Search Results (69)

Grid-forming inverters (GFMIs) have been identified as critical assets in ensuring modern power system reliability. Their ability to synthesize an internal voltage reference while emulating synthetic inertia has sparked extensive research. These characteristics have recently piqued interest in their capacity to provide blackstart ancillary services. The blackstart of a bulk power system poses significant challenges, namely the large transients from the energization of unloaded transformers, rotational motor loads, and long transmission cables, which have been effectively studied using conventional synchronous generators (SGs). The concept of an inverter-based resource (IBR)-based blackstart continues to be an open research area necessitating further investigations due to the known limitations of IBRs such as low short-circuit current capabilities. This paper presents a blackstart case study of a bulk power system investigating the performances of a conventional SG to a GFMI when utilizing hard switching methods. The paper qualitatively investigates the transient inrush currents from the transformer and rotational load energization sequences. Additional examinations into the significance of the GFMI’s current-limiting schemes and voltage control loop compensator gains are presented. Furthermore, the harmonic distortions from the transformer energization sequence are also evaluated. Finally, a full network energization case is presented to demonstrate how both sources can provide blackstart provisioning services. The models are developed in EMTDC/PSCAD using real-world transmission planning data. Full article

Grid-connected power inverters are indispensable in modern electrical systems, playing a pivotal role in enhancing the integration of renewable energies into power grids. Their significance, primarily when functioning as grid-forming inverters, extends to maintaining the grid’s inertia and strength—a distinct advancement over traditional grid-following operations. As grid-forming inverters, these devices emulate the characteristics of synchronous generators and can act as robust voltage sources, providing essential ancillary services. This behavior is particularly relevant when integrating energy storage systems on the converters’ direct current side. Among the various inverter topologies, the current source inverter (CSI) has emerged as a promising yet underexplored alternative for grid-forming applications. CSIs, when paired with their AC output filters, can effectively operate as voltage sources, utilizing control strategies that facilitate the integration of renewable energies into the electrical system. Their design inherently manages output current fluctuations, reducing the need for restrictive current limitations or additional protective measures. This paper examines the operational region of CSIs, obtained through detailed modeling, to explore their advantages, challenges, and potential for enhancing grid-connected systems. Analyzing the operating region from the converter model verifies the limits of where the converter can operate in a plane of active and reactive powers. For a small prototype model operating with 7 amperes in DC and 120 V in AC, it is possible to supply or absorb active power exceeding 1000 W and manage maximum reactive power values around 500 VAr, as determined by its operating region. Simulations also confirm that small changes in the control reference, as little as 5%, towards the region’s right limits cause significant oscillations in the dynamic control responses. This research aims to deepen our understanding of CSIs’ operational capabilities and highlight their unique benefits in advancing grid-connected systems and promoting the integration of renewable energy using this technology. Full article

In modern power systems, conventional energy production units are being replaced by clean and environmentally friendly renewable energy resources (RESs). Integrating RESs into power systems presents numerous challenges, notably the need for enhanced grid stability and reliability. RES-dominated power systems fail to meet sufficient demand due to insufficient inertia responses. To address this issue, various virtual inertia emulation techniques are proposed to bolster power system stability amidst the increased integration of renewable energy sources into the grid. This review article explores state-of-the-art virtual inertia support strategies tailored to accommodate the increased penetration of RESs. Beginning with an overview of this study, it explores the existing virtual inertia techniques and investigates the various methodologies, including control algorithms, parameters, configurations, key contributions, sources, controllers, and simulation platforms. The promising virtual inertia control strategies are categorised based on the techniques used in their control algorithms and their applications. Furthermore, this review explains evolving research trends and identifies promising avenues for future investigations. Emphasis is placed on addressing key challenges such as dynamic response characteristics, scalability, and interoperability with conventional grid assets. The initial database search reveals 1529 publications. Finally, 106 articles were selected for this study, adding 6 articles manually for the review analysis. By synthesising current knowledge and outlining prospective research directions, this review aims to facilitate the current state of research paths concerning virtual inertia control techniques, along with the categorisation and analysis of these approaches, and showcases a comprehensive understanding of the research domain, which is essential for the sustainable integration of renewable energy into modern power systems via power electronic interface. Full article

