1. Introduction
Nowadays, renewable energy sources are being increasingly utilised in electrical systems to mitigate the impacts of climate change. It is anticipated that a significant portion of the future energy mix will comprise renewable sources of energy, which can play an important role given their enormous potential, particularly wave and tidal stream generation [
1]. Similarities between offshore wind and tidal stream turbines include the usage of electric machinery, system structure, and control strategies [
2]. It has been found that, globally, sources of marine energy are extensive when compared to other renewable energy sources such as wind, solar, geothermal, etc. [
3]. However, tidal energy developers have shifted their focus to tidal streams, which offer the major advantage of being near coastal cities and grids [
4]. It is noted that tidal power is a predictable energy resource, whose accuracy has been within 98% for decades. This predictability allows tidal power generation to be successfully integrated into electrical grids [
4,
5,
6,
7,
8]. The typical behaviour of the power system has changed because of the increasing use of renewable energy sources. As a result, the weak grid inertia of the future is likely to be dominated by power electronic interfaces [
9]. However, tidal energy generation comes with many challenges, and its integration into the grid presents numerous operational and control difficulties that limit the grids’ ability to run steadily and dependably. Therefore, it is important to maintain the stability of voltage and frequency in the power network by ensuring that harmonic distortions are kept as low as possible [
7,
10]. In power converters with a rectifier input stage, LCL filters are specially designed to cut down on harmonic current absorption (frequency converters for UPS, motors, etc.). They primarily consist of a parallel-series configuration of inductors and capacitors designed to lower the total harmonic distortions (THDs) of rectifiers [
9,
11,
12]. The tidal energy generation system is connected to the grid via an inverter using an LCL filter that maintains the high quality of grid current by decreasing the frequency harmonics to a lower level, thereby presenting a better dynamic performance [
13]. It can be mentioned that LCL is one of the most frequently employed filters in grid-connected filters [
14]. The design of LCL filters is the subject of many studies, which either suggest various methods and algorithms to discover the ideal values for the filter’s components or various damping circuits to achieve the necessary attenuation [
15].
For this study, an LCL filter was integrated into an offshore power system between a VSI and the grid (
Figure 1). This filter is necessary to reduce the output of current harmonics and ensure dynamic performance for feedback control. It is possible to use a straightforward series inductor; however, the harmonic attenuation is not very noticeable. In addition, these systems have a significant voltage drop, necessitating the design of a large inductor [
11].
Various standards related to harmonic emissions have been adopted by national and international organisations due to the widespread usage of electronics in power systems [
16]. As a result, the IEEE and IEC have specified the quality of voltage that a utility grid should be able to provide to a consumer at any point in a distribution system and proposed limitations on harmonic currents injected via nonlinear loads [
17]. As long as the harmonic currents introduced by generators and consumers are constrained, a utility grid should be able to offer a certain quality of voltage, as specified in a previous paper [
1].
The modelling of tidal power plant components is the subject of numerous scholarly articles. However, extensive research has not been conducted on the use of filters in tidal generation systems [
18]. Several filter design methodologies and applications have also been described in the literature, although only for grid-connected inverters for wind and solar systems [
19]. However, the application of such filters and their harmonic analysis in tidal energy conversion systems is not documented. Reznik used a line controller to adjust the active and reactive power [
11]. Nevertheless, the relative saturation blocks serve as a limitation for determining active and reactive power systems. The ripple of the switching frequency is minimised using an LCL filter. On the other hand, the PI-based controllers of the PCC allow for the selection of the desired reference measurements, and the obtained values are then compared with those of the frame. Therefore, common techniques for tuning such filters are explored and adjusted to meet the needs of a particular test scenario. Thus, a set of specifications for an LCL filter of a 3.6 MW grid-connected wind turbine with a full-scale power electronic converter were established. The frequency domain analysis of LCL filters focuses on passive damping techniques and changes in the capacitive branch that may enhance the features of such filters. In this study, the LCL filter designs were employed and subsequently compared for their harmonic characteristics and losses. It is explored the impact of incorporating extra branches on reducing both harmonic content and losses. The examination was conducted using an open-loop converter control system. Most of the research on LCL filter integration applications using wind and solar energy systems is due to advances in solar and wind technologies and their competitiveness with offshore energy, which is still in the development stage. However, a tidal energy system was used in this study that captures mechanical energy from tidal speeds to generate electrical power, which may be supplied to the nearest coastal part of the grid.
