dSPACE User Conference 2012 India | Sept 14

th
2012


dSPACE (DS-1104) Implementation of Detection and Control Algorithm of
Dynamic Voltage Restorer (DVR)
Amardeep Shitole
S.Y.M.Tech
College of Engineering, Pune

Dr. N. Gopalakrishnan
Professor Emeritus
College of Engineering, Pune
ABSTRACT
Dynamic Voltage Restorer (DVR) is one of the most efficient and effective modern custom power devices used in power
distribution networks to mitigate power quality problems such as voltage sag and voltage swell. This paper presents the
implementation of detection and control algorithm of DVR in dSPACE (DS1104) real time simulator. A control algorithm
based on synchronously rotating reference frame transformation i.e. abc to dq0 transformation technique is developed in
MATLAB Simulink platform which is implemented in dSPACE (DS1104) Real Time Simulator by using the Real Time
Workshop toolbox. So, implementing the proposed control algorithm in dSPACE (DS1104) Real Time Simulator generates
required PWM output pulse pattern for Voltage Source Inverter (VSI) of DVR. The highly satisfactory simulation results
have validated the design of the control system for DVR. A low power DVR is built for experimental verication of the DVR
under voltage sag and voltage swell conditions in the power system laboratory.

INTRODUCTION
Among the power quality problems (sags, swells, harmonics) voltage sags are the most severe disturbances. In order to
overcome these problems the concept of custom power devices is introduced recently [1]. One of those devices is the
Dynamic Voltage Restorer (DVR), which is the most efficient and effective modern custom power device used in power
distribution networks. The DVR is made up of a solid state dc to ac switching power converter that injects a set of three
phase ac output voltages in series and synchronism with the distribution feeder voltages. The amplitude and phase angle
of the injected voltages are variable thereby allowing control of the real and reactive power exchange between the DVR
and the distribution system. The amplitude and phase angle of injected voltages can be controlled by detection and
control algorithm of DVR. Detection and control algorithm is designed to detect variation in the supply voltages after
system disturbances and to generate required reference voltages for PWM based VSI. This control algorithm is based on
synchronously rotating reference frame transformation technique i.e. abc to dq0 transformation technique. Parks
transformation is used to convert voltages from abc to dq0 frame.

PRINCIPLE OF OPERATION OF DVR
Schematic diagram of a Dynamic Voltage Restorer (DVR) installed in series with a sensitive load in the distribution system
is as shown in Fig.1. The DVR consists of mainly a three-phase Voltage Sourced Converter (VSC), an injection
transformer, passive filter and a control system to regulate the output voltage of VSC. The DVR injects a set of three-
phase ac voltages in series and in synchronism with the supply voltage. These voltages have controllable amplitude,
phase angle and frequency, which enable the DVR to restore the quality of load side voltage when the quality of supply
voltage is distorted [2].

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Fig.1 Schematic diagram of DVR.
Fig.2 shows a phasor diagram which describes the operation of the DVR. The phasor voltages are defined as follows:
1) Vpre-sag is the voltage at the point of the common coupling before the sag occurs.
2) Vsag is the voltage at the point of the common coupling during the sag.
3) sag is the sag voltage phase angle.
4) Vdvr is the voltage injected by the DVR.
The DVR voltage is given as:
(1)

Fig.2 Phasor diagram of compensating voltage sag.
The control strategy adopted is Pre-sag compensation. In pre-sag compensation, the supply voltage is continuously
tracked and the load voltage is compensated to pre-sag situation. This method provides almost undisturbed load voltage.
Fig.3 shows basic waveforms which illustrate the operation of the DVR during voltage sag. The same concept is applied
when a voltage swell occurs. In Fig.3 x-axis represents time in seconds and y-axis represents voltage magnitude in PU.
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Fig.3 DVR system response during voltage sag. (a) Single phase terminal voltage. (b) DVR injected voltage. (c) Single
phase load voltage.

