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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.