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/TEC.2018.2839702, IEEE
Transactions on Energy Conversion

Ship-to-Shore vs. Shore-to-Ship

Synchronization Strategy
Robert Smolenski, Member, IEEE, Grzegorz Benysek, Mariusz Malinowski, Fellow, IEEE,
Marcin Sedlak, Sebastian Stynski, Member, IEEE and Marek Jasinski, Senior Member, IEEE

Abstract— Presented in the paper is a novel approach to and particulate matter, as well as burdensome acoustic noise
synchronization of shore and ship power systems, providing a and vibrations. Furthermore, it is well known that the quality
blackout-free supply from the shore. An application of the shore- of marine fuel oil is low, e.g., heavy fuel oil contains 2700
to-ship synchronization strategy, proposed in the paper, instead of
the commonly used ship-to-shore synchronization, enables a fuller times more sulfur compounds than the fuel for cars [4] and
exploitation of the high dynamic offered by power electronic according to related regulation 100 times for fuel used at
converters. Converters are increasingly being used in shore- berths.
to-ship supply arrangements in order to ensure the required The raising of public awareness about the need for protec-
levels of voltages and frequencies, specified in shore-supply tion of the environment, especially in places of continuous
related standards. Simulation results, supported by preliminary
tests in small-scale experimental arrangements, have confirmed human exposure, has led to the elaboration of national and
that shore-to-ship applications might significantly improve the international legislation and regulatory acts relevant to mar-
dynamics of the synchronization as well as the parameters of the itime ports, which are usually located in densely populated
load transferring process, especially under distorted ship voltage coastal areas. The regulations concerning the above mentioned
conditions. problems are especially visible in Annex VI ”Prevention of Air
Index Terms— shore connection, converters, synchronization, Pollution from Ships” of the International Convention for the
communication Prevention of Pollution from Ships, issued by the International
Maritime Organization (IMO). The requirements concerning
I. I NTRODUCTION exhaust emissions were made more stringent in 2008. More-
over, in July 2011 the IMO hinted at the implementation of

T HE observed tendencies in international regulations as

well as economic factors have indicated that the dynamic
development of Shore-to-Ship (S2SP) systems should be ex-
measures leading to reduction of the emission of greenhouse
gases from ships at berth.
A reasonable approach to the reduction of emission from
pected in the near future [1], [2]. The necessity of a S2SP generating sets is to supply shore-side electricity to ships at
system application is made more urgent by the qualitative and berth. Another important aspect of supply from the shore is the
the quantitative growth of maritime transport. The maritime reduction of electricity costs, because electricity generated on
authorities have anticipated that in 2025 yearly transport by sea land is three times cheaper than energy from generating sets
will have increased three-fold in comparison with 2004 [3]. In- installed on ships. The importance of the problems and the
vestigations have revealed that the diesel engines driving ship necessity of the development of the S2SP systems are reflected
generators, which supply electric energy during docking at in international acts and regulations. In 2007 Californian Air
berths, are responsible for emission of harmful substances such Resource Board introduced ”At-Berth Regulation” concerning
as: nitrogen oxides, sulfur dioxide, carbon dioxide, hydroxides emissions generated from the operation of auxiliary diesel
Manuscript received October, 2017. Accepted for publication May, 2018. engines on certain types of vessels whilst berthed at Califor-
Copyright c 2013 IEEE. Personal use of this material is permitted. nian ports [5]. Similar issues are included in EU directives:
However, permission to use this material for any other purposes must be 2003/96/EC restructuring the EU Community framework for
obtained from the IEEE by sending a request to [email protected]
R. Smolenski is with the Institute of Electrical Engineering, University the taxation of energy products and electricity, 2005/33/EC
of Zielona Gora, Licealna Street 9, 65-417 Zielona Gora, POLAND, (phone: as regards the sulfur content of marine fuels, 2006/339/EC
+48 602652626; fax: +48 6832472935; e-mail: [email protected]) on the promotion of shore-side electricity for use by ships at
G. Benysek is with the Institute of Electrical Engineering, University of
Zielona Gora, Licealna Street 9, 65-417 Zielona Gora, POLAND, (e-mail: berth in EU Community ports and 2014/94/EC directive on
[email protected]) the deployment of alternative fuels infrastructure.
M. Malinowski is with the Institute of Control and Industrial Electronics, The high demands and complexity of issues connected
Warsaw University of Technology, Koszykowa Street 75, 00-662 Warsaw,
POLAND, (e-mail: [email protected]) with a supply of shore-side electricity to ships at berth has
M. Sedlak is with the Institute of Control and Industrial Electronics, Warsaw led to the elaboration (in cooperation with the IMO) of the
University of Technology, Koszykowa Street 75, 00-662 Warsaw, POLAND, European pre-standard IEC/PAS 60092-510:2009 Electrical
(e-mail: [email protected])
S. Stynski is with the Institute of Control and Industrial Electronics, Warsaw installations in ships - Special features - High Voltage Shore
University of Technology, Koszykowa Street 75, 00-662 Warsaw, POLAND, Connection (HVSC) Systems, which describes the general
(e-mail: [email protected]) requirements related to S2SP systems. On this basis the
M. Jasinski is with the Institute of Control and Industrial Electronics,
Warsaw University of Technology, Koszykowa Street 75, 00-662 Warsaw, International Electrotechnical Commission has issued standard
POLAND, (e-mail: [email protected]) HVSC Systems - General requirements [6]. This standard

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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/TEC.2018.2839702, IEEE
Transactions on Energy Conversion