DETECTION AND CONTROL ALGORITHM OF DVR
The detection and control algorithm used for the DVR monitors the terminal source voltages and the reference load
voltages continuously. Detection of disturbances can be done using the deviation in the RMS value of the terminal voltage
of the source caused by the disturbances [3]. Simulink model diagram of the proposed controller is shown in Fig.4.

Fig. 4 Simulink diagram of abc to dq0 controller.
As mentioned earlier, this control algorithm is based on synchronously rotating reference frame transformation technique
i.e. abc to dq0 transformation technique. Parks transformation is used to convert voltages from abc to dq0 frame [4]. The
expression of Vd, Vq, V
0
in terms of Va, Vb, Vc can be described as follows:
(2)
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Where,
(3)
Equations above denes the transformation from three phase abc to dqo reference frame. In this transformation, phase a-
axis is aligned to the d-axis which is in quadrature with q-axis. Here = t +
0
is the angle between phase a-axis and the
d-axis where
0
is the angle when t = 0. Then the expression of Vd, Vq, V0 in terms of Va, Vb, Vc can be described as
follows:
(4)
This control algorithm monitors the terminal source voltages and the reference load voltages in the dq0 reference frame.
Whenever, there is any sag/swell in the source voltage there will be an immediate deviation in the dq0 components of the
source voltage from those of the reference load voltages. Based on the difference between the dq0 components of the
source and reference load voltages, the control algorithm will generate a reference voltage signal required for SPWM
based VSI. PI controller is used to control these reference voltage components. This output voltage signal of PI controller
is used to generate PWM signals required for the VSI. A virtual PLL block is used to synchronize generated voltages of
VSI with line voltages. The shape of the reference voltage generated by DVR (V
DV R
) depends on two factors i.e. whether
the sag/swell voltages are balanced or unbalanced and the presence of harmonics in it. Reference voltage V
DV R
is
sinusoidal only if harmonics are absent.

dSPACE (DS1104)
The DS1104 R & D controller board is a standard board that can be plugged into a PCI slot of a PC. The DS1104 is
specically designed for the development of high speed multivariable digital controllers and real time simulations in
various elds. It is a complete real time control system based on a 603 power PC oating point processor running at 250
MHz. For advanced I/O purposes, the board includes a slave-DSP subsystem based on the TMS320F240 DSP
microcontroller. For purpose of rapid control prototyping (RCP), specic interface connector and connector panel like
CP1104 provide easy access to all input and output signals of the board. External devices can be individually connected,
disconnected or interchanged without soldering via BNC connectors and Sub-D connectors. In addition to the CP1104,
the CLP1104 Connector/LED panel provides an array of LEDs indicating the states of the digital signals. This simplifies
system construction, testing and troubleshooting. Thus, the DS1104 R & D controller board is the ideal hardware for rapid
control application [5].

IMPLEMENTATION OF DETECTION AND CONTROL ALGORITHM OF DVR IN dSPACE (DS1104)
For the generation of PWM pulses required for VSI, the control algorithm developed in the MATLAB simulink model is
implemented in DS1104 real time simulator as shown in Fig.5. Actual load voltage after disturbance and reference source
voltage is sensed by using a voltage transformer of 230V/6V, 500mA rating. These analog input voltage signals of 0-6V
range are directly given to the hardware connector panel CP1104 board of dSPACE. The voltage phasors sensed by
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these voltage transformers are in abc frame which are phase displaced by 120 from each other and rotating with 50Hz
frequency.

Fig.5 dSPACE MATLAB simulink model of abc to dq0 controller.
As explained in the previous section, synchronously rotating reference frame transformation technique based on Parks
transformation is used to convert these voltages in dq0 reference frame. The difference between the actual load voltage
after disturbance and the reference load voltage in dq0 reference frame will be the reference input signals for PWM
generator. The reference signals in dq0 reference frame are as shown in Fig.6 bellow. The PI controller is used to control
the voltages in dq0 reference frame. These voltages in dq0 frame are again converted into abc frame. The a-phase
reference voltage signals in abc frame is as shown in Fig.7 bellow. b-phase and c-phase reference voltage signals are
similar to a-phase reference voltage signal but phase displaced by 120 and 240 respectively. x-axis represents time in
seconds.