In the transition from virtual environments to real-world applications, the role of physics engines is crucial for accurately emulating and representing systems. To address the prevalent issue of inaccurate simulations, this paper introduces a novel physics engine uniquely designed with a compliant contact model designed for robotic grinding. It features continuous and variable time-step simulations, emphasizing accurate contact force calculations during object collision. Firstly, the engine derives dynamic equations considering spring stiffness, damping coefficients, coefficients of restitution, and external forces. This facilitates the effective determination of dynamic parameters such as contact force, acceleration, velocity, and position throughout penetration processes continuously. Secondly, the approach utilizes effective inertia in developing the contact model, which is designed for multi-jointed robots through pose transformation. The proposed physics engine effectively captures energy conversion in scenarios with convex contact surface shapes through the application of spring dampers during collisions. Finally, the reliability of the contact solver in the simulation was verified through bouncing ball experiments and robotic grinding experiments under different coefficients of restitution. These experiments effectively recorded the continuous variations in parameters, such as contact force, verifying the integral stability of the system. In summary, this article advances physics engine technology beyond current geometrically constrained contact solutions, enhancing the accuracy of simulations and modeling in virtual environments. This is particularly significant in scenarios wherein there are constant changes in the outside world, such as robotic grinding tasks. Full article

The integration of renewable resources in isolated systems can produce instability in the electrical grid due to its intermintency. In today’s microgrids, which lack synchronous generation, physical inertia is substituted for inertia emulation. To date, the most effective approach remains the frequency derivative control technique. Nevertheless, within this method, the ability to provide virtual drooping is often disregarded in its design, potentially leading to inadequate development in systems featuring high renewable penetration and low damping. To address this issue, this paper introduces an innovative design and analysis of virtual inertia control to simultaneously mimic droop and inertia characteristics in microgrids. The dynamic frequency response without and with renewable energy sources penetration is comparatively analyzed by simulation. The proposed virtual inertia control employs a derivative technique to measure the rate of change of frequency slope during inertia emulation. Sensitivity mapping is conducted to scrutinize its impact on dynamic frequency response. Finally, the physical battery storage system of the University of Cuenca microgrid is used as a case study under operating conditions. Full article

Synchronous generator-based power stations, with their inherent inertia, can maintain frequency stability during sudden load switching, while distributed generating station-driven microgrids suffer from a lack of natural inertia. Cascaded power, voltage, and current controllers are a widespread control strategy used to regulate the power output of distributed generating stations to maintain frequency and voltage within stable limits. Virtual synchronous generator (VSG) control for the power controller is used as a potential solution to emulate inertia. To derive maximum benefit from VSG, proper tuning of its multiple parameters is required. In this direction, earlier works proposed the equivalence between the droop and VSG schemes, which suggested that the droop coefficient value could be directly used in the design of VSG. As an improvement to these conventional works, the proposed work in this paper identifies that VSG delivers a better response when an equalizing constant is used to adjust the droop coefficient value than using it directly. This paper proposes implementing the VSG with an equalizing constant as a new design parameter. A description of designing the parameters of this improved VSG considering the equalizing constant is also discussed in this paper. The performance of the conventional VSG and the proposed improved VSG are compared. From the results, it is observed that, at load switching, the output frequency of the proposed method in all test cases has settled at less than 3 s, while the conventional method took a maximum of 6 s in critical cases. Further, the output frequency’s maximum peak with the proposed method is 3 Hz less than the conventional method. These, along with other metrics, validate the importance of the proposed improved VSG-based control scheme for the enhancement of transient responses in microgrids. Full article

Virtual synchronous generators (VSGs) are one of the most relevant solutions to integrate renewable energy in weak grids and microgrids. They indeed provide inverters characteristics of rotating machines (inertia for instance) that are useful for stabilizing the system, notably in the context of the high variability of the production. Thanks to the virtual characteristics of the VSG, the virtual parameters of the emulated synchronous machine can be optimally adapted online as a function of the electric environment of the inverter. We call that inverter’s control a polymorphic VSG. The online adaptation of the critical control parameters of the VSG helps reduce the risk of deterioration of the inverter’s constituents that might be induced by harsh events (frequent in weak grids) but, more importantly, improves the robustness of the system. In this paper, four implementations of a polymorphic VSG controller are compared on a simple microgrid study case to a complete VSG model. For the test, polymorphic VSGs have to minimize frequency and voltage oscillations while withstanding short circuits, which is typically a requirement for units in this context. One of the controls is based on recurrent optimization over a prediction time horizon, and two sub-optimal ones target practical implementation in industrial inverters with limited computational power. Results show a clear reduction in incidents in the microgrid thanks to the controllers. The error reduction with the complete polymorphic VSG is up to 100% for the voltage, 32% for the currents, and 79% for the duty ratio. Those values are decreased by 30 to 50% with the sub-optimal controllers but for a reduction in the computational burden of more than 97%. Recommendations are proposed for the development of an auto-adaptive polymorphic VSG from a high technology-readiness-level perspective, i.e., targeting a compromise between error reduction and computational burden. Full article