Z1 Z2
iS2SP igen 4A/div
uS2SP ugen
20ms/div
AC AC/DC/AC AC
Converter
LOAD

S2SP SHIP

Fig. 1. Simplified block scheme of S2SP system

Experiment

describes HV shore distribution systems, S2SP connection

and interface equipment, transformers/reactors, semiconduc- Fig. 2. Phase currents of the synchronous generator during synchronization
with low voltage AC grid (representing SP2S case)
tor/rotating convertors, ship distribution systems, control, mon-
itoring, interlocking and Power Management Systems (PMS)
of ships [7].
waveforms of the 15 kW synchronous generator T20F-200/2
Power electronic converters (PECs) have been mentioned in
with rated current 21.7 A, during classical synchronization
the standard as a solution providing supply flexibility, covering
using a commercially available automatic synchronizer, rep-
both 50 Hz and 60 Hz mains frequency standards. However,
resenting the SP2S synchronization strategy. In the waveform
the application of PECs might bring about supplementary mer-
a lower frequency envelope resulting from electromechanical
its, which are not described in the standards and subject matter
time constant is superimposed on the phase currents.
literature [6], [8]–[16]. This paper presents a novel approach
An application of the S2SP synchronization strategy enables
to S2SP system synchronization, as well as the results of
utilization to a fuller extent of the potential of the S2SP
investigations focused on utilization of the power electronic
arrangement consisting of PECs. In this case the shore PEC
converter properties in order to provide high dynamics of the
provides the synchronization with ship’s grid, thus the dynamic
synchronization and soft load transferring process, especially
is limited by electrical time constants of PEC circuits. These
under distorted ship voltage conditions.
time constants are located in the range of milliseconds and are
It should be emphasized that the implementation of the
several orders lower than electromechanical time constants of
proposed solution, realizing S2SP synchronization strategy,
ship’s generator sets. A significantly higher dynamic enables
requires the installation of supplementary control circuits on
flexible control of the load transfer and shortening of the
ships as well as the high speed transmission link. Thus, the
transient states. The first approach, as far as authors know, to
common application of the proposed method is conditioned by
the technical realization of the S2SP synchronization strategy
the effort of standardization groups, which should be aimed
is presented below.
at the elaboration of dedicated standards [17] enabling a
more complete utilization of the advantages offered by power
electronic interfaces of S2SP systems. III. T ECHNICAL R EALIZATION OF A S HORE - TO -S HIP
S YNCHRONIZATION S TRATEGY
II. S HIP - TO -S HORE VS . S HORE - TO -S HIP A. General Description of the Algorithm
S YNCHRONIZATION The technical realization of the S2SP synchronization and
Fig. 1 shows the simplified scheme of the S2SP and load transfer strategy demand elaboration of a novel control
ship power systems [18]–[20] comply with EC/IEEE 80005- algorithm, which meets both technical and standard require-
1 standard. Such an arrangement as well as the regulations ments. In general, smooth load transfer is difficult in the case
included in the standard enable the realization of both Ship- of SP2S systems as the electromechanical time constants of
to-Shore (SP2S) and S2SP synchronization strategies. Cur- generators are high and gives only the opportunity to adjust
rently, even in the case of S2SP arrangements, equipped with low speed, amplitude and phase voltage (it is not possible
with power electronic converters, the SP2S synchronization to track shore voltage distortions, which is crucial to eliminate
strategy is chosen due to its simplicity and the localization unwanted current flow between two voltage sources). The
of the control of the synchronization process on ships. In algorithm for the S2SP synchronization and load transfer by
this case ship’s generators are synchronized with the shore shore PEC, assuring a very high dynamic as well as a smooth
grid using classical techniques. Utilization of the ship PMS load transfer, is presented in Fig. 3. The algorithm is related
for synchronization with the shore power system usually to the voltage control of a shore AC/DC/AC converter as well
fulfills maritime safety regulations. However, in this case the as the circuit breakers Z1 and Z2, shown in Fig. 1. It has been
synchronization dynamic depends on the electromechanical assumed that all of the required control signals are measured
time constants, which are located in the range from seconds to with sufficient accuracy and are transmitted with sufficiently
minutes, depending among others on inertia of diesel engines speed.
and synchronous generators [21]. As an exemplification of the When the shore is connected to the ship and all safety
transient processes, presented in Fig. 2 are the phase current requirements are fulfilled, the S2SP synchronization starts.

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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/TEC.2018.2839702, IEEE
Transactions on Energy Conversion

START PS NS
∫ +
uα,gen -
uα,gen
ωgen + -
uβ,gen uβ,gen
Physical connecting NO ,
- - ∫ u(αβ),gen
k Positive &

+
ωgen

+
, Negative
qu(αβ),gen
Are all of safety requirements met? Sequence
u(αβ),gen DSOGI (αβ ) Components
YES
Fig. 4. Dual Second Order Generalized Integrator (DSOGI) with Positive
Phase synchronization (converter to ship)
and Negative Sequence Components (PNSC) calculator
SHORE AC/DC/AC CONVERTER VOLTAGE CONTROL

NO

Is phase error less than permissible? uα,gen u+α,gen u+q,gen

DSOGI αβ KPLLp ω ωgen 1 Θgen
uβ ,gen
+
PNSC uβ,gen u+d,gen KPLLp + +
+
YES dq TPLLi s s

Close switch Z1 ωgen,init

FLL
Reference value of phase voltage lower than
measured on ship (parallel work)
Fig. 5. PLL structure based on DSOGI-PNSC
Load transferring
(by increasing of referenced phase voltage, up to value
significantly greater than measured in ship electrical grid)
The simulation results mainly focused on the synchronization
NO process and the impact of the S2SP converter voltage uS2SP
Is generators’ current lower than defined value?
waveforms are presented in [22].
(checking d component,q component set to zero)

