Increased penetration of inverter-connected renewable energy sources (RES) in the power system has resulted in a decrease in available rotational inertia which serves as an immediate response to frequency deviation due to disturbances. The concept of virtual inertia has been proposed to combat this decrease by enabling the inverters to produce active power in response to a frequency deviation like a synchronous generator. In this paper, we present an algorithm to optimally design the inertia and damping coefficient required for an inverter-based virtual synchronous machine (VSM) to participate efficiently in the inertia response portion of primary frequency control. We design the objective function to explicitly trade-off between competing objectives such as the damping rate the the frequency nadir. Specifically, we formulate the design problem as a constrained and regularized H2 norm minimization problem, and develop an efficient gradient algorithm for this non-convex problem. This proposed algorithm is applied to a test case to demonstrate its performance against existing methods.
With the increasing impact of low inertia due to the high penetration of distributed generation, virtual synchronous generator (VSG) technology has been proposed to improve the stability of the inverter-interfaced distributed generator by providing "virtual inertia". This paper presents a recent review of virtual inertia control covering significance, features, design principles, and state-of-art inertia strategies from both physical and mathematical perspectives to facilitate the wide application of the VSG. The definition and source of virtual inertia are given to help researchers to establi…
As renewable resources gradually replace conventional generation based synchronous machines, the dynamics of the modern grid changes significantly and the system synchronous inertia decreases substantially. This transformation poses severe challenges for power system stability; for instance, it may lead to larger initial rate of change of frequency and increase frequency excursions. However, new opportunities also arise as novelconverter control techniques, so-called grid-forming strategies, show higher efficiency and faster response than conventional synchronous generators. They mainly involv…
This work presents a technique to estimate on-line the inertia of a power system based on ambient measurements. The proposed technique utilizes the covariance matrix of these measurements and solves an optimization problem that fits such measurements to the synchronous machine classical model. We show that the proposed technique is adequate to accurately estimate the actual inertia of synchronous machines and also the virtual inertia provided by the controllers of converter-interfaced generators that emulate the behavior of synchronous machines. We also show that the proposed approach is able …
The virtual synchronous generator technology analogs the characteristics of the synchronous generator via the controller design. It improved the stability of the grid systems which include the new energy. At the same time, according to the adjustable characteristics of the virtual synchronous generator parameters, the parameter adaptive adjustment is used to improve the dynamic performance of the system. However, the traditional virtual synchronous generator adaptive control technology still has two drawbacks: on the one hand, the large-scale adjustment of the damping droop coefficient and the…
Maintaining the stability of renewable-dominant power systems requires the procurement of virtual inertia services from non-synchronous resources (e.g., batteries, wind turbines) in addition to inertia traditionally provided by synchronous resources (e.g., thermal generators). However, the pricing of inertia provision has not been studied in a stochastic electricity market, where the uncertainty characteristics of renewable energy sources (RES) are considered. To fill in this research gap, this paper formulates a chance-constrained stochastic unit commitment model with inertia requirements and…
Power grids are evolving toward 100% renewable energy interfaced by inverters. Virtual inertia and damping provided by inverters are essential to synchronism and frequency stability of future power grids. This paper numerically addresses the problem of dispatch of virtual inertia and damping (DID) among inverters in the transmission network. The DID problem is first formulated as a nonlinear program (NLP) by the Radua collocation method which is flexible to handle various types of disturbances and bounds constraints. Since the NLP of DID is highly non-convex, semi-definite programming (SDP) re…
