Dynamic Modeling of Microgrid for Grid

Connected and Intentional Islanding Operation

Rinu J Vijayan, Subrahmanyam Ch, Ranjit Roy

The flexibility and control needed by microgrid with the

Abstract—Microgrid is defined as the cluster of multiple main grid is achieved with the help of power electronic
distributed generators (DGs) such as renewable energy sources interfaces [3]. During grid connected mode the controller has
that supply electrical energy. The connection of microgrid is in to supply the preset power to the main grid. In this mode the
parallel with the main grid. When microgrid is isolated from
remainder of the utility system, it is said to be in intentional inverters use the signal of main grid as reference. Thus in grid
islanding mode. In this mode, DG inverter system operates in connected mode the system operates in stiff synchronization
voltage control mode to provide constant voltage to the local load. with main grid in current control mode.
During grid connected mode, the Microgrid operates in constant
current control mode to supply preset power to the main grid. LF Lf Circuit breaker
Utility grid
AC

The main contribution of this paper is summarized as Vdc

+
- INVERTER
1) Design of a network based control scheme for inverter
CF
based sources, which provides proper current control Parallel

during grid connected mode and voltage control during Vabc_inverter

RLC
load

Vabc_ grid
islanding mode. Iabc_inverter
2) Development of an algorithm for intentional islanding
detection and synchronization controller required CONTROLLER
Gate signals

during grid reconnection.

3) Dynamic modeling and simulation are conducted to Fig. 1. Microgrid configuration with controller
show system behavior under proposed method using
SIMULINK.
From the simulation results using Simulink dynamic models, it When the microgrid is isolated from the main grid i.e.
can be shown that these controllers provide the microgrid with a intentional islanding operation, the controller is designed so as
deterministic and reliable connection to the grid. to supply constant voltage to the local sensitive loads [4], [5].
In this autonomous mode, the main grid reference is not
Index Terms—Distributed generation (DG), grid connected available; therefore a new reference is required to continue
operation, intentional islanding operation and islanding detection, good power quality generation. The new reference is found out
microgrid, synchronization, voltage source converter (VSC)
by using phase locked loop (DQ-PLL) and PI controller [6],
[7]. In order to transfer from current control to voltage control
mode, detection of transition from grid connected to intentional
I. INTRODUCTION
islanding mode is necessary. This is achieved by using an

POWER SYSTEMS are experiencing tremendous growth intentional islanding detection algorithm [4]. After islanding
operation, the DGs are connected back to grid. At this instant
in the field of distributed generation because of economic of grid reconnection, re-closure algorithm has to be established
benefits, environmental concern, reliability requirement etc. to achieve synchronization [4], [9].
Mainly the DGs include wind turbines, photovoltaic cells,
micro turbines and fuel cells. The DG is a voltage source
inverter with an output low pass filter supplying the load [1]. II. CONTROL TECHNIQUES FOR INVERTER
The microgrid configuration [2] with the control strategy is The voltage and current control loop has been implemented
shown in Fig. 1. by using PI controllers working on the D-Q synchronous
reference frame. AC quantities are converted in to DC
synchronous reference frame by Parks Transformation.
Rinu J Vijayan is currently doing MTech in Power electronics and
Electrical drives in Electrical Engineering Dept in National Institute of Correspondingly all reference quantities become DC in nature,
Technology, Surat, (Phone: 08891771200 e-mail: [email protected]). so that simple PI controllers would be sufficient to yield zero
Subrahmanyam Ch is doing MTech in Power electronics and Electrical steady state error.
Drives in Electrical engineering Dept in National Institute of Technology,
Surat, Gujarat (e-mail: [email protected]). A. DQ- PLL structure
Dr. Ranjit Roy is working as Associate Professor with Electrical
Engineering Dept, National Institute of technology, Surat, Gujarat. For unity power factor operation i.e. Grid current reference
(e-mail: [email protected]). to be in phase with grid voltage, estimation of phase angle is a

978-1-4673-2043-6/12/$31.00 ©2012 IEEE

necessity. The phase angle and frequency at point of common IDref +
id vdref
+

coupling (PCC) is determined by using a DQ-PLL structure - +

IQref
shown in Fig. 2. The PLL structure analogy comprises of a + iq vqref
+

-
voltage controlled oscillator, an integrator and a phase detector ia
+ va
CURRENT
[6], [7]. Phase estimation is achieved by synchronization of the ib abc
to
ID REGULATOR vq
DQ vb

