Mgrid Operation and Control: Hicss-34 Tutorial 14 January 3, 2001

1
University of Wisconsin and Georgia Institute of Technology

PSERC
Robert H. Lasseter
University of Wisconsin
Giri Venkataramanan
A. P. Sakis Meliopoulos
Georgia Institute of Technology
2001 University of Wisconsin Board of Regents
HICSS-34 Tutorial 14 January 3, 2001
mGrid Operation and Control
PSERC
R.H.Lasseter University-of-Wisconsin
HICSS
HICSS
-
-
34
34
Tutorial 14
Tutorial 14
Micro
Micro
-
-
Grid Operation and Control
Grid Operation and Control
Robert H. Lasseter University of
Robert H. Lasseter University of
Wisconsin
Wisconsin
A.P.Sakis Meliopoulos Georgia Institute of
A.P.Sakis Meliopoulos Georgia Institute of
Technology
Technology
Giri Venkataramanan
Giri Venkataramanan
University of
University of
Wisconsin
Wisconsin
PSERC
Outline
Outline
1.
1.
Overview of Micro
Overview of Micro
-
-
sources (1/2 hr)
sources (1/2 hr)
2.
2.
Problems and Issues related to
Distribution Systems (1 hr)
Distribution Systems (1 hr)
3.
3.
Power Electronics (1hr)
Power Electronics (1hr)
4.
4.
Operation and Control of Micro
Operation and Control of Micro
-
-
Grids
Grids
Needs and Challenges (1/2Hr)
Needs and Challenges (1/2Hr)
PSERC
Power Generation Applications
Power Generation Applications
Power Generation
Central Plant
Distributed Generation
Peaking
units:
Cost
deferrals:
Voltage
support:
On site generation
T/D grid
Back-up power
Local power & heat
Isolated site
Local voltage support
Cost reduction
Load management
100s MWs kWs
1 MW
Micro Grid
PSERC
Power
electronics
Micro
Micro
-
-
Turbine Basics
Turbine Basics
Generator
Generator
Air
Compressor
Compressor
Turbine
Turbine
Recuperator
Recuperator
3 Phase ~ 480V AC
3 Phase ~ 480V AC
Hot
Hot
Air
Air
PSERC
70kW Micro turbine
70kW Micro turbine
Installed at $1000/kW
Installed at $1000/kW
(target is $350/kW)
(target is $350/kW)
Efficiency 30%
Efficiency 30%
Air foil bearings

Air foil bearings
expect in excess of
expect in excess of
40,000 hours of
40,000 hours of
reliable operation.
reliable operation.
Operation speed
Operation speed
90,000
90,000
-
-
100,000 RPMs
100,000 RPMs
PSERC
Fuel cell System
Fuel cell System
PSERC
Automotive Influence on Fuel Cell
Automotive Influence on Fuel Cell
Development
Development
Car Fuel Cells must be under
Car Fuel Cells must be under
$100/kW
$100/kW
Experimental
F.C. car
(Toyota)
Prototype F.C.
cars (G.M., D-
C., Toyota)
2000
1997
2005
Production of
F.C. vehicles
Daimler-Chrysler
$324 million
investment
Fuel cell buses
commonplace
PSERC
Ballard PEM Fuel Cell
Ballard PEM Fuel Cell
PSERC
7 kW Plug Power System
7 kW Plug Power System
PEM Fuel Cell/water heater
PEM Fuel Cell/water heater
QuickTime and a
Photo - JPEG decompressor
are needed to see this picture.
PSERC
Business Characterization
Business Characterization
U. S. Electricity Market $250 Billion Per Year
U. S. Electricity Market $250 Billion Per Year
Distributed Generation Expected to Capture 10
Distributed Generation Expected to Capture 10
-
-
20% of Market in 10 years
20% of Market in 10 years
Players
Players
-
-
Illustrative List
Illustrative List
Allied Allied- -Signal Signal
Micro-Turbines
Siemens Siemens
Fuel Cells
Solar Turbine/Caterpillar Tractor Solar Turbine/Caterpillar Tractor
Engines/turbines
Capstone Turbine Capstone Turbine
Micro-Turbines
GE GE
Fuel Cells/Turbines
Others Others - - Ballard, Allison, Williams, Plug Power, Ballard, Allison, Williams, Plug Power, PowerCell PowerCell
Commercial Units/Packaged Solutions Coming to Market Commercial Units/Packaged Solutions Coming to Market
PSERC
Generation Efficiencies
Generation Efficiencies
10kW 100kW 1 MW 10MW 100MW 1000MW
20%
30%
40%
50%
60%
70%
Micro
Turbine
CHP
Fuel Cell
With
CHP
Hybrid
Fuel cell
Reciprocating
Engines
CCTG CCTG
Gas Gas
Turbine Turbine
Old
steam
1 MW
PSERC
Microturbine
Microturbine
PA Fuel Cells
PA Fuel Cells
PEM Fuel Cells
PEM Fuel Cells
Hybrid FC/MT
Hybrid FC/MT
Roof top PV
Roof top PV
Recip Engine
Recip Engine
On Site Generation
On Site Generation
30
30
-
-
200 kW
200 kW
200
200
-
-
2000 kW
2000 kW
5
5
-
-
250 kW
250 kW
200
200
-
-
2500 kW
2500 kW
1
1
-
-
10 kW
10 kW
0.5
0.5
-
-
4 MW
4 MW
Efficiencies
Efficiencies
30/80%
30/80%
40/78%
40/78%
40/78%
40/78%
<70%
<70%
38/80%
38/80%
Power
Power
Electronic
Electronic
interface
interface
PSERC
Factors Impacting Grid
Factors Impacting Grid
Connectivity
Connectivity
GENERATOR TYPE GENERATOR TYPE
INTERCONNECTION INTERCONNECTION
VOLTAGE VOLTAGE
GENERATOR GENERATOR
ELECTRIC ELECTRIC
CHARACTERISTICS CHARACTERISTICS
Synchronous Synchronous - - hydro, engine hydro, engine- -driven driven
Induction Induction - - wind turbines, small hydro wind turbines, small hydro
Power electronic Power electronic - - micro turbines, fuel cells, micro turbines, fuel cells,
self self- -commutated commutated
line line- -commuted commuted
Transmission Transmission > 66 kV > 66 kV
Sub transmission Sub transmission 24 24- -66 kV 66 kV
Distribution Distribution 4 4- -16 kV 16 kV
Customer Customer 120 120- -480 V 480 V
Rating Small Rating Small
Fault Current Fault Current
Islanding Islanding
Voltage Control Voltage Control
PSERC
Micro
Micro
-
-
source Issues
source Issues
Low power < 100