B. Phase and Frequency Synchronization

YES
The novel concept of S2SP synchronization has been tech-
Open switch Z2
nically realized using the known Phase-Locked Loop (PLL)
Reference value of phase voltage equal to nominal structures allowing synchronization in very short time (in the
ship voltage (supply from shore) range of ms), much shorter than in the case of the SP2S
synchronization strategy [23]–[27]. Within the scope of the
END research the PLL structure based on Dual Second Order
Generalized Integrator with a Positive and Negative Sequence
Fig. 3. Algorithm of load transferring by phase voltage control Components calculator (DSOGI-PNSC) was chosen because
of its immunity to voltage disturbances [22]. The selected PLL
structure was earlier successfully applied and tested in the
After synchronization (phase error is less than permissible) control algorithms of PECs interfacing with renewable energy
the S2SP converter voltages uS2SP are set to slightly lower sources [28], [29].
value than the ship generators voltages ugen (uS2SP = In Fig. 4 the DSOGI-PNSC structure is presented [23], [24],
0.98ugen ÷ 0.99ugen ) and circuit breaker Z1 is closed. Next, [28]. The basic functionality of the DSOGI is to introduce
the load transferring process is started by increasing the infinitive gain at a selected resonant angular frequency to
S2SP converter voltages uS2SP , up to a value slightly greater eliminate a steady state error at that angular frequency. Thus,
than the measured ship generator voltages ugen (uS2SP = the DSOGI for the input ship generator voltages ugen trans-
1.01ugen ÷ 1.02ugen ). Depending on the S2SP converter formed to stationary reference frame αβ generates output in
voltage uS2SP waveforms (sinusoidal or tracking the ship quadrature signals u0(αβ),gen and qu0(αβ),gen . Their amplitude
generators voltages distortions) the load transfer over-currents matches the amplitude of input signals when the resonant
caused by a mismatching of voltage shapes can be significantly angular frequency ωgen (set exclusively by external frequency
reduced. When the generator currents igen are lower than feedback - so-called Frequency Locked Loop (FLL) - shown
the defined value (usually not less than 5%-10% of nominal in Fig. 5 in order to allow the PLL remain properly tuned by
current due to reverse power protection of the generators), the auto-adapting to the frequency changes) matches the angular
circuit breaker Z2 is opened and the S2SP converter voltages frequency of the ship generator voltages ugen .
uS2SP are set to nominal ship voltage values. Eventually the The bandwidth of generated output in quadrature signals
ship is supplied from the shore. When a direct measurement is exclusively
√ set by the DSOGI gain k. With the k set
of the summary ship generators currents igen is not possible, to 2 it gives a critical damping factor equal √12 which
to prevent the generators from working in reverse mode of results in optimal trade-off between settling time, overshoot
operation information (a logical control signal for the circuit and harmonics rejection [24], [28]. The qu0(αβ),gen is always
breaker Z2) provided from the PMS of the ship can be used. 90◦ lagged from the u0(αβ),gen and the lag is neither dependent
Then the process of the load transferring will be extended on the input angular frequency of the ship generators voltages
(from hundreds of milliseconds to tens/hundreds of seconds) in ugen nor on the resonant angular frequency ωgen . Thanks to
−
order to ensure enough time for bi-directional communication. this, the positive (u+
(αβ),gen ) and negative (u(αβ),gen ) sequence

0885-8969 (c) 2018 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/TEC.2018.2839702, IEEE
Transactions on Energy Conversion

60
components of the ugen voltages can be calculated precisely
in a stationary reference frame: 58

Frequency [Hz]
1 0 1 0 56
u+
α,gen = uα,gen − quβ,gen ,
2 2
54
1 0 1 0
u+
β,gen = quα,gen + uβ,gen , 52
2 2
50
1 0 1 0
u−
α,gen = u + qu ,
2 α,gen 2 β,gen 0.00 0.05 0.10 0.15 0.20

