The main focus of this PhD thesis is fundamental investigations into control techniques of inverter-based microgrids. It aims to develop new and improved control techniques to enhance performance and reliability. It focuses on the modelling, stability analysis and control design of parallel inverters in a microgrid. In inverter-based microgrids, the paralleled inverters need to work in both grid-connected mode and stand-alone mode and should be able to transfer seamlessly between the two modes. In grid-connected mode, the inverters control the amount of power injected into the grid. In stand-alone mode, however, the inverters control the island voltage while the output power is dictated by the load. This can be achieved using droop control. Inverters can have different power set-points during grid-connected mode but in stand-alone mode they all need their power set-points to be adjusted according to their power ratings. However, during sudden unintentional islanding (due to loss of mains), transient power can flow from inverters with high power set-points to inverters with low power set-points, which can raise the DC link voltage of the inverters causing them to shut down. This thesis investigates the transient circulating power between paralleled inverters during unintentional islanding and proposes a controller to limit it. The controller monitors the DC link voltage and adjusts the power set-point in proportion to the rise in the voltage. A small signal model of an island microgrid has been developed and used to design the controller. The model and the controller design have been validated by simulation and practical experimentation. The results confirmed the performance of the proposed controller for limiting the DC link voltage and supporting a seamless mode transfer. The limitation of the droop controller, that is utilized to achieve load sharing between parallel-operated inverters in island mode, has also been addressed. Unequal output impedances among the distribution generation (DG) units lead to the droop control being inaccurate, particularly in terms of reactive power sharing. Many methods reported in the literature adopt low speed communications to achieve efficient sharing. However, the loss of this communication could lead to inaccuracy or even instability. An improved reactive power-sharing controller is proposed in this thesis. It uses the voltage at the point of common coupling (PCC) to estimate the inductance value of the output impedance including the impedance of the interconnecting power cables and to readjust the voltage droop controller gain accordingly. In an island microgrid consisting of parallel-connected inverters, the interaction between an inverter’s output impedance (dominated by the inverter’s filter and voltage controller) and the impedance of the distribution network (dominated by the other paralleled inverters’ output impedances and the interconnecting power cables) might lead to instability. This thesis studies this phenomenon using root locus analysis. A controller based on the second derivative of the output capacitor voltage is proposed to enhance the stability of the system. Matlab simulation results are presented to confirm the validity of the theoretical analysis and the robustness of the proposed controller. A laboratory-scale microgrid consisting of two inverters and local load has been built for the experimental phase of the research work. A controller for a voltage source inverter is designed and implemented. A dSPACE unit has been used to realize the controller and monitor the system in real time with the aid of a host computer. Experimental results of the two voltage source inverters outputs are presented.

Η παρούσα διπλωματική εργασία έχει ως αντικείμενο την μελέτη και την παρουσίαση των στρατηγικών για τον έλεγχο της ροής ισχύος στα μικροδίκτυα. Επιπροσθέτως γίνεται μια εκτενής παρουσίαση της δομής και των αρχών λειτουργίας των μικροδικτύων καθώς και των δυνατοτήτων που έχουμε για κατανεμημένη παραγωγή και αποθήκευση και των ηλεκτρονικών μετατροπέων ισχύος που χρησιμοποιούμε για τον έλεγχο αυτών / This thesis regards to the subject of studying and presentation of power control strategies regarding power flow in Microgrid systems. Additionally is a detailed presentation of the structure and operation principles of microgrids and the possibilities we have for distributed generation and storage and power electronic converters used to control them.