The objective of this paper was to create a Simulink model power generation system and incorporate a designed LCL filter into the system. Additionally, the study involves an analysis of the performance of the overall tidal current turbine connected to a grid with the integration of the LCL filter. LCL filters are integrated into the renewable energy system to minimise these harmonics due to several advantages over traditional L filters. The inverter is expected to generate harmonic distortions of less than 0.5% and the simulation as well as the analysis findings confirm the efficiency of the developed LCL filters in attenuating harmonics. Besides the grid, the system consists of a 1.5 MW three-level diode clamped inverter with a nominal voltage of 600 V, a 1.3 MW inductance–capacitance–inductance–inductance (LCL) filter, and a 1.5 MW tidal generator.
This paper is structured as follows: In
Section 1, the background and objectives of this paper are presented.
Section 2 provides a description of the main components of the tidal generation system: the tidal turbine, the PMSG machine, the LCL filter, and the control scheme.
Section 3 provides details of the mathematical model of all tidal generation systems.
Section 4 presents the control scheme, and the modelling of the entire tidal generation system connected to the grid is presented in
Section 5.
Section 6 is dedicated to the simulation model of the proposed system and the results, and
Section 7 provides the discussion as well as the analysis.
Section 8 consists of the conclusions and recommendations as well as suggestions for future work.
2. Tidal Overview
Tidal movements result from the gravitational attraction of celestial bodies such as the sun and moon towards terrestrial planets, particularly impacting planet Earth’s energy [
20,
21]. The power of tidal stream can be calculated using the same equation as applied to wind energy systems, referred to as Equation (1), with the utilization of Equation (2) [
22]. We can ascertain the portion of available tidal power that a tidal turbine can capture. This amount of power depends on the type of turbine and its efficiency and is represented by the power coefficient
, which is significantly less than one. Consequently, the expression for the power harnessed by the tidal turbine from the tides can be formulated as follows:
where
is the theoretical maximum amount of the power coefficient. This constraint is relative to the Betz limit, or more precisely to the Lanchester–Betz limit. In practice, this limitation cannot be achieved, and the maximum amounts of the
of real turbines are usually in around the 0.4–0.5 range.
In practice, the typical power coefficient is 35–45%.
ρ is the seawater density and is estimated at around 1025 kg/m
3 [
23]. The
variations depend on the pitch angle of the blades
and the tip-speed ratio
λ, defined as the ratio between the rotor tip speed and the tides’ velocity
curve [
23].
6. Results and Analysis
To determine how well the LCL filters can enhance the power quality of a small coastal village load supplied by a grid-connected tidal turbine, the suggested approach was tested using the simplified network shown in
Figure 5 and
Figure 6. This power system consists of a full-scale power converter connected to the grid using PMSG and a tidal turbine shaft attached to the PMG rotor. Through lengthy three-phase submarine cables, the MV generator output (6.6 KV) is transmitted over land. Typically, an onshore transformer is used to convert the level of voltage tidal transmission LV (690 V). The speed required to run the tidal generator is predicted to remain constant at 12 m/s. At a rotational speed of 7.7 rad/sec, it can be noted that the tidal rotor speed reaches 24 r/min when the tidal current velocity increases to 12 m/s after 10 s.
Figure 10 shows that the generator torque eventually reached its maximum of 600 KNm.
Figure 11a,b indicate that the tidal generator’s active power output was approximately 1.324 MW, and the reactive power of the tidal energy generation is also shown. At the beginning of the simulation, the signal had an overshoot of 233%, a positive undershoot of around 1.055%, and a negative undershoot of about 69.62%.
6.1. Control
The concept behind the voltage control approach is to compare the DC-link voltage to a reference voltage that is set at 1500 volts. The currents of
and the
reference -
were compared using the current PI controller on the q-axis, and the error found in the difference between the two currents generates the voltage
. The
reference has a value of zero
reference -
In
Figure 12e, the DC link is shown.
Figure 12d displays the DC link’s actual and reference voltages. The results demonstrate that the model control yields better results since the difference in inaccuracy between the two signals is very small. However, there are overshoots in 14, 688, and 15 of the 24 simulation states, following which both voltages remain at the same level. The current (
and the current reference (
) are compared in
Figure 12e.
