/A/_JO

NASA

Technical

Memorandum

105326

Development
of a Single-Phase
Harmonic
Power Flow Program to Study the 20 kHz
A.C. Power System for Large Spacecraft

L. Alan

Kraft

Valparaiso
Valparaiso,

University
Indiana

and
M. David Kankam
Lewis Research
Center
Cleveland,

Ohio

November

1991

:_9Z-

13275

TABLE OF CONTENTS

NOMENCLATURE

.....................................................

iii

Abstract ..............................................................

1. Introduction .........................................................

2. Operation of the Mapham Inverter .....................................

3. Modelling the MaDham Inverter .......................................

4. Operation of the Single Phase. Voltage Controlled Rectifier. .............

11

5. Modelling the Single Phase. Voltage Controlled'Rectifier.

12

...............

6. The Harmonic Power Flow Algorithm ..................................

17

7. Modifying the Harmonic Power Flow Algorithm .........................

21

8. _

24

...........................................................

9. Conclusions

and Recommendations

LIST OF REFERENCES

..................................

................................................

Appendix A ...........................................................

27
29
30

PAGE BLAP.]K P,_O_!FILI'_EL)

PRECEDING

iii

NOMENCLATURE

Coefficient

of a polynomial

AC

Alternating

current

[A]

Matrix

[A]r

Transpose

[Ao_]

Matrix

A (i)

The

i th harmonic

AA

The

change

(Z

Real component

Coefficient

Real component

Capacitance

Imaginary

Magnitude

D'

Normalized

DC

Direct

Frequency

GDC

General

Dynamics

Current

magnitude

I(s)

Current

in the frequency

im[A]

Imaginary

(.I)
's

[J]

Jacobian

[Jij]

i,j element

Inductance

A
of matrix

A at the

i m iteration
component

of A

in A
of a complex

frequency

of a polynomial
of a complex

component

of a complex

of a complex
value

Fourier

Fourier

of D

current

component

Corporation

domain
of A

matrix
of the Jacobian

matrix

coeffiecient

Fourier

Coefficient

coefficient

iv
Substitiute for {[ 4/(LC)

- (1/RC) 2 ]'s}/2

Magnitude of a coefficient of a partial fraction

Complex coefficient of a partial fraction

6)

Imaginary component

Poles of a circuit

of a complex frequency

Real power
Q

Reactive volt-ampere

Resistance

Re[A]

Real component

Complex frequency

SCR

Silicon controlled rectifier

Substitute for 1/(2RC)

THD

Total harmonic

Time constant

of A

distortion

Period of a sinusodial waveform

e

Angle of a complex Fourier coefficient

Angle of a coefficient of a partial fraction

Voltage magnitude

Voltage in the frequency

Reactance

Complex impedance

domain

Development
of a Single-Phase
Harmonic
Power Flow Program
to Study the 20 kHz
A_ Power System for Large Spacecraft
L. Alan

Kraft*

Valparaiso
Valparaiso,

and

M. David

Kankam

National

University
Indiana 46383

Aeronautics

and

Space Administration
Lewis Research
Center
Cleveland,

Ohio

44135

Abstract
This report describes
power

systems

Research

power

for large spacecraft.

Institute's

AC power

(EPRI)

quality.

systems,

The new program

accommodates

aerospace

correlation.

the software,

to enhance

equipment
presence

planned

modes
1990

Recommendations
its usefulness

These

of switching

of space power

devices

the harmonics

loads can cause

is the occurrence

generated

by the switching

Summer

or near cancellation
Faculty

harmonic

Fellow

electrical

devices

several

at Lewis

problems
resonance.

and the nonlinear

of inductive

power

system

shows

improvements

reactance

Research

energy

for extended

end of currently

of harmonic

60 hz to and

distortions.

of future

by the AC power

at the source

problems

by cancellation

NASA/ASEE

nonlinear

The modified

to

and analysts.

more capability

are well served

in the converters

designers

Power

by terrestrial

systems.

spacecraft

in their increased

will require

typified

ranging from terrestrial

are made for the direction

system

of Electric

of AC

used for the study of

systems

of a representative

to power

and analysis

"HARMFLD",

frequencies

has resulted

requirements

and their connected

caused

version

to three-phase

characteristic

operating

space exploration

One of the more serious

whereby

flow program,

and test results

of large spacecraft

support.