Driven by technical, economic and environmental benefits for different stakeholders in the power industry, the electric distribution system is currently undergoing a major paradigm shift towards having an increasing portion of its growing demand supplied via distributed generation (DG) units. As the number of DG units increase; microgrids can be defined within the electric distribution system as electric regions with enough generation to meet all or most of its local demand. A microgrid should be able to operate in two modes, grid-connected or islanded. The IEEE standard 1547.4 enumerates a list of potential benefits for the islanded microgrid operation. Such benefits include: 1) improving customers’ reliability, 2) relieving electric power system overload problems, 3) resolving power quality issues, and 4) allowing for maintenance of the different power system components without interrupting customers. These benefits motivate the operation of microgrid systems in the islanded mode. However the microgrid isolation from the main grid creates special technical challenges that have to be comprehensively investigated in order to facilitate a successful implementation of the islanded microgrid concept. Motivated by these facts, the target of this thesis is to introduce new analysis and operational control algorithms to tackle some of the challenges associated with the practical implementation of the islanded microgrid concept. In order to accomplish this target, this study is divided into four perspectives: 1) developing an accurate steady-state analysis algorithm for islanded microgrid systems, 2) maximizing the possible utilization of islanded microgrid limited generation resources, 3) allowing for the decentralized operation of islanded microgrid systems and 4) enabling the islanded microgrid operation in distribution systems with high penetration of plug-in electric vehicles (PEVs). First for the steady-state analysis of islanded microgrid systems, a novel and generalized algorithm is proposed to provide accurate power flow analysis of islanded microgrid systems. Conventional power flow tools found in the literature are generally not suitable for the islanded microgrid operating mode. The reason is that none of these tools reflect the islanded microgrid special philosophy of operation in the absence of the utility bus. The proposed algorithm adopts the real characteristics of the islanded microgrid operation; i.e., 1) Some of the DG units are controlled using droop control methods and their generated active and reactive power are dependent on the power flow variables and cannot be pre-specified; 2) The steady-state system frequency is not constant and is considered as one of the power flow variables. The proposed algorithm is generic, where the features of distribution systems i.e. three-phase feeder models, unbalanced loads and load models have been taken in consideration. The effectiveness of the proposed algorithm, in providing accurate steady-state analysis of islanded microgrid systems, is demonstrated through several case studies. Secondly, this thesis proposes the consideration of a system maximum loadability criterion in the optimal power flow (OPF) problem of islanded microgrid systems. Such consideration allows for an increased utilization of the islanded microgrid limited generation resources when in isolation from the utility grid. Three OPF problem formulations for islanded microgrids are proposed; 1) The OPF problem for maximum loadability assessment, 2) The OPF for maximizing the system loadability, and 3) The bi-objective OPF problem for loadability maximization and generation cost minimization. An algorithm to achieve a best compromise solution between system maximum loadability and minimum generation costs is also proposed. A detailed islanded microgrid model is adopted to reflect the islanded microgrid special features and real operational characteristics in the proposed OPF problem formulations. The importance and consequences of considering the system maximum loadability in the operational planning of islanded microgrid systems are demonstrated through comparative numerical studies. Next, a new probabilistic algorithm for enabling the decentralized operation of islanded microgrids, including renewable resources, in the absence of a microgrid central controller (MGCC) is proposed. The proposed algorithm adopts a constraint hierarchy approach to enhance the operation of islanded microgrids by satisfying the system’s operational constraints and expanding its loading margin. The new algorithm takes into consideration the variety of possible islanded microgrid configurations that can be initiated in a distribution network (multi-microgrids), the uncertainty and variability associated with the output power of renewable DG units as well as the variability of the load, and the special operational philosophy associated with islanded microgrid systems. Simulation studies show that the proposed algorithm can facilitate the successful implementation of the islanded microgrid concept by reducing customer interruptions and enhancing the islanded microgrid loadability margins. Finally, this research proposes a new multi-stage control scheme to enable the islanded microgrid operation in the presence of high PEVs penetration. The proposed control scheme optimally coordinates the DG units operation, the shedding of islanded microgrid power demand (during inadequate generation periods) and the PEVs charging/discharging decisions. To this end, a three-stage control scheme is formulated in order to: 1) minimize the load shedding, 2) satisfy the PEVs customers’ requirements and 3) minimize the microgrid cost of operation. The proposed control scheme takes into consideration; the variability associated with the output power of renewable DG units, the random behaviour of PEV charging and the special features of islanded microgrid systems. The simulation studies show that the proposed control scheme can enhance the operation of islanded microgrid systems in the presence of high PEVs penetration and facilitate a successful implementation of the islanded microgrid concept, under the smart grid paradigm.

