MODELING OF CONVENTIONAL AND ADVANCED STATIC VAR COMPENSATORS IN AN ELECTROMAGNETIC TRANSIENTS SIMULATION PROGRAM

I.T. Fernando W.T. Kwasnicki A.M. Gole

University of Manitoba, Winnipeg MB., CANADA Manitoba HVDC Research Centre, Winnipeg MB., CANADA

Abstract The paper demonstrates the procedure for modeling SVC and STATCOM devices using a modern Electromagnetic Transients Simulation Program (EMTDC) . The effectiveness of graphical interface and the ability to directly input FORTRAN code for control modeling is discussed. The importance of using interpolation to model the device switchings is presented. Methods for setting the controls of Static VAR Compensators are demonstrated. A simple example case , consisting of the use of mid-point shunt compensation for increasing the power flow on a 400 km 230 kV ac line is used as the base system for the application of the compensators.

Keywords: Electromagnetic Transients Simulation, SVC, STATCOM, Controls.

I. INTRODUCTION Power Electronic Devices are gaining increasing popularity for applications in the field of power transmission and distribution. The availability of semiconductor devices such as thyristors and gate turn-off thyristors (GTO) in suitable ratings makes such applications feasible. Also the tight constraints on right of way and the expense associated with building generation plants result in the need to use the existing networks more efficiently. High Voltage Dc (HVDC) Transmission and conventional Static VAR Compensators (SVC) have been around for a long time. Flexible Ac Transmission (FACTS) devices[1] such as the Thyristor Controlled Switched Capacitor [2] and the Advanced SVC or STATCOM [3,4] have been introduced more recently. Controllable reactive power sources such as Static VAR Compensators and STATCOMs allow for a rapid control of bus voltage and reactive power and can thus improve the maximum power transfer limits available on a transmission line. The cost of these devices is significantly lower than the cost of synchronous compensators traditionally used for this purpose. They are also less bulky and in general, have a faster response time. The use of such power-electronic devices requires additional tools for conducting studies. The load-flow and transient stability programs traditionally used for ac network studies, although necessary for network studies, are not however sufficient when power-electronic subsystems are present. Power electronic devices generate harmonics, and their transient behavior can be highly non-linear. The turn-on and off of the semiconductor switches is dependent not only on the externally provided switching pulses from the controls, but also on the instantaneous voltage or current values. Thus for many transient and harmonic studies, the engineer needs a full electromagnetic transients simulation program. Electromagnetic transients simulation programs such as the EMTP[5] have been in use for over a quarter of a century. The EMTDC program[6,7] has been developed specifically for use with power-electronic system models [7]. It includes a comprehensive library of device models and control functions necessary for modeling power electronic circuits. The interpolation algorithm used in the program allows for a more accurate calculation of the thyristor switching instants. As it is impossible to anticipate every control block that a user may need, a facility for the inclusion of user-defined control blocks is available. Using this facility, a user may program the control function of his choice (including digital or sampled-data control systems) by entering the appropriate FORTRAN code. The user interacts with the program using a graphical interface[8]. This paper presents a sample study in which a conventional SVC and a STATCOM are used to control the midpoint voltage of a transmission line as shown in Fig. 1. The transmission system consists of a 400 km 230 kV transmission line rated at 260 MW nominal power. By providing the additional shunt compensation to raise the midpoint voltage, the maximum power transfer limit can be increased. If a fixed amount of shunt capacitance is used, then the voltages in the system would vary with the level of loading.

