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Inertia Emulation by Flywheel Energy Storage System for Improved Frequency

Regulation

Conference Paper · December 2018

DOI: 10.1109/SPEC.2018.8635947

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 Inertia Emulation by Flywheel Energy Storage
Systems for Improved Frequency Regulation
Yu Jiale, Fang Jingyang and Tang Yi
School of Electrical and Electronic Engineering
Nanyang Technological Unieversity
Singapore
E-mails: YU0003LE@e.ntu.edu.sg; jfang006@e.ntu.edu.sg; yitang@ntu.edu.sg

Abstract—To alleviate air pollution and energy shortage synchronous generators. In other words, synchronous
issues, an increasing amount of renewable energy sources generators are normally used to regulate the grid frequency
(RESs), such as wind power and solar photovoltaics (PVs), and voltages [5], [6]. Specifically, the kinetic energy stored in
has been integrated into modern power systems. However, the rotors of synchronous generators will autonomously be
the large penetration level of renewable energies leads to released under low frequency events for active power and
the reduction of inertia as RESs are normally connected to frequency support, and such an effect is caused by the
the power grid through power electronics converters, synchronous inertia. In this sense, the most straight-forward
which do not inherently provide the inertia as synchronous way to increase the inertia is to employ more back-up
generators do. To solve the lack of inertia issue, this paper synchronous generating units [3], [5]. Although being an
proposes the method of using flywheel energy storage effective and simple method of increasing the inertia, the
systems (FESSs) to provide the virtual inertia and employment of stand-by synchronous generators will lead to
frequency support. As compared with other energy storage high cost and reduction of efficiency. Along with the
units, FESSs have longer lifecycle than the batteries and integration of RESs, power electronic converters and energy
higher energy density than the supercapacitors. By storage devices are increasingly developed and employed in
regulating the speed of the flywheel in proportion to the modern power systems. These developments contribute to the
grid frequency, the flywheel serves as an energy buffer forming of the virtual synchronous generator (VSG) concept,
that absorbs and releases its kinetic energy to provide which is referred to the power converters operated as
inertia support. Furthermore, the design methods of the synchronous generators [7], [8]. As compared with back-up
virtual inertia emulated by FESSs are described in detail. synchronous generators, VSGs are more cost-effective.
Finally, the feasibility of the proposed method is verified However, the VSGs without energy storage and other similar
by simulations, and the simulation results validate the methods that use power converters to emulate the virtual
improvement of frequency regulation in terms of inertia have some limitations. Due to the capacity and voltage
frequency nadir and rate of change of frequency (RoCoF). variation range limitations of dc-link capacitors, the inertia
provided from VSGs may be insufficient [3], [7]. Therefore,
Index Terms—Flywheel energy storage system, frequency energy storage units should can be employed.
regulation, power system, renewable energy source (RES), virtual Instead of being used in VSGs, independent energy
inertia.
storage systems (ESSs) are also very helpful and effective in
terms of frequency regulation [9]. For selection of energy
I. INTRODUCTION storage units, batteries, supercapacitors, and flywheels are
To overcome the ever-challenging concerns about common choices. In [10], the battery being applied to electric
environmental pollution and energy scarcity, the growing use vehicles can establish the grid frequency [10]. In [11] and
of renewable energies, such as wind power and solar [12], supercapacitors are used to emulate inertia and improve
photovoltaics (PVs), becomes a global trend [1]. However, frequency regulation. In addition, flywheels are also potential
many issues emerge as the trend of renewable integration candidates for frequency regulation[13]. When compared with
continues [2]. In particular, the lack of inertia issue has batteries, flywheels have a much longer lifecycle and higher
already challenged the frequency stability of small-scale power density. The charge-discharge cycle of batteries is
power systems with high renewable integration levels. This is limited, in contrast, the FESS can provide several hundreds
because renewable energy sources (RESs) are often connected and thousands charge-discharge cycles [13]. Compared with
to the grid through fast-response power electronics converters, supercapacitors, flywheels have a higher energy density. In
which do not naturally provide any inertia as conventional general, the energy density of flywheels is dozens of times
synchronous generators do [3], [4]. higher than that of supercapacitors [14].
To address the lack of inertia issue due to the large Another important feature of flywheels is that flywheels
penetration levels of RESs, several methods have been store kinetic energy [15]. Since the flywheel kinetic energy is
proposed. In conventional power systems, it is known that proportional to the square of speed and moment of inertia, it is
active and reactive powers are mainly regulated by possible that the inertia emulation can be achieved by FESSs