AC system

is an improved

is applicable

systems

system

of simulation

a satisfactory

Additionally,

power

to aid in the design

20 kHz, and can handle both source and load-end

Comparison

The advent

of a software

The algorithm

harmonic

and single-phase

"HARMFI.D"
beyond

the development

consumption.
human

system.

However,

the

proposed,

spacecraft

in the power

system.

This is a phenomenon
loads

by capacitive

Center.

and

excite

resonant

reactance.

Among

theproblems caused by voltageand currentresonance in a power system areinsulation

failure
due to ovcrvoltagc,equipment malfunctionresulting
from high frequency and multiplezerocrossingsof distortedwaveforms, radio-frequencynoise,and transmissionand equipment current
overloads. Generally,thegeneratedharmonics tend to worsen theoverallpower quality.

This report describes

evaluating

resonance

spacecraft

power

terrestrial

problems,

systems.

power

systems,

The applicability
aerospace

a harmonic

power

among others,

The program

of the program

which

accepts

and single-phase

20 kHz and beyond,

flow prOgram, "HARMFLO,"

encompasses

can occur in either terrestrial

both three-phase

systems

systems

characteristic

frequencies

and harmonic

for identifying

distortion

ranging

found in

power

from terrestrial

at the source

or large

commonly

of spacecraft

and

systems.

60 Hz to

- and load-ends

of the power

a mathematical

model of a

system.

In its present phase, the harmonic

Mapham

inverter

developing

of lightweight

Mapham

inverter

inverter

model

systems

during

documented

Another

its modelling

essential

Simulated
test results.
flow program

phase.
[1-3].

Recommendations

of criticality

The design
Hence,

and operation

of payload

applications.
analysis

aspects

system

weight,

used in

the salient

make the

Inclusion

of the

of the spacecraft

of the Mapham

only the particular

power

inverter is well

of the inverter

operation

in this report.

of the representative

As a potential

power

source of harmonic

model

results obtained
included

power

number of components,

required performance

are discussed

the mathematical

preliminary

20 kHz spacecraft

with a minimum

can expedite

subsystem

rectifier.

system,

In consideration

contains

source of AC power for spacecraft

in the algorithm
their design

flow program

of a representative

and simple design,

an attractive

controlled

the power

the algorithm.

in the literature

which impacts

voltage

[1], a key subsystem

and testing

features

power

for this rectifier

to make it more useful to power

system

used is the single-phase

current with attendant

problems

in

is also developed.

from the algorithm

in the report

system

compare

favorably

point to future enhancements

designers

and analysts.

with published
to the power

2. Operation

Of the Mapham

The circuit diagram

Mapham

inverter

Figure

1.

Inverter

of a

is shown

The

in

SCR's

switched at the desired

are

output
L r12

E_

frequency,

f..

This

switching

reverses the current through

capacitor, C r.

This

resonates

at

the

the

Lr'2

Vo

1 - Circuit Diagram of a Mapham

Inverter.

series

of the inductor,

The reversing

l_j_t_._Csl

frequency

by

combination

Lr,2

current
Figure

determined

of the

L r , and C r .

current

at a time
_'"/

when

the

resonating

negative

half

inverter's

operation

current

cycle

will

is

in

sustain

as an

AC

its

the

!i.

source.

Ja-e6

4u.u
5r==8

Figures 2 through
in the

and

reversing

by Sundberg,

Patterson

currents,

[3],

Figure

Brush,

show

ILl and I_, though

Lr/2,

current through
that unless

and

the

total

the

the resonant

!i

to note

frequency,

f r, is

l\

/\
/

0o
*a-n

Ju-os

T1NI

the same as f., a distortion

capacitor

current

distortion

results

the

load

es.lm

H-os

(liemud=)

in the

waveform.

