S YNCHRONVERTERS : I NVERTERS

THAT MIMIC SYNCHRONOUS GENERATORS

Qing-Chang Zhong
Dept. of Electrical Eng. & Electronics The University of Liverpool UK Email: Q.Zhong@liv.ac.uk

George Weiss Dept. of Electrical Eng. Systems Tel Aviv University Israel
E-mail: gweiss@eng.tau.ac.il

Outline
Motivation and relevant works Modelling of synchronous generators Implementation of a synchronverter Operation of a synchronverter Simulation results Experimental setup and results Potential applications

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THAT MIMIC SYNCHRONOUS GENERATORS

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Motivation
Increasing share of renewable energy UK: 20% by 2020 EU: 22% target for the share of renewable energy sources and an 18% target for the share of CHP in electricity generation by 2010 Regulation of system frequency and voltage: Currently most inverters feed currents to the grid and do not take part in system regulation and there is a need of voltage controlled inverters to connect with weak grids. Threat to power system stability: Inverters have different dynamics from conventional synchronous generators The need of smooth transition of knowledge

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Our solution
Synchronverters: Inverters that mimic synchronous generators Operate voltage source inverters to mimic synchronous generators Take part in the power system regulation of frequency and voltage: the same as synchronous generators (externally) Dynamically behave like synchronous generators (internally)

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Relevant works
Virtual synchronous machine (VISMA) by Beck and Hesse The voltages at the point of common coupling with the grid are measured to calculate the phase currents of the VISMA in real time. These currents are used as reference currents for a current-controlled inverter. If the current tracking error is small, then the inverter behaves like a synchronous machine, justifying the term VISMA. However, a synchronous generator is a voltage source. The grid integration using control algorithms for SG was left as future work Virtual synchronous generator (VSG) by VSYNC Add a short-term energy storage system to provide virtual inertia The inverter itself does not have the dynamics of a synchronous generator Frequency/voltage drooping e.g. by De Brabandere, Bolsens, Van den Keybus, Woyte, Driesen, Belmans and by Sao and Lehn The inverter itself does not have the dynamics of a synchronous generator
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Some basics about inverters

+ Rs, Ls VDC ea eb ec C ia ib ic va vb vc

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Modelling of synchronous generators

Motivation and relevant works Modelling of synchronous generators Electrical part Mechanical part Implementation of a synchronverter Operation of a synchronverter Simulation results Experimental setup and results Potential applications
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SG: Electrical part

Consider a round rotor machine (without damper windings), with p pairs of poles per phase (and p pairs of poles on the rotor) and with no saturation effects in the iron core. The stator windings can be regarded as concentrated coils having selfinductance L and mutual inductance M .
( = 0 ) Rotor field axis

Rs , L Rotation

Field voltage Rs , L

N Rs , L

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Notation
Dene a = b , c and cos cos = cos( 2 ) , 3 cos( 4 ) 3 sin sin = sin( 2 ) . 3 sin( 4 ) 3 ia i = ib ic

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Flux linkage
The eld (or rotor) winding can be regarded as a concentrated coil having self-inductance Lf . The mutual inductance between the eld coil and each of the three stator coils is Mf cos . Assume that the neutral line is not connected, then ia + ib + ic = 0. The stator ux linkages are = Ls i + Mf if cos , where Ls = L + M , and the eld ux linkage is f = Lf if + Mf i, cos , (2) (1)

where , denotes the conventional inner product. The second term Mf i, cos is constant if the three phase currents are sinusoidal (as functions of ) and balanced.
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Voltage
The phase terminal voltages v =
T

va vb vc

are (3)

di d = Rs i Ls + e, v = Rs i dt dt where Rs is the resistance of the stator windings and e=

T

ea eb ec

is the back emf (4)

sin Mf dif cos . e = Mf if dt The eld terminal voltage, from (2), is df , vf = Rf if dt where Rf is the resistance of the rotor winding.
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(5)
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THAT MIMIC SYNCHRONOUS GENERATORS

SG: Mechanical part

The mechanical part of the machine is governed by J = Tm Te Dp , (6)

where J is the moment of inertia of all parts rotating with the rotor, Tm is the mechanical torque, Te is the electromagnetic toque and Dp is a damping factor. Te can be found from the energy E stored in the machine magnetic eld, i.e., 1 1 E = i, + if f 2 2 1 1 2 = i, Ls i + Mf if i, cos + Lf if . 2 2
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Electromagnetic torque Te
E Te = m
, f

E = m constant

.
i, if

constant

Since the mechanical rotor angle m satises = pm , Te = pMf if i, sin . Note that if i = i0 sin then Te = pMf if i0 3 sin , sin = pMf if i0 cos( ). 2 (7)

Note also that if if is constant then (7) with (4) yield Te m = i, e .