Low power < 100
kw
kw
Low voltage 120

Low voltage 120
-
-
480 volts
480 volts
Inertia
Inertia
-
-
less
less
Power electronic interface

Power electronic interface
Interconnection cost
Interconnection cost
Control (large numbers)

Control (large numbers)
Market interactions
Market interactions
PSERC
Micro Source Dynamics
Micro Source Dynamics
Type of Inverter
Type of Inverter
Response of Prime Mover

Response of Prime Mover
AC
DC
DC Bus
DC Bus
AC
AC
Generator
Generator
PSERC
Inverter P
Inverter P
-
-
Q response
Q response
Line
CSI
CSI
-
-
Line
Line
Commutated
Commutated
VSI
VSI
-
-
PWM
PWM
with
with
Voltage control
Voltage control
Line Commutated
Time seconds
Time seconds
pu
pu
P
P
&
&
Q
Q
PSERC
20 sec
PSERC
Micro
Micro
-
-
Source Dynamics
Source Dynamics
AC
Power Source
Power Source
DC
DC Bus
DC Bus
AC
AC
Power
1.0
0.5
10
time sec.
0.0
20
Fuel Cells
Fuel Cells
20
20
-
-
100 seconds
100 seconds
Micro-turbine
PSERC
Load Tracking Problem
Load Tracking Problem
Power electronics
Power electronics
Inertia
Inertia
-
-
less system
less system
Fast response
Fast response
Instantaneous power balance
Connect to grid
Connect to grid
Use storage on dc bus

Storage on the ac bus

Include rotating machines in Micro

-
-
grid
grid
PSERC
Quality of Power Perspectives
Quality of Power Perspectives
UTILITIES
UTILITIES
There are less than four
There are less than four
interruptions interruptions per year per year
with a cumulative with a cumulative
interrupted average of interrupted average of
less than 2 less than 2- -hours/year hours/year
95 percent of 95 percent of
interruptions are due to interruptions are due to
faults or outages on the faults or outages on the
T/D system T/D system
80 percent of the 80 percent of the
interruptions are due to interruptions are due to
distribution system distribution system
components components
CUSTOMERS
CUSTOMERS
Electricity problems Electricity problems
disrupting equipment and disrupting equipment and
production are originated production are originated
by by voltage sags, voltage sags, with with
duration less than 1/2 duration less than 1/2
second second
There are about 10 There are about 10- -15 15
times per year that voltage times per year that voltage
sags occur with the sags occur with the
voltage dropping below voltage dropping below
70% 70%
Production equipment Production equipment
contains electronics contains electronics
sensitive to power quality sensitive to power quality
problems problems
PSERC
Micro
Micro
-
-
grid concept assumes:
Large clusters of micro

-
-
sources and
sources and
storage systems
storage systems
Close to loads with possible CHP

applications
applications
Provide Quality of Power required by

Provide Quality of Power required by
Customer
Customer
Presented to the grid as a single

controllable unit (load & source)
PSERC
Load Control using a
Load Control using a
Connected Micro Grid
Connected Micro Grid
Load control
Control P set point
Pload
PSERC
Next
Next
1.
1.
Distribution Systems Power
Distribution Systems Power
2.
2.
Power Electronics Sources
Power Electronics Sources
1 Georgia Tech
PSERC
Problems and Issues
Related to
Distribution Systems
A. P. Sakis Meliopoulos
Georgia Institute of Technology
mGrid Operation and Control
Tutorial 14
HICSS-34
Jan 3, 2001
2 Georgia Tech
PSERC
Converter
Interface
Protection
Photovoltaics
Micro-Grid Management
System
CATV&
Communications
Variable
Speed
Drives
Sensitive Load
Static
Conditioner
Interface
Protection
Converter
Fuel Cell
Interface
Protection
Converter Microturbine / Generator
RTU
RTU
RTU
RTU
Data
Aqcuisition
Control
The mGRID Concept Distribution System Backbone
3 Georgia Tech
PSERC
Distribution System Backbone Issues
Safety
Voltage Profile
Power Quality
Reliability
Protection
Unbalance/Asymmetry
Stray Voltages and Currents
Electromagnetic Compatibility Issues
Non-autonomous/Autonomous Operation
4 Georgia Tech
PSERC
Let-Go Current
Ventricular Fibrillation
5 10 50 100 500 1000 5000
0
20
40
60
80
100
Dangerous Current
Let-Go Threshold
Safe Current
Frequency (Hz)
L
e
t
-
G
o

C
u
r
r
e
n
t

(
M
i
l
l
i
a
m
p
e
r
e
s
)

-

R
M
S
99.5%
50%
0.5%
Body Weight (kg)
F
i
b
r
i
l
l
a
t
i
n
g

C
u
r
r
e
n
t

(
m
A

R
M
S
)
0
100
200
300
0 100 20 40 60 80
Maximum
Non-Fibrillating
Current (0.5%)
Minimum
Fibrillating
Current (0.5%)
D
o
g
s
s
h
e
e
p
c
a
l
v
e
s
p
i
g
s
K
i
s
e
l
e
v

