A major issue with respect to VSC based systems is the propagation of harmonics to DC side loads due to AC voltage source unbalance. Standard dq-frame control techniques currently utilized offer little mitigation of these unwanted harmonics. Recently, resonant controllers have emerged as an alternative to dq-frame controllers for regulation of grid connected converters for distributed resources. Although these control systems behave somewhat similar to dq-frame controllers under balanced operating conditions, their behaviour under unbalanced operation is superior. Currently, there are no linearized state space models of resonant controlled VSC systems. This work will develop a linearized small signal state space model of a VSC system, where resonant current controllers are used for regulation of the grid currents. It will also investigate the stability of resonant controlled VSC based systems using eigenvalue analysis for HVDC applications.

A major issue with respect to VSC based systems is the propagation of harmonics to DC side loads due to AC voltage source unbalance. Standard dq-frame control techniques currently utilized offer little mitigation of these unwanted harmonics. Recently, resonant controllers have emerged as an alternative to dq-frame controllers for regulation of grid connected converters for distributed resources. Although these control systems behave somewhat similar to dq-frame controllers under balanced operating conditions, their behaviour under unbalanced operation is superior. Currently, there are no linearized state space models of resonant controlled VSC systems. This work will develop a linearized small signal state space model of a VSC system, where resonant current controllers are used for regulation of the grid currents. It will also investigate the stability of resonant controlled VSC based systems using eigenvalue analysis for HVDC applications.

This Master of Applied Science thesis presents an inverter control system design and implementation with active damping of LCL filter resonance for a single phase grid-connected Distributed Power Generation (DPGS). The focus of the thesis is to actively damp the LCL filter resonance while keeping inverter control variables well regulated. The mathematical model of the LCL filter is analyzed and the filter is designed. Then, a PLL, and a PI compensator in the synchronous reference frame, and a PR compensator in stationary reference frame along a notch filter in cascade are designed and implemented. System level simulation and implementation are conducted. The idea of systematic applying the low loss power conversion topology, effective grid condition detection, grid synchronization, and advanced signal processing theory provides some advantages for single phase grid-connected inverter control design to meet the standard specifications of the interaction between the DPGS and utility grid. / Thesis (Master, Electrical & Computer Engineering) -- Queen's University, 2014-06-26 17:06:03.693

This dissertation aims to present a detailed analysis of the grid voltage disturbance in frequency domain for the current control design in the grid-tie inverter applications and to propose current control techniques in order to minimize its impact and maximize feasibility of the power conditioning system in distributed generations. Because the grid voltage is constantly changing, the inverter must be able to response to it. If the inverter is unable to respond properly, then the grid voltage power comes back to the system and damages the fuel cell power conditioning systems. A closed-loop dynamic model for the current control loop of the grid-tie inverter has been developed. The model explains the structure of the inverter admittance terms. The disturbance of the grid voltages has been analyzed in frequency domain. The admittance compensator has been proposed to prevent the grid voltage effect. The proposed lead-lag current control with admittance compensator transfers current properly without system failure. In order to get rid of the steady-state error of the feedback current, a proportional-resonant controller (PR) has been adopted. A PR control with admittance compensation provides great performance from zero power to full power operation. In addition, active and reactive power flow controller has been proposed based on the PR controller with admittance compensation. The proposed active and reactive power flow control scheme shows a wide range power flow control from pure leading power to pure lagging power. Finally, the proposed controller scheme has been verified its feasibility in three phase grid-tie inverter applications. First of all, a half-bridge grid-tie inverter has been designed with PR controller and admittance compensation. Then three individual grid-tie inverters has been combined and produced three phase current to the three phase grid in either balanced condition or unbalanced condition. The proposed control scheme can be applied not only single phase grid-tie inverter application, but also three phase grid-tie inverter application. This research can be applicable to the photovoltaic PCS as well. This technology makes renewable energy source more plausible for distributed generations. / Ph. D.

