Passivity-Based Stability Assessment of Grid-Connected Vscs-An Overview
Passivity-Based Stability Assessment of Grid-Connected Vscs-An Overview
Passivity-Based Stability Assessment of Grid-Connected Vscs-An Overview
fully edited. Content may change prior to final publication. Citation information: DOI
10.1109/JESTPE.2015.2490549, IEEE Journal of Emerging and Selected Topics in Power Electronics
IEEE JOURNAL ON EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS 1
Abstract The interconnection stability of a grid-connected frequency ranges [2], as have electrical machines (due to the
voltage-source converter (VSC) can be assessed by the passiv- induction generator effect [24]). Yet, if it can be ascertained
ity properties of the VSC input admittance. If critical grid that every grid-connected VSC has a nonnegative conductance
resonances fall within regions where the input admittance acts
passively, i.e., has nonnegative real part, then their destabilization in frequency regions where critical grid resonances appear
is generally prevented. This paper presents an overview of i.e., partial passivitythen it is unlikely that the VSCs will
passivity-based stability assessment, including techniques for induce resonance destabilization. Grid codes based on this
space-vector modeling of VSCs whereby expressions for the concept are enforced by several European administrations of
input admittance can be derived. Design recommendations for electrified railways. It is typically required that nonnegative
minimizing the negative-real-part region are given as well.
conductance above the fifth harmonic frequency must be
Index Terms Converter control, passivity, resonances, stabi- demonstrated for any new or retrofitted active-front-end rail
lization.
vehicle to be approved [25], [26].
The main objective of this paper is to make a comprehen-
I. I NTRODUCTION sive overview of the passivity properties of the VSC input
2168-6777 (c) 2015 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI
10.1109/JESTPE.2015.2490549, IEEE Journal of Emerging and Selected Topics in Power Electronics
IEEE JOURNAL ON EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS 2
2168-6777 (c) 2015 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI
10.1109/JESTPE.2015.2490549, IEEE Journal of Emerging and Selected Topics in Power Electronics
IEEE JOURNAL ON EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS 3
By inner it is meant that outer control loops, i.e., the PLL With the total time delay expressed in the sampling period as
and the DVC, are not yet taken into account. Owing to the Td = nTs = 2n/s , a bandwidth selection recommendation
dq decoupling and the angle-adjustment factor, Gci (0) = 1 can be obtained as
irrespective of Fc (0). c m
s
. (16)
Remark 1: In (5), each ROGI pair at h = 6, 12, . . . can, 2 2n
provided that h = h and h = h , be merged into a The selection recommendation c s /10 of [38] is obtained
second-order generalized integrator (SOGI) [35], [36] as as a special case of (16), e.g., for m = /5 = 36 and
n = 1.5.
h ejh h ejh s cos h h1 sin h
+ = 2h . (9)
s jh1 s + jh1 s2 + (h1 )2 E. Outer Control Loops
This reduces the total computational burden, since complex To save space, the loop which, via iref
q , controls the reactive
coefficients are avoided. If desired, the ROGI for 1 (i.e., power or the PCC-voltage magnitude is disregarded and a
h = 2) can be replaced by an SOGI with h = 2 according constant iref
q is considered, see Fig. 1.
