2015 International Conference on Industrial Instrumentation and Control (IClC)

Col/ege o/Engineering Pune, India. May28-30,2015

Dynamics of Voltage Source Converter in a Grid

Connected Solar Photovoltaic System
Adithya Vangari, Jayachandra N. Sakamuri
DivyanagaJakshmi Haribabu
Student Member, IEEE Graduate Student Member, IEEE
Freelance Power System Engineer
Roskilde, Denmark Department of Electrical Engineering Department of Wind Energy
e-mail: [email protected] KK Wagh lEER, Nashik, India Technical University of Denmark
e-mail: [email protected] e-mail: [email protected]

Abstract- This paper emphasises the modelling and control of a developed to facilitate the PV system impact studies and to
voltage source converter (VSC) for three phase grid connected identify the system transients. The integration of small
PV system. The transfer functions for inner current control and « lOkW) and intennediate size (10 kW-IOO kW) PV systems
outer DC link voltage control for VSC are derived. The
with the distribution system are increasing nowadays. The
controllers for VSC are designed based on PI and K factor
current controlled Voltage Source ConverterslInverters
control methods and the performance of VSC using both the
methods are presented with the simulations performed using
(VSCsIVSIs) can be used to integrate PV arrays with the AC
PSCAD/EMTDC. The design of LC filter to meet the specified grid. Hence, this paper deals with the modeling and control
THD requirement for grid connected VSC is presented and the of three VSIs for integration of the PV system into 3 phase
corresponding harmonic analysis is performed for different system. The state space modeling of current control and DC
solar radiation conditions. The effectiveness of the proposed link voltage control of 3-phase VSI is presented. The
controller is illustrated by evaluating the response of PV system performance of the grid connected photovoltaic system under
for power system voltage sag and swell conditions as well as grid transients in the power systems, such as voltage sag and swell
faults.
conditions and under gird faults; using PSCAD/EMTDC is
investigated. Inverter output filter design and THD analysis
Index Terms- Grid connected PV, K factor control, dynamics of
of inverter output current is also explained.
VSC, Voltage sag and swell

I. INTRODUCTION
This paper proposes a new control method called K factor
Distributed power generation based on renewable control for 3 phase VSI. The advantage of K factor control
energy sources are getting attention as feasible choice in a method is that it has the flexibility to choose the controller
sustainable development environment [1]. The installations of parameter so as to meet the desired closed loop system
Photovoltaic (PV) systems, including grid-connected PV perfonnance. Also it has faster transient response compared
systems, have experienced a significant increase in the past to that of the simple PI control method. This paper is
few decades. More PV capacity is expected to be penetrated organized as follows. Section II briefly presents the modeling
in the power system in near future. Grid-connected PV and control of the DCIAC inverter (VSI), descriptions of K
systems, which are relatively more popular, can be interfaced factor control method, and controller design procedure, and
to grid, with a two stage power conversion system, as shown THD analysis of inverter output current. Simulation and
in Fig.I. The interface requirements depend on the size and analysis of results, showing the dynamics of grid connected
application. Small « lOkW) residential PV systems typically PV system illustrating the effectiveness of the proposed K
are interconnected with single-phase distribution lines. factor control method are given in Section III. Finally,
Intermediate size (>10 kW) industrial/commercial PV conclusive remarks are reported in section IV.
GRID
systems are usually interconnected with three-phase
distribution systems. Large PV systems, with ratings of 100s
of kW to a few MWs, are usually interconnected at either the
distribution level or sub-transmission level.
Fig. I Two stage grid connected PV system

There exists a vast body of the technical literature II. MODEUNG OF 3 PH GRID CONNECTED INVERTER
that deals with various economical and technical aspects of The DC-DC converter, shown in Fig.I, is responsible for
the grid-connected PV systems. The major research has Maximum Power Point Tracking (MPPT) of PV array, which
explained about steady-state phenomena such as modeling of is not in the scope this paper. The inverter is responsible for
solar PV array [2]-[4], MPPT harmonics induced by PV the following tasks.
systems, influence of PV system on power quality [5]-[10]. 1. Control of active power supplied to the grid
However, transient behavior of the grid-connected PV
2. Control of DC link voltage
systems is dealt only in little literature [11]. During the design 3. Ensure high quality of injected power
stage, evaluation of transient behavior of PV system is very 4. Grid synchronization.
important. Thus, adequately accurate models need to be

