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Grid-connected LCL Filter Design with Different Damping Methods

Presentation · July 2021

DOI: 10.13140/RG.2.2.10601.36964

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 Grid-connected LCL Filter Design with Different
Damping Methods

Abstract—Damping is necessary in grid-connected converters damping method in presence of grid impedance variations was
with LCL filters to avoid their destabilizing resonant behavior. proposed. The authors in [10] dealt with the design of an LCL
This paper presents three different damping methods for a filter for multi-megawatt application.
grid-connected inverter with an LCL filter. The first one is a
Passive Damping (PD) method in which a parallel resistor is In this paper damping and stabilization of a grid connected
added to the LCL filter capacitor. The second one consists of LCL filter is considered. A step-by-step optimum design of
emulating this resistor by using capacitor current feedback which the LCL filter is performed for a single phase system but
is called Active Damping (AD). The third and the novel damping under balanced load conditions, the results can be extended
technique presented in this paper consists of inserting a AC- to the three-phase network. To design filter inductances and
DC converter acting as a Loss Free Resistor (LFR) in parallel
with the filter capacitor leading to the same stabilizing/damping capacitance, the objective is to make a trade-off among filter
effects as with the passive resistor and the capacitor current size, attenuation, resonant frequency boundary and reactive
feedback. The stability analysis of the closed loop system with power consumption. In addition, three damping techniques
the previous damping techniques has been performed and the are used to stabilize the LCL filter dynamics. The rest of
stability region in the parametric space has been determined. this paper is organized as follows. In section II, the system
The theoretical results are validated by numerical simulations
performed in PSIM© software. description and mathematical modeling of LCL filter are
Index Terms—LCL filter, grid-connected, active damping, presented. Section III is dedicated to stability analysis of the
passive damping, loss free resistor, stabilization closed-loop control system with PI controller. In section IV, an
LCL filter design method is presented and the filter parameters
I. I NTRODUCTION are optimally determined. Section V is devoted to designing of
The use of power electronic converters integrated with an AD loop gain based on capacitor current feedback with the
renewable energy sources is extensively increasing recently. same stabilizing effect as a passive resistor inserted in parallel
Due to intermittent nature of these sources, e.g. wind and with the filter capacitor. In the same section an AD technique
solar, it is necessary to have power electronic converters as based on emulating the passive resistor by a LFR [11] is tested
interfaces to control the electrical variables. One of the most also leading to the same stabilizing effect. The advantages and
used power converters in this kind of applications is the DC- shortcomings of the used methods are discussed. Concluding
AC inverter with two switches for each phase. Switching of remarks are drawn in section VI.
these inverters action can lead to undesired harmonics in the
II. S YSTEM DESCRIPTION AND MATHEMATICAL
system output voltage. To mitigate the harmonics issue, an
MODELING
L, LC or LCL filter are used. LCL filter, known as third-
order low pass filter, has higher attenuation and lower size A. System description
than L or LC filters. The only disadvantage of LCL filter is Fig. 1 shows single-phase configuration of the studied
its resonant behaviour, which can give rise to instability and system and Table. I illustrates the nominal values of system
poor performances. Passive and active damping methods can parameters. It consists of a single half-bridge grid-connected
be employed in order to overcome this disadvantage [1], [2], voltage source converter (VSC) under a PI controller for the
[3]. grid current to be in phase with the grid voltage and LCL filter.
A great deal of research works have considered the design It can also be considered as a building block for constructing
of LCL filter parameters [4]. In [5] the authors presented a multi-phase VSC inverter. The DC side consists of two
a systematic design for the LCL filter combined with var- identical regulated voltage sources each with a voltage VDC /2