Sending End

= 400 km

Receiving End

230 kV Ac line

Q Shunt Compensation at Midpoint of line

Fig. 1. 230 kV transmission circuit

By using controlled compensation, the overvoltages can be limited as the reactive power injection is varied depending on the load level. In the simulation examples, we compare the performance of the system for three different types of compensation: (a) fixed capacitance, (b) a conventional SVC and (c) a STATCOM. II. CIRCUIT CONFIGURATIONS Two types of static VAR compensation devices are considered here. The first is the conventional SVC, in which the reactive power is provided by physical circuit elements such as capacitors or inductors [9]. The switching elements in this device are thyristors, which may be turned on when they have a forward biased voltage, but turn off only at a natural current zero crossing. The particular SVC modeled here consists of two thyristor switched capacitor (TSC) stages to provide the leading vars, and a thyristor controlled reactor (TCR) stage to provide the lagging vars. The circuit is shown schematically in Fig. 1a. The lagging reactive power can be controlled continuously between maximum and zero as the firing angle of the thyristors in series with the inductance is varied in the range 90 < < 180 . The leading vars are provided by two capacitor bank units (only one three-phase bank is shown in the diagram) which are switched in or out in steps. Thus, the leading vars are switched in steps, the lagging vars can be varied smoothly. By combining the two operations, a smooth variation in reactive power over the entire range can be achieved. The control system to do this is also shown in Fig. 1(b) [9]. The bus-bar voltage to be controlled is measured via a full wave rectifier and filter arrangement. The reactive current is calculated by dividing the measured reactive power by the voltage. This reactive current is then used to calculate the droop which is subtracted from the measured voltage. The resulting signal is then compared with the reference voltage and provided as an input to a proportional-integral (P-I) control block, the output of which generates a reactance order (BSVS). This reactance order is then apportioned between the TCR and TSC parts by means of the allocator. A non-linear function generator block representing the steady-state relationship between the firing angle and the TCR vars is then used to generate the firing angle order for the TCR. A phase-locked loop based firing circuit is then used to generate the appropriate firing pulses at the computed firing angle. Note that due to the integral control action of the P-I Controller, the BSVS signal eventually settles at a value which results in an error of zero at the P-I input. The overall control characteristic that results is also shown in Fig. 1(c). The second SVC configuration is often referred to as a STATCOM (or STATic synchronous COMpensator), the basic configuration for which is shown in Fig. 3. In theory, this device can supply both leading and lagging vars with a negligibly small energy storage device (capacitor). The switching elements used here must be capable of turn-on as well as turn-off, and are thus typically gate turn-off thyristors (GTOs). By switching these devices, real power may be exchanged between phases, yet maintaining a net instantaneous real power intake from the ac system of exactly zero in the steady state. Thus, each phase alternately absorbs and delivers power, the net transfer being zero indeed, this is just what the definition of reactive power is. However, there is no energy storage element required to store this energy over part of a cycle and return it in the other part as in the conventional SVC. Instead, the energy is merely exchanged with the other phases, because on a three phase basis, the energy entering the system is always exactly zero. In practice, there is a small capacitor on the dc side which helps to smooth the dc current and improves the transient response of the system. The operation of the device can be compared with that of a synchronous machine being used for voltage control purposes.

Vp3

Vp2 Ip2

Vp1 Ip1

(a) SVC Circuit

Ip3

is1 iL1 Cs Rs

is4

+ C1

(b) SVC Controls

ia,b,c Va,b,c PLL 12 ramp Comparator firing pulses to TCR Reactive power Measurement Rectification/ Filtering VL Ix (droop) K + + (Magnitude of bus volts)
BTCR

12

(c) SVC Regulation Characteristics

Inductive VL Capacitive

Qsvc

BTCR

Vref Droop K Capacitor on/off signal

1 stage 2 stage

Allocator
BSVC

60Hz f Filtering 120Hz 90Hz + Vref K1/S + PI Regulator Kp + BSVC Qsvc Ix = _____ VL

Fig. 2. 230 kV TCR-TSC type SVC and controls

Seen from the ac side, the capacitor voltage appears as an ac voltage source of proportional magnitude behind the transformer reactance, analogous to the synchronous machines representation of a voltage source behind a synchronous reactance. If this reflected capacitor voltage is larger than the ac bus voltage, the STATCOM provides leading vars; and likewise, if smaller, lagging vars are provided. The configuration shown in Fig. 3 only shows a basic 12-pulse configuration. Several variant topologies are possible for the device such as multi-level converters [12] and higher pulse number converters [4] of up to 48 pulses. These arrangements reduce the harmonic generation of the device and thus require less (or even no) filtering.

