Virtual Inertia Synthesis and Control (Power Systems)

This book provides a thorough understanding of the basic principles, synthesis, analysis, and control of virtual inertia systems. It uses the latest technical tools to mitigate power system stability and control problems under the presence of high distributed generators (DGs) and renewable energy sources (RESs) penetration. This book uses a simple virtual inertia control structure based on the frequency response model, complemented with various control methods and algorithms to achieve an adaptive virtual inertia control respect to the frequency stability and control issues. The chapters capture the important aspects in virtual inertia synthesis and control with the objective of solving the stability and control problems regarding the changes of system inertia caused by the integration of DGs/RESs. Different topics on the synthesis and application of virtual inertia are thoroughly covered with the description and analysis of numerous conventional and modern control methods for enhancing the full spectrum of power system stability and control. Filled with illustrative examples, this book gives the necessary fundamentals and insight into practical aspects. This book stimulates further research and offers practical solutions to real-world power system stability and control problems with respect to the system inertia variation triggered by the integration of RESs/DGs. It will be of use to engineers, academic researchers, and university students interested in power systems dynamics, analysis, stability and control. Foreword 7 Preface 8 Acknowledgments 11 Contents 12 About the Authors 17 1 An Overview of Virtual Inertia and Its Control 19 1.1 Introduction 19 1.2 Overview on Virtual Inertia 22 1.3 Literature Review on Virtual Inertia 24 1.4 Summary 26 References 27 2 Fundamental Concepts of Inertia Power Compensation and Frequency Control 30 2.1 Fundamental Frequency Regulation 30 2.2 Inertia Power Compensation 33 2.2.1 Calculation of Inertia Constant 36 2.2.2 Minimum Inertia Levels 36 2.3 Primary and Secondary Control 38 2.4 Structure of Frequency Response Model 41 2.5 Frequency Regulation in a Single-Area Power System 45 2.6 Frequency Regulation in Interconnected Power Systems 49 2.7 Analysis of Steady-State Frequency Response 53 2.8 Participation Factor for Frequency Control 59 2.9 Physical Constraints for Frequency Control 60 2.9.1 Governor Dead Band and Generation Rate 60 2.9.2 Time Delay 61 2.10 Generation Droop Characteristics 63 2.11 Reserve Power 67 2.11.1 Frequency Operating Standards 70 2.12 Summary 71 References 74 3 Virtual Inertia Synthesis for a Single-Area Power System 77 3.1 Fundamental Virtual Inertia Synthesis and Control 77 3.2 Droop Characteristics of Virtual Inertia Control 82 3.3 Frequency Regulation for Virtual Inertia Synthesis 84 3.4 Frequency Response Model for Virtual Inertia Control 86 3.5 Frequency Analysis for Virtual Inertia Control 87 3.6 State-Space Modeling of a Single Area Power System 90 3.7 Simulation Results 92 3.7.1 Effect of Virtual Inertia Control Droop 97 3.7.2 Effect of Virtual Inertia Constant 98 3.7.3 Effect of Virtual Damping 99 3.7.4 Effect of Time Delay 100 3.8 Summary 101 References 104 4 Multiple-Virtual Inertia Synthesis for Interconnected Systems 107 4.1 Introduction to Interconnected Systems 107 4.2 Modeling of Multiple-Virtual Inertia Control 109 4.3 State-Space Modeling of Interconnected Systems 113 4.4 Multiple Virtual Inertia Control Droops 115 4.4.1 Sensitivity Analysis for Multiple Inertia Control Units 116 4.5 Simulation Results 118 4.5.1 Efficacy of Multiple-Virtual Inertia Control 118 4.5.2 Stability Analysis Under Continuous Disturbances 119 4.6 Summary 124 References 125 5 Application of PI/PID Control for Virtual Inertia Synthesis 127 5.1 Introduction to PI/PID Control 127 5.2 Fundamental Feedback Control 129 5.3 Actions of PI/PID Control 130 5.3.1 Proportional Action 130 5.3.2 Integral Action 131 5.3.3 Derivative Action 132 5.4 Structures of PI/PID Control 133 5.4.1 Modeling of PI Controller 133 5.4.2 Modeling of PID Controller 133 5.5 Tuning Rules for PI/PID Control 136 5.5.1 Classical Tuning 136 5.5.2 Modern Tuning 138 5.6 Modeling of PI/PID-Based Virtual Inertia Control 143 5.7 MATLAB-Based PI/PID Tuning Approach 145 5.7.1 Optimal PI Control Gains 146 5.7.2 Optimal PID Control Gains 148 5.8 Simulation Results 151 5.9 Summary 154 References 155 6 