to the right-hand side of (9). 1) PLL: The purpose of the PLL is to track the rotation of
2) -Frame CC: An equivalent -frame implementation the PCC voltage vector, thereby aligning the dq frame (with
of control law (4) can be obtained simply by substituting s angle relative the frame) with the +1 component of Es ,
s, where whose magnitude is E0 . The PLL uses the imaginary part of
s = s j1 . (10) E = ej Es as input signal, which is fed to the PLL controller
Fp (s). This is typically a Pintegral (PI) controller, which can
We get be expressed as
s p ip
vref = ej1 Td [Fc (s)(isref is ) + j1 Lis ]. (11) Fp (s) = 1+ (17)
E0 s
The correspondences to (7) and (8) too are obtained simply where normalization of the input signal is made by the
by substituting s s division by E0 , and where the gains (with dimension angular
esTd Fc (s) frequency) typically are selected as ip < p c . To the
Gsci (s) = (12) PLL-controller output, 1 is added, and the sum signal is then
(s j1 esTd )L + esTd Fc (s)
integrated to form the transformation angle as
1
Yis (s) = . (13) 1
(s j1 e sTd )L + esTd Fc (s) = [Fp (s)Im{E} + 1 ]. (18)
s
Remark 2: It should be observed that the angle-adjustment The PLL thus forces Im{E} to zero in the steady state
factor and the dq decoupling term remain in (11), which is (disturbances disregarded), leaving E = E0 . Assuming power-
not common practice in -frame control. However, both invariant space-vector scaling or p.u. values, the complex
are useful in this case as well, as they for +1 compensate converter input power is given by S = Ei [39]. With E = E0 ,
the static voltage drop j1 Lis across the filter inductor, thus we thus have
giving prioritized control of +1. As a result, Gsci (j1 ) = 1
irrespective of Fc (0). S = P + jQ = E0 (id jiq ) (19)
Remark 3: Notice that, even for -frame implementation, which shows that id and iq respectively are the active-power-
controller (5) is designed as referred to the dq frame, i.e., with producing and reactive-power-producing current components.
h = 0, 2, 6, . . . It is then transformed to the frame by 2) DVC: The purpose of the DVC is to make vd track its
the substitution s s = s j1 . reference vdref . With Wd = Cd vd2 /2, the energy balance of the
Remark 4: For -frame control, the ROGIs for 1 can be dc link can be expressed as
merged into an SOGI according to (9). However, replacing dWd Cd dvd2
the ROGIs for harmonics with SOGIs only adds to the = = P Pl (20)
dt 2 dt
computational burden, as the system order doubles for each
where P = Re{S} and Pl is the load power including the
controlled harmonic [34].
converter losses (Pl < 0 for inverter operation). Since id is
3) Bandwidth Selection: A simplified stability analysis of
the active-power-producing current component, the following
the current control loop can be carried out based on the
control law can be used:
assumption that the R parts have negligible impact (which is
Cd (vdref )2
reasonable, given the aforementioned recommendation h iref ref
d = Fd (s)(Wd Wd ), Wdref = . (21)
c ), as has imperfect dq decoupling due to the time delay (i.e., 2
1 esTd 0). Then, Gci (s) Gk (s)/[1 + Gk (s)], where This allows the DVC to be structurally similar to the PLL
controller (17)
c esTd d id
Gk (s) = (14) Fd (s) = 1+ (22)
s E0 s
is the open-loop transfer function. Since |Gk (jc )| = 1, c is and a similar parameter selection recommendation applies, i.e.,
the crossover frequency. Thus, the phase margin is given by id < d c . (A deviation of the value of Cd used in the
control system from the actual value does not give a static
m = + arg Gk (jc ) = c Td . (15) control error, but effectively alters d .)
2
2168-6777 (c) 2015 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI
10.1109/JESTPE.2015.2490549, IEEE Journal of Emerging and Selected Topics in Power Electronics
IEEE JOURNAL ON EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS 4
i i
t t
kTs (k+1)Ts (k+2)Ts (k +3)Ts (k +4)Ts kTs (k+1)Ts
v v
vref vref
t t
2168-6777 (c) 2015 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI
10.1109/JESTPE.2015.2490549, IEEE Journal of Emerging and Selected Topics in Power Electronics
IEEE JOURNAL ON EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS 5
2
T = 1.5T
Re{Ys(j)} (p.u.)
d s
1.5
Td = 0.5Ts
1
0.5
i
0
0.5
100 50 0 50 100
(p.u.)
(a)
2
T =T
Re{Ys(j)} (p.u.)
d s
1.5
T = 0.5T
d s
1
0.5
i
0
0.5
100 50 0 50 100
(p.u.) Fig. 6. Experimental results showing (channel 1) the line-to-line (phases a
(b) to b) PCC voltage and (channel 2) the phase-a grid current during transition
from stable to unstable operation.
