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ICNEPE-2022 IOP Publishing
Journal of Physics: Conference Series 2474 (2023) 012067 doi:10.1088/1742-6596/2474/1/012067
Design of voltage stabilizing control for a hybrid microgrid
with state constraints based on the switching system
Zonghao Wang and Liying Sun*
School of Electrical Engineering, Liaoning University of Technology, Jinzhou, China
* Corresponding author email:
[email protected] Abstract. With the application and development of new energy generation technology and
distributed power supply system, AC-DC hybrid microgrid has the comprehensive advantages
of AC microgrid and DC microgrid, and it is significant to study the voltage stability of hybrid
microgrid. Based on the switching system theory, the voltage stability control of the ac-dc
hybrid micro-grid in grid-connected and the off-grid operation mode are studied in this paper.
Considering that the AC and DC bus voltages of the microgrid are constrained in practical
engineering applications, the Backstepping controller is designed by using the barrier
Lyapunov function and Backstepping method. Considering that the equivalent resistance in the
system can not be accurately measured and combined with adaptive control, it is more practical
for practical engineering applications.
1. Introduction
At present, the research on topology, control, and protection of micro-grid has been carried out in
many countries in the world [1]. AC-DC hybrid microgrid can integrate distributed power supply,
energy storage, and load more efficiently, reducing the power electronics conversion link, AC and DC
microgrids can support each other, therefore has become the microgrid development trend [2]. The
hybrid microgrid has more diversity than the DC microgrid and AC microgrid, so it is very important
to study the control strategy of mode switching.
The essence of a switching system is switching, such as AC/DC hybrid micro-grid and off-grid
operation mode constitutes a switching system. The paper [3] designs switching logic according to the
steady state data of each operation mode of the AC/DC hybrid microgrid to ensure the reliability of the
power supply. In the paper [4], for brushless electric motor systems with full state constraints, the
obstacle Lyapunov function is introduced to ensure the state constraints of the system. At present,
there are few kinds of research on switching control of grid-connected and off-grid for a hybrid
microgrid with state constraints.
Therefore, the adaptive backstepping method is used to design a stable controller for off-grid
switching of AC/DC hybrid microgrid to ensure the stability of AC/DC bus voltage. By establishing a
model of a switched system with unknown parameters, the adaptive backstepping method with the
constrained Lyapunov function is used to design a stable controller for each subsystem, and a common
Lyapunov function is constructed to ensure the stability of the switched system.
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ICNEPE-2022 IOP Publishing
Journal of Physics: Conference Series 2474 (2023) 012067 doi:10.1088/1742-6596/2474/1/012067
2. Materials and Methods
2.1. System model
This paper is mainly about an AC coupling topology structure, which is connected to a large grid
through a common connection point through the AC side and realizes bidirectional power flow
between DC and AC micro-grid through AC/DC interconnect converter. With the support of a large
grid, it is used in the area where AC distributed power source and load are large.
The topology of the AC/DC microgrid joint grid is shown in Figure 1[5]. The combined off-grid
topology of the AC-DC microgrid is shown in Figure 2[6].
Figure 1. Topology diagram of operation Figure 2. Topology diagram of AC-DC joint
structure of AC-DC combined grid off-grid operation structure
In Figure 1, The mathematical model is established as follows[5].
