Liserre Lecture 6

Stability of power converters connected to the grid through LCL-filters
Stability of power converters

connected to the grid
through LCL-filters
Marco Liserre
liserre@poliba.it
Marco Liserre
Outline
 Grid converters connected through an LCL-filter
 LCL-filter resonance used to estimate the gid inductance
 Passive damping methods

 current sensors on the converter side
 current sensors on the grid side
 design of the passive damping
 Active damping methods

 multiloop methods
 notch filter methods
 design of the active damping
 Influence of the conditions at PCC
Marco Liserre
Outline


Marco Liserre
Grid converters connected through an LCL-filter

0
-10
-20
L1
i -30
LCL
magnitude (Db)
v -40
ripple attenuation -50

ig ( hsw ) 2
z LC L1+L
≈ 2
i ( hsw )
-60
ω 2 res − ω 2 sw
-70
1 2 3 4 5
10 10 10 10 10
frequency (Hz)
REF M. Liserre, F. Blaabjerg e S. Hansen, “Design and Control of an LCL-filter based
Three-phase Active Rectifier” IEEE Transactions on Industrial Applications,
Sept./Oct. 2005, vol. 41, no.5, pagg. 1281-1291.
Marco Liserre

50
Ma g n itu d e [Db ]
0
-5 0
2 3
10 10
100
P ha s e [Gra d]
0
-1 0 0
-2 0 0
-3 0 0
2 3
10 10
Fre qu e n cy [Hz]
 The LCL-filter challenges the system stability
 There is a resonant peak associated to two resonant poles
 Their position changes as the grid inductance changes
Marco Liserre
A/D A/D A/D A/D
ia ib ic vca vcb vcc vga vgb vgc iga igb igc
 Influence on the low frequency behavior
 Influence on the high frequency behavior
Marco Liserre
current sensors on the converter side
1 ( s + z LC )
2 2
i(s)
G (s) = =
v( s ) L1 s ( s 2 + ωres
2
)
current sensors on the grid side
i( s) 1 1
G(s ) = =
v( s ) L1 L2Cs ( s 2 + ωres
2
)
Marco Liserre

L2 L1 L2 L1
Cf Cf Zb Zb
zTgrid = 1 + j ( xg − xC )
VSC
vc i ZTgrid ZTconv
zTconv = 1 + jx
CURRENT
CONTROL
(a)
L2 L1 L2 L1
Cf Zb Zb Cf
zTgrid = 1 + jxg
zTconv = 1 + j ( x − xC )
VSC
ig vc ZTgrid ZTconv
CURRENT
CONTROL
(b)
L2 L1 L2 L1
Cf Cf
zTgrid = 1 zTgrid = 1+ j −( xC )
zTconv = 1 + j ( x − xg − xc ) zTconv = 1+ j −( x )
VSC VSC
ig i
CURRENT CURRENT
e CONTROL
(c)
e CONTROL
(d)
(c) (d)
1 % error if xc is less than 10 %
REF M. Liserre, A. Dell’Aquila, F. Blaabjerg “Step-by-step design procedure for a grid-
connected three-phase PWM Voltage Source Converter” International Journal of
Marco Electronics
Liserre (Taylor&Francis Ed.), Agosto 2004, vol. 91, no. 8, pagg. 446-459.


v 
jω L1i
VSI
i L1 L2 ig Lg 
vC 
+ iC + + +  jω ( L2 + Lg ) gi
v Cf vC vg e i 
- - - - e
v* 
Modulator
Current
control
iC 
ig
( a)
VSI L1 L2 ig Lg  
jω L1i
i  v
+ iC + + + i  
v Cf vC vg e  vC jω ( L2 + Lg ) gi
ig
- - - - 
e
v* Current 
Modulator
control iC
( b)
Marco Liserre


v 
VSI i L1 L2 vg ig Lg jω L1i
 
+ + +  vC jω L2ig
Cf vC e i  
v vg jω Lg ig
- - - 
e
v* Current  
Modulator ig
control iC
( c)

v 
jω L1i
VSI
i L1 L2 ig Lg  
 v jω L2 ig
+ iC + + + vg C 
v Cf vC vg e  
jω Lg ig
i e
- - - -
*
v Current 
Modulator
control  ig
−
( d) Ci
Marco Liserre
1 Vdc
∆I MAX =
n L1 f
i2 ( ω ) 2
z LC
≈ 2
i1 ( ω ) ω res − ω 2
Marco Liserre

