Dc Bus Voltage Control

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    IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 18, NO. 6, NOVEMBER 2003 1405

    DC Bus Voltage Control for aDistributed Power System

    Per Karlsson, Member, IEEE,and Jrgen Svensson

    AbstractThis paper addresses voltage control of distributeddc power systems. DC power systems have been discussed as a re-sult of the introduction of renewable, small-scale power generationunits. Also,telecommunication power systems featuring UPS prop-erties might benefit from a broader introduction of dc power sys-tems. Droop control is utilized to distribute the load between thesource converters. In order to make the loading of the source con-verters equal, in per unit, the voltage control algorithm for eachconverter has to be designed to act similar. The dc side capac-itor of each converter, needed for filtering, is also determined asa consequence. The root locus is investigated for varying dc busimpedance. It is foundthat therisk of entering converterover-mod-ulation is a stronger limitation than stability, at least for reasonable

    dc bus cable parameters. The stationary and dynamic propertiesduring load variations are also investigated.

    Index TermsConverters, impedance, losses, power cables,power distribution, power semiconductor devices, stability.

    I. INTRODUCTION

    T HIS PAPER addresses droop dc bus voltage control andits stationary and dynamic behavior. The controller designalso gives a specification of the dc side filter, in this case purely

    capacitive.

    Several different dc bus voltage control schemes exist [1], of

    which two seem commonly used: master-slave and droop con-

    trol [2]. The master-slave method strongly relies on fast com-munication between the source and load converters. One of the

    converters, referred to as the master, is responsible for control-

    ling the dc bus voltage and distributing power references to the

    other source converters. In this paper voltage droop control is

    utilized. Droop control does not require any communication be-

    tween the converters. Instead, the dc bus voltage is measured at

    each source converter and all the source converters contribute to

    balance the total power consumed by the loads and the losses of

    the dc power system. In common voltage droop control, the dc

    bus voltage declines linearly as the output current, or in some

    cases power, for the converter increases in order to give stable

    operation. This, of course, yields a stationary error in the voltage

    level.The paper starts with an overview of the simulation model.

    Then the dc bus voltage controller utilized in the analysis is

    introduced. The simulation model parameters are given and the

    controller parameters are discussed. The root locus dependency

    Manuscript received January 31, 2003; revised April 7, 2003. Recommendedby Associate Editor Y.-F. Liu.

    The authors are with the Department of Industrial Electrical Engineeringand Automation, Lund University, Lund SE-221 00, Sweden (e-mail:[email protected]; [email protected]).

    Digital Object Identifier 10.1109/TPEL.2003.818872

    Fig. 1. Investigated dc power system configuration.

    on dc bus impedance is investigated, and it is found that the risk

    of entering converter over-modulation is a stronger limitation

    than stability, for reasonable dc bus parameters. Last, simulation

    results for a five-converter ring bus dc systemwith realistic cable

    data are shown.

    To investigate the transient response of the dc bus voltage

    controllers, the power references for the power fed to the loads

    are changed in steps.

    II. SIMULATIONMODEL

    The investigated dc distribution network consists of five con-

    verters where three are operated as sources and two are feeding

    power to loads. The converters are connected to galvanically

    separated ac power sources or loads. The grids should be galvan-

    ically separated to avoid a low impedance path for the zero-se-

    quence currents, discussed in [3]. Fig. 1 shows a five-converter

    dc power system configuration, representative for the ones con-

    sidered in the analysis.

    Each converter has a front interface with an inductive con-

    nection to the source or load. Therefore, the end interface con-

    nected to the dc bus should be capacitive. Consequently, the

    front side of the converter is current controlled, and the end side

    is voltage controlled. To control the end side voltage, i.e. the dcbus voltage, each converter intended for voltage control mea-

    sures the voltage at its converter to bus interface.