D
o
g
s
F
e
r
r
i
s

D
o
g
s
Safety
5 Georgia Tech
PSERC
A2 A1
B
The Electrocution Parameters
A2 A1
V
eq
r
eq
B
r
body
6 Georgia Tech
PSERC
Applicable Standards (IEEE & IEC):
Non-Fibrillating Body Current as a Function of Shock Duration
7 Georgia Tech
PSERC
P r o g r a m X F M - P a g e 1 o f 1
c : \ w m a s te r \ ig s \ d a t a u \ g p r _ e x 0 1 - M a y 1 4 , 2 0 0 0 , 0 1 : 5 1 :4 4 . 0 0 0 0 0 0 - 2 0 0 0 0 0 . 0 s a m p le s / s e c - 2 4 0 0 0 S a m p le s
4 4 . 0 2 0 4 4 . 0 4 0 4 4 . 0 6 0 4 4 . 0 8 0 4 4 . 1 0 0
- 3 . 9 5 2
- 3 . 1 4 6
- 2 . 3 3 9
- 1 . 5 3 2
- 7 2 5 . 8 m
8 0 . 7 6 m
8 8 7 . 3 m
1 . 6 9 4
2 . 5 0 1
P h a s e _ A _ L i n e _ C u r r e n t_ _ B U S 1 0 (k A )
- 1 . 6 2 5
- 1 . 2 9 1
- 9 5 6 . 1 m
- 6 2 1 . 5 m
- 2 8 6 . 8 m
4 7 . 8 1 m
3 8 2 . 5 m
7 1 7 . 1 m
1 . 0 5 2
E a r t h _ C u r r e n t _ _ G r o u n d _ a t _ BU S 2 0 (k A )
Earth Current / GPR / Worst Case Condition
Earth Current / GPR / Worst Case Condition
Important Issues
Important Issues
Grounding and Bonding Grounding and Bonding
Single Ground/Multi Ground Single Ground/Multi Ground
Load/DER Configuration Load/DER Configuration
Transmission Interconnection Transmission Interconnection
8 Georgia Tech
PSERC
Power Quality
Design Options
Design Options
Configuration Configuration
Grounding Grounding
Overvoltage Overvoltage Protection (arresters), Fault Protection Protection (arresters), Fault Protection
Use of Steel/Aluminum conduit, Etc. Use of Steel/Aluminum conduit, Etc.
Disturbances
Disturbances
Lightning Lightning
Switching Switching
Power Faults Power Faults
Feeder Feeder Energization Energization inrush currents, Motor Start inrush currents, Motor Start
Loading imbalance Loading imbalance
Harmonics, Resonance Harmonics, Resonance
EMI EMI
Impact on End User
Impact on End User
Voltage Distortion, Sags, Swells, Outages and Imbalances Voltage Distortion, Sags, Swells, Outages and Imbalances
9 Georgia Tech
PSERC
N
A B C
S
w
f
D
S
S
d
t
Lightning Caused Voltage Sags, Swells and Outages
Lightning Caused Voltage Sags, Swells and Outages
10 Georgia Tech
PSERC
Lightning Caused Voltage Sags, Swells and Lightning Caused Voltage Sags, Swells and
Outages Outages
Effects of Grounding and Protection Effects of Grounding and Protection
11 Georgia Tech
PSERC
Voltage Sags & Swells and Grounding
Voltage Sags & Swells and Grounding
0 2 3 4 5 6
6
5
4
3
2
1
100/173
95/164
90/155
85/147
80/138
75/129
70/121
65/117 57/100
X
0
/X
1
R
0
/X
1
1
al no
LG
actual
LG
g
V
V
C min
=
Coefficient of
Grounding
12 Georgia Tech
PSERC
Voltage Sags & Swells During a Ground Fault
Transmission Line Voltage & Current Profile
Close
0.00 0.75 1.50 2.25 3.00 3.75
Distance (miles)
-8.00
-6.00
-4.00
-2.00
0.00
2.00
V
o
l
t
a
g
e

(
k
V
)
_A
_B
_C
_N
Absolute
Deviation
Remote Earth
Neutral
Ground
Voltage Reference
6.92
Volt age Volt age Volt age Volt age
Current Current Current Current
Displayed Quantity Nominal Voltage
kV (L-L)
Plot Mode
Distribution Line, 12 kV
1.250
-5.810
Distance
_A
0.3334
0.9744
_B
_C
0.00
_N
BUS40 BUS50
Program IGS - Form CODE_102A Program IGS - Form CODE_102A Program IGS - Form CODE_102A Program IGS - Form CODE_102A
BUS10 BUS20 BUS30 BUS40
G
V
V
V
A
A
A
V
V
V
A
A
A
A
A
A
A
L R
Comments
Comments
The Data of the Figure can The Data of the Figure can
be used to generate be used to generate
nomograms nomograms and statistical and statistical
distributions of voltage sags distributions of voltage sags
and swells for a specific and swells for a specific
location (IEEE P1346) location (IEEE P1346)
A better approach is outlined A better approach is outlined
next next
13 Georgia Tech
PSERC Frequency (Hz)
V
o
l
t
a
g
e

(
k
V
)
10
6
10
5
10
3
10
4
10 10
2
0.1 1 0.01
1.0
2.0
3.0
4.0
Transformer
Arrester
Fuse
Ground Rods
L1
L2
N
G
Ground Loop
Sensitive
Electronic
Equipment
Probabilistic Approach to Power Quality Probabilistic Approach to Power Quality
Analysis Analysis
PQ Characterization PQ Characterization
Design Options for PQ Enhancement Design Options for PQ Enhancement
Statistical Distribution of Voltage Sags/Swells
14 Georgia Tech
PSERC
0.1 1 10 100 1000
0
1
2
3
4
5
2 PHASES
ENERGIZED
Capacitive/Inductive Impedance Ratio
M
a
x
i
m
u
m