abstract: The growth of energy demands in recent years has been increasing faster than the expansion of transmission facility construction. This tendency cooperating with the continuous investing on the renewable energy resources drives the research, development, and construction of HVDC projects to create a more reliable, affordable, and environmentally friendly power grid. Constructing the hybrid AC-HVDC grid is a significant move in the development of the HVDC techniques; the form of dc system is evolving from the point-to-point stand-alone dc links to the embedded HVDC system and the multi-terminal HVDC (MTDC) system. The MTDC is a solution for the renewable energy interconnections, and the MTDC grids can improve the power system reliability, flexibility in economic dispatches, and converter/cable utilizing efficiencies. The dissertation reviews the HVDC technologies, discusses the stability issues regarding the ac and HVDC connections, proposes a novel power oscillation control strategy to improve system stability, and develops a nonlinear voltage droop control strategy for the MTDC grid. To verify the effectiveness the proposed power oscillation control strategy, a long distance paralleled AC-HVDC transmission test system is employed. Based on the PSCAD/EMTDC platform simulation results, the proposed power oscillation control strategy can improve the system dynamic performance and attenuate the power oscillations effectively. To validate the nonlinear voltage droop control strategy, three droop controls schemes are designed according to the proposed nonlinear voltage droop control design procedures. These control schemes are tested in a hybrid AC-MTDC system. The hybrid AC-MTDC system, which is first proposed in this dissertation, consists of two ac grids, two wind farms and a five-terminal HVDC grid connecting them. Simulation studies are performed in the PSCAD/EMTDC platform. According to the simulation results, all the three design schemes have their unique salient features. / Dissertation/Thesis / Doctoral Dissertation Electrical Engineering 2017

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As a result of climate change, extreme events occur more frequently and at higher severity, causing catastrophic power outages with significant economic losses. Microgrids are deployed as a technology to enhance power system resilience. A microgrid may include one or more distributed energy resources (DERs), including synchronous generators, solar panels, wind turbines, and energy storage systems which are decentralized power sources primarily in a distribution system to enable system recovery from catastrophic events. Microgrids can be operated in a utility-connected mode or an islanded mode in separation with the hosting transmission or distribution system. As major disasters occur, intentional islanding of a microgrid is a strategy to serve critical loads, within or outside the microgrids, until the utility service is restored. To operate microgrids, dispatch and control capabilities are required that would significantly improve the dynamic performance of the microgrid. An islanded microgrid can be used to serve critical load as a resiliency source when a severe outage occurs. In an islanded mode, control of a microgrid relies on the communication system significantly. Hence, microgrids are cyber-physical systems and, therefore, the cyber system plays a crucial role in the performance of the cyber-power system. Improper parameters of the cyber system can result in instability of a microgrid system. Simplification of the networked control system model is needed to enhance the computational performance, making the analytical method practical for large-scale power systems. To reduce the emission of carbon dioxide and alleviate the impact of climate change, the electric power industry has been integrating renewable energy into the power grid. The high penetration of renewable energy at an unprecedented level also raises new issues for the power grid, e.g., low inertia, degraded power quality, and higher uncertainties. Power electronics technology is used for power conversion of renewable energy. As the level of penetration of renewable energy increases, the inverter-based resources (IBRs) are being installed at a fast pace on the power grid. Compared to conventional synchronous generators (SGs), a major technical challenge of IBRs is their low inertia which can lead to system instability. In this context, the work of this dissertation results in major contributions regarding control algorithms for microgrid resilience, stability, and cyber-physical systems. Specifically, three novel contributions are presented: 1) A coordinated control scheme is proposed to achieve the goals of power dispatch and system regulation for an islanded microgrid. The proposed control scheme improves system dynamics; 2) A method is developed for the determination of critical values for the data reporting period and communication delay. Based on the proposed method, a 2-dimensional stability region of a microgrid in the space of cyber parameters is derived and critical values of cyber parameters are identified based on the stability