Time [s]
1 0 1 0
u−
β,gen = − quα,gen + uβ,gen .
2 2 Fig. 6. DSOGI-PNSC frequency identification response on step change of
Further, in the PLL structure presented in Fig. 5, the positive voltage frequency from 50 Hz to 60Hz in 0.09s moment
components are only used for the determination of the angular
frequency of the ship generator voltages ugen as well as for
the synchronization starts, the initial conditions of phase angle
the phase angle θgen . The input signal for the PI controller
θgen and angular frequency ωgen required by the control algo-
is the positive sequence voltage component in q axis (u+ q,gen )
rithm are not known, and when they are not set properly, the
compared with the reference value equal to 0. This voltage is
synchronization process may take hundreds of milliseconds.
free of any 100 Hz component which represents asymmetry of
However, synchronization time can be significantly reduced
the supply voltages (included in any negative sequence voltage
when initial conditions are properly estimated. The initial
component). If an input error is reduced to 0, the temporary
value of the phase angle θgen can be easily estimated by taking
phase angle is equal to the real value. However, to start the
a single measurement of ship generator voltages ugen before
load transferring the permissible error was set to 0.5% of
starting the synchronization process, and calculated as:
nominal amplitude. The PI in PLL structure has a low-pass
uβ,gen
filtering characteristic, which features in attenuating noise and θgen,init = arctan .
high-order harmonics in input signal. Moreover, the dynamic ua,gen
response of a such second-order systems is well known, and In case of the initial value of angular frequency ωgen the
studied in many books of control systems. The following situation is more complicated. The S2SP system frequencies
approximated expression is proposed in [30] for estimating are close to 50 Hz or 60 Hz, depending on relevant standards.
the settling time tSET measured from the start to the time in Thus, the starting point (ωgen,init ) was set to 55 Hz in order
which the system stays within 1% of the steady-state response to assure the shortest possible frequency identification time.
of a particular second-order system responding to a step input Such an approach allows for almost immediate (in less than
with the damping factor : 100 ms) synchronization [22].
p
4.6 KP LLp · TP LLi
tSET = q , = . C. Load Transfer
KP LLp
· 2
TP LLi According to the scheme the ship side converter in the
This formula can be used to obtain a rough estimate of AC/DC/AC converter of S2SP operates in an inverting mode
a settling time defined by above second-order closed-loop with inner control loops as shown in Fig. 7, where Fig. 7(a)
transfer function, and hence the tuning of PI controller as√ a and Fig. 7(b) present control schemes used respectively during
function of the tSET =20 ms and the damping factor  = 1/ 2 normal operation and during load transfer. Measured S2SP
as follows [23], [30]: system voltages and currents are transformed into rotating
reference frame using phase angle θgen obtained from PLL
9.2 tSET · 2 structure based on DSOGI-PNSC (thanks to which controlled
KP LLp = , TP LLi =
.
tSET 2.3 components track the ship generators voltages).
As mentioned in [30] these expressions are not precise formu- After synchronization, the PI controller of the S2SP con-
las, therefore have to be verified in simulation and on exper- verter voltage q-component (u∗q,S2SP ) is omitted (Fig. 7(b)),
imental setup. It should be also noted that the PI parameters and the reference value of the current in q axis (i∗q,S2SP ) is
were obtained under the assumption of unit input signal. set to zero, which is caused only by active power transfer
The described PLL structure is immune to interferences demand. Next, circuit breaker Z1 is closed. At the beginning of
emerging in mains voltages, such as higher harmonics, voltage power transfer, the reference value of the voltage d-component
drops, etc. Step changes of the voltage amplitudes do not (u∗d,S2SP ) is set to the value up to 2% lower than the value
cause oscillations in estimated waveforms of the phase angle. of the measured ship’s electrical grid voltage d-component
Also an application of the FLL [24], presented in Fig. 4, in (ud,gen ). To eliminate unwanted current flow between two
which estimated resonant angular frequency ωgen is used to voltage sources caused by distortion of one source only - since
tune DSOGI, assure reliable operation of the structure in the the ship generator voltages ugen can contain higher harmonics
presence of frequency changes. Step change of frequency from and be unsymmetrical (such distortions are commonly encoun-
50 to 60Hz can be detected in less than 50 ms, Fig. 6. But when tered in typically weak ship power systems) - the u∗d,S2SP

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Transactions on Energy Conversion

ud,S2SP id,S2SP
u*d,S2SP - *
id,S2SP - u*d,conv
IV. S IMULATION OF S2SP S YSTEM I MPLEMENTING
+ PI + PI dq
S HORE - TO -S HIP S YNCHRONIZATION S TRATEGY

PWM
Switching
u*q,S2SP=0 * u*q,conv states
+ - PI
iq,S2SP
+- PI αβ
A. Model Assumptions
uq,S2SP iq,S2SP Θgen The simulation model was compatible with the block
(a) scheme presented in Fig. 1. It was built using Synopsys Saber
ud,S2SP id,S2SP
Software, and the basic parameters of the simulation model
u*d,S2SP - *
id,S2SP - u*d,conv
dq
presented in [22] are presented in Table I.
+ PI + PI

PWM
Switching
ud,gen * states TABLE I
iq,S2SP =0 u*q,conv
+- PI αβ S IMULATION PARAMETERS
iq,S2SP Θgen
Sampling frequency 16kHz
(b) Inductance of LC filter 2.1mH
Capacitance of LC filter 2.9µF
Fig. 7. Simplified block scheme of S2SP PEC control algorithm: (a) con-
Ship voltage 1st harmonic 325V
tinuous work, (b) during load transferring by phase voltage control
Ship voltage 5th harmonic 5 to 10%
Ship voltage 7th harmonic 5%
Ship Supply Load Transfer S2SP Supply Ships side AC-DC converter 3-level Flying Capacitors Conv.
FLC capacitors 250µF
15 i a,gen i b ,gen i c,gen
AC-DC-AC conv. DC-Link voltage 700V
10
Ships load 35Ω for each phase
Current [A]

5
0
-5
-10 In the simulation research the following assumptions were
-15 Simulation made:
15 i a,S2SP i b ,S2SP i c,S2SP
• measurement of ship generator voltages ugen and shore
10
S2SP supply system voltages uS2SP and currents iS2SP
Current [A]

5
0 is possible,
-5 • information about generator currents igen or generators’
-10
-15 Simulation
switch off is available for Z2 switch control,
• only the signals directly linked with synchronization
0.00 0.01 0.02 0.03 0.04 0.05 0.06 are taken into account, other variable emergency signals
Time [s]
required by EC/IEEE 80005-1 standard (e.g. equipotential
Fig. 8. Waveforms of S2SP and ship’s generator phase currents during bond monitoring relays, supply cable tension monitoring,
synchronization under undistorted ship voltage condition Emergency ShutDown (ESD), etc.) are treated as ”EN-
ABLE” signals conditioning synchronization.