Fig. 4. Real parts of the inner input admittance for (a) double-update PWM
and (b) single-update PWM.
5 h = h1Td
t 5
kTs (k+1)Ts
v 11.4 11.3 11.2 11.1 11 10.9 10.8
vref (p.u.)
t
Fig. 7. Real part of the inner input admittance about h = 11 for single-
update PWM with Td = Ts .
can be increased, for a certain m , by 1.5/0.5 = 3 for double- C. Passivity Properties About the R-Part Frequencies
update PWM and by 1/0.5 = 2 for single-update PWM, as
Fig. 7 shows the detail about 11. For the compensation-
shown by (16).
angle selection (24), Re{Yis (j111 )} is a local minimum,
It is generally easier to reduce Td to (or close to) 0.5Ts
so a local negative-real-part region is avoided, as the solid
for single-update PWM than for double-update PWM [43]
curve shows. This holds for all R-part frequencies for which
[45]. This is because for single-update PWM, the sampling
cos(h1 Td ) > 0 and |h1 | < s /2 [4].
instant can be shifted between the positive and negative peaks,
In many publications on PR controllers (including [34]), the
as illustrated in Fig. 5 (where the computational time delay
feature of a compensation angle is not even included, implying
is approximately 0.2Ts ). When vref suddenly decreases, the
h = 0. In that case, negative-real-part regions appear about
current-sampling instant is shifted from the negative to the
the R-part frequencies, as exemplified by the dashed curve
positive carrier peak. This allows the short positive pulse about
in Fig. 7. Although the regions are narrow, the large negative
t = (k + 1)Ts to be generated without timing error.
values obtained for larger |h| may yet be enough to destabilize
For double-update PWM, the sampling instants can be
ill-located grid resonances [4]. Thus, the usage of a properly
shifted away from the peaks, but at the expense of a greatly
selected compensation angle is highly recommended.
increased harmonic content of the current samples [40].
1) Example: Single-update PWM with fs = 10 kHz and
Td = Ts is implemented in the control system for an LCL-
D. Passivity Properties With PCC-Voltage Feedforward
filter-equipped VSC operating with f1 = 50 Hz. The resonant
frequency is 2.1 kHz, i.e., below fcrit = fs /4 = 2.5 kHz. As In [3] it is shown that, if feedforward of the +1 component
can be observed in Fig. 6, the system is initially stable. At the of Es is combined with an R part for +1 [h = 0 in (5)],
center of the displayed time interval, the interrupt for current then a negative-real-part region about +1 results. Caution is
sampling is shifted, so that Td = 1.5Ts is obtained, giving thus advised. In addition, (24) needs to be modified, as shown
fcrit = fs /6 = 1.7 kHz. The resonance now falls within the in [4], to prevent negative-real-part regions about the R-part
negative-real-part region, and as a result, growing oscillations frequencies.
21686777 (c) 2015 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI
10.1109/JESTPE.2015.2490549, IEEE Journal of Emerging and Selected Topics in Power Electronics
IEEE JOURNAL ON EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS 6
IV. PASSIVITY P ROPERTIES OF THE T OTAL I NPUT (30) can be determined by considering (6) for the perturbation
A DMITTANCE quantities, i.e.,
Impact of the PLL and the DVC is now included. The i = Gci (s)iref + Yi (s)E. (31)
complexity of analysis increases markedly, since the dynamics
are nonlinear and imbalanced. Rather than resorting to the Before proceeding to include the DVC, let us discuss the
usage of a multivariable model, involving real space vectors impact just of the PLL by assuming irefd = 0. Since (30)
and transfer matrices [2], [27], modeling is still made using includes Im{E}, it is obvious that the model no longer
complex space vectors and transfer functions. This method is is balanced [27]. Yet, a complex space-vector model can be
akin to that in [10], [15], [17]. The differences are that we elect employed by using the identity Im{E} = (EE )/(2j)
to use the dq frame rather a per-phase analysis (thus, obviating in (30), which gives
the need for deriving separate positive- and negative-sequence
expressions), and that impact of the DVC is considered in i = Y+ (s)E + Y (s)E (32)
addition to the PLL.