region; 3) A control scheme is proposed to improve system stability of a hybrid-DER microgrid. The analysis serves to illustrate the stability regions of the hybrid-DER microgrid. A control methodology based on two-time scale decomposition is developed to stabilize the system. / Doctor of Philosophy / Climate change is causing more frequent and severe weather events, resulting in catastrophic power outages and significant economic losses. To enhance power system resilience, microgrids are proposed as a solution. Microgrids consist of one or more distributed energy resources, such as solar panels, wind turbines, and energy storage systems, which can be operated in a utility-connected or islanded mode. Microgrids can operate in an islanded mode to serve critical loads when an extended outage of the utility grid occurs. Proper dispatch and control capabilities are necessary for the operation and control. However, the performance of a microgrid, especially in an islanded mode, is dependent on the communication system. Excessive cyber latencies can result in system instability of the microgrid. To reduce carbon dioxide emissions, the power industry is integrating an unprecedented level of renewable energy into the power grid. Power electronics technology is being used for power conversion of renewable energy, and inverter-based resources are being installed at a fast pace into the power grid. One major technical challenge of inverter-based resources is their low inertia, which can lead to system instability. To address these issues, this dissertation presents three novel contributions: a coordinated control scheme to improve the microgrid dynamics and perform power dispatch and system regulation functions, a method to determine critical values of cyber parameters based on stability regions, and a control scheme to improve system stability of a hybrid-DER microgrid. These contributions provide valuable concepts and methodologies for resilient and stable microgrids that are critical to meet the operational and control challenges of an electricity infrastructure with a high-level penetration of renewable energy.

DC power distribution has gained popularity in sustainable buildings, renewable energy utilization, transportation electrification and high-efficiency data centers. This dissertation focuses on two aspects of facilitating the application of dc systems: (a) system-level control to improve load sharing, voltage regulation and efficiency; (b) design of a high-efficiency interface converter to connect dc microgrids with the existing low-voltage ac distributions, with a special focus on common-mode (CM) voltage attenuation. Droop control has been used in dc microgrids to share loads among multiple sources. However, line resistance and sensor discrepancy deteriorate the performance. The quantitative relation between the droop voltage range and the load sharing accuracy is derived to help create droop design guidelines. DC system designers can use the guidelines to choose the minimum droop voltage range and guarantee that the sharing error is within a defined range even under the worst cases. A nonlinear droop method is proposed to improve the performance of droop control. The droop resistance is a function of the output current and increases when the output current increases. Experiments demonstrate that the nonlinear droop achieves better load sharing under heavy load and tighter bus voltage regulation. The control needs only local information, so the advantages of droop control are preserved. The output impedances of the droop-controlled power converters are also modeled and measured for the system stability analysis. Communication-based control is developed to further improve the performance of dc microgrids. A generic dc microgrid is modeled and the static power flow is solved. A secondary control system is presented to achieve the benefits of restored bus voltage, enhanced load sharing and high system efficiency. The considered method only needs the information from its adjacent node; hence system expendability is guaranteed. A high-efficiency two-stage single-phase ac-dc converter is designed to connect a 380 V bipolar dc microgrid with a 240 V split-phase single-phase ac system. The converter efficiencies using different two-level and three-level topologies with state-of-the-art semiconductor devices are compared, based on which a two-level interleaved topology using silicon carbide (SiC) MOSFETs is chosen. The volt-second applied on each inductive component is analyzed and the interleaving angles are optimized. A 10 kW converter prototype is built and achieves an efficiency higher than 97% for the first time. An active CM duty cycle injection method is proposed to control the dc and low-frequency CM voltage for grounded systems interconnected with power converters. Experiments with resistive and constant power loads in rectification and regeneration modes validate the performance and stability of the control method. The dc bus voltages are rendered symmetric with respect to ground, and the leakage current is reduced. The control method is generalized to three-phase ac-dc converters for larger power systems. / Ph. D.

