International Journal of Power Electronics and Drive System (IJPEDS)

Vol. 8, No. 2, June 2017, pp. 654~666

ISSN: 2088-8694, DOI: 10.11591/ijpeds.v8i2.pp654-666  654

Multiple Inverters Operated in Parallel for Proportional Load

Sharing in Microgrid

Chethan Raj D1, D N Gaonkar2

Department of Electrical and Electronics Engineering, National Institute of Technology Karnataka,Surathkal, India

Article Info ABSTRACT

Article history: The new energy source utilization and development, gradual rise of
distributed power grid miniaturization, intelligence, control has become a
Received Jan 30, 2017 trend. In order to make microgrid reliable and efficiently run, control
Revised Mar 30, 2017 technology of microgrid has become a top priority and an inverter as
Accepted Apr 14, 2017 microgrid basic unit, its control has become the most important part in
microgrid. In this paper, three inverters are operated in parallel using an P-
V/Q-F droop control is investigated. Mathematical model of three phase
Keyword: inverter with LC filter is derived, which is based on the voltage and current
dual control loop. Parallel control strategy based on P-V/Q-F droop control,
Distributed generation does not require a real time communications between the inverters and more
Droop control suitable for microgrid applications. To verify the feasibility and validity of
Microgrid the droop control scheme, simulation is done in Matlab/Simulink and results
Parallel inverter indicate droop control has significant effect on power sharing and balancing
Three phase inverter the voltage magnitude, frequency.

Copyright © 2017 Institute of Advanced Engineering and Science.

All rights reserved.

Corresponding Author:
Chethan Raj D,
Department of Electrical and Electronics Engineering,
National Institute of Technology Karanataka,
Surathkal, Mangalore, Karanataka, India.
Email: [email protected]

1. INTRODUCTION
With including wind power, solar and other renewable energy sources and clean and efficient fossil
fuel power generation, including the development of new technologies, distributed generation system are
becoming popular to meet the load growth [1]-[2]. An effective way to take advantage of the efficiency and
reliability of power supply. DGS with less investment, flexible power generation, can be compatible with the
environment, and it is widely used in the power system network, but large-scale penetration DGS also has
some negative impacts, such as distributed generation stand-alone high access costs, control is more
complex [3]. In addition, from the perspective of the system to analyze, DGS is not controllable power
generating unit, so the system is always trying to take the isolated operation. According to the literature [4],
when the power system fails, DGS must immediately out of operation, but this limits the operating mode of
distributed generation, weakening its advantages and potential. To integrate the advantages of distributed
generation and to reduce negative impact of distributed generation on the grid, to optimize the efficiency and
value of DGS, relevant experts proposed the concept of micro-grid [5-6,21].DGs are connected to load
through inverter interface in microgrid. Currently, the AC electrical load and power quality requirements are
high, by increasing the single inverter capacity will lead to more load on the inverter and electrical dependent
increases [7]. The inverters in parallel can achieve high power, reliable and redundant power [8]. There are
many ways to achieve parallel control of inverter in microgrid. Master slave control [9], active current
distribution control [10], droop control[11]-[13].Master slave control strategy needs to focus all inverters
power supply information and send it to control centre. Therefore, this strategy requires a corresponding
communication line to transmit acquisition and control information [9]. active current distribution control is

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IJPEDS ISSN: 2088-8694  655

provided with a reference current for each inverter in parallel, the drawback is single inverter failure will
cause the entire parallel system failure [10]. Droop control avoids the adverse effects of the communication
failure of the inverter. Advantages of droop control is that no contact between the inverters signal line, thus
reducing the unreliability of the system, the cost is relatively low, you can plug and play, allowing the system
to achieve true redundancy [14]-[16]. In this paper, P-V/Q-F droop control is implemented for parallel
inverters in microgrid using Matlab/Simulink simulation environment,to verify the effectiveness of the model
design and control.

2. MICROGRID DROOP CONTROL PRINCIPLE

Consider an ac bus connected to an inverter equivalent circuit is shown in Figure 1. Inverter output
voltage is E , the common load terminal voltage is V0 , the output of the inverter and a common load
end through the inverter connected to the output impedance. The total inverter output impedance is set as
Z , which itself includes an inverter output impedance Zbb and the line impedance is ZLL .