    Fig. 2 shows one of the converter subsystems of the dc net-

    work. From Fig. 2 it is clear that the converters considered are

    self-commutated, three-phase full bridges. The dc link capac-

    itor is used to partly decouple the ac and dc systems in such

    a way that a disturbance on one side is not reflected on the

    other side of the converter. In [2], a similar system is investi-

    gated but thyristor-based current source converters (CSCs) are

    used instead of transistor equipped voltage source converters

    0885-8993/03$17.00 2003 IEEE

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    1406 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 18, NO. 6, NOVEMBER 2003

    Fig. 2. Converter forming the interface between the dc bus and its three-phaseac network, source or load.

    (VSCs). The main advantage gained by using transistor based

    VSCs compared to thyristor based CSCs is that the harmonic

    content of the ac side current is reduced to a large extent. For

    transistor-based VSCs the switching frequency can be selected

    arbitrary, which means that the ac line current can be controlled

    to be free of low order harmonics. However, a controller of

    higher bandwidth and complexity is required. Furthermore, the

    losses are higher and the power handling capability lower. The

    cost of the converter including transducers and controllers is in

    most cases higher.

    A. DC Bus Model

    Two dc bus models are discussed in this paper. The dc bus

    voltage controllers are designed based on the assumption that

    the dc bus is purely capacitive. Therefore, a purely capacitive dc

    bus with capacitance equal to the total converter dc link capac-

    itance, is analyzed first. Then a more realistic dc bus network

    with the cable segments modeled as capacitive and inductive

    -links, according to Fig. 3, is analyzed.

    In [4], large signal stability in the case of distributed con-

    verters supplying constant power loads is investigated. From

    [4] an input -filter specification for the load converter is ob-

    tained based on the maximum output power for the load con-

    verters and the total source converter output resistance. An equi-librium point criterion is used to formulate an upper limit for the

    output resistance of the source converter, which results in an in-

    tuitively understandable criterion stating: The equivalent load

    resistance must be higher than the source converter output re-

    sistance. Mathematically, this is expressed

    (1)

    with notations according to Fig. 3. A lower bound for the source

    output resistance is also given in [4]. In the case of a single load

    converter consuming constant power, the lower bound is given

    by

    (2)

    Modifications made to the latter expression to include the case

    with several constant power load converters are shown in [4].

    The derived expressions are based on the assumption that the

    resistance is common for all the paralleled converters. In

    a distributed power system this is not likely. The resistance is in-

    stead distributed along the cables. Furthermore, the inductance

    is also a property of the cables used and not inserted on purpose

    for filtering action. Here, only capacitors are inserted as voltage

    stabilizers and filters, close to both source and load converters.

    Fig. 3. -link model for the dc cable. Note that the cable capacitance is

    included in the converter dc side capacitors,

    and

    .

    Fig. 4. Control structure for dc bus voltage control. The source convertercurrent is denoted and the cable current .

    The stability problem therefore becomes a problem of selecting

    converter dc side capacitors.

    B. Controller Structure

    The dc bus voltage controller structure is shown in Fig. 4. A

    proportional (P) controller is used for the droop scheme, similar

    to the PI-controller derived in [5] for back-to-back converter dc

    link voltage control. This controller structure should be imple-

    mented in all converters, intended for power flow control. The

    reason for this is to distribute the total load between as many

    converters as possible when droop control is utilized.

    Note that several converters are used to support the power

    flow, which is not clear from Fig. 4. To simplify the investiga-

    tion, a simple system with only one source and one load con-

    verter is considered. This is then extended to cover the case with

    several source and load converters.

    To attenuate the interaction between the ac side negative se-

    quence voltage and the dc bus voltage control discussed in [6],

    and to enhance controller pole placement the measured dc bus

    voltage is low-pass filtered [5], see Fig. 4. The break-over fre-

    quency of the low-pass filter is denoted .