O
v
e
r
v
o
l
t
a
g
e

(
p
u
)
1 PHASE
ENERGIZED
Ferroresonance
Comments
Comments
Resonance Between the Resonance Between the
Inductance of a Steel Core Inductance of a Steel Core
and the Circuit Capacitance and the Circuit Capacitance
Vulnerable Systems: Vulnerable Systems:
Medium Voltage Cable with Medium Voltage Cable with
Transformers/Regulators Transformers/Regulators
Cases of Stuck Pole Cases of Stuck Pole
Single Phase Protection Single Phase Protection
15 Georgia Tech
PSERC
Harmonic Resonance
Comments
Comments
Harmonic Resonance Has Harmonic Resonance Has
Multiple Modes and Multiple Modes and
Resonance Frequencies Resonance Frequencies
System May Be Vulnerable System May Be Vulnerable
When Resonance Coincides When Resonance Coincides
with a Harmonic Frequency with a Harmonic Frequency
When Problem is Known, When Problem is Known,
Solution is Very Simple Solution is Very Simple - -
Detuning Detuning
Close
0.00 400 800 1200 1600 2000
Frequency(Hz)
0. 100
1.00
10.0
100
1000
M
a
g
n
i
t
u
d
e

(
O
h
m
s
)
Impedance Magnitude
Positive Sequence Frequency Scan at Bus BUS70/ P
0.00 400 800 1200 1600 2000
Frequency(Hz)
-225
-150
-75.0
0.00
75.0
150
P
h
a
s
e

(
D
e
g
)
Impedance Phase
Table
872.1
Magnitude
(Ohms)
Phase
(Degrees)
Frequency
(Hz)
334.5
Frequency
(Hz)
Program WinI GS - Form FSCAN_RES Program WinI GS - Form FSCAN_RES Program WinI GS - Form FSCAN_RES Program WinI GS - Form FSCAN_RES
Close
0.00 400 800 1200 1600 2000
Frequency(Hz)
1.00
10.0
100
1000
M
a
g
n
i
t
u
d
e

(
O
h
m
s
)
Impedance Magnitude
Frequency Scan At 2-Node Port: BUS70_A to BUS70_N
0.00 400 800 1200 1600 2000
Frequency(Hz)
-80.0
-40.0
0.00
40.0
80.0
120
P
h
a
s
e

(
D
e
g
)
Impedance Phase
Table
163.4
Magnitude
(Ohms)
Phase
(Degrees)
Frequency
(Hz)
334.5
Frequency
(Hz)
5.501
334.5
Program WinI GS - Form FSCAN_RES Program WinI GS - Form FSCAN_RES Program WinI GS - Form FSCAN_RES Program WinI GS - Form FSCAN_RES
BUS30 BUS40
BUS50
BUS60
BUS70
BUS80
BUS90
BUS100
BUS110
BUS120
1 2
16 Georgia Tech
PSERC
Reliability
Reliability Indices for Distribution Systems
(Utility Perspective)
SAIFI: System Average Interruption Frequency Index
(interruptions/year and customer)
SAIDI: System Average Interruption Duration Index
(hours/year and customer)
CAIDI: Customer Average Interruption Duration Index
(hours/interruption)
ASAI: Average Service Availability Index
Served Customers of Number Total
Year per ons Interrupti Customer of Number Total
SAIFI =
Served Customers of Number Total
Year per Durations ons Interrupti Customer of Number Total
SAIDI =
ons Interrupti Customer of Number Total
Year per Durations on Interrupti Customer of Number Total
CAIDI =
Demand Service Hours Customer
Year per ty Availabili Service Hours Customer Total
ASAI =
Reliability Measures Reliability Measures
(Customer Perspective) (Customer Perspective)
Voltage Sags Voltage Sags
Voltage Swells Voltage Swells
Momentary Outages Momentary Outages
Load Interruption Load Interruption
EMI EMI
Comments
Comments
Good Methods for Utility Good Methods for Utility
Applications Exists Applications Exists
( (Markovian Markovian) )
End User/DER Methods End User/DER Methods
Needs Further Research Needs Further Research
( (NonMarkovian NonMarkovian Processes) Processes)
17 Georgia Tech
PSERC
Sector\Duration Mom 1 Min 20 min 1 hr 4 hr 8 hr 24 hrs
Residential 0 0 0.1 0.4 3.0 6.0 20
Commercial 1.0 1.0 3.0 10.0 36.0 74.0 94.0
Industrial 6.0 6.0 13.0 24.0 64.0 106.0 135.0
Large User 2.0 2.0 2.0 3.0 3.0 4.0 5.0
Cost of Reliability
Survey of Cost of Interruption Sector Customer Damage Function ( Survey of Cost of Interruption Sector Customer Damage Function ($/ $/MWhr MWhr) )
Example
Power requirements: 3000 VA power
Average power consumption is 2000 Watts
Power utility reliability: SAIFI = 1.5, SAIDI = 45, Momentary = 30
Sector customer damage function: commercial per Table Below
Calculations
MWhrs consumed: 17.52
Cost of two 20 minute outages: (3.0)(17.52)(2) = 105.12
Cost of five 1 minute outages: (1.0)(17.52)(5) = 87.60
Cost of momentary: (1.0)(17.52)(30) = 525.60
Annual cost of interruptions: 718.32
Comments
Cost of utility power (assuming $0.10 pwr kWhr): $1,752 per year
18 Georgia Tech
PSERC
Reliability Research Issues
Cap Cap Prob Prob Freq Freq Dur Dur
0 5e 0 5e- -4 13.0 0.3 4 13.0 0.3
300 3e 300 3e- -6 9e 6 9e- -4 30 4 30
600 3e 600 3e- -3 0.46 58 3 0.46 58
900 0.996 13.5 648 900 0.996 13.5 648
Cap Cap Prob Prob Freq Freq Dur Dur
0 7.2e 0 7.2e- -5 13.0 0.3 5 13.0 0.3
300 2.7e 300 2.7e- -5 5e 5 5e- -3 47 3 47
600 3.8e 600 3.8e- -3 0.52 65 3 0.52 65
900 0.9961 13.5 648 900 0.9961 13.5 648
Battery Energy = 15 min Battery Energy = 15 min
Battery Energy = 30 min Battery Energy = 30 min
R
I
R
I
R
I
19 Georgia Tech
PSERC
Protection
Protection Issues
Protection Issues
Fault Protection (Current Limited Fault Protection (Current Limited
DERs DERs, Remote Contribution, , Remote Contribution,
Ground Impedance, etc.) Ground Impedance, etc.)
Faulted Circuit Indication Faulted Circuit Indication
Fault Location and Isolation Fault Location and Isolation
Detection of Hot Down Detection of Hot Down
Conductors Conductors
Typical Typical DERs DERs Protection Protection
20 Georgia Tech
PSERC
Unbalance/Asymmetry
180 660 1140 1620 2100
0.06
0.04
0.02
0.0
Series Admittance
Shunt Admittance
Frequency (Hz)
A
s
y
m
m
e
t
r
y