IQ PLL
oscillating waveform generated by oscillator with the measured ic dqo Synchronization
controller
Vd vc

Ѳ new Ѳ old
waveform. Ѳ new
Kp

ωf
Fig. 3. Block diagram of current controller
+ + + ^
Ki 1 Ѳ
Vq=0
- s + + s Finally the DC reference quantities added with terminal
Vq
voltages are transformed back to stationary frame by Inverse
αβ Park’s Transformation. Thereafter it is used to generate the gate
Vd To
dq pulses by SPWM technique [4].
Va Vα Vβ
Abc
Vb To
αβ
C. Voltage control
Vc
In this control the microgrid will provide constant voltage to
Fig. 2. DQ-PLL structure the load [10]. This control scheme makes use of both current
regulator as well as voltage regulator. The control works on the
The DQ-PLL structure consists of a Clarke’s transformation, principle of voltage regulation through current compensation
[12], [13]. Fig. 4 represents the voltage control scheme. The
Park’s transformation, PI regulator and an integrator. The
converter output voltage is controlled by a synchronous
expression for the d- axis component and the q-axis component
reference frame closed loop voltage controller. Its output is
fed to the PI controller is given as
transferred in to a closed loop current regulator which is further
transformed in to stationary frame, and then the space vector
̂ ̂ PWM generates the gating signals of the IGBTs.

̂ ̂
Ѳ new

+
̂ va
+
- Vd Idref Id Vdref
+
vb DQ + -
+
PLL
̂ vc - Vq Iqref
+ Iq Vqref
+
+ -
Ѳ old 0
The realization of lock in PLL relies on regulating the SYNCHRONIZATION
1
abc
quadrature component (3) of rotating reference frame to zero CONTROLLER to
Ѳ new dqo
using the PI controller. When generated by oscillator Ѳ new
approximates ̂, the PLL will be locked. The value of as Ia Ib Ic

shown in (4) will become V i.e. At the instant, when lock is Fig. 4. Block diagram of voltage controller
realized, the direct axis component gives the magnitude of the
voltage [8]. As shown in Fig. 4, the filter output line voltage is
B. Current control transformed in to dc quantities by DQ-PLL structure. The
direct and quadrature quantities are forced to follow their
In grid connected mode the magnitude and frequency of the corresponding reference values by using voltage regulator. The
microgrid terminal voltages are imposed by the grid voltage. current references generated by voltage regulator are compared
Current controller is designed to provide constant current with the dc values of load currents and the error is
output during grid connected operation [12], [13]. Control compensated by current regulator. The output of current
System shown in Fig. 3 is used to accomplish current control. regulator provides the reference voltage signal.
In the strategy proposed here, the VSC line current is made
controllable by a dedicated scheme and through the control of D. Intentional islanding detection algorithm
VSC terminal voltage. The inverter AC output current is Parameters which are used to determine the state of grid is
transformed in to DC quantity in synchronous rotating frame voltage and frequency. Fig. 5 indicates the algorithm
by Park’s transformation. The direct and quadrature developed to accomplish the detection of intentional islanding.
components are compared with the reference quantities and the Under deficient grid voltage conditions, the main switch is
error signal is passed to the PI controller to generate the turned off and disconnects the main grid from the utility. This
switching causes transients in voltage and frequency [11].
voltage references [10]. The inverter terminal voltage is
Therefore tracking of system voltage magnitude and frequency
considered as a disturbance and hence fed forward to
indicates the transition switching between grid connected and
compensate it [1].
islanding mode, and vice versa.
 Va
Vdpu ≤ 1.1 inverter voltages is given by
3 phase
Vb
sequence
analyzer
AND - (5)
Vc
Vdpu ≥ 0.88
Voltage
measurement
AND

