Innovative Project Proposal

On
“SIMULATION OF PR CONTROLLER’’

Submitted by:

Prajeet Shukla
2K20/PES/13

Submitted under MTE to Dr. Vishal Verma

for
Grid Connected Power Electronic Systems (GCPCS)

Even Semester 2020-21

Department of Electrical Engineering

Delhi Technological University (formerly Delhi College of Engg.)
Delhi-110042, India.
Objective:
What is Proportional Resonant Controller (PR Controller)?
Simulate an off-grid voltage-controlled inverter based on PR controller (1kW)
and take load voltage – 415V (line to line). Give the design details for the same.

PR controller:
The structure of the PR controller is linear and the controller design is based on
a linear model of the controlled plant. The most commonly used linear
controller is proportional and integral (PI) controller, which can track a DC
reference without steady-state error. The structure is simple and easy to be
applied. However, only the DC reference signal can be controlled through a PI
controller. Other kinds of reference signals like the sinusoidal reference cannot
be tracked without errors. Hence, the proportional and resonant (PR)
controller is proposed to track the sinusoidal reference. In essence, the
resonant controller is an extension of integral control in the frequency domain,
which is not just aimed at the zero frequency but can be used at any desired
frequency.
Through the PR controller, the sinusoidal current or voltage can be controlled
in the stationary frame without complex coordinate transformation. However,
when the frequency is various, an adaptive resonant controller should be
designed, otherwise the control accuracy cannot be guaranteed. When the grid
voltage is distorted with multifrequency harmonics, a series of resonant
controllers should be employed in the control structure which will make the
controller design complex and cumbersome to do the discretization in digital
controller.
It should be noted that an important characteristic of linear controller is that
the application and design of linear controller are all based on a linear system.

PR controller
The transfer function of PR controller can be obtained by shifting the
integrator part of the conventional PI controller to both positive and negative
fundamental frequency:
 ki Ki 2 ki s
G PR ( s )=k p+ + =k p+ 2
ideal
s− j ω0 s+ j ω0 s +ω 02

where k p, k i are the proportional and integral parameters of the PI part, ω is

the tuned resonant frequency.

However, it should be pointed out that the PR controller expression as shown

above is an ideal one, which is quite sensitive to the grid frequency variation.
Thus, the practical PR controller is adopted by the following equation:
k r ωc s
G PR ( s )=k p+
s +ω c s +ω 2
ideal 2

where k r is the resonant gain, ω c is the resonant bandwidth introduced to

increase the control bandwidth and improve the robustness against the grid
frequency variation, ω0 is the resonant frequency of 50 Hz.

Fig.1 Implementation of PR controller.

The PR controller can be applied for the current control in VSC as illustrated in
Fig. 1. Since the resonant controller is capable of regulating the alternating
signal, the Park transformation can be avoided and the control structure is
implemented in the stationary frame.
Basics of Proportional-Resonant Control:
Control in the rotating frame supposes amplitude demodulation of the AC
variables, control of the envelopes (DC variables) on d and q channels, then
amplitude modulation in order to obtain the AC control input(s).

Fig.2 AC variable control by demodulation-modulation

This approach is illustrated in Fig. 2, where e AC represents the AC error signal

and u A C is the AC control input signal. The error is demodulated through
multiplication with sine and cosine of the grid phase (electrical angle), thus one
signal centered on the DC component and another centered on the 2ω0
component (ω0 being the grid frequency) are obtained. If PI controllers in Fig.
9.10 are used, then one can obtain zero steady-state error for the DC
component. Controller outputs are further modulated and by summing them
up one obtains the AC control signal, u AC . Note that the expression of u AC does
not contain the 2ω0 signal as its components cancel each other by summing.

The transfer function of the PI controller used in the dq frame is, as usual,
Ki
H dc (s)=K p + …….. equation (01)
s
Now, by analysing the diagram in Fig. 2 the time-domain expression of the
control input u AC is,
u Ac ( t )=[ ( e AC cos ω 0 t ) ⨂ h DC ( t ) ] cos ω0 t+ [ ( e AC sin ω 0 t ) ⨂ h DC ( t ) ] sin ω0 t

……. equation (02)

where h DC (t) is the controller impulse response and ⨂ denotes the convolution
product.

The final aim is to obtain a controller whose transfer function, denoted by

H A C ( s ) ,has the same frequency response with the one given by Eq. (02),
without using the demodulation-modulation action.
Such a system may be represented in the s domain by the equation
U A C ( s ) =H A C ( s ) . E A C ( s )

……… equation (03)

where E AC ( s ) and U AC ( s )are the Laplace images of the error and the control
input, respectively.

In the time domain, this is expressed as

u Ac ( t )=h A C ( t ) ⨂ e Ac ( t ) ………… equation (04)
where, h AC ( t )is the impulse response of the equivalent AC controller.