Rising penetration of renewable energy sources in electric power grids isboth a challenge and an opportunity to optimally utilize the potential of eitherwind or PV energy sources, to stabilize operation of future power systems.Bi-directional ows between distribution and transmission system operatorscause signicant problems with keeping the voltages in the grid within admissiblelimits. This paper contains description of Oland's island mediumandlow-voltage electric power grid, ranging from 0.4 kV to 130 kV in thepurpose of quasi-static analysis of active and reactive power ows in the system.Goal of the analysis is to optimize reactive power exchange at the pointof connection with the mainland grid. In the analyzed grid system, thereis an enormous, 190 % penetration of wind sources. Capacity of the windparks connected to dedicated buses totals to 136.1 MW, that supply up to90.5 MW of load. With industry-wise reactive power capability limits, totalcontribution of wind parks reaches almost 66 MVAr, enabling to compensatedecits and extra surpluses of the reactive power in the grid. Presentedsystem is connected to the mainland's grid through one point of connection,which is simulated as Thevenin equivalent circuit. Main objective of thethesis is to test and analyze viable solutions to minimize reactive power exchangeat the point of connection at Stavlo substation connecting Oland'sand Sweden's electric grid keeping valid all necessary contingencies enforcedby current grid codes applied in Sweden as well as thermal limits of the linesand voltage limits of the system. Furthermore, state of the art of currentreactive power compensation methodologies and most promising techniquesto eciently and eectively control reactive power ow are outlined. Droopcontrol methodologies, with focus on global and local objectives, and smartgrid solutions opportunities are being tested and modeled by the authors andare comprehensively presented in this paper. Moreover, economic costs ofcontrol methods are compared. Analysis of active power losses in the systemas well as cost of implementation of alternative solutions is presented, wheremost nancially viable solutions are outlined, giving brief outlook into futureperspectives and challenges of electric power systems. It is shown that controllabilityof reactive power support by wind turbine generators can enhanceoperation of electric power grids, by keeping the reactive power ow minimizedat the boundary between grids of distribution and transmission systemoperators. Furthermore, results indicate that extra reactive power supportby wind turbine generators can lead to diminishment of active power losses inthe system. Presented system is being modeled in the PSS/E software dedicatedfor power system engineers with use of Python programming languages.Analysis of data was done either in Python or R related environments. Thesiswas written with cooperation between KTH and E.On Energidistribution AB. / Hogre genomslagskraft av förnyelsebara energikällor i elnäteten är bådeen utmaning och möjlighet för att optimalt kunna utnyttja potentialen av vindkraft och PV källor, med avseende på att stabilisera driften av framtida elkraftsystem. Tvåvägsflöden mellan distributionoch transmissionsoperatörer orsakar betydande problem att hålla spänningen i nätet inom tillåtna gränsvärden.Denna uppsats innehåller en beskrivning av Ö lands mellanoch lågspänningsnät,på 0.4 kV till 130 kV i syftet att utföra en kvasistatisk analys av aktiva och reaktiva effektflöden i systemet. Målet med analysen är att optimera det reaktiva effektutbytet i kopplingspunkten med fastlandets nät. I det analyserade systemet, finns det en enorm potential på 190% genomslagskraft av vindkraft. Kapaciteten på vindkraftsparker kopplade till medtagna samlingsskenor i systemet uppgår till 136,1 MW, som tillgodoser upp till 90.5 MW last. Med industrimässigt begränsad reaktiv effektkapabilitet, uppgår vindkraftsparkernas bidrag till nästan 66 MVAr, vilken möjliggör kompensation för underskott och överskott av reaktiv effekt i nätet. Det presenterade systemet är kopplat till fastlandet genom en kopplingspunkt, där fastlandet är simulerat som en Thevenin ekvivalent. Huvudsakliga målet med denna uppsats är att testa och analysera gångbara lösningar för att minimera det reaktiva effektutbytet vid kopplingspunkten i Stävlö, som kopplar ihop Ö land med resterande nät i Sverige, samtidigt som alla nödvändiga villkor enligt nuvarande nätkoder i Sverige bibehålls, liksom termiska gränser för ledningarna och spanningsgränser för systemet. Ytterligare beskrivs den bästa tillgängliga tekniken som finns idag för reaktiv effektkompensation, och de mest lovande teknikerna för att effektivt och verkningsfullt kontrollera reaktiva effektflöden. Droop-kontroll-metodologier, med fokus på globala och lokala tillämpningar, och smarta nät-möjligheter testas och modelleras av författarna och presenterar djupgående i detta arbete. Dessutom jämförs ekonomiska kostnader för olika kontrollmetoder. Analyser av aktiva effektförluster i systemet samt kostnader för implementation av alternativa lösningar presenteras, där de flesta gångbara losningar behandlas, och ger en överskådlig bild av framtida perspektiv och utmaningar i elkraftsystemet. Det visas att vindturbiners kontroll av reaktiv effekt, kan förbättra driften av elnäten, genom att minimera det reaktiva effektflödesutbytet i gränsen mellan distributionoch transmissionsoperatörers nät. Ytterligare pekar resultat på att extra understöd av reaktiv effekt från vindturbiner kan leda till förminskning av aktiva förluster i systemet. Det presenterade systemet modelleras i mjukvaruprogrammet PSS/E dedikerat för elkraftsingenjörer med hjälp av Python. Analys av data gjordes antingen i Pythoneller R-relaterade miljöer. Detta arbete har gjorts tillsam-mans med KTH och E.ON Energidistribution AB.

