energies

Article
Model Predictive Control for Virtual Synchronous
Generator with Improved Vector Selection and
Reconstructed Current
Nan Jin 1 , Chao Pan 1 , Yanyan Li 1 , Shiyang Hu 2 and Jie Fang 1, *
1 School of Electrical and Information Engineering, Zhengzhou University of Light Industry,
Zhengzhou 450000, China; [email protected] (N.J.); [email protected] (C.P.);
[email protected] (Y.L.)
2 College of Electrical and Information Engineering, Hunan University, Changsha 410082, China;
[email protected]
* Correspondence: [email protected]




Received: 16 September 2020; Accepted: 15 October 2020; Published: 18 October 2020


Abstract: Due to the large-scale renewable energy connected to the power grid by power electronic
converters, the inertia and stability of the power grid is declining. In order to improve the inertia
and support the grid recovery, the three-phase converter works as a virtual synchronous generator
(VSG) to respond to the frequency and voltage changes of the power grid. This paper proposes
a model predictive control for the virtual synchronous generator (MPC-VSG) strategy, which can
automatically control the converter output power with the grid frequency and voltage changes.
Further consideration of fault-tolerant ability and reliability, the method based on improved voltage
vector selection, and reconstructed current is used for MPC-VSG to ensure continuous operation for
three-phase converters that have current-sensor faults, and improve the reconstruction precision.
The proposed method can respond to the frequency and voltage changes of the power grid and
has fault-tolerant ability, which is easy to realize without pulse width modulation (PWM) and a
proportional-integral (PI) controller. The effectiveness of the proposed control strategy is verified
by experiment.

Keywords: virtual synchronous generator; model predictive control; current reconstruction;

voltage vector

1. Introduction
The three-phase converter is applied widely in renewable energy power generation [1,2]. As the
connection between renewable energy and the power grid, the converters controlled by conventional
power decoupling cannot respond to the grid frequency and voltage changes due to lack of connection
with the frequency and voltage of the grid. With the high penetration of large-scale renewable energy
into the power grid, the inertia and stability of the power grid are declining. Hence, it is necessary to
improve the inertial response capability of the three-phase converter.
By simulating the characteristics of the traditional synchronous generator (SG), the converter
under the control of a virtual synchronous generator (VSG) can change the output power alone, with the
frequency or voltage providing inertial support for the power grid [3,4]. Compared with conventional
droop control, the grid-connected converter controlled by VSG has better dynamic characteristics
and inertial response capability [5,6]. The VSG has been used in storage system, wind turbine,
micro-grid, and multi-terminal high-voltage direct current (MTDC) systems to improve the inertia and
stability of power grids [7–11]. A hybrid energy storage system (HESS) consisting of a battery and an
ultra-capacitor is proposed in [7] to achieve the power management of the VSG, which allows reduction

Energies 2020, 13, 5435; doi:10.3390/en13205435 www.mdpi.com/journal/energies

Energies 2020, 13, 5435 2 of 16

of the battery power fluctuations. The VSG-controlled doubly-fed induction generator (DFIG) is
investigated in [8] to provide the desired inertial support to the power grid. A comprehensive VSG
control method is proposed in [10] for the full converter of wind turbines with energy storage, and the
power balance of the wind turbine system is achieved. An extended VSG is introduced in [9] for a
micro-grid. The virtual controller combines the virtual rotor, virtual primary, and virtual secondary
control to regulate the system frequency. A VSG control strategy is proposed in [11], using MTDC to
damp the low-frequency oscillation. The rotational inertia part and governor part are both controlled by
VSG. The parameters for VSG are constrained by stability considerations and transfer function analysis
is validated in [12]. In addition to the application of VSG research, the expansion and fault-tolerant of
VSG need to be further studied.
Model predictive control (MPC) has attracted researchers’ interest recently, due to the advantages
of flexibility, strong robustness, and simple implementation. Without pulse width modulation (PWM),
phase-locked loop (PLL), or a proportional–integral (PI) or proportion resonant (PR) controller, the MPC
outputs the optimal switching state of the converter by comparing the predictive and reference values
with the cost function [13,14]. The MPC has been used in quasi-Z-source inverters, three-phase
inverters, rectifier–inverter systems, multilevel converters, wind turbine systems, and three-phase
soft-switching converters [15–20]. A discrete-time average model-based predictive control (DTA-MPC)
is proposed in [15] for a quasi-Z-source inverter to predict future behaviors of the shoot-through
duty cycle and modulation signals. A disturbance rejection-based MPC with two flexible modes
for three-phase inverters is investigated and a disturbance observer is designed to simplify the
prediction model in [16]. To address the dc-link voltage fluctuation, an improved MPC scheme is
proposed for the PWM rectifier –inverter system in [17] based on the system-level power balance
model. The MPC proposed in [18] divides variables into layers to reduce the number of states, and a
method for compensating the distortion is also described. For a permanent-magnet synchronous
generator (PMSG) wind turbine system, a multiple-vector direct model predictive power control is
proposed in [19] for the grid-side power converter to improve the steady-state control performance.
A robust constant-frequency model-predictive control proposed in [20] can reduce the total harmonic
distortion under the unbalanced grid condition. The effectiveness of MPC has been verified with good
performance, which is better than traditional PWM vector control [21,22]. However, the converter
controlled by conventional MPC cannot respond to the power grid changes and provide inertial support.
The fault-tolerant research for the three-phase converter is necessary to improve the operation
reliability. The reliability of the current sensor is essential for a grid-connected converter because the current
signals sampled by current sensors influence the control performance directly. Current reconstruction
can rebuild the three-phase current with fewer current sensors, which is an effective way to improve
system reliability [23,24]. The current reconstruction has been used in switched reluctance motors
(SRM), three-level converters, and permanent-magnet synchronous motors (PMSM) [25–28]. A phase
current reconstruction method from the dc-link current is proposed in [25] for four-phase 8/6-pole
SRM and confirmed by experimental results. A space vector PWM scheme to reconstruct phase
currents is proposed in [26] for three-level T-type converters by using neutral-point current sensing.
A zero-voltage vector sampling method (ZVVSM) is proposed in [28] for PMSM vector control system
without modifying the PWM signal. The above current reconstruction methods are based on PWM
and need to sample multiple points in one period. The easy way to reconstruct current for MPC needs
to be researched.
This paper proposes a model predictive control for VSG (MPC-VSG) with reconstructed current
considering inertial support for the power grid and fault-tolerant operation. The three-phase current
is reconstructed by dc current and standard ac current under the control of improved voltage vector
selection. The VSG is used to respond to grid changes and offers a reference current. The MPC
generates the predictive current of the next instant in different voltage vectors. The voltage vector that
makes the cost function minimal is the optimal vector. Then the corresponding switching states are
applied for the converter. The main contributions of this paper are as follows:
Energies 2020, 13, 5435 3 of 16
Energies 2020, 13, x FOR PEER REVIEW 3 of 17