In Eq. (02), one makes the notations

1
f 1 ( t )= h DC ( t ) ⨂ ( e Ac ( t ) cos ω 0 t ) ………… equation (05)
2
1
And, f 2 ( t )= 2 h DC ( t ) ⨂ ( e Ac ( t ) sin ω0 t ), ………… equation (06)

respectively, taking account of the convolution product being commutative.

Their Laplace images may be computed as follows
F 1(s)=L[( h DC ( t ) ⨂ e AC cos ω0 t ) ¿ = H DC ( s ) ⨂ L ( e AC .cos ω0 t ) …
…… equation (07)

By using the Laplace transform property of frequency shifting, we get,

1
F 1(s)= H DC ( s ) . ( E Ac ( s + j ω0 ) + E Ac ( s− j ω0 ) ) …
2
……… equation (08)

Similarly,
j
F 2(s)= H DC ( s ) . ( E Ac ( s + j ω0 ) −E Ac ( s− j ω 0 ) ) …
2
……… equation (09)

The Laplace image of the controller output is U Ac ( s ) ,

1 j
U Ac ( s ) = H DC ( s ) . ( E Ac ( s + j ω 0 )+ E Ac ( s− j ω0 ) ) + H DC ( s ) . ( E Ac ( s + j ω 0 )−E Ac ( s− jω 0 ) )
2 2
………… equation (10)

By replacing the values F1(s) and F2(s) as given by eqs. (08) and (09) into Eq.
(10) and by using (03) we get,
1
H A C ( s)= H ( s + j ω 0 ) + H DC ( s− j ω0 ) ) …
2 ( DC
……… equation (11)

An alternative to eq. (11), when the reference signal bandwidth is small in

comparison to the reference frequency itself, is to use the low-pass-to-band-
pass filter transformation method developed in filter synthesis.
In this way the equivalent AC controller transfer function that results is
 2kis
H AC (s)=k p+ ………… equation (12)
s2 +ω 02

The the second term from eq. (12) provides infinite gain at a certain frequency
ω0 – the resonance frequency – which may be different from zero, thus
allowing zero steady-state error to be obtained at ω0.

Now, suppose that in Fig. 3 the current controller has the transfer function
given in Eq. (12) (i.e., is a PR one).

Fig.3 AC current control loop for PR converter.

In this case the closed-loop transfer function is

H p ( s ) H AC ( s )
H 0 ( s )=
1+ H p ( s ) H AC ( s )
v DC
[k p s 2+ 2k i s+ k p ω20 ]
L
¿
3 1 2 2 k i v DC ω 20
L
2
s + ( k p v DC + r ) s + ω 0+ ( L )
s+ (k p v DC + r)
L
Design:
Load voltage (L-L) = 415 V
Power output (S) = 1000VA
V2
Q= =5 % S
1
( )
2 πfc

Capacitance (C) =6.23 μF

V DC 750
L= = =3.97mH
n∗f Sw∗Δ I max 4∗10000∗1.178

1.) Voltage Controller

K p =Capacitance / Time constant

= 6.23 μF /200 μ S
= 0.03115
2.) Current Controller
K p =Inductance / Time constant
= 4m F /150 μS
= 27

3.) Value of Kr

kr ωn
G n=
ω 2n−ω 20

1
ω n=
√ LC

ω 0=2∗π∗f
 Taking initial guess value from zero onwards and by hit and trial method
we get the value of 100 for voltage controller and 400 for current
controller.

Bode Plot of PR Resonant controller:

MATLAB Schematic:
Results:

Fig. a) Load voltage

b) Load Current (load being switched between 0.2 to 0.3 sec to check the
tuning)
c) Inverter Current (load being switched between 0.2 to 0.3 sec to check the
tuning)
d) Reference voltage
References:
1. Control of Power Electronic Converters and Systems Volume 1, by Frede
Blaabjerg.
2. Power Electronic Converters Modeling and Control with Case Studies by
Seddik Bacha • Iulian Munteanu Antoneta Iuliana Bratcu.
3. T. D. C. Busarello, J. A. Pomilio and M. G. Simões, "Design Procedure for
a Digital Proportional-Resonant Current Controller in a Grid Connected
Inverter," 2018 IEEE 4th Southern Power Electronics Conference (SPEC),
Singapore, Singapore, 2018, pp. 1-8
4. T. D. C. Busarello, J. A. Pomilio and M. G. Simoes, "Design Procedure for
a Digital Proportional-Resonant Current Controller in a Grid Connected
Inverter," 2018 IEEE 4th Southern Power Electronics Conference (SPEC),
2018, pp. 1-8, doi: 10.1109/SPEC.2018.8636052.
5. Grid Converters for Photovoltaic and Wind Power Systems Remus
Teodorescu, Marco Liserre and Pedro Rodríguez © 2011 John Wiley &
Sons, Ltd. ISBN: 978-0-470-05751-3