The current PI controller generates the voltage (
) on the q-axis by comparing the two currents. The
reference value is set to be close to zero. However, the grid voltage in the dq0 frame must generate the voltage required to identify the modulation signal. Because the grid regulates its reactive power, the voltage in the d-axis is 500 V, and the voltage in the q-axis is zero. As demonstrated in
Figure 12b, the voltages in the dq0 frame
assist in the evaluation of the modulation signal in the dq0 frame. Their d-axis and q-axis values are estimated. A magnitude of 0.7 determines the modulation signal results on both axes. Firstly, the modulation signals undergo conversion from the dq0 to the ABC frame before being sent to the pulse width generator. This generator produces twelve pulses required for operating the three-level inverter. The phase-locked loop (PLL) plays a crucial role in generating an output signal dependent on the input signal’s phase. In this case, the PLL uses an internal frequency oscillator to track the frequency and phase of a sinusoidal three-phase signal. To ensure synchronisation, the control system regulates the internal oscillator, minimising any phase difference.
Figure 12 illustrates the frequency of the PLL(f), set at 50 Hz, which is like the grid frequency, with a slight variation around 50 Hz. By employing the dq0 frame current control synchronisation, the PLL accurately determines the grid voltage and phase angle, facilitating the proper synchronisation of the inverter with the grid.
This control technique is anticipated to control the grid-tied operating mode’s current injected by a grid-connected inverter. In this study, this was accomplished by a PI controller-based dual-current control loop. The dq0 reference frame was used to implement the current control. The frequency and phase of the grid-tied inverter at the common point PLL were used to synchronise the PCC with the grid. The analysis of the results suggests a strong system response. The fact that there was almost no difference between the DC-link voltage and the outer loop’s reference voltage indicates that the power going to the inverter is well regulated and has a quick response time.
Similarly, the inner control loop results show that a unity power factor is attained by properly regulating and phasing the current injected into the grid. However, the PLL analysis demonstrates that the inverter’s frequency conforms with the PCC’s frequency concerning the grid.
6.2. Inverter Characteristics
The grid-connected applications for tidal energy conversion systems (TCSs) have frequently used multilevel voltage-source inverter (VSI) technology. Due to VSI’s inherent buck characteristics, a boost converter, which is used to step up the DC-link voltage, must be included when using it as the power conversion circuit in TCS, increasing the cost and complexity of the entire conversion system [
48]. As the dual component of VSI, the current-source inverter (CSI) has advantages over VSI in terms of built-in boosting and short-circuit protection, direct control of the output current, and extended storage unit lifetime [
48,
49].
Figure 13a depicts the phase-to-phase voltage of a three-level inverter, showing the presence of harmonics induced by the inverter switching. These harmonics can adversely affect the system’s efficiency by causing issues such as poor power factors and transient effects. To maintain system performance within acceptable limits, the overall harmonic distortion for voltages ranging from 1 to 68 kV should not exceed 5%. Additionally, the total harmonic distortion of the voltage is approximately 45.01% for frequencies up to 5 kHz, as indicated in
Figure 14. In contrast, the current harmonic distortion constraint is set at a higher level (
Figure 13c), with a minimum threshold of 1000 A and an expected level above 20%, as shown in
Figure 13c.
To mitigate these harmonics, an LCL filter was installed between the inverter and the grid. This filter effectively eliminated unwanted harmonics. Consequently, in the output of the LCL filter, the current is indicated in
Figure 13d.
Both signals exhibited harmonics that were greater than the 50 Hz standard system frequency. In
Figure 13, the output of the LCL filter is depicted, displaying the phase-to-phase voltages and currents. The voltage magnitudes measured approximately 600 V (
Figure 13b), and the phase currents were approximately 1213 A (
Figure 13d). The phase-to-phase voltage exhibited a rise time of approximately 5.853 milliseconds, followed by a fall time of 5.837 milliseconds. The voltage also had an overshot of 0.324% and an undershot of 1.985%. Similarly, the phase current had a rise time of 5.819 milliseconds and a fall time of 5.823 milliseconds, with overshoot and undershoot values of 1.99% each.
Figure 15 shows the phase-to-ground voltage wave, which had a total harmonic distortion of 141.38%, and the phase current signal had a total harmonic distortion of 13.54%. The total harmonic distortions for current and voltage illustrated in
Figure 15a,b decreased by 0.07% and 0.12%, respectively.