where
Gci (s)Gp (s)i0
A. Impact of the PLL for an -Frame CC Y+ (s) = Yi (s) Y (s), Y (s) = .
2
Since a nonlinear system is obtained, linearization must be (33)
made to allow transfer functions to be derived. For this sake, Equation (32) shows that, if E contains just one frequency
a perturbation E about the operating point E0 of the PCC component, e.g., E = E+ ejt , thenbecause of the
voltage is considered. For a constant 1 , this yields the - imbalancetwo components appear in i, as
frame vector
Es = ej1 t (E0 + E). (25) i = Y+ (j)E+ ejt + Y (j)E+ ejt . (34)
| {z } | {z }
i+ i
Introducing a perturbation also in the dq-frame angle, as =
1 t + , gives E = ej Es = ej (E0 + E). This Component i , which may be called an image [27], is
relation can be linearized by approximating ej 1 negative sequence in the dq frame, but as long as < 1 , it
j and by neglecting cross terms between the perturbation is positive sequence in the frame; the components there
quantities, yielding appear as sideband components of +1, at 1 .
Both components, in turn, affect E via the negative
E = E0 + E jE0 . (26) feedback described by (3). If Z(s) has a resonance at, or close
Substitution of (26) in (18) results in to, +, then i+ will be amplified, giving a large amplitude
|E+ | (initially exponentially growing if the resonance gets
Fp (s) Fp (s) destabilized). Because the grid is assumed to be balanced,
= Im{E} E0
s s |Zs (j)| = |Zs (j)|, whereas |Z(j)| 6= |Z(j)| for
Fp (s) 6= 0. Consequently, i is amplified much less by the
= Im{E}. (27)
s + E0 Fp (s) resonance than i+ . The dominant component of E is
| {z }
Gp (s) still E+ ejt . This component may produce active power of
nonzero mean with i+ , according to Re{E+ ejt i+ } =
If the integral term of (17) is neglected, then Gp (s) = [p /(s+ Re{Y+ (j)}|E+ |2 , whereas its interaction with i just
p )]/E0 , i.e., p is the closed-loop PLL bandwidth. produces active-power pulsations of the angular frequency 2.
The dq- and -frame CCs (4) and (11) are equivalent under This motivates neglecting the impact of Y (s) for stability
the design premises stated, concerning the current control analysis of the convertergrid interconnection for a balanced
loop only. However, they differ concerning their PLL impact grid. Caution is advised, though, since in certain degenerated
[15]. For an -frame CC, the dq-frame reference iref is cases, the assumptions may not hold. Moreover, for interaction
transformed into the frame as with an imbalanced grid, which is the case, e.g., for subsyn-
chronous torsional interaction [33] and analysis of multiple-
isref = ej iref = ej(1 t+) (i0 + iref ) (28)
converter systems, a multivariable model, as in [2], must be
where iref is the perturbation about the mean value i0 = used.
id0 + jiq0 . Since a constant iref
q = iq0 is assumed, iref = Similar conclusions are drawn in [10], [15], [17], though
iref
d , where i ref
d is the perturbation impact from the DVC. using somewhat different motivations and a different lineariza-
Equation (28) can be linearized as tion method. In addition, per-phase analysis is used, which
does not allow the existence of an image component to be
isref ej1 t [(1 + j)i0 + iref ] = ej1 t (i0 + iref ) (29) revealed.
where
iref = iref
d + jGp (s)i0 Im{E}. (30) B. Impact of the DVC
The PLL thus acts as an added reference perturbation (in the We now proceed to determine the impact of the DVC.
q direction only in case i0 is real). The closed-loop impact of Combining (20) with (21) and the relation P = Re{Ei } =
2168-6777 (c) 2015 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI
10.1109/JESTPE.2015.2490549, IEEE Journal of Emerging and Selected Topics in Power Electronics
IEEE JOURNAL ON EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS 7
2168-6777 (c) 2015 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI
10.1109/JESTPE.2015.2490549, IEEE Journal of Emerging and Selected Topics in Power Electronics
IEEE JOURNAL ON EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS 8
iq () (p.u.)
