2020 IEEE IAS Industrial and Commercial Power System Asia Technical Conference

A ower ecoupling ethod for irtual

ynchronous achine in ow oltage icro-grid
Zhiwei Xu Chunjuan Jia Jun Fu
School of Electrical Engineering School of Electrical Engineering Shandong Electric Power Engineering
Shandong University Shandong University Consulting Institute Corp. LTD
Jinan250061,China Jinan250061,China Jinan250013,China
[email protected] [email protected] [email protected]

Abstract—With the distributed power source connected to the strategies cannot provide inertia and damping. As the
power grid with a high penetration rate, virtual synchronous penetration of distributed power sources continues to increase,
generator (VSG) control technology has become a hotspot in the inertia and damping of the power grid will continue to
inverter control strategy research. Power coupling is one of the decrease, which seriously threatens the stability of the power
problems faced by VSG systems, especially in the low-voltage grid. Therefore, a new control strategy-VSG came into being.
power grid, the impedance of the line is resistive and inductive, This control technician provides the inertia and damping support
which seriously affects the performance of VSG control. This for distributed power generation by introducing the equation of
paper mainly does the following work on VSG control: firstly,
motion of the rotor of the synchronous machine so that it has the
VSG control model is established by introducing the active-
external characteristic of traditional synchronous generators. In
frequency loop and the reactive-voltage loop to achieve external
characteristics. Then, compared with droop control, the influences
recent years, it has become a research focus in the field of new
of the moment of inertia and damping coefficient on the control energy. For its control structure, reference[1] describes VSG
performance are analyzed under the island and grid connection control, including primary frequency modulation, and
conditions, respectively. Finally, the power coupling mechanism is reference[2] proposes the possibility of applying secondary
analyzed. Based on the existing control, the voltage feedforward frequency modulation to VSG control.
link is introduced through the virtual impedance to realize the At present, VSG is still to be studied in many aspects:
VSG power decoupling control, and it is verified by the more
parameter design problem, parallel current sharing problem, fast
stable way of the VSG external characteristics. The above work is
fault ride-through problem, coordination control problem with
simulated on MATLAB/Simulink platform.
the former energy storage unit, and stability problem.
Keywords—Virtual synchronous generator, external References[3,4] analyzed the influence of virtual inertia and
characteristics, virtual impedance, power decoupling. damping coefficient on the stability of VSG grid-connected.
Reference[5] gave a design method of VSG control parameters,
INTRODUCTION considering system stability and dynamic performance.
Reference[6] proposed an adaptive virtual rotor inertia VSG
W ITH the increasing global energy crisis and
environmental pollution, the conventional power
generation method mainly based on thermal power generation is
control algorithm and determined the principle of selecting the
adaptive inertia coefficient. Reference[7] analyzed the inertia
adaptive coordinated control of multiple inverters on this basis.
difficult to meet the requirements of sustainable development,
and distributed power generation such as wind power generation In addition, power coupling is not to be ignored, which
and photovoltaic power generation have received more and more seriously affects the control performance and system stability,
especially the impedance of the line appears as a resistance-
attention. In February 2020, the National Energy Administration
inductance characteristic in the medium-low-voltage power grid
released the “Grid-connected Operation of Photovoltaic Power lines. In order to solve the problem of power coupling,
Generation in 2019”, which pointed out that the nation’s new references[8-11] introduced the respective virtual power control
distributed photovoltaic installation capacity in 2019 was 12.2 strategies by introducing transformation matrices related to the
million kilowatts, a year-on-year increase of 41.3%; in 2019, the line impedance. Reference[12] introduced the concept of virtual
country’s photovoltaic power generation reached 2243 Million impedance through virtual resistance, virtual inductance, virtual
kilowatt-hours, a year-on-year increase of 26.3%. impedance ,and other methods that are used to achieve the
purpose of decoupling. Reference[13] proposed an algorithm
As the connection device between the distributed power based on adaptive virtual impedance. The virtual impedance can
supply and the power grid, the importance of inverter’s control change with system operating conditions and line impedance. In
strategy is self-evident. For a single inverter, common control reference[14], a superposition term was added to modify the
strategies include droop control, constant power control, and voltage reference value. Reference[15] focused on the influence
constant frequency and constant voltage control. These control of the power angle on the power coupling and used the power