Z 

I*

E Zb b Z L  L
V0

S  P  jQ

Figure 1. AC bus inverter equivalent circuit schematic

The DG unit output power is:

*
 
 Ee j  V 
P  jQ  S  V I *  V  j  (1)
 Ze 

Output current is:

 Ee j (  ) Ve j E cos(  ) V cos E sin    V sin

I  j (2)
Z Z Z

(2) into Equation (1) to give the dg unit output of active and reactive power are as follows:

V
P  [E cos(  ) V cos ] (3)
Z

V
Q   [E sin(   )  V sin  ] (4)
Z

(3) and (4) through simplication can be written as:

V
P  [(E cos   V )cos  E sin  sin  ] (5)
Z

V
Q [(E cos   V )sin   E sin  cos ] (6)
Z
Multiple Inverters Operated in Parallel for Proportional Load Sharing in Microgrid (Chethan Raj D)
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Inverter output impedance is Ze j  R  jX is substituted into the equation (5) and (6) to give:

V
P [R(Ecos   V )  XE sin  ]
R  X2
2
(7)
V
Q 2 [ X (E cos  V )  RE sin  ]
R  X2

According to the Equation (7) , the transfer impedance is inductive   900 ,so active and reactive equation
is given by:

EV sin 
P (8)
X

EV cos   V 2
Q (9)
X

Typically connection impedance is much smaller than the load impedance,  is very small, thus
sin    ,cos   1 substituted into the equation (8) and (9) to give:

EV 
P (10)
X

EV V 2
Q (11)
X

As it can be seen from the Equation (10) and (11),active and power-related angle, which is related to the
frequency of the output voltage, reactive power and voltage amplitude related to the difference ,it is possible
to use active power to adjust the frequency, reactive power to regulate the voltage amplitude, which is the
traditional droop control [10]-[11]. The droop control equation is given by

  *  m(P P* ) (12)

E  E*  n(Q Q* ) (13)

The inverter no-load output voltage amplitude and frequency are V*,ω*,active and reactive droop
co-efficients are m,n. The inverter rated output active and reactive power are P *,Q*. When the transfer
impedance is purely resistive that  =0, the same above derivation of active and reactive power can be
obtained:

EV V 2
P (14)
R

EV 
Q (15)
R

By Equation (14) and (15) can be seen, the difference between active and voltage amplitude related to
reactive power and power related angle, which is P-V/Q-F droop control method. m,n droop co-efficients.

  *  n(Q  Q* ) (16)

E  E*  m(P P* ) (17)

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IJPEDS ISSN: 2088-8694  657

 E
 *
E*

m1 m2 n1 n2

0 P1 P2 P 0 Q1 Q2 Q

Figure 2. Droop Control Curve

E 

E* *

n1 n2 m1 m2

0 P1 P2 P 0 Q1 Q2 Q

Figure 3. Reverse Droop Control Curve

3. MODELING OF MICROGRID
3.1. Microgrid Block Diagram
Microgrid is mostly a miniature power, namely small units contain power electronics interface,
including microturbines,fuel cells, photovoltaic cells, batteries and other storage unit.Microgrid as a whole is
composed of a voltage source inverters using SPWM modulation as shown in the Figure 4, then assuming
that the inverter dc bus voltage Vdc essentially unchanged Lf1,Lf2,Lf3 is a three phase filter inductor, r1,r2,r3
filter inductor equivalent resistance, Cf1,Cf2,Cf3 is a three phase filter capacitor. Comprehensive equivalent
line impedance of the transmission line of three inverters is expressed as Z 1=R1+jX1, Z2=R2+jX2, Z3=R3+jX3,.
PCC represents a common connection point for inverters.

3.2. Three Phase Inverter dq model

Three phase voltage source inverter with three phase full bridge topology the details of the structure
as shown in the Figure 5. Inverter leg midpoint voltage VA, VB, VC. Inverter output terminal voltage vao, vbo,
vco. Three phase inductor current respectively iLa, iLb, iLc. Load side three phase inverter output current
[17]-[18]. According to Kirchhoff's voltage law and current law can be obtained as:

diLa di di
VA  vao  Lf  riLa ,VB  vbo  Lf Lb  riLb ,VC  vco  Lf Lc  riLc (18)
dt dt dt

Kirchhoff's current law can be obtained as:

dvao dv dv
iLa  iao  C f , iLb  ibo  C f bo , iLc  ico  C f co (19)
dt dt dt
Multiple Inverters Operated in Parallel for Proportional Load Sharing in Microgrid (Chethan Raj D)
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According to the principle of equal amplitude conversion, its transformation matrix is:
 1 1 
1   
2 2 2
Tabc     (20)
3 3 3
0 2  2 

three phase voltage source inverter  equation of state two phase stationary co-ordinate system:

 r 1   1 
 L 0 
Lf
0   0 0
Lf
0
 f   
 iL   1  i   1  io 
0    L   0
r
   0 L 0 0 
L f  io 
d iL   f L f  iL  
  v    1 (21)
dt vo   1 v 
  0 0 0   o   0 0 0   
vo   C f  vo   C f
 
  v 
    
 0 1
0 0   0  1 0 0 
 C   Cf
 f   

According to the principle of equal amplitude transformation ,αβ two phase rotating co-ordinate
transformation matrix is:

 cos(t) sin(t) 
T dq    (22)
 sin(t) cos(t)