(1) The
(1) TheMPC
MPC method
method is is applied
appliedtotoVSG
VSGcontrol
controlto to
achieve
achievethethe
effectiveness control
effectiveness of theofthree-phase
control the three-
converter and improve the response capability for changes of grid frequency
phase converter and improve the response capability for changes of grid frequency and voltage, which is
and voltage,
flexible
which is and simple
flexible andwithout PWM and
simple without PWMa PIand
controller.
a PI controller.
(2) The reconstructed current, based on the relationship
(2) The reconstructed current, based on the relationship of ofthe
thedc
dccurrent,
current,ac
accurrent,
current,and
andthethevoltage
voltage
vectors,isisused
vectors, usedfor
forMPC-VSG,
MPC-VSG,which whichneeds
needsless
lesscurrent
currentsensors
sensorsand
andimproves
improvesthethefault-tolerant
fault-tolerant
capability of the three-phase converter.
capability of the three-phase converter.
(3) In
(3) In order
order totoimprove
improvethe accuracy
the of current
accuracy reconstruction,
of current an improved
reconstruction, voltagevoltage
an improved selectionselection
method
is proposed
method for MPC-VSG,
is proposed which can
for MPC-VSG, reduce
which can the errorthe
reduce of error
current
of reconstruction.
current reconstruction.
The three-phase converter
The three-phase convertercontrolled
controlled
byby
thethe proposed
proposed MPC-VSG
MPC-VSG method
method can automatically
can automatically adjust
adjust the output
the output powerpower according
according to the frequency
to the frequency and voltage
and voltage of the power
of the power grid,
grid, and and fault-tolerant
realize realize fault-
tolerant
operationoperation under
under phase phase current-sensor
current-sensor fault. Thefault. The effectiveness
effectiveness of the method
of the proposed proposed method by
is verified is
verified by experimental
experimental results. results.

2. Models
2. Modelsof
ofVSG,
VSG,MPC,
MPC,and
andCurrent
CurrentReconstruction
Reconstruction
The combination
The combination ofof VSG
VSG andand MPC
MPC isisused
usedininthis
thispaper
paperto toachieve
achieveparticipation
participationin
inthe
thefrequency
frequency
and voltage
and voltageregulation
regulationofofthe
the power
power grid
grid andand keep
keep the the flexible
flexible adjustment
adjustment advantage
advantage of MPC.
of MPC. The
The current
current reconstruction
reconstruction is applied
is applied in case
in case of of current-sensor
current-sensor failure.
failure. TheThedetailed
detailedmodels
modelsofofVSG,
VSG,
predictive current
predictive current model, and current reconstruction are shown in this section.

2.1. Model
2.1. ModelofofVSG
VSG
The VSG
The VSGcontrol
controlfor for
the three-phase converter
the three-phase shows the
converter same the
shows inertia and damping
same inertia and characteristics
damping
as synchronous generators by simulating the mechanical and electromagnetic
characteristics as synchronous generators by simulating the mechanical and electromagnetic characteristics of
traditional synchronous
characteristics of traditionalgenerators
synchronous (SG). The configuration
generators of the VSG of
(SG). The configuration is the
shown
VSG in Figurein1.
is shown
Figure 1. The converter can be controlled as a VSG to emulate the characteristics of an SG. In order
The converter can be controlled as a VSG to emulate the characteristics of an SG. In to
order to
achieve the
achieve the direct
direct current
current control,
control, the
the reference
reference current
current can
can be
be obtained
obtained byby VSG
VSG through
through the
the control
control
shown in Figure
shown in Figure 2. 2.

idc

S1 S3 S5
L R ia ua
ea
eb ib ub
Vdc
ec ic uc
S2 S4 S6

L R i
VSG Grid
P,Q

Thethree-phase
Figure1.1.The
Figure three-phaseconverter
converterand
andconfiguration
configurationof
ofthe
thevirtual
virtualsynchronous
synchronous generator
generator (VSG).
(VSG).

As shown in Figure 2, the control strategy includes three parts: active power-frequency regulation,
reactive power-voltage regulation, and the output reference current. The mechanical torque equation
of SG is:
.. 1 .
θ = Tm − Te − Dp θ (1)
J
where Tm , Te , J, Dp , are the mechanical torque, electromagnetic torque, moment of inertia,
friction coefficient, and rotation angle, respectively.
Energies 2020, 13, 5435 4 of 16
Energies 2020, 13, x FOR PEER REVIEW 4 of 17

+ θr Active power -frequency

Dp
regulation
-
Pref 1 Tm
+ 1 θ 1 θ
θ +
n -
Js s
Te
Formul a Reference current
Q (3)(5)(6) 1 iαβ_ref
e、Te、Q 1/L abc/ αβ
e - - s
Qref - 1 m fi f iabc R
+ Ks uabc
Vr Reactive power -voltage
regulation
+ Vm
Dq Formula (7) uabc
-

Figure 2.
Figure 2. The control structure of the
the VSG.
VSG.

As illustrated
shown in in Figure Prefcontrol
Figure2, 2,the and Qrefstrategy
(Pset and Qset ) are
includes the injection
three power
parts: active from the VSG,
power-frequency
which are determined
regulation, by the Powerregulation,
reactive power-voltage Dispatching andControl Center.
the output However,
reference in this
current. paper,
The we set
mechanical
ref =
Ptorque 500 W and
equation Q
of SG
ref = 0
is:Var as the initial value, then changed the value to test the proposed method.
The electromagnetic equation of SG is shown as:
θ=
diabc
1
(
T − T − Dpθ
J m e
) (1)
L = eabc − uabc − Riabc (2)
dt
where Tm, Te, J, Dp, are the mechanical torque, electromagnetic torque, moment of inertia, friction
where L, R, and
coefficient, iabc , erotation
abc , uabc are the respectively.
angle, inductance, resistance, stator three-phase current, back electromotive
force,As
and phase voltage
illustrated of the
in Figure 2, SG
Pref port.
and Qref (Pset and Qset) are the injection power from the VSG, which
The back electromotive
are determined by the Powerforce generated
Dispatching by theCenter.
Control rotor motion in the
However, instator winding
this paper, is obtained
we set Pref = 500as:
W
and Qref = 0 Var as the initial value, then changed the value to test the proposed method.
The electromagnetic equation of SG is eabc = θMas:
shown f i f sinθ (3)

where Mf is mutual inductance betweendiexcitation winding and stator winding; if is the excitation
L abc = e abc − uabc − Riabc (2)
current of the rotor. dt
According to the mathematical model of the synchronizer, it is defined as follows:
where L, R, iabc, eabc, uabc are the inductance, resistance, stator three-phase current, back electromotive
force, and phase voltage of  the SG port. h iT
i = ia ib ic


The back electromotive  force generated by the rotor  motion
 in the istator winding is obtained as:


 h T
sinθ = sin θ sin θ − 2π θ 2π (4)

sin +
e abc = θM f i f3sin
θ 3



 h   iT (3)
 cosθ = cos θ cos θ − 2π cos θ + 2π


3 3
where Mf is mutual inductance between excitation winding and stator winding; if is the excitation
Theofcalculation
current the rotor. formula of electromagnetic torque is:
According to the mathematical model of the synchronizer, it is defined as follows:
Te = M f i f hi, sinθi (5)

 product.
where “< >” represents the dot
T
 i =  ia ib ic 

The active and reactive power of SG is shown as: T
   2π   2π  
 sinθ = sin θ sin  θ − sin θ + 
3 .  3  
(4)
  P = Te · θ 


(6)
 . T
cosθ =  cos
 Q = −θM  f i f2hi,
π cosθi  2π  

θ θ − θ +

 cos  cos 
   3  
 3  
In order to obtain the voltage amplitude, the following formula can be used [29]:
The calculation formula of electromagnetic torque is:
r
4
Vm = T −= M (u ui +i ,usin
e 3 af bf b ucθ+ uc ua ) (7)
(5)

where “< >” represents the dot product.