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 angle estimation to modify the set value of the adaptive virtual For the electromechanical transient model of a synchronous
impedance to improve the power decoupling effect. The above generator, the rotor mechanical equation is mainly introduced,
documents have high requirements for controller performance as shown in equation (1):
when performing decoupling verification.
d:
This article firstly introduces the main circuit topology of the J M T  M e  D Z  Zn  ˄1˅
dt
system and the VSG control model, then studies the influence of J represents the moment of inertia and D represents the
the relevant parameters of the control system on the system damping coefficient. The synchronous rotation axis is selected
performance, and compares it with droop control. Finally, the
as the reference axis. According to the relationship Z p:
small激signal analysis of the VSG output power expression is
between the electrical angular velocity and the mechanical
performed to prove the existence of power coupling. The VSG
angular velocity, the number of pole pairs is taken by 1, and the
control with virtual impedance is built on the Simulink platform,
electrical angle is represented by T . The rotor motion equation
and the power decoupling is verified through the VSG external
characteristics. can be obtained from equation (1):
­ d  Z  Zn  1
VSG CONTROL TECHNOLOGY °J  Pt  Pe   D Z  Zn 
° dt Zn
System main circuit structure ® ˄2˅
°Z dT
°̄ dt
PCC
Rf Lf Rl  jX l
Ug
The equation of motion of the synchronous generator rotor is the
key to achieving power adjustment, which reflects the effect of
Uc torque imbalance on the rotor speed. From equation (2), the
U dc Cdc
simulation block diagram of the motion equation is shown in
Fig.3.
Cf
Rc Zn
Pt 1 1 1 1 T
+ + ++
Zn J s s
Fig. 1. The main circuit’s topology Pe
'Z
Virtual synchronous generator systems mainly include D
distributed power, grid-connected inverters, filters, and energy
storage units. The system uses a three-phase voltage source Fig. 3. Rotor mechanical equation’s simulation block diagram
inverter. U dc represents a DC source voltage, including
distributed power and energy storage units. Capacitors Cdc are Power frequency controller
connected in parallel with it. L f and C f represents the filter The power imbalance acting on the generator shaft will often
change the speed or frequency of the generator. In order to
inductor and capacitor, R f and Rc are the parasitic resistance prevent the frequency change from exceeding the allowable
corresponding to the filter inductor and capacitor. U c represents fluctuation range, frequency adjustment is required. The
relationship between the generator's active power and frequency
the voltage at the inverter output. U g is the grid voltage, and is called the P-f static characteristic of the generator set, and its
Rl  jX l represents the line impedance from the inverter's P-f characteristic curve is shown in Fig.4.
output to the grid's common coupling point (PCC).
VSG control model
The VSG control used in this paper includes the power-
frequency controller, rotor motion equation, excitation
controller, dq conversion module, voltage and current double
loop, and PWM modulation as shown in Fig.2.

f Power Pt Rotor T U cd
frequency motion
controller equation Voltage
abc current U ref PWM
-dq double modula-
loop tion Fig. 4. P-f static characteristic
Q Excitation Uc U cq control
controller
Referring to the principle of the synchronous generator
governor, the design of the virtual synchronous generator P-f
controller is shown in Fig.5.
Fig. 2. VSG control model