F
a
c
t
o
r
1
min max
1
2
1
z
z z
S

=
1
min max
2
2
1
y
y y
S

=
Most Power Circuits Are Asymmetric Most Power Circuits Are Asymmetric
Other Sources
Other Sources
Single Phase Loads Single Phase Loads
End Use Equipment End Use Equipment
Induction Motors Induction Motors
21 Georgia Tech
PSERC
Induction Motor Response to Unbalance/Asymmetry
Close
System Asymmetry and Imbalance Example
P 367.6 kW, Q 178.3 kVar
S = 408.5 kVA, PF = 89.97 %
S
Pa 120.2 kW, Qa 69.04 kVar
Pb 114.8 kW, Qb 50.20 kVar
Pc 132.5 kW, Qc 59.09 kVar Sa
Sb
Sc
Va = 255.2 V, 55.34 Deg
Vb = 245.3 V, -63.85 Deg
Vc = 249.0 V, 175.7 Deg
Va
Vb
Vc
Ia = 543.0 A, 25.47 Deg
Ib = 510.9 A, -87.46 Deg
Ic = 582.9 A, 151.6 Deg
Ia
Ib
Ic
Induction Motor
Case:
Device:
MCLOAD1_A Va
MCLOAD1_B Vb
MCLOAD1_C Vc
MCLOAD1_A Ia
MCLOAD1_B Ib
MCLOAD1_C
Voltages
Currents
Total Power Voltage
Current Per Phase Power
Ic
Phase Quantities
Symmetric Comp
RGROUND Ref
Device Terminal Multimeter
L-G
L-L
Program WinI GS - Form FDR_MULTI METER Program WinI GS - Form FDR_MULTI METER Program WinI GS - Form FDR_MULTI METER Program WinI GS - Form FDR_MULTI METER
BUS30 BUS40
BUS50
BUS60
BUS70
BUS80
BUS90
BUS100
BUS110
BUS120
MCBUS1
MCLOAD1
ANGSPEED1
MCLOAD2
ANGSPEED2
1 2
1 2
IM
IM
Typical Distribution System Example Typical Distribution System Example
Comments
Comments
Combined Effects of System Combined Effects of System
Component Asymmetry and Component Asymmetry and
Imbalanced Loads Imbalanced Loads
Important Factors: Important Factors:
Configuration Configuration
Transformers Transformers
Load Balancing Load Balancing
22 Georgia Tech
PSERC
Stray Voltages and Currents
Sky Wire
HA
HB
HC
I sky
neutral I
Neutral
Counterpoise Ground Rod
Ground Rod
I earth
~
LA
LB
LC
Ground Mat
~
~
counterpoise I
~
CATV
Comments
Comments
Single Phase Loads Generate Single Phase Loads Generate
Current Flow in the Parallel Path of Current Flow in the Parallel Path of
Neutral and Soil/Grounds Neutral and Soil/Grounds
Typical Distribution 50 Typical Distribution 50- -70% in 70% in
Neutral, 50 Neutral, 50- -30% in Soil/Grounds 30% in Soil/Grounds
Neutral Voltage Typically 2 to 12 Neutral Voltage Typically 2 to 12
Volts Volts
Properly Designed Properly Designed mGRIDs mGRIDs can Practically Eliminate Stray Voltages and Currents can Practically Eliminate Stray Voltages and Currents
23 Georgia Tech
PSERC
SOURCE
BUS10
BUS200
BUS400
BUS100
G
1Ph
Return
Update
0.00 90.0 180 270 360
Angle(Degrees)
0.00
75.0
150
225
300
375
M
i
l
l
i
G
a
u
s
s
Magnetic Field
0.500
Plot Circle Radius
Magnet ic Field Near Nonmagnetic Conduit Enclosed Circuit
6.00inches
Plot AlongStraight Line
Plot AlongConduit CenteredCircle
Feet
Zoom In Zoom Out Zoom All
365.9 Field 319.1 Angle
Program GEMI - Form EMF_CI RCLE Program GEMI - Form EMF_CI RCLE Program GEMI - Form EMF_CI RCLE Program GEMI - Form EMF_CI RCLE
Return
Update
0.00 90.0 180 270 360
Angle(Degrees)
56.0
60.0
64.0
68.0
72.0
76.0
M
i
l
l
i
G
a
u
s
s
Magnetic Field
0.50
Plot Circle Radius
Magnet ic Field Near Steel Conduit Enclosed Power Circuit (ID=3)
6.00 inches
Plot AlongStraight Line
Plot AlongConduit CenteredCircle
Feet
Zoom In Zoom Out Zoom All
75.81 Field 244.1 Angle
Program GEMI - Form EMF_CI RCLE Program GEMI - Form EMF_CI RCLE Program GEMI - Form EMF_CI RCLE Program GEMI - Form EMF_CI RCLE
Electromagnetic Compatibility Issues
Example of Two Series Example of Two Series
Circuits in Magnetic and Circuits in Magnetic and
Aluminum Conduits Aluminum Conduits
Comments Comments
EMI can generate serious EMI can generate serious
problems problems
The The mGRID mGRID concept offers an concept offers an
opportunity to rethink design opportunity to rethink design
issues and optimize EMI issues and optimize EMI
performance performance
3 Jan 2001
WEMPEC
GV 1
Microgrids Short Course
Inverters in Microgrids