ious passive damping methods. In [6], a robust and simple both referred to a midpoint considered here as the voltage
methodology was proposed to design the LCL parameters reference node.
under large grid impedance variations. The advantages of this The DC–AC inverter stage is responsible for injecting a
methodology is that the filter can work stable in different grid sinusoidal grid current i2 in phase with the grid voltage
configurations and impedances. An optimal LCL filter design vg = Vg sin(2πfg t). For this, a control loop is used where
was presented in [7] with an extended harmonic model of the reference grid current amplitude Iref is multiplied by a
discontinuous switching functions. In that paper, a comparison sinusoidal signal synchronized with the grid voltage vg , using
assessment was done among different LCL design methods. a phase-locked loop (PLL), to obtain the time varying current
The authors in [8] proposed a novel LCL design method based reference iref = Iref sin(2πfg t). Different control strategies
on cost minimization objective function. In [9], a robust active such as direct control with grid side inductor current feedback,
 + + u
easily expressed. Therefore, for design purposes, the averaged
VDC S model is used where the switching ripple are neglected. The
2
i1
L1
i2 L2 PCC averaged model is enough accurate if the PWM frequency
VDC is enough higher than that of the modulating signal such
+ S̄ + +
u vi vC vg that this can be assumed constant values over one switching
VDC C
2 − −
−
period. Once the averaged model is obtained, this can be
rsi2 linearized and the resulting small-signal model enables to
Gmod −
vm + rsi2ref sin(ωg t) vg describe the inverter dynamics as a function with input being
+ ÷ PI × PLL
the modulating signal vm and output being the grid current
PWM − vtri +1 vm rsI2ref
vtri
i2 . For the case of the voltage source inverter conideed in this
−1
u1
T study, the averaged model can be obtained by substituting the
u2 filter input voltage vi = VDC (2u − 1)/2 by its T −averaged
dT quantity v i = VDC (2d − 1)/2 in such a way that when
Fig. 1. Single-phase configuration of grid-connected LCL filter with grid-side
u = 0 or d = 0, one has that v i = −VDC /2 and that
current control technique through PI controller. when u = 1 or d = 1, one has that v i = +VDC /2. Hence,
the small-signal relationship between the duty cycle d and
TABLE I
ˆ
the average voltage v i is vˆi (s)/d(s) = VDC . To make the
THE PARAMETERS total loop gain of the system independent of the input voltage
Symbol Quantity Values
VDC , a feedforward loop is used in such a way that the
fn nominal frequency 50 Hz amplitude of the carrier waveform is made proportional to this
Pinv inverter nominal power 10 kW voltage. The signal dˆ is the output of the PWM and can be
VDC DC link voltage 700 v obtained by linearizing the PWM process which establishes
fsw switching frequency 16 kHz
rs grid current sensor gain 1Ω the relationship between the duty cycle d and the modulating
signal vm . Under averaging conditions, the PWM process
could be modeled by a proportional gain which is equal to the
direct control with inverter side inductor current feedback, inverse of the triangular waveform amplitude. Therefore by
cascade control with inverter side inductor current feedback as selecting a triangular signal with lower value −1, upper value
inner loop, and cascade control with capacitor current feedback 1, the gain of the PWM block is Gmod = 1/VDC . Another way
as inner loop have been employed [12]. The current controller to achieve this result is by scaling the output of the grid current
is conventionally a PI regulator that aims to make the grid PI controller by VDC /2 as shown in Fig. 1. The resulting gain
current ig to accurately track igref hence making the reactive for the PWM block together with the feedforward loop is unity
power close to zero. The LCL filter can limit current harmonic and it will not be taken into account.
pollution at the point of common coupling (PCC) which should
be below 5% according to the IEEE standard 519-2014 [13]. C. LCL filter model and design
The output of the PI current controller is compared with the As it is illustrated in Fig. 1, the LCL filter impedances in
triangular signal to generate the PWM driving signals for the the s-domain are given by
switches S and S and their respective duty cycles d and 1 − d. 
The used periodic triangular signal has lower value −1, upper 
 Zi = L1 s
value 1, and period T . The fraction of the switching period T 
1
during which u = 1 is the duty cycle d. Zo = (4)