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 U c ‘T  U g ‘0
I ˄4˅
PN Z l ‘M
fN
+ Kg ++ ­ § ·
3U g
Pt ° P = Re ¨ 3U g I ¸ = ª¬U c cos M  T   U g cos M º¼
f ° © ¹ Zl
® ˄5˅
°Q Im § 3U I · 3U g ªU sin M  T  U sin M º
° ¨ g ¸ ¬ c   g ¼
¯ © ¹ Zl
Fig. 5. P-f controller’s simulation block diagram

f N , f , PN and Pt indicate the rated frequency of the system, the The formula I is the grid-connected current. The small-signal
analysis of the VSG output power expression is performed. The
real-time frequency of the grid connection point, the rated active
active and reactive powers are respectively derived from the
power of the system, and the set value of the active power of the
power angle and the induced electromotive force.
system.
­ wP wP
°°'P = wG 'G  wE 'E
Excitation controller
The synchronous generator is the main reactive power ® ˄6˅
source in the power system, and its reactive output is adjusted °'Q= wQ 'G  wQ 'E
by the excitation controller, thereby maintaining the stability of ¯° wG wE
the voltage. The sagging coefficient K q is defined as:
among them,
UN U 'U
Kq   ­wP 3U gU c
QN  Q 'Q ˄3˅ ° k11 sin M  T 
° wT Zl
The sagging coefficient can quantitatively represent the ° wP 3U g
° k12 cos M  T 
corresponding voltage change versus the load of the ° wU c Zl
synchronous generator system changes suddenly. With ®
reference to this voltage adjustment characteristic, the design of ° wQ k 3U U
 g c cos M  T 
° wT 21
Zl ˄7˅
the virtual synchronous generator excitation controller is shown °
in Fig.6. ° wQ 3U
° k22 g
sin M  T 
¯ wU c Zl
UN
QN It can be seen from the above formula that there is a coupling
Uc
+ Kq ++ + 3, relationship between active power and reactive power, and the
coupling effect increases as the line resistive component
Q Um becomes larger. When the resistive component p of the line
impedance is zero, then X l Rl , M | 90 . In addition, it is
generally considered that the phase difference between the
Fig. 6. Excitation controller’s simulation block diagram output voltage and the grid-connected point voltage is small,
T | 0 .Under these two conditions, the power expression
QN , Q , U N and U m indicate the rated reactive power, the becomes
real-time reactive power, the set value of the system rated
voltage amplitude, and the inverter output voltage amplitude. ­ 3U g
°P U cT
Power coupling mechanism and virtual impedance control ° Xl
® ˄8˅
3U g
The equivalent circuit of a single inverter connected in °Q
° Xl
U c Ug 
parallel to the AC bus at the PCC is shown in Fig.7. ¯

At this time, the active power and reactive power are

Rl  jX l completely decoupled, the active power and the power angle are
U c ‘T U g ‘0 linearly related, similarly the reactive power and the output
voltage. To achieve the above goal, firstly look at the transfer
P  jQ function of voltage and current double closed-loop control.
Uc Ginv  s U ref  Z  s  I ˄9˅
Fig. 7. Simplified equivalent circuit of a single inverter

Ginv  s  and Z  s  are the closed-loop transfer function and

U c ‘T is the inverter output voltage, U g ‘0 is the grid-
equivalent output impedance of the inverter, respectively, and
connected point voltage, and the line impedance is
U ref is the reference voltage of the inverter. According to the
Zl ‘M Rl  jX l . The expressions of active and reactive power
flowing into the grid-connected point are as follows, control system block diagram, the specific expression of the
equivalent output impedance of the inverter can be written.