The infusion of renewable energy sources into the conventional synchronous generation system decreases the overall system inertia and negatively impacts the stability of its primary frequency response. The lowered inertia is due to the absence of inertia in some of the renewable energy-based systems. To maintain the stability of the system, we need to keep the frequency in the permissible limits and maintain low rotational inertia. Some authors in the literature have used the virtual synchronous generators (VSG) as a solution to this problem. Although the VSG based distributed recourses (DER) …
Synchronous Observer Design for Landmark-Inertial SLAM with Magnetometer and Intermittent GNSS Measurements
Centre for Systems and Control, Indian Institute of Technology Bombay（印度理工学院孟买分校系统与控制中心）；School of Aerospace, Mechanical and Mechatronic Engineering (AMME), Faculty of Engineering, University of Sydney（悉尼大学工程学院航空航天、机械与机电工程系）
The electrical grid is evolving from a network consisting of mostly synchronous machines to a mixture of synchronous machines and inverter-based resources such as wind, solar, and energy storage. This transformation has led to a decrease in mechanical inertia, which necessitate a need for the new resources to provide frequency responses through their inverter interfaces. In this paper we proposed a new strategy based on model predictive control to determine the optimal active-power set-point for inverters in the event of a disturbance in the system. Our framework explicitly takes the hard cons…
Conventional synchronous machines are gradually replaced by converter-based renewable resources. As a result, synchronous inertia, an important time-varying quantity, has substantially more impact on modern power systems stability. The increasing integration of renewable energy resources imports different dynamics into traditional power systems; therefore, the estimation of system inertia using mathematical model becomes more difficult. In this paper, we propose a novel learning-assisted inertia estimation model based on long-term recurrent convolutional network (LRCN) that uses system wide fr…
Increasing the inertia is widely considered to be the solution to resolving unstable interactions between coupled oscillators. In power grids, Virtual Synchronous Generators (VSGs) are proposed to compensate the reducing inertia as rotating synchronous generators are being phased out. Yet, modeling how VSGs and rotating generators simultaneously contribute energy and inertia, we surprisingly find that instabilities of a small-signal nature could arise despite fairly high system inertia. Importantly, we show there exist both an optimal and a maximum number of such VSGs that can be safely suppor…
This paper discusses the conditions that a device needs to satisfy to replicate the behavior of a conventional synchronous machine (SM) connected to a power network. The conditions pertain to the device's stored energy, time scale of response, oscillation damping, and behavior during short-circuits. Relevant remarks for devices that do/don't satisfy these conditions are discussed through an illustrative numerical example as well as through simulation results based on a modified version of the well-known WSCC 9-bus test system.
An inevitable consequence of the global power system transition towards nearly 100% renewable-based generation is the loss of conventional bulk generation by synchronous machines, their inertia, and accompanying frequency and voltage control mechanisms. This gradual transformation of the power system to a low-inertia system leads to critical challenges in maintaining system stability. Novel control techniques for converters, so-called grid-forming strategies, are expected to address these challenges and replicate functionalities that so far have been provided by synchronous machines. This arti…
In this paper, a phasor measurement unit (PMU)-based wide-area damping control method is proposed to damp the interarea oscillations that threaten the modern power system stability and security. Utilizing the synchronized PMU data, the proposed almost model-free approach can achieve an effective damping for the selected modes using a minimum number of synchronous generators. Simulations are performed to show the validity of the proposed wide-area damping control scheme.