Figure

This

in harmonic

which are injected

by the inverter.

occurs

ILl

O.4

=.

resulting

C r. It is important

2 - Current

the
.

inductors,

on-e

4, which can be found

publication

Button

era-o=
,_)

3 - Current I,=.

currents

into the power system

Since the impedance

placed

across

the

of

!..

output

_/

\/

terminals

of the inverter

will change

fr ,

-o.o'
=s.eo

.s.es
ztcl

loading
harmonic

will

affect

the

level

el-el

=-es

(In*_m_)

of injected
Figure

current.
3

4 - Total Current Through

Capacitor

C,.

3. Modellin_o the Mapham

To determine
configuration,

Inverter

the injection currents that will occur for a certain power system

it is necessary to find fr for the inverter under the desired loading.

no-load conditions,

the resonant frequency

Under

is given by

1
fr =

When the inverter is connected

impedance
as shown

of Z_

to the power system, the system appears

= Req + JXeq connected

in Figure 5. In the frequency

input voltage

LVZ-d

across

domain,

the output terminals

the input current

b,s"

resulting

... + 81S

+ ... * bls + bo

l
where, m < n and the coefficients

whether Z_

depend

on whether

is capacitive
= Req - JX_

of these polynomials

If the system
denominator

from a step

+ a0

Iz,,,,.=.=l

equivalent

of the inverter

has the form

Elm Sm+

polynomials

as an equivalent

or

Figure

the system

L.._

5 - Power System Equivalent.

(i.e.,

= R,,q + JXeq ). The details concerning

can be found in Appendix

equivalent

c ..

of the two

inductive

or Z_

oR

is inductive

are:

the derivation

A.

then

n = 5, and the

coefficients

of the

bs = (L_ L.q)L_C_C, ,

b, = RqL_C.C, ,

b3 =

(L l + L#q) C s

1 +

LI Lm
+ Leg 1 L r(c r + C m) ,

R,_L, (co + c,)

b 2 = a,qc s +

bI = I +

However,

Lm

L 1 + L,q
Lm

if the equivalent is capacitive

, and

then n = 6, and the coefficients

denominator are:

b 6 = L1LrCeqCrC

b s : R.qLzCe_CrC

b 4 = LlC_C

,+LrCzC

s+LzceqC

s ,

s ,

r+LzC_c

s+

LILrCeq

(C rc'7)
L,.

b 3 = ReqCeqC s+

ReqLzCeq

(C s+ C z)
Lm

of the

Lm

b, =

a._C._

and

Lm

Once the coefficients

(s.

are computed,

+ P.)

The roots of this polynomial

network

is primarily

(s._l

the denominator

+ P.-1)

can then be factored

... (sz + P2) (el

(i.e., the P's) represent

+ P1)

into

the poles of the network.

Since the

a series L-C circuit, at least two of the poles will form a complex

pair

with the form:

(s.

+ a.

Since n > m, this polynomial

expressed

in partial fraction

Kn

"sn+P.

+...+

+ j_.)

(s.__

+ a s-

is said to be a proper

je.)

rational

polynomial

form:

Z.
sz+az-j(_

."

sz+az+J

...+

_) ,

KI
SI+PI

and can be

The

function

transforms.

can then be returned

The inverse transform

2-I[

s+=-j_KLO

This yields a time domain

to the

time domain

for the complex

s+=+j_KL-e

response

by using inverse

pair is

2Ke-'tcos

(1)

(_t+8)

for the current through

C r which is

responses
Ic, (t)

Once

the natural

loe-"'tsin

resonate

(_zt

+ e z)

to

other
es

frequency

period

0.I-

POR

MODR_

'

z (c:)

ir L

J!\

0.4

due

the
pol

RBGIONS

and its corresponding

Laplace

--

k\

I (L2)

2_
M

Jr

fr

_ Jr

-0.4

-0.1
0

SE-05
TZME

are

known,

generated
determined.

the

components

harmonic

currents

can be

Figure6-

Capacitor

Current,

and IL2 with Indicated

Regions

Figure 6 shows one period of the current through

6 are the corresponding

inductors.

of the

currents

From this information,

time over five individual

regions

(SecoMs)

ILl and I L2 which

the capacitor

of the waveform.

