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6, JUNE 2014
2795
AbstractIn grid connected photovoltaic (PV) systems, lowpass filters are utilized to reduce injected current harmonics.
LCL filters have recently drawn attention for PV system grid
interfaces due to their small size and they have shown better
attenuation to switching harmonics than simple L filters. However,
the LCL filter causes resonance resulting in oscillation and instability issues. This paper proposes an effective active damping
technique by introducing a two-degree-of-freedom (2DOF) PID
control structure. The 2DOF control structure allows the independent action of PI and D terms giving two degrees of freedom. The
design is based on a typical three-phase grid-tied PV system. The
active damping control loop is formed by using the existing grid
side inductor currents and thus eliminating the need of additional
sensors. The relative stability is illustrated in frequency domain by
using bode plots. A real-time hardware-in-loop study is performed
to validate the performance of the proposed 2DOF technique to
damp out the LCL filter resonance.
Index TermsActive damping, LCL filter, photovoltaic (PV)
system and resonance damping.
I. I NTRODUCTION
ONCERNS related to the increasing costs of conventional energy, greenhouse gas emissions, and security of
centralized power generations have forced the power industry
to move toward a decentralized distributed generation (DG)
system. These DG units are integrated into the low voltage (LV)
power distribution systems and are used to deliver renewable
and clean energy such as PV power, wind power, and fuel
cell power to the utility through the interfacing inverters. Gridconnected DG systems come as pulse width modulated (PWM)
voltage source inverters (VSIs) that can inject controlled active
and reactive powers as required. Output currents of such an
inverter need to be filtered to prevent the current harmonics
around the switching frequency from entering the utility grid
[1]. A third order LCL filter is preferred over an L or LC
filter due to the 60 dB/decade attenuation of the frequencies
above the resonance frequency and the reduction in physical
Manuscript received November 23, 2012; revised February 18, 2013 and
April 21, 2013; accepted June 24, 2013. Date of publication July 24, 2013; date
of current version December 20, 2013. This work was supported by Masdar
Institute of Science and Technology under MI-MIT grant (Award 10PAMA1).
M. Hanif is with the Department of Electrical Engineering, University of
Cape Town, Rondebosch 7701, South Africa (e-mail: moin.hanif@uct.ac.za).
V. Khadkikar and W. Xiao are with the Institute Center for Energy, Masdar
Institute of Science and Technology, Abu Dhabi, United Arab Emirates (e-mail:
vkhadkikar@masdar.ac.ae; wmxiao@masdar.ac.ae).
J. L. Kirtley, Jr. is with the Massachusetts Institute of Technology,
Cambridge, MA 02139 USA (e-mail: kirtley@MIT.EDU).
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TIE.2013.2274416
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Vdc /2
ILg (s)
=
Vm (s)
Linv Lg Cs3 + (Linv + Lg )s
(1)
where Vdc is the dc link voltage, Vm is the normalized modulating signal, ILg is the grid side inductor current. The average
model for the inverter is represented by a gain of Vdc /2 that is
applied to the PWM reference signal.
Following the parameters shown in Table I, the bode plot of
the transfer function in (1) is shown in Fig. 2(b). A sharp peak
is noticeable in the bode diagram at the resonance frequency
of 1.949 kHz. This peak needs to be compensated to have
a flattened low-pass response. It can be clearly noticed from
GLCL (s) in (1) that the denominator has a polynomial without
an s2 term. Therefore, the overall closed loop system is not
stable according to the Rouths stability criterion. It can also
be confirmed from the bode plot analysis. This suggests that an
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Fig. 2. Block diagram and frequency response of undamped LCL filter based
grid connected PV system. (a) Block (b) Bode plot.
(2)
Vdc /2
ILg (s)
=
.
Vm (s)
Linv Lg Cs3 + (Vdc /2) ks2 + (Linv + Lg )s
(3)
Due to the noise in any measured signal, especially when using digital controllers such as a digital signal processor (DSP),
the calculation of derivatives does not lead to a reasonable
result. Therefore, in [14] an approximation of the derivative
term (s2 ) by means of a digital filter is made. The challenges
associated with such an implementation are already discussed
in the introduction section. In addition to the challenges, the
approach in [14] shows difficulty to reduce the resonance peak.
As shown in the bode diagram of Fig. 3(b), the recommended
method in [14] lowers the resonance peak and reduces 68% of
the current oscillations, but still shows considerable gain at the
resonance frequency (7.7 kHz).
The next section proposes a 2DOF PID controller. This is
an alternative way of achieving the missing s2 term in the
denominator of the OLTF of the damped LCL system. In
contrast to the active damping technique in [14], the proposed
2DOF PID active damping technique is simple to implement
and can achieve a well damped system (i.e., a well reduced
resonance peak) without any additional sensors. This 2DOF
PID controller can be realized by analog or digital methods.
Fig. 3. Block diagram and frequency response of actively damped LCL filter
based system using approximated s2 term by means of a digital filter as suggested in reference [14]. (a) Block diagram with finite s2 term. (b) Bode plot.