Having sufficient grid-forming sources is one of the necessary conditions to guarantee the stability in a power system hosting a very large share of inverter-based generation. The grid-forming function has been historically fulfilled by synchronous machines. However, with the appropriate control, it can also be provided by voltage source converters (VSC). This work presents a comparison between two technologies with grid-forming capability: the VSC with a grid-forming control coupled with an adequate energy storage system, and the synchronous condensers (SC). Both devices are compared regardin…
An increasing penetration of renewable generation has led to reduced levels of rotational inertia and damping in the system. The consequences are higher vulnerability to disturbances and deterioration of the dynamic response of the system. To overcome these challenges, novel converter control schemes that provide virtual inertia and damping have been introduced, which raises the question of optimal distribution of such devices throughout the network. This paper presents a framework for performance-based allocation of virtual inertia and damping to the converter-interfaced generators in a low-i…
The progressive integration of electronic converter based Renewable Energy Sources will lead to a reduction of the system synchronous inertia that can endanger the system frequency stability behavior, especially in the case of isolated or poorly interconnected systems, such as the case of Iberian Peninsula system. This work focuses on the study of the impact that the synchronous inertia reduction can have on the Iberian system frequency stability for different critical operation scenarios and disturbances. For this purpose, an equivalent dynamic model of the Iberian system interconnected with …
In this paper, a neural network predictive controller is proposed to regulate the active and the reactive power delivered to the grid generated by a three-phase virtual inertia-based inverter. The concept of the conventional virtual synchronous generator (VSG) is discussed, and it is shown that when the inverter is connected to non-inductive grids, the conventional PI-based VSGs are unable to perform acceptable tracking. The concept of the neural network predictive controller is also discussed to replace the traditional VSGs. This replacement enables inverters to perform in both inductive and …
A major concern associated to the massive connection of distributed energy resources is the increasing share of power electronic interfaces resulting in the global inertia reduction of power systems. The recent literature advocated the use of voltage source converter (VSC) interfaced battery energy storage system (BESS) as a potential way to counterbalance this lack of inertia. However, the impact of VSCs on the dynamics of reduced-inertia grids is not well understood especially with respect to large transmission grids interfacing a mix of rotating machines and resources interfaced with power …
The absolute requirement to increase the amount of energy generation from renewable sources e.g. predominantly asynchronously connected wind turbines and photovoltaic installations, may in practice during transient events (where frequency changes are examined) excite oscillatory response of the power output of large grid connected synchronous-generators. The response of such generators must be controlled either by varying the applied torque of a turbine or by altering the electromagnetic torque in the airgap. Choosing the latter, the adequacy of a voltage regulator, particularly that of the em…
The renewable energy is connected to the power grid through power electronic converters, which are lack of make the inertia of synchronous generator/machine (SM) be lost. The increasing penetration of renewable energy in power system weakens the frequency and voltage stability. The Grid-Forming Converters (GFCs) simulate the function of synchronous motor through control method in order to improve the stability of power grid by providing inertia and stability regulation mechanism. This kind of converter control methods include virtual synchronous machine, schedulable virtual oscillator control …
Missouri University of Science and Technology（密苏里科技大学）
In this paper a neural network heuristic dynamic programing (HDP) is used for optimal control of the virtual inertia based control of grid connected three phase inverters. It is shown that the conventional virtual inertia controllers are not suited for non inductive grids. A neural network based controller is proposed to adapt to any impedance angle. Applying an adaptive dynamic programming controller instead of a supervised controlled method enables the system to adjust itself to different conditions. The proposed HDP consists of two subnetworks, critic network and action network. These netwo…
Load-generation balance and system inertia are essential for maintaining frequency in power systems. Power grids are equipped with Rate-of-Change-of Frequency (ROCOF) and Load Shedding (LS) relays in order to keep load-generation balance. With the increasing penetration of renewables, the inertia of the power grids is declining, which results in a faster drop in system frequency in case of load-generation imbalance. In this context, we analyze the feasibility of launching False Data Injection (FDI) in order to create False Relay Operations (FRO), which we refer to as FRO attack, in the power s…
With increased attention on grid-forming inverters as a power system stabilizing device during periods of high shares of inverter-based resource operations, there is a present need for a transparent and rigorous investigation of the inverted and direct power to frequency control capabilities, and associated impacts, of these devices on hybrid systems. Here, analysis of the frequency dynamics of the droop controlled grid-forming inverter and the synchronous generator illuminates the inverted active power-frequency relationship and the frequency response order reduction, forming the basis for no…