Inductor

I,,

for Modelling.

in Figure

each set of switched

can be written

The resulting

Currents,

C r. Also shown

flow through

current

C,;

as a function

equations

are:

of

(2)
-a (_+'%-) sin (_
=

-e

IC r

(3)

IC

(41

"_ Ct

(=)

f oI --"
_ t < _ s
2

-i Ic-' ,*

si_

-e

IC r

(t)

-- e

_ z t-

,, fj

(s)

and
for

(6)
=

--e

for

Since

the

current

is now

mathematically

function,

it can be represented

function

is given

represented

by a Fourier

series.

as a continuous,

The Fourier

series

repetitive

time

of a repetitive

time

by

el

f(t)

Co + ]E_ c-csn_ot

+ dnsinn(_ot

n-1

where,

tl+T

Co

TO

To

f(t)

(7)

dt,

C=

CIIC

dt

(e)

) dt

(9)

f(t)

cos

(no or)

f(t)

sin

(n_ot

Ca

and
C1 T 0

2
d

T o

The
over

Fourier

coefficients,

one period

c,

I
Ca

and d,,

of the waveform.

is assumed

to be 1.0 at this point.

normalized

by

are found

It should
Once

by integrating

be noted

that the magnitude

the coefficients

Equations

are computed,

(2) through

(6)

of the current
they

are then

The coefficients are normalized because

until a fundamental

power flow is found.

D_

(Io)

_ n81

the magnitude

of the current will not be known

The required values of D 1 and 01 are then

known.

To

apply these coefficients

to the harmonic

necessary to understand the formulation

power flow

algorithm,

it is first

of the harmonic power flow algorithm itself. The

details of how this will be done are covered in Section 7 of this report.

10

4. Operation

of the Single Phase, Voltage Controlled

Rectifier

The circuit diagram of a single phase, voltage controlled

,

Since the D.C. output

voltage,

voltage

of the rectifier

rectifier is shown in Figure

is the average

of the "ripple"

output

x,
L

shown in Figure
8,

it

can

controlled

be

Ys+O

by

O--

changing
firing

the

angle,

Figure 7 - Single Phase, Voltage Controlled Rectifier Circuit.

e.

This means that,

by adjusting a, the average

value of the "ripple"

or the D.C. output voltage can be

controlled within certain limits. The SCR's are triggered with a signal which is set by a.
The value of a is determined

by the difference between the desired D.C. output voltage

and the actual D.C. output voltage.

Once either of the SCR's is triggered, it will conduct

until the voltage on the anode is less than the voltage on the cathode.

This occurs when

the input voltage, V _n,drops below the output voltage, Vout, at #, the commutation

Voltage
Vin

Vx
i
:1

:l
:1
;I

J_
:t

Firing

:'

Commutation

:
...

Angles
:

Angles

.!

1
i

,.
::
;,
I

I
I
I
I

I
i
I

Time

Figure 8 - Input Voltage to a Single Phase, Voltage Controlled Rectifier Circuit.

11

angle.

5. Modelling

the Single Phase, VoIta ae Controlled

Rectifier

When either of the SCR's is triggered, the voltage which

terminals

of the rectifier

is given by

Vz=(t)

This function

becomes

Vmsin((_=t+)

the following

v,. (s)

in the frequency

v=[

source,

CV(0), is needed to account

on the capacitor

domain:

(11)

domain is shown in Figure 9. The

for any initial voltage that might be present

when the SCR is fired at oz. Since I=n(s) is given by

x,.(s)

V x(s) must be determined.

with the unknown

u(t)

,,.i,=.,,.o.,,].,,=.=;

The entire single phase rectifier circuit in the frequency

current

is applied to the input

vi

(s)

- v=(s)

(12)

sT.,

This is done by writing

voltage, V x(s).

Kirchhoff's current

law at the node

In(s)

&'V(O *)

-- 1
s

Figure 9 - Single Phase, Voltage Controlled Rectifier Circuit

in the Frequency Domain.