XXX-X-XXXX-XXXX-X/XX/$XX.00 ©20XX IEEE

through the proper regulation of the rotating speeds of When modeled in the d-q frame [19], the machine-side
flywheels. Based on the above discussions, this paper converter of FESSs can be mathematically described as
proposes the concept of inertia emulation by flywheel energy follows:
storage systems for improved frequency regulation.
 didm
 Ld m dt = − Rm idm + Lqm Pnm iqm − udc  dm

II. SYSTEM CONFIGURATION  diqm
 Lqm = − Rm iqm − Ldm Pnm idm − Pn m − udc  qm (2)
Fig. 1 presents the overall schematic diagram of the FESS  dt
connected to the power grid. As seen, the power circuit of the  dm 3
FESS consists of a flywheel, a permanent magnet synchronous J = Pn m iqm
machine (PMSM), and a back-to-back power converter. For  dt 2
simplicity, the grid consists of a synchronous motor and a where Rm is the stator resistance; Lxm , ixm ,  xm ( x = d , q) are the
resistive load. In simulations, the synchronous generator is inductances, currents and switch functions in the d-q frame,
replaced by a virtual synchronous generator (VSG) [2]. respectively; udc is the DC-link capacitor voltage; Pn is the
The main components in the system are introduced below:
1. Flywheel number of pole-pairs; and  m is the permanent flux density. It
Flywheels are rotating devices that can store kinetic should be highlighted that the friction coefficient of the
energy. Their kinetic energy is proportional to the moment of machine is ignored to represent an ideal case. Meanwhile,
inertia and the square of the rotational speed. The kinetic there is no external mechanical source applied to the rotating
energy of FESSs is represented as shaft of the flywheel, so the input mechanical torque is 0.
1 Since the PMSM do not contain damping windings, and the
E = J m 2 (1) flux of PMSM is a constant determined by the permanent
2
where J is the moment of inertia and ωm is the rotor angular magnetic steel. In this case, if the rotor flux orientation control
velocity [16]. Usually, depending on the rotational speed, is used, the d axis current can be set to zero, i.e. id = 0, so that
flywheels can be divided into high-speed type and low-speed the two-phase rotating coordinate system is fixed in the
type. High-speed flywheels are generally made of special direction of the rotor flux, maximizing the efficiency of
materials such as carbon fiber composite materials to ensure PMSM [20].
high-speed operation [9], [16]. In this paper, a low-speed The d-q model of the grid-side converter of FESSs can be
flywheel is used in simulation due to its low-cost and easy represented as
operation.  didg
2. PMSM  Lg = − Rg idg + Lg r iqg − udc  dg + E
 dt
This part is used to convert mechanical energy into
 diqg
electrical energy. For selection of motors, typical choices are  Lg = − Rg iqg − Lg r idg − udc  qg (3)
induction motor, switched reluctance motor and PMSM.  dt
Among them, the PMSM is used in this paper due to its large  dudc 3
power density, high efficiency, and controllability [17], [18]. C dt = 2 (idg  dg + iqg  qg )
3. Back-to-back Power Converter 
A back-to-back converter is employed in this paper. It where r = 2 f r , in which f r is the fundamental grid
consists of a grid-side converter and a machine-side converter. frequency of the gird. Lg and Rg are the inductance and
The grid-side converter is mainly used to regulate the DC-link resistance of the transmission line, respectively.
voltage and reactive power. The machine-side converter aims ixm ,  xm ( x = d , q) are the currents and switch functions in the
to control the speed of the flywheel and make it operate stably d-q frame, respectively. Assuming that the reactive power of
[9]. the grid-side converter is controlled to be zero, the q-axis
4. VSG current satisfies iqg = 0. Based on the above discussions, the
The VSG serves to emulate the operation of synchronous
generators. As shown in Fig. 1, the VSG consists of a DC system parameters of the FESS are listed in table I.
source, a voltage source inverter and a LC filter. The purpose
of VSG is to regulate the grid frequency so that the proposed IV. CONTROLLERS DESIGN
inertia emulation method can be validated [7]. Therefore, for
simplicity, only a resistive load is included in the test power A. Controllers design of FESS
system. According to equations (2) and (3), a more simplified
mathematical expression can be obtained by decoupling and
redefinition.
III. SYSTEM MODELING
In this paper, an flywheel driven by a PMSM is adopted
due to its large power density and high efficiency. The PMSM
is connected to the power grid by a back-to-back converter.
 Fig. 2. Control block diagram for the machine-side Fig. 3. Control block diagram for the grid-side converter
converter of FESS. of FESS.

