A Review on Microgrid Control Techniques

Pouya Borazjani
Noor Izzri Abdul Wahab
Hashim b. Hizam
Azura Bt Che Soh
Centre for Advance Power and Energy Research (CAPER) Dept. Of Electrical and Electronic Engineering,
University Putra Malaysia 43400 UPM Serdang Selangor, Phone: 0060172797316; Email: pouyaborazjani@gmail.com


Abstract In recent years with penetration of distributed energy
sources in power systems and generation of electricity from them,
controlling the stability of network has become more complicated.
In this respect, different works have shown a tendency to use
different methodologies to simplify the control of network
stability. Nowadays, engineers divide the distribution system to
many subsystems, which are called microgrid. A microgrid works
in two modes: grid-connected and island mode, which require
methods to control. The control methods can be divided into two
forms, with communication and without communication. This
paper is a short survey on controlling microgrids with distributed
renewable energy resources particularly in island mode and
discusses Multi-agent systems and droop characteristics.
Index Terms--droop characteristic, island mode, microgrid
control, Multi-Agent Systems (MAS), with and without
communication strategies.
I. INTRODUCTION
Nowadays, due to the decreasing fossil fuel resources and
particularly the economic and environmental issues,
researchers show tendency to use renewable energy
resources. Engineers use renewable energy resources locally
at distribution power systems and generate power from them.
These types of resources are called Distributed Energy
Resources (DERs)[1, 2]. Because the characteristics of
DERs, direct connection of them to grids is not acceptable.
Therefore, using power electronic interfaces (dc/ac or
ac/dc/ac) are essential [3, 4]. The benefits of using DERs and
microgrids are in environmental issues, operation and
investment issues, power quality, cost saving and market
issues[5]. Improvement of reliability and quality of power
system suppliers may reduce the congestion on the grid and
also decrease the need for transmission in bulk [6, 7].
However, the power distribution system was not intended for
active power generation and storage at the low voltage level
[8].
Because of the unpredictable behavior of DERs, the
Energy Storage Systems (ESSs) can play an important role
in electrical power systems and should co-operate with micro
sources to compensate the weakness of active power
generation [3, 9-11]. Renewable energy and energy storage
systems will improve the flexibility of using microgrid [12-
14]. Depending on the circumstances, Distributed Energy
Storage (DES) systems can operate in 3 different modes:
power charge, power discharge and controlling voltage
mode. In power charge mode, the DES draw current from the
gird to charge, in discharge mode the DES send current
follow to the grid and in controlling voltage mode the DES
acts as regulator and try to regulate the terminal voltage of
DES [15, 16].
Furthermore, new approaches must be obtained to control
the power flows of DERs and put the system in safe
condition. It should be noted that, engineers have been using
a centralized approach to control whole of distribution
system[12].
One of the principle issues that bounded the influence of
renewable energy sources is the absence of direct
controllability of Distributed Generation (DG) by
Distribution Networks Operators (DNOs) [3]. Besides,
because the major changes in the distribution structure and
function of the system, it seems that the centralized
approaches like traditional SCADA system is not the best
way to control the system[17]. With increasing number of
generation equipment are connected into the network and
unpredictable behavior of them, amount of data, which are
collected for centralized control will grow up
significantly[18, 19]. In fact, a large amount of data should
be gathered, treated at the same time and provided quickly
for further processes. Thus, the centralized approach is not
fast enough, neither feasible nor economical and may be
unable to work correctly. In order to reduce the complexity
of the network, de-centralized approach with using
microgrids are suggested [6, 20-22]. De-centralized
approach eliminates remote controlling systems and
advantages of it are as follow[23]:
1- Reduce the power loss
2- Free for future extension
3- Power supply reliability
4- Economic issues
5- Bi-directional power follow
The following of this paper provide a review that shows
how a microgrid can be controlled. Section II gives
information about approaches that can be used to control
microgrid and has an overview on centralized control and
then surveys de-centralized control approaches. It
concentrates on droop characteristics and multi-agent system
to control microgrid in island mode. Section III discuses
about maximizing the injected power and feeding
limitations. Finally, section IV is summery of contents and
conclusion.