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Provision of a neutral line

The above analysis is based on the assumption that there is no neutral line. If a neutral line is connected, then ia + ib + ic = iN , where iN is the current owing through the neutral line. Then, the formula for the stator ux linkages (1) becomes = Ls i + Mf if cos
1 1 1

M iN

and the phase terminal voltages (3) become di v = Rs i Ls + dt

1 1 1

diN M + e, dt

where e is given by (4). The other formulas are not affected.

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Real and reactive power

Dene the generated real power P and reactive power Q as P = i, e and Q = i, eq ,
, 2

where eq has the same amplitude as e but with a phase delayed by

i.e.,

eq = Mf if sin( ) = Mf if cos . 2 Then, the real power and reactive power are, respectively, P = Mf if i, sin , Q = Mf if i, cos . Note that if i = i0 sin (as would be the case in the sinusoidal steady state), then P = 3 Mf if i, sin = Mf if i0 cos( ), 2 3 Q = Mf if i, cos = Mf if i0 sin( ). 2 (8)

These coincide with the conventional denitions for real power and reactive power.
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Implementation of a synchronverter
Motivation and relevant works Modelling of synchronous generators Implementation of a synchronverter Electronic part Power part Interaction between the two parts Operation of a synchronverter Simulation results Experimental setup and results Potential applications
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The electronic part (without control)

It is advantageous to assume that the eld (rotor) winding of the synchronverter is fed by an adjustable DC current source if instead of a voltage source vf . In this case, the terminal voltage vf varies, but this is irrelevant. As long as if is constant, there is sin Mf dif cos . e = Mf if dt = Mf if sin .

(9)

Also the effect of the neutral current iN can be ignored if M is chosen as 0, because di v = Rs i Ls + dt
1 1 1

diN M + e. dt
THAT MIMIC SYNCHRONOUS GENERATORS

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 = 1 (Tm Te Dp), J Te = pMf if i, sin , e = Mf if sin ,

Mf if Tm

Dp

Te
Q

1 Js

&

1 s

Eqn. (7) Eqn. (8) Eqn. (9)

e i

Q = Mf if i, cos .
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The power part

This part consists of three phase legs and a threephase LC lter, which is used to suppress the switching noise. If the inverter is to be connected to the grid, then three more inductors Lg (with series resistance Rg ) and a circuit breaker are needed to interface with the grid.
+ Ls , R s ea VDC eb ec C ia ib ic vc vb va Lg , R g
Circuit Breaker

vga vgb vgc

di v = Rs i Ls + e. dt
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Interaction between the two parts

The switches in the inverter are operated so that the average values of ea , eb and ec over a switching period should be equal to e given in (9), which can be achieved by the usual PWM techniques. The phase currents are fed back to the electronic part.
Dp

+ Ls , R s ia ib ec ic vc vb va Lg , R g
Circuit Breaker

Tm

Te
Q

1 Js

&

1 s

ea VDC eb

vga vgb vgc

Eqn. (7) Eqn. (8) Eqn. (9)

e i

C -

Mf if

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THAT MIMIC SYNCHRONOUS GENERATORS

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Operation of a synchronverter
Motivation and relevant works Modelling of synchronous generators Implementation of a synchronverter Operation of a synchronverter Operation objectives Regulation of P and frequency drooping Regulation of Q and voltage drooping Complete electronic part Simulation results Experimental setup and results Potential applications
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Operation objectives
The frequency should be maintained, e.g. at 50Hz The output voltage should be maintained, e.g. at 230V The generated/consumed real power should be regulated The reactive power should be regulated, if connected to the grid
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Frequency drooping
The speed regulation system of the prime mover for a conventional synchronous generator can be implemented in a synchron verter by comparing the virtual angular speed with the angular frequency reference r before feeding it into the damping block Dp . As a result, the damping factor Dp actually behaves as the frequency drooping coefcient, which is dened as the ratio of the required change of torque T to the change of speed (frequency) : T T n Tmn = , Dp = n Tmn where Tmn is the nominal mechanical torque. Because of the built-in frequency drooping mechanism, a synchronverter automatically shares the load with other inverters of the same type and with SGs connected on the same bus.
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Voltage drooping
The regulation of reactive power Q owing out of the synchronverter can be realised similarly. Dene the voltage drooping coefcient Dq as the ratio of the required change of reactive power Q to the change of voltage v: Q vn Qn Q Dq = = , v Qn v vn where Qn is the nominal reactive power and vn is the nominal amplitude of terminal voltage v. The difference between the reference voltage vr and the amplitude of the feedback voltage vf b is amplied with the voltage drooping coefcient Dq before adding to the difference between the set point Qset and the reactive power Q. The resulting signal is then fed into an integrator with a gain 1 to generate Mf if . K
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Complete electronic part