Va
f ≥ 59.3
Vb 3 phase
AND
(7)
PLL
Vc
f ≤ 60.5
frequency
measurement

Fig. 5. Proposed algorithm for intentional islanding detection

√
Voltage magnitude and frequency measurement is achieved
with the help of three phase sequence analyzer and DQ-PLL Using the variables and , can be found as
[8]. According to this algorithm, values of frequency and
voltage magnitude are constrained to particular limit. During (10)
√
transition from grid connected to islanding operation, the
voltage and frequency parameters get shifted from this The control circuit in Fig. 6 depicts how is determined
constrained range as shown in Fig. 13. This sends a logical from grid and inverter voltages, which has to be synchronized.
high output to the switch, which switches the inverter to the
suitable control accordingly. VG_abc
f(u)= g
E. Resynchronization controller algorithm
Islanded operation can change its operational mode to grid f(u)= sinѲ
connected operation by reconnection to the grid, which is
referred as synchronization [9]. Synchronization is achieved by VI_abc
f(u)= k
using the phase difference between islanded microgrid and
utility grid insuring a transient free operation. The microgrid
continues to operate in the islanding mode until both systems Fig. 6. Control circuit to determine
are synchronized. Thus synchronization controller ensures the
microgrid to operate in stiff synchronization with the utility
grid [5].

( )

When paralleling microgrid with utility grid, it is necessary to III. DESIGN OF PI CONTROLLER
have the same phase angle for both of them. By closing the A. Current control transfer function
breaker at PCC, the two individual systems begin to have
Current control scheme is needed during grid connected
parallel operation. In order to achieve stiff synchronization
operation. The block diagram of current controlled operation is
with the utility grid during grid reconnection, synchronization
shown in Fig. 7. The inverter is modeled with an ideal gain
controller is used. The algorithm used here [4] is to determine
GI=1. In order to obtain the transfer function of the filter and
the new phase angle at which both the microgrid and utility
the load block, the designed LCL filter and RLC load circuit
grid have to operate.
must be taken in to consideration. Fig. 8 depicts the circuit
The algorithm is as follows diagram of LCL filter and RLC load. The transfer function of

1) suppose the phase difference between the grid and

the LCL filter and the RLC load remains the same for voltage
control transfer function also.
Verror + Ierror Kp+Ki
Vref Kp1+Ki1 Iref Gi=1 LCL FILTER RLC LOAD
+ s - s
-
Iref +
Kp+Ki Id PI CONTROLLER INVERTER
Gi=1 LCL FILTER RLC LOAD
- Ierror s Vd Id
Id PI CONTROLLER INVERTER

Fig. 9. Block diagram of voltage controlled inverter

Fig. 7. Block diagram of current controlled inverter
This scheme consists of an inner current control loop and an
Correspondingly transfer function of PI controller block is outer voltage control loop. The transfer function of individual
given as blocks, such as PI controller, inverter, filter and load remains
the same as in current control transfer function. The same
methodology so as to find transfer function in current control
LF
scheme is followed here also. The transfer function of the
Lf
ID voltage control system hence obtained is given by (13).
C. Current control and voltage control stability
CF RL LL CL
Vin
The control method used here has two operating modes,
current control and voltage control corresponding to grid
connected and intentional islanding operations of microgrid.
The stability of the current and voltage controller can be
Fig. 8. LCL filter and parallel RLC load circuit determined by using their transfer functions [14]. Stability
analysis is carried out by using the conventional control theory.
The steps to obtain transfer function [12] of this stage are given According to it, the bode plot of the controller transfer function
below. is plotted using the SISO design tool in MATLAB. The
positive Gain margin in the bode plots of both the transfer
1) For the parallel RLC load, the equivalent impedance functions of corresponding controllers indicates that the system
is given as is stable.

IV. DYNAMIC MODELING AND SIMULATION

2) By using KVL to the meshes, the transfer function is A. Simulation results

obtained as To investigate microgrid operational modes, the effect of
designed current controller, voltage controller, proposed
intentional islanding detection algorithm and re-closure
( ( ) ) algorithm, the MATLAB/SIMULINK is used to develop a time
domain simulation model of the study system. Electrical power
3) Using (15) and (16) the fourth order transfer function system components are simulated with a physical modeling
of the filter and load scheme is obtained and is given product called simpower systems supported by MATLAB.
in (11). The simulations have been run with the dynamic model shown
in Fig. 10 to investigate the behavior of grid connected and
4) The values of and of the PI controller are intentional islanding mode of operation. Inside the current and
determined by using Ziegler-Nichols tuning formula voltage regulator blocks, there exist the schemes shown in Fig.
[15]. A MATLAB function Ziegler () exists to design 3 and Fig. 4. Similarly inside islanding detection algorithm and
PI controllers using the Ziegler–Nichols tuning resynchronization controller block, there exist the circuit
formulas. corresponding to Fig. 5 and Fig. 6.
For both the cases the parameters used for simulation is
5) The complete transfer function of the block diagram is given in the Table I [4]. In the dynamic model depicted here,
then obtained by block diagram reduction method and
the inverter is connected through a filter and a circuit breaker
thereafter by substituting the corresponding designed
to the local load. The simulations are conducted here with the
values of the parameters. The transfer function of the
assumption that the irradiation variations are completely absent
current control system is given in (12).
in this system. Two case studies based on the influence of
synchronization controller are conducted to examine the
B. Voltage control transfer function system performance during grid connected and intentional
Voltage control scheme is required during islanding mode of islanding mode.
operation. Fig. 9 represents the block diagram of voltage
controlled operation.
Fig.10. Dynamic model of microgrid with controller.
200