II. CONTROL APPROACHES IN DISTRIBUTION SYSTEMS
A. Centralized Approach
The centralized control is defined by complex central
processing elements that handle whole of the system. It uses
2014 IEEE Innovative Smart Grid Technologies - Asia (ISGT ASIA)
978-1-4799-1300-8/14/$31.00 2014 IEEE 749
E

+

-
V
jXd
PL+jQL
E

+

-
Load bus
I
-
communication system and control distribution system from
faraway. The communication system involves a central
system, which is like a human brain, sensors and control
devices. The sensors send their information to the central
system. The central system after gathering all data, calculates
the control variable for each control equipment and then
sends them to each controllers [24],[12].
B. De-Centralized Approach
In de-centralized approach the distribution system will be
divided into intelligent small grids, which are called
microgrid and each microgrids are connected to the main
grid. A microgrid has loads internal sources and its own
controller. Fig1. shows the basic arrangement of a typical
microgrid. So the distribution system can control itself part
by part. The important point is that each part can operate
autonomously.

Figure 1. A typical microgrid

As we mentioned in introduction micro sources need
some interfaces (inverters) for connecting to the network.
There are two types of tactics to operate an inverter.
PQ inverter control: the inverters are used to provide a
particular active and reactive power set points.
Voltage Source Invertor (VSI) control: the inverters are
controlled to feed the load with pre-defined values for
voltage and frequency. Depending of the load, the VSI active
and reactive power output will be defined[25] [3].
In the connected mode the main object is energy
management. Meanwhile, in island mode the main aim of the
system is to control voltage and frequency [1, 26].
When interface distribution of energy sources with a utility
network, the inverter can usually work in two ways: the grid-
connected mode and the isolated mode. Corresponding to
these modes, the controller operates in two different ways:
Power-Control Mode (PCM) and Voltage-Control Mode
(VCM).
PCM Control: The grid-connected mode of operation
requires that the Power Management System (PMS) shall not
be active to adjust the voltage; thus a logical choice of
controls is the forms of current regulation.
VCM Control: Because of the reference voltage and to
the practical unfeasibility of balancing the load demand the
PQ control mode cannot be a good plan to control microgrid
in island mode [4]. In island mode the control operation is
different to the grid-connected mode. In this mode, the
system is already separated from the upstream network;
hence the main grid does not cover the voltage. Because of
this, the voltage of local loads needs to regulate actively,
therefore a VCM control is be used to regulate the output of
the VSI [2, 26].The Fig.2 is a simplification of the topology
of an inverter, which is connected to a microgrid.






E is the voltage output of inverter, Xd is the impedance
of transmission line and the V represents voltage on the
load bus. The active and reactive power that inverter
injects to the load bus is given as follow [1]:

(1)

(2)

1) Controlling without any communications:

In this method the droop characteristic is used to control
voltage and frequency. The microsources implement the
plug-and-play concept. By using voltage and frequency
droop control characteristic all generators can share the
load automatically even without the need of any
communications between inverters. So we can control the
frequency and voltage of microgrid buses in island mode
without the expense of communication systems [27-30].
According to (1) PL which is injected to the load is
proportional to the angle of and controller can control PL
by changing E. The Frequency Control process is used
to find the preferred phase angle of E. The desired
frequency of inverter can calculate from (3).
fE=:+ f= :+Kf P (3)
The f is proportional to difference between reference and
measured active power and Kf is control factor.
Also we conclude from (2) by changing amplitude of E
can control QL. The desired output voltage magnitude of
inverter computes by a Voltage Control module.
In[27], the authors used an AC voltage sources as a
microsources. The microsources can regulate voltage and
frequency without using any communication system to other
microsources or any central control system. In [27] the
authors used a typical controlling microgrid plan to control
the microgrid in island mode. The frequency of load bus
DER Inverter

L
o
a
d

L
o
a
d

Main
grid
Controller
P
L
=
Lv
X
d
sin o =
Lv
X
d
o =
Lv
X
d
(0
E
-
v
)

L
=
Lv
X
d
cos o -
v
2
X
d
=
v
X
d
(E - V)
Figure 2. Schematic of voltage source inverter connected to grid
2014 IEEE Innovative Smart Grid Technologies - Asia (ISGT ASIA)
750
Rd+jXd
S
-
U1 U
2<

A
B
I < II <
- Zd < d <
0
U
2<
-o
voltage fv is sensed by Phase Locking Loop (PLL) and the
magnitude of load voltage can determine by a rotating frame
transforming block. By P versus f characteristic module
we can calculate Pref. A Qref also is given by Q versus V
droop characteristic module. A frequency Control
module used for the output of phase-angle E of the
microsource output voltage E

, while the Voltage Control

module is used to output the magnitude | E |. A PWM block
can send E

into the PWM gate pulses, which are used to

control an inverter.