 Influence of inductor saturation
The frequency behaviour of the non-linear inductance can be studied splitting the model in a linear
part and a non-linear part in accordance with the Volterra theory.
5
The Volterra-series expansion of the flux is
ϕ ( t ) ≈ ∑ ϕi ( t )
i =1
L1 i1 i
+ ϕ n ( i1 ,..., in−1 ) ϕ ( i ,i ) ϕ2 ( i1 ) +
in = i3 = 3 1 2 i2 =
v : L1 L1 L1
: e
− −
non-linear inductance
Marco Liserre
Outline


Marco Liserre
Use of the LCL-filter resonance to estimate the grid inductance

 Considering the closed loop current
control where only a proportional
controller is considered for the sake of
simplicity
Gc (s ) =
(
k P s 2 + z L2gC f ) resonance frequency 3230 Hz in case Lg=3.2 mH
( 1.5LT s ) (s )+ ( )
1
2 2 2
+ Ls + k P + ωres k P z L2 gC − 2
ωres
0.25/T
0.30/T 0.20/T
s f 0.8 0.1
0.35/T 0.15/T
0.2
Different grid impedances

0.3
F
r
om
:I
np
utP
o
in
tT
o
:O
u
tp
u
tP
o
in
t •0.6 0.40/T 0.4
0.5
0.10/T
2
5
lead to different resonance

0.4 0.6
2
0
r
es
on
a
nc
e
fr
eq
ue
n
cy
3
23
0H
z 0.7
in
ca
s
eL
g=
3
.
2mH 0.45/T 0.8 0.05/T
0.2
frequencies that can be

1
5 0.9 Lg=1.2 mH
resonance frequency 3530 Hz in case
1
0 0.50/T
0
0.50/T
detected
B)
5 r
e
son
a
nc
ef
r
equ
e
nc
y
35
30
Hz
e(d
in
c
as
eL
g
=1
.2
mH -0.2
d
0
itu
0.45/T 0.05/T
an
g
-
5
M
-0.4
-
10
0.40/T 1  1 0.10/T 1 
-
15
-0.6
∆ωres =  − 
-
20 -0.8 ωres C f  L2 + Lg0.15/T
20.35/T 1 L2 + Lg 2 

-
25 0.30/T 0.20/T
3 0.25/T
1
0 -1
-1 -0.5 0 0.5 1
Marco Liserre
Use of the LCL-filter resonance to estimate the grid inductance

 Different methods can be used to excite the system resonance, such as:
 increase the proportional gain of the current control;
 add other zeros and poles in the controller in order to push the LCL-filter
poles out of the stability region;
both methods change the resonance frequency of the closed loop system
 saturate the ac voltage command for the PWM modulator
it does not change the resonance frequency
1 20
49th harmonic corresponding
of [A]
6
the harmonics [A]

modulating signal
10 to 2450 Hz resonance frequency

0.5
current
amplitude 4
0 converter 0
-0.5 -102
-1
-200
0 0 .0 5 0.1 0 .1 5 0 .2 0 10 20
0.05 30 40
0.1 50 60
0.15 70 80
0.2
tim e [s ] harmonic order
time [s]
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Evaluation of the proposed algorithm
 Test in case the grid inductance is equal to 0 mH

Root Locus Editor (C)
Experimental
Simulated spectrum of the grid current 1
2e3
2.4e3 1.6e3
0.1
0.06 2.8e3 1.2e3
0.2
0.3
3.2e3 0.4 800
0.5 0.5
0.6
0.7
3.6e3 0.8 400
Imag Axis
0.9
0.04 4e3
0
4e3
3.6e3 400
-0.5 3.2e3 800

0.02
2.8e3 1.2e3
2.4e3 1.6e3
2e3
-1
0 -1 -0.5 0 0.5
0 20 40 60 80 100 Real Axis
Root locus
Marco Liserre
 Test in case the grid inductance is equal to 1.5 mH