Giri@engr.wisc.edu
Giri Venkataramanan
Department of Electrical and Computer Engineering
University of Wisconsin-Madison
3 Jan 2001
3 Jan 2001
WEMPEC
GV 2
Outline
Description of inverter types and
characteristics
Inverter control objectives
Inverter dynamic modeling
Summary
3 Jan 2001
WEMPEC
GV 3
Inverter types
z PWM inverter
z Multilevel inverter
z Naturally commutated current source
inverter
3 Jan 2001
WEMPEC
GV 4
PWM Synthesis A, B & C phases
Vdc
Va Vb Vc
Phase shift between waveforms
may be varied
Amplitude of waveforms may be
dissimilar
All the three phase voltages
could have an average Vdc/2
common mode voltage
Causes a neutral shift
Will cancel out in the line-line
voltages
3 Jan 2001
WEMPEC
GV 5
Realization using IGBTs
Va
Vb Vc
Vdc
3 Jan 2001
WEMPEC
GV 6
Multilevel Inverters
Vdc
Vdc
+ other phases
Vdc
Vdc
+ other phases
3 Jan 2001
WEMPEC
GV 7
Typical waveforms
Vdc
Vdc/2
Pole voltage
Line-Line Voltage
Stepped synthesis
also possible
3 Jan 2001
WEMPEC
GV 8
Three Phase Current Source Inverter
Two Pole Three Throw Switches
1P3T
1P3T
Stiff Current
3 Jan 2001
WEMPEC
GV 9
CSI Converter Realization (Thyristors)
1P3T
1P3T
Stiff current
Three phase a
voltages
z Natural
commutation
z Leading power
factor load
3 Jan 2001
WEMPEC
GV 10
3 wire direct output
DC voltage level has to
be bigger than peak line-
line voltage
No path for zero
sequence currents from
inverter
3 Jan 2001
WEMPEC
GV 11
4 wire interface using star-delta
transformer
DC voltage level free
variable because of
transformer turns ratio
Zero sequence currents
on star side circulates
within the loop of the delta
side
3 Jan 2001
WEMPEC
GV 12
Single line equivalent circuit and phasor
diagram
V
i
I
L
V
o
I
t
V
ac
V
i
I
L
V
o
I
t
V
ac
Vac PCC voltage
Vo Point of Load (POL)
Voltage
3 Jan 2001
WEMPEC
GV 13
Microgrid Energy and Power Quality
Management Functions
Load profile control
Source utilization
Peak-shaving
Reactive power injection
POL voltage control
Voltage imbalance correction
3 Jan 2001
WEMPEC
GV 14
Voltage sag correction
V
i
I
L
V
o
I
t
V
ac
Nominal condition
Operation under sag
(Same real power transfer
level)
Operation under sag
(Reduced real power to
grid)
3 Jan 2001
WEMPEC
GV 15
Voltage imbalance correction
Input voltage Brown
Output voltage Cyan
Phase currents Green
Note increase in current
stress on phases with
large sag
3 Jan 2001
WEMPEC
GV 16
Fault Management
V
i
I
L
V
o
I
t
V
ac
Fault
3 Jan 2001
WEMPEC
GV 17
Operation under transients
z Load transients
z System transients
Capacitor switching
Power quality events
z Delayed source response
z Islanding
z Reconnection
3 Jan 2001
WEMPEC
GV 18
Key Control Issues
z Power flow control
z Frequency control
z Local voltage control
z Reactive power control
z Power sharing
z Frequency matching
3 Jan 2001
WEMPEC
GV 19
Power throughput of inverter
sin
t
o ac
X
V V
P =
cos
2
t
o ac
t
o
X
V V
X
V
Q =
Angle between V
ac
and
V
o
determines power flow
Magnitude of V
o
determines reactive power
flow
3 Jan 2001
WEMPEC
GV 20
Modeling objectives
Need to model dynamic properties
Control input and real power flow or power
angle
Control input and reactive power flow or
voltage magnitude
3 Jan 2001
WEMPEC
GV 21
Typical controller structure
(classical)
Voltage
command
PWM
Converter
and
LC Filter
V
o
Voltage feeback
+
-
Voltage
Controller
Current
feedback
Current
Regulator
+
-
V
ac
I
t
1
L s
+
-
V
i
I
L
3 Jan 2001
WEMPEC
GV 22
Typical controller structure
Flux vector
V
i
I
L
V
o
I
t
V
ac
i
Flux
command
PWM
Converter
and
LC Filter
V
o
Flux
feedback
Flux
Regulator
+
-
V
ac
I
t
1
L s
+
-
V
i
1
s

i
3 Jan 2001
WEMPEC
GV 23
Key control variables
Magnitude and Phase angle
z Modulation input
z Inverter output
z Filter inductor current output
z Capacitor voltage output
3 Jan 2001
WEMPEC
GV 24
Key control variables
) (
) ( ) (
t m j
e t m t m