is4

Ip1 Vp1 Ip2 Vp2 Ip3 Vp3 is1

Fig. 3. STATCOM

III. MODELING CONSIDERATIONS Time-Step Related Issues: Traditionally, power system simulation programs have worked with fixed time-steps and used the highly stable trapezoidal method for the numerical solution of differential equations. This approach allows for the solution of large power networks in a reasonable amount of time. However, the typical time-step of 50 s corresponds to a 1 o grid on a 50 Hz waveform. This coarse time-grid thus leads to a firing angle uncertainty of up to 1 o , which could result in the generation of non-characteristic harmonics and current chopping in inductances [13]. In order to avoid this problem it is desirable for the simulation program to have the facility for interpolation. This method can best be described with the example of a simple diode. The waveform in Fig. 4 shows the current through a diode with a standard fixed time-step switching algorithm. The current reverses at some time in between t and 2t, but because of the discrete nature of the time-step, the impedance of the device can only be made infinite (i.e., diode turns off) at integrals of t, here 2t. The first recorded instant of zero current is thus at 3t. Fig. 5 shows the same device with the switching interpolated to the correct instant. As before, the program calculates the solution at t = t and t = 2t. However, on noticing that at the latter time, the current has already crossed zero, it estimates the turn-off time to be t =1.2 t based on a linear interpolation of the current within the switching interval. All the history terms in the trapezoidal solution method are then also interpolated to this intermediate time in a linear fashion. The admittance matrix is then re-formulated and the solution continues with the original time-step, yielding the new solution one time-step later at t = 2.2 t. One additional interpolation step between t = 1.2 t and 2.2 t yields the solution at t = 2 t. The latter apparently cosmetic step is taken to put the solution back on the original time grid. It has been shown that the accuracy is considerably improved with interpolation without any significant increase in the required CPU time [13]. Thus using the above approach it is possible to get very precise switching times without recourse to a small time-step. Switching Device Representation: The model chosen to represent the thyristors and GTOs is comprised of a resistance in series with a voltage source. The resistance is made very large to represent the OFF device. The forward voltage drop of the ON device is represented with a small voltage in series with the ON state resistance. In addition, a snubber circuit may be connected across the switching device if required. Note that several emtp-type programs recommend the use of (artificially large) snubbers to prevent numerical oscillations caused by current chopping on account of the finite time-step. However, in this program it is not necessary to use such artificial snubbers as the numerical oscillations are avoided with the use of interpolation.

Id

1.0

2.0

3.0 time (x t)

Fig. 4. Simulated diode switching off at a current zero - fixed time-step

1.0 1.2

2.0 2.2

3.0 3.2 time (x t)

Fig. 5. Simulated diode switching off at a current zero - with interpolation

Electronic models available in programs such as SPICE include much more detail, representing the physics of the semiconductor. Such models are useful in the design of protection and snubber circuitry of the device, but can prove to be much too complicated for system level studies. The simplified models used here are therefore recommended for such studies. Graphical Interface: The usability of the program is greatly improved if the circuit layout and data entry is through a graphical front end [8]. The program input is therefore made to be completely graphical. An example of the circuit entry format is discussed later. The graphics are also programmed to do error checking for data sanity. A graphical interface is also provided for execution and analysis of the simulation. This graphical interface has components such as potentiometers, dials, switches and push-button for interaction with the simulation as it evolves. In addition, meters and plots for monitoring the output are provided with numerous options for customizing. A fragment of the DRAFT data file (the data-entry palette is named DRAFT) for the STATCOM circuit is shown in Fig. 6. The individual blocks in the figure are copied graphically and pasted on the DRAFT palette from the standard component library. The graphical interface also allows complete interaction with the simulation through an interface called RUNTIME. On this RUNTIME palette, the results of the run can be observed in the form of graphs or metered quantities as the run progress. Through this operator console type interface, settings can be changed using potentiometer dials, push-buttons and switches while the run is in progress. Detailed Control Modeling: Several control blocks are available in the program library. These can be graphically connected together to achieve the desired control function. An example of such a graphical construction of the control system is shown in Fig. 7 which shows the control system for the STATCOM. The control system is very similar to that of the SVC, except that there is no allocator present. However it is not possible to foresee every possible requirement of the user. The program includes a FORTRAN interface via which such user-developed control code can be included. In this manner, any complex control system for the power-electronic circuit can be modelled [14]. The interactive RUNTIME palette allows for the selection of optimal control gains and other control parameters. This can be achieved manually, by adjusting the gain sliders on the RUNTIME palette or automatically using the multiple run feature. In the following examples, the gains for the chosen control topologies have been adjusted using this procedure.