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 s 2 L f  sK p K pwm SIMULATION SETUP AND RESULTS ANALYSIS
Z s ˄10˅
s L f C f  s C f K p K pwm  s  K vp K p K pwm  1  K vi K p K pwm
3 2
The simulation model of virtual synchronous generator
island and grid-connected operation is built with
K p , K vp , Kvi and K pwm are the proportionality factor of the MATLAB/Simulink simulation platform. To facilitate the
presentation of experimental results and the conclusion of
current loop, the proportionality factor of the voltage loop, the experiments, in the island experiment and the decoupling
integral factor of the voltage loop, and the equivalent experiment, the damping coefficient is made to be 0, but it is not
proportional amplification link of the inverter.
0 in the grid connection experiment because its influence will be
Due to the presence of the filter inductor, the output studied in this condition. The table shows the main parameters
impedance of the inverter is biased at the fundamental frequency, of the simulation model.
and the line impedance in the low-voltage microgrid is resistive,
so the total impedance of the system is resistive, leading to the TABLE I. MAIN PARAMETERS OF THE SIMULATION SYSTEM
coupling of active and reactive power. In order to decouple the
active and reactive power output from the inverter, virtual The main parameters Value
impedance technology can be introduced. After introducing the Udc 1200V
virtual impedance, the equivalent output impedance of the
inverter system Z v can be expressed as f 50Hz N

Z v  s  Ginv  s  Z vir  s   Z  s 
PN 10KW
§ Zv ·
Ginv  s  ¨ Rv  sLv ¸  Z  s  ˄11˅
© s  Zv ¹ QN 0Var

Zvir  s  , Rv and Lv are the introduced virtual impedance, the Kg 0.0001

virtual resistance, and inductance values, as long as the Z v and Kq 0.0001
the resistive components of the line impedance are canceled out
after the introduction of the virtual impedance.
By introducing a current feedback link, the voltage reference
value is corrected by the voltage drop of the output current on Simulation analysis of the influence of parameters on
the virtual impedance, so that the equivalent output impedance control performance
of the system is inductive. A typical virtual impedance control Island situation
can be expressed in the dq coordinate system as First, make a sudden change in load to check the dynamic
­ di performance of the virtual synchronous generator. The initial
°°U cd Ecd  Lv Ld  RviLd  X viLq load is 10kW, the load suddenly increases by 3kW at 0.5s, and
dt
® ˄12˅ the load suddenly decreases by 5kW at 1s. The output voltage
°U di
Ecq  Lv Lq  RviLq  X viLd and current waveforms of the virtual synchronous generator are
°̄ cq dt shown in the figure.

Ecd is the reference potential of the reactive voltage loop output 300 30

in the dq coordinate system, iLdq is the inverter output current, 100

10
u/ V

i/A

U cd and U cq are the reference potentials sent to the voltage -100
-10

loop after virtual impedance correction control. The virtual -300

impedance control is shown in Fig.8. 0 0.5 1 1.5

-30
0 0.5 1 1.5
t/s t/s

Rv Fig. 9. Output terminal voltage and current waveform

iLd +
sLv + As shown in Fig.9, the output voltage of the virtual
iLq synchronous generator is always stable, and the output current
Z Lv
Ecd U cd responds instantaneously with the sudden change of the load,
+ Voltage and
which indicates that the system dynamic tracking control
Excitation
controller abc-dq current double performance is good. This experiment verified the feasibility of
+ loop
the virtual synchronous generator algorithm and laid the
Rv Ecq U cq foundation for the next step to verify the role of the moment of
iLq inertia.
sLv +++
iLd In the following, a single inverter power supply adopts a
Z Lv droop control strategy and a virtual synchronous generator
control strategy.
Fig. 8. Virtual impedance control’s simulation block diagram

