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9, SEPTEMBER 2014
Abstract—A mode-adaptive decentralized control strategy is the dc-based solution can achieve higher efficiency by elimi-
proposed for the power management of a dc microgrid with multi- nating the extra ac/dc and dc/ac conversion stages, since many
ple renewable distributed generators and energy storage systems. renewable DGs, energy storage systems (ESSs), and an increas-
In the presented solution, the dc bus voltage signal is used not
only to enable power sharing among different sources, but also ing number of loads directly utilize dc power [9]. Additionally,
to designate microgrid operation modes and facilitate seamless the dc system offers greater controllability, because it does not
mode transitions. With this mode-adaptive operation mechanism, suffer from synchronization and reactive power compensation
a greater control freedom can be achieved than the conventional problems which are intrinsic to the ac grid [10]–[12]. Further-
dc voltage droop control scheme. More importantly, this approach more, the dc microgrid can be fully decoupled from the utility
features fully self-disciplined regulation of distributed converters
without an extra control center or communication link. Therefore, grid by an interface converter, enabling the seamless transi-
both reliability and flexibility can be enhanced. Meanwhile, a novel tion between the grid-connected and islanded operation modes.
mode definition criterion is also provided to highlight the special Because of the aforementioned factors, the dc microgrid is re-
characteristics of the dc microgrid which is different from an ac ceiving increased attention recently, especially for small-scale
one. Three typical operation conditions are summarized according commercial and residential applications [13].
to which type of sources are dominating the power balance. Finally,
the effectiveness of the proposed technique is verified experimen- An intelligent control and management system is one of the
tally based on a composite dc microgrid test system. crucial points for the microgrid operation. The target of such a
system is coordinating the distributed microgrid terminals, e.g.,
Index Terms—DC microgrid, decentralized control, mode-
adaptive. the DGs, ESSs, and smart loads, in order to mitigate the power
intermittency and uncertainty, and provide a stable, reliable, and
economic power supply for both local customers and the utility.
A series of control strategies has been published for ac micro-
I. INTRODUCTION grids, leading to a standardized hierarchical power management
HE microgrid provides a new paradigm for the power gen- framework [14]–[19]. However, these methods cannot be fully
T eration and delivery, and is taken as a promising building
block for the future smart power system [1]–[3]. In the mi-
migrated into dc microgrids because of the aforementioned spe-
cial features of the dc system.
crogrid, a cluster of distributed generators (DGs) and loads are As with their ac counterparts, the control strategies for dc
organized as an autonomous system with advanced management microgrids can also be categorized into two classes, namely
strategies. As a result, it can be designed to accommodate high the centralized and decentralized control structure. For the cen-
penetration of intermittent renewable resources [4], improve en- tralized scheme, all the microgrid terminals are regulated by
ergy efficiency [5], [6], provide ancillary services for the bulk an energy control center (ECC) through communication. An
power system [7], and enhance power quality and reliability for example is presented in [20] of a data center microgrid with so-
local consumers [8]. phisticated operation modes and controllable mode transitions.
The dc-based power systems driven by power electronic con- However, the centralized regulation relies heavily upon the ECC
verters are envisaged as an enabling technology for the mi- itself, resulting in inadequate system reliability and scalability.
crogrid concept. Compared with the conventional ac structure, Therefore, this configuration is not suitable for an expandable
microgrid with an open boundary and a large number of termi-
nals [21].
To solve this problem, the decentralized control structure is
proposed in which the distributed terminals make independent
Manuscript received August 1, 2013; revised October 5, 2013; accepted
November 29, 2013. Date of current version April 30, 2014. This paper was control decisions based on the local information [22]. Volt-
supported in part by the National Basic Research Program of China (973 Pro- age/current (V/I) or voltage/power (V/P) droop control schemes
gram 2014CB247400) and the National Nature Science Foundation of China are the classical decentralized power management methods used
(51222702). Recommended for publication by Associate Editor Dr. M. Liserre.
The authors are with the College of Electrical Engineering, Zhejiang Univer- on dc microgrids [22], [23]. In such schemes, the deviation of
sity, Hangzhou 310027, China (e-mail: guyunjie@zju.edu.cn; xiangxin320320 the dc bus voltage is used for autonomous power sharing among
@gmail.com; hxn@zju.edu.cn). different sources [24]. Despite improved reliability, the flexi-
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org. bility of the droop control scheme is limited because all the
Digital Object Identifier 10.1109/TPEL.2013.2294204 terminals in the system behave rigidly according to the preset
0885-8993 © 2013 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See http://www.ieee.org/publications standards/publications/rights/index.html for more information.
GU et al.: MODE-ADAPTIVE DECENTRALIZED CONTROL FOR RENEWABLE DC MICROGRID 5073
droop curves without a flexible mode transition mechanism to Fig. 3. Terminal regulating unit and the equivalent model.
react to changing conditions [25].