Model Predictive Control for Virtual Inertia Synthesis 157 6.1 Introduction to Model Predictive Control 157 6.2 Fundamental MPC Strategy 160 6.3 MPC Disturbances 163 6.4 MPC Constraints 164 6.5 MPC-Based Virtual Inertia Control 164 6.6 MATLAB-Based MPC 166 6.7 Simulation Results 171 6.7.1 Efficacy of MPC-Based Virtual Inertia Control 171 6.7.2 Robustness Against Inertia and Damping Reduction 173 6.7.3 Robustness Against Time Delay 175 6.7.4 Robustness Against High Penetration of Renewables 176 6.8 Summary 180 References 181 7 Fuzzy Logic Control for Virtual Inertia Synthesis 183 7.1 Introduction to Fuzzy Logic Control 184 7.2 Fundamental Fuzzy Logic 186 7.2.1 Fuzzy Set 186 7.2.2 Shapes of Fuzzy Set 188 7.2.3 Fuzzy Rule Base 192 7.2.4 Fuzzification 193 7.2.5 Fuzzy Inference System 194 7.2.6 Defuzzification 196 7.3 Fuzzy-Based Virtual Inertia Synthesis 197 7.4 MATLAB-Based Fuzzy Logic Control 202 7.5 Simulation Results 203 7.5.1 Effect of Low RESs Penetration 204 7.5.2 Effect of High RESs Penetration 208 7.5.3 Mismatch Parameters of Primary/Secondary Control 210 7.6 Summary 214 References 214 8 Synthesis of Robust Virtual Inertia Control 218 8.1 Introduction to Robust Virtual Inertia Control 218 8.2 H∞ Robust Control Theory 221 8.3 Design of H∞ Robust Virtual Inertia Control 224 8.4 Modeling of Uncertainty and Disturbance 224 8.4.1 H∞ Controller Design 226 8.5 Closed-Loop Nominal Stability and Performance 227 8.5.1 Closed-Loop Robust Stability and Performance 227 8.6 Order Reduction of H∞ Controller 229 8.7 Simulation Results 230 8.7.1 Effect of Abrupt Change 231 8.7.2 High Penetration of RESs and Loads 233 8.8 Summary 239 References 239 9 Optimization of Virtual Inertia Control Considering System Frequency Protection Scheme 242 9.1 Introduction 242 9.2 Particle Swarm Optimization 244 9.3 Underfrequency Load Shedding (UFLS) 246 9.4 Design of Virtual Inertia Control Optimization Considering System Frequency Protection 248 9.5 System Modeling 250 9.5.1 Test System 250 9.5.2 Virtual Inertia Control Model 251 9.6 Simulation Results 253 9.6.1 Default High Inertia Condition and the Result of Optimization 253 9.6.2 Low Inertia Condition 255 9.6.3 Impact on the Existing Underfrequency Load Shedding (UFLS) Scheme 259 9.7 Summary 260 References 260 10 Technical Challenges and Further Research in Virtual Inertia Control 263 10.1 Introduction 263 10.2 Main Technical Aspects of Virtual Inertia Control 264 10.2.1 Improvement in Modeling, Aggregation, and Control of Virtual Inertia Control 264 10.2.2 Optimization of Virtual Inertia Control 265 10.2.3 System Inertia Estimation 266 10.3 Supporting Aspects for the Integration of Virtual Inertia Control Systems 267 10.3.1 Economic Valuation for Inertia Service 267 10.3.2 Standard and Regulation 268 10.4 Summary 268 References 269 Appendix 271 Front Matter ....Pages i-xxii An Overview of Virtual Inertia and Its Control (Thongchart Kerdphol, Fathin Saifur Rahman, Masayuki Watanabe, Yasunori Mitani)....Pages 1-11 Fundamental Concepts of Inertia Power Compensation and Frequency Control (Thongchart Kerdphol, Fathin Saifur Rahman, Masayuki Watanabe, Yasunori Mitani)....Pages 13-59 Virtual Inertia Synthesis for a Single-Area Power System (Thongchart Kerdphol, Fathin Saifur Rahman, Masayuki Watanabe, Yasunori Mitani)....Pages 61-90 Multiple-Virtual Inertia Synthesis for Interconnected Systems (Thongchart Kerdphol, Fathin Saifur Rahman, Masayuki Watanabe, Yasunori Mitani)....Pages 91-110 Application of PI/PID Control for Virtual Inertia Synthesis (Thongchart Kerdphol, Fathin Saifur Rahman, Masayuki Watanabe, Yasunori Mitani)....Pages 111-140 Model Predictive Control for Virtual Inertia Synthesis (Thongchart Kerdphol, Fathin Saifur Rahman, Masayuki Watanabe, Yasunori Mitani)....Pages 141-166 Fuzzy Logic Control for Virtual Inertia Synthesis (Thongchart Kerdphol, Fathin Saifur Rahman, Masayuki Watanabe, Yasunori Mitani)....Pages 167-201 Synthesis of Robust Virtual Inertia Control (Thongchart Kerdphol, Fathin Saifur Rahman, Masayuki Watanabe, Yasunori Mitani)....Pages 203-226 Optimization of Virtual Inertia Control Considering System Frequency Protection Scheme (Thongchart Kerdphol, Fathin Saifur Rahman, Masayuki Watanabe, Yasunori Mitani)....Pages 227-247 Technical Challenges and Further Research in Virtual Inertia Control (Thongchart Kerdphol, Fathin Saifur Rahman, Masayuki Watanabe, Yasunori Mitani)....Pages 249-256 Back Matter ....Pages 257-259