Experimental
Simulated spectrum of the grid current 1
2e3
2.4e3 1.6e3
0.8 0.1
2.8e3 1.2e3
0.2
0.04
0.6 0.3
3.2e3 0.4 800
0.5
0.4 0.6
0.7
0.03 3.6e3 0.8 400
0.2 0.9
Imag Axis
4e3
0
4e3
-0.2
0.02 3.6e3 400
-0.4
3.2e3 800
-0.6
0.01 2.8e3 1.2e3
-0.8
2.4e3 1.6e3
2e3
-1
0 -1 -0.5 0 0.5 1
0 20 40 60 80 100 Real Axis
Root locus
Marco Liserre

0 mH 0.06
1
2e3
2.4e3 1.6e3
0.1
2.8e3 1.2e3
0.2
0.3
3.2e3 0.4 800
0.04 0.5 0.5
0.6
0.7
3.6e3 0.8 400
Imag Axis
0.9
4e3
0
4e3
3.6e3 400
0.02
-0.5 3.2e3 800
2.8e3 1.2e3
2.4e3 1.6e3
2e3
-1
0
0 20 40 60 80 100 -1 -0.5 0 0.5
Real Axis
1.5 mH 0.04
1
2e3
2.4e3 1.6e3
0.8 0.1
2.8e3 1.2e3
0.2
0.03 0.6 0.3
3.2e3 0.4 800
0.5
0.4 0.6
0.7
3.6e3 0.8 400
0.2 0.9
Imag Axis
0.02 4e3
0
4e3
-0.2
3.6e3 400
-0.4
0.01 3.2e3 800
-0.6
2.8e3 1.2e3
-0.8
2.4e3 1.6e3
2e3
-1
0
0 20 40 60 80 100 -1 -0.5 0 0.5 1
Real Axis
REF M. Liserre, R. Teodorescu, F. Blaabjerg, “Grid impedance estimation via excitation

of LCL-filter resonance” to be published on IEEE Transactions on Industry
MarcoApplications
Liserre
Outline


Marco Liserre
Passive damping: current sensors on the converter side

 As the damping resistor increases, both stability is enforced and the
losses grow but at the same time the LCL-filter effectiveness is reduced.
ig i
L2 ic L1  2 Rd
 s + 2 
s + z LC 
Cf i( s) 1  L2 
e vc v =−
v( s ) L1s  2 LT Rd 2 
Rd  s + s + ω res 
 L1 L2 
losses
[
Pd = 3Rd ∑ i (h) − i g ( h ) ] 2 main terms of the sum are for the index h near to
the multiples of the switching frequency order.
h
Increasing the switching/sampling

frequency, the losses decrease but at the
same time the damping becomes less
Marco Liserre
effective

root locus bode plot
Magnitude [dB]
Rd=0 Rd=16 50
1
D(z)G(z)
0
0.5
Rd=wr*Lg D(z)Gd(z)
-50
2 3
10 10
0
Phase [deg]
-0.5 100
D(z)G(z)
0
-100
-1 -200
D(z)Gd(z)
-300
2 3
-1 -0.5 0 0.5 1 10 10
Frequency [Hz]
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1 .5
10
1 0
-10
0 .5 0 100 200 300 400 500
0
converter side current
-0 .5 1
5
1
0
5
0
-1 -5
-1
0
-1
5
0 5
0 1
00 1
50 2
00 2
50 3
00 3
50 4
00 4
50 5
00
-1 .5
-1 .5 -1 -0 .5 0 0 .5 1 1 .5
Marco Liserre