The motivation of this research is to carry out the control and operation of smart inverters and voltage source converters (VSC) for distributed energy resources (DERs) such as photovoltaic (PV), battery, and plug-in hybrid electric vehicles (PHEV). The main contribution of the research includes solving a couple of issues for smart grids by controlling and implementing multifunctions of VSC and smart inverter as well as improving the operational scheme of the microgrid. The work is mainly focused on controlling and operating of smart inverter since it promises a new technology for the future microgrid. Two major applications of the smart inverter will be investigated in this work based on the connection modes: microgrid at grid-tied mode and autonomous mode. \indent In grid-tied connection, the smart inverter and VSC are used to integrate DER such as Photovoltaic (PV) and battery to provide suitable power to the system by controlling the supplied real and reactive power. The role of a smart inverter at autonomous mode includes supplying a sufficient voltage and frequency, mitigate abnormal condition of the load as well as equally sharing the total load's power. However, the operational control of the microgrid still has a major issue on the operation of the microgrid. The dissertation is divided into two main sections which are: 1- Low-level control of a single smart Inverter. 2- High-level control of the microgrid. The first part investigates a comprehensive research for a smart inverter and VSC technology at the two major connections of the microgrid. This involves controlling and modeling single smart inverter and VSC to solve specific issues of microgrid as well as improve the operation of the system. The research provides developed features for smart inverter comparing with a conventional voltage sourced converter (VSC). The two main connections for a microgrid have been deeply investigated to analyze a better way to develop and improve the operational procedure of the microgrid as well as solve specific issues of connecting the microgrid to the system. A detailed procedure for controlling VSC and designing an optimal operation of the controller is also covered in the first part of the dissertation. This section provides an optimal operation for controlling motor drive and demonstrates issues when motor load exists at an autonomous microgrid. It also provides a solution for specific issues at operating a microgrid at autonomous mode as well as improving the structural design for the grid-tied microgrid. The solution for autonomous microgrid includes changing the operational state of the switching pattern of the smart inverter to solve the issue of a common mode voltage (CMV) that appears across the motor load. It also solves the issue of power supplying to large loads, such as induction motors. The last section of the low-level section involves an improvement of the performance and operation of the PV charging station for a plug-in hybrid electric vehicle (PHEV) at grid-tied mode. This section provides a novel structure and smart controller for PV charging station using three-phase hybrid boost converter topology. It also provides a form of applications of a multifunction smart inverter using PV charging station. The second part of the research is focusing on improving the performance of the microgrid by integrating several smart inverters to form a microgrid. It investigates the issue of connecting DER units with the microgrid at real applications. One of the common issues of the microgrid is the circulating current which is caused by poor reactive power sharing accuracy. When more than two DER units are connected in parallel, a microgrid is forming be generating required power for the load. When the microgrid is operated at autonomous mode, all DER units participate in generating voltage and frequency as well as share the load's power. This section provides a smart and novel controlling technique to solve the issue of unequal power sharing. The feature of the smart inverter is realized by the communication link between smart inverters and the main operator. The analysis and derivation of the problem are presented in this section. The dissertation has led to two accepted conference papers, one accepted transaction IEEE manuscript, and one submitted IET transaction manuscript. The future work aims to improve the current work by investigating the performance of the smart inverter at real applications.

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