The active and reactive power of SG is shown as:
   (6)
Q = −θ Mf i f i , cosθ
In order to obtain the voltage amplitude, the following formula can be used [29]:

4
Energies 2020, 13, 5435
Vm = − (u u + u u + u u )
3 a b b c c a
5 of(7)
16

Thethree-phase
The three-phaseconverter
convertercan
canwork
workasasthe
thetraditional
traditionalSG
SGbybyusing
usingaaVSG
VSGcontrol.
control.When
Whenthe
the
frequencyor
frequency orvoltage
voltageofofpower
powergrid
griddecrease
decreaseororincrease,
increase,the
thecorresponding
correspondingactive
activeor
orreactive
reactivepower
power
increaseor
increase ordecrease
decreasetotoprovide
provideinertial
inertialsupport
supportfor
forthe
thegrid.
grid.

2.2.
2.2.Predictive
PredictiveCurrent
CurrentModel
Model
The
Thetopology
topologyand
andvoltage
voltagevectors
vectorsofofthe
thethree-phase
three-phaseconverter
converterare
areshown
shownininFigure
Figure3.3.The
Thevoltage
voltage
equation
equationbased
basedon
onthe
theKirchhoff
KirchhoffVoltage
VoltageLaw Law(KVL)
(KVL)can
canbebeobtained
obtainedas:
as:

di di
eabceabc
−L − Labcabc− −RiRi
abcabc−−uu
abc
abc
=0
= (8)
(8)
dt dt

where L,
where L, R,
R, eabc iabc
abc,, iabc , ,uabc
uabc
areare
thethe filter
filter inductance,
inductance, line line resistance,
resistance, converter
converter output
output voltage,
voltage, grid-
grid-connected current
connected current and and gridgrid voltage,
voltage, respectively.
respectively.

idc
U 2 (010) β U6 (110)
S1 S3 S5 Ⅱ
L R ia ua
ea Ⅰ
eb ib ub U3 (011) U 4 (100)
Vdc U7 (111)
ec ic uc U0 (000) α
S2 S4 S6
Ⅴ
U1 (001) U5 (101)

Figure 3. The topology and voltage vectors of a three-phase grid-connected converter.

Figure 3. The topology and voltage vectors of a three-phase grid-connected converter.
After Clark coordinate transformation of Equation (8), the voltage equation in stationary frame is
Afteras:
expressed Clark coordinate transformation of Equation (8), the voltage equation in stationary frame
is expressed as: diαβ
L = eαβ − Riαβ − uαβ (9)
dtdi
αβ
Discretize the Equation (9), and the Lfollowing − Riαβ −expression
=e αβ current uαβ can be obtained: (9)
dt
Discretize the Equationiαβ (k and
(9), + 1)the
− iαβ (k )
following current expression can be obtained:
L = eαβ (k) − Riαβ (k) − uαβ (k) (10)
iαβ ( k + 1) − iαβ ( k )
Ts
L
The following expression could predict
T the current:
αβ
=e ( k) − Riαβ ( k) − uαβ ( k) (10)
s

Ts    RTs

The following expression
iαβ (k +could
1) = predict
eαβ (kthe
) −current:
uαβ (k) + 1 + iαβ (k) (11)
L L
 RT 
where Ts, iαβ (k + 1), iαβ (k),iαβeαβk(k),(
+ 1u=
L
s
)
αβ (k) e
T
(
are ksampling
αβ
sampled current at k instant, converter output voltage, and sampled
()
− uαβ k period,
 L
( ))
+  1 + predictive
s

grid
()
 iαβ k current at k + 1 instant,
(11)
 voltage at k instant, respectively.
TheTs,
where switching
iαβ(k + 1), state
iαβ(k),of
eαβthe
(k), converter is definedperiod,
uαβ(k) are sampling = a, b, c). When
as Si (ipredictive the
current at upper of the i
switchsampled
k + 1 instant,
phase is on, Si = 1. If the lower switch of the i phase is on, then S i = 0. The output
current at k instant, converter output voltage, and sampled grid voltage at k instant, respectively. voltage under eight
voltage vectors can be obtained as:
The switching state of the converter is defined as Si (i = a, b, c). When the upper switch of the i
phase is on, Si = 1. If the lower switch
! of the i phase is on, then
! SSi a=V0.dcThe
  output voltage under eight
eα as: 2 1 −1/2 −1/2 

voltage vectors can be obtained √ √

=  Sb Vdc  (12)
eβ 3 0 3/2 − 3/2   
Sc Vdc

where eα , eβ are the output voltages of the converter under αβ two stationary coordinates. Sa , Sb , Sc are
the switching states of three phases.

2.3. Current Reconstruction Model

In the three-phase converter, to avoid over-current damaging the equipment and to protect the dc
side, a dc current sensor is installed at the dc side to collect dc current, and three ac current sensors
are installed at the ac side to sample the three-phase current and participate in the control method.
 where
the eα, eβ arestates
switching the output voltages
of three phases.of the converter under αβ two stationary coordinates. Sa, Sb, Sc are
the switching states of three phases.
2.3. Current Reconstruction Model
2.3. Current Reconstruction Model
In the three-phase converter, to avoid over-current damaging the equipment and to protect the
EnergiesIn
dc side, the
a dc
2020, three-phase
13,current
5435 converter,
sensor to avoid
is installed at theover-current
dc side to collect damaging the equipment
dc current, and three ac and to protect
current the16
sensors
6 of
dc side, a dc current sensor is installed at the dc side to collect dc current,
are installed at the ac side to sample the three-phase current and participate in the control method. and three ac current sensors
are installed
Some researchers at themention
ac side that
to sample
two acthe three-phase
current sensorscurrent
are usedand to participate
save costs and in the control
collect themethod.
current
Some
Some researchers
researchers mention
mention that
thattwo
two acaccurrent
current sensors
sensors are areused
used totosave
save costs and
costs andcollect
collectthe current
the current of
of two phases [30,31].
two phases
of two [30,31].
Asphases
shown[30,31].
in Figure 4, the current of dc, phase A, and phase C is sampled by the current sensor.
As shown ininFigure 4, the current of
of dc,
dc, phase A, phase C C isis sampled
sampled bythe thecurrent
currentsensor.
sensor.
Then theshown
As current Figure
of phase4,Bthe current
can be obtained as −ia − icand phase
based on the Kirchhoffby Current Law (KCL).
Then
Then the
the current
current ofofphase
phase BBcancan be
be obtained
obtained as
as −i
−ia −
a − i based on
cc based on the
the Kirchhoff
KirchhoffCurrent
CurrentLaw Law(KCL).
(KCL).
However, if one phase current sensor (taking phase C as an example) has a fault due to the harsh
However, if
However, if one
environment one phase current
phasesensors,
or aging sensor
currentthen sensor (taking
the (taking phase
current phase C as an example)
of phases B and C cannothas has a fault due
a fault due
be obtained, to the
to the
which harsh
harsh
leads to
environment
environment
the ororaging
control failure aging sensors,
of thesensors, then
thenthe
converter. thecurrent
current ofof phases
phases B and C cannot be obtained, obtained, which
whichleadsleadsto to
the
thecontrol
controlfailure
failureofofthe theconverter.
converter.
idc
idc

S1 S3 S5 Current sensor
S1 S3 S5 L
Current sensor R ia ua
ea L R iiba uuba
Vdc ea eb
eb ec iicb uucb
Vdc
ic uc
S2 S4 S6 ec Fault
S2 S4 S6 Fault

Figure 4. Current-sensor fault of a three-phase grid-connected converter.