 Cs
Zg = L2 s

B. Inverter model
By applying KVL and KCL to to the circuit power stage The transfer function from the inverter output voltage v̂i to
the following switched model is obtained the grid-side output current î2 is
di2 vC − v g î2 (s) Zo
= (1) Gvi →i2 = = (5)
dt L2 v̂i (s) Zi Zg + Zi Zo + Zg Zo
dvC i1 − i2
= (2) The rating power of the inverter is considered 10 kW. Hence,
dt C
di1 vi − v C the resistive and inductive value of the main grid at PCC can
= (3) be neglected [14]. Furthermore, filter resistances representing
dt L1
parasitic losses slightly change the zeros and poles of the ideal
where vi = VDC (2u − 1) is the voltage at the input of LCL filter and can be neglected. In doing so, the transfer
the LCL filter. The previous model accurately describes its function of filter can be expressed as follows.
dynamic behavior. Nevertheless, with this model, the rela-
tionships between the control variable (modulating signal 1 1
GLCL (s) = × 2 L1 +L2 (6)
vm ) and the controlled variable (grid current i2 ) cannot be CL1 L2 s s + CL L
1 2
From 6, the resonant frequency of the network is Bode Diagram
r f res=1959 Hz
100
L1 + L2

Magnitude(dB)
ωres = (7) 50
CL1 L2
0
Due to high peaking at resonant frequency, it is possible that
-50
the switching harmonics interfere with resonant frequency,
which may lead to instability problems. To solve this problem, -100

damping techniques such as PD, AD and LFR-based tech-

niques are presented in this paper. The first and the most used
Without R d
damping method is PD method. It consists of adding a resistor -100
With Rd =290.4
with resistance Rd to one of the filter elements as depicted in

Phase(deg)
-150 With Rd =145.2

Fig. 2 where the resistor is inserted in parallel with the filter -200

capacitor. However, the use of resistors leads to extra losses -250

which degrades the efficiency. In this parallel configuration,
-300
the voltage of Rd is approximately constant and forced by 103 104
Frequency(Hz)
the main grid. Therefore, the PD loss power Ploss is inversely
proportional to the damping resistance as follow.
Fig. 3. Bode diagram of the designed LCL filter with and without damping
3Vg 2 resistor.
Rd = (8)
Ploss
where Vg is the RMS value of the main grid phase voltage. In PI controller LCL filter transfer function with PD

order to have 5% and 10% power loss in the damping resistor, rs ˆi2ref v̂*i K 1+τs  v̂i 1 î2
+_ L1L 2 Cs +
L1L 2 2
3
s +(L1 +L 2 )s
the values of Rd will be determined as 290.4 Ω and 145.2 Ω τs
Rd
respectively. Fig. 3 shows the bode diagram of the designed
rs
LCL filter in the ideal case and when adding previous values
of PD resistances. Similarly, other values of Rd have damping
effects. Fig. 4. Block diagram corresponding to the averaged model of the voltage
source inverter with LCL and passive damping under PI controller.

i1 L1 i2 L2 PCC
The first equation in (9) can be omitted since the stronger one
VSC
is the second condition which can be expressed as follows
L1 + L2 L1 L2
vi C Rd Grid K< − 2 (10)
Rd C Rd Cτ
The previous equation establishes an upper bound for the pro-
portional of the PI controller as a function of other parameters
of the inverter including the resistance of the damping resistor.