This paper proposes a novel virtual inertia control strategy for distributed power systems with high penetration of renewable energy sources. The strategy uses a quasi-Z-source power converter to emulate the inertia response of a synchronous generator by regulating the DC-link capacitor voltage in proportion to the grid frequency deviation. This paper analyzes the effect of inertia on the frequency regulation of a single-area power system and derives the parameter design method and limitations of the virtual inertia. The paper also introduces the working principle and modulation technique of the quasi-Z-source power converter and presents the virtual inertia control scheme based on a voltage-frequency controller. The paper verifies the feasibility and effectiveness of the proposed strategy through MATLAB/Simulink simulations and dSPACE semi-physical experiments. The results show that the proposed strategy can reduce the frequency deviation and rate of change of frequency (RoCoF) by 20% and 50%, respectively, under load disturbances. The paper demonstrates that the quasi-Z-source power converter can provide flexible and adjustable virtual inertia for distributed power systems without additional energy storage devices. Full article

In recent years, technological developments in the field of robotics have expanded their application spectrum to encompass tasks that involve human inclusion in the same workspace. One of the challenges of robotics collaboration is the issue of how a robot and a human can perform daily collaborative tasks, like manipulation of an object. One significant specific problem to solve is where the robot can grasp the object knowing the human grasping points. This research proposes a planning algorithm to find a robot grasping point based on geometric grasp metrics as well as a new heuristic metric focused on the intrinsic inertia in multi-directional object movement. We propose three grasping points: two points emulating each human hand, positioned anywhere on the object and one last point, referencing the robot, which will be optimized as a multi-objective (MO) function problem. The planner was tested using common objects present in human environments (a chair and a table). Full article

Power-converter-based energy-harvesting and storage systems are becoming more prevalent in the electrical grid, replacing conventional synchronous generators. Consequently, grid inertia is diminishing, and to address this, inverter-based energy conversion systems are required by grid codes to provide frequency control support to the main grid. This is undertaken to increase the equivalent inertia of the system and reduce frequency variations. This type of control is necessary and designed for handling large system transients. However, it also impacts the small-signal stability of the grid-connected converters. To investigate this issue, this paper addresses the influence of synthetic inertia control on the output admittance of a grid-following inverter and its interaction with the grid equivalent impedance. A synchronous reference frame dynamic model of the grid-following inverter closed-loop system is obtained and linearized at an operating point to analyze the small-signal stability of the low-switching frequency inverter. The models are validated through numerical simulations. The analysis verifies the interactions of the internal control loops, such as the AC current control with voltage feedforward, DC-link voltage control with power-feedforward, phase-locked loop, and AC voltage control with inertial control. Additionally, the interactions between the output admittance of the inverter and the grid impedance are verified using the generalized Nyquist criterion. The stability regions are validated through simulations, and the results show that the system gain margin is reduced for increasing values of synthetic inertia gain and lower grid short-circuit ratios. Furthermore, there is a limit in the voltage and power-feedforward bandwidth to avoid degrading the system stability when utilizing the synthetic inertia control. Full article

Integrating renewable energy through inverter-based generators has decreased the power system’s inertia. Reduced inertia may lead to frequency instability during power imbalance disturbances, particularly in an isolated power system with limited inertia. The Battery Energy Storage System (BESS) and a virtual inertia (VI) emulation control system have become popular to mitigate this issue. Nonetheless, the BESS utilization for VI emulation is highly dependent on the availability of BESS capacity, which may affect the energy cost. Therefore, developing a VI emulation control strategy that requires less energy and can recover the state of charge (SoC) to a desired level to optimize BESS utilization is required. This paper proposes a VI control with an SoC recovery strategy through coordination with the generators’ secondary frequency control. Instead of relying on the frequency, such as in the conventional approach, the controlled signal of the generators’ secondary frequency control also includes the VI power and BESS SoC. Hence, the generators can contribute to lowering the VI required energy and recovering the BESS SoC. The results show that the proposed method outperforms the conventional method by requiring around 36% lower energy and the ability to maintain the BESS SoC. Full article