 1   1 
 0 
Cf
0   C iod 
   f 
vod   1  vod    1 i 
    0 0  
C f  voq   C f 
oq 
d voq   (23)
  i    v 
dt  iLd   1 r
   0     Ld   d 
 iLq   L f Lf   iLq   L f 
   
 0 
1
  
r  vq 
 Lf L f   L 
  f 

Equation (23) is the three phase voltage source inverter dq mathematical model in two phase rotating
co-ordinate system.

3.3. Voltage and current dual loop

The typical voltage and current dual loop control strategy, which has fast response, can
automatically and easily achieve both limiting flow in parallel inverter. Its control structure as shown in the
Figure 6.The output voltage is compared with a reference voltage signal and the resulting error signal through
the instantaneous voltage as current inner loop PI controller setpoint reference. Inverter bridge output filter
inductor current and the current given reference signal is compared, the error signal obtained through
instantaneous current loop PI controller as SPWM modulated voltage signal [19]. The introduction of the
inner filter inductor current improves the stability of the microgrid system. The design of voltage loop and
current loop are given in the following section.

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IJPEDS ISSN: 2088-8694  659

Figure 4. Droop control block diagram of parallel inverter

Q1 Q3 Q5
i L iao v
La
f
r ao

V A
iLb ibo vbo
V
Vdc B
iLc ico
V
C

v co
Q2 Q4 Q6 Cf

Figure 5. Three phase voltage source inverter topology

Multiple Inverters Operated in Parallel for Proportional Load Sharing in Microgrid (Chethan Raj D)
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Figure 6. Voltage and current double closed loop control block diagram

3.4. Current Loop

Where, Ts is a current loop sampling period, Kip and Kii PI controller parameters corresponding to the
current loop,1/(1+0.5T ss) on behalf of interia pwm control,1/(1+T ss) for the current sampling delay and Kpwm
represents the equivalent gain of the inverter(Kpwm=Vdc/2). take the inner current loop cut off frequency

1
fib  f  2000Hz.
5 s

the open loop transfer function given by:

Kip
KPWM Kii (1  s)
Kii
Goi  (24)
L
rs(1  1.5Ts r )(1  f s)
r

Figure 7. Block diagram of the current loop

Figure 8. Bode diagram of the current loop

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The closed loop transfer function of the current loop is:

KPWM Kii
G (s) 1.5Ts r
Gci  oi  (25)
1  Goi (s) s2  1 s  KPWM Kii
1.5Ts 1.5Ts r

n2 1 r KPWM Kii

Gci  ,   0.707, n  (26)
s  2n s  n
2 2 2 1.5K K T
PWM ii s 1.5Ts r

r Lf
Kii  , Kip  , K  1.90, K pi  0.02857 (27)
3Ts KPWM 3Ts KPWM ii

3.5. Voltage Loop

Figure 9. Block diagram of the voltage loop

When type1 system designed according to the typical current loop, it can be approximately equivalent to
inertia time constant of 3Ts.
1
Gci  (28)
1  3Ts s

The cut-off frequency of the voltage loop should be less than 1/2 of the current loop, voltage loop selection
cut off frequency of 800Hz.

Figure 10. Bode diagram of the voltage loop

Multiple Inverters Operated in Parallel for Proportional Load Sharing in Microgrid (Chethan Raj D)
662  ISSN: 2088-8694

To ensure the micro grid inverter parallel operation can maintain a constant voltage in microgrid system.
accordance with its typical type 2 systems design, the voltage loop bandwidth is given by:

Kvp
hu  (29)
4Ts Kvi
type 2 system parameters based on typical tuning relations have:

Kvi h 1
 u2 2 (30)
C 32hu Ts

Take the bandwidth hu=2 into (30) can be obtained as:

1.5C
Kvi   35.15 (31)
64Ts2

1.5C
Kvp   0.0225 (32)
10Ts

Table 1. Parameters for inverter parallel operation

Parameters Inverter 1 Inverter 2 Inverter 3
Rating 3KVA 3KVA 3KVA
DC link voltage(Vdc) 700V 700V 700V
Switching
10KHz 10KHz 10KHz
Frequency(fs)
Fundamental
50Hz 50Hz 50Hz
Frequency(fn)
Nominal
311V 311V 311V
Voltage(Vo)

3.6. Simulation Results

In this section, the P-V/Q-F droop control for parallel inverters is investigated using
Matlab/Simulink simulation platform. Microgrid system consists of three inverter interface as shown in the
Figure 4 and control parameters are given in the Table 1. The following two cases are discussed in the
following section.