6.3. Case Studies
To assess the performance of the tidal generation system depending on the load value, two case studies were taken into consideration. In the first scenario, the load was less than the power produced by the tidal energy generation system, whereas, in the second scenario, the load was greater than the power created by the tidal generation. In these instances, the active and reactive power as well as the loads and the grid’s voltage and currents were investigated, and the results are shown in
Figure 16a,b.
These two scenarios were analysed to determine the operation strategy based on the load quantity value. The load in the first scenario was less powerful than the power generated by the tidal energy-generating equipment. The characteristics provided in
Figure 16 were used in this case study for the active power, reactive power, voltage, and current of the load and the grid. The output terminals of the grid-connected tidal energy generation system had a 2.5 MW load. Due to the tidal energy generation’s limited output of 1.54 MW, the system imported power from the grid to handle the 2.5 MW load. Only a load of about 1.23 MW could be received from the grid-tied inverter due to the inverter’s efficiency of 88%; the remainder must be supplied by the grid, as indicated in
Figure 16a,f.
Figure 16 displays the active and reactive power curves as observed at the load’s output terminals. The reactive power fluctuated to about zero (1.865 × 10
−7 VAR), whereas the active power was 2.5 MW. Between t = 0 and t = 0.3 s, the active power signal overshoots were 14.557%, while between t = 0.3 and t = 0.4 s, the value fell short by approximately 1.998% at time t = 0.6 s according to Equation (18) presented in
Energies Standard 2021, volume 14 (page 688).
Subsequently, this response was maintained, resulting in a consistent and stable calculation of 917 kW. The active and reactive power rates exported to the grid are illustrated in
Figure 16 a,b. The tidal energy system drew approximately 573.9 kW of active power from the grid and was expected to have a reactive power of about 508.4 KVAR from the grid-connected inverter. It is worth noting that the active power signal had an increased time of approximately 61.950 milliseconds, with an overshoot of 10.92% and an undershoot of 8.35%. However, reactive power took around 29.842 milliseconds, resulting in an overrun of 55% and an undershoot of 1.986%.
Figure 16c,d depict the phase currents and phase-to-phase voltages at the load’s ends as pure sinusoidal waves. The voltage (RMS) was approximately 600 V, while the currents were around 874.4 A. The voltage rise time was roughly 5.854 milliseconds, and the voltage die time was about 5.858 milliseconds. Additionally, the voltage had a 1.983% overshoot and a 1.983% undershoot. As for the current, the rising time was approximately 5.858 milliseconds, and the fall time was close to 5.855 milliseconds. The current overshoot was 0.312%, and the current undershoot was around 1.984% or approximately 0.310%.
The tidal generator terminals combined the phase current and phase-to-ground voltage, as shown in
Figure 14. The RMS magnitude of the phase-to-phase voltage was approximately 951 volts. Meanwhile, the current phase of the generator measured around 1082 amps, as indicated in
Figure 16. Incorporating the rectifier and filter in the generator’s output is crucial to avoid excessive voltage and frequency. Similar findings have been reported in previous research [
50,
51,
52]. The RMS magnitude measurements for voltages and currents were approximately 600 V and 425 A, respectively. The voltage signals experienced a boost lasting about 5.867 milliseconds, followed by a drop lasting 5.866 milliseconds. The overshoot and undershoot values were 0.211% and 1.987%, respectively. For current signals, the enhanced period lasted roughly 5.459 milliseconds, while the drop period was expected to be around 5.381 milliseconds. Other factors, such as overshoot and undershoot, were found to be 6.19% and 1.983%, respectively.