=
) (
) ( ) (
t v j
i i
i
e t v t v

=
) (
) ( ) (
t i j
L L
L
e t i t i

=
) (
) ( ) (
t v j
o o
o
e t v t v

=
Instantaneous phase quantities are projections of the
rotating vectors on appropriate axes
3 Jan 2001
WEMPEC
GV 25
Dynamic Equations
) cos( ) cos(
L o o L dc L
i v v i m m v i
dt
d
L =
) sin( ) sin(
L o o L dc L L
i v v i m m v i
dt
d
i L =
R
v
v i i v
dt
d
C
o
o L L o
= ) cos(
R
v
v i i v
dt
d
v C
o
o L L o o
= ) sin(
3 Jan 2001
WEMPEC
GV 26
Steady state operating condition
) cos( ) cos( 0
o o o L dc
I V V I M M V =
) sin( ) sin(
L o o L dc L
I V V I M M V I L =
R
V
V I I
o
o L L
= ) cos( 0
R
V
V I I V C
o
o L L o
= ) sin(
3 Jan 2001
WEMPEC
GV 27
Steady state operating condition
L o L
i v o mi dc
V M V cos ) cos( 0 =
L o L
i v o mi dc L
V M V I L sin sin =
R
V
I
o
v i L
o L
= cos 0
R
V
I V C
o
v i L o
o L
= sin
Classical phasor solution
3 Jan 2001
WEMPEC
GV 28
Small signal model at operating point
Fu Ex y
Bu Ax x
+ =
+ =
&
(
(
(
(
(
(
(
(
(
(
(

=
RC V RC I
V
RC
V
I RC
V
I LR
V
L I
V C
I
L I
V C
I LR
V
I
A
o L
o o
L
o
L
o
L
o
L
L
o
L
o
L
1 1
1
0
0
2
2
2
2
2

(
(
(
(
(
(
(
=
0
0
sin
cos
L
mi dc
mi dc
I L
V
L
V
B
L
L
(
(
(
(
(
=
o
o
L
L
v
v
i
i
x
~
~
~
~
m u
~
=
3 Jan 2001
WEMPEC
GV 29
Transfer function
z Magnitude of modulation to output voltage
10 100 1
.
10
3
1
.
10
4
0
20
40
60
MG f
k
( )
f
k
10 100 1
.
10
3
1
.
10
4
180
90
0
AG f
k
( )
f
k
3 Jan 2001
WEMPEC
GV 30
Perturbations in time domain
0 1 2 3 4 5 6 7 8 9 10
200
0
200
Voac t 1000 , ( )
Voa t 1000 , ( )
t 1000
0 1 2 3 4 5 6 7 8 9 10
50
0
50
Ioa t 1000 , ( )
Ioac t 1000 , ( )
t 1000
3 Jan 2001
WEMPEC
GV 31
Vectors on the Complex Plane
300 200 100 0 100 200 300
300
200
100
0
100
200
300
Im Vocomplex t 1000 , ( ) ( )
Re Vocomplex t 1000 , ( ) ( )
60 40 20 0 20 40 60
60
40
20
0
20
40
60
Im Iocomplex t 500 , ( ) ( )
Re Iocomplex t 500 , ( ) ( )
Output current complex vector
3 Jan 2001
WEMPEC
GV 32
Properties of the dynamic model
Eigen frequencies of small signal model
Eigen frequencies of LC filter = 569 Hz
(incl. damping effects)
Excitation frequency = 60 Hz
313.396 629.17i +
313.396 629.17i
313.396 509.17i +
313.396 509.17i
|
\
|
|
|
.
3 Jan 2001
WEMPEC
GV 33
Dynamic interaction issues
z Angle input to output transfer functions
z Cross coupling transfer functions
z Selection of controllers and tuning
z Outer loop effects (Real and reactive power,
droop, etc.)
z Frequency synchronization
z Interactions between multiple parallel units
z EMI filter interactions
3 Jan 2001
WEMPEC
GV 34
Summary
z Inverter modeling important aspect of
microgrid design
z Stiff dc bus with adequate storage
decouples prime mover dynamics
z Inverter dynamic model based on rotating
vectors
z Model reduces to phasor model at steady
state
z Small signal model properties outlined
z Various transfer functions can be
determined, (esp. angle and frequency)
z Extend and integrate into system models
PSERC
Robert H. Lasseter
Robert H. Lasseter
Operation and Control of
Micro-Grids
PSERC
Micro
Micro
-
-

-
-
sources and
sources and
storage systems
storage systems

applications
applications
Customer Quality of Power

Customer Quality of Power

PSERC
Micro Grid
Micro Grid
Solid state breaker
Generation & storage
Motor Loads
5
8
M8
M5
6
9
480V
M9
open
480V
480V
13.8 kV
PSERC
Control of P &Q using PWM
Control of P &Q using PWM
Inverters
Inverters
E
E
V
V
inv
inv

0
0
V
V
inv
inv
E
E
Inverter
Inverter
P
p0
QV
inv
PSERC
Basic P Q Controller
Basic P Q Controller
V
a
V
b
V
c
E
a
E
b
E
c
r
e
P o
v o
I
a
I
b
I
c
E
a
E
b
E
c

Q
P
_
_
+
+
P
o
Q
o
v

o
P o
Inverter
Switch
Flux
Vector
Calculator
Flux
Vector
Calculator
P & Q
Calculation
Inverter
Flux
Vector
Control
p-i
p-i
PSERC
Basic P & Q Response
Basic P & Q Response
Q
P
Current
PSERC
Micro Grid connected to T/D Grid
Micro Grid connected to T/D Grid
Micro
Micro
-
-
Sources Provide
Sources Provide
Control of local bus voltage