300
11 grid current
10 20
200 9
15 20 25 30 35 40 45 50
d current [A]
100
-20
4 5 6 7 8
-100
0 10 20 30 40 50
damping resistor value [ Ω]
2.3 % THD 4%
Excessive
0.8 % THFHD 1.9 %
damping
29 W losses 67 W
Marco Liserre

root locus
pole introduced by the delay
1
0.5
reduction of the bandwidth
from 350 Hz to 200 Hz
0
-0.5
Good method to reduce losses in
high power applications at the price
-1
of a slow down of the dynamic
-1 -0.5 0 0.5 1
REF M. Liserre, A. Dell’Aquila, F. Blaabjerg "Stability improvements of an LCL-filter
based three-phase active rectifier”, PESC 2002, Cairns, Australia, June 2002.
Marco Liserre
Passive damping: current sensors on the grid side
k optimum
k max k optimum
1 k max 1 k max
k max
k optimum k optimum
0 .5 0.5
0 0
-0 .5 -0.5
-1 Stable without -1
damping !
-1 -0 .5 0 0 .5 1 -1 -0.5 0 0.5 1
undamped passively damped

Marco Liserre
Passive damping + one sample delay
k optimum k optimum
k max k optimum
1 1
k max
k optimum
0.5 0.5
0 0
-0.5 -0.5
-1 -1
-1 -0.5 0 0.5 1 -1 -0.5 0 0.5 1
undamped passively damped

Marco Liserre
Design algorithm: constraints
 for the stability: ρ - maximum radius of poles of the

MAX
current closed loop - ρMAX should be at least < 1 in order to

have a stable current loop;
 for the bandwidth: bw – the lowest between the
frequencies at which the gain of the closed loop is
reduced to 3 dB and at which the phase delay becomes
larger than 45°;
 for the LCL-filter switching ripple attenuation: ra;
 for the damping losses: Pd .
Marco Liserre
Design algorithm: parameters
 the current controller proportional gain kp;

 the sampling frequency fsampling ;
 the damping resistor value Rd.
ρMAX is a function of all the three parameters but especially of the last two
in a non-linear way,
bw depends strongly and almost linearly on the second parameter,
Pd depends on the last two of them in a non-linear way
ra depends especially on the second of them.
thus a step-by-step algorithm can be written

Marco Liserre
Use of a non-linear least-mean-square method

 a non-linear least-mean-square method can be adopted in order to find the
optimal solution without linearising the relations: ρMAX (kp, fsampling , Rd), bw
(kp, fsampling , Rd), ra (kp, fsampling , Rd), Pd (kp, fsampling , Rd)
 It has been chosen to use the Levenberg-Marquardt method in
conjunction with the linear search.
 The Levenberg-Marquardt method uses a search direction which is a
solution of a linear set of equations. The line search is based on the
solution of a sub-problem to yield the search direction in which the
solution is estimated to lie. The minimum along the line formed from this
search direction is approximated by a polynomial method involving
interpolation. Polynomial methods approximate a number of points with a
polynomial whose minimum can be calculated easily
 The method gives good results if the optimal solution is near the initial
conditions.
Marco Liserre
Dynamic test
(a) (b)
Start of rectifying mode at full load (a); no load (b)
settling time of 30 ms
Marco Liserre
Dynamic test
(a) (b)
Step load change from no load to 4 kW load (a); and from no load to nominal load (11 kW) (b)
REF R. Teodorescu, F. Blaabjerg, M. Liserre, A. Dell’Aquila, “A stable three-phase LCL-

filter based active rectifier without damping” IAS 2003, USA, October 2003.
Marco Liserre
Outline


Marco Liserre
Active damping
 Obtain stability without additional losses
 Modify the control algorithm
 Various techniques based also on the use of more sensors
 Two main possibilities:

 Multiloop
 Notch filter
Marco Liserre
Active damping
multiloop (use of more notch filter in cascade

sensors)
Marco Liserre
Active damping
active damping plug-in
Marco Liserre
Active damping: lead network

lead network Magnitude [dB]
20
Td s + 1 kdz
L( s ) = k d 0
αTd s + 1 -20
-40
2 3
10 10
Phase [deg]
100
1−α 50
φ MAX = arcsin
principle of 1+α
0
operation 10
2 10
3
1 1 Frequency [Hz]
f < → L( s ) = k d f ≥ → L( s ) = 10k d 1
Td αTd f MAX =
Td α
Marco Liserre