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 104 50.5
1.4 frequency change will be gentle. This is due to the introduction
1.3
1.2
of the moment of inertia. The mechanical power input by the
prime mover cannot change with the sudden change of load

f/Hz
1.1
P/W

50
1 power. The imbalance of power supply and demand will cause a
0.9
certain torque difference on the rotor shaft. When the torque
0.8
0.7 49.5
difference is constant, the speed change rate is inversely
0 0.5 1 1.5
0 0.5
t/s
1 1.5
t/s proportional to the moment of inertia. Therefore, in order to
improve the stability of the system, the moment of inertia can be
Fig. 10. Power and frequency waveform of droop control appropriately increased to alleviate frequent and rapid changes
in system frequency caused by frequent switching of loads.
The droop control strategy simulation is shown in Fig.10.
The frequency of the system changes abruptly with the active Grid-connected situation
power of the load. This shows that although the inverter power Set up a grid-connected inverter simulation model. The
supply using droop control can adjust its output according to the active power starts to be set to 10kW, becomes 20kW in 1s, and
load change and maintain frequency stability, the frequency is becomes 5kW in 2s. In the first simulation, the moment of inertia
almost instantaneous due to the lack of inertia. Therefore, in a is set to 0.3, and the damping coefficient is set to 20. The second
system with increased distributed power penetration, random simulation moment of inertia is set to 0.9, and the damping
DG output, and frequent load fluctuations, it is difficult to coefficient remains unchanged. In the third simulation, the
guarantee the frequency stability of the system when droop moment of inertia is unchanged, the damping coefficient is set
control is used. Comparing the two figures, it can be found that to 40, and the active output and frequency response waveforms
the frequency and power show opposite changes, which is a of the system are analyzed.
characteristic of the droop control itself. 2.2 10
4
2.2 10
4

50.5 4
1.5 10
1.8 1.8
50.3 1.3
1.4 1.4

P/W
P/W

50.1 1.1
f /Hz

P/W

1 1
49.9 0.9
0.6 0.6
49.7 0.7
1 1.5 2 2.5 1 1.5 2 2.5
t/s t/s
49.5 0.5
0 0.5 1 1.5 0 0.5 1 1.5
t/s t/s
˄a˅ J 0.3 ˄b˅ J =0.9
˄a˅ J 0.10kg ˜ m2
Fig. 12. Comparison of active-power when J is changed from 0.3 to 0.9
50.5 1.5 104
50.2 50.2
50.5
50.3 1.3
50 50
50.1 1.1
f /Hz

P/W
f/Hz

49.8 49.8
f/Hz

f/Hz

50

49.9 0.9
49.6 49.6
49.7 0.7
49.5
0 0.5 1 1.5 49.4 49.4
49.5 0.5
0 0.5 1 1.5 0 0.5 1 1.5
t/s t/s 0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
t/s t/s

˄a˅ D=20 ˄b˅ D=40

˄b˅ J 0.35kg ˜ m2
Fig. 13. Comparison of frequency when D is changed from 20 to 40
50.5 4
1.5 10

50.3 1.3
It is not difficult to see that when the damping coefficient is
50.1 1.1
the same, the larger the moment of inertia J, the slower the
f/Hz

P/W

49.9
response speed of the system, and the longer the adjustment time
0.9
of the system. It can be seen from the frequency transient
49.7 0.7
response that the larger J is, the smaller the overshoot of the
49.5
0 0.5 1 1.5
0.5
0 0.5 1 1.5 adjustment process is, and the more obvious the damping effect
t/s t/s
of frequency adjustment is. When the moment of inertia is the
˄c˅ J 0.60kg ˜ m2 same, the larger the D, the more obvious the damping
characteristics of the second-order system, the smaller the
Fig. 11. Frequency and active-power waveform of VSG control frequency fluctuation range, and the shorter the adjustment time
required for the system to enter the steady-state.
The simulation of the VSG control strategy is shown in
Fig.11. It can reflect the droop adjustment characteristics of the Simulation of VSG control power decoupling
virtual synchronous generator. The change result is in Because the distributed power based on VSG control is
accordance with the setting of the sagging coefficient, that is, generally connected to the power grid through low or medium
each power change of one kilowatt and the corresponding voltage lines, the decoupling method shown in Fig. 8 is used for
frequency change of 0.1Hz. the medium-low voltage line resistance characteristics to
perform simulation verification.
Comparing different moments of inertia, it can be seen that
when the load power changes the same, the response time of the
system will increase as the moment of inertia increases, and the

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 When active power changes 10 4
10
Change the given active power of the virtual synchronous
generator by setting the grid frequency to change 0.1Hz at 1.5s
and observe the active and reactive waveforms of the VSG 5
output.