In this paper, a mode-adaptive decentralized control scheme
is introduced as an improvement of the classical droop method.
In the presented technique, the droop curves of different types
of terminals are arranged at separated voltage ranges, so that the
dc bus voltage can be used to designate operation modes and
facilitate adaptive mode transitions. This approach features fully Fig. 4. Bus regulating unit and the equivalent model.
self-disciplined operation of each terminal without ECC or extra
communication. Therefore, both the reliability and flexibility Despite this unified representation, the converters in the dc
can be enhanced. Furthermore, detailed implementation of the microgrid have dual control targets, that is, to regulate the power
proposed concept is demonstrated based on a composite dc flow of the local terminal or to maintain the voltage stability of
microgrid test system, which consists of PV and wind power the microgrid system. Since the two operation goals may be
DGs, Li-ion battery ESSs, local loads, and an interfacing dc–ac in conflict, each converter can only choose one of them at a
converter connected to the utility grid, as shown in Fig. 1. particular time. Therefore, according to the individual control
This paper is organized as follows. A general model for the objectives, the converter units can be further categorized into
converters adopted in the dc microgrid is described in Section II two classes, namely the terminal regulating unit and the bus
to lay the basis for system-level control. The principle of regulating unit.
the mode-adaptive decentralized control strategy is explained
Section III. The detailed controller implementation is presented A. Terminal Regulating Unit
in Sections IV. The experimental results of the steady-state op-
eration and transient-state mode transitions are displayed in The goal of the terminal regulating unit is to satisfy the power
Section V. The main contributions of this paper are summarized demand or deliver the power production of the local terminal.
in the last section. Such converter units make decisions only based on the terminal
condition, and do not take part in sustaining the power balance
of the microgrid system. The noncontrollable loads and the
II. SYSTEM-LEVEL REPRESENTATION OF CONVERTERS renewable DGs working with maximum power point tracking
(MPPT) are typical examples of terminal regulating units. For
The coordinated operation of the dc microgrid is dependent on
these units, the converter act as a power adapter, so the power
the power regulation capability of the converters in the system,
consumption or production does not vary with the dc voltage
including boost-type dc/dc converters for PV panels, bidirec-
level. That is to say, the terminal regulating unit serves as a
tional dc/dc converters for ESS components, ac/dc converters
constant power load/source in the microgrid system, as shown
for wind turbine generators, and dc/ac converters for utility
in Fig. 3 [30].
interfacing [26]–[29]. These various types of converters have
different working principles and control strategies. Therefore, a
general description of the individual converters should be ob- B. Bus Regulating Unit
tained before defining the power sharing and mode transition Unlike the self-serving terminal regulating unit, the bus reg-
mechanism of the entire microgrid system. ulating unit takes charge of maintaining the power balance and
Fortunately, the diversified converter topologies and work- voltage stability of the entire microgrid system. Such units ac-
ing patterns can be independently handled by the local con- tively regulate the bus voltage by adjusting the current injection
troller embedded in the converter itself. As a result, a simplified into the microgrid based on the dc voltage feedback signal.
system-level converter model can be obtained which focuses on Therefore, they can be described as a voltage source in series
the external behavior rather than the internal details. Since most with the equivalent impedance Zeq , as depicted in Fig. 4.
converters can have current regulating loops or are inherently The bus regulating unit is the cornerstone for supporting the
current source converters, they can be represented as a control- dc microgrid stability. A high proportion of the bus regulating
lable current source, with the small-signal dynamics described units in the microgrid system may improve dc voltage stabil-
by a transfer function Gconv (s), as shown in Fig. 2 [25]. ity by providing stronger compensation reaction in respond to
5074 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 29, NO. 9, SEPTEMBER 2014
TABLE I
SUMMARY OF EACH MODE AND ITS CHARACTERISTIC
TABLE II
LIST OF TERMINALS IN THE PRESENTED MICROGRID
TABLE III
VOLTAGE RANGE DEFINITION FOR EACH OPERATION MODE
Fig. 14. Fluctuation compensation and power sharing among ESS units: (a)
Power fluctuation and ESS power sharing. (b) Bus voltage and utility power.
VI. CONCLUSION
The mode-adaptive decentralized dc microgrid control strat-
egy presented in this paper takes advantage of the dc voltage
itself to facilitate flexible mode definition, seamless mode tran-
sition, and reliable power sharing. This solution is based on the
fully decentralized operation of the distributed converters with-
out an additional communication link. As a result, both the mi-
crogrid reliability and flexibility can be enhanced. Meanwhile, a
novel mode definition criterion is also proposed to highlight the
feature of the dc microgrid from the power management point of
view. Three typical working conditions are summarized, namely
the generation-dominating mode, storage-dominating mode and
utility-dominating mode. Detailed implementation based on the
laboratory dc microgrid test system verifies the performance of Fig. 15. Switching between utility- and storage-dominating modes: (a)
the proposed strategy. Switching to utility-dominating mode. (b) Recovering from DG outage.