tracks the ship’s electrical grid voltage d-component ud,gen . As

a result, the uS2SP voltages are not pure sinusoidal, in order to B. Simulation Results
assure a smooth load transfer even in the case of significantly Fig. 8 - Fig. 10 show the results of simulations performed
distorted ship voltages and therefore a zero difference between under different synchronization conditions. Fig. 8 shows
instantaneous values of synchronized voltages from the ship phase current waveforms generated by the ship generator set
grid and the ship-side converter of the S2SP is provided. In (ia,gen , ib,gen , ic,gen ) and output phase currents of the S2SP
the case of pure sinusoidal uS2SP voltages, the load transfer converter (ia,S2SP , ib,S2SP , ic,S2SP ) in the case of sinusoidal
over-currents caused by a mismatching of voltage shapes (as in voltages at the ship-shore connection terminals and sinusoidal
the case of ship to shore systems) can have significant values. voltages generated by S2SP PEC. The synchronization time
Further the u∗d,S2SP is raised to slightly greater values (up was shorter than two periods of mains voltage and the load
to 2%) than ud,gen . The speed of the load transfer depends transfer was very smooth. Such results are unattainable in case
on how fast the u∗d,S2SP ramp is increased, however, when of SP2S systems.
direct measurement of the generator currents igen is possible However, it is important to note that ideal sinusoidal volt-
(in order to prevent the generators from working in reversing ages are rarely encountered in ship power systems, due to
mode of operation) it is limited only by the circuit impedance. relatively high impedance of the grid and nonlinear loads.
Increasing this value contributes to the decreasing of the load Thus, further investigations have concerned synchronization of
transfer time. When the value of the d-component of the ships the S2SP system with distorted ship voltages. Fig. 9(a) shows
generator current igen falls below a defined value, switch Z2 both ship generators and S2SP currents waveforms during
can be opened and the load transferring process is finished synchronization of the S2SP system, providing sinusoidal
as and the control scheme from Fig. 7(b) is activated. From S2SP voltages at distorted ship generators’ voltages. The
this point, the u∗d,S2SP is set to constant, nominal ship voltage distortions were selected arbitrarily in order to test properties
value in order to provide sinusoidal voltage waveforms to the of the control algorithm. The voltages were distorted by a 10%
ship (high PQ parameters are assured). of 5th harmonic with phase shift 0◦ . In this case significant

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Transactions on Energy Conversion

Ship Supply Load Transfer S2SP Supply Ship Supply Load Transfer S2SP Supply

15 i a,gen i b ,gen i c,gen 15 i a,gen i b ,gen i c,gen

10 10
Current [A]

Current [A]
5 5
0 0
-5 -5
-10 -10
-15 Simulation -15 Simulation

15 i a,S2SP i b ,S2SP i c,S2SP 15 i a,S2SP i b ,S2SP i c,S2SP

10 10
Current [A]

Current [A]
5 5
0 0
-5 -5
-10 -10
-15 Simulation -15 Simulation

0.00 0.01 0.02 0.03 0.04 0.05 0.06 0.00 0.01 0.02 0.03 0.04 0.05 0.06
Time [s] Time [s]

(a) (a)
Ship Supply Load Transfer S2SP Supply Ship Supply Load Transfer S2SP Supply

15 i a,gen i b ,gen i c,gen 15 i a,gen i b ,gen i c,gen

10 10
Current [A]

Current [A]
5 5
0 0
-5 -5
-10 -10
-15 Simulation -15 Simulation

15 i a,S2SP i b ,S2SP i c,S2SP 15 i a,S2SP i b ,S2SP i c,S2SP

10 10
Current [A]

Current [A]

5 5
0 0
-5 -5
-10 -10
-15 Simulation -15 Simulation

0.00 0.01 0.02 0.03 0.04 0.05 0.06 0.00 0.01 0.02 0.03 0.04 0.05 0.06
Time [s] Time [s]

(b) (b)

Fig. 9. S2SP and ship generator phase currents during synchronization Fig. 10. S2SP and ship generator phase currents during synchronization
under distorted ship voltages - 10% of 5th harmonic 0◦ : (a) sinusoidal S2SP under distorted ship voltages - 10% of 5th harmonic 180◦ : sinusoidal S2SP
voltages, (b) S2SP voltages tracking ship’s voltages voltages, (b) S2SP voltages tracking ship’s voltages

overcurrents were observed, caused by a mismatch of the syn- PWM cards. The algorithm code, consisting of simple mathe-
chronized voltage shapes and resulting in a temporary voltage matical instructions, such as additions and multiplications, was
difference. This drawback is overcame when proposed S2SP written in C language. Implementation of the DSOGI structure
synchronization and load transfer strategy is applied. Fig. 9(b) required usage of sine and cosine functions, increasing in
shows the results of simulations in ship voltage conditions turn the computation time. The execution times for each part
analogical to those presented in Fig. 9(a). However, the S2SP of the code of the S2SP control program implemented in
converter control algorithm was modified in order to provide dSpace 1005 on the laboratory platform for experimental test
the voltages, which are shaped according to voltages measured purposes are presented in the Table II.
in ship power system. This modification eliminates unwanted
TABLE II
current flow between two voltage sources (converter and ship
E XECUTION T IMES OF A LGORITHM TASKS
generators) caused by voltage harmonics of one source only
(different potential) as well as led to the elimination of Task Time Unit
overcurrents and ensured the smooth load transfer. Fig. 10 measurement reading (ADC) and protections 28,67 µs
PEC control alg. & synchronization with DSOGI 6,02 µs
presents results of the investigations confirming the above PEC control alg. 2,57 µs
presented observation for different ship voltage distortions, synchronization with DSOGI 3,45 µs
described under the figures. load transfer 0,08 µs
PWM 7,75 µs
DAC 1,05 µs
V. L OW P OWER E XPERIMENTAL R ESULTS Total time 42,55 µs
Synchronization and load transfer algorithms with supple-
mentary converter control algorithms have been implemented In the case of an application of the low cost microcontrollers
in a fast prototyping platform based on the dSpace 1005 it is possible to make optimizations based on dedicated em-
control card. The platform was extended with special ADC and bedded functions or look-up tables with pre-calculated values