O objetivo principal deste trabalho é o desenvolvimento de controladores robustos baseados no princípio do modelo interno, em referenciais síncrono e estacionário, para aplicação ao estágio de saída de uma fonte ininterrupta de energia (UPS) a fim de minimizar a distorção na tensão de saída causada pela conexão de cargas não lineares balanceadas e desbalanceadas. A formulação em referencial estacionário (abc) é realizada através da aplicação de controladores com múltiplos modos ressonantes, a fim de se estabelecer erro nulo ao seguimento de referência senoidal e rejeição de distúrbios na tensão de saída devido às correntes com elevado conteúdo harmônico drenadas pelas cargas. Além disso, o controle é formulado em referencial síncrono (dq0) utilizando controladores Proporcional-Integral (PI) convencionais muito difundidos na maioria das aplicações comerciais de UPS. O projeto de ambos controladores é realizado utilizando uma metodologia de controle robusto com realimentação de estados, onde os parâmetros dos controladores são determinados através da resolução de um problema de otimização convexa sujeito a um conjunto de restrições na forma de desigualdades matriciais lineares (LMI). Uma análise comparativa de desempenho é realizada entre controladores com um modo ressonante (sintonizado na fundamental) e o PI em dq0, pois apresentam estruturas funcionalmente equivalentes sob a ótica do princípio do modelo interno aplicada a seus respectivos referenciais. Além do mais, demonstra-se a melhoria no desempenho com o uso dos controladores múltiplo ressonantes em referencial estacionário onde escolhe-se as frequências de ressonância de cada modo de maneira a suprimir os efeitos de harmônicas específicas na tensão de saída da UPS. A análise comparativa entre os controladores propostos é realizada através de simulações numéricas, utilizando os procedimentos de ensaio dinâmico e estático e as exigências estabelecidas pela norma internacional IEC 62040-3. / The main objective of this work is the development of robust controllers based on the internalmodel principle, in synchronous and stationary frames, applied to the output stage of an uninterruptible power supply (UPS), in order to minimize the output voltage distortion caused by the connection of balanced and unbalanced nonlinear loads. The formulation in stationary abc-frame is accomplished through the aplication of a multiple resonant controller, so that, it is possible to achieve zero-error tracking of the sinusoidal reference and disturbances rejection on the output voltage due to the high amount of harmonic currents drained by the loads. Moreover, a controller in synchronous reference frame (dq0 axis) is formulated through the application of conventional Proportional-Integral (PI) controllers which are widely used in comercial UPS applications. The design of both controllers is formulated using a state-feedback robust controlmethod, in which the controller parameters are determined by solving a convex optimization problem subject to a set of LMI constraints. A comparative analysis on the performance of the single-mode resonant controller (tuned at the fundamental frequency) and the PI controller is performed, because these controllers are functionally equivalent in the sense of the internal model principle applied to their respective frames. Furthermore, the improvement in performance is demostrated with the use of multiple resonant controllers in stationary abc-frame where the resonance frequencies are chosen to suppress the effects of a specific harmonic in the UPS output voltage. The comparative analysis of the proposed controllers is performed through numerical simulations, making use of the dynamical and steady-state test methods and performance requirements defined by the IEC 62040-3 international stardard.