⎧𝐶 𝑖 𝑖
⎪
⎪𝐿 𝑅𝑖 𝑒 2𝑘 𝑘 𝑘
(1)
⎨𝐿 𝑅𝑖 𝑒 𝑘 2𝑘 𝑘
⎪
⎪
⎩𝐿 𝑅𝑖 𝑒 𝑘 𝑘 2𝑘
[6]
In Figure 2, the mathematical model is established as follows ：
⎧𝐿 𝑅𝑖 𝑣 2𝑘 𝑘 𝑘
⎪𝐿 𝑅𝑖 𝑣 𝑘 2𝑘 𝑘
⎪
⎪𝐿 𝑅𝑖 𝑣 𝑘 𝑘 2𝑘
(2)
⎨𝐶 𝑖 𝑖
⎪
⎪𝐶 𝑖 𝑖
⎪
⎩𝐶 𝑖 𝑖
In this paper, the combined connection of ac and dc microgrid and the combined off-grid are
regarded as two subsystems, and the mathematical model of the switching system is established in 𝑑𝑞
coordinate system. Select the state variables as: 𝑥 𝑢 𝑢 , 𝑥 𝑖 𝑖 ,𝑥 𝑣 𝑣 ,
𝑥 𝑣 𝑣 , 𝑥 𝑖 𝑖 .wherein, 𝑢 , 𝑖 , 𝑖 , 𝑣 , 𝑣 are the expected values of the
operating parameter in the microgrid[7]. Considering the condition that the system parameter R is
uncertain due to resistance aging and difficult measurement, 𝜃 is an unknown parameter[8].
2
ICNEPE-2022 IOP Publishing
Journal of Physics: Conference Series 2474 (2023) 012067 doi:10.1088/1742-6596/2474/1/012067
⎧𝑥
⎪
⎪𝑥 𝜃 𝑥 𝑖 𝜔 𝑥 𝑖 𝑘
(3)
⎨𝑥 0
⎪𝑥 0
⎪
⎩𝑥 𝜃 𝑥 𝑖 𝜔 𝑥 𝑖 𝑘
𝑥 0
⎧
⎪𝑥 𝜃 𝑥 𝑖 𝜔 𝑥 𝑖 𝑘
⎪
𝑥 𝜔 𝑥 𝑣 (4)
⎨
⎪𝑥 𝜔 𝑥 𝑣
⎪
⎩𝑥 𝜃 𝑥 𝑖 𝜔 𝑥 𝑖 𝑘
The model of the joint grid-connected subsystem is shown in formula (3). The joint off-grid sub-
system model is shown in Equation (4), where 𝑘 and 𝑘 are the switching signals in the 𝑑𝑞
coordinate system.
The control objective of this paper is to ensure the stability of the AC/DC bus voltage in the
switching process of the two subsystems. When the combined operation is connected to the grid, the
DC bus voltage is stabilized by controlling the interconnection converter. At the same time, the
allowable deviation range of the DC bus voltage is considered, namely the constraint condition of the
state variable 𝑥 ; When the combined off-grid operation is performed, the AC bus voltage is stabilized
by controlling the interconnection converter, and the allowable offset range of the AC bus voltage is
considered, namely the constraint conditions of the state variables 𝑥 , 𝑥 .
2.2. Controller design
AC/DC hybrid micro-grid is subsystem 1, Formula (3) is its state space expression, an adaptive
backstepping method is used, and the barrier Lyapunov function is introduced to ensure the
boundedness of state variables[9].
