In recent researches on inverter-based distributed generators, disadvantages of traditional grid-connected current control, such as no grid-forming ability and lack of inertia, have been pointed out. As a result, novel control methods like droop control and virtual synchronous generator (VSG) have been proposed. In both methods, droop characteristics are used to control active and reactive power, and the only difference between them is that VSG has virtual inertia with the emulation of swing equation, whereas droop control has no inertia. In this paper, dynamic characteristics of both control methods are studied, in both stand-alone mode and synchronous-generator-connected mode, to understand the differences caused by swing equation. Small-signal models are built to compare transient responses of frequency during a small loading transition, and state-space models are built to analyze oscillation of output active power. Effects of delays in both controls are also studied, and an inertial droop control method is proposed based on the comparison. The results are verified by simulations and experiments. It is suggested that VSG control and proposed inertial droop control inherits the advantages of droop control, and in addition, provides inertia support for the system.

Comparison of Dynamic Characteristics Between Virtual Synchronous Generator and Droop Control in Inverter-Based Distributed Generators

The effective application of sliding mode control to mechanical systems is not straightforward because of the sensitivity of these systems to chattering. Higher-order sliding modes can counteract this phenomenon by confining the switching control to the higher derivatives of the mechanical control variable, so that the latter results are continuous. Generally, this approach requires the availability of a number of time derivatives of the sliding variable, and, in the presence of noise, this requirement could be a practical limitation. A class of second-order sliding mode controllers, guaranteeing finite-time convergence for systems with relative degree two between the sliding variable and the switching control, could be helpful both in reducing the number of differentiator stages in the controller and in dealing with unmodelled actuator dynamics. In this paper different second-order sliding mode controllers, previously presented in the literature, are shown to belong to the above cited class, and some cha...

A survey of applications of second-order sliding mode control to mechanical systems

Virtual synchronous generators: A survey and new perspectives

We review crane models available in the literature, classify them, and discuss their applications and limitations. A generalized formulation of the most widely used crane model is analyzed using th...

Dynamics and Control of Cranes: A Review:

The modern power system is progressing from a synchronous machine-based system towards an inverter-dominated system, with large-scale penetration of renewable energy sources (RESs) like wind and photovoltaics. RES units today represent a major share of the generation, and the traditional approach of integrating them as grid following units can lead to frequency instability. Many researchers have pointed towards using inverters with virtual inertia control algorithms so that they appear as synchronous generators to the grid, maintaining and enhancing system stability. This paper presents a literature review of the current state-of-the-art of virtual inertia implementation techniques, and explores potential research directions and challenges. The major virtual inertia topologies are compared and classified. Through literature review and simulations of some selected topologies it has been shown that similar inertial response can be achieved by relating the parameters of these topologies through time constants and inertia constants, although the exact frequency dynamics may vary slightly. The suitability of a topology depends on system control architecture and desired level of detail in replication of the dynamics of synchronous generators. A discussion on the challenges and research directions points out several research needs, especially for systems level integration of virtual inertia systems.

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Virtual Inertia: Current Trends and Future Directions

Optimal control of container cranes

This paper presents an algorithm for the solution of optimal control problems with constraints on the control, but without constraints on the trajectory or the terminal state In this algorithm, reduction of a cost at each iteration is guaranteed Global convergence conditions for the algorithm are investigated and an example is worked out

On global convergence of an algorithm for optimal control

Summary
This paper presents experimental results on a grid-connected inverter. The control of the inverter is based on a virtual synchronous generator model of algebraic type. When using the virtual synchronous generator model of algebraic type, there is no evidence for satisfactory operation with unbalanced load and nonlinear load, because the generator models are constructed under the assumption that the load is linear and balanced. By choosing the feedback control loop gain appropriately, satisfactory operation is achieved even if an unbalanced and nonlinear load is connected. Experimental results show that the power controls, active and reactive, are achieved preferably in grid-connecting mode. Smooth transitions are also achieved from the connected mode to the island mode. The inverter can operate satisfactorily when the unbalanced load is connected. Harmonic analysis is performed with a three-phase full-wave rectifier connected as a nonlinear load. The harmonic current is supplied by the inverter and its output LC filter. It is shown that the harmonic current is supplied mainly by the inverter and that the voltage waveform is acceptable for practical use. © 2013 Wiley Periodicals, Inc. Electr Eng Jpn, 184(4): 10–21, 2013; Published online in Wiley Online Library (wileyonlinelibrary.com). DOI 10.1002/eej.22428

A grid-connected inverter with virtual synchronous generator model of algebraic type

Optimal Control of Container Cranes

This paper is concerned with the optimal control of a rotary crane, which makes two kinds of motion (rotation and hoisting) at the same time. The optimal control which transfers a load to a desired place as fast as possible and minimizes the swing of the load during the transfer, as well as the swing at the end of transfer, is calculated on the basis of a dynamic model. A new computational technique is employed for computing the optimal control, and several numerical results are presented.

Yuji Shindo

Papers

Optimal control of container cranes

On global convergence of an algorithm for optimal control

A grid-connected inverter with virtual synchronous generator model of algebraic type

Optimal Control of Container Cranes

Optimal control of a rotary crane