Fig. 2. Grid-connected inverter with LCL filter and Rd damping resistor IV. LCL FILTER DESIGN
inserted in parallel with the filter capacitor.
It is considered that a DC-AC voltage source converter
with an LCL filter is connected to the three-phase network.
III. S TABILITY ANALYSIS OF THE CLOSED LOOP SYSTEM To design filter parameters, single-phase analysis would be
Pulse width modulation stage of the inverter is fast enough sufficient because the calculated values can be equally used in
to be negligible [15]. Therefore, Fig. 4 shows the block different phases. In practical digital control systems, sampling
diagram corresponding to the small signal averaged model of frequency is usually an integer fraction of the switching
the inverter with LCL filter under a PI controller an passive frequency. Sampling frequency should be at least twice the
damping. Routh–Hurwitz stability criterion is used to find
the stable range of PI controller parameters K, τ in relation
TABLE II
with Rd value. Table. II shows the closed-loop control system ROUTH –H URWITZ STABILITY CRITERION
stability analysis. According to the Table. II, two following
conditions should be satisfied to have an stable LCL filter s4 L1 L2 Cτ (L1 + L2 )τ K
L1 L2 τ
with PI controller. s3 Rd
Kτ 0
 s2 (L1 + L2 )τ − Rd CKτ K 0
(L1 + L2 )τ − Rd CKτ > 0 L1 L2
−Rd CK 2 τ 2 +(L1 +L2 )Kτ 2 − R Kτ
s1 d
0 0
L L (9) (L1 +L2 )τ −Rd CKτ
 − Rd CK 2 τ 2 + (L1 + L2 )Kτ 2 − 1 2 Kτ > 0 s0 K 0 0
Rd
system’s frequency bandwidth. Because of technical and im- Bode Diagram

plementation problems, the controller bandwidth is usually

Magnitude(dB)
100 =1
=2
considered 10% of switching frequency [16]. Furthermore, =3
resonance frequency of designed LCL-filter should satisfy the 0
condition 10fn < fres < 0.5fsw to prevent instability within
control bandwidth of digital controllers [17]- [18].
-100
The ripple current in L1 is related to the system parameters.
It is needed to make a trade-off between inductor size and coil
and core losses. Commonly, the ripple current can be selected
in the range of 15% to 25% of rated current. In this paper, the -100

Phase(deg)
maximum ripple current amplitude ∆i1 for a unipolar PWM
voltage switching can be selected to be 20% of i1 current -200
amplitude. The expression of this maximum output current
ripple can be expressed as follow [19]. -300
3 4
10 10
VDC Frequency(Hz)
∆i1 = (11)
8L1 fsw
Fig. 5. Bode diagram of the ideal LCL filter for three different values of the
ratio λ = L1 /L2 .
where VDC is the voltage of the DC link. I1 is the RMS value
of i1 which can be obtained as follows, assuming the inverter
works at unity power factor. 8000
=1
7000 =2
Pinv =3
I1 = (12)
3Vg 6000

Based on equations (11)-(12), the resulting value of the 5000

fres (Hz)

inductance L1 is 1.8 mH. The choice of the filter capacitance

is related to the reactive power consumption. Namely, the 4000
larger capacitance, the more reactive power injected into the
3000
capacitor, the higher the current drawn from the inductance L1
and the switches and the lower the efficiency. Furthermore, in 2000
order to have a specific attenuation of the filter, the capacitance
cannot be too small, thereby leading to a relatively large 1000

inductance which results in a high voltage drop across it [20]. 0

In this design, the capacitor reactive power is considered below 0 5 10 15 20 25 30 35 40
5%, so the capacitance is selected as follows C( F)

0.05Pinv Fig. 6. The resonance frequency fres in terms of the capacitance C for
C≤ (13) various values of the inductance ratio λ.
6πfn Vg 2

