{"id":8377,"date":"2021-10-18T10:59:53","date_gmt":"2021-10-18T10:59:53","guid":{"rendered":"https:\/\/imperix.com\/doc\/?p=8377"},"modified":"2025-05-07T14:02:05","modified_gmt":"2025-05-07T14:02:05","slug":"back-to-back-inverter-coordinated-control","status":"publish","type":"post","link":"https:\/\/imperix.com\/doc\/implementation\/back-to-back-inverter-coordinated-control","title":{"rendered":"Coordinated control of a back-to-back inverter"},"content":{"rendered":"<div id=\"ez-toc-container\" class=\"ez-toc-v2_0_82_2 ez-toc-wrap-right-text counter-hierarchy ez-toc-counter ez-toc-grey ez-toc-container-direction\">\n<div class=\"ez-toc-title-container\">\n<p class=\"ez-toc-title\" style=\"cursor:inherit\">Table of Contents<\/p>\n<span class=\"ez-toc-title-toggle\"><\/span><\/div>\n<nav><ul class='ez-toc-list ez-toc-list-level-1 ' ><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-1\" href=\"https:\/\/imperix.com\/doc\/implementation\/back-to-back-inverter-coordinated-control\/#What-is-coordinated-control\" >What is coordinated control?<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-2\" href=\"https:\/\/imperix.com\/doc\/implementation\/back-to-back-inverter-coordinated-control\/#Control-of-a-back-to-back-inverter\" >Control of a back-to-back inverter<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-3\" href=\"https:\/\/imperix.com\/doc\/implementation\/back-to-back-inverter-coordinated-control\/#Communication-between-coordinated-controllers\" >Communication between coordinated controllers<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-4\" href=\"https:\/\/imperix.com\/doc\/implementation\/back-to-back-inverter-coordinated-control\/#B-Box-B-Board-implementation\" >B-Box \/ B-Board implementation<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-5\" href=\"https:\/\/imperix.com\/doc\/implementation\/back-to-back-inverter-coordinated-control\/#Software-resources\" >Software resources<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-6\" href=\"https:\/\/imperix.com\/doc\/implementation\/back-to-back-inverter-coordinated-control\/#Experimental-results\" >Experimental results<\/a><\/li><\/ul><\/li><\/ul><\/nav><\/div>\n\n<p>This technical note gives general insights on the implementation of <a href=\"https:\/\/imperix.com\/technology\/distributed-converter-control\/\">coordinated control<\/a> using imperix&#8217;s rapid control prototyping solutions. A grid-tied back-to-back three-phase inverter is given as an example, with the idea of showing how two <a href=\"https:\/\/imperix.com\/products\/control\/rapid-prototyping-controller\/\">B-Box RCP<\/a> units would operate and communicate together when controlling such a converter. The provided Simulink files contain the plant model as well as the control implementation using the <a href=\"https:\/\/imperix.com\/software\/acg-sdk\/\">ACG SDK<\/a> for both simulation and automated code generation modes.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"726\" height=\"235\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/10\/B2B_schematic.png\" alt=\"Electrical schematic of the back-to-back inverters configuration\" class=\"wp-image-8475\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/10\/B2B_schematic.png 726w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/10\/B2B_schematic-300x97.png 300w\" sizes=\"auto, (max-width: 726px) 100vw, 726px\" \/><figcaption>General schematic of the considered back-to-back inverters<\/figcaption><\/figure><\/div>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h-what-is-coordinated-control\"><span class=\"ez-toc-section\" id=\"What-is-coordinated-control\"><\/span>What is coordinated control?<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>Coordinated control consists of multiple independent controllers exchanging data to operate one or several power converters. Immediate benefits of this approach over centralized control are the increase in computational power and facilitated control organization. Therefore, coordinated control is an interesting solution in the case of demanding applications. It is often implemented when dealing with separate systems that share common variables, such as back-to-back configurations, multi-terminal systems, distributed drives, etc.<\/p>\n\n\n\n<p>The following illustration gives a general representation of coordinated control. Here, two controllers exchange data (in blue), while acting on their own state variables through dedicated feedback loops (in red).<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"283\" height=\"82\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/11\/control_topologies-4.png\" alt=\"General principles of a coordinated control system\" class=\"wp-image-8778\"\/><figcaption>Coordinated control system<\/figcaption><\/figure><\/div>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h-control-of-a-back-to-back-inverter\"><span class=\"ez-toc-section\" id=\"Control-of-a-back-to-back-inverter\"><\/span>Control of a back-to-back inverter<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>A back-to-back configuration often involves a grid-tied rectifier, which controls the DC bus voltage to which an inverter is connected. The output of this inverter is then wired to a controlled load, which may be a variable-speed drive, a grid of another frequency, or any other load which couldn&#8217;t be connected directly to the original grid.<\/p>\n\n\n\n<p>For the sake of comparison, three different approaches for arranging the control of such a system are presented below. They correspond to 1) Centralized control, 2) Independent control, and 3) Coordinated control.