    The dc bus voltage controller for the droop scheme, i.e., whena P-controller is used, is written

    (3)

    In the case of a purely capacitive dc distribution system, i.e.

    when , and , the

    closed loop transfer function is written

    (4)

    The effects of nonzero cable impedance are shown in the next

    section, where dynamic properties are examined. In the case

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    KARLSSON AND SVENSSON: DC BUS VOLTAGE CONTROL 1407

    of a purely capacitive dc distribution system, the current at the

    receiving end is expressed as , which in the case

    of a single source gives a droop function

    (5)

    The stationary droop impedance or resistance is thus

    and the actual and desired characteristic polynomials of

    the closed loop transfer function are given by

    (6)

    which is fulfilled for

    (7)

    It is clearly seen that a high damping of the closed loop transfer

    function poles requires a large dc distribution system capaci-

    tance. Here, the poles are chosen to give a performance corre-

    sponding to the one of a Butterworth filter, which means that

    the damping is selected as . This choice requires a

    rather moderate dc distribution bus capacitance without making

    the system oscillatory. The last point is important since the dc

    distribution bus is not purely capacitive, which implies that it

    is not advisory to make the simplified system oscillatory and

    then introduce nonidealities into the system. For the selected

    damping, the gain is

    (8)

    Assume that each converter corresponds to a virtual resistance,

    with a base value equal to

    (9)

    In the case of droop control, the dc current at rated load forrectifier operation increases due to the decreased output voltage

    caused by the droop characteristic

    (10)

    where is the relative converter output voltage drop at rated

    power. The droop resistance is inversely proportional to the gain,

    which yields

    (11)

    This is rewritten to

    (12)

    Now it is assumed that only half of the required dc bus capac-

    itance is located at the source converter. The other half is lo-

    cated at the receiver or load converter, yielding

    . The equivalent time constant is

    (13)

    Consequently, the converter dc bus capacitor is selected from

    (14)

    Note that for a multi-converter system, all the source converters

    should have the same stationary characteristics in order to

    achieve proper load sharing. This is fulfilled if the dc side

    capacitor of each converter is selected according to the expres-

    sion above. Furthermore, for an ideal cable, i.e., without any

    impedance other than the dc side capacitors, the system transfer

    function will be the same as for the two-converter system. For

    converters with the following data

    it is found that each converter, source and load, should have a

    dc side capacitance to rated power ratio given by

    Note that the rated power is given for inverter operation at a

    dc link voltage equal to . According to [7], the converter

    losses decrease for rectifier operation compared to inverter oper-

    ation. This implies that the maximum allowable rectifier power

    is higher than the maximum inverter power based on the as-

    sumption that the converter losses are equal in the two cases.

    When this method is used, communication is not required butthe dc bus capacitance needed for each converter is consider-

    ably higher than reported in other work on the same topic [ 6].

    Therefore, the converter proposed here is more bulky. However,

    the dc link capacitance for each converter is lower than twice

    the one a regular three-phase converter is equipped with, i.e.,

    for motor drive applications. Furthermore, the magnitude of the

    dc bus voltage oscillations observed for an unbalanced ac load

    [6] is inversely proportional to the dc bus capacitance [5]. The

    oscillation appears at twice the frequency of the unbalanced ac

    network [5], [6], which means that introducing a low-pass filter

    with a break-over frequency lower than this frequency effec-

    tively attenuates the problem.

    III. CABLEIMPEDANCE

    In this section the requirements on the cable impedance are

    investigated. First a stationary analysis is made giving the max-

    imum cable resistance. Then the influence of the cable induc-

    tance is investigated. These investigations are made for a simple

    two-converter system with a dc bus model according to Fig. 3.

    A. Stationary Characteristics

    For simplicity, assume a network consisting of only one

    source and one load and operating at steady state. The latter

    assumption implies that the network can be regarded as purely

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    1408 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 18, NO. 6, NOVEMBER 2003

    Fig. 5. Simplified Thevenin equivalent for stationary analysis.

    resistive and only the stationary droop characteristic has to be

    considered, see Fig. 5.