12

The result

is

V m (ssin=

v=(s)
sCVz(s)

sc+

-_
i+

s-_
1)

st.

If Equations

(11) and

V m (ssin=

+ CV(O')

+(_=cos_)

+sLC(s=+w=

sL

-LC[V,,

v=, (s)

- v,, (s)

(s = * _,=,)

IF= (ssin=

v,,(s)

+ _acos=)

( ssin,,

=)

V(O*)

(13)

( s= o)_}

+ _,cos=)

+ sLC(

s = + _s =)

"

(13) are substituted

into

L_[V"

+ _,cos=)

=;)

Equation

(ssin=

( s= * ,_2)

(12), the result

+ _,cos)

s =_Is

RC

I_=(s)

-Rc)[

v= ( ssin=.
SL

l___l(s =*==')
/

LC

) ] - s ( s = * _,=,) v(0")

S2 * R---C
s + L--_
i )(sZ.e=)

-R--'_C)[ssin=

,,,,cos=

+ _.cOs=]-

(SZ+_)V(0")

. .-E_
s . ___1)
( s = . ,,,=,)
RC
LC

13

is

+ sLC(S'

sL

Vm(
s.L

V(O')

Ig

+ _==) V(O

) ]

This can

now

be expressed

z,. (s)

in partial

fraction

form:

K1 z e1

K 1/. -e:

2RC

K2Ze2

2RC

s-jo_,

K2Z-e

s+jo_.

where,

IS+

1
2RC

s)

,.

2RC

and

K2Ze2 =

To simplify

the notation,

[s-jo,,]z,..(s)

let

and

2RC

14

l,,._."

then
K_Le,

[s+e-jA]

(_)(-a+jA+2a)[(-a+jA)sin"+_'cs"]

- [(-a+jA)z+_m=]

(j2;.)

X,.(s)l,..,.j,

[(-o+jA)2+_o

(-_)(o+JA)[(,_.cosa-ostn,,)

+jAstn2a]

(j2_.)

[(o'*;.'*,,)o

[(o'.A'+_)-J2o).]

V(O')

2) -J2o;.]

(--VL=)(a+JA)[((*cs=-asina)+jAsin=]
(j2k)

V(O+)

=]

[ (o2+A2*_#

V(O )
j2A

2) -j2oA]

and

K_L%

)(j(o,

_c)

[s-j_),]

(j_),sin=

-0,2+3-_

x_=(s) l,.:,,

(a.cos=)

- (-(0.2+(_.2)

.._)
+

(j20.)

( vo/l_
(o)v(o.)
L /% RC +_..)(_.,.)-

'1

- _;) 3-E_

-_

l+j_.)

COS

(a--_)

15

(j2(_,)

+jsln

(a--_)

v(o')

Once the complex

the time domain
time domain,
current.

coefficients, K 1 and K 2, are computed,

is found using Equation

Equations

It is important

normalization

(1).

back into

Now that the input current is knownin

(7), (8), and (9) can be used to find the Fourier coefficients
to note that, because

of the rectifier

coefficients

the total current is known

power flow program.

summary of the development

the
of the

at this point,

is not needed.

These coefficients, like those found for the Mapham

into the harmonic

the transformation

To accomplish

of the harmonic

16

inverter, must be incorporated

these goals, the following

power flow program.

is a brief

6. The Harmonic

Power Flow Algorithm

The harmonic

power

flow algorithm used in this work is the one developed

Heydt and Xia [4,5] and later modified

Newton-Raphson

1.

formulation

[6].

The algorithm uses a standard

for a power flow program.

The basic algorithm

Select an initial solution vector for all bus voltages, [V (o}], where
element j is I Vjl

2.

by Grady

and e j or the complex voltage at bus J.

Using the voltage vector,

A Pj

calculate

_pjca]cu]ated

pjBcheduled

A Qj = QjSChedule__Qfalc.la_,d .

If A P and A Q for all busses are < _, a specified

tolerance, a solution

has been reached;

is stopped;

output

3.

and, the iterative process

and, the

is printed.

