motulator.grid.control.grid_forming

Controls for grid-forming converters.

Classes

ObserverBasedGFMControl	Disturbance-observer-based grid-forming control for grid converters.
ObserverBasedGFMControlCfg	Disturbance-observer-based grid-forming control configuration.
RFPSCControl	Reference-feedforward power synchronization control for grid converters.
RFPSCControlCfg	Power synchronization control configuration.

Package Contents

class motulator.grid.control.grid_forming.ObserverBasedGFMControl(cfg)

Bases: motulator.grid.control.GridConverterControlSystem

Disturbance-observer-based grid-forming control for grid converters.

This implements the RFPSC-type grid-forming mode of the control method described in [1]. Transparent current control is also implemented.

Parameters:

cfg (ObserverBasedGFMControlCfg) – Controller configuration parameters.

Notes

In this implementation, the control system operates in synchronous coordinates rotating at the nominal grid angular frequency, which is worth noticing when plotting the results. For other implementation options, see [1].

References

[1] (1,2)

Nurminen, Mourouvin, Hinkkanen, Kukkola, “Multifunctional grid-forming converter control based on a disturbance observer, “IEEE Trans. Power Electron., 2024, https://doi.org/10.1109/TPEL.2024.3433503

get_feedback_signals(mdl)

Get the feedback signals.

output(fbk)

Extend the base class method.

update(fbk, ref)

Extend the base class method.

class motulator.grid.control.grid_forming.ObserverBasedGFMControlCfg

Disturbance-observer-based grid-forming control configuration.

Parameters:

• grid_par (GridPars) – Grid model parameters.

• filter_par (FilterPars) – Filter model parameters.

• max_i (float) – Maximum current modulus (A).

• R_a (float) – Active resistance (Ω).

• T_s (float, optional) – Sampling period of the controller (s). Default is 100e-6.

• k_v (float, optional) – Voltage gain. The default is 1.

• alpha_c (float, optional) – Current control bandwidth (rad/s). The default is 2*pi*400.

• alpha_o (float, optional) – Observer gain (rad/s). The default is 2*pi*50.

• C_dc (float, optional) – DC-bus capacitance (F). The default is None.

class motulator.grid.control.grid_forming.RFPSCControl(cfg)

Bases: motulator.grid.control.GridConverterControlSystem

Reference-feedforward power synchronization control for grid converters.

This implements the reference-feedforward power synchronization control (RFPSC) method [2].

Parameters:

cfg (PSCControlCfg) – Model and controller configuration parameters.

References

[2]

Harnefors, Rahman, Hinkkanen, Routimo, “Reference-feedforward power-synchronization control,” IEEE Trans. Power Electron., 2020, https://doi.org/10.1109/TPEL.2020.2970991

get_feedback_signals(mdl)

Get the feedback signals.

output(fbk)

Extend the base class method.

update(fbk, ref)

Extend the base class method.

class motulator.grid.control.grid_forming.RFPSCControlCfg

Power synchronization control configuration.

Parameters:

• grid_par (GridPars) – Grid model parameters.

• filter_par (FilterPars) – Filter model parameters.

• max_i (float) – Maximum current modulus (A).

• R_a (float) – Damping resistance (Ω).

• T_s (float, optional) – Sampling period of the controller (s). The default is 100e-6.

• w_b (float, optional) – Current low-pass filter bandwidth (rad/s). The default is 2*pi*5.

• C_dc (float, optional) – DC-bus capacitance (F). The default is None.