Step 1: define the error term 𝑒 𝑥 , 𝑒 𝑥 𝛼 , regard 𝑥 as a virtual control quantity, which
is an ideal input to be designed. To design a controller so that the state variable 𝑥 doesn't escape from
the interval ∣ 𝑥 ∣＜𝐾 , take the first-order Lyapunov function as: 𝑉 ln
The design virtual control input 𝛼 is as follows:
𝛼 𝑖 𝐾 𝑒 𝑘 𝑒 (5)
Get: 𝑉 𝑘 𝑒 (6)
Step 2: take the first two order Lyapunov function as: 𝑉 𝑉 ln
Let ∣ 𝑥 ∣＜𝐾 ，∣ 𝑒 ∣ 𝐾 . The derivative of 𝑉 is:
𝑉 𝑉 𝜃 𝑥 𝑖 𝜔 𝑥 𝑖 𝐾 𝛼 (7)
The actual control input 𝑘 is designed as:
𝑘 𝜃 𝑥 𝑖 𝜔 𝑥 𝑖 𝛼 𝑘 𝐾 𝑒 𝑒 (8)
In Equation (8), 𝜃 is the estimated value of 𝜃. The estimation error 𝜃 𝜃 𝜃 is defined, so that
the estimation value 𝜃 can accurately track 𝜃. Substitute equations (8) into (7) to obtain:
3
ICNEPE-2022 IOP Publishing
Journal of Physics: Conference Series 2474 (2023) 012067 doi:10.1088/1742-6596/2474/1/012067
𝑉 𝑘 𝑒 𝑘 𝑒 (9)
Step 3: define 𝑒 𝑥 , and take the first three Lyapunov functions as:𝑉 𝑉 ln
Step 4: define 𝑒 𝑥 𝛼 , and take the first four Lyapunov functions as:𝑉 𝑉 ln
∙
For 𝑉 Derivative：𝑉 𝑉 𝑉 𝑉 𝑘 𝑒 𝑘 𝑒 (10)
Step 5: define 𝑒 𝑥 𝛼 ,𝛼 0, take the global Lyapunov function as:𝑉 𝑉 𝑒 𝜃
Then 𝜌 is the adaptive gain parameter, and 𝜌＞0. Derivative of V:
𝑉 𝑉 𝑒 𝑒 𝜃𝜃 𝑘 𝑒 𝑘 𝑒 𝑒 𝜃 𝑥 𝑖 𝜔 𝑥 𝑖
𝐾 𝛼 𝜃𝜃 (11)
The actual control input 𝑘 is designed as:
𝐾 𝜃 𝑥 𝑖 𝜔 𝑥 𝑖 𝑘 𝑒 (12)
Select the parameter replacement rate as:
𝜃 𝜌 𝑒 𝑥 𝑖 (13)
Get: 𝑉 𝑘 𝑒 𝑘 𝑒 𝑘 𝑒 (14)
The combined grid connection is subsystem 2, and Equation (4) is its state space expression, which
is designed in a similar way. The actual control input𝑘 and 𝑘 is designed as:
𝑘 𝜃 𝑥 𝑖 𝜔 𝑥 𝑖 𝐾 𝑒 𝑘 𝑒 (15)
𝑘 𝜃 𝑥 𝑖 𝜔 𝑥 𝑖 𝛼 𝑘 𝑒 (16)
Select the parameter replacement rate as:
𝜃 𝜌 𝑒 𝑥 𝑖 (17)
Get: 𝑉 𝑘 𝑒 𝑘 𝑒 𝑘 𝑒 𝑘 𝑒 (18)
2.3. Stability analysis
It can be seen that subsystems 1 and 2 have a common form of the Lyapunov function:
𝑉 ln ln ln ln 𝑒 𝜃 (19)
And 𝑉 0. Therefore, the two subsystems are asymptotically stable at the equilibrium point, and
the common Lyapunov function stability theorem shows that the two subsystems are stable under
arbitrary switching signals[10].
2.4. Switching law design
The running status of a hybrid microgrid is obtained by detecting the status of the PCC point. When
the PCC point is closed, the hybrid microgrid runs in the joint mode. When the PCC point is
disconnected, the hybrid microgrid operates in the joint off-grid mode. Definition 𝜎 𝑡 ： 0, ∞ →
1, 2 denotes the switching signal, which is a piecewise constant. When 𝜎 𝑡 =1 denotes that the
system is running in subsystem 1, 𝜎 𝑡 =2 denotes that the system is running in subsystem 2.