3.6.1. Case 1: Power sharing of inverters in microgrid with constant power load
Three inverters are connected in parallel and droop co-efficients and line impedance are taken as
m1=m2=m3=0.0015V/VAR, n1=n2=n3=00001rad/s/W and R1=R2=R3=0.642Ω, X1=X2=X3 =0.0264Ω. Power
sharing of each individual inverters with load P Load=4500W,QLoad=10VAR and each inverters is able to share
the load proportionally, active power of P 1=1495W, P2=1492W, P3=1488W as shown in the Figure 11 and
reactive power of Q1=2.6VAR,Q2=2.4VAR,Q3=2.1VAR as shown in the Figure12. Frequency variation is
within the range of 49.99Hz to 49.98Hz,the maximum fluctuation of 0.004Hz as shown in the
Figure 13. Voltage at PCC can be seen as a slight decline in the voltage amplitude by a 311V to 310V as
shown in the Figure 14. Thus, P-V/Q-F droop control ensures that the voltage change is not greater than 5%,
the frequency change is not greater than 1% and established a better accuracy and effectiveness in the
microgrid system.

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IJPEDS ISSN: 2088-8694  663

Figure 11. Active power waveforms of inverters with constant power load

Figure 12. Reactive power waveforms of inverters with constant load

Figure 13. Frequency waveforms of inverters

Figure 14. Voltage at PCC(RMS)

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3.6.2. Case 2: Power sharing of inverters in microgrid with step changes in the power load
Three inverters are connected in parallel and droop co-efficients and line impedance are taken as
m1=m2=m3=0.0015V/VAR, n1=n2=n3=00001rad/s/W and R1=R2=R3=0.642Ω,X1=X2=X3 =0.0264Ω.Power
sharing of each individual inverters is investigated with total load P Load=6000W,QLoad=16VAR. The variation
of the load are set at 0.5s. At t=0 to 0.5s total load is P Load1=4500W,QLoad1=10VAR and each inverters is able
to share the load proportionally, active power of P 1=1495W,P2=1492W,P3=1488W and reactive power of
Q1=2.6VAR,Q2=2.4VAR,Q3=2.1VAR .At t=0.5s additional load P Load2=1500W,QLoad2=6VAR is added in to
the microgrid system and each inverters is able to share the load proportionally,P1=1989W,
P2=1983W,P3=1977W as shown in the Figure 15 and reactive power of Q1=4.3VAR,Q2=3.8VAR,
Q3=3.3VAR as shown in the Figure 16. Frequency variation of inverters is within the range of 49.99Hz to
49.98Hz,the maximum fluctuation of 0.004Hz as shown in the Figure 17. Voltage at PCC can be seen as a
slight decline in the voltage amplitude by a 311V to 309V as shown in the Figure 18. Thus, P-V/Q-F droop
control ensures that the voltage change is not greater than 5%,the frequency change is not greater than 1%
and established a better accuracy and effectiveness in the microgrid system.

Figure 15. Active power waveforms of inverters with step change load

Figure 16.Reactive power waveforms of inverters with step change load

Figure 17. Frequency waveforms of inverters

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Figure 18. Voltage at PCC(RMS)

4. CONCLUSION
This paper presents a droop control for the stable operation of the inverters in parallel in the absence
of interconnection signal line. In order to achieve proportional load sharing among parallel inverters, droop
control has been implemented based on voltage and current control strategy. During the load changes
microgrid system with droop control quickly responds to suppress voltage and frequency fluctuations.
Simulation results show that the droop control strategy can effectively improve the accuracy of load power
distribution and has a good dynamic and steady state characteristics.

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BIBLIOGRAPHY OF AUTHORS

Chethan Raj D received his M.Tech fromM S Ramaiah institute of technology Bangalore
(MSRIT) in the year 2011. Currently he is pursuing his Ph.D. research work in the Department of
Electrical and Electronics Engineering at NITK Surathkal. His areas of research interests are
Distrubuted generation, microgrid control and parallel operation of inverters in microgrid.

D N Gaonkar received his Ph.D. from the Indian Institute of technology,Roorkee,India,in

2008.He was a visiting scholar at the University of Saskatchewan Canada, and he is working as
an assistant professor in the Department of Electrical and Electronics Engineering, National
Institute of Technology Karnataka Surathkal, India. He has published many articles in
international journals/conferences and is a senior member of the IEEE. His main research
interests are in the areas of power system operation and control, DG, and power electronics.

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