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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/TEC.2018.2839702, IEEE
Transactions on Energy Conversion

Ship Supply Load Transfer S2SP Supply

of trigonometric functions with assumed precision in a given
i a,gen i b ,gen i c,gen
range. Only a small part of the code linked with PWM was 40
written in the Digital Waveform Output language dedicated to

Current [A]
20
specialized I/O cards. 0
The data summarized in the table have indicated that the -20

most time consuming task was the reading of ADC and -40 -51.85 A
Experiment
protections. It is a well known issue for the dSpace platform i a,S2SP i b ,S2SP i c,S2SP
and might be significantly reduced in the case of an application 40
38.43 A

Current [A]
of microcontrollers dedicated to power electronic converters. 20

The tasks connected with phase and frequency synchronization 0

-20
as well as load transfer have consumed only 8.3%. The
-40
total execution time ensures safe operation with a sampling Experiment
frequency of about 10kHz, which is more than sufficient for
0.00 0.01 0.02 0.03 0.04 0.05 0.06
S2SP converters with a power of a few MVA (typical switching Time [s]
frequency is located in the range between 1kHz and 5kHz). An (a)
application of, e.g., TMS320F283xx microcontrollers, might Ship Supply Load Transfer S2SP Supply
provide even shorter task execution times. i a,gen i b ,gen i c,gen
35.99 A
Fig. 11 shows the preliminary results obtained from a small- 40

Current [A]
scale, 15 kW experimental arrangement consisting of a 3-level 20
0
NPC voltage source inverter controlled by the aforementioned
-20
fast prototyping platform, a fully controlled voltage source,
-40
and the load as well as the Z1 and Z2 switches in respect to Experiment
Fig. 1. The inverter represents the S2SP onshore PEC, while i a,S2SP i b ,S2SP i c,S2SP
40
the controlled voltage source imitates the ship’s generators.
Current [A]

20
Fig. 11(a) shows waveforms of the S2SP and ship generator
0
currents taken during synchronization in the case of sinusoidal -20
S2SP voltages and ship voltages distorted by 5th harmonic -40 -30.805 A
Experiment
0◦ . During the load transfer considerable overcurrents caused
by a mismatching of the voltage shapes are visible in the 0.00 0.01 0.02 0.03 0.04 0.05 0.06
presented waveforms. Fig. 11(b) shows that an application Time [s]

of the proposed control algorithm, which enables shaping of (b)

the S2SP voltages according to the measured ship voltage
Fig. 11. Experimental waveforms of S2SP and ship’s generator phase currents
waveforms, allows for significant reduction of the overcur- during synchronization under distorted ship voltage - 10% of 5th harmonic
rents. Fig. 12 presents the experimental waveforms relating 0◦ : (a) sinusoidal S2SP voltage, (b) S2SP voltage tracking ship’s voltage
to the simulation results presented in Fig. 10. The ship
supply overcurrent amplitudes were significantly reduced in TABLE III
a case of proposed algorithm, however there was observed a OVERCURRENT R EDUCTION - S HORE - TO -S HIP S YNCHRONIZATION
slightly higher amplitude of the S2SP supply overcurrent in Harmonic 5th / 0◦ 5th / 180◦ 7th / 0◦ 7th / 180◦
comparison with the classical one. Additionally, it should be Classical algorithm 51.85 A 55.11 A 48.56 A 50.21 A
noted that in real circumstances, after load transfer (opened Proposed algorithm 35.99 A 46.67 A 37.64 A 38.29 A
Z2 switch), the voltage should be changed to sinusoidal. Amplitude reduction 31% 15% 22% 24%

The obtained preliminary experimental results have con-

firmed the observation made on the basis of the simulation
investigations. The proposed algorithm, enabling tracking of with both 50 Hz and 60 Hz frequency standards. The S2SP
the ship’s voltage shapes, provides reduction of the overcur- PECs offer a dynamic significantly higher than electrome-
rent amplitudes in comparison with the classical algorithm, chanical ship arrangements, consisting in diesel engines and
Table III. However, it should be emphasized that it is an synchronous generators, but utilization of the PEC’s properties
additional feature of S2SP synchronization. The main benefit is possible only in the case of S2SP synchronization. However,
of the S2SP synchronization strategy relies on the significantly realization of this strategy requires supplementation of mea-
higher dynamic of the converters in comparison with the suring and control equipment on ships. Minimal requirements
dynamic of the ship’s generator sets, which can be used during assume measurements of phase voltages at the shore supply
the synchronization process. connection point. It should be emphasized that the measuring
data, including instantaneous voltage levels, must be transmit-
ted via fiber wires, with minimal possible delay, to assure
VI. M ERITS AND D RAWBACKS OF S HORE - TO -S HIP
proper synchronization. Further smoothing of load transfer
S YNCHRONIZATION S TRATEGY
requires measurement of the total ship generators’ currents,
An application of the PECs in S2SP systems can provide which might be difficult to realize in real ship power systems,
supplementary services besides supply of voltages complying e.g., dedicated current sensors have to be applied. In such case,

0885-8969 (c) 2018 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/TEC.2018.2839702, IEEE
Transactions on Energy Conversion

Ship Supply Load Transfer S2SP Supply

VII. C ONCLUSION
i sh i p_gen1 i sh i p_gen2 i sh i p_gen3
40 Technical and economic reasons as well as accompanying
Current [A]

20
legal regulations are likely to result in the development of
0
HV S2SP connection systems. Currently binding regulations
-20
enable synchronization of ship and shore power systems using
-40 -55.51 A
Experiment both SP2S and S2SP synchronization strategies. The first
36.905 A i S 2S P _conv1 i S 2S P _onv2 i S 2S P _conv2 approach is usually chosen due to its simplicity of application,
40
however the second strategy allows for utilization of the high
Current [A]