 The increase of the lead ratio 1 α increases the phase lead
but it produces higher amplifications at higher frequencies
 adopting a low-pass filter, it is possible to select a high
phase margin (80°) around the resonance frequency (2.5
kHz)
Td = 5.6*10
-4
α = 1.2*10
-2
kd has to be chosen both on damping and

dynamic considerations
z + zo
discretization  L( z ) = k dz
z + po
Marco Liserre

 Instead of a low-pass filter it is enough to select carefully
the lead network position
* D d (z)
i i
−1
+_ D(z) z + G(z)
+
vc
−1
z L(z) E(z)
1 for f < 1.8 kHz because of the lead network
1
Dd ( z ) = = introduce phase lead for f ∈[1.8 ÷ 4] kHz
1 − z −1 L( z ) E ( z )
1 1
1 for f > 4 kHz because of E ( s ) =
LC f ( s 2 + ω res
2
)
Marco Liserre

kdz=0
1 kdz=0.6
kdz=1 kdz=1
kdz=0.6
0.5
kdz=0
0 kdz = 0.6
-0.5
• best damping
-1
• good dynamic
-1 -0.5 0 0.5 1
Marco Liserre

50
Magnitude [Db]
D(z)Dd(z)G(z) D(z)G(z)
Dd(z)
0
Reduction of the
unstable peak
-50
under 0 dB
2 3
10 10
100
Phase [Grad]
0
-100
-200
-300
2 3
10 10
Frequency [Hz]
Marco Liserre

400
20
300
grid current [A]

10
0
200
-10
d current [A]
-20
100
0.3 0.32 0.34 0.36 0.38 0.4
lead network gain kdz
0
-100
-200
-300
0 0.2 0.4 0.6 0.8 1
lead network gain kdz
THD = 1.6% optimum steady-

THFHD = 0.6% state performance
Marco Liserre
Dynamic performances
25 25 25 25
20 20 20 20
d current [A]
15 15 15 15
d current [A]
d current [A]
d current [A]
10 10 10 10
5 5 5 5
0 0 0 0
-5 -5 -5 -5
-10 -10 -10 -10

0.15 0.16 0.17 0.18 0.15 0.16 0.17 0.18 0.15 0.16 0.17 0.18 0.15 0.16 0.17 0.18
time (s) time (s)
time (s) time (s)
Passive Passive Active Active

damping 16 Ω damping 8 Ω damping damping
+ (capacitor voltage
used also for dq-
one delay frame orientation)
REF M. Liserre, A. Dell’Aquila, F. Blaabjerg "Stability improvements of an LCL-filter
Marcobased
Liserrethree-phase active rectifier”, PESC 2002, Cairns, Australia, June 2002.
Active damping: use of a notch filter
* ed no
id +
PI
ud - + vd,av more sensors
- +
id
DAMPING
ACTIVE
L dq
↓
iq L abc
*
iq=0 - -
uq vq,av
PI -
+ +
eq difficult
to tune
Current controller
Marco Liserre
Active damping: use of a notch filter
 z 2 − zo2 
undamped GAD ( z ) =damped
active  2 2 
 z − p o 
Marco Liserre
Root locus of the undamped system
2 2
0 0
-2 -2
-2 0 2 -2 0 2
converter side current grid side current
sensors sensors
Marco Liserre
Root locus of the undamped system with one delay
2 2
0 0
-2 -2
-2 0 2 -2 0 2

sensors sensors
Marco Liserre
Root locus of the passive damped system
2 2
0 0
-2 -2
-2 0 2 -2 0 2
sensors sensors
Marco Liserre
Genetic algortihms
 The Genetic Algorithm (GA) simulates Darwin’s theory on

natural selection and Mendel’s work in genetics on
inheritance: the stronger individuals are likely to survive in a
competing environment.
 In short the GA finds the optimum solution combining a set of
randomly chosen solutions. In the following the term
“individual” indicates the possible solution, the terms “gene”
indicates one of the parameters of the solution and the “fitness
value” indicates the degree of goodness of the individual.
Marco Liserre
Genetic algortihms
The GA process is performed through the following iterative

steps:
1. selection the individuals are selected on the basis of
their fitness value to reproduce in the mating pool;
2. crossover each new individual is generated by two
that are reproducing. This process is performed
using part of the genes characterising each
individual;
3. mutation is the way to randomly produce new
characters in the new individual of the population,
by changing one of its genes.
Marco Liserre
Use of genetic algorithm for active damping optimisation
Stability: active damping filter