P/ W
104 10 4
2
1.4
0
1.2 0
P/W

Q/ Var

1
-2

0.8 0.5 1 1.5 2 2.5 3

-4
t/s
0.6
1 1.5 2 2.5 0.5 1 1.5 2 2.5
t/s t/s
˄a˅Waveform of active power
˄a˅Waveform when frequency decreases by 0.1Hz 10 4
8
104 10 4
1.3 2

1.1 0 4

Q/ Var
P/W

Q/Var

0.9 -2

0.7
-4
0
1 1.5 2 2.5 1 1.5 2 2.5
t/s t/s

˄b˅Waveform when frequency increases by 0.1Hz 0.5 1 1.5 2 2.5 3

t/s
Fig. 14. Active and reactive power at sudden frequency changes
˄b˅Waveform of reactive power
According to the value of K g in the previous parameter Fig. 15. Active and reactive power at sudden voltage changes
settings, the active power should increase by 1kw when the
frequency decreases by 0.1Hz. In fact, the simulation waveforms When the grid voltage is 1.1 (standard value), the grid
of active power are consistent with it, indicating that when an voltage is higher than the voltage at the VSG output, and the
abnormal frequency event occurs in the power grid, the virtual VSG absorbs reactive power, so the reactive power in the
synchronous generator can implement a frequency modulation waveform diagram is negative. When the voltage threshold
control to adjust its own active output, ensuring the stable value drops to 1.0, the VSG outputs 0 according to the reactive
operation of the micro-grid. However, the reactive power did not power command value. When the grid voltage drops again, the
fluctuate significantly at t = 1.5s and almost always stabilized at VSG output terminal voltage starts to be higher than the grid
0, indicating that the frequency only affects the active power, voltage, so more reactive power will be injected into the grid to
and the active-frequency loop does not affect the reactive- support grid voltage. Theoretically, since the frequency setpoint
voltage loop, which realizes the decoupling of the active and is unchanged during the whole process, it is equivalent to the
reactive power. active setpoint. If there is no coupling, the actual active power
should always be maintained at 10kW. Observing the active
Experiments show that the virtual synchronous generator waveform, the virtual synchronous generator control eliminates
control can solve the problem of the coupling of active power’s the coupling of reactive power to active power, making the
change to reactive power. The essence is that the addition of active power unchanged when the reactive power changes,
virtual impedance makes the power expression conform to which is actually consistent with the theoretical analysis.
equation (8). The given reactive power clamps the change in
voltage. The change in active power can only correspond to the CONCLUSIONS
change in phase angle, and the change in phase angle does not
Based on the establishment of a VSG simulation model, this
cause reactive power’s change.
paper first studies the influence of the moment of inertia and
When reactive power changes damping coefficient on the control performance of the system. It
Set the standard value of the grid voltage amplitude to 1.1 is found that appropriately increasing the moment of inertia and
initially, to sag to 1.0 at 1s, and to 0.9 at 2s. The waveforms of damping coefficient can make the system's response speed slow
active and reactive power are shown below. and the overshoot smaller. It is these two parameters that give
the inverter the inertia and damping characteristics of a
synchronous generator, which can overcome the impact of the
inertia of the inverter on the power grid. Then, the power
coupling mechanism is studied, and the power decoupling is
realized by using virtual impedance control, and the verification
is performed through a more reliable way of VSG external
characteristics.
The disadvantage is that the amplitude of the waveform
vibration is relatively large at the time of the simulation starting
and the parameter changing. It takes a certain time to slowly

40

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 7

stabilize, and further research is needed on the suppression of

dynamic oscillation.

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