The grid-following and grid-forming controls in voltage-source converters are considered as different operation modes and the synchronization mechanism of them are studied separately. In this article, the intrinsic relationships between gridfollowing and grid-forming controlled converters are established as follows: 1) the proportional gain of PLL is in inverse proportion to damping; 2) the integral gain of PLL is similar to integral droop; 3) PLL has no practical inertia but acts like grid-forming control in zero inertia cases. Further, a general stability-enhanced method combining damping an…
This study examines the transient stability of low-inertia power systems with inverter-based generation (IBG) and proposes a sufficient stability criterion. In low-inertia grids, transient interactions are induced between the electromagnetic dynamics of the IBG and the electromechanical dynamics of the synchronous generator (SG) under a fault. For this, a hybrid IBG-SG system is established and a delta-power-frequency model is developed. Based on this model, new mechanisms of transient instability different from those of conventional power systems from the energy perspective are discovered. Fi…
This paper analyses the issue of frequency quality in low-inertia power systems. The analysis is based on a real-world large-scale low-inertia power system namely, the All-Island transmission system (AITS) of Ireland and Northern Ireland currently accommodating up to 75% of non-synchronous generation. The paper is motivated by a recent trend of some frequency quality parameters such as the standard frequency deviation and the slow frequency restoration. The paper first discusses the frequency control services currently in place to ensure frequency quality in the AITS. An analysis of the freque…
This paper revisits the concept of damping torque in a multimachine power system and its relation to the dissipation of oscillation energy in synchronous machine windings. As a multimachine extension of an existing result on a single-machine-infinite-bus (SMIB) system, we show that the total damping power for a mode stemming from the interaction of electromagnetic torques and rotor speeds is equal to the sum of average power dissipations in the generator windings corresponding to the modal oscillation. Further, counter-intuitive to the SMIB result, we demonstrate that, although the equality ho…
Conventional synchronous generators are gradually being replaced by inverter-based resources, such transition introduces more complicated operation conditions. And the reduction in system inertia imposes challenges for system operators on maintaining system rate-of-change-of-frequency (RoCoF) security. This paper presents a selectively linearized neural network (SNLNN) based RoCoF-constrained unit commitment (SLNN-RCUC) model. A RoCoF predictor is first trained to predict the system wide highest locational RoCoF based on a high-fidelity simulation dataset. Instead of incorporating the complete…
Rising wind energy integration, accompanied by a decreasing level of system inertia, requires additional sources of ancillary services. Wind turbines based on doubly fed induction generators (DFIG) can provide inertial and primary frequency support, when equipped with specific controls. This paper investigates the effect of frequency support provision by DFIGs on the small-signal stability of power systems. To this end, a modified version of the Kundur two-area test system is employed to analyze different scenarios. Wind energy generation is either added to the existing system or displaces par…
With increasing installation of wind and solar generation, conventional synchronous generators in power systems are gradually displaced resulting in a significant reduction in system inertia. Maintaining system frequency within acceptable ranges becomes more critical for the stability of a power system. In this paper, we first study the impact of inter-area oscillations on the system rate-of-change-of-frequency (RoCoF) security; then, the limitations on locational RoCoFs accounting for G-1 contingency stability are derived. By enforcing these frequency related constraints, a location based RoC…
On the path towards power systems with high renewable penetrations and ultimately carbon-neutral, more and more synchronous generation is being displaced by variable renewable generation that does not currently provide system inertia nor reactive power support. This could create serious issues of power system stability in the near future, and countries with high renewable penetrations such as Ireland are already facing these challenges. Therefore, this paper aims at answering the questions of whether and how explicitly including inertia and reactive power constraints in generation expansion pl…
Inverter-based resources (IBR) have been widely studied for their advantages on the current power systems. This increase in the penetration of renewable energy has raised some concerns about the stability of the existing grid. Historically, power systems are dominated by synchronous generators that can easily react to system instability due to high inertia and damping characteristics. However, with IBR, the control of the inverter plays a crucial role in contributing to the system stability and enhancing the functionality of the inverters. One of these novel control methods is droop control. D…
Coupled nonlinear oscillators, e.g., Kuramoto models, are commonly used to analyze electrical power systems. The cage model from statistical mechanics has also been used to describe the dynamics of synchronously connected generation stations. Whereas the Kuramoto model is good for describing high inertia grid systems, the cage one allows both high and low inertia grids to be modelled. This is illustrated by comparing both the synchronization time and relaxation towards synchronization of each model by treating their equations of motion in a common framework rooted in the dynamics of many coupl…