Fig. 6. Graphical data entry

IV. SIMULATION EXAMPLES The Base Case: The system shown in Fig. 1 is simulated as a base case. Here the midpoint compensation is provided by a fixed capacitor bank of 120 MVar, which maintains the mid-point voltage at 1.0 pu (230 kV) for a loading of 300 MW. Without the compensation, the steady-state stability limit would be 390 MW, or a practical maximum considering the transient stability margin, is around 200 MW.

Fig. 7. Construction of STATCOM controls in the simulation program

Although an increase in the maximum power transfer limit is achieved, this approach however does not allow for any voltage regulation as the capacitor value is fixed. If the receiving end breaker is opened (i.e. a full load rejection), the overvoltage shown in Fig. 8 results (about 1.5 pu). In a realistic system, such an overvoltage would have to be reduced by a opening the shunt capacitor breaker as also shown in the figure. Even then the overvoltage still remains at about 1.15 pu. The response with a Conventional SVC: The same base case as above is simulated with the reactive power now being provided by a conventional SVC rated at +167/-100 MVar. The static var compensator achieves the same steady state reactive power (120 MVar) and voltage at the midpoint, as well as the transferred power, as in the base case above. This can be seen in the pre-disturbance traces in Fig. 9. However on opening the receiving end breaker, the reactive power supplied by the SVC goes from leading to lagging (-54 MVar), resulting in a limiting of the overvoltage. The transient response is fast, and the voltage returns to its rated value after about 2 cycles. The initial peak overvoltage however, is about 1.63 pu.

RMS voltage at mid point 2

p.u.

1 0

AC voltage at mid point 500

kV

0 -500

Power Transfer 300

MW

200 100 0

Reactive power for compensation 350

MVar

175 0 0 0.1 0.2 0.3 0.4 0.5

^ |
load reject

time (sec)

^ |
capacitor breaker open

Fig. 8. Waveforms for base case: fixed capacitor

RMS voltage at mid point 2

p.u.

1 0

AC voltage at mid point 500

kV

0 -500

AC current to the SVC 1

kA

0 -1

Reactive power for compensation 200

MVar

100 0 -100 0 0.1 0.2 0.3 0.4 0.5

time (sec)

^ |
load reject

Fig. 9. Waveforms for mid-point control using SVC

The response with a STATCOM: If the midpoint compensation is provided by a STATCOM rated at +/- 150 MVar, the results, shown in Fig. 10, are similar to those for the conventional SVC. The transient response for the STATCOM appears to be somewhat slower than that for the SVC but the peak overvoltage is significantly smaller (1.27 pu). Note that the STATCOM is in general a simpler device than the conventional SVC as there is no need for any significant amount of energy storage. Note the capacitor voltage is high in the pre-disturbance period as the device supplies leading reactive power, and becomes smaller in the post-disturbance period when the device is required to absorb reactive power. Also note the ac side injected current waveform from the STATCOM where the harmonic content is seen to be a function of the operating point. This example can also be used to demonstrate the effect of interpolation. Fig. 11 shows the Fourier components of the ac side voltage with and without the inclusion of interpolation. Note that it makes little difference to the fundamental current and the characteristic harmonics (11th, 13th etc.) whether or not interpolation is used. However, without the use of interpolation, there is a significant level of other non-characteristic harmonics. A simulation time-step of 50 s has been used for all the example cases.

V. AVAILABILITY OF SIMULATION EXAMPLE DATA For the convenience of other PSCAD/EMTDC users, the data files for the above examples may be obtained from the PSCAD/EMTDC Users Group world-wide web site. The address is http://www.ee.umanitoba.ca/~hvdc/index.html. VI. CONCLUSION The paper identifies the features required in a digital simulation program for use in the study of transients associated with power-electronic devices in power transmission networks. A program developed by the authors team (PSCAD/ EMTDC) is specifically designed to include these features. The need for interpolation of the switching instants is identified as a key feature.

RMS voltage at mid point 2

p.u.