Compute

the elements of the Jacobian

8P

[J_]

matrix which are defined

8P

= av,
80i

17

80i

by

__

by

is:

4.

Using

[A p, _, Q] T = [j ] [A V, A 6 ] T, calculate

5.

Update the solution

voltage vector,

6.

A V and & 6.

Repeat Steps 2 through

This basic power flow algorithm

+ [Av, Ae] t

5.

was modified

by Heydt, Xia and Grady in the following

manner.

1.

The basic algorithm

described

above is run on the system

fundamental

frequency

The solution

voltage vector obtained

value

in the harmonic

vector

is

for the

only.

power

flow.

in Step 1 is used as the initial

Therefore,

the

initial voltage

V(1)
V(2)
V(a)

IF (,-)

where, V (i) represents

the bus voltage for the i m harmonic

are the firing and commutation

angles for the converters.

18

and J

3. Using the solution vector, calculate

APj = p/ch. u1.,_ pI.1o.l.t.

/% I (i)

where,

I(i) scheduled

I (I} scheduled_

is the scheduled

and I ) ca,cu,a,edis the calculated

(14)

{I) calculated

harmonic

i th harmonic

current at each bus,

current at each bus.

It should

be noted that the scheduled

harmonic

source (ie., nonlinear devices) is 0. If ,%P, ,%Q, and ,%I are

< E, a specified
reached;

4.

ith

tolerance,

and, the algorithm

Calculate

the

elements

Jacobian

matrix is modified

j(1)

current for all busses

for all busses,

the solution

except

has been

is finished.

of the

modified

by formatting

j(2)

. . .

Jacobian

matrix.

it as follows

j(n)

TG(2,1)

TG(2,2)

. . . TG(2,h)

H(2)

TG (h,1)

TG(h,2)

. . . TG(h,h)

H(h)

TG(1,1)

TG(_,_)

. . . TG(_,h)

H(1)

[J]

19

The

where,

a vj (m)

vja6j

a oj (rn)

a oi (m)

j/j (m) .
a vj (m)

an,,pj _")_
TGij

a aj (n)

(m,n)

a (li
a_ (")

a 6j (n)

aR,,(li (m))

aRe (Ii (m))

and
n

a=j
_(m)

a _n,(_j(m))

a_j

o_aj

6.

Using [A P, A Q, A I] T = [j] [,_ V, A 6, A or, A 13]T, calculate

& V, A 8, A 0,

Update

[V (i}, 6

7.

a Im(Ii (m))

{i}, (7.{i},

p {i}]

T = [V {i-1}, 6

Repeat Steps 3through

{i-1}, Or,{i-1}, p

{i-1}] T + [4 V, A 6, A (x, & p] T

6.

The modifications introduced in the basic power flow make the HARMFLO different from
others which use the fundamental
power and harmonic current responses of the
nonlinear devices to solve the voltage levels within a power system [7]. Furthermore,
the HARMFLO
differs from the Alternate Transients Program (ATP) version of the
Electromagnetic Transient Program (EMTP) [8]. The ATP version is used in analysis in
which the nonlinear loads are represented by harmonic current injections at desired
nodes within the power system.
20

7. Modi_ing

the Harmonic

Power Flow Algorithm

Since three phase, synchronous

designed

to produce

an undistorted

these electric power producing

grid.

Because

include

of this fact, the harmonic

system.

producers

Inverters,

of harmonic

power

to the harmonic

As previously

stated,

integrating

over the appropriate

normalized

by Equation

Ij

( t )"r'_lized

Equations

Re

sources
the

to inject

Mapham

coefficients

(2) through
ranges.

harmonic

(Dj (1)

systems are
conditions,

into the power

above does not

currents into the

are,

however,

inject the harmonic

in sources

Lej

(1)

(6) into Equations

large

current at
required

e j_)c

[ DJ(')

+ Dj

(2)

current

at the bus by the appropriate

current

for an inverter

bus j during

Lej

21

e j2_t

(1))

j2'_ot ...)

are

(9) and
are then

...)