Fig. 1. Structure of the test system.

vdg = Lg 0 iqg − udc  dg + E the iqm is shown only. The control block diagram of the

vqg = − Lg 0 idg − udc  qg machine-side converter is shown in Fig. 2.
 (4) The control loop of the machine-side converter consists of
vdm = Lqm Pnm iqm − udc  dm inner current loop and outer rotating speed loop.
v = − L P  i − P  − u  Based on the equation (5), the transfer function from vqg to
 qm dm n m dm n m dc qm

From equation (4), the equations (2) and (3) can be further iqg can be derived as:
simplified to (5) and (6), which represents the machine-side iqm ( s) 1
converter and grid-side converter. G1 ( s ) = = (7)
For the machine-side converter: vqm ( s ) Lm s + Rm
 didm The inner current PI controller of the machine-side
 Lm dt = − Rm idm + vdm converter is described as:
 K
 L diqm = − R i + v GPI1 ( s ) = K m1 + m 2 (8)
 s
m m qm qm
dt
(5) Based on the equation (2), the transfer function from iqm to
In the model of this paper, the armature inductance of m can be derived as:
PMSM has the same value in the d-q coordinate system, so it m ( s ) 3Pnm 1
can be set that Ldm = Lqm = Lm . G2 ( s ) = = (9)
iqm ( s) 2J s
For the grid-side converter:
The outer rotor speed PI controller of the machine-side
 didg converter is described as:
 Lg = − Rg idg + vdg
dt K
 (6) GPI2 ( s ) = K m 3 + m 4 (10)
 L diqg = − R i + v s
 g dt g qg qg
Similarly, the design process of the grid-side converter can
Both the equation (5) and (6) are based on decoupled be achieved as follows. From equation (6), the control block
system. diagram of the grid-side converter is shown in Fig. 3.
From equation (5), it is easy to observe that the functions The control loop of the grid-side converter consists of
for both current loops are the same, so the design process for inner current loop and outer voltage loop [21]. Based on the
 per-unit, which can be expressed as:
Egen J r2
H= = (16)
VArated 2VArated
E gen represents the kinetic energy stored in the rotor of the
synchronous generator, J denotes the moment of inertia of
the generator, and VArated denotes the base power of the system
Fig. 2. Control block diagram for the machine-side
converter of FESS [2], [5].
In order to emulate power system inertia by the FESS and
provide virtual inertia to the system, the inertia coefficient
equation (6), the transfer function from vqg to iqg can be H m of the FESS can be expressed as the ratio of the energy of
derived as: FESS in a based-power:
idg ( s ) 1
G3 ( s ) = = (11) EFESS J  2
vdg ( s ) Lg s + Rg Hm = = m m (17)
VArated 2VArated
The inner current PI controller of the grid-side converter is
where EFESS represents the energy of FESS, J m is the moment
described as:
Kg2 of inertia of the flywheel, and m is the rotational speed of the
GPI3 ( s ) = K g1 + (12) flywheel.
s
It can be seen from equation (16) and (17), the similarities
Based on the equation (3), the transfer function from idg to between synchronous generators and flywheel is obviously.
udc can be derived as: The energy and inertia coefficient of the synchronous are in
udc ( s) 3E 1 proportion to the square of m , that is ref ( f ref ), where the
G4 ( s ) = = (13) energy and inertia coefficient of the FESS are proportional to
idg ( s) 2Cudc s
the square of m . Although the reference frequency ref is
The outer voltage controller of the machine-side converter
is described as: different from the rotational speed m of the flywheel, it is
Kg4 feasible to make the speed variation of the flywheel
GPI4 ( s ) = K g 3 + (14) proportional to the deviation of the grid frequency, so that the
s
controller of the virtual inertia can be designed which will
From equations (5) - (14) and the parameters of FESS
make it possible to provide the virtual inertia to the power
from table I, the values of the parameters of the controllers can
system by the FESS and achieve the frequency regulation. The
be obtained by bode plot and stability analysis. The values of
virtual inertia of the FESS can be introduced by the proposed
the controllers of machine-side converter and grid-side
frequency controller, which can be represented as a
converter are listed in table I.
proportional controller: Table II. System parameters used in
analysis and simulation.
B. Controllers design of virtual inertia
When FESS does not provide virtual inertia, only the  m _ max   f r _ max 
Km _ pu =     (18)
synchronous generator participates in the regulation of grid  m   f ref 
frequency (replaced by VSG in the simulation of this paper).
The symbols and parameters of the synchronous motor can be From equation (18)， m and f r can be linked so that the
obtained from the table II and the relationship between inertia maximum deviation of frequency f r _ max will cause a
and load changes can be obtained [5]: maximum changing of rotational speed m _ max of the
d r_pu
Pm_pu − PL_pu = 2 H + Dr_pu (15) flywheel, which will also lead to the change of the output
dt power Pm _ pu of the FESS. The virtual inertia coefficient can
In equation (15), H represents the inertia coefficient in
be expressed as:

