2015 International Conference on Computational Intelligence and Communication Networks

DROOP Control strategies of Conventional Power System Versus Microgrid Based

Power Systems -A Review

Zameer Ahmad, Member, IEEE, S.N. Singh

Alternate hydro energy centre
Indian institute of technology Roorkee Uttarakhand, India
[email protected], [email protected]

Abstract—conventional power system is one of the most hydrogen fuel cell, compressed air etc.) that are interfaced
complex, based on fossil fuels, having matured operation and with distribution networks close to load demand [3].
control technology while microgrid is simple, environment DER interfaced with power electronic is known as DER
friendly, based on distributed energy resources, emerging as system. Optimal placement of DER into grid has many
new power system can be operated in islanded as well as grid
benefits like improvement of voltage profile, no
connected modes. Though the researchers have suggested
many control strategy such as master/slave, current/power transmission & distribution (T&D) loss but high integration
sharing and other hybrid methods and worldwide research is of DER deteriorates power quality, excessive current flow
in progress but still the most challenging problems in into fault and voltage fluctuation, Large scale market
microgrid is coordinated optimal control and energy adaptation of DER raises important issues about DER
management without violating the power system design impact on the grid’s reliability, control and dispatch strategy
constraints power quality, reliability, security, stability and for DER.
economy. This paper presents a comprehensive literature Now a new concept microgrid is emerging, which can
survey of microgrid control strategy mainly based on accommodate as many as DER without violating power
conventional droop control and discusses difference between
control strategy of existing grids and microgrids. This survey
system constraints power quality (voltage &, frequency),
can be helpful to researchers working in microgrid control reliability (minimize loss of load probability), security
area. (robustness of system), stability and economy.
Microgrid is a cluster of microsources, storage, loads
Keywords-microgrid, control strategy, power system, droop (critical & non critical), electric vehicles (EV), CHP,
control flexible and controllable interface near consumers, operating
as single autonomous grid either connected with macro grid
I. INTRODUCTION or islanded mode, provide green, reliable, secure electric
power and heating to a local community, improve network
Electricity is the best forms of energy to exploit for quality, reduces harmful emission, can be ac, dc and hybrid
development of any country and also for mankind. ac-dc configuration [4]-[14]. Line diagram of a typical
Commercial use of electricity started from late 18 th century; microgrid is depicted in Fig. 1.
however invention of electricity took place very beginning.
First electric power system was a direct current system
started in 1882 and invented by Thomas Edison at pearl
street station in New York. In 1886 transformers and ac
distribution systems were developed by William Stanley of
Westinghouse. In 1989 first ac transmission system in USA
and after three years in 1893 first 3 phase line 2300 V, 12
km distance was developed [1]-[2].
Present day power system is highly complex and high
interconnected. It generates electricity by burning of fossil
fuels (coal, natural gas, diesel, nuclear fuel etc), which
produces harmful gases, particles, pollutes environment and
degrades lives. To mitigate the bad impact of burning Fig. 1. Line diagram of a typical microgrid [9].
fossil fuel and meet the growing demand of green and
reliable electric energy, distributed energy resources (DER) Voltage and frequency are the main control entities
has attracted attention. controlled by controlling the others. Frequency is a global
Distributed energy resources consist of a variety of DG phenomenon, which should be within specified limit (±3%)
technologies such as solar photovoltaic/solar thermal, wind throughout the system for stable and secure operation while
energy, micro hydro, tidal/wave, geothermal, Genset(variety voltage is a local phenomenon. Active power control is
of fuels), combined heat and power(CHP), fuel cell, energy directly related to frequency (i) if total generation of active
storage systems(batteries, flywheels, ultra capacitors, power is more than the total load demand frequency rises

978-1-5090-0076-0/15 $31.00 © 2015 IEEE 1499

DOI 10.1109/CICN.2015.337

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and (ii) if total generation of active power is less than the (i) Flat frequency regulation-when increased load demand is
total load demand frequency falls while reactive power met by any one generator G1 or G2.
control is responsible for voltage control. Generation control (ii) Parallel frequency regulation-increased load is shared
loops are classified as control of active power by controlling by both generators.
the turbine input also known as load frequency control (iii) Flat tie line-if load change in a particular area is met by
(LFC) or automatic generation control (AGC) or automatic the generator of that area. In tie line power remains
load frequency control (ALFC) or MW-frequency control constant.
and Excitation control or MVAR-voltage (Q-V) control. Normally parallel frequency regulation is used and load
Different control strategies have been proposed by the sharing is decided by economic load dispatch, which is also
researchers. A well-known approach for power sharing is known as optimal control of power system.
droop control of frequency and voltage similar to
A. Primary load frequency control (PLFC)
conventional power system.
The rest part of paper is organized as follows. Section II
presents control strategy of conventional power systems. PLFC consist of speed governing system, rotating
Literature survey of control strategy of microgrid is components (turbine and generators) load and power system
discussed in section III. Section IV presents conclusion. [1]. The block diagram model of PLFC control strategy is
given in Fig. 4.
II. CONVENTIONAL POWER SYSTEM
CONTROL
All generators (synchronous machines) of Conventional
power system are equipped with speed governing system,
speed or a frequency regulation characteristic of generator is
shown in Fig.2. Fig. 4. Block diagram model of PLFC control strategy

Where Δpc is change in reference setting, GH is transfer

function of governor, GT is transfer function of turbine, Δp L
change in load, GP transfer function of power system, ΔF
change in frequency and R is regulation of speed governor
or droop value. In normal case change in reference setting
Δpc=0
Then,
Fig. 2. Frequency droop characteristic of a generator [8]

As increase in load demand frequency falls and governor try ΔF(s) =  ΔP 
 
 

to increase the speed by increasing input to prime mover
and vice versa and finally settle to specified range (±3%). It At steady state,
is control by close loop control and there is various level of
control. The various types of frequency control can be 
illustrated with the help of Fig. 3. ΔF =  (2)



G1 G2 Hence,


ΔP = − D + ΔF (3)



+ = (4)


β is known as area frequency response characteristics

(ARFC)
L1 L2
Fig. 3. Two generator systems connected through tie line Equation (3) further can be written as

Where G1 and G2 are two generating station connected

through a tie line, load L1 and L2 are connected to each 
ΔP = −ΔF − ΔF (5)

generator bus bar respectively. The various types of
frequency controls are illustrated as follows.

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 First part of equation (5) is denoting net load released and are the main control entities in isolated mode of operation.
second part is net change in generation due to speed Different control strategies have been proposed by the
governing system. Due to sudden increase in load, power is researchers. An eminent approach for power sharing is
met during first few millisecond before frequency is droop control of frequency and voltage. The droop-based
dropped and control is activated by stored kinetic energy, control method is the most popular technique to ensure
change in generators output and load released due to power sharing and coordinated voltage and frequency
frequency in PLFC there is a static error, which should be regulation in microgrids [15] - [17]. The recognition of the
zero. It is not sufficient so we need another control action to method can be attributed to its simplicity of realization,
bring static error to zero and have control of dynamics of which is simply based on local voltage and current
system [2]. information, in addition to the facts that it facilitate
decentralized control of several DER systems, readily
B. Secondary load frequency control (SLFC) accommodates the grid-connected mode of operation, and
Suggested control system specification [2]: enables plug-and-play operation of the DER systems. [18]-
 Control loop must have sufficient degree of [29] have developed control strategy by utilizing
stability conventional droop control with some modification that
 Following a step load change, static error must makes microgrid operation secure and stable. In these
reduce to zero. papers real and reactive powers control the frequency and
 Integral of frequency error should be minimized. voltage respectively. J.M. Guerrero et al. [30] introduced
There are many types of controllers like proportional derivative integral (DI) controller to die out the under
controller, integral controller, differential controller, PI, PD damped (oscillatory) nature of load sharing with a
and PID controller. To reduce the static error to zero only conventional droop control, where transient droop
integral (reset) type controller can be used. The block characteristic achieves a steady state constant frequency and
diagram model of SPLFC control strategy is given in Fig. improved current balance. [31] developed a dynamic model
5. and control system for autonomous operation of standalone
DG, which includes DER system (DER interfaced with
power electronic) and local load (modeled by parallel RLC
network). [32], proposed a strategic analysis and optimal
voltage control technique for distributed generators. Y. W.
Li et. al [15] utilized an abc-frame voltage mode control
strategy which is insensitive to load dynamic characteristics
Fig. 5 Block diagram model of SPLFC control strategy and also enables the incorporation of droop-based power
sharing mechanisms. [33], proposed a voltage-mode control
Where Ki is a gain, selection of its value is very critical as it strategy for a DER system. [34], presented control strategy,
decides the dynamic behavior of system. which accommodate load imbalance and [35], have
extended this based on a positive /negative sequence
C. Tertiary load control (TLC) current-control strategy. Matteo F. Iacchetti et al [36]
It is also known as economic load dispatch, where value of proposed a simple control technique based on the regulation
Ki and β is chosen such that control action is optimal. This of the amplitude of a suited fraction of the rotor flux
control is required for multi area system. Any power system linkage: the optimal value of this fraction is theoretically
can be divided into sub system in which generators operate deduced in order to minimize the DFIG derating due to the
in coherent mode and geographically close to each other. current harmonics suitable to regulate the power delivered
Such coherent area is called control area where frequency is to the dc grid. [37], developed an analytic model of a
same [2]. However voltage is controlled by controlling the multileader and multifollower Stackelberg game approach
excitation of generators. To keep voltage profile constant and proposed a bi-level hybrid multiobjective evolutionary
there are many methods, which are reported in literature and algorithm to evaluate optimal strategies that maximize the
being utilized. profit of utilities, and minimize carbon emissions in an open
energy market among interconnected microsources. [38],
III. MICROGRID CONTROL STRATEGY REVIEW
proposed new design facilitates robust infrastructure for
Microgrids can operate as grid connected mode or islanded smart distribution systems operation and control. [39],
mode. Islanding can be intentional or un- intentional driven proposes a control strategy based on the consensus
by market energy price, fault in main grid, power quality algorithm for the optimal resource management in an
and stability concern. In grid connected mode system isolated microgrid. [40], presented an optimal power
voltage and frequency is imposed by the macro grid. In this dispatch problem on a 24-h basis for distribution systems
case only need to optimally control the power sharing of with DER. [41] presented an optimal day-ahead scheduling
DER to load as well as grid, While voltage and frequency and control models for microgrids under uncertainty. [42],
proposed a multistage centralized control scheme for droop-

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controlled islanded microgrids (IMGs) with high penetration distributed generators operating point such as voltage and
of plug-in electric vehicles (PEVs). The proposed control frequency by droop method, while Tertiary control is used
scheme optimally coordinates the distributed generation for economic dispatch or optimal operation control of DER.
(DG) units’ droop characteristics, the shedding of microgrid Secondary control is utilized to have better transient
power demand (during inadequate generation periods), and behavior of DGs based on a potential function (PF)
the PEVs charging/ discharging decisions to support the minimization. In fact, secondary control adjusts set points of
IMG operation for a large time frame. [43], presented a DGs dynamically to achieve minimum deviation in
hierarchical microgrid management system using task transition to the new operating point. In view of the
sharing and an evolutionary game theory based dispatch complexity and variability of distributed generation in MG
strategy as a coordination algorithm to integrate the three and the droop control dependence on the equivalent output
main control levels needed for microgrid operation. [44], impedance of the parallel operation DGs, the conventional
proposed a hierarchical control to realize optimal unbalance power droop control is difficult to achieve accurate power
compensation for better power quality. Primary and sharing.
secondary controllers are applied to realize unbalance
compensation for critical bus, and at the same time, to make V. CONCLUSION
distributed generators (DGs) equally share the compensation Microgrid is emerging as a best alternative to meet the
efforts. [45], proposed a decentralized control strategy, growing demand of green, reliable and cost effective power.
which allows the storage level in each microgrid to operate MG is the first stage of future smart grid. This paper mainly
around a reference value by cooperatively sharing power reviews the control strategies of microgrid based on
between microgrids. [46], presented a new robust control conventional power system droop control. Macro grid droop
strategy for an isolated MG in the presence of load un- control strategies are discussed in details to have better
modeled dynamics. The microgrid consists of parallel insight in microgrid control. It is found that there is no
connection of many DER systems and a local load. [47], global consensus over control strategy of microgrid.
presented a heuristic approach to Active Demand Side Recently, the scholars have been more interested in the
Management in the Off-Grid systems with a set of specific employment of droop control method. It has following
requirements. [48], proposed a unified compensation advantages over others:
framework using the common load condition in local  Independent of cable/communication for reliable
controller, to compensate the voltage drop and load sharing operation.
errors. The voltage deviation was compensated with a  Have enviable attribute as expandability, flexibility,
Proportional controller while the load sharing was modularity, and redundancy.
compensated through a proportional-integral controller.  Easy implementation.
[49], describes the active power sharing of multiple Nevertheless, it has some drawbacks frequency and
distributed generators (DGs) in a microgrid amplitude deviations, sluggish transient response and there
is a possibility of circulating current. First two limitations
IV. CONVENTIONAL POWER SYSTEM VERSUS
can be overcome by application of appropriate controllers.
MICROGRID
In future microgrid will play a significant role for remote
Conventional power system comprised with rotating or and rural area electrification.
inertial machine for power generation. All generators are
connected in parallel and work in synchronism. Real power References
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