eJ2_oc

+ ...)

at every inverter bus for each

the magnitude

the solution

(2)

_ nOj

currents

Fourier coefficient.

coefficients

I_,

by

+ _ Dj(----TIZ(8j(2)

by multiplying

current,

(7) through

complex

is summarized

of the actual injection

can be determined

harmonic

of the capacitor

The resulting

This process

= Re (1 Z 0 e j't

the magnitudes

described

This change

= Re (1ZO e j(*c + Di(2)lZe21e

Therefore,

currents

inverter,

These inverters

to the system.

the Fourier

by inserting

power

power flow program.

computed

(10).

power flow program

currents.

the bus where they are connected

modification

do not inject harmonic

particularly

injection

used in terrestrial

60 Hz sine wave under normal operating

machines

the ability of the electric

electrical

machines

of the fundamental

Thus, the scheduled

of the harmonic

power

source
injection

flow can be

determined

as follows

by using the fundamental

current magnitude and angle, I (_) and

l(1), which is found in Step 3 of the modified algorithm described in Section 6:

.z'.l( t ) ,ch_,l_

= (i(z)

(Ij

Z$._(_)

(1)z_j

) (Ij

(z))

[Re(1/O

= Re[i:l(1)/_j(z)e

(14).

harmonic

currents

harmonic

them

+ D:I(=)/Le:I(=)/e

+ I_ (z) (D./(=)')

eJ,.,ot + ij(=),,,$j(")

:12"=_

....

Z (0./(=)1 +nlll./(=))

ej

eJ='o =: . ...]

are then placed in the appropriate locations

In order to place the harmonic

to represent

ejOoC

j'ot

= .Re [ij(z)ZSj(1)

The injected

( t ),,o,==zl=_)

in rectangular

injection
form

currents

into Equation

(i.e., X + jY).

Therefore,

in Equation

(14), it is necessary
the current

at each

is found by

Ij(m)

.ee scheduled

Ij

(m)

(z_(')

cos

(_j

(m))

) (D: (=)1) cos(e_(,,)'-

nej

(*))

( Ij

and, in a similar manner,

"j,z=
r

(m)

scheduled

( Ij

(1)

) ( _ Cj

(m)/2

- dj

22

(m)/2

) sin

[11,.)
can-

I--_,_,i -n01(i)
_, 1 (m

The harmonic
The problem

is that these

mathematically
harmonic

power flow program does model nonlinear devices such as rectifiers.

function

power

rectifiers

are three

phase.

like a single phase rectifier.

flow code

are necessary.

Three

phase

For this reason,

The modifications

rectifiers

do not

modifications

needed

in the

to successfully

incorporate

single phase rectifiers into the harmonic

power flow code are simply to place

the various

harmonic

in Section

scheduled

current

Once this
harmonic

power

injection

currents

described

and

5 of this report

into the

vector:

(m)

scheduled

J,R,

is done

Cm

for all Mapham

flow program

is allowed

(m) schodUlmd

_ j,zm

inverters
to proceed

Section 4.

23

and

single

dm

phase

per the algorithm

rectifiers,
described

the
in

8. Examples

To demonstrate
following

examples

the

practicality

are offered.

in the power system depicted

obtained

from

General

Dynamics
(GDC)

kHz Testbed

which was

power

20 kHz,

A.C.

system.

distortion

Line

(50

mtere

lonl.)

._.L

-L

Figure 10 - General Dynamics Corporation (GDC) 20 kHz Testbed Power

System.

The

inverter is a Mapham

inverter set which will produce

electrical

440 Vr_

at 20 kHz. This inverter will

characteristics:

L z = 16

I_H ,

c_ = 1.71

l_Y,

C_ = 2.0

pF

L I = 1.8

_H,

L m = 1.0 m H

, and

f8 = 20

The transmission

line is a 50 meter

following

characteristics:

electrical

the voltage

the

in Figure 10. This example is drawn from data

Tronsmsson

20

to study the

have the following

in this report,

the

Corporation

proposed

presented

The first example will investigate

experienced

developed

of the theories

kHz

length