Figure4.4.Current-sensor
Figure Current-sensor fault
fault of
of aa three-phase grid-connected
grid-connected converter.
converter.
For eight voltage vectors of the converter, the current flow is shown in Figure 5. Based on the
Foreight
For
current eight voltage
voltage
relationship vectors
vectors
shown of of
in the the converter,
converter,
Table the current
the current
1, the current flowflow is method
is shown
reconstruction shown inisFigure
in Figure 5. Based
applied 5. to
Based
onobtain on the
the
the current
current relationship
relationship
three-phase currentinsoshown
shown Table 1,inthe
that the Table 1, the
current
reliability currentunder
reconstruction
reconstruction
operation method method to
is applied
the current-sensor is obtain
applied
fault tothree-phase
the
is improved. obtain the
It can
three-phase
current so thatcurrent
the so that
reliability the reliability
operation operation
under the under the
current-sensor current-sensor
fault is fault
improved.
be seen that the dc current is related to the ac current for difference voltage vectors. Therefore, the is improved.
It can be It
seen can
that
be dc
the seen thatcurrent
current
three-phase the dc can
current
is related is related
to obtained
be the byto
ac current the
forac
using current
normalfor
difference
the difference
voltage
dc current vectors.voltage
idc and vectors.
Therefore,
phase Therefore,
the
A current three-phase
ia as shown the
three-phase
current
in Table 1. becurrent
can canby
obtained beusing
obtained the by usingdc
normal thecurrent
normalidcdcand
current
phase idc A
and phaseiA
current current
a as shown ia as
in shown
Table 1.
in Table 1.
idc idc idc idc
idc idc idc idc
S1 S3 S5 S1 S3 S5 S1 S3 S5 S1 S3 S5
S1 ea S3 S5 ia S1 ea S3 S5 ia S1 e a S3 S5 ia S1 ea S3 S5 ia
iiba iiba iiba iiba
Vdc ea eb Vdc ea eb Vdc ea eb Vdc ea eb
ec iicb ec iicb ec iicb ec iicb
Vdc eb Vdc eb Vdc eb Vdc eb
S2 S6 e c ic S2 S4 S6 e c ic S2 S6 e c ic S2 S6 e c ic
S4 S4 S4
S2 S4 S6 S2 S4 S6 S2 S4 S6 S2 S4 S6

U0(0 0 0) U1(0 0 1) U2(0 1 0) U3(0 1 1)

U0(0 0 0) U1(0 0 1) U2(0 1 0) U3(0 1 1)
idc idc idc idc
idc idc idc idc
S1 S3 S5 S1 S3 S5 S1 S3 S5 S1 S3 S5
S1 e a S3 S5 ia S1 e a S3 S5 ia S1 e a S3 S5 ia S1 e a S3 S5 ia
iiba iiba iiba iiba
Vdc ea eb Vdc ea eb Vdc ea eb Vdc ea eb
ec iicb ec iicb ec iicb ec iicb
Vdc eb Vdc eb Vdc eb Vdc eb
S2 S6 e c ic S2 S4 S6 e c ic S2 S6 e c ic S2 S6 e c ic
S4 S4 S4
S2 S4 S6 S2 S4 S6 S2 S4 S6 S2 S4 S6

U4(1 0 0) U5(1 0 1) U6(1 1 0) U7(1 1 1)

U4(1 0 0) U5(1 0 1) U6(1 1 0) U7(1 1 1)
Figure 5. Current flow for eight different voltage
Figure 5. voltage vectors.
vectors.
Figure 5. Current flow for eight different voltage vectors.
Table 1. Current relationship and reconstructed current under eight voltage vectors.

The Current of The Reconstructed The Reconstructed

Voltage Vector DC Current idc
Phase A iar Current of Phase B ibr Current of Phase C icr
U0 (0 0 0) 0 ia ib (k + 1) −iar − ibr
U1 (0 0 1) ic ia −iar − icr idc
U2 (0 1 0) ib ia idc −iar − ibr
U3 (0 1 1) −ia ia ib (k + 1) −iar − ibr
U4 (1 0 0) ia ia ib (k + 1) −iar − ibr
U5 (1 0 1) −ib ia −idc −iar − ibr
U6 (1 1 0) −ic ia −iar − icr −idc
U7 (1 1 1) 0 ia ib (k + 1) −iar − ibr
Energies 2020, 13, 5435 7 of 16

When the dc current idc just has a relationship with phase A under voltage vector U3 , U4 , or zero
voltage vectors U0 or U7 ; to reconstruct the three-phase current, the current of phase B can be
obtained as:
Ts    RTs

ib (k + 1) = eb (k) − ub (k) + 1 + i (k ) (13)
L L b
where ib (k), ub (k), eb (k) are the last reconstructed current, grid voltage, and converter output voltage of
phase B.
The current reconstruction method can obtain the three-phase current by using one dc and one
phase current sensor, which can enhance the reliability and fault-tolerance performance.

3. The Proposed MPC-VSG Method

Based on the model of VSG and MPC, the proposed method takes advantage of both by combining
the two models. In order to improve the fault-tolerant performance under one ac current-sensor
fault, the current reconstruction is used to obtain three-phase current with standard dc and ac current
sensors. An improved voltage vector selection method is proposed to make the reconstructed current
for the MPC method more accurate. The delay compensation method is used for computing delay in
processors to improve the MPC effect.

3.1. Improved Voltage Vector Selection

The voltage vector selections, including the traditional MPC and improved MPC method,
are shown in Figure 6. As shown in Figure 6a, the vector selection method of traditional MPC selects
the optimal voltage vector, which minimizes the cost function from seven different voltage vectors.
The optimal voltage vector of the next sampling period may be other vectors or the same as the
present vector. For example, the present vector U3 (0 1 1) can be converted to any vector for the next
interval based on cost function by a traditional MPC. The traditional MPC needs to calculate predictive
current under six non-zero vectors and one zero vector at one sample interval, which leads to a high
computational burden. Besides, if the voltage vector U3 , U4 or zero voltage vector is used continuously
at several intervals, the current reconstruction error is increased because the current of phase B is
derived from the previous reconstructed current.
An improved voltage vector selection method for current reconstruction is proposed, as shown
in Figure 6b. The voltage vectors U3 , U4 , and zero cannot be transformed into each other, which can
avoid error accumulation by the continuous use of U3 , U4 , and zero vectors. For example, the present
vector U3 (0 1 1) is converted to optimal vector from U1 , U2 , U5 , and U6 , which have a corresponding
relationship between the dc current and ac current of phase B or C. The optimized voltage vector
selection ensures that the previous current of phase B or C is sampled and can improve the current
reconstruction accuracy, as shown in Figure 6c.
According to the current reconstruction method in Table 1, when U3 , U4 , and zero vectors are used,
there is no corresponding relationship between the dc current and ac current of phase B or C. Then the
reconstructed current of phase B is obtained through the current ib (k), grid voltage ub (k), and inverter
output voltage eb (k) at the last moment according to Equation (13). Then the current of phase C is icr =
−iar − ibr . There is estimation error between estimated current and the actual current of phase B and
C. If U3 , U4 , and zero vectors are used continuously or mutually, the error will be accumulated and
the effect of current reconstruction may get worse. However, the continuous use or mutual use of U3 ,
U4 , and zero vectors may occur by the conventional MPC algorithms. Therefore, the improved vector
selection avoids the phenomenon and is helpful for current reconstruction.
Energies 2020,
Energies 2020, 13,
13, 5435
x FOR PEER REVIEW 88of
of 17
16

U2 U6 U2 U6

U3 U0/U7 U4 U3 U0/U7 U4

U1 U5 U1 U5

(a) (b)

Probability of error
increasement

U0 U4 U0 U3 Vector transformation
)
+1
(k

U7 U4
i b

U1 U5
Vector MPC
Selection control
U2 U6
U1 U2
U3 U7
U5 U6

error surpression

(c)
Figure 6.6.Voltage
Voltagevector
vector selection:
selection: (a) traditional
(a) traditional modelmodel predictive
predictive controlmethod;
control (MPC) (MPC) (b)
method;
improved(b)
improved
MPC method MPCformethod
currentfor current reconstruction;
reconstruction; (c) of
(c) flow chart flow chart of MPC
improved improved
vectorMPC vector selection.
selection.