978-1-4799-7165-7/15/$31.00 ©2015 IEEE 360

The control strategy applied to the inverter, as shown in connected VSIs. As the above information of a periodic
Fig.2, mainly consists of two cascaded loops, the fast inner signal is not directly measurable, there should be a special
current control loop, which regulates the grid current, and an means to extract these. It is generally done by using phase
outer voltage control loop, which controls the dc-link voltage. locked loop. A Synchronous Reference Frame (SRF)
The current control loop is responsible for power quality approach based PLL is used in this paper [12].
issues and current protection. The dc-link voltage controller is
designed for balancing the power flow in the system. In this Table 1: Parameters of 3 ph inverter
paper, a synchronous reference frame control is chosen. It is
DC Link Voltage Vdc link 815 V
also called as dq control. It uses a reference frame
transformation module, abc to dq to transform the grid AC Grid Voltage (line to line RMS) Vgrid 400 V
current and voltage waveforms into a reference frame that Grid frequency /grid 50 Hz
rotates synchronously with the grid voltage so that the control Switching frequency Is 5 kHz
variables become dc values. Thus, filtering and controlling
PV output power 32.5 kW
can be easily achieved. The parameters of the proposed three­
phase system are given Table l. In the inverter control
B. Inverter Current Control Transfer Fucntion (Inner
structure, given in Fig 2, the dc- link voltage is controlled in
Control)
accordance with the PV output power. Its output acts as
reference for the active current controller (ldre/), whereas the The equivalent circuit of 3 ph inverter connected to AC
reference for the reactive current controller (lqre/), is set to Grid is shown in Fig. 3.
zero, as the photovoltaic system connected to low voltage
Va RL L ia Ea
distribution network is expected to deliver only active power
under normal scenario. Hence, the current vector is always in PWM L ib Eb
phase with the grid voltage. The dq control structure is Inverter V"L..__ +--_-"--- -{
associated with K factor controllers since they have a L
satisfactory behavior while regulating dc variables. The phase
angle used for the abc to dq transformation module is
obtained by the Phase-Locked Loop (PLL) [12]. Fig. 3 Equivalent circuit of 3 ph inverter connected to grid

INVERTER
RL, L are the resistance and inductance of the filter and grid
GRID
per phase. Va, Vb, and Vc are the inverter output voltages. Ea,
Eb, and Ec are the three-phase grid voltages. ia, ib, and ic are
the three-phase currents injected to the grid. The aim is to
design a model which is perfectly decoupled so that active
and reactive power can be independently controlled. Hence,
by applying KVL at the inverter output and transforming the
equation from abc to dq quantities using park and clark
transformations, leads to the following equation.
di RL
d
=
_
i +..!..u (I)
dt L d L d
ud = Vd -Ed -LOJiq (2)
Similarly, the target model for the q-axis current can be
derived as,
di RL • 1
-=--1
q +-u (3)
dt L q L q
uq=Vq-Eq+LOJid (4)
Sinusoidal Pulse Width Modulation (SPWM) is used to
trigger the inverter. The relation between modulation index,
m, DC link voltage, Vdc. and inverter output voltage can be

given as [14].
V dc Vdc
Current Control Loop
Vd = m d and Vq = m q (5)
2 2
The closed loop current control can be derived from (I) to (5)
Fig. 2 Three phase grid connected inverter control for PV system and corresponding control structure is shown in Fig. 2.
A. Phase Locked Loop (PLL): From (1) and (3), the plant open loop transfer function for
Phase angle and amplitude of the utility voltage vector are both d-axis and q-axis currents can be derived as shown as in
basic information needed for an increasing number of grid Fig 4.

361
 fer � OJer (11)
f = OJ =

( J
] z
K
Z
K
u i
S fp =Kfcr => OJp =KOJcr (12)
R. I +
�
_

RL/L (13)

--
where (Ocr is the crossover frequency and (()boost is phase boost.
Fig. 4 Open loop transfer function of the inverter current control loop
Gain(dB)

By considering the time delay between control input and

inverter output which is approximately equal to switching
time period Ts (= 11 Is ), the transfer function becomes (6): «)

(6)

Phase
- i ----
-
-
0° ••• ' ....

