small-Signal Stability Analysis of Three-Phase AC Systems in the Presence of
Constant Power Loads Based on Measured d-q Frame Impedances," IEEE Transactions on Power Electronics, vol. 30, no. 10, pp. 5952-5963,
Oct 2015.
[58] M. K. Bakhshizadeh, X. Wang, F. Blaabjerg, J. Hjerrild, Ł. Kocewiak, C. Bak, et al., "Couplings in Phase Domain Impedance Modeling of Grid-
Connected Converters," IEEE Transactions on Power Electronics, vol. 31, no. 10, pp. 6792-6796, Oct 2016.
[59] S. Lissandron, L. Santa, P. Mattavelli, and B. Wen, "Experimental Validation for Impedance-Based Small-Signal Stability Analysis of Single-
Phase Interconnected Power Systems With Grid-Feeding Inverters," IEEE Journal of Emerging and Selected Topics in Power Electronics, vol. 4,
no. 1, pp. 103-115, March 2016.
[60] B. Wen, D. Boroyevich, R. Burgos, P. Mattavelli, and Z. Shen, "Analysis of D-Q Small-Signal Impedance of Grid-Tied Inverters," IEEE
Transactions on Power Electronics, vol. 31, no. 1, pp. 675-687, Jan 2016.
[61] B. Wen, D. Dong, D. Boroyevich, R. Burgos, P. Mattavelli, and Z. Shen, "Impedance-Based Analysis of Grid-Synchronization Stability for Three-
Phase Paralleled Converters," IEEE Transactions on Power Electronics, vol. 31, no. 1, pp. 26-38, Jan 2016.
[62] V. Salis, A. Costabeber, P. Zanchetta, and S. Cox, "Stability analysis of single-phase grid-feeding inverters with PLL using Harmonic
Linearisation and Linear Time Periodic (LTP) theory," IEEE 17th Workshop on Control and Modeling for Power Electronics (COMPEL), pp. 1-7,
2016.

June 25, 2018 IEEE COMPEL 2018 132

 List of References - 7
[63] W. Cao, Y. Ma, L. Yang, F. Wang, and L. Tolbert, "D-Q Impedance Based Stability Analysis and Parameter Design of Three-Phase Inverter-
Based Ac Power Systems," IEEE Transactions on Industrial Electronics, vol. 64, no. 7, pp. 6017-6028, July 2017.
[64] M. Jakšić, Z. Shen, I. Cvetković, D. Boroyevich, R. Burgos, C. DiMarino, et al., "Medium-Voltage Impedance Measurement Unit for Assessing
the System Stability of Electric Ships," IEEE Transactions on Energy Conversion, vol. 32, no. 2, pp. 829-841, Jun 2017.
[65] B. Wen, D. Boroyevich, R. Burgos, P. Mattavelli, and Z. Shen, "Inverse Nyquist Stability Criterion for Grid-Tied Inverters," IEEE Transactions on
Power Electronics, vol. 32, no. 2, pp. 1548-1556, Feb 2017.
[66] I. Cvetkovic, D. Boroyevich, R. Burgos, C. Li, M. Jaksic, and P. Mattavelli, “Modeling of a virtual synchronous machine-based grid-interface
converter for renewable energy systems integration,” in Proc. COMPEL 2014, pp. 1-7.
[67] I. Cvetkovi, D. Boroyevich, R. Burgos, C. Li, and P. Mattavelli, “Modeling and control of grid-connected voltage-source converters emulating
isotropic and anisotropic synchronous machine,” in Proc. COMPEL 2015, pp. 1-5.
[68] I. Cvetkovi, et al. “Experimental verification of a virtual synchronous generator control concept,” in Proc. COMPEL 2016, pp. 1-8.
[69] R. Burgos, R. Lai, Y. Pei, F. Wang, D. Boroyevich, and J. Pou, “Space vector modulator for Vienna-type rectifier based on the equivalence
between two-and three-level converters: a carrier-based implementation,” IEEE Trans. Power Electron., vol. 23, no. 4, pp. 1888-1898, 2008.
[70] R. Burgos, R. Lai, S. Rosado, F. Wang, D. Boroyevich, and J. Pou, “A full frequency range average model for Vienna-type rectifiers,” in Proc.
PESC 2008, pp. 4495-4502.
[71] R. Lai, F. Wang, R. Burgos, D. Boroyevich, D. Jiang, and D. Zhang, “Average modeling and control design for Vienna-type rectifier considering
the DC-link voltage balance,” IEEE Trans. Power Electron., vol. 24, no. 11, pp. 2509-2522, 2009.
[72] J. Rocabert, A. Luna, F. Blaabjerg, and P. Rodriguesz, “Control of power converter in AC microgrids,” IEEE Trans. Power Electron., vol. 27, no.
11, pp. 4734-4749, 2012.

June 25, 2018 IEEE COMPEL 2018 133