Control of local bus voltage
Control of base power flow

Control of base power flow
Fast Load tracking is provided by the grid
Fast Load tracking is provided by the grid
Micro Grid: Dispatchable load to the grid
Micro Grid: Dispatchable load to the grid
PSERC
Micro Grid
Micro Grid
P control
V control of 8 & 9
5
8
M8
M5
6
9
480V
M9
480V
480V
13.8 kV
PSERC
P V controller
P V controller
8 on
9 on
Bus 8
Bus 9
PSERC
Isolated Micro Grid
Isolated Micro Grid
Issues
Issues




-
-
grid
grid
Load Sharing
Load Sharing
Frequency Control
Frequency Control
PSERC
Island System
Island System
L
1
L
2
2
V /
2
1
V/
1
P ~ Sin( )
1
Increase L
2
PSERC

0

1

2
>
>

0
V
1
V
2
P ~ Sin( )
2
PSERC
Frequency Droop
Frequency Droop
P
min
1
P
1max
P
01
P
02
P
2max
PSERC
Power Droop
Power Droop
o
s
k
s
"
k'
m
1
s
-
P o
P
o
P
+
+
+
+
+
+
_ _
_
_
P
c
_
p-i
i
(t) =
0
m
i
(P
c,i
P
i
(t))
PSERC
P V Controller with Droop
P V Controller with Droop
s
1

I
P & Q
Calculation
Flux
Vector
Calculation
Inverter
Flux
Vector
Control
o
P
o
P
Q
E
I
E
V
Power with droop
E
+
_
P o
v o
Eo
E
0
p-i
PSERC
Island
Island
Micro Grid
Micro Grid
Solid state breaker
Generation & storage
Motor Loads
Non-critical Loads
Critical Loads
5
8
M8
M5
Critical Loads
6
9
480V
M9
open
480V
480V
13.8 kV
PSERC
Voltage on Buses 8 & 9
Voltage on Buses 8 & 9
PSERC
Injected P & Q Buses 8 & 9
Injected P & Q Buses 8 & 9
PSERC
Frequency Droop
Frequency Droop
P
min
1
P
1max
P
01
P
02
P
2max
PSERC
Frequency at bus 8
Frequency at bus 8
Time seconds
F
r
e
q
u
e
n
c
y

H
z
PSERC
Power Quality is the attribute of
Power Quality is the attribute of
electric power which enables
electric power which enables
utility customers electrical and
utility customers electrical and
electronic equipment to operate
electronic equipment to operate
as intended
as intended
Sensitive loads
Sensitive loads
(Quality & Service
(Quality & Service
)
)
PSERC
Voltage Sensitivity
Voltage Sensitivity
1 5 0
1 0 0
5 0
0
1 0
- 1
1 0
0
1 0
1
1 0
2
1 0
3
Dur at ion ( 60 Hz Cycles)
5-10 cycles
CBEMA
CBEMA
Type
2
Type 1
PSERC
Shunt current injection
Shunt current injection
Critical Load
Voltage Sag
1.0
-1.0
0
Restored Voltage
1.0
-1.0
0
injected current
PSERC
Power Source
AC
DC
DC
DC
Power
Power
UPS
UPS
Voltage control
Voltage control
unbalance
unbalance
frequency
frequency
Premium Power Micro Source
Premium Power Micro Source
PSERC
Voltage Sag Regulator
-
s
V
-*
dq abc
dq+
V
s
abc
dq+
V
d
+
V
q
+
dq
abc
dq-
V
d
-
V
q
-
dq
V
s
-
s
-
dq
abc
dq-
V
c
-
V
c
+
Inverter
PID
V
s
+
V
s
+
*
s
+
PID
=0
Negative component
Positive component
PSERC
Inverter Response to SLG
PSERC
Micro Grids & Premium Power
Micro Grids & Premium Power
Generation Close to loads

Generation Close to loads
Local reliability
Local reliability
Possible CHP applications

Possible CHP applications
Premium Power
Premium Power
UPS functions
UPS functions
Back
Back
-
-
up service
up service
Custom Power functions

Custom Power functions
PSERC
Research Needs
Research Needs
1.
1.
Clear interfaces/functions to the
Clear interfaces/functions to the
Grid
Grid
2.
2.
Micro
Micro
-
-
Grid protection
Grid protection
3.
3.
Plug & play controls
Plug & play controls
4.
4.
Placement tools including CHP.
Placement tools including CHP.

Mgrid Operation and Control: Hicss-34 Tutorial 14 January 3, 2001

Загружено:

Сведения о документе

Оригинальное название

Авторское право

Доступные форматы

Поделиться этим документом

Поделиться или встроить документ

Параметры публикации

Этот документ был вам полезен?

Это неприемлемый материал?

Авторское право:

Доступные форматы

Mgrid Operation and Control: Hicss-34 Tutorial 14 January 3, 2001

Загружено:

Авторское право:

Доступные форматы

1

University of Wisconsin and Georgia Institute of Technology

Air foil bearings

Low power < 100

Low voltage 120

Power electronic interface

Control (large numbers)

Response of Prime Mover

Use storage on dc bus

Storage on the ac bus

Include rotating machines in Micro

Large clusters of micro

Close to loads with possible CHP

Provide Quality of Power required by

Presented to the grid as a single

Large clusters of micro

Close to loads with possible CHP

Customer Quality of Power

Presented to the grid as a single

Control of local bus voltage

Control of base power flow

Instantaneous power balance

Use storage on dc bus

Storage on the ac bus

Include rotating machines in Micro

Generation Close to loads

Possible CHP applications

Custom Power functions

Вам также может понравиться