(a) Vdref

(b) Vqref
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(c) V
0
ref
Fig.6 The reference voltage signals in dq0 reference frame.

Fig.7 Varef voltage signal in abc reference frame.
These reference voltages are used as the reference input signals for SPWM output pulse generator of DS1104 board.
These analog input signals are converted into digital output signals in this board. These digital output signals are the
actual input signals for the SPWM generator implemented in DS1104 real time simulator. This simulator will simulate the
algorithm in real time and generate a code in C-language. This code is then executed in TMS320F240 DSP
microcontroller and the required PWM output pulses are generated internally. The PWM output pulses generated by
DS1104 real time simulator are as shown in Fig.8.

(a)

(b)
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(c)
Fig.8 PWM output pulses generated by DS1104. (a) PWM
1
, PWM
2
(b) PWM
3
, PWM
4
(c) PWM
5
, PWM
6

EXPERIMENTAL SETUP FOR DVR
Laboratory test setup of DVR is as shown in Fig.9. DSPACE (DS1104) is used as a real time simulator. The proposed
control technique of DVR is implemented in DS1104 for generation of required PWM pulses for VSI. These PWM output
pulses are directly fed to the three phase VSI of Intelligent Power Module (PEC16DSMO1) which generates required
amount of voltage which is injected in series with the transmission line voltage.

Fig.9 Experimental setup of DVR.

EXPERIMENTAL RESULTS
Balanced voltage sag of about 20% is actually implemented on a 3-Ph 50Hz transmission line with various load
combinations. Initially small R-L load is connected to the transmission line and after some interval an extra series R-L load
is switched on through breaker switch. The switching on of extra load will draw higher current through the line which will
create balanced voltage sag of 20% at the load point. As soon as the sag is detected, the VSI will generate the required
amount of voltage to be injected in series with line voltage. Load voltage is restored back to pre-sag voltage after injecting
the voltage generated by VSI. From Fig.10 it is observed that out of 20% balanced voltage sag, almost 18% voltage sag is
restored.
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(a) Load voltage before sag.

(b) Load voltage after sag.

(c) Load voltage restored by DVR.
Fig.10 Performance of DVR for balanced voltage sag of 20%.

Use of dSPACE has resulted in reduction of complexity of hardware and simplified the generation of pulses
required for the Intelligent Power Module. The working of DVR has become more reliable.

CONCLUSION
The implementation of control algorithm for DVR and detection of a power quality problem such as voltage
sag/swell have become simplified and reliable by the use of dSPACE (DS1104).




dSPACE User Conference 2012 India | Sept 14
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REFERENCES
[1] A. Ghosh and G. Ledwich, Power Quality Enhancement Using Custom Power Devices. Kluwer Academic Publishers,
2002.
[2] P. Boonchiam and N. Mithulananthan,Understanding of dynamic voltage restorer (dvr) through matlab simulation.
Thammasat Int. J. Sc. Tech., vol. 11, July- September 2006.
[3] P. Meena, K. U. Rao, and R. D.,A modied simple algorithm for detection of voltage sags and swells in practical
loads, Third International Conference Power Systems, Kharagpur, India, December 2009.
[4] Y. Zhu, X. Shi, and Y. Dan, Deduction of coordinate transform for instantaneous reative power theory and analysis on
relationship between - and dq0 transformation, The Ninth International Conference Electronic Measurement and
Instruments, China, 2009.
[5] dSPACE Catalog 2009,DS1104 R & D controller board hardware installation and configuration for DS1104.
Paderborn, Germany.

CONTACT
AMARDEEP SHITOLE
S.Y.M.Tech (Power System)
College of Engineering, Pune
amardeep.shitole@gmail.com

Dr. N. GOPALAKRISHNAN
Professor Emeritus
College of Engineering, Pune


ABBREVIATIONS
DVR Dynamic Voltage Restorer
VSI Voltage Source Inverter
PWM Pulse Width Modulation
RMS Root Mean Square
PU Per Unit