    The current supplied to the load of this system is written

    (15)

    where is the receiving end power. This is rewritten to a

    second order algebraic equation and expressed in a per unit (pu)

    system based on the source ratings, see Appendix A

    (16)

    The stable solution to this equation is written

    (17)

    Since the resistors form a voltage-dividing network, the sender

    side pu voltage drop is

    (18)

    The risk of entering converter over-modulation due to a too low

    dc link voltage is the main reason for investigating the dc bus

    voltages at different points in the network. The minimum dc

    link voltage is determined from the required load voltage at theconverter output terminals, including the voltage drop across the

    ac side filter. The line-to-neutral RMS voltage at the converter

    output feeding a three-phase ac load is expressed as

    (19)

    The maximum RMS line-to-neutral voltage allowable for

    avoiding over-modulation at stationary operation is

    (20)

    for symmetrical voltage references, i.e. when space vector pulse

    width modulation (SVPWM) is used. If it is assumed that the

    reactive power equals zero, the limiting case for the inverter,

    i.e., receiver side, of the dc network is written

    (21)

    which gives

    (22)

    Fig. 6. Per unit droop characteristic, including over-modulation and losslimits. Note that in this figure the power is positive flowing from the ac to thedc side.

    where is the pu value of the line-to-line receiving end

    voltage. Together with (17), this gives the maximum cable

    resistance

    (23)

    The pu line reactance used in [5] is approximately equal to

    for the pu base given in Appendix A, which meets

    the requirements of the standard IEC 1000-3-2, if

    , and at a switching

    frequency of 4.95 kHz. Assuming gives

    (24)

    Furthermore, this corresponds to a source voltage given by

    (25)

    This means that the power supplied from the source equals

    (26)

    Cable losses approximately equal to 0.2 pu seems very high.

    Fig. 6 illustrates the pu droop characteristic, expressed in pu

    power scale, for a three-phase converter based on Semikron

    SKM300GB123D modules, including over-modulation and loss

    limits.

    From Fig. 6 the increased power handling capability for recti-

    fier operation at a semiconductor loss level equal to the rated ap-

    pears to be close to 17%. This is not enough to cover cable losses

    of0.2 pu but onthe other hand, a dcnetwork designwithout mar-gins to avoid over-modulation is not likely. The characteristic

    shown in Fig. 6 is based on , ,

    , 50 Hz, , and operation at unity

    power factor for the ac network. The converter losses are calcu-

    lated according to [8].

    B. Stability

    An impedance specification for individual loads of dc dis-

    tribution systems, based on the small signal stability criterion,

    is presented in [9]. Here, stability is studied for varying cable

    parameters by investigation of the root locus. Therefore, the ca-

    bles are from now on modeled as resistive and inductive, with

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    KARLSSON AND SVENSSON: DC BUS VOLTAGE CONTROL 1409

    the cable capacitance neglected or included in the converter dc

    side capacitors (Fig. 3). The cable impedance is thus

    (27)

    The equivalent impedance of the receiving end is modeled

    (28)

    The impedance seen from the source converter is written

    (29)

    The cable resistance and receiving end equivalent resistance is

    expressed based on their pu values according to

    (30)

    The corresponding time constants are

    (31)where denotes pu time constant. The impedance is written

    (32)

    The sourceconverter output voltage is divided between thecable

    impedance and the equivalent impedance of the receiving end

    converter, which gives

    (33)

    Assuming complex poles, the characteristic polynomial is

    (34)

    The characteristic frequency and damping are identified

    (35)

    The characteristic frequency is expressed in pu

    (36)

    which gives the pu time constant for the cable

    (37)

    Since the dc bus voltage measured at the sending end converter

    terminals is low-pass filtered with a break-over frequency ,

    it is desirable that

    (38)

    The main purpose of (33)(38) is to provide a numerical base for

    the further investigation where the limiting case with

    is assumed. This gives the receiving end voltage

    (39)

    Fig. 7. DC bus voltage (top) andac side outputpower (bottom) forthe sending(black) and receiving (grey) end converters at an output power step from zero

    to rated power.

    at rated output power. Therefore, the receiving end pu resistance

    and also its time constant are given by

    (40)

    The pu time constant of the considered case is given by

    (41)

    The cable resistance and inductance are thus

    for a 750 V, 100 kW system. The simulation result for this case

    is shown in Fig. 7. The cable data investigated are

    and , i.e. . All time-simulations are made in DYMOLA with switch-mode converter

    models utilizing vector current controllers according to [5] and

    voltage droop controllers according to (3). The voltage droop

    controller gain (8) for each source converter is calculated based

    on , since a load converter of the same rated powerwill have . The ac side current reference for each one

    of the source converters is calculated from the droop current

    reference based on the assumption that the converter is loss-less.