Theimproved
An calculation of thevector
voltage optimal vector method
selection needs tofor consume
current time in MPC, which
reconstruction results as
is proposed, in shown
a time
delay
in between
Figure 6b. The thevoltage
optimalvectors
vectorUand3, Uthe actual
4, and zeroapplied
cannot vector. Then theinto
be transformed method eachof calculating
other, which can the
optimal
avoid vector
error for one step
accumulation by ahead is designed
the continuous useto ofcompensate
U3, U4, and zero for the time For
vectors. delay. Hence,the
example, the delay
present
compensation
vector U3 (0 1 1) is is
used to obtain
converted tothe predictive
optimal vectormodel
from forU1,kU+2,2Uinstant
5, and U and applyhave
6, which the voltage vector for
a corresponding
the next interval.
relationship between Assuming that the and
the dc current gridac voltage
current u(k)
of remains
phase B unchanged for two sampling
or C. The optimized voltage cycles,
vector
the predictive
selection ensures current
that for + 2 instant
the kprevious can beofexpressed
current phase B or as:C is sampled and can improve the current
reconstruction accuracy, as shown inFigure 6c.
Ts   RTs

According to theiαβ current
(k + 2)reconstruction
= eαβ (k + 1method
) − uαβ (kin) Table
+ 1 +1, when iαβ (Uk3+, U14), and zero vectors(14) are
L L
used, there is no corresponding relationship between the dc current and ac current of phase B or C.
Then the
where (k + 2) is the predictive
iαβreconstructed current ofcurrent
phase Bfor k + 2 instant,
is obtained through + 1)
iαβ (kthe current ib(k), grid voltage
is the predictive currentufor +1
b(k),kand

inverter output voltage

instant obtained by Formula eb(k) at theelast
(10), αβ (k +
moment
1) is according
the converter to Equation
voltage, u (13).
αβ (k) Then
is the the
gridcurrent
voltage. of phase
C is iThe
cr =−i ar − ibr. There
voltage vectoristhatestimation
can makeerror between
the current estimated
closest to the current
referenceand valuetheisactual current
the optimal of phase
vector and
B
it and C. If Uto
is applied 3, U
the4, and zero vectors
converter. When arethe used continuously
cost function or mutually,
is minimum, the error will voltage
the corresponding be accumulated
vector is
and the and
optimal effect of current
applied at thereconstruction
next instant. In may gettoworse.
order control However, the continuous
the grid-connected current usedirectly,
or mutual use
the cost
of U3, U4,isand
function zero vectors
defined as the summayofoccur by the
absolute conventional
error between the MPC algorithms.
reference current Therefore, the improved
and predictive current:
vector selection avoids the phenomenon and is helpful for current reconstruction.
The calculation of the optimal g = iα_re (k + 2)to+consume
f − iαneeds
vector (k + in
iβ_re f − iβtime 2) MPC, which results in a time (15)
delay between the optimal vector and the actual applied vector. Then the method of calculating the
optimaliα_ref
where , iβ_reffor
vector is reference currentisobtained
one step ahead designedbytoVSG in αβ frame,
compensate α (k +
for ithe time β (k + 2)Hence,
2), idelay. is the predictive
the delay
current for k + 2 instant.
compensation is used to obtain the predictive model for k + 2 instant and apply the voltage vector for
the next interval. Assuming that the grid voltage u(k) remains unchanged for two sampling cycles,
the predictive current for k + 2 instant can be expressed as:
 g = iα _ref − iα ( k + 2) + iβ _ref − iβ ( k + 2) (15)

where iα_ref, iβ_ref is reference current obtained by VSG in αβ frame, iα(k + 2), iβ(k + 2) is the predictive
current for k + 2 instant.
Energies 2020, 13, 5435 9 of 16

3.2. The Proposed MPC-VSG Control Structure

3.2. Thepaper,
In this Proposed MPC-VSG
the Control
MPC and VSGStructure
are combined. The VSG outputs the reference current for MPC.
Then the InMPCthis controls
paper, thethe
MPC inverter
and VSG to track referenceThe
are combined. current. The reconstructed
VSG outputs currentfor
the reference current is MPC.
obtained
Then the MPC controls the inverter to track reference current. The reconstructed
by inverter output dc and single-phase ac current with improved vector selection. Then current is obtained by the
inverter output
reconstructed dc and
current single-phase
returns to VSGac current
and MPCwith improvedclosed-loop
to achieve vector selection. Then
control asthe reconstructed
shown in Figure 7.
current returns to VSG and MPC to achieve closed-loop control as shown
The former VSG realizes the power response for grid frequency and voltage. The latter MPC in Figure 7. The former
control
VSG realizes the power response for grid frequency and voltage. The latter MPC control is used for
is used for flexible current control of a grid-connected converter. The reconstructed current is used
flexible current control of a grid-connected converter. The reconstructed current is used to improve
to improve fault-tolerant capability. The combined method can not only adjust the output current of
fault-tolerant capability. The combined method can not only adjust the output current of the inverter,
the inverter, support the power grid for changes of frequency and voltage, but also improve the fault-
support the power grid for changes of frequency and voltage, but also improve the fault-tolerance
tolerance
abilityability
of the of the inverter
inverter underfault.
under sensor sensor fault.

Reference power
Pref, Qref
Reconstructed
Virtual synchronous current
generator

Reference current
iα_ref, iβ_ref
Optimal voltage
vector
Model predictive control
Reconstructed
current

Figure 7. The
Figure connection
7. The connectionamong
amongVSG,
VSG, MPC, andcurrent
MPC, and currentreconstruction.
reconstruction.