1
0
Re{Ys+()} (p.u.)
0 0.8 0
0.2
0.6
0.4 0.1 0.1
q
0.4
+
0.6
0.2 0.2 0.2
i ()
id ()
0.8
d
0
1 0.3 0.3
0 0.5 1 0.5 1 1.5 0 0.5 1 0.5 1 1.5
t (s) (p.u.) t (s) (p.u.)
(a) (b) (a) (b)
0 0 0 0
|DFT{Es}()| (dB)
|DFT{i }()| (dB)
|DFT{is}()| (dB)
10 10
20 20
20 20
s
s
40 40
30 30
40 60 40 60
0.5 1 1.5 0.5 1 1.5 0.5 1 1.5 0.5 1 1.5
(p.u.) (p.u.) (p.u.) (p.u.)
(c) (d) (c) (d)
Fig. 8. Inverter operation with res = 1.38 p.u. (a) Converter-current Fig. 9. Rectifier operation with res = 1.34 p.u. (a) Converter-current
components. (b) Input-admittance real parts, where the dashed curve accounts components. (b) Input-admittance real parts, where the dashed curve accounts
for rectifier operation with Pl = 0.9 p.u. (c) DFT of the converter current. for inverter operation with Pl = 0.9 p.u. (c) DFT of the converter current.
(d) DFT of the PCC voltage. (d) DFT of the PCC voltage.
0.01 0.05
The DVC gives negative impact mainly for rectifier op-
eration [2], which can be deduced by the multiplication by 0 0
Re{Y+()} (p.u.)
+
inverter operation with the same parameter values. For rectifier
s
0.03 0.15
operation, d should not be made larger than necessary to
0.04 0.2
obtain acceptable dynamic performance, in order to minimize
the negative-real-part region. 0.05 0.25
0.5 1 1.5 0.5 1 1.5
Remark 6: It is interesting to note in (40) that, for Gp (s) = (p.u.) (p.u.)
(a) (b)
Gd (s) and a real i0 , terms Gp (s)i0 and Gd (s)i0 cancel in
(40). Thus, identical selections of the PLL controller (17) and Fig. 10. Input-admittance real parts for (a) an -frame CC and (b) a dq-
the DVC (22) removes the dependence of id0 from the input- frame CC for (solid) p = d = 0.5 p.u. and (dashed) p = d = 0.2
admittance characteristics, giving the same passivity properties p.u.
both for inverter and rectifier operation. For moderate gain
selections, then very small negative-real-part regions are ob-
tained, as exemplified in Fig. 10(a). Use proper selection of the R-part compensation angles
Remark 7: If a dq-frame CC is used, a widening of the h according to (24), particularly if R parts are included
negative-real-part region tends to result, as can be observed for higher harmonic orders [4].
in Fig. 10(b). It is therefore generally preferable to use an Do not select the bandwidths of the outer loops, i.e., the
-frame CC. PLL and the DVC, unnecessarily large. This particularly
applies for the PLL in inverter operation and for the DVC
V. C ONCLUSIONS in rectifier operation [2], [11], [23].
An overview of methods for stability assessment based on Use an -frame CC to reduce the PLL impact [46].
the passivity properties of the VSC input admittance was
presented. The modeling and analysis method of Cespedes and R EFERENCES
Sun [10], [15], [17] was generalized. Design recommendations
[1] B. K. Bose, Global energy scenario and impact of power electronics in
for minimizing the negative-real-part regions were derived. 21st century, IEEE Trans. Ind. Electron., vol. 60, no. 7, pp. 26382651,
These recommendations, which, in terms of passivity prop- Jul. 2013.
erties, clarify key results of papers cited in the text, can be [2] L. Harnefors, M. Bongiorno, and S. Lundberg, Input-admittance cal-
culation and shaping for controlled voltage-source converters, IEEE
summarized as follows. Trans. Ind. Electron., vol. 54, no. 6, pp. 33233334, Dec. 2007.