O objetivo principal deste trabalho é o desenvolvimento de controladores robustos baseados no princípio do modelo interno, em referenciais síncrono e estacionário, para aplicação ao estágio de saída de uma fonte ininterrupta de energia (UPS) a fim de minimizar a distorção na tensão de saída causada pela conexão de cargas não lineares balanceadas e desbalanceadas. A formulação em referencial estacionário (abc) é realizada através da aplicação de controladores com múltiplos modos ressonantes, a fim de se estabelecer erro nulo ao seguimento de referência senoidal e rejeição de distúrbios na tensão de saída devido às correntes com elevado conteúdo harmônico drenadas pelas cargas. Além disso, o controle é formulado em referencial síncrono (dq0) utilizando controladores Proporcional-Integral (PI) convencionais muito difundidos na maioria das aplicações comerciais de UPS. O projeto de ambos controladores é realizado utilizando uma metodologia de controle robusto com realimentação de estados, onde os parâmetros dos controladores são determinados através da resolução de um problema de otimização convexa sujeito a um conjunto de restrições na forma de desigualdades matriciais lineares (LMI). Uma análise comparativa de desempenho é realizada entre controladores com um modo ressonante (sintonizado na fundamental) e o PI em dq0, pois apresentam estruturas funcionalmente equivalentes sob a ótica do princípio do modelo interno aplicada a seus respectivos referenciais. Além do mais, demonstra-se a melhoria no desempenho com o uso dos controladores múltiplo ressonantes em referencial estacionário onde escolhe-se as frequências de ressonância de cada modo de maneira a suprimir os efeitos de harmônicas específicas na tensão de saída da UPS. A análise comparativa entre os controladores propostos é realizada através de simulações numéricas, utilizando os procedimentos de ensaio dinâmico e estático e as exigências estabelecidas pela norma internacional IEC 62040-3. / The main objective of this work is the development of robust controllers based on the internalmodel principle, in synchronous and stationary frames, applied to the output stage of an uninterruptible power supply (UPS), in order to minimize the output voltage distortion caused by the connection of balanced and unbalanced nonlinear loads. The formulation in stationary abc-frame is accomplished through the aplication of a multiple resonant controller, so that, it is possible to achieve zero-error tracking of the sinusoidal reference and disturbances rejection on the output voltage due to the high amount of harmonic currents drained by the loads. Moreover, a controller in synchronous reference frame (dq0 axis) is formulated through the application of conventional Proportional-Integral (PI) controllers which are widely used in comercial UPS applications. The design of both controllers is formulated using a state-feedback robust controlmethod, in which the controller parameters are determined by solving a convex optimization problem subject to a set of LMI constraints. A comparative analysis on the performance of the single-mode resonant controller (tuned at the fundamental frequency) and the PI controller is performed, because these controllers are functionally equivalent in the sense of the internal model principle applied to their respective frames. Furthermore, the improvement in performance is demostrated with the use of multiple resonant controllers in stationary abc-frame where the resonance frequencies are chosen to suppress the effects of a specific harmonic in the UPS output voltage. The comparative analysis of the proposed controllers is performed through numerical simulations, making use of the dynamical and steady-state test methods and performance requirements defined by the IEC 62040-3 international stardard.

O objetivo principal deste trabalho é o desenvolvimento de controladores robustos baseados no princípio do modelo interno, em referenciais síncrono e estacionário, para aplicação ao estágio de saída de uma fonte ininterrupta de energia (UPS) a fim de minimizar a distorção na tensão de saída causada pela conexão de cargas não lineares balanceadas e desbalanceadas. A formulação em referencial estacionário (abc) é realizada através da aplicação de controladores com múltiplos modos ressonantes, a fim de se estabelecer erro nulo ao seguimento de referência senoidal e rejeição de distúrbios na tensão de saída devido às correntes com elevado conteúdo harmônico drenadas pelas cargas. Além disso, o controle é formulado em referencial síncrono (dq0) utilizando controladores Proporcional-Integral (PI) convencionais muito difundidos na maioria das aplicações comerciais de UPS. O projeto de ambos controladores é realizado utilizando uma metodologia de controle robusto com realimentação de estados, onde os parâmetros dos controladores são determinados através da resolução de um problema de otimização convexa sujeito a um conjunto de restrições na forma de desigualdades matriciais lineares (LMI). Uma análise comparativa de desempenho é realizada entre controladores com um modo ressonante (sintonizado na fundamental) e o PI em dq0, pois apresentam estruturas funcionalmente equivalentes sob a ótica do princípio do modelo interno aplicada a seus respectivos referenciais. Além do mais, demonstra-se a melhoria no desempenho com o uso dos controladores múltiplo ressonantes em referencial estacionário onde escolhe-se as frequências de ressonância de cada modo de maneira a suprimir os efeitos de harmônicas específicas na tensão de saída da UPS. A análise comparativa entre os controladores propostos é realizada através de simulações numéricas, utilizando os procedimentos de ensaio dinâmico e estático e as exigências estabelecidas pela norma internacional IEC 62040-3. / The main objective of this work is the development of robust controllers based on the internalmodel principle, in synchronous and stationary frames, applied to the output stage of an uninterruptible power supply (UPS), in order to minimize the output voltage distortion caused by the connection of balanced and unbalanced nonlinear loads. The formulation in stationary abc-frame is accomplished through the aplication of a multiple resonant controller, so that, it is possible to achieve zero-error tracking of the sinusoidal reference and disturbances rejection on the output voltage due to the high amount of harmonic currents drained by the loads. Moreover, a controller in synchronous reference frame (dq0 axis) is formulated through the application of conventional Proportional-Integral (PI) controllers which are widely used in comercial UPS applications. The design of both controllers is formulated using a state-feedback robust controlmethod, in which the controller parameters are determined by solving a convex optimization problem subject to a set of LMI constraints. A comparative analysis on the performance of the single-mode resonant controller (tuned at the fundamental frequency) and the PI controller is performed, because these controllers are functionally equivalent in the sense of the internal model principle applied to their respective frames. Furthermore, the improvement in performance is demostrated with the use of multiple resonant controllers in stationary abc-frame where the resonance frequencies are chosen to suppress the effects of a specific harmonic in the UPS output voltage. The comparative analysis of the proposed controllers is performed through numerical simulations, making use of the dynamical and steady-state test methods and performance requirements defined by the IEC 62040-3 international stardard.