As shown
As shown in Figure
in Figure 8, the
8, the referencecurrent
reference current is
is obtained
obtained by byaaVSG
VSGcontrol
controlthat hashas
that been illustrated
been illustrated
in Figure 2, which can respond to changes in grid frequency and voltage. The predictive current of
in Figure 2, which can respond to changes in grid frequency and voltage. The predictive current of
different voltage vectors at the next instant is obtained by delay compensation and predictive function
different voltage vectors at the next instant is obtained by delay compensation and predictive
(14). In order to make the output current close to the reference value, the cost function (15) is used to
function (14). In
determine theorder to make
optimal voltagethe output
vector current close
by improved tovector
voltage the reference
selection.value,
When the costfunction
the cost functiong (15)
is used to determine
is minimum, the optimal voltage
the corresponding voltagevector bythe
vector is improved voltage
best choice vector
at the next selection.
instant and isWhen
appliedthe
to cost
function g is minimum, the corresponding voltage vector is the best choice at the
the grid-connected converter. The MPC method can control the output current directly without using next instant and is
applied
PWM to and
the agrid-connected
PI or PR controller. converter. The MPC method can control the output current directly
without using PWMimprove
To further and a PI theorreliability
PR controller.
of the converter, the ac current-sensor failure is taken into
consideration. When the current sensor of phase C is faulty, the dc current and normal phase A current
are used to reconstructing the three-phase current based on the current relationship under different
voltage vector. Then the reconstructed current iabcr is participated in the VSG-MPC control method.
For a more detailed explanation of the MPC method, the flowchart of improved voltage selection
is shown in Figure 9. Firstly, the dc current idc , ac current of phase A ia , and previous voltage vector
Uj are collected. Then the three-phase reconstructed current is obtained by the current relationship.
If the previous voltage vector Uj is U0 , U3 , or U4 , then the optimal voltage vector is selected from U1 ,
U2 , U5 , and U6 by substituting (k + 2)th instant predictive current values into the function (15). If the
previous voltage vector Uj is other vectors, then the optimal voltage vector is selected from seven
different vectors (U0 ~U6 ). Finally, the voltage vector which minimizes the cost function is the optimal
vector and the corresponding switch state is applied for the converter.
Energies 2020, 13, 5435 10 of 16
Energies 2020, 13, x FOR PEER REVIEW 10 of 17

idc
S1 S3 S5
L ia R ua
a
b ub
Vdc
c uc

S2 S4 S6 idc

Vector Ui Current
Sa Sb Sc reconstruction
iar ibr icr
Voltage vector
abc/ab
gmin ia i b u a u b
Vdc
ia(k+2) ea
Predictive
Cost function ib(k+2) eb
function (14)
(15) and
improved vector ia_ref iabcr
selection ib_ref VSG (Fig.2)
uabc
Pref Qref

Figure 8.
Figure 8. The control structure of proposed
proposed MPC-VSG
MPC-VSG using reconstructed
reconstructed current
current and
and improved
improved
vector
vector selection.
selection.
Energies 2020, 13, x FOR PEER REVIEW 11 of 17

To further improve the reliability of the converter, the ac current-sensor failure is taken into
Grid voltage u(k), reconstructed current i(k)(Tab.1)
consideration. When the current sensor of phase C is faulty, the dc current and normal phase A
current are used to reconstructing the
Predictive three-phase
current i(k+1)(11), current based
voltage vector Uj on the current relationship under
different voltage vector. Then the reconstructed current iabcr is participated in the VSG-MPC control
method. j=0,3,4？ N
For a more detailed explanation of theYMPC method, the flowchart of improved voltage selection
is shown in Figure 9. Firstly, theFordcvoltage
current vector
idc, Uac
j current of Forphase
voltageAvector
ia, and
Uj previous voltage vector
j=1,2,5,6
Uj are collected. Then the three-phase reconstructed current is obtained by the current relationship.
If the previous voltage vector Uj is U0, U3, or U4, then thePredictive optimal voltage vector is selected from U1,
current i(k+2) (14)
Predictive current i(k+2) (14)
U2, U5, and U6 by substituting (k + 2)th instant predictive current values into the function (15). If the
j=j+1
previous voltage vector Uj is other Cost vectors, then the optimal
function gj(15), Costvoltage
function gvector
j(15), is selected from seven
6 6
m=10
different vectors (U0~U6). Finally, the voltage vector which minimizes j=0, m=10the cost function is the optimal
vector and the corresponding switch state If gj<mis applied for the converter. If gj<m
m=gj, n=j m=gj, n=j

N N
j=6？ j=6？
Y Y
Output voltage vector Un Output voltage vector Un

Theflowchart
Figure9.9.The
Figure flowchartof
ofimproved
improvedvoltage
voltageselection
selectionwith
withdelay
delaycompensation.
compensation.

4. Experimental Verification
4. Experimental Verification
As shown in Figure 10, the experimental setup is established to verify the effectiveness of the
As shown in Figure 10, the experimental setup is established to verify the effectiveness of the
proposed control method for the three-phase grid-connected converter. The dc power source APL-II is
proposed control method for the three-phase grid-connected converter. The dc power source APL-II
used to obtain a stable dc voltage. The programmable ac power source AMETEK MX-30 is used as grid
is used to obtain a stable dc voltage. The programmable ac power source AMETEK MX-30 is used as
voltage with adjustable frequency or amplitude. The experimental parameters are shown in Table 2.
grid voltage with adjustable frequency or amplitude. The experimental parameters are shown in
Table 2.
 As shown in Figure 10, the experimental setup is established to verify the effectiveness of the
proposed control method for the three-phase grid-connected converter. The dc power source APL-II
is used to obtain a stable dc voltage. The programmable ac power source AMETEK MX-30 is used as
grid voltage with adjustable frequency or amplitude. The experimental parameters are shown in
Energies 2020, 13, 5435 11 of 16
Table 2.

Figure
Figure 10. 10. Experimentalsetup
Experimental setup for
for aathree-phase
three-phaseconverter.
converter.
Table 2. Experimental parameters.
Table 2. Experimental parameters.
Parameter Symbol Value
Parameter
dc voltage VdcSymbol
/V Value
400
dc voltage
Filter inductor L/mHVdc/V 400
10
Line Filter
resistance
inductor R/ΩL/mH 0.2
10
Grid phase voltage u/V 110
Line resistance R/Ω 0.2
Grid frequency f /Hz 50
Gridfrequency
Sampling phase voltage fs /kHzu/V 110
10
Grid frequency
Frequency regulation coefficient Dp f/Hz 505
Voltage regulation
Samplingcoefficient
frequency Dq fs/kHz 100
10
Inertia coefficient J 0.0122
Frequency regulation coefficient Dp 5
Proportionality coefficient K 740.1
Voltage regulation coefficient Dq 100
Inertia coefficient J 0.0122
4.1. Current Reconstruction
Proportionality coefficient K 740.1
To verify the performance of proposed voltage vector selection on the current reconstruction,
the dynamic experimental waveforms of reconstructed current and actual output current for traditional
voltage selection and improved voltage selection when active power steps from 500 W to 1000 W are
shown in Figure 11.
As shown in Figure 11, the errors between actual current and reconstructed current are also
presented to compare the effects. The reconstructed current obtained by the improved voltage selection
strategy (IVSS) is closer to the actual current, the THD of the current is smaller and the errors are fewer,
which demonstrates that the current reconstruction effect by IVSS is better than traditional MPC.
Since the proposed method selects the voltage vector that can avoid the simultaneous changes
of three-phase switching states and continued use of voltage vector U3 , U4 , or zero voltage vector at
several intervals, the reconstructed current ibr , icr under the proposed method is better than traditional
MPC and is closer to the actual current ib , ic .