Dp

&

& r

Reset
Pset p &

From\to the power part

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Tm

Te
Q

1 Js

1 s

c
Eqn. (7) Eqn. (8) Eqn. (9) PWM generation

Qset

e i

1 Ks

Mf if

Dq
vr

vm

Amplitude detection

v fb

Q.-C. Z HONG & G. W EISS : S YNCHRONVERTERS : I NVERTERS

THAT MIMIC SYNCHRONOUS GENERATORS

The synchronverter under simu./exp.

Parameters Values Ls 0.45 mH Rs 0.135 C 22 F R 1000 Rated power 100 W Dp 0.2026 Parameters Values Lg 0.45 mH Rg 0.135 Frequency 50 Hz Line voltage 20.78 Vrms DC voltage 42V Dq 117.88

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Frequency (Hz)

Simulation results
t = 0: Simulation started to allow the PLL and synchronverter to start up; t = 1s: Circuit breaker on; t = 2s: Pset = 80W; t = 3s: Qset = 60Var; t = 4s: drooping mechanism enabled; t = 5s: grid voltage decreased by 5%.

50.2 50.1 50 49.9 49.8 2 1.5 1 0.5 0 1.05 1.025 1 0.975 0.95 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 5.5 6 P (W) 140 120 100 80 60 40 20 0 -20 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 5.5 6 Q (Var) 80 60 40 20 0 -20 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 5.5 6 Time (Second)
THAT MIMIC SYNCHRONOUS GENERATORS
50Hz 49.95Hz

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 5.5 6 Amplitude of v-vg (V)

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 5.5 6 Normalised v

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Experimental setup

The synchronverter is connected to the grid, three-phase 400V 50Hz, via a circuit breaker W : S a step-upI transformer. and Q.-C. Z & G. : p. 28/34
HONG EISS YNCHRONVERTERS NVERTERS THAT MIMIC SYNCHRONOUS GENERATORS

Experimental results
The experiments were carried out according to the following sequence of actions: 1. 2. 3. 4. 5. 6. 7. start the system, but keeping all the IGBTs off; start operating the IGBTs, roughly at 2s; turn the circuit breaker on, roughly at 6s; apply instruction Pset = 70W, roughly at 11s; apply instruction Qset = 30 Var, roughly at 16s; enable the drooping mechanism, roughly at 22s; stop data recording, roughly at 27s.

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Case 1: Grid frequency > 50Hz

v and vg (amplitude, V) Frequency (Hz)

d s dvg dv s

Time (Second)

Time (Second)

(a) synchronverter frequency

P (W) and Q (Var) v vg (V)

(c) amplitude of v and vg

y
P Q

Time (Second)

Time (Second)

(b) voltage difference v vg

(d) P and Q
THAT MIMIC SYNCHRONOUS GENERATORS

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Case 2: Grid frequency < 50Hz

v and vg (amplitude, V) Frequency (Hz)

d s dvg dv s

Time (Second)

Time (Second)

(a) synchronverter frequency

P (W) and Q (Var) v vg (V)

(c) amplitude of v and vg

d s d

P Q

Time (Second)

Time (Second)

(b) voltage difference v vg

(d) P and Q
THAT MIMIC SYNCHRONOUS GENERATORS

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Potential applications
Distributed generation and renewable energy, allowing these sources to take part in the regulation of power system frequency, voltage and overall stability. Uninterrupted power supplies (UPS), in particular, the parallel operation of multiple UPSs Isolated/distributed power supplies, e.g. to replace rotary frequency converters Static synchronous compensator (STATCOM) to improve power factor HVDC transmission (at the receiving end) Induction heating
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Current status of the technology

Patent application led, entered into the PCT stage Funding received for building proper prototypes & commercialisation Conference paper appeared in ieeexplore Journal paper to appear in IEEE Industrial Electronics Applied to AC drives AC Ward Leonard drive systems (PEMD2010)

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Summary
An approach is proposed to operate inverters to mimic synchronous generators after establishing the mathematical model of synchronous generators. Such inverters are called synchronverters. Synchronverters can be operated in island mode or grid-connected mode. When it is connected to the grid, it can take part in the regulation of power system frequency and voltage, via frequency and voltage drooping. It can disconnect from the grid and can automatically re-synchronise and re-connect with the grid. Potential applications include grid connection of renewable energy sources, parallel operation of UPS, HVDC transmission, STATCOM, isolated/distributed power supplies etc.
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