That is for the values depicted in Table I, the capacitance range V. D IFFERENT DAMPING DESIGN METHODS AND THEIR
is as C ≤ 11 µF. Another important parameter which affects VALIDATION BY NUMERICAL SIMULATIONS
LCL filter characteristics is the ratio λ = L1 /L2 between It can be seen from Fig. 3 that the magnitude of the
the inductances at grid and the inverter sides. Fig. 5 shows frequency response of the ideal LCL filter at the resonant
the bode diagram of the ideal LCL filter for three different frequency is high which can induce instability. Many studies
values of lambda. From this figure, it can be observed that have been done to stabilize such LCL filters by eliminating
the filter attenuation at high frequencies is more suitable at their resonant peaks. Roughly speaking, based on a literature
lower λ when the total filter capacitance and inductance are survey, two practical techniques can be used for compensation.
fixed. The inverter-side current ripple is mainly determined In both of them the stabilization consists of introducing
by the inverter-side inductance L1 . Hence, for the same filter damping effects into the system. These two methods and the
features, L1 should be greater than L2 , in order to eliminate innovative method of this article will be investigated in the
the inverter switching harmonics and power losses. Based on following three subsections.
the literatures, λ can be selected in the range between 2 to
5 [17]. To satisfy constraints (13) and fres range as well as A. Passive damping based on the insertion of a passive
to have appropriate attenuation for the filter, from Fig. 6, λ resistor
is selected as 2. Therefore, accordingly L2 = 0.9 mH and The first and the most used damping method is PD method.
C = 11 µF. It consists of adding a resistor with resistance Rd to one of
the filter elements as depicted in Fig. 2 where the resistor is Bode Diagram
inserted in parallel with the filter capacitor. However, the use 100
Without damping
With AD (K AD = 0.56)

Magnitude(dB)
of resistors leads to extra losses which degrades the efficiency. 50
With PD (R d = 290.4 )

Therefore, the resistance of the damping resistor Rd is selected

0
such that the power loss is limited to 5% loss of the rated
-50
power and consequently is given by the following expression
-100
3Vg 2
Rd = (14)
0.05Pinv
which leads to leading 290.4 Ω. -100

Phase(deg)
-150
B. Active damping based on capacitor current feedback
-200
The second technique is AD method which consists of -250
adding a feedback path to the control system [21]- [22]having
-300
the same stabilizing effect as the damping resistor but avoiding 103 104
Frequency(Hz)
the power loss. In this paper the capacitor current feedback will
be used for AD of the LCL filter [23]. It should be noticed that
a small gain for capacitor current feedback cannot achieve the Fig. 8. Bode diagram of LCL filter with AD, with PD and without damping.
desired damping effect, while a too large gain may give rise
to system instability. Furthermore, in the control of a grid- under a PI controller. Based on carried out stability analysis
connected inverter, the quality of injected power is another in section II, the stable range of PI controller parameters K,
important aspect that must be taken into account [24]. τ are determined as follows
1.74 × 10−6
K < 0.84 − (16)
vg
LCL filter
τ
^ ^ ^
rs i2 ref v 1 1 - 1 i2
i -
+- PI +
- L1 S +
- +
L2 S
CS

KAD PI controller LCL filter transfer function with AD loop

rs ˆi2ref v̂*i K 1+τs  v̂i 1 î2

Active Damping Loop +_
rs τs s3L1L 2C+s 2 L 2CK AD +s(L1 +L 2 )