a4 ( i ) z 4 + a3 ( i ) z 3 + a2 ( i ) z 2 + a1 ( i ) z + a0 ( i )
Dd ( z ) i =
b4 ( i ) z + b3 ( i ) z + b2 ( i ) z + b1 ( i ) z + b0 ( i )
4 3 2
Dynamic: PI current controller
Ts
−k p ( i ) (1 + ) z + k p ( i )
TI
D( z) =
i
z −1
Marco Liserre
 the aim is to find the best individual (i.e. the best set of
coefficients for the active damping filter and the best
proportional constant of the PI current controller) in order to
have:
the desired damping of the high frequency poles
the desired bandwidth of the current loop.
This is expressed through the so called fitness value f(i) of

each individual i
f ( i ) = ( w1 ∗ d1 ( i ) + w2 ∗ d2 ( i ) )
Marco Liserre

START
f ( i ) = ( w1 ∗ d1 ( i ) + w2 ∗ d 2 ( i ) )
RANDOM GENERATION OF
THE FIRST POPULATION
 if w1>w2 the main aim

is to obtain the desired M<MMAX FALSE
damping of the high

TRUE
frequency poles
ELITISM: SEARCH OF THE
BEST INDIVIDUALS
if w2>w1 the main aim
is to have the desired FITNESS
EVALUATION
dynamic.
Marco Liserre
 dimension of the
population: too many MATING
individuals is not a good POOL
choice
CROSSOVER
 the “elitism” is used to MUTATION
preserve the best individuals POPULATION AT M=M+1

from being eliminated
END
Marco Liserre
Tuning of the notch filter

 Comparison with the non-linear Levenberg-Marquardt optimisation
method already used for passive damping design
0.92
1.12
 The non-linear least-square method finds a point characterized by

1.12 while the absolute minimum is 0.92
Marco Liserre
GA search of the optimal active damping

1 .5 1 .5
optimal position of the poles optimal position of the poles
1 1
0 .5 0 .5
0 0
-0 .5 -0 .5
-1 -1
-1 .5 -1 .5 final result of GA
-1 .5 -1 -0 .5 0 0.5 1 1 .5 -1 .5 -1 -0 .5 0 0 .5 1 1 .5
6.5 kHz sampling frequency

Marco Liserre
Use of lead network

1 .5
at 6.5 kHz sampling

1
frequency is hard to make
0 .5
the system stable with
active damping
0 10
grid current [A]

-0 .5
0
-1
-5
-1 .5 -10
-1 .5 -1 -0 .5 0 0 .5 1 1 .5 0.2 0.25 0.3 0.35 0.4
time [s]
REF M. Liserre, A. Dell’Aquila, F. Blaabjerg “Genetic Algorithm-Based Design of the

Active Damping for an LCL-Filter Three-Phase Active Rectifier” IEEE Transactions
on Power Electronics, January 2004, vol. 19, no. 1 pagg. 76-86.
Marco Liserre
Outline


 Influence of the conditions at the PCC
Marco Liserre
Influence of the conditions at PCC
introduction of 100 µ F
capacitance
Marco Liserre
Grid stiffness influence: LCL-filter
strong grid
use passive damping !
intermediate grid
use active damping !
weak grid
use active damping !
Marco Liserre
Grid stiffness
Root Locus
influence: LCL-filter
1.5
L
g rid
1
0.25/TTT0.1
0.30/
0.35/ T
0.20/
0.2 T
0.15/
In each grid condition the
0.3
0.5 0 .40/ T 0 .40.10/ T
0.5 LCL-filter converter side
0.6
0.7
0.8 impedance is adjusted such
Imaginary Axis
0 .45/
0.50/ T T 0.9 0 .05/ T
0 as the resonance frequency
0.50/
0 .45/TT 0 .05/ T remains unchanged (the
-0.5 0 .40/ T 0.10/ T arrow indicates the root loci
0.35/ T 0.15/ T branches due to higher grid
0.30/
0.25/ TT
0.20/
T
-1 impedance)
-1.5
-1.5 -1 -0.5 0 0.5 1 1.5