Make the total time delay Td as small as possible. If it can [3] L. Harnefors, L. Zhang, and M. Bongiorno, Frequency-domain
be made equal just to the PWM time delay 0.5Ts [40] passivity-based current controller design, IET Power Electron., vol. 1,
no. 4, pp. 455465, Dec. 2008.
[42], then positive real part of the inner input admittance [4] L. Harnefors, A. G. Yepes, A. Vidal, and J. Doval-Gandoy, Passivity-
is obtained up to the Nyquist frequency. based stabilization of resonant current controllers with consideration of
2168-6777 (c) 2015 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI
10.1109/JESTPE.2015.2490549, IEEE Journal of Emerging and Selected Topics in Power Electronics
IEEE JOURNAL ON EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS 9
time delay, IEEE Trans. Power Electron., vol. 29, no. 12, pp. 6260- [27] L. Harnefors, Modeling of three-phase dynamic systems using complex
6263, Dec. 2014. transfer functions and transfer matrices, IEEE Trans. Ind. Electron., vol.
[5] L. Harnefors, A. G. Yepes, A. Vidal, and J. Doval-Gandoy, Passivity- 54, no. 4, pp. 22392248, Aug. 2007.
based controller design of grid-connected VSCs for prevention of [28] M. Meyer and J. Schoning, Netzstabilitat in grossen Bahnnetzen (in
electrical resonance instability, IEEE Trans. Ind. Electron., vol. 62, no. German), Eisenbahn-Revue International, no. 78, pp. 312317, 1999.
2, pp. 702709, Feb. 2015. [29] A. Paice and M. Meyer, Rail network modelling and stability: The
[6] A. A. A. Radwan and Y. A.-R. I. Mohamed, Assessment and mitigation input admittance criterion, in Proc. 14th Int. Symp. of Mathem. Theory
of interaction dynamics in hybrid ac/dc distribution generation systems, of Netw. Syst., Perpignan, France, June 2000, CD-ROM.
IEEE Trans. Smart Grid, vol. 3, no. 3, pp. 13821393, Sep. 2012. [30] E. Mollerstedt and B. Bernhardsson, Out of control because of
[7] X. Wang, F. Blaabjerg, and P. C. Loh, Proportional derivative based harmonicsAn analysis of the harmonic response of an inverter lo-
stabilizing control of paralleled grid converters with cables in renwable comotive, IEEE Control Syst. Mag., vol. 20, no. 4, pp. 7081, Aug.
power plants, in Proc. IEEE Energy Convers. Congr. Expos. (ECCE), 2000.
pp. 49174924, Sep. 2014. [31] M. Jansson, A. Danielsson, J. Galic, K. Pietilainen, and L. Harnefors,
[8] F. Wang, J. L. Duarte, M. A. M. Hendrix, and P. F. Ribeiro, Modeling Stable and passive traction drives, in Proc. IEEE Nordic Power Ind.
and analysis of grid harmonic distortion impact of aggregated DG Electron. Conf., Trondheim, Norway, 2004, CD-ROM.
inverters, IEEE Trans. Power Electron., vol. 26, no. 3, pp. 786797, [32] N. P. W. Strachan and D. Jovcic, Stability of a variable-speed perma-
Mar. 2011. nent magnet wind generator with weak ac grids, IEEE Trans. Power
Delivery, vol. 25, no. 4, pp. 27792788, Oct. 2010.