rs
Fig. 7. Block diagram of the LCL filter with capacitor current feedback acting
as an active damper.
Fig. 9. Block diagram of LCL control system with PI controller.
Fig. 7 shows the block diagram of the control system with
capacitor current feedback for AD. The transfer function of
In order to have small steady-state error at frequency of 50
the LCL filter with the additional AD feedback system can be
Hz and appropriate total harmonic distortion in grid current,
expressed in format follows
K, τ are selected 0.8, 53 µs respectively. Fig. 10 shows the
1 grid current with the designed LCL filter and PI controller. The
GLCLAD (s) =
s3 L1 L2 C + s2 L2 CKAD + s(L1 + L2 ) grid current total harmonic distortion is 1.3% which satisfies
(15) IEEE standard 519-2014 [13].
where KAD is the proportional gain of AD feedback loop. The
significant advantage of AD technique is that it is loss free; C. Active damping based on connecting a power converter
however, it needs an extra sensor and adds complexity to the acting as a loss free resistor
control system. According to (15), the equivalent virtual paral- The third damping technique proposed in this paper is
lel damping resistor with this technique is Rd = L1 /(CKAD ). to utilize a power converter in parallel with the LCL filter
Hence, to achieve the same damping factor a as with the PD capacitor. The idea is to take advantage of the fact that this
method, the AD feedback gain KAD must be selected equal converter will always coexist with the inverter in a microgrid.
to KAD = L1 /(CRd ) = 0.56 Ω. Fig. 8 illustrates the bode For instance, this converter can be used for battery charging.
diagram of the LCL filter with the additional AD feedback by Fig. 11 shows the circuit diagram of the LCL filter with
using the previous value of KAD . In this figure, the equivalent LFR-based converter used for damping. This converter has
parallel damping resistor Rd is 290.4 Ω. It is worth noticing different stages. First, the filter capacitor voltage is rectified
that the peaking at the resonant frequency with both techniques through a diode bridge. Second, a boost converter topology
is properly damped as desired. Fig. 9 shows the block diagram is utilized in which the inductance of the inductor Lrmlf r is
corresponding the small-signal averaged model of the inverter 1 mH. Finally, an LC low-pass filter is used to smooth the
with LCL filter and AD based on capacitor current feedback current injected into the battery. The values of Lf and Cf are
 Converter current and voltage
400
I2(A), VPCC(V)

200 THD I 2=1.3 % V lfr

THD VPCC =0.01 % 300 100 Ilfr
0

-200 200

Ilfr (A), Vlfr (V)

(a) 100

20 I2 -100
I2, I2 (A)

I2
ref

0 ref -200

-20 -300

0 0.02 0.04 0.06 0.08 0.1 -400

(b) 0 0.02 0.04 0.06 0.08 0.1
Time(s) Time(s)

Fig. 10. Grid-side voltage and current with proposed LCL filter and AD Fig. 12. The input voltage and current at the input port of the LFR acting as
method. an AD.

Different Damping Methods Dynamics

selected as 1 µH and 1 µF. The LFR-based converter switching 500
I 2(A)
frequency is 160 kHz. Fig. 12 shows the voltage and current 0 V PCC (V)
at the input port of the LFR converter. It can be seen that the
-500
voltage and current are in phase hence emulating a resistor at (a)
this port. The control system was designed in such a way that
the current ilfr at the input port of the converter is proportional 500

to the input port voltage vlfr . The proportionality factor is 0

Rd = 290.4 Ω which is the same value used before. The power -500
processed by this stabilizer is related to the value of LFR (b)
resistor, which is 5% as in the previous case. However, with
500
this damping method, this power is not lost and can be used
for supplying non critical loads, charging batteries or can even 0
be redirected to the grid. Fig. 13 shows the effect of all the -500
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16
(c)
PCC Time(s)
L1 L2
VSC

Lf
Fig. 13. Damping is disconnected in t ∈ [0.02, 0.08] s. (a) Passive damping
Ilfr Lfr
Vlfr based on the insertion of a parallel resistor. (b) Active damping based on
V Cf capacitor current feedback. (c) Active damping based on connecting a power
C DC converter acting as an LFR.
1/Rd Grid

PWM

abs PI parallel with the filter capacitor. The second technique is

active damping technique which is based on the capacitor
current feedback. The third technique consists of emulating
Fig. 11. Block diagram of the LCL filter with a LFR used as a damper.
the damping effect of the resistor by a DC-DC boost converter
previously presented damping methods to the grid-connected acting as a Loss Free Resistor (LFR). All the techniques
inverter with an LCL filter under a PI control. At t = 0.02 s, are able to stabilize the system but with the novel damping
all the damping techniques are disconnected from the system; technique, based on the LFR, the processed power can be
thereby leading to instability. Then, they are activated again utilized in microgrids for charging batteries while stabilizing
at t = 0.08 s all resulting in stabilizing the inverter. the DC link voltage and DC loads or providing ancillary
services to the main grid.
VI. C ONCLUSIONS
In this paper damping and stabilization of a grid connected R EFERENCES
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