Virtual synchronous generator (VSG) control is based on the fact that the line impedance in a microgrid is highly inductive. This assumption was made due to the emulation of the stator winding of an electrical machine. This concept can affect the controllability of a microgrid with complex line impedance, generating deviations in the chosen operation point. To overcome this issue, additional techniques must be implemented. This paper describes a novel mathematical approach that uses the power line characteristics in a microgrid to rotate the power control reference frame and proposes a new control method called a “Rotated Virtual Synchronous Generator” (RVSG). This RVSG control approach integrates the effect of complex impedance on the microgrid’s operation and adjusts the reference frame accordingly to improve the system’s stability and performance. The use of this proposed mathematical approach in microgrids allows the further emulation of virtual inertia in microgrids that lack inertia. Finally, a comparison between RVSG control and the classical virtual synchronous generator method is carried out to show that it allows the improvement of the transient power response, power quality, stability, and performance, mainly in microgrids with complex line impedance. Full article

Renewable energy sources have been characterized by a persistent and rapid proliferation, which has resulted in a notable reduction in grid inertia over an extended period. There is a widely held belief that the primary source of inertia within the grid stems from generation-side conventional units. However, in power consumption, a significant number of induction motors are present, which can inherently offer rotational inertia by virtue of their kinetic energy. To investigate the influence of induction motors on grid inertia, in this paper, we propose two types of models, i.e., a detailed grid model and a dynamic equivalent model that considers multiple induction motors. Specifically, the detailed grid model with multiple induction motors is first established. However, the detailed model requires the specific parameters of induction motors, which are hard to acquire in large systems. Moreover, the accuracy of the model is unsatisfactory. To fill these gaps, the dynamic equivalent model (DEM) is further proposed to emulate the detailed model. Compared with the detailed model, the proposed dynamic equivalent model is structurally simple and does not require the specific parameters of induction motors. Therefore, it is possible to apply to large systems for investigating the influence of induction motors on grid frequency dynamics. A genetic algorithm is introduced in order to figure out the parameters of the proposed dynamic equivalent model from historical frequency data. The proposed detailed model and dynamic equivalent model are evaluated on the IEEE 9-bus system in MATLAB and SimPowerSystems toolbox. Full article

A paradigm shift in power systems is observed due to the massive integration of renewable energy sources (RESs) as distributed generators. Mainly, solar photovoltaic (PV) panels and wind generators are extensively integrated with the modern power system to facilitate green efforts in the electrical energy sector. However, integrating these RESs destabilizes the frequency of the modern power system. Hitherto, the frequency control has not drawn sufficient attention due to the reduced inertia and complex control of power electronic converters associated with renewable energy conversion systems. Thus, this article provides a critical summary on the frequency control of solar PV and wind-integrated systems. The frequency control issues with advanced techniques, including inertia emulation, de-loading, and grid-forming, are summarized. Moreover, several cutting-edge devices in frequency control are outlined. The advantages and disadvantages of different approaches to control the frequency of high-level RESs integrated systems are well documented. The possible improvements of existing approaches are outlined. The key research areas are identified, and future research directions are mentioned so that cutting-edge technologies can be adopted, making the review article unique compared to the existing reviews. The article could be an excellent foundation and guidance for industry personnel, researchers, and academicians. Full article

Electric vehicles, particularly those in mass transit systems, make use of accurate power estimations for different routes to calculate powertrain and battery requirements and plan the location and times of charging stations. Hence, chassis dynamometers are a common tool for vehicle designers as they allow for the emulation of vehicle performance and energy consumption by simulating realistic road conditions. In this paper, a method is presented where inertia events and negative slopes can be represented in the dynamometer through a single motor; allowing researchers to perform fast and cheap tests, while also considering the effect of these variables. A dynamic simulation is used to distribute the energy used in three ways: first, accelerating the vehicle by overcoming the forces opposing motion; second, emulating the kinetic energy delivered by the vehicle mass when decelerating; and third, emulating the energy delivered to the vehicle by negative slopes. Tests were carried out on a dynamometer validating the method through an example route, estimating energy consumption and regeneration; this method reduces the error in energy consumption by inertial effects and negative slopes, otherwise not considered in one motor dynamometers, showing a 9.11% difference between total test energy and real bus energy for this route. Full article