<\/p>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"193\" height=\"99\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/11\/Centralized_control-7.png\" alt=\"Centralized control of a back-to-back converter\" class=\"wp-image-8724\"\/><figcaption>Centralized control of a back-to-back converter<\/figcaption><\/figure><\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"230\" height=\"102\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/11\/Independant_control-1.png\" alt=\"Independent control of a back-to-back converter\" class=\"wp-image-8725\"\/><figcaption>Independent control of a back-to-back converter<\/figcaption><\/figure><\/div>\n<\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"337\" height=\"142\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/11\/Coordinated_control-4.png\" alt=\"Coordinated control of a back-to-back converter\" class=\"wp-image-8727\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/11\/Coordinated_control-4.png 337w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/11\/Coordinated_control-4-300x126.png 300w\" sizes=\"auto, (max-width: 337px) 100vw, 337px\" \/><figcaption>Coordinated control of a back-to-back converter<\/figcaption><\/figure><\/div>\n\n\n\n<p>The back-to-back converter configuration described in <a href=\"https:\/\/imperix.com\/doc\/example\/back-to-back-three-phase-converter\">AN005<\/a> uses centralized control.  In this scenario, the control is indeed implemented on a single controller, which operates the whole back-to-back system. This unique central controller is indeed in charge of retrieving all the analog measurements (grid voltage and current, DC bus voltage, and load currents) and sending the PWM outputs for both converters accordingly.<\/p>\n\n\n\n<p>Another solution could be implemented in the form of independent control, where a first controller is in charge of the rectifier and another one of the inverter. It would basically be equivalent to splitting the grid side control and load side control into two controllers. These two controllers being totally independent of each other, the workload would then be also split in two, which would be beneficial when dealing with complex and heavy control algorithms. The drawback is however that the lack of communications would prevent the use of feedforwarding techniques, making the rejection of perturbations more difficult. Also, state variables that are required for both control loops, such as the DC bus voltage, may have to be measured twice.<\/p>\n\n\n\n<p>Finally, coordinated control is also an option. It is very similar to the independent control case, with the addition that the two controllers can communicate together. Therefore, shared variables and status information can be sent from one controller to another. Feedforwarding is possible. The number of required measurements can also be reduced.  The scheme below summarizes this approach:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"581\" height=\"181\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/11\/Communication-1.png\" alt=\"Communication diagram of the coordinated control implemented for back-to-back converters\" class=\"wp-image-8812\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/11\/Communication-1.png 581w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/11\/Communication-1-300x93.png 300w\" sizes=\"auto, (max-width: 581px) 100vw, 581px\" \/><figcaption>Communication diagram of the coordinated control implemented for back-to-back converters<\/figcaption><\/figure><\/div>\n\n\n\n<p>Thanks to the data exchanges, the instantaneous inverter power can be feedforwarded to the controllable rectifier. This greatly improves the perturbation rejection on the DC bus voltage. Furthermore, since the measurement of the DC bus voltage can be shared between both converters, it only requires to be measured once.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h-communication-between-coordinated-controllers\"><span class=\"ez-toc-section\" id=\"Communication-between-coordinated-controllers\"><\/span>Communication between coordinated controllers<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>As aforementioned, the inverter&#8217;s output power is feedforwarded to the rectifier&#8217;s control to minimize perturbations on the DC bus voltage. However, for the feedforward to be useful, a fast communication method is required. This is why the communication between the controllers is performed using SFP blocks from imperix&#8217;s blockset. Indeed, this data transmission method has a low communication latency (around 200ns). Further details on the SFP blocks are given in the note <a href=\"https:\/\/imperix.com\/doc\/help\/multi-master-mode-for-distributed-networked-control-systems\">Multi-master feature for distributed networked control systems<\/a>.<\/p>\n\n\n\n<p>Also note that since the two B-box controllers are connected together using the optical fiber link, their CLOCKs are natively synchronized thanks to imperix&#8217;s <a href=\"https:\/\/imperix.com\/technology\/low-latency-communication\/\">realSync <\/a>technology. By extension, the analog inputs sampling, control tasks execution, and the PWM outputs are also all synchronized.<\/p>\n\n\n\n<p>Combining the SFP blocks&#8217; very low latency and the native CLOCKs synchronization the data will arrive before the next task execution, leading to a communication delay of only one control period. This, therefore, allows the proper implementation of the feedforward control.  <\/p>\n\n\n\n<p>The two other options for transferring data in between B-boxes are Ethernet and CAN communication, which are both much slower than SFP. They are therefore not suitable for this type of application.