4.2. Active Power with Frequency Regulation

During the experiment, the grid frequency drops or increases in order to test the active power
with frequency regulation performance of the proposed MPC-VSG method, and the experimental
waveforms are shown in Figure 12.
 4.1. Current Reconstruction
To verify the performance of proposed voltage vector selection on the current reconstruction,
the dynamic experimental waveforms of reconstructed current and actual output current for
traditional voltage selection and improved voltage selection when active power steps from 500 W to
Energies
10002020, 13, shown
W are 5435 in Figure 11. 12 of 16

(5A/div) (5A/div)
ibr icr ibr icr

t(5ms/div) t(5ms/div)

(5A/div) (5A/div)
ib ibr ic icr ibr ic icr
ib

THD=10.2% THD=5.5% THD=8.6% THD=4.9%

t(5ms/div) t(5ms/div)

(2A/div) (2A/div)
error_ib error_ib

error_ic t(5ms/div) error_ic t(5ms/div)

(5A/div) (5A/div)
ic icr ib ibr

ib icr ic
ibr
t(2ms/div) t(2ms/div)

(2A/div) (2A/div)
error_ib error_ib

error_ic t(2ms/div) error_ic t(2ms/div)

(a) (b)
Figure
Figure 11.11. Currentreconstruction
Current reconstructionwhen
whenactive
active power power steps
steps from
from500 500W Wtoto1000 1000WW (from
(fromtoptop
to bottom:
to bottom:
reconstructed
reconstructed current
current ofofphases
phasesBBand
andCCibribr,, iicrcr;; reconstructed
reconstructedand andactual
actualcurrent currentofofphases
phases B and
B andC iCbr,ibr ,
icr ,icrib,,ibi,c iin
c in 5 ms/div; errors between reconstructed and actual current of phases B and C error_ib, error_ic
5 ms/div; errors between reconstructed and actual current of phases B and C error_ib , error_ic
in 5inms/div;
5 ms/div; reconstructed
reconstructed andactual
and actualcurrent
currentofofphases phasesBBand
andC C iibr,, iicr, ,ibi, i,c iinin
br cr b c
2 ms/div;
2 ms/div;errors
errorsbetween
between
reconstructed and actual current of phases B and C error_i b, error_ic in 2 ms/div): (a) the traditional
reconstructed and actual current of phases B and C error_ib , error_ic in 2 ms/div): (a) the traditional
voltage
voltage selection;
selection; (b)(b)the
theimproved
improvedvoltage
voltageselection
selection method.
method.

TheAsexperimental
shown in Figure 11,with
results the frequency
errors between actual are
decreasing current
shown and
in reconstructed current
Figure 12a. The are power
reference also
presented to compare the effects. The reconstructed current obtained by the improved
Pset = 500 W, Qset = 0. It can be seen from Figure 12a that the output power of the grid-connected voltage
selection strategy (IVSS) is closer to the actual current, the THD of the current is smaller and the errors
converter can track the reference power stably before the frequency changes. When the grid frequency
are fewer, which demonstrates that the current reconstruction effect by IVSS is better than traditional
drops of 0.05 Hz, the frequency of VSG reaches the grid frequency in less than 0.7 s and the active
MPC.
power increases close to 1000 W to support the grid power. The three-phase grid current varies steadily
Since the proposed method selects the voltage vector that can avoid the simultaneous changes
without overcurrent impact and THD is 4.9% when Pset = 1000 W, which demonstrates the effectiveness
of three-phase switching states and continued use of voltage vector U3, U4, or zero voltage vector at
of the proposed control method. The reconstructed current coincides with actual current basically,
several intervals, the reconstructed current ibr, icr under the proposed method is better than traditional
which
MPCshows
and isthe good
closer effect
to the of the
actual current
current ib, ireconstruction
c.
method.
As shown in Figure 12b, the reference power Pset = 1000 W, Qset = 0. When the grid frequency
increases by Power
4.2. Active 0.05 Hz, which
with means
Frequency oversupply of power, the output active power of converter drops
Regulation
to 500 W to reduce the grid-connected power. The three-phase grid-connected current changes with
During the experiment, the grid frequency drops or increases in order to test the active power
the output power and no big fluctuation occurs with 8.6% THD. The reconstructed current and
with frequency regulation performance of the proposed MPC-VSG method, and the experimental
actual output current waveform shown in Figure 12b are very close, which indicates the good current
waveforms are shown in Figure 12.
reconstruction effect. The results show that the converter under the proposed method can increase or
reduce the active power of converter automatically when frequency drops or increases, and the current
reconstruction is effective under the condition of one ac current-sensor fault.
Energies
Energies 2020,13,
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1716

P(500W/div) P(500W/div) Pset

Pset
Q(500Var/div)
Qset Q(500Var/div) Qset
50Hz 50Hz
f(0.05Hz/div) f(0.05Hz/div)
fset
fset t(200ms/div) t(200ms/div)
u(100V/div) u(100V/div)

i(5A/div)
i(5A/div)

t(200ms/div) t(200ms/div)

ua ub uc (100V/div) ua ub uc (100V/div)

ia ib ic (5A/div) THD=4.9%
ia ib ic (5A/div) THD=8.6%

t(5ms/div) t(5ms/div)

ibr (5A/div)
ib ic icr (5A/div)
ib ibr

ic icr
t(5ms/div)
t(5ms/div)

(a) (b)
Figure12.
Figure 12.Experimental
Experimental waveform
waveform of of active
active power
power withwith frequency
frequencyregulation
regulation(from(fromtop toptotobottom:
bottom:
reference and actual active power Pset , P, reference and actual reactive power Qset , Q, referenceand
reference and actual active power P set , P, reference and actual reactive power Q set, Q, reference and
actualfrequency
actual frequency ofof VSG
VSG fset , f;, grid
fset voltage
f ; grid voltage ua,uu
b,uc, grid current ia,ib,ic; reconstructed and actual current
a ,ub ,uc , grid current ia ,ib ,ic ; reconstructed and actual
of phases
current of phases br, icr, ib, ic): (a) the grid frequency drops of 0.05 Hz; (b) the grid frequency increases
B and CB iand C ibr , icr , ib , ic ): (a) the grid frequency drops of 0.05 Hz; (b) the grid frequency
of 0.05 Hz.
increases of 0.05 Hz.