In generally we have to consider both Xd and Rd
,
as shown
in Fig. 3 To solve this issue we need a rotational
transformation matrix T that presented as follow.











_
P'
'
_ = I_
P

_ = j
sin 0 -cos 0
cos 0 sin 0
[ _
P

_ = _
Xd
zd
-
Rd
zd
Rd
zd
Xd
zd
_ _
P

_ (4)
sin o=
zPi
0
1
0
2
(5)
U1-U2cos o =
z
|

0
1
(6)
If we assume that o and also U1-U2 is small, they will
proportional to P'and Q
i
respectively.
We can also use the active and reactive current instead of
active and reactive power to control a microgrid. By this way
we can imitate behavior of a synchronous alternator. The
synchronous alternator is considered as Thvenin equivalent
voltage source that has same frequency with the grid and
only it has a different phase angle of .
= -K

( -
0
) (7)
f is the real and f0 is the nominal frequency of the grid. The
magnitude of voltage source is presumed constant and the
reducing voltage happens because of the internal series
impedance Zs of the alternator. So choosing Zs and K
q
is
important important, which can extract by droop frequency
and voltage based on active and reactive currents that
explained completely in [28]. The [29] concentrates on the
P/V relationship in microgrid. If any imbalance happens
between the generated power and demand power, the output
voltage of the inverter will be changed automatically.
Therefore, a dc voltage is used as the trigger for ac power
changes.
v
g
-
= v
g,nom
+m(v
dc
- v
dc,nom)
(8)
P
dc
= P
dc,nom
- K(v
g
- v
g,nom
) (9)
The v
-
g (the rms of grid voltage) will be changed
according to change of Vdc (voltage of inverter) by means of
proportional controller. Fig. 4 depicts the P/Vg-droop
characteristic the Pdc according to droop characteristic is
changed with the voltage grid. Using Vg/Vdc-droop control
strategy lonely can trigger to voltage violation. For avoiding
this situation when the voltage changes to a certain level, the
power P that inserted to the microgrid will be changed. On
the other hand, the Vg is changing. Therefore, the Pdc inserted
to dc link is changed. We can control the Pdc by different
ways like battery charging, changing in generated power, or
by using some loads.












In [29], also a way of combining the Vg/Vdc and P/Vg-
droop characteristic and advantages of it is introduced.

2) Multi-Agent Systems Based Control:

Multi-Agent System (MAS) makes large and complex
systems to small and autonomy subsystems that can
negotiate together by agents to improve the stability of the
system [6]. An agent can be defined as a software or
hardware, which can receive data from the sensors, sends
command to environment and negotiate with other agents.
The central section of an agent is called decision making
module. There are compound control goals in decision
making module and the agent throughout the receiving
information will make policies and choosing the best
strategy to control. Also, agents can start negotiation with
other agents through Communicator modules and sends
some commands to controllers and devices [30].
The MAS is classified to three different layers: Proactive,
Reactive and Social layer. In normal condition the system
works in Proactive layer, when a fault happens Reactive
layer will be activated and bus agent tries to solve the
problem by itself. If the bus agent cannot eliminate the
problem alone, social agent will be activated and tries to
negotiate with other agents to find the optimal solution [13,
31, 32]. In[13] the scholars used these classifications to study
a power system in three different situations.
The message protocol must be generally shared with all
agents. There are two- communication languages use for
agent negotiation:
Agent Communication Language (ACL) by the
Foundation for Intelligent Physical Agents (FIPA)
Knowledge Query and Manipulation Language
(KQML)
The agents, which are in communication, must use the
same ontology. Ontology is a formal definition of a body of
knowledge. The most typical type of ontology used in
building agents involves a structural component. Essentially
Pdc,nom
Vg,nom Vdc