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"612\" height=\"176\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/11\/Synchro-2.png\" alt=\"\" class=\"wp-image-8817\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/11\/Synchro-2.png 612w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/11\/Synchro-2-300x86.png 300w\" sizes=\"auto, (max-width: 612px) 100vw, 612px\" \/><figcaption>SFP communication timings<\/figcaption><\/figure><\/div>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h-b-box-b-board-implementation\"><span class=\"ez-toc-section\" id=\"B-Box-B-Board-implementation\"><\/span>B-Box \/ B-Board implementation<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h-software-resources\"><span class=\"ez-toc-section\" id=\"Software-resources\"><\/span>Software resources<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<div class=\"wp-block-file\"><a href=\"https:\/\/cdn.imperix.com\/doc\/wp-content\/uploads\/2021\/10\/Back_to_back_converter_coordinated_control.zip\">Back_to_back_converter_coordinated_control<\/a><a href=\"https:\/\/cdn.imperix.com\/doc\/wp-content\/uploads\/2021\/10\/Back_to_back_converter_coordinated_control.zip\" class=\"wp-block-file__button\" download>Download<\/a><\/div>\n\n\n\n<p>The provided Simulink model implements coordinated control of the back-to-back inverter. The first controller implements a <a href=\"https:\/\/imperix.com\/doc\/implementation\/cascaded-voltage-control\">cascaded voltage control<\/a> of the DC bus. While the second controller regulates the inverter&#8217;s load current using a simple <a href=\"https:\/\/imperix.com\/doc\/implementation\/vector-current-control\">vector current control<\/a> technique.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h-experimental-results\"><span class=\"ez-toc-section\" id=\"Experimental-results\"><\/span>Experimental results<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>The rectifier operates with a grid voltage of 110V at 50Hz and regulates the DC bus voltage to 350V. The inverter behaves as expected as shown by the 60Hz sinusoidal output waveform. It is able to track a step in the reference current (in this case from 0 to 12 and back to 5A).<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"800\" height=\"300\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/10\/Load_currents.png\" alt=\"Coordinated control back-to-back converter currents\" class=\"wp-image-8442\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/10\/Load_currents.png 800w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/10\/Load_currents-300x113.png 300w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/10\/Load_currents-768x288.png 768w\" sizes=\"auto, (max-width: 800px) 100vw, 800px\" \/><\/figure>\n\n\n\n<p>Furthermore, the implemented feedforward clearly improves the perturbation rejection of the DC bus voltage controller as shown below. Indeed, when a step in the reference output current occurs, the DC bus voltage varies significantly (a variation of \u00b115% is observed) when no feedforward is implemented. On the other hand, almost no perturbation of the DC bus voltage can be observed with the implementation of the feed-forward.<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"800\" height=\"300\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/11\/DC_bus.png\" alt=\"\" class=\"wp-image-8774\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/11\/DC_bus.png 800w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/11\/DC_bus-300x113.png 300w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/11\/DC_bus-768x288.png 768w\" sizes=\"auto, (max-width: 800px) 100vw, 800px\" \/><\/figure>\n\n\n\n<p>This perturbation can also be observed on the following grid power graphs. The input power is subtracted from the output power to see how well the system can reject perturbations.<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"800\" height=\"300\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/11\/Power_InOut-2.png\" alt=\"\" class=\"wp-image-8772\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/11\/Power_InOut-2.png 800w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/11\/Power_InOut-2-300x113.png 300w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2021\/11\/Power_InOut-2-768x288.png 768w\" sizes=\"auto, (max-width: 800px) 100vw, 800px\" \/><\/figure>\n\n\n\n<p> It is clear that, on the left plot, the grid and load power do not compensate each other which then results in perturbations on the DC bus. On the other hand, with the feed-froward of the inverter power, the output and input power compensate each other well.<\/p>\n\n\n\n<p>In the end, implementing coordinated control results in a better performing converter. Having several controllers instead of a single one gives the advantage of better computational power and control hierarchization. On top of that, the communication between the controllers allows to feedforward the inverter&#8217;s power to the rectifier which greatly improves the perturbation rejection of the DC bus voltage controller. Furthermore, the drawback of potential communication failure can be mitigated by duplicating the voltage measurement (one voltage sensor for each controller). The converter would then fall back in the independent control mode if the communication link is broken.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>This technical note gives general insights on the implementation of coordinated control using imperix&#8217;s rapid control prototyping solutions. A grid-tied back-to-back three-phase inverter is given&#8230;<\/p>\n","protected":false},"author":11,"featured_media":8746,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"_kad_post_transparent":"","_kad_post_title":"","_kad_post_layout":"","_kad_post_sidebar_id":"","_kad_post_content_style":"","_kad_post_vertical_padding":"","_kad_post_feature":"","_kad_post_feature_position":"","_kad_post_header":false,"_kad_post_footer":false,"_kad_post_classname":"","footnotes":""},"categories":[4],"tags":[],"software-environments":[103],"provided-results":[108],"related-products":[50,31,32,166,112,111,110],"guidedreadings":[],"tutorials":[],"user-manuals":[],"coauthors":[64],"class_list":["post-8377","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-implementation","software-environments-matlab","provided-results-experimental","related-products-acg-sdk","related-products-b-board-pro","related-products-b-box-rcp","related-products-b-box-rcp-3-0","related-products-peb","related-products-pm","related-products-tpi"],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.4 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Coordinated control of a back-to-back inverter - imperix<\/title>\n<meta name=\"description\" content=\"This note details general principles of coordinated control. 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