4.3. Reactive Power with Voltage

The experimental resultsRegulation
with frequency decreasing are shown in Figure 12a. The reference
power Pset = 500 W, Qset = 0. It can be seen from Figure 12a that the output power of the grid-connected
The reactive power-voltage regulation experimental results are shown in Figure 13. When the
converter can track the reference power stably before the frequency changes. When the grid
grid voltage sag occurs, the active power should increase to support the voltage recovery. As shown in
frequency drops of 0.05 Hz, the frequency of VSG reaches the grid frequency in less than 0.7 s and
Figure 13a, the output reactive power changes from the reference value 500 Var to about 1200 Var and
the active power increases close to 1000 W to support the grid power. The three-phase grid current
the output active power approaches the set value 0 W within 1 s. The grid voltage is set to drop by 5%
varies steadily without overcurrent impact and THD is 4.9% when Pset = 1000 W, which demonstrates
and the three-phase current is sinusoidal with 8.8% THD. Since the current of phase A and the dc side is
the effectiveness of the proposed control method. The reconstructed current coincides with actual
sampled, the current
current basically, of phases
which showsB theandgood C is reconstructed. The reconstructed
effect of the current reconstruction current
method.ibr , icr , in Figure 13a
is closeAstoshown
actual in
output current ib ,ic , which confirms the validity of the current
Figure 12b, the reference power Pset = 1000 W, Qset = 0. When the grid frequency reconstruction effect.
When the grid voltage rises by 5% at the rated value, the reference
increases by 0.05 Hz, which means oversupply of power, the output active power of converter drops and actual output power,
three-phase
to 500 W to voltage andgrid-connected
reduce the current, the output power.lineThe voltage of the
three-phase inverter, reconstructed
grid-connected current changes and actual
with
current of phases B and C are shown in Figure 13b, respectively.
the output power and no big fluctuation occurs with 8.6% THD. The reconstructed current andIt can be seen from the actual
results
that the reactive
output power decreases
current waveform shown from in Figure1000 12b
Var are
downveryto close,
300 Var, which
which drops of
indicates the700 good Varcurrent
for grid
voltage stability.effect.
reconstruction Although the active
The results show powerthat thefalls at theunder
converter beginning of voltage
the proposed rise, it
method canreturns
increaseto or
the
reference value quickly. According to the VSG model, the electromagnetic
reduce the active power of converter automatically when frequency drops or increases, torque T e affects the active
and the
power
currentregulation, whileisthe
reconstruction outputunder
effective of reactive power control
the condition mfcurrent-sensor
of one ac if affects Te according
fault. to Formula (5).
Therefore, when the reactive power changes, the active power will be affected. But when the reactive
4.3. Reactive
power is stable,Power with to
Te tends Voltage Regulation
be stable, and the active power is stable. When the reactive power decreases
in Figure
The13, the output
reactive mf if of theregulation
power-voltage reactive controller
experimentaldecreases, which
results are results
shown in the 13.
in Figure decrease
When of theTe .
According to the power Formula (6), the active power will decrease. When the
grid voltage sag occurs, the active power should increase to support the voltage recovery. As shown reactive power is stable,
the
in active
Figurepower is output
13a, the stable. The three-phase
reactive power changesgrid-connected
from theconverter
reference under the control
value 500 of the1200
Var to about proposed
Var
method using reconstructed current has a good dynamic performance with
and the output active power approaches the set value 0 W within 1 s. The grid voltage is set to drop5.1% THD grid current.
 Energies 2020, 13, x FOR PEER REVIEW 14 of 17

by 5% and the three-phase current is sinusoidal with 8.8% THD. Since the current of phase A and the
dc side is sampled, the current of phases B and C is reconstructed. The reconstructed current ibr, icr, in
Figure 13a is close to actual output current ib,ic, which confirms the validity of the current
Energies 2020, 13, 5435
reconstruction effect. 14 of 16

Q(500Var/div) Q(500Var/div) Qset

Qset

P(500W/div) Pset P(500W/div)

Pset
t(200ms/div) t(500ms/div)
u(100V/div) u(100V/div)

i(5A/div)
i(5A/div)

t(500ms/div)
t(200ms/div)
ua ub uc Drop 5% (100V/div) ua ub uc Increase 5% (100V/div)

ia ib ic
ic (5A/div) THD=8.8% (5A/div) THD=5.1%
ia ib

t(5ms/div) t(5ms/div)

(5A/div) ib ibr (5A/div)

ib ibr

ic icr icr
ic
t(5ms/div) t(5ms/div)

(a) (b)
Figure
Figure 13.13. Experimentalwaveform
Experimental waveformofofreactive
reactive power
power with
with voltage
voltage regulation
regulation(from(fromtop toptotobottom:
bottom:
referenceand
reference andactual
actualactive
activepower powerPPsetset,, P,
P, reference
reference and
and actual
actual reactive
reactive power
powerQQsetset , Q;, Q;gridgridvoltage
voltage
ua u
,ua,ub,u,c,grid
,u
b c
grid current
current i
i a,i
,ib,i,ic; ;reconstructed
a b c reconstructed and
and actual current
actual of
current phases
of B
phasesand
B C
andi ,
brC i cri, i,b,iic): (a)
i i
br cr b c (a) the
, , the
): grid
voltage
grid voltage drops by 5%;
drops by 5%;(b) the gridgrid
(b) the voltage
voltageincreases by 5%.
increases by 5%.

When
From thethe grid power
active voltagewith
risesfrequency
by 5% at the rated value,
regulation and the reference
reactive powerandwith
actual output
voltage power,
regulation
three-phase voltage and current, the output line voltage of the inverter,
experimental results, the proposed MPC-VSG method based on current reconstruction is verified reconstructed and actualto
provide inertial support capability for the power grid and has effective control performance with that
current of phases B and C are shown in Figure 13b, respectively. It can be seen from the results fewer
the reactive
current sensors.power decreases from 1000 Var down to 300 Var, which drops of 700 Var for grid voltage
stability. Although the active power falls at the beginning of voltage rise, it returns to the reference
5. value quickly. According to the VSG model, the electromagnetic torque Te affects the active power
Conclusions
regulation, while the output of reactive power control mfif affects Te according to Formula (5).
This paper proposed an MPC strategy that ensures the VSG continuous operation after a phase
Therefore, when the reactive power changes, the active power will be affected. But when the reactive
current-sensor fault. Firstly, the reference current is obtained by a VSG, which can participate in
power is stable, Te tends to be stable, and the active power is stable. When the reactive power
thedecreases
frequency in and voltage
Figure regulation
13, the output m offifthe
of power grid through
the reactive controllerimitating the which
decreases, outputresults
characteristics
in the
of decrease
synchronous generators. Secondly, the MPC method is used to obtain the predictive
of Te. According to the power Formula (6), the active power will decrease. When the reactive current
and optimal
power voltage
is stable, thevector
activeby the cost
power function.
is stable. TheFinally, the three-phase
three-phase current
grid-connected is reconstructed
converter under thein
case of current-sensor fault, and an improved voltage vector selection
control of the proposed method using reconstructed current has a good dynamic performancemethod is applied to reduce
with
reconstruction error.
5.1% THD grid current. The experimental platform is built to test the performance of the proposed control
method. Thethe
From main contribution
active power with of this paper regulation
frequency is listed as and
follows:
reactive power with voltage regulation
experimental results, the proposed MPC-VSG method based on current reconstruction is verified to
(1) The grid-connected converter under the control of the proposed method can adjust the output
provide inertial support capability for the power grid and has effective control performance with
active or reactive power with the sinusoidal current to support the grid.
fewer current sensors.
(2) The reconstructed current was analyzed, and the approach to relieving the increase of the error
caused by continuously selecting the same type of vectors was detailed.
(3) By applying the proposed MPC, the robustness of the power system with a high-penetration level
was enhanced due to the continuous operation ability after current-sensor fault.
Energies 2020, 13, 5435 15 of 16

However, the limitation of the proposed strategy is it can only solve single-phase current-sensor
fault. In order to maintain the VSG’s continuous operation ability after the current-sensor fault,
a non-current-sensor MPC strategy should be studied in the future.

Author Contributions: Conceptualization, N.J.; Investigation, C.P.; Methodology, N.J., C.P., Y.L. and J.F.; Resources,
C.P. and Y.L.; Supervision, S.H. and J.F.; Validation, S.H.; Writing—original draft, N.J., C.P. and J.F.; Writing—review
& editing, C.P. and J.F. All authors have read and agreed to the published version of the manuscript.
Funding: This work was supported in part by the National Natural Science Foundation of China (no. 51707176),
in part by the Key Scientific Research Project of Universities in Henan Province (nos. 18A470020, 20A470011),
in part by the Youth Talent Promotion Project of Henan Province (no. 2019HYTP021), in part by the Key Research,
Development and Promotion Special Projects (Science and Technology) of Henan Province (no.202102210103).
Conflicts of Interest: The authors declare no conflict of interest.

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