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good control feature in terms of command following and lowfrequency disturbance rejection. Further, the noticeable change
in phase in the low frequency range (below fres ) indicates
highly damped gains around the resonance frequency and guarantees the closed loop system stability. It can be further noticed
that there is no change in gain or phase at higher frequencies
above fres , which maintains the attenuation performance to
avoid the higher order harmonics from being injected into the
grid by the PV inverter. Another comparison of the reduction
in the resonance peak by the proposed method [see Fig. 5(b)]
to the method proposed in [14] [see Fig. 3(b)] shows that
the proposed method is capable of better resonance reduction.
The next section describes the approach used to determine the
unknown parameters kd , td , kp and ki for the proposed 2DOF
PID controller.
V. P ROPOSED 2DOF PID C ONTROLLER D ESIGN
(or damping gain) and td is the time constant of the first order
low-pass filter. Vg is fed forward within the control structure.
Fig. 5(a) shows the block diagram of the inverter, LCL filter
and the filtered derivative term. The filtered derivative term
represents the feedforward loop of the 2DOF PID controller.
The feedforward loop is added to the modulating signal Vm as
shown in Fig. 5(a). The new transfer function that includes the
derivative action can be written as
IL (s)
Vdc /2
=
g
.
3 +(L
td k d s
L
L
Cs
inv g
inv +Lg )s
Vm (s)+ ILg (s) 1+td s
(4)
The new damped LCL transfer function GLCL_damped constitutes, a fourth order polynomial in the denominator that
contains all the orders of the s term and can be derived as
in (5), shown at the bottom of the page.
The bode plot of the transfer function in (5) is shown in
Fig. 5(b). Comparing Fig. 5(b) to Fig. 2(b), the positive peak
of the gain at the resonance frequency fres , in the undamped
LCL system has been damped by about 98%. Additionally, the
increased gain in the low frequency range (below fres ) shows
GLCLdamped =
Gsystem =
ki
kp +
s
(e
2fco (Linv + Lg )
Vdc
(8)
ki
kp
10/2fco
(9)
Vdc (1 + td s)/2
Linv Lg Ctd s4 + Linv Lg Cs3 + (Linv td + Lg td )s2 + Linv + Lg
1.5Ts s
Vdc kd td
2
Vdc (1+td s)
2
Linv Lg Ctd s4 + Linv Lg Cs3 + (Linv td + Lg td )s2 + Linv + Lg
(5)
Vdc kd td
2
(7)
Fig. 6.
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Block diagram of the actively damped LCL system (2DOF PID + 1.5Ts + plant).
2(Linv + Lg )
.
Vdc
Fig. 7. Bode diagram of the system showing gain and phase margins (PI +
1.5Ts + damped LCL).
(10)
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Fig. 9. Simulation results of the undamped LCL filter based grid connected
PV system.
Fig. 10. Simulation results of the actively damped LCL filter based grid
connected PV system with proposed 2DOF active damping technique.
Fig. 11. Performance of proposed 2DOF PID active damping technique under
distorted and unbalanced three phase load.
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Fig. 13.
state.
Fig. 14. HIL experimental result when the active damping loop for the LCL
system is enabled.
Fig. 15. HIL experimental result the actively damped LCL system during
steady state.
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Fig. 16. HIL experimental result: transition of the inverter power supply level
from 50% to 100%.
Fig. 18. Effect of grid voltage distortion on the quality of controlled current
(without feedforward).
TABLE I
S YSTEM PARAMETERS U SED FOR S IMULATION AND E XPERIMENT
Fig. 17. Effect of grid voltage distortion on the quality of controlled current
(with feedforward).
outside the scope of this paper. Also, the robustness of the above
2DOF PID current controller (active damping) is analyzed with
different grid impedance values. Initially the grid impedance
consisted of 0.1 resistance and 1 mH inductance. The system
is tested with varied grid impedance (2 mH, 5 mH, and 10 mH)
and has no effect on the THD of the controlled current. THD of
ILg remains between 2.4% to 2.6%.
VIII. C ONCLUSION
In this paper, a two-degree-of-freedom (2DOF) PID active
damping method is proposed to attenuate the resonance that
is caused by the LCL filter based PV system. The proposed
method is straightforward to design and uses the existing grid
side inductor currents by eliminating the need for additional
sensors. It is shown that oscillations are damped by about
98% using proposed 2DOF PID technique. A general controller
tuning process is also presented without compromising on
the filtering performance of the LCL filter. The control loop
secures a phase margin of 49 with consideration of the time
delay (1.5Ts ) caused by digital control. The simulation and HIL
experiment results validate the effectiveness of the proposed
active damping technique. The proposed 2DOF PID controller
does not affect the quality of the controlled current during practical grid voltage distortion, grid impedance variation
and unbalanced/distorted load. The HIL experimental study
validates the controller design considering a digital controller
delay to tune the 2DOF PID gains and simulation results.
TABLE II
C ONTROLLER PARAMETERS FOR SIMULATION AND EXPERIMENT
A PPENDIX
The system parameters and controller coefficients are listed
in Tables I and II, respectively.
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