    The measured dc bus voltage is low-pass filtered according to

    Fig. 4.

    In Fig. 7 it is seen that the stationary voltage is somewhat

    lower than expected (a few Volts). This is due to the fact that

    rated power is transmitted to the three-phase grid, i.e. the losses

    in the line side filter have to be added to the power supplied to

    the dc side of the converter. This also implies that the equivalent

    load resistance, , is lower than expected from the previous

    calculations.

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    1410 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 18, NO. 6, NOVEMBER 2003

    Fig. 8. Pole-zero map for the case investigated earlier, i.e., with cable data and which gives .The small markings denote no load and the large markings denotereceiver output power equal to rated sender power .

    Now, the system is examined by means of pole-zero plots.

    The transfer function according to Fig. 4 is investi-

    gated in MATLAB, for different cable parameters and receiving

    end loading. MATLAB is used due to the fact that when the

    cable parameters are included the transfer function becomes

    much more complicated than (4). The characteristic polynomialfor this two-converter system is of the fourth order and analyt-

    ical expressions for thepoles arenot possible to derive. Note that

    (33) is not used for stability investigations, since it does not take

    the source converter output impedance, including , into ac-

    count. Instead, (17) is used to calculate the receiving end voltage

    for the actual loading. An equivalent load resistance is calcu-

    lated from and . From this the transfer function

    appearing in Fig. 4 is calculated according to (42). The total

    impedance seen from the converter is calculated as the source

    converter dc side capacitance in parallel with ,

    which also forms the transfer function from to , see Fig. 4.

    The converter in Fig. 4 is considered to have a transfer func-

    tion for the frequencies of interest and the ex-

    ternal power reference is set to zero. Fig. 8 shows the

    pole-zero plot for the system simulated in Fig. 7, both at no-load

    (small markings) and at rated load (large markings). It is obvious

    from Fig. 8 that the actual loading of the system is of minor im-

    portance for stability.

    To investigate the robustness against parameter uncertainty,

    is varied from 0.01 pu to 0.12 pu and the pu cable time

    constant is varied from 0.02 to 0.4 pu. The root-locus is investi-

    gated for a case where the receiving end power is approximately

    equal to rated power of the sending side converter, i.e., is

    equal to one. This is not a strong limitation since it has been

    found that the load level affects the pole-zero map to a barelynoticeable extent (Fig. 8). Fig. 9 shows the resulting root locus

    for the poles and (Fig. 8). The two other poles, i.e. and

    , are complex conjugate pairs of the poles shown in Fig. 9, and

    therefore not illustrated. From Fig. 9 it is seen that a low cable

    resistance results in a moderately damped system, which is also

    expected. This is further seen from the overshoot appearing in

    the dc bus voltage response resulting from a load power step at

    low cable resistance and time constant, see Fig. 10. The over-

    shoot is a consequence of the selected closed loop damping

    . The overshoot is due to the pole pair.

    For a long time constant of the cable, the situation is worse,

    which is shown in Fig. 11. In Fig. 11, an oscillation is super-

    (a)

    (b)

    Fig. 9. Root locus for poles (a) and (b) at . The traces are fromtop to bottom: , 0.06 and 0.12 pu. The dotted lines show constant , 0.04, 0.05, 0.1, 0.2 and 0.4 pu from left to right. Note that thepole is real valued for low when .

    Fig. 10. DC bus voltage (top) and ac side output power (bottom) for the

    sending (black) and receiving (grey) end converters at an output power stepfrom zero to rated power when , andthus .

    imposed on the voltage overshoot. The oscillation frequency is

    close to40 Hz, which corresponds tothe location of (and ),

    see Fig. 9. On the other hand, when , the system is

    well damped but the receiving end converter operates at the limit

    of over-modulation for rated output power. Also the cable losses

    are high, around 20%, as discussed earlier and therefore, such a

    high cable resistance is not recommended. It is not realistic ei-

    ther. The system exhibits sufficient damping for

    which is recommended for design.