H v = H m Gclm Km _ pu ( s)
(19)

When the frequency controller is activated, the equivalent

inertia coefficient of the system is modified from H to
H +H m Gclm Km _ pu ( s) , where Gclm represents the closed-
Fig. 3. Control block diagram for the grid-side converter
of FESS. loop function of the speed control of the flywheel, which can
 Table I. System parameters of FESS.
Grid-side Machine-side
Symbol Description Value Symbol Description Value
E Grid peak voltage 110 2 Rm Stator resistance 1.132 Ω
Rg Grid-side line impedance 0.1 Ω Lm Armature inductance 12.38 mH
Lg Grid-side line inductance 0.001 H Pn Pole pairs 2
C DC-link capacitance 2 mF B Static friction 640 rpm
f0 Fundamental frequency 50 Hz J Moment of inertia 0.018 kg m 2
udc Damping coefficient 400 V m Rated rotational speed 900 rpm
K PWM PWM gain 1 m Flux linkage 0.12 Wb
K g1 Proportional coefficient 5 Km1 Proportional coefficient 6
Kg 2 Integral coefficient 1000 Km2 Integral coefficient 50
Kg3 Proportional coefficient 0.5 K m3 Proportional coefficient 0.1
Kg 4 Integral coefficient 1.3 Km4 Integral coefficient 1

be set as 1, Km _ pu ( s) is the proposed frequency controller in

per-unit, and the transfer function from m _ pu to Pm _ pu is
V. SIMULATION RESULTS
2H m s .
The proposed method of frequency regulation and virtual
From equation (17) – (19), the virtual inertia coefficient of inertia enhancement by FESS has been successfully verified in
the FESS can be represented as: simulations through the PLECS software. The key parameters
m _ max f ref J mm 2 of synchronous generator and FESS are listed in Table II. It
Hv =
m f r _ max 2VArated can be obtained that max =360 rpm, J = 0.018 kg m 2 , and
(20) Km = 1800 can be obtained. Under this condition, the
Finally, the block diagram of the frequency regulation of
the system with virtual inertia by FESS is shown in Fig. 4. virtual inertia coefficient H v = 8 s of the FESS can be got,