1 150

0.9
100
0.8
50
0.7
voltage
logical value

0.6 0

0.5
-50
0.4
-100
0.3

0.2 -150

0.1
-200
0.25 0.3 0.35 0.4 0.45
0
0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5 time
time

Fig. 11. Transition from grid connected to islanding mode. Fig. 14(b). Line Voltage with voltage controller
200

150
60
100
59.9
50
59.8
voltage

0
frequency

59.7
-50
59.6
-100
59.5
-150
59.4
-200
59.3
-250
59.2 0.5 0.55 0.6 0.65 0.7
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
time
time
200

1.4
150

1.2
100
magnitude (pu)

1
50
voltage

0.8
0

0.6
-50

0.4
-100

0.2
-150

0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 -200
0.5 0.55 0.6 0.65 0.7
time
time

Fig. 15. Phase voltage waveform (a) without re-closure

Fig. 12. Variation in parameters during islanding controller (b) with re-closure controller
(a) Frequency (b) Magnitude
250

200
80
150

60 100

50
voltage

40

0
20
current

-50
0
-100

-20 -150

-40 -200

-250
-60 0.2 0.3 0.4 0.5 0.6 0.7 0.8
time
-80
0.25 0.3 0.35 0.4 0.45
time

Fig. 13. Line Current without current controller 200

150
250
100
200

150 50
voltage

100
0

50
voltage

-50
0
-100
-50

-100 -150

-150 -200
0.3 0.4 0.5 0.6 0.7 0.8
-200 time
-250
0.25 0.3 0.35
time
0.4 0.45
Fig. 16. Synchronization for grid reconnection (a) without re-
Fig.14(a). Line Voltage without Voltage controller closure algorithm (b) with re-closure algorithm
 B. Without and with synchronization controller V. CONCLUSION
At first, simulation was conducted when the microgrid is Current and voltage Control techniques have been developed
connected to the utility grid without any synchronization for grid connected and intentional islanding modes of operation
controller. The grid was disconnected by setting the status in using PI controllers. An intentional islanding detection
three phase circuit breaker as closed initially and transition algorithm responsible for switching between current control
time at 0.3s. Fig. 13 and Fig. 14(a) show the inverter currents and voltage control is developed using logical operations and
and voltages at the point of common coupling. The occurrence proved to be effective. The reconnection algorithm coupled
of transients at 0.3s is seen clearly. Occurrence of large with the synchronization controller enabled the DG to
transient during the instant of grid reconnection is undesirable. synchronize itself with the grid during grid reconnection. The
Fig. 15(a) shows the phase voltage at PCC without the performance of the microgrid with the proposed controllers and
implementation of any resynchronization algorithm. Fig. 16(a) algorithms has been analyzed by conducting simulation on
shows per phase voltage at both sides of PCC in the absence of dynamic model using SIMULINK. The simulation results
presented here confirms the effectiveness of the control
resynchronization controller. It can be observed that the system
scheme.
takes longer duration to achieve the synchronization, which is
quite undesirable for the loads. Grid current doesn’t get
influenced under the effect of synchronous controller, as there
REFERENCES
will not be any supply of current to the load from the utility
[1] L. Shi, M.Y. Lin Chew. “A review on sustainable design of renewable
grid during standalone mode. energy systems,” science direct journal present in Renewable and
Sustainable Energy Reviews, Vol. 16, Issue 1, 2012, pp. 192–207.
The grid was then reconnected at 0.6s. The microgrid [2] Q. Lei, Fang Zheng Peng, Shuitao Yang. “Multi loop control method
for high performance microgrid inverter through load voltage and
continuous to operate in synchronous islanding mode until both current decoupling with only output voltage feedback,” IEEE Trans.
the utility system and the microgrid system is resynchronized. power. Electron, vol. 26, no. 3, 2011, pp. 953–960.