[9] J. Sun, Impedance-based stability criterion for grid-connected invert-
[33] L. Harnefors, Analysis of subsynchronous torsional interaction with
ers, IEEE Trans. Power Electron., vol. 26, no. 11, pp. 30753078, Nov.
power electronic converters, IEEE Trans. Power Syst., vol. 22, no. 1,
2011.
pp. 305313, Feb. 2007.
[10] M. Cespedes and J. Sun, Modeling and mitigation of harmonic res-
[34] C. A. Busada, S. Gomez Jorge, A. E. Leon, and J. A. Solsona, Current
onance between wind turbines and the grid, in Proc. IEEE Energy
controller based on reduced order generalized integrators for distributed
Convers. Congr. Expos. (ECCE), pp. 21092116, Sep. 2011.
generation systems, IEEE Trans. Ind. Electron., vol. 59, no. 7, pp.
[11] M. Cespedes and J. Sun, Impedance shaping of three-phase grid-parallel 28982909, Jul. 2012.
voltage-source converters, in Proc. IEEE Appl. Power Electron. Conf. [35] S. Buso and P. Mattavelli, Digital Control in Power Electronics. Morgan
Expo., pp. 754760, Feb. 2012. & Claypool, 2006.
[12] S. Vesti, T. Suntio, J. A. Oliver, R. Prieto, and J. A. Cobos, Impedance- [36] P. Mattavelli, Synchronous-frame harmonic control for high-
based stability and transient-performance assessment applying maximum performance ac power supplies, IEEE Trans. Ind. Appl., vol. 35, no. 3,
peak criteria, IEEE Trans. Power Electron., vol. 28, no. 5, pp. 2099 pp. 864872, May/Jun. 2001.
2104, May 2013. [37] D. G. Holmes, T. A. Lipo, B. P. McGrath, and W. Y. Kong, Optimized
[13] N. Bottrell, M. Prodanovic, and T. C. Green, Dynamic stability of a design of stationary frame three phase ac current regulators, IEEE
microgrid with an active load, IEEE Trans. Power Electron., vol. 28, Trans. Power Electron., vol. 24, no. 11, pp. 24172426, Nov. 2009.
no. 11, pp. 51075119, Nov. 2013. [38] L. Harnefors and H.-P. Nee, Model-based current control of ac ma-
[14] R. Turner, S. Walton, and R. Duke, A case study on the application chines using the internal model control method, IEEE Trans. Ind. Appl.,
of the Nyquist stability criterion as applied to interconnected loads and vol. 34, no. 1, pp. 133141, Jan./Feb. 1998.
sources on grids, IEEE Trans. Ind. Electron., vol. 60, no. 7, pp. 2740 [39] H. Akagi, E. Watanabe, and M. Aredes, Instantaneous Power Theory
2749, Jul. 2013. and Applications to Power Conditioning. New York, NY: WileyIEEE
[15] M. Cespedes and J. Sun, Impedance modeling and analysis of grid- Press, 2007.
connected voltage-source converters, IEEE Trans. Power Electron., vol. [40] D. Pan, X. Ruan, C. Bao, W. Li, and X. Wang, Capacitor-current-
29, no. 3, pp. 12541261, Mar. 2014. feedback active damping with reduced computation delay for improving
[16] X. Wang, F. Blaabjerg, M. Liserre, Z. Chen, J. He, and Y. Li, An active robustness of LCL-type grid-connected inverter, IEEE Trans. Power
damper for stabilizing power-electronics-based ac systems, IEEE Trans. Electron., vol. 29, no. 7, pp. 34143427, Jul. 2014.