Pdc
Figure 3. Schematic of KVA that inserted to a microgrid through Zd
Figure 4. P/Vg-droop characteristic
2014 IEEE Innovative Smart Grid Technologies - Asia (ISGT ASIA)
751
a taxonomy of class and subclass relations coupled with
definitions of the relationships between these things- Jim
Hendler.[33].
Some different tools are used for MAS implementation
that called as middleware, like JADE, ZEUS, JANUS,
Skeleton Agent or MadKIt [20]. In field of power
distribution system it is very important to use an agent
platform, which is being consistent with IEEE standard on
the FIPA. [34] .
Hierarchical control structure of MAS is shown in Fig. 5.
Fig. 5 is a cluster that consists of Distribution Management
System (DMS) and microgrid.
















The microgrid is included that:
Local controllers (Micro Source Controllers (MSCs)
and Load Controllers (LCs)).
Microgrid Central Controller (MCC).
Each microgrid has a MCC that interfaces between the DMS
and the microgrid. MCC includes some fundamental
functions such as managing and control functionalities.
DMS contains a Distribution Network Operator (DNO) and
Market Operators (MO), which many MCCs are interacted,
has responsibility for managing operations of medium and
low voltage areas in which more than a microgrid is exist [3,
35, 36]. The European microgrid structural design contains
of two PV generators, one wind turbine, battery storage,
controllable loads and a controlled interconnection for the
local low voltage grid [18].
A simple MAS can consist of four agents; control agent,
DER agent, user agent and database agent. The control
agent monitors the health of main grid and can send signal
to main circuit breaker to isolate or re-connect the microgrid
to upstream grid. The main aim of DER agent is to control
and monitor DER power level and its status. The user agent
monitor current, voltage, active and reactive power of loads
and can decide to connect or disconnect loads according to
the priority pre-defined by the user. The database agent is
responsible for storing messages that shared between the
agents and system information [37].
The articles [39]-[46] showed the flexibility of MAS in
microgrids control in connected mode, island mode and also
the ability of having a seamless transient between the two
modes.

III. MAXIMIZING THE SUPPLY POWER AND FEEDING NODES
LIMITATIONS.
As mentioned before a microgrid operates in two
different modes. When the microgrid is connected to the
main grid is called grid-connected mode. In connected mode
the loads are fed by micro sources and main grid. As a result
of an interruption or market policies, microgrid can isolate
from the main grid. This situation is known as island mode.
In the island mode the power suppliers are internal micro
sources [2, 5, 26, 38]. In island mode the aim of MAS is to
supply the loads with respect of the priority of critical and
non-critical, it follows the formula (10).
Max _ (w
I
I
I
)
n
I=1
(10)
Where I is the current of load at node i, n is the total number
of nodes in the system and W is the weight associated with
each load, based on its priority. To avoid the abuse of
operating the system it is necessary to consider some
limitations as follows:
Limitation on generation:
Gi< Gmax (11)
Where j e S (set of source nodes)
Cable limitation:
Fij< Fmax (12)
Where, F is the flow between node i and node j.
Radial configuration:
_ I
u
1
ueIB
(13)
Where IB is the set of branches where current, I, is flowing
into the node. Considering the Radial limitation warrants
that one branch can supplies the node[39].
IV. CONCLUSION
With appearance of renewable energy resources in the
power industry and using them as DERs, the distribution
network became more complex. Therefore the control
attitude of distribution system must be updated. This paper
shows how microgrid and attitude of controlling it, meet the
expectations in field of distribution systems. Each microgrid
must have the ability of working in island mode and grid-
connected mode. Because of supporting DGs, the importance
of storage devices in stability of microgrids is undeniable.
After islanding, the main target of microgrid is to preserve
critical loads as their priority and non- critical loads will be
eliminated automatically. In general the controlling ways of
microgrid can divide to: with communication and without
communication strategies. Using droop characteristic and
MAS were introduced in this paper to control microgrid. The
MAS is not used in industrial until yet but studies has been
shown that it can be appropriate for implementation in future
networks.
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