REF M. Liserre, F. Blaabjerg, R. Teodorescu, “Stability of Photovoltaic and Wind Turbine
Rea l Axis
Grid-Connected Inverters for a Large Set of Grid Impedance Values” IEEE
Transactions on Power Electronics, January 2006, vol. 21, no.1, pagg. 263-272.
Marco Liserre
Conclusions
 LCL-filter is used to reduce the switching ripple but it challenges the stability of the
current control loop
 The LCL-filter resonance can be used to estimate the gid inductance
 The different sensors position changes the 50 Hz impedance of the filter and the
plant of the current control loop
 Passive damping can solve stability problems but it has been proven how the
excessive damping leads to low frequency ripple, reduced filter effectiveness and
high losses
 A reduced passive damping can be used if: the converter current is controlled with
one sample delay or the grid current is controlled without delays
Marco Liserre
Conclusions
 Active damping is an interesting alternative to passive damping, two
approaches are possible: multiloop or notch filter
 It has been clearly explained why a lead-network on the filter capacitor

voltage is effective but it produces a higher overshoot
 Moreover if to reduce the number of sensors the capacitor voltage is

also used for dq-frame orientation a low frequency ripple is produced
 The use of a notch-filter to cancel the resonance is a possible solution

but it is difficult to tune
Marco Liserre
Conclusions
 It is not possible to define a good design method for active damping
that could be valid independently:
on the position of the current sensors,
presence of delays
tuning of the PI parameters
switching frequency
 Instead the design with Genetic Algorithm of the active damping is
very effective
 The different grid conditions in term of grid inductance challenges
both passive and active damping
Marco Liserre

Liserre Lecture 6

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Stability of power converters connected to the grid through LCL-filters

Stability of power converters

 LCL-filter resonance used to estimate the gid inductance

 Passive damping methods

 Active damping methods

 Influence of the conditions at PCC

 LCL-filter resonance used to estimate the gid inductance

 Passive damping methods

 Active damping methods

 Influence of the conditions at PCC

Grid converters connected through an LCL-filter

ripple attenuation -50

Grid converters connected through an LCL-filter

 The LCL-filter challenges the system stability

 There is a resonant peak associated to two resonant poles

 Their position changes as the grid inductance changes

Grid converters connected through an LCL-filter

A/D A/D A/D A/D

ia ib ic vca vcb vcc vga vgb vgc iga igb igc

 Influence on the low frequency behavior

 Influence on the high frequency behavior

Grid converters connected through an LCL-filter

current sensors on the converter side

current sensors on the grid side

Grid converters connected through an LCL-filter

Grid converters connected through an LCL-filter

Grid converters connected through an LCL-filter

Grid converters connected through an LCL-filter

Grid converters connected through an LCL-filter

 LCL-filter resonance used to estimate the gid inductance

 Passive damping methods

 Active damping methods

 Influence of the conditions at PCC

Use of the LCL-filter resonance to estimate the grid inductance

Different grid impedances

lead to different resonance

frequencies that can be

Use of the LCL-filter resonance to estimate the grid inductance

the harmonics [A]

10 to 2450 Hz resonance frequency

Evaluation of the proposed algorithm

 Test in case the grid inductance is equal to 0 mH

-0.5 3.2e3 800

Evaluation of the proposed algorithm

 Test in case the grid inductance is equal to 1.5 mH

Evaluation of the proposed algorithm

REF M. Liserre, R. Teodorescu, F. Blaabjerg, “Grid impedance estimation via excitation

 LCL-filter resonance used to estimate the gid inductance

 Passive damping methods

 Active damping methods

 Influence of the conditions at PCC

Passive damping: current sensors on the converter side

Increasing the switching/sampling

Passive damping: current sensors on the converter side

Passive damping: current sensors on the converter side

Passive damping: current sensors on the converter side

Passive damping: current sensors on the converter side

Passive damping: current sensors on the grid side

undamped passively damped

Passive damping + one sample delay

-1 -0.5 0 0.5 1 -1 -0.5 0 0.5 1

undamped passively damped