Fig. 4. Block diagram of frequency regulation with virtual inertia by FESS

 Table II. System parameters used in analysis and simulation.
Synchronous generator Flywheel energy storage system
Symbol Description Value Symbol Description Value
VArated Nominal power 1 MVA VArated Power rating 1000 KVA
Rd Droop coefficient 0.05 ref Rated rotational speed 900 rpm
TG Speed governor coefficient 0.1 s max Maximum rotational speed 1260 rpm
FHP Turbine HP coefficient 0.3 s min Minimum rotational speed 640 rpm
TRH Time constant of 7.0 s m_max Maximum speed deviation 360 rpm
TCH Time constant of main inlet 0.2 s E Grid peak voltage 110 2 V
volumes
H Inertia coefficient of 5.0 s Hv Virtual inertia coefficient 8.0 s
fref Rated frequency 50 Hz J Moment of inertia 0.018 kg m 2
D Damping coefficient 1.0 K PWM PWM gain 1
f max Maximum frequency 0.2 Hz Km Km _ pu Frequency controller 1800/100
deviation

which was larger than the inertia coefficient H = 5 s of the

synchronous generator. That means in this system, FESS can
increase the inertia of the system even when the synchronous
generator is out of the power system. The waveforms of
frequency response with and without virtual inertia provided
by the FESS under a 3% step- up load change are presented in
Fig. 5(a). The rated frequency of the system is 50 Hz. When
the 3% step-up load change occurred at 2 s without the virtual
inertia provided by the FESS, the maximum system frequency
deviation is 0.17 Hz. The system frequency reached 49.93 Hz
in the quasi-steady-state. In this condition, only the VSG
participated in the frequency regulation and the rotational
speed of the flywheel was always at 900 rpm.
When the virtual inertia controller of the FESS is
activated, it can be seen from Fig. 5(a) that the maximum
frequency deviation reduced from 0.17 Hz to 0.15 Hz, and the
(a) Flywheel speed f r
system frequency reduced from 50 Hz to 49.85 Hz. Therefore,
the designing of the virtual inertia can lead to a 13.3%
reduction in terms of the frequency deviation. The increase of
the frequency nadir in a load-up condition has a great
significance for the safety and stability of the system.
The rate of change of frequency (RoCoF) is also decreased
significantly. This key indicator is usually one of the
important parameters that characterize the stability of the
system. Excessive frequency response rates can cause
triggering the relay protection devices which affecting the
stability of the system. Therefore, by the proposed virtual
inertial control method, the inertia coefficient Hv provided by
the FESS can be flexibly changed by changing the
proportional coefficient or the range of speed variation of the
FESS. The total coefficient of the inertia can be adjusted
flexibly, and the inertia of the whole power system is greatly
increased. It can be seen from Fig. 5(b) the quasi-steady-state
rotational speed of the flywheel was 143 rpm in quasi-steady- (b) Flywheel speed m
state, which is in proportion to the quasi-steady-state
frequency deviation which can be verified by Fig 5(a) and (b). Fig .5 Frequency responses of the systems with and
It should be noted that the frequency deviation of the system is without virtual inertia by FESS (3% step-up load)
 less than 0.2 Hz, so the corresponding speed deviation of the
flywheel is within the given range of variation.
Similar results can be obtained from Fig. 6. When the
system has a 3% step load-down, the grid frequency f r rises
above the rated value. This issue can be solved by the virtual
inertia method proposed in this paper. The speed of the
flywheel changes in proportional to the grid frequency
variation which can pull down the peak of the frequency and
reduce the RoCoF of the system.

VI. CONCLUSION
This paper has proposed the method of using flywheel
energy storage systems to provide the virtual inertia and
improve the frequency regulation of modern power systems.
In particular, the model of flywheel energy storage systems is
(a) Flywheel speed f r detailed. Moreover, the design methods of the controllers of
flywheel energy storage systems and virtual inertia are
elaborated. Through the simulation results, it can be verified
that the proposed method is effective for inertia emulation and
enhancement.

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