Power Electron., vol. 29, no. 7, pp. 33183329, Jul. 2014. [41] C. Zou, B. Liu, S. Duan, and R. Li, Influence of delay on system
[17] M. Cespedes and J. Sun, Mitigation of inverter-grid harmonic resonance stability and delay optimization of grid-connected inverters with LCL
by narrow-band damping, IEEE J. Emer. Sel. Topics Power Electron., filter, IEEE Trans. Ind. Informat., vol. 10, no. 3, pp. 17751784, Aug.
vol. 2, no. 4, pp. 10241031, Dec. 2014. 2014
[18] X. Wang. F. Blaabjerg, and W. Wu, Modeling and analysis of harmonic [42] J. Wang, J. Yan, L. Jiang, and J. Zou, Delay-dependent stability of
stability in an ac power-electronics-based power system, IEEE Trans. single-loop controlled grid-connected inverters with LCL filters, IEEE
Power Electron., vol. 29, no. 12, pp. 64216432, Dec. 2014. Trans. Power Electron., vol. 31, no. 1, pp. 743757, Jan. 2016.
[19] C. Wan, M. Huang, C. K. Tse, and X. Ruan, Effects of interaction [43] H. Deng, R. Oruganti, and D. Srinivasan, PWM methods to handle
of power converters coupled via power grid: A design-oriented study, time delay in digital control of a UPS inverter, IEEE Power Electron.
IEEE Trans. Power Electron., vol. 30, no. 7, pp. 35893600, Jul. 2015. Letters, vol. 3, no. 1, pp. 16, Mar. 2005.
[44] P. Mattavelli, F. Polo, F. Dal Lago, and S. Saggini, Analysis of control-
[20] Y. Tao, Q. Liu, Y. Deng, X. Liu, and X. He, Analysis and mitigation
delay reduction for the improvement of UPS voltage-loop bandwidth,
of inverter output impedance impacts for distributed energy resource
IEEE Trans. Ind. Electron., vol. 55, no. 8, pp. 29032911, Aug. 2008.
interface, IEEE Trans. Power Electron., vol. 30, no. 7, pp. 35633576,
[45] D. Yang, X. Ruan, and H. Wu, A real-time computation method with
Jul. 2015.
dual sampling modes to improve the current control performances of
[21] X. Wang, Y. Pang, P. C. Loh, and F. Blaabjerg, A series-LC-filtered
the LCL-type grid-connected inverter, IEEE Trans. Ind. Electron., vol.
active damper with grid disturbance rejection for ac power-electronics- 62, no. 7, pp. 45634572, Jul. 2015.
based power systems, IEEE Trans. Power Electron., vol. 30, no. 8, pp.
[46] B. Wen, D. Boroyevich, R. Burgos, and P. Mattavelli, Input impedance
40374041, Aug. 2015.
of voltage source converter with stationary frame linear current regu-
[22] X. Wang, Y. W. Li, F. Blaabjerg, and P. C. Loh, Virtual-impedance- lators and phase-locked loop, in Proc. IEEE Energy Convers. Congr.
based control for voltage-source and current-source converters, IEEE Expos. (ECCE), pp. 42074213, Sep. 2013.
Trans. Power Electron., vol. 30, no. 12, pp. 70197037, Dec. 2015.
[23] B. Wen, D. Boroyevich, R. Burgos, P. Mattavelli, and Z. Shen, Analysis
of D-Q small-signal impedance of grid-tied inverters, IEEE Trans.
Power Electron., early access.
[24] P. M. Anderson, B. L. Agrawal, and J. E. Van Ness, Subsynchronous
Resonance in Power Systems. New York, NY: IEEE Press, 1990.
[25] M. Aeberhard, M. Meyer, and C. Courtois, The new standard EN
50388-2, Part 2 - stability and harmonics, Elektrische Bahnen, no.
Special 1, pp. 2835, 2014.
[26] D. Dujic, C. Zhao, A. Mester, J. K. Steinke, M. Weiss, S. Lewdeni-
Schmid, T. Chaudhuri, and P. Stefanutti, Power electronic traction
transformer low-voltage prototype, IEEE Trans. Power Electron., vol.
28, no. 12, pp. 55225534, Dec. 2013.
2168-6777 (c) 2015 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI
10.1109/JESTPE.2015.2490549, IEEE Journal of Emerging and Selected Topics in Power Electronics
IEEE JOURNAL ON EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS 10
2168-6777 (c) 2015 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.