20
dynamic of PECs. In the paper a novel approach to S2SP
0
-20
system synchronization and load transfer has been proposed.
-40 The simulation results have confirmed that the proposed
Experiment
control algorithm of PECs enables synchronization with a
0.00 0.01 0.02 0.03 0.04 0.05 0.06 dynamic unattainable for electromechanical ship generator
Time [s] sets. Moreover, the presented control allows shaping of S2SP
(a) converter voltages according to ship voltages, contributing to
Ship Supply Load Transfer S2SP Supply a reduction of overcurrents caused by instantaneous voltage
i a,gen i b ,gen i c,gen differences in the case of distorted ship voltages. The obtained
40
results have been experimentally confirmed in a small-scale
Current [A]

20
0
laboratory arrangement.
-20
The main drawback of the proposed approach is the neces-
-40 -46.665 A sity of voltage measurement in shore connection switchboards
Experiment
on ships. This is linked to the need for modification of the
i a,S2SP i b ,S2SP i c,S2SP ship’s control arrangements, which is usually prohibited by
40
internal safety instructions. Thus, the application of the pro-
Current [A]

20
0 posed synchronization strategy is conditioned by development
-20
-39.345 A
of standardization concerning physical quantities measured on
-40 ships as well as standards and protocols for data transmission
Experiment
between ships and S2SP converters.
0.00 0.01 0.02 0.03 0.04 0.05 0.06
Time [s]

(b)
ACKNOWLEDGMENT
This work has been financed from the scientific re-
Fig. 12. Experimental waveforms of S2SP and ship’s generator phase currents
during synchronization under distorted ship voltage - 10% of 5th harmonic search resources, referenced under research project no.
180◦ : (a) sinusoidal S2SP voltage, (b) S2SP voltage tracking ship’s voltage GEKON2/O2/266561/11/2015.

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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/TEC.2018.2839702, IEEE
Transactions on Energy Conversion

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Krosno Odrzanskie, Poland. He obtained his M.Sc.,
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Ph.D. and post-doctoral degrees in electrical engi-
[14] T. Ericsen, N. Hingorani, and Y. Khersonsky, “Power electronics and neering from the University of Zielona Gora. He is
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pp. 454–461. for Research and Development. Robert Smolenski
[16] F. Xu, Y. Lu, X. Xuan, P. Qiu, K. Tong, J. Xuan, Q. Chen, and D. Jiang, has over twenty years of experience in the develop-
“Research on flexible medium-voltage DC distribution technology based ment of practical solutions to EMC and PQ related problems and has been
shore-to-ship power supply system,” in IECON 2017, Oct 2017, pp. 405– involved in the realization of many national and international research projects.
409. His research focuses on issues linked with assurance of power quality as
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of Mutual Influences Between High-Voltage Shore-Connected Ships
and Port Earthing Systems During Phase-to-Ground Faults,” IEEE
Transactions on Industry Applications, vol. 48, no. 5, pp. 1731–1738,
Sept 2012. Grzegorz Benysek was graduated from the Faculty
[19] Z. Jin, G. Sulligoi, R. Cuzner, L. Meng, J. C. Vasquez, and J. M. of Electrical Engineering at the Technical High
Guerrero, “Next-Generation Shipboard DC Power System: Introduction School of Engineering in Zielona Gora in 1994, and
Smart Grid and dc Microgrid Technologies into Maritime Electrical since 2008 has been Associate Professor and Head of
Netowrks,” IEEE Electrification Magazine, vol. 4, no. 2, pp. 45–57, the Institute of Electrical Engineering at the Univer-
June 2016. sity of Zielona Gora. His research focuses mainly
on issues related to the use of power electronics
[20] M. H. Chou, C. L. Su, Y. C. Lee, H. M. Chin, G. Parise, and
systems in the power network and the elimination
P. . Chavdarian, “Voltage-Drop Calculations and Power Cable Designs
of the negative impact of distributed energy sources
for Harbor Electrical Distribution Systems With High Voltage Shore
on the electric grid. Coordinator of the Lubuskie
Connection,” IEEE Transactions on Industry Applications, vol. 53, no. 3,
Eco-Car project and co-founder of EkoEnergetyka,
pp. 1807–1814, May 2017.
chairman of the Electromobility Board of the National Centre for Research
[21] L. Shen, M. Barnes, R. Preece, J. V. Milanovic, K. Bell, and M. Beli-
and Development. As a result of the implementation activity, he received
vanis, “The Effect of VSC-HVDC Control on AC System Electrome-
number of awards and distinctions, including Innovative Personality of the
chanical Oscillations and DC System Dynamics,” IEEE Transactions on
Year 2015 awarded by the National Chamber of Commerce.
Power Delivery, vol. 31, no. 3, pp. 1085–1095, June 2016.
[22] M. Sedlak, S. Stynski, M. Malinowski, M. Jasinski, G. Benysek,
and R. Smolenski, “Stress free shore to ship (S2SP) electrical power
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on Compatibility, Power Electronics and Power Engineering (CPE-
POWERENG), June 2016, pp. 244–249.
[23] X. Yuan, W. Merk, H. Stemmler, and J. Allmeling, “Stationary-frame Mariusz Malinowski (S’99, M’03, SM’08, F’13)
generalized integrators for current control of active power filters with received the Ph.D. and D.Sc. degrees in electrical
zero steady-state error for current harmonics of concern under un- engineering from the Institute of Control and In-
balanced and distorted operating conditions,” IEEE Transactions on dustrial Electronics, Warsaw University of Technol-
Industry Applications, vol. 38, no. 2, pp. 523–532, Mar 2002. ogy (WUT), Warsaw, Poland, in 2001 and 2012,
[24] R. Teodorescu, M. Liserre, and P. Rodriguez, Grid Converters for respectively. He was a Visiting Scholar at Aalborg
Photovoltaic and Wind Power Systems, ser. Wiley - IEEE. Wiley, 2011. University, Aalborg, Denmark; the University of
[25] M. Jasinski, G. Wrona, and S. Piasecki, Control of Grid Connected Con- Nevada, Reno, NV, USA; the Technical University
verter (GCC) Under Grid Voltage Disturbances. Springer International of Berlin, Berlin, Germany; and ETH Zurich, Zurich,
Publishing, 2014, pp. 91–142. Switzerland. He is currently with the Institute of
[26] A. Milicua, G. Abad, and M. . R. Vidal, “Online Reference Limitation Control and Industrial Electronics, WUT. His current
Method of Shunt-Connected Converters to the Grid to Avoid Exceed- research interests include the control and the modulation of grid-side convert-
ing Voltage and Current Limits Under Unbalanced Operation,” IEEE ers, multilevel converters, smart grids, and power-generation systems based
Transactions on Energy Conversion, vol. 30, no. 3, pp. 852–863, Sept on renewable energies. He has co-authored over 130 technical papers and six
2015. books. He holds two implemented patents. Prof. Malinowski was the recipient
[27] M. Zhu, L. Hang, G. Li, and X. Jiang, “Protected Control Method for of the Siemens Prize in 2002 and 2007; the WUT President Scientic Prize
Power Conversion Interface Under Unbalanced Operating Conditions in 2015; the Polish Minister of Science and the Higher Education Awards in
in AC/DC Hybrid Distributed Grid,” IEEE Transactions on Energy 2003 and 2008; the Prime Minister of Poland Award for Habilitation in 2013;
Conversion, vol. 31, no. 1, pp. 57–68, March 2016. and the IEEE Industrial Electronics Society (IES) David Irwin Early Career
[28] P. Rodriguez, R. Teodorescu, I. Candela, A. Timbus, M. Liserre, and Award in 2011 and Bimal Bose Energy Systems Award in 2015. His industry
F. Blaabjerg, “New positive-sequence voltage detector for grid synchro- application received several awards and medals, the Innovation Exhibition in
nization of power converters under faulty grid conditions,” in Power Geneva in 2006 and the Exhibition in Brussels Eureco in 2006.
Electronics Specialists Conference, 2006. PESC 06, 2006.