3. Results & Discussion
This paper uses MATLAB simulation software to program and simulate the process of AC/DC hybrid
microgrid off-grid switching. In power systems, the allowable range of DC bus voltage is required to
be ± 10%, and the allowable range of voltage for a three-phase power supply of 20 kV and below is ±
7% of the rated value. Simulation parameter: 𝐶 0.0012F , 𝐶 0.005𝐹 , 𝐿 0.003H , 𝑒
311𝑉,𝑒 0𝑉,𝜔 314.16rad/s,𝑢 700V,𝑣 311V,𝑣 0𝑉, 𝑖 20𝐴,𝑖 0𝐴,𝑖
4
ICNEPE-2022 IOP Publishing
Journal of Physics: Conference Series 2474 (2023) 012067 doi:10.1088/1742-6596/2474/1/012067
20𝐴,𝑖 117.25𝐴,𝑅 0.5Ω. Initial conditions of joint grid-connected subsystem controller 𝑘
0.06, 𝑘 900, 𝑘 900, 𝜌 1500, 𝐾 70, 𝐾 75.Off-grid subsystem initial conditions:𝑘
840, 𝑘 0.6, 𝑘 1088, 𝑘 935, 𝜌 10.8，𝐾 22，𝐾 22，𝐾 22.
At 𝑡 0𝑠, the PCC point is disconnected and the system is switched from the grid-connected
subsystem 1 to the off-grid subsystem 2. When 𝑡 0.05𝑠, the PCC is closed and the system is
switched from off-grid subsystem 2 to on-grid subsystem 1. Figure 3 shows the comparison between
the estimated value of 𝜃 and the actual value obtained by the adaptive algorithm during the running of
the system. The estimated values obtained by the adaptive algorithm can be tracked in real-time.
Figure 3. Comparison of estimated and Figure 4. DC bus voltage
actual parameters
Figure 5. AC bus voltage Figure 6. The response curve of each state variable
The real-time conditions of DC bus voltage and AC bus voltage are shown in Figure 4 and Figure 5
respectively. At the initial moment of system switching, the bus voltage fluctuates slightly, and after a
short period, it becomes stable. It is proved that the control method can stably control the AC/DC bus
voltage of a hybrid microgrid. Figure 6. shows the convergence of each state variable during system
switching. The controller is designed with the Lyapunov function and adaptive backstepping method,
which can make the state variables in grid-connected and off-grid operations respond quickly and
stabilize at the equilibrium point in a short time. By constructing the common Lyapunov function of
the two subsystems, the asymptotic stability of the state variables in the switching process can be
proved by the common Lyapunov theorem[11].
5
ICNEPE-2022 IOP Publishing
Journal of Physics: Conference Series 2474 (2023) 012067 doi:10.1088/1742-6596/2474/1/012067
Figure 7. Comparison of state variable response cur
Considering state constraint, the control method of AC/DC bus voltage in a hybrid microgrid is
compared with the traditional control method. It is assumed that the system is perturbed at the
instantaneous moment when t=0s hybrid microgrid is transferred from grid-connected to grid-
connected, the initial condition is 𝑥 , 𝑥 9, 8 . When t = 0.5s, the DC bus voltage deviation is
set to 𝑥 30, and the AC side is suddenly connected to impulse reactive load. Observing the real-
time comparison results of Figure 7, we can see that the control method considering the state
constraint can make the value of the state variable not exceed the given constraint limit all the time.
This is because the obstacle Lyapunov function is introduced into the controller design process to
ensure the boundedness of the state variables[9]. It shows that the controller is easier to realize in
practical engineering and has more practical application value.
4. Conclusions
The voltage stability of AC/DC hybrid microgrids in the process of joint grid-connected and joint off-
grid switching is studied in this paper. Considering the system uncertainty parameters and AC/DC bus
voltage state constraints, a barrier Lyapunov function is introduced to ensure that the state of the
system is constrained within a predefined compact set. The backstepping method combined with
adaptive control theory is used to design controllers for two subsystems respectively, and a common
Lyapunov function is constructed to guarantee the stability of mode switching. The effectiveness of
the design method is verified by simulation. In practice, there are different operation modes in the
hybrid microgrid, so the problem of switching operations between other operation modes of the hybrid
microgrid needs to be further studied.
Acknowledgments
This work was supported in part by the Key Project of Liaoning Provincial China Department of
Education under Grants JZL201915401. We would like to express our heartfelt thanks.
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