GU et al.: MODE-ADAPTIVE DECENTRALIZED CONTROL FOR RENEWABLE DC MICROGRID 5079
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Yunjie Gu was born in Hebei, China, in 1987. He re-
architectures for intelligent microgrids—Part I: Decentralized and hierar-
ceived the B.Sc. degree from the Department of Elec-
chical control,” IEEE Trans. Ind. Electron., vol. 60, no. 4, pp. 1254–1262,
trical Engineering, Zhejiang University, Hangzhou,
Apr. 2013.
China, in 2010, where he is currently working toward
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the Ph.D. degree in electrical engineering.
control architectures for intelligent microgrids—Part II: Power quality, en-
From May 2011 to January 2012, he was a
ergy storage, and AC/DC microgrids,” IEEE Trans. Ind. Electron., vol. 60,
Research Intern at GE Global Research Center,
no. 4, pp. 1263–1270, Apr. 2013.
Shanghai, China. From July to September 2013, he
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[23] W. Tang and R. H. Lasseter, “An LVDC industrial power distribution His research interests include dc/dc converters and
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Electron. Spec. Conf., 2000, pp. 979–984.
5080 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 29, NO. 9, SEPTEMBER 2014
Wuhua Li (M’09) received the B.Sc. and Ph.D. de- Xiangning He (M’95–SM’96–F’10) received the
grees in applied power electronics and electrical engi- B.Sc. and M.Sc. degrees from the Nanjing University
neering from Zhejiang University, Hangzhou, China, of Aeronautical and Astronautical, Nanjing, China,
in 2002 and 2008, respectively. in 1982 and 1985, respectively, and the Ph.D. degree
From September 2004 to March 2005, he was a from Zhejiang University, Hangzhou, China, in 1989.
Research Intern, and from January 2007 to June 2008, From 1985 to 1986, he was an Assistant Engineer
a Research Assistant in GE Global Research Center, at the 608 Institute of Aeronautical Industrial General
Shanghai, China. From July 2008 to April 2010, he Company, Zhuzhou, China. From 1989 to 1991, he
was a Postdoctoral Fellow at the College of Electri- was a Lecturer at Zhejiang University. In 1991, he ob-
cal Engineering, Zhejiang University. In May 2010, tained a Fellowship from the Royal Society of U.K.,
he became a Faculty Member at Zhejiang University and conducted research in the Department of Com-
as a Lecturer. In December 2010, he was promoted as an Associate Professor. puting and Electrical Engineering, Heriot-Watt University, Edinburgh, U.K., as
From July 2010 to September 2011, he was a Postdoctoral Fellow at the De- a Postdoctoral Research Fellow for two years. In 1994, he joined Zhejiang Uni-
partment of Electrical and Computer Engineering, Ryerson University, Toronto, versity as an Associate Professor. Since 1996, he has been a Full Professor in the
ON, Canada. His research interests include high-efficiency power converters and College of Electrical Engineering, Zhejiang University. He was the Director of
renewable energy power conversion system. He has published more than 100 the Power Electronics Research Institute and the Head of the Department of Ap-
peer-reviewed technical papers and holds more than 30 issued/pending patents. plied Electronics, and he is currently the Vice Dean of the College of Electrical
Dr. Li received the 2011 Top Ten Excellent Young Staff Award and the Engineering, Zhejiang University. His research interests are power electronics
2012 Distinguished Young Scholar from Zhejiang University, the 2012 Out- and their industrial applications. He is the author or coauthor of more than 280
standing Young Researcher Award from Zhejiang Province and the 2012 Delta papers and one book “Theory and Applications of Multi-level Converters.” He
Young Scholar from Delta Environmental & Educational Foundation due to his holds 22 patents.
excellent teaching and research contributions. He received three Scientific and Dr. He received the 1989 Excellent Ph.D. Graduate Award, the 1995 Elite
Technological Achievements Awards from Zhejiang Provincial Government and Prize Excellence Award, the 1996 Outstanding Young Staff Member Award
the State Educational Ministry of China in 2009 and 2011, respectively. and 2006 Excellent Staff Award from Zhejiang University for his teaching and
research contributions. He received seven Scientific and Technological Achieve-
ments Awards from Zhejiang Provincial Government and the State Educational
Ministry of China in 1998, 2002, 2009 and 2011 respectively, and six Excellent
Paper Awards. He is a Fellow of the IEEE and has been appointed as the IEEE
Distinguished Lecturer by the IEEE Power Electronics Society, in 2011. He is
also a Fellow of the Institution of Engineering and Technology (formerly IEE),
U.K.