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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/TEC.2018.2839702, IEEE
Transactions on Energy Conversion

10

Marcin Sedlak received the M.Sc. and Ph.D. de-

grees in electrical engineering from the Institute
of Control and Industrial Electronics, Warsaw Uni-
versity of Technology, Poland, in 2008 and 2014
respectively. His research activity includes mod-
ulation techniques and control methods of single
and multiphase multilevel converters, immunity of
power electronics systems for grid disturbances and
power electronics interfaces between renewable en-
ergy sources and grid.

Sebastian Stynski (M’08) received the M.Sc. and

Ph.D. degrees in electrical engineering from Faculty
of Electrical Engineering, Warsaw University of
Technology (WUT) in 2006 and 2012, respectively.
Since 2013 he is with Institute of Control and
Industrial Electronics, WUT. In 2014 he received
prestigious Scholarship (2014-2017) of Polish Min-
istry of Science and Higher Education for outstand-
ing young scientists. In recognition of outstanding
achievements in development and implementation
into industry of modulation and control methods
for two and multilevel power converters dedicated for the renewable power
sources and mining industry he was a Laureate of Scientific Team Award
of the Rector of the WUT - the highest scientific award awarded annually
by the WUT (2015) and Laureate of the Prime Minister’s 2017 I degree
Team Award for the scientific and technical achievement, the implementation
of which has brought measurable economic or social effects. The main
directions of his research interests include: modulation techniques and control
methods of single and multiphase multilevel converters, resistance of power
electronics systems on grid disturbances and power electronics interfaces
between renewable energy sources and grid. His scientific achievements
include the participation of more than 20 research, development and industrial
projects, including 5 as a project leader. He has authored and co-authored more
than 50 articles in journals and conference materials and co-authored two
monographs. He is the author of two patents (one implemented by industry).
His public service include activity in IEEE - since 2015 he is Chair of Joint
IEEE IES/PELS Poland Chapter and Secretary of IEEE Poland Section.

Marek Jasinski (M’00, SM’12) received the M.Sc.

and Ph.D. degrees in electrical engineering from
the Institute of Control and Industrial Electronics,
Warsaw University of Technology, Poland, in 2000
and 2005, with Association of Polish Electrical En-
gineers - IEEE Poland Section and ABB distinctions
respectively. He has co-authored c. 120 technical
papers and 3 books. He holds two patents in power
electronics AC-DC and AC-DC-AC converters con-
trol grid and distributed energy sources integration.
In 2017, he received the first prize for the scientific
and technical achievements of the Prime Minister (Poland): Award for the
research team: for modern power electronics converters for renewable energy
and mining industries. He cooperates with industry some projects outcomes
has been awarded. Dr. Jasinski has been a Conference Coordinator (since
2016), was a Chapters Coordinator of the IEEE PS (20102015), and a Chapter
Chair of the Joint Industrial Electronics Society (IES) - Power Electronics
Society IEEE PS Chapter (20082012, awarded in 2010). Since 2012, he has
been the IEEE IES Student and Young Professionals Activity Committee
Chair. Since 2016 he is a member of IES Magazine Editorial Board.

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