7. Discussion
The integration of the distribution system power unit into the utility grid raises several challenging problems, such as poor power quality and harmonic distortion (THD), which can disrupt the grid and result in significant financial losses. Grid-tied distributed units’ operations must comply with grid codes and standards, which is one of the process’s key issues. It should be highlighted that one of the characteristics considered for power quality assessment is harmonic distortion (THD). Along with their role in lowering weak harmonics, filters can also change the impedance paths of the greatest harmonics, which escape damping and may result in urges at the machine’s terminals from voltage waves reflecting in the cables. The harmonic element is not filtered unless a frequency element has a level path with a low impedance that passes through the filter. These circumstances will help in identifying the system’s undesirable resonance frequencies. Regardless of whether the grid features are unknown or not, filter design can be guided by the given harmonic current constraints, but in this work, the existing CL filter Simulink model was employed. A purely inductive filter requires an inductance value that is too high for an MW converter’s grid connection, resulting in an undesirable voltage drop across it. A large inductor might also cause poor control bandwidth. Therefore, the harmonics are nonetheless reduced to levels that are acceptable for the generator side with the inclusion of a passive filter. The maximum voltage THD for a range of voltages from 1 to 68 kV was 5%, and the maximum THD for currents more than 1000 A was 20%. The simulation outcomes, however, demonstrated that the inverter control program successfully converted the tidal DC power to AC power with total harmonic distortions calculated at 2.44% for the voltage and 0.16% for the current value. Less than 15 mv exhibited a decrease in the number of waves. Even when the generator output changed in either amplitude or frequency, it remained stable. According to the IEEE Standard 1547-2003, it is less than 5%. It was observed that the generator’s output voltage produced less energy than the grid voltage despite the input AC voltage having experienced a significant range of variations. Jayalakshmi [
53] used the preferred inverter reactive power output that is fed into the grid to design the q-axis reference current. The inverter terminals of the model used in this investigation had a voltage source that was just sinusoidally controlled. This study shows how crucial it is for generation systems to be connected to the grid to reduce harmonic distortion. After the simulation and control, the harmonic distortion level was roughly maintained at 3% to 3.5%. This satisfies the requirements perfectly. Both the inverter output current and the active power wind generation system output decreased. Therefore, the power utility would experience a power shortage to meet the load demand. However, the reference voltage and the filter output were tied to the control signal. For the PI controller to reduce the error, it depended on the input parameters. The PWM signal, which was fed as a gate signal to the IGBT switch, was then generated through a comparison with the saw-tooth waveform. The voltage source converter, as can be seen, inverted the DC voltage to the sinusoid AC voltage waveform, maintaining the unity power factor.
8. Conclusions
The increasing awareness of environmental issues and the rapid rise in electric power consumption have sparked a heightened interest in renewable energy sources. Among these sources, tidal energy stands out as a promising option to power coastal areas due to its abundance, affordability, and eco-friendliness. Given the significant role of energy in the modern economy, this paper focused on modelling, simulating, and analysing the performance of a tidal current turbine connected to a grid. The study particularly emphasised the integration of an LCL Filter, which was thoroughly modelled, simulated, and examined to enhance the system’s overall efficiency and stability. Voltage-oriented control techniques used in wind turbine systems have been utilised to control tidal energy systems and the functioning of weak and extremely weak grids. It was observed that LCL filters were the most popular option. Thus, an advanced control is required for the control structure to maintain the plant’s stability and effective regulation. Also mentioned was passive and active damping regarding resonance-peak damping for higher-order filters. Therefore, the tidal turbine generating algorithm was effectively implemented, and the all-system block system was simulated using MATLAB/Simulink. The system imported electricity from the grid to satisfy the 2.5 MW load because tidal energy generation had a limited output of 1.54 MW. Due to the grid-tied inverter’s 88% efficiency, only a load of roughly 1.23 MW could be received from it; any further power must come from the grid. The active power was 2.5 MW, whereas the reactive power varied in a range around zero (1.865 × 10−7 VAR) from t = 0 to t = 0.3 s. There were some harmonics at the PMSG output restrictions and some with voltage sag in the tidal power generation. The LCL filter lowered the switching frequency ripple and aided in coupling with a current-like performance to the utility grid, and the intermediate circuit’s voltage ripples were reduced and stabilised at the predetermined value. Therefore, it meets industry standards and allows for the occurrence of a THD within. The outcomes of the simulation demonstrate that the controller’s operation presents no issues and offers a superior dynamic and steady-state performance of the grid-connected tidal energy system with low overall harmonic distortion, which was around 0.12% for voltage and 0.07% for current. To prevent over-modulation, its minimum operating voltage was higher than the grid peak voltage. However, during this investigation, 85% efficiency was attained. The goal of future studies should be to validate these results with a test bench setup and conduct a sensitivity analysis to measure how the system responds to changes in its parameters. Furthermore, future analysis should focus on more advanced and intelligent control strategies to enhance the performance of single-stage inverters. Another factor that needs to be investigated in the framework of smart grids is how to incorporate two-way communication into these systems.