Scannende MEMS-Mikrospiegel stellen eine vielversprechende technologische Entwicklung mit potentiellen Anwendungen im Bereich der miniaturisierten Bildprojektion und Umgebungssensierung dar. Im Regelfall oszilliert das Spiegelelement hierbei resonant um die horizontale Achse, während die vertikale Achse statisch ausgelenkt wird. Somit ergibt sich ein sogenannter Raster-Scan. Während eine resonante Aktuierung in MEMS-Technologie im Frequenzbereich mehrerer kHz effizient umgesetzt werden kann, stellt die Implementierung statischer Antriebe eine Herausforderung dar. In dieser Arbeit wird ein neuartiges Aktuierungskonzept vorgestellt, das effizientere quasi-statische Auslenkung ermöglicht. Hierfür wird der Drehimpuls, der durch die hochfrequente horizontale Schwingung erzeugt wird, durch eine weitere resonante Oszillation ähnlicher Frequenz gestört, wodurch sich ein für die quasi-statische Auslenkung nutzbares Drehmoment ergibt. Da gyroskopische Effekte ausgenutzt werden, die nicht in aktuellen auf Modalanalyse basierenden Simulationsmethoden berücksichtigt sind, werden Starrkörper- und transiente FEM-Modelle entwickelt, um die Realisierbarkeit des Antriebskonzepts simulatorisch zu verifizieren. Im Rahmen der durch den genutzten Prozess gegebenen Randbedingungen werden daraufhin Aktuierungselemente für die resonanten Achsen erarbeitet und mit diesen zwei Designvarianten eines 2D-Mikrospiegels erstellt. Nach modellbasierter Verifikation werden diese in einer MEMS-Fertigungslinie prozessiert. Mit den generierten Mustern wird dann eine vollständige experimentelle Charakterisierung unter Nutzung eines speziell erstellten FPGA-basierten Evaluations-Boards durchgeführt. Beide Design-Varianten zeigen hierbei voll funktionsfähige Sensierungs- und Aktuierungselemente. Es kann ein erfolgreicher Nachweis der Funktionsfähigkeit des neuartigen Antriebskonzepts vollbracht werden. Die dabei gezeigte 2D-Projektion erreicht Winkel von 12° x 1.8° / Scanning MEMS micromirrors are an emergent technology for compact form factor image projection and environment sensing applications. Commonly the mirror element oscillates resonantly along the horizontal axis, whereas it is deflected statically along the vertical axis, performing a so called raster scan. While resonant actuation can be implemented efficiently in MEMS, static deflection however remains challenging. In this thesis a novel actuation concept for 2D MEMS micromirrors is introduced that potentially enables efficient quasi-static actuation. Therefore the angular momentum that is generated by the high frequency resonant axis is disturbed by an orthogonal resonant oscillation of similar frequency, leading to a torque that can be utilized to achieve an indirect quasi-static deflection. As in this case gyroscopic effects are exploited that are usually not considered in state of the art modal finite element based MEMS simulation, in order to validate the feasibility of the actuation concept rigid body and transient finite element based models are developed and simulation studies conducted. Using an existing manufacturing process as a framework, actuation schemes for the resonant axes are introduced and two distinct micromirror designs are developed and verified by simulation. These are processed in a MEMS manufacturing line. A thorough characterization study is then carried out using a custom FPGA based evaluation board with closed loop control capabilities. Both design variants are functional with regard to all actuation and tilt angle detection elements. A successful implementation of the proposed actuation concept is shown achieving 2D projection of a laser beam with tilt angles of 12 ◦ × 1.8 ◦ in frequency and amplitude controlled operation.