1 0

AC voltage at mid point 500

kV

0 -500

AC current to the SVC 1

kA

0 -1

Reactive power for compensation 200

MVar

100 0 -100

Capacitor voltage of the STATCOM 180

kV

145 110 0 0.1 0.2 0.3 0.4 0.5

^ |
load reject

time (sec)

Fig. 10. Waveforms for mid-point control using STATCOM

8 6 4 2 0 0 6 12 18 Harmonic No 24 30 Intrerpolation No interpolation

Fig. 11. STATCOM harmonics: with and without interpolation

The availability of a large number of control blocks is important, however, in addition the simulation program should also be able to model an arbitrary control system even if the blocks are unavailable. To this end, a higher level programming language (i.e. FORTRAN) interface is necessary. A graphical interface also makes it easy to construct circuits of large complexity in a short time. The graphical RUNTIME interface allows the user to interact with the run in an interactive manner as it progresses. This feature is ideally suited for the selection of parameters for the control system, as these parameters can be varied on-line. As a specific example, the use of two different devices- the SVC and the STATCOM, for the midpoint voltage control of a 230 kV ac line is presented. The control systems for both cases are tuned using the digital simulation program. It is observed that they are both able to limit the overvoltage. The SVC has a large first cycle overvoltage, but its rapid speed of response brings it to rated value within 1 or 2 cycles. The inherent characteristic of the STATCOM on the other hand results in a much smaller overvoltage, but its duration is longer, at least with the selected control system.

VII. REFERENCES
[1] Hingorani N.G.; FACTS- Flexible Ac Transmission Systems, IEE Fifth International Conference on Ac and Dc Transmission, London, U.K., 1991, Conference Publication 345, pp 1-7 [2] Krause P.E., Johnson R. and Montoya A.; Power System Studies and Modeling for the Kayenta 230 kV Substation Advanced Series Compensation, IEE Fifth International Conference on Ac and Dc Transmission, London, U.K., 1991, Conference Publication 345, p33-37. [3] Mori S; Development of a large Static Var Generator Using Self Commutated Inverters for Improving Power System Stability, IEEE Trans. Power Systems, Vol 8 No 1, February 1993.

[4] Schauder; et al ;Development of a +/- 100MVAR Static Condenser for Voltage Control of Transmission Systems, IEEE PES Summer Meeting, San Francisco, July 1994, Paper No. 94 SM 479-6. [5] Dommel, H.W.; Digital Computer Solution of Electromagnetic Transients in Single- and Multi-phase Networks, IEEE Trans. PAS, Vol. PAS-88, No. 4., April 1969, pp 388-399. [6] Woodford D.A., Gole A.M. and Menzies, R.W.; Digital Modelling of DC Links and Synchronous Machines, IEEE Trans. on PAS, Vol. PAS-102, no.6, June 1983, pp 1616-1623.

[7] Gole A.M.; Nayak O.B., Sidhu,T.S. and Sachdev M.S. ; A graphical Electromagnetic Simulation Laboratory for Power Systems Engineering Programs, IEEE Trans. on Power Systems, Vol. 11, No 2, May 1996, pp 599-606. [8] Nayak O.B. et al, A Totally Graphical User Interface for Electromagnetic Transients Simulation Programs, IEEE Computer Applications in Power, Vol. 8, No. 1, January 1995 [9] Canadian Electrical Association, Mathur R.M., editor, . Static Compensators for Reactive Power Control, CANTEXT Publications, 1984.

[10] Gole A.M. and Sood V.K.; A Static Compensator Model for Use with Electromagnetic Transients Simulation Programs, IEEE Trans. on Power Delivery, Vol. 5, No.3, July 1990, pp 1398-1407. [11] Lefebvre, S.; and Gerin-Lajoie L. ; Static Compensator Model for the EMTP, IEEE Transactions on Power Systems, Vol. 7, No. 2, May 1992, pp 477-486. [12] Ekanayake J.B. and Jenkins N.; A Three Level Advanced Static Var Compensator,, IEEE PES Summer Meeting, July 23-27, !995, Portland, OR., USA, Paper No. 95 SM 416-8-PWRD. [13] Kuffel P.; Kent K.; and Irwin G.D. ; The Implementation and Effectiveness of Linear Interpolation With Digital Simulation, International Conference on Power System Transients, Lisbon, Portugal, Sept. 3-5, 1995, Proceedings, pp 499-504. [14] Sadek K., Wild, G., Hugelschafer L., Gole A.M., Jiang, X. and Brandt D.; Modeling of Digital HVDC Control Systems using a Graphical Electromagnetic Transients Program, International Conference on Power System Transients, Lisbon, Portugal, Sept. 3-5, 1995, Proceedings, pp 391-396.