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    KARLSSON AND SVENSSON: DC BUS VOLTAGE CONTROL 1411

    Fig. 11. DC bus voltage (top) and ac side output power (bottom) for thesending (black) and receiving (grey) end converters at an output power step

    from zero to rated power when , and,thus, .

    TABLE ISIMULATION MODELDATA

    IV. LOADSHARING

    Load sharing is investigated by means of simulations. A ring

    bus network configuration [2] is studied. The network and con-

    verter parameters are given in Table I.Converter no. 1, 3, and 5 in Table I act as sources and con-

    verter no. 2 and 4 feed power to loads. Cable segment 1 is con-

    nected between converters 1 and 2 etc, and since this is a ring

    bus, cable segment 5 is connected between converters 5 and 1

    (Fig. 1). To calculate an appropriate cable resistance, it is as-

    sumed that the cable length of each segment is 100 m and that

    the maximum current density is 4 , even if the ring bus

    is broken. The cable inductance is calculated assuming a dis-

    tance between the centers of the conductors equal to twice the

    conductor diameter. Fig. 12 shows the dc bus voltage at the con-

    verter terminals and the power delivered from each converter to

    its ac side.

    Fig. 12. DC bus voltage (top) and ac side output power (bottom) for anoutput power increase equal to 0.5 pu of rated load converter power at 100 ms

    for converter 2 and 200 ms for converter 4 starting from 0 pu in both cases.Quantities belonging to converter subsystem 1 are solid black, 2 are solid grey,3 are dashed black, 4 are dashed grey, and 5 are dash-dotted black.

    From the initial no load operating point, the output power of

    converter 2 increases by 50% of rated power at

    and the output power of converter 4 increases by 50% of rated

    power at , see Fig. 12. In Fig. 12 it is shown that the

    load sharing works properly both in stationary and dynamical

    conditions.

    V. CONCLUSION

    A method to select the dc bus capacitance for each converterof a dc distributed power system is presented. The maximum

    cable resistance is specified upon the over-modulation limit.

    Furthermore, stability is investigated with aid of the root-locus

    for varying dc bus cable parameters. The droop control method

    investigated with the converter parameters found in the anal-

    ysis is simulated both in a two-converter application and in a

    five-converter ring bus. From the simple two-converter analysis

    it is found that forrealistic cable data, thesystem canbe modeled

    in a steadystatemanner, i.e., without taking thecableinductance

    into consideration. Therefore, system specification and investi-

    gation can be made using a resistive cable model in a load-flow

    program. A five-converter dc ring bus is simulated with realistic

    cable parameters, where it is found that proper load sharing isobtained.

    APPENDIX

    PERUNITSYSTEM

    (A1)

    (A2)

    (A3)

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    1412 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 18, NO. 6, NOVEMBER 2003

    (A4)

    (A5)

    (A6)

    (A7)

    ACKNOWLEDGMENT

    The authors wish to thank Dr. S. Lindahl, Department of In-

    dustrial Electrical Engineering and Automation, Lund Univer-

    sity, Sweden, for his contributions, kind support, and sharing of

    ideas and thoughts on the problems addressed in this work.

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    Per Karlsson (M02) was born in Helsingborg,Sweden, in 1970. He received the M.Sc.E.E andPh.D. degrees from Lund University, Lund, Sweden,in 1995 and 2002, respectively.

    He is currently a Research Associate at the De-partment of IndustrialElectrical Engineering and Au-tomation (IEA) where his research interests are in thefield of power electronics, especially in power systemapplications. His previous research includes resonantconverter technology, voltage control, and fault de-

    tection and clearance in dc distributed power systems.

    Jrgen Svensson was born in Malm, Sweden, in1965.He received theM.Sc.degree in electricalengi-neering from the LundInstitute of Technology, Lund,Sweden, in 1992 where he is currently pursuing thePh.D. degree in the Department of Industrial Elec-trical Engineering and Automation.

    He is also with Sydkraft AB, Malm, Sweden,where he works in the area of wind power. Hisresearch interests are in the field of renewabledistributed power systems.