Fig. 16(b) shows the synchronization of voltage at both sides of [3] J. Selvaraj and N. A. Rahim, “Multilevel inverter for grid-connected PV
system employing digital PI controller,” IEEE Trans. Ind. Electron.,
the PCC in the presence of resynchronization controller. On vol. 56, no. 1, 2009, pp. 149–158.
investigating from the beginning of intentional islanding mode, [4] I. J. Balaguer, Fang Zheng Peng, Shuitao Yang, Uthane Supatti Qin
the system achieves synchronization in much less time Lei. “Control for grid connected and intentional islanding modes of
operations of distributed power generation,” IEEE Trans. Ind.
comparing with that system without synchronization controller. Electron., vol. 56, no. 3, 2009, pp. 726–736.
With the implementation of resynchronization controller [5] R. J. Azevedo, G.I. Candela, R. Teodorescu, P.Rodriguez , I.E-Otadui
algorithm, the DG voltage is forced to track the voltage at the “Microgrid connection management based on an intelligent connection
agent,” 36th annual conference on IEEE industrial electronics
grid. On completion of the synchronization, the DG is society, 2010, pp. 3028–3033.
reconnected to the grid, and the controller will be switched [6] V. Kaura and V. Blasko “Operation of a Phase Locked Loop System
from the voltage to the current control mode. Fig. 15(b) shows under Distorted Utility Conditions,” IEEE Trans. on Ind. Applications,
vol. 33. no. 1,1997, pp. 58–63.
the phase voltage with the synchronization algorithm [7] S.A.O. Silva. and E.A.A. Coelho, “Analysis and Design of a Three-
implemented. This graph depicts the effectiveness of Phase PLL Structure for Utility Connected Systems under Distorted
resynchronization algorithm in avoiding hard transients during Utility Conditions,” in Proc. Conf. Rec. IEEE-CIEP, 2004, pp. 218–
223.
grid reconnection. [8] L.N. Aruddha “PLL structure for utility connected systems,” in IEEE
36th IAS annual meeting in industry applications conference vol.
TABLE I 4,2001, pp. 2655–2660.
DESIGNED VALUES OF PARAMETERS USED FOR SIMULATION [9] C.Cho, J-HongJeon, J-YulKim, S. Kwon, K. Park, S. Kim “Active
synchronizing control of a microgrid,” IEEE Trans. power. Electron,
Symbol Value Description vol. 26, no. 12, 2009, pp. 3707–3719.
[10] I.Vechiu, A.Llaria, O.Curea, and H.C. Technopôle Izarbel “
1mH Filter inductance Control of power converters for microgrid” in 4th international
31µF Filter capacitance conference on EVER MONACO ecological vehicles and renewable
energies , EVER09-181, RE 4 session, 2009.
0.5 mH Filter inductance [11] J. Rocabert, G.Azevedo, I. Candela, R.Teoderescu, P.Rodriguez, J.M.
1.535mF Load capacitance Guerrero, “Intelligent control agent for transient to an island grid,” in
4.585mH Load inductance IEEE international symposium on Ind. Electron, 2009, pp. 2223–
2228.
4.33Ώ Load resistance [12] Sao, C.K. Lehn, P.W, “Intentional islanding operation of converter fed
microgrid,” in IEEE power engineering society general meeting 2006,
Vdc 400V Dc voltage source pp. 6.
Rgrid 0.1 Ώ Grid resistance [13] Sao, C.K. Lehn, P.W, “Islanding control of DG in microgrid,” in IEEE
power engineering society general meeting 2006, pp. 6.
Lgrid 0.1mH Grid inductance [14] M.-T ho, H.zen Wang, “PID controller design with guaranteed gain
Kp, Ki 1.24, 0.02 Voltage loop PI constant and phase margins,” ASIAN Journal of control, vol. 5, no. 3, 2003,
values pp. 374–381.
Kp, Ki 0.8, 50 Current loop PI constant [15] D. Xue, Yang. Chen, and D.P. Atherton, Linear Feedback Control
values 2007 chapter 6, pp. 183–225.
System frequency [16] M.B. Delghavi, A. Yazdani, “A control strategy for islanded operation
f 60hz of a Distributed Resource (DR) unit,” Power & Energy Society
General- Meeting, 2009, PES '09, IEEE 2009, pp. 1–8.
fs 1Khz Switching frequency

vØ 120v Output phase voltage