PI control ..
«)

C. Current controller design using

-90' ----- -.../ 1 0boo" ---------
The general expression for the PI controller is given by (7),

K
Gc(s)=Kp +---'- (7) Fig.5 Bode plot of a K factor type II control
s
E Current controller design procedure using K factor
The loop transfer function of the current control loop with the
control
controller is given as in (8)
Gunv(s) GC(S)Gpinv(S)
=
(8)
In this section a brief overview of feedback controller
design procedure using K factor control method is given.
The gain Kp of the PI controller is selected so as to From the bode plot of inverter transfer function (plant),
move 0 dB crossover of the magnitude plot of the loop Gpinv(s) shown in Fig. 6, a desired crossover frequency, (Ocr is
transfer function, to the required bandwidth, (Ocr (also called chosen. It is selected beyond the resonance frequency of the
as crossover frequency). The (Ocr is selected so as to achieve input filter in order to get a fast behavior. It should not be
the required settling time, Iss. For 2% tolerance in steady state chosen too high either because noise may be amplified. A
error, tss is 4/ (OCf" A bandwidth of 1000 rad/s is selected to get crossover frequency of (Ocr 1000 rad/s and phase margin of �

tss = 4ms in the present design. K; is chosen such that the

70° is selected. Therefore with the proper design of K factor
integrator is placed sufficiently below the (Ocr so that the controller, it can provide the desired phase boost to get the
phase margin (PM) and (Ocr are not affected. The calculated targeted phase margin (70°) at (OCf" The calculated K factor
Kp and K, values are 9. 25 and 92. 5, respectively. control parameters for the current controller are K= 7. 1,
kc =1l82. 5, (oz 140. 5 rad/s and (Op =7115 rad/s. The
�

D. Kfactor controller for current control of inverter comparison of bode plots of the inverter (plant) Gpinv(s) and
K factor control is also called as modified PI control [13]. the loop transfer function GLinv(s), which includes the K
The main characteristic of a PI controller is that it eliminates factor controller transfer function Gc(s), along with Gpinv(s),
the steady state error. However, it reduces the phase margin are shown in Fig. 6. It has phase margin (PM) of 70° at (Ocr =
of the system, which can cause the instability of a system 1000 rad/s. Similarly the K factor control parameters can be
with a second order plant model shown in (6). In order to designed to get any other desired phase margin, which is not
eliminate this problem, additional poles with low time possible with simple PI controL
Bode Diat;p"s m
constant (Tp) and also zeros with time constant (Tz) are used 100 ,���.,--��';":"::':""'::���rrrr- ==
-;::: ::c �

along with PI controller. The time constants of the controller

m 50
'"
are related by a gain called 'K' factor. In this paper K factor System GUnv
type II controller whose transfer function given in (9) is used.
t
Frequency (rad/sec): 1e+003
Magnitude (dB ): 0. 0943
� •
l+s/Wz
Gc(s)=kc
0
(9)
s l+sj w
p .so
Fig. 5 shows the bode plot of a K factor type II 0
-- Gpinv
controller. It has a pole and zero related by the K factor Tz = 45 -- Glinv

K2Tp. The phase boost, (()boost> provided by K factor type II !

� .gO
control, is 0 to 90°. The control parameters are derived based
�
0

on the procedure given in [13]. The final equations are as -135 System GLin...
Frequen cy (rad/sec): 1 e+00 3

follows. -180
R1ase (de!) ): -111

O '��-
"-���lu.
10' . 10'
(10) F requency (radfsec)

Fig. 6 Bode plot of the inverter plant (Gp;nv) and loop (GLinv) transfer
function with K factor control

362
 F. Inverter DC Link Voltage Control Transfer Fucntion 1.665A. For rna = O.S, the peak inverter output voltage at
(Outer Control) and controller design switching frequency is given below in (1S) [14].
c
The DC link capacitor acts as energy storage element. The Va 0.818 Vd
=

photovoltaic (PV) array output power varies with the 2 (IS)

atmospheric conditions, such as insolation and temperature. Impedance at switching frequency is given as,
By maintaining the DC link voltage at a constant reference,
the inverter supplies power to the AC grid by injecting a
Zf8
=
2IIj,L
=
J; a
1 Ll'ipple (19)
current proportional to the PV array output power. The
reference DC link voltage, Vdcrej is calculated from the L= v�
following relations [14]. 2njlL'iPP" (20)
2 ' From the above equation, L value can be calculated as 6.4
, Vdcre/ (14)
Van = rna -- ::::;. Vdcref :::0: - Van mH at STC. As the illumination and temperature are not
2 rna constant, the photovoltaic array output power also varies, and,
V is the peak line to neutral voltage of the grid, equal to 326
all
hence, the grid injected currents. PV system should supply
V. rna is the amplitude modulation index of the sine triangular currents at the specified harmonic standard [15] irrespective
PWM, chosen as O.S. Therefore the Vdcrej is calculated as of the atmospheric conditions. Based on this, at S= 300
SI5V. The outer DC link voltage controller is designed W/m2, the inductance is calculated as 12.74 rnH. The
slower than the inner current controller, hence, the transfer capacitor C is designed based on reactive power supplied by
function of the faster inner current controller can be the capacitor at fundamental frequency. In this design
considered as unity. The transfer function of the voltage reactive power chosen as 15% of the rated power [16] and the
controlled loop is derived base on power balance between DC expression for capacitor is given by (21)
and AC sides of the inverter as given below. (21)
The power on the DC side (DC link capacitor), Pdc. is equal c = o. 15 _ _P""'"""d'" '---_
-

3*2n.(*v 2
to the power supplied to the grid, Pac. rated

d
Pac = Pdc = Vdc Ide and I de C Vdc
= (15)
dt III. SIMULATlON AND ANALYSTS OF RESULTS

Where Ide is the current through the capacitor. Pae can be The simulation of current controller output with PI and K
represented in dq components as given n (16). factor control methods, explained in previous section, is
3 (16)
Pac = 2 (v,JJ given in this section. The PV array is assumed to be operating
under STC, i.e. PV array is producing maximum power
From (15) and (16) the expression for Vde (s) is derived as output (32.5 kW), unless specified.
S)_�
S)_VdC(
. (17)
Gp","_"dc(
- Id(s) - Cs A. Current controller with PI and Kfactor control
where 3V;, The reference and actual d and q axes currents during the
K
=

2V;,c start of the simulation using PI control method, whose

K factor controller for DC link voltage control can be parameters are given in previous section, are given in Fig. 7.
designed by following the design procedure as explained in The corresponding results with K factor control are given in
previous section. The settling time of outer voltage control Fig.S.
loop is taken as at least 10 times slower than that of the inner Idref and Id

current controller. Hence, the crossover frequency of 100 I" �

rad/s is taken. A phase margin of 60° is selected for this

design. The calculated K factor control parameters for the
inverter are K= 3.73, kc =22.3, O}z 26.7 rad/s and O}p=373
�

rad/s.
G. Filter Design
0.10 0.20 0.30 0.40 o.So o.So 0.70
A filter at inverter output terminals is connected to remove
high switching frequency components from output current of Iqrof and Iq

200 0
Iqref " 'q

inverter. The design of LC filter is given in this paper. As the

PV array of 32.5 kW is used for integration with 400 V, 50
Hz there phase network, the RMS value of rated fundamental
line current, h, in each line is 47A at standard test conditions
(STC) of PV cell (S = lOOO W/m2 and T = 25°C). Hence, the
peak value of the line current, iL, is 66.6 A. Assume that the
allowed peak ripple current, iL.nppeI' at switching frequency is
Fig. 7. d-q axis currents of current controller using PI control
2.5 % of the rated current, which is approximately equal to

363
 C.
Idraf and Id

a Idref 10 � Harmonics in the inverter output current

The harmonic spectra of the inverter output current at
,- solar irradiance levels of S 1000 W/m2 and 300 W/m2
=

g
"

respectively is shown in Fig. 11. The number of harmonics

! considered here is 127, as the switching frequency is 5 kHz,
which is 100 times the fundamental frequency. The
magnitude of fundamental frequency components of current
0.10 0.20 0.30 0.40 0.50 0.60 0.70
are 46.7 and 13.07 and the total harmonic distortions (THD)
Iqrof and Iq
are about 2.23% and 6.37%, respectively for S 1000 W/m2
100
=
a Iqrof Ok<

and 300 W/m2• It is because the individual harmonics in both

60
the cases, other than the fundamental component, have nearly
40
g 20 the same magnitude of distortion and the fundamental
C'
{g
1'\v components are different which depends on the level of solar
<3 -20
irradiance.
-60
-80
0.10 0.20 0.30 0.40 0.50 0.60 I II I
S.llrT
TIme (s)

H �
Fig. 8. d-q axis currents of current controller using K factor control

From these figures, it can be observed that, in both the

cases the actual currents are meeting their corresponding
III. II II I III I II I III I
l1J 46.7011
I II I
5.0
o a

references (ldref 64 and Iqref 0), however, the transient

I ' jI
= =

response of the current controller with K factor control is

fOlf
much better than that of with PI control.
1 1 1 1 1
B. DC link voltage control
The simulation of the DC link voltage during the start of
the simulation using K factor control is shown in Fig. 9. It
can be observed that the DC link voltage is tracking its
0.0 I
.1,1,.. I I II IUl_��1 JULjl. I I I
".

[1J 13.0735

reference (815 V) in short time.

DC: Link Voltage Control Fig. I I Current harmonics spectra of phase - A current
a Vdcref o Vdc
1.2k
I\,
:::�::::::::::�:: ���\,��::::::::::t:: ::::::::::�:: ::::::::::�:: �::::::::::t:: ::::::�
0.9k-i--J/'t----;-.--+--+---1I--t-----l
:: D. Performance of inverter controller for Grid faults
The solar PV system is asswned to be operating under solar
. --2/�� ���� � �=4��� �t__�
08k irradiance of 1000 W/m2• The faults are applied at point of
0.7k /I \/
0.6k common coupling (PCC) to the grid and the fault resistance is
I
0.5k I-f--t--+--+---+--+----t ---J assumed to be 0.01 Q. The fault is applied at the instant of 1 s
O.4k J for O. ls and then it is cleared. Fig. 12 shows the inverter
0.3k
O. 0 0.10 0.20 0.30 0.40 0.50 0.60 0.70 response to the three-phase to ground fault. During the fault,
Time (s) the grid voltage drops, however, the inverter tries to supply
maximum possible power to the grid; hence the grid current
Fig 9. DC-link voltage control using K Factor control method
is increased which is also justified by the increase of d-axis
current of the inverter. But this current is limited by a current
Fig. 10 shows the power output of the PV array (PoutPY) and
limiter to protect the VSC from over currents. Hence, the
the average power delivered to the grid (Pgtid) at STC. The
increase of grid current magnitude cannot compensate with
difference in the curves represents the losses in the converter.
the grid voltage drop and, therefore, the power output of the
Real Power delivered t
o t
he grid PV system drops remarkably. This, in turn, leads to the
°:...:
- 32.8k-r "'
� tPII
: u:!!: !.- -- -L:::
D , id
I -""'!!!!T_-- I
-__\
increase of the DC link voltage due to the power imbalance
0 -"- ':--0-"-
r_ r_ .___
�O-"-
32.5k+----;

32.3k .
�� -1- '''-'-

-r7�·�
'

� �������"'''''
� *��''111
''
between PV array output. Fig 13 presents the VSC response
32.0k II to a single phase to ground (phase -A) fault. During the fault,
31.8k !/ the voltage of the phase-A reduces which leads to the
:�::: h"I'+--+---+---+---+------l imbalance in the three-phase grid currents. This, in turn,
31.0k f---t----t---t---I--1 results in fluctuations in the active power supplied to the grid.
30.8k-j---+---+---j----j--j
This also leads to fluctuations in DC-link voltage. From Fig
30.5k
0 5 0 5 0 13, it can be observed that the VSC remains stable in
TIme (s)
O. 0 1. 0 1. 0 2. 0 2. 0 3. 0

presence of the fault, and successfully retrieves normal

operation once the fault is cleared.
Fig 10. PV array output power (PontPv) and power delivered to grid (Pgr;d)

364
 1000 W/m2 and 300 W/m2• The effectiveness of the proposed
�
"'"
"'" control strategy under the transients for grid connected PV
j!<
")()
°
�,oo system, such as for grid voltage sag and swell condition and
8
�"'"
�300
�<OO grid faults are evaluated through simulation studies conducted
'00
on a detailed switched model of the PV system in the
�
,5
50
'5
PSCADIEMTDC software environment. It is observed from
�
°
�'5
�50
the transients of 3-phase grid connected PV system for
G
�75

'00
voltage sag and swell that the PV system is injecting current
�
90
eo
into the gird at unity power even under voltage sag and swell
�
" m

il
eo
50
'0
and the inverter control is stable. The inverter current control
! 30
adjusts its current output according to the grid voltage change
i.e. the current is increased for voltage sag, and decreased for
�
voltage swell. The developed control strategy for VSC makes
j

...
8 the PV system stable during and after the fault in the AC
I system.
�
;g
"
"
V. REFERENCES
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designed and the current harmonics are calculated by FFT
"Output filter design for a grid-interconnected three-phase inverter," in
analysis. The THD of the grid injected current are found to be Proc. IEEE IPower Electronics Specialists Conf., pp 779 - 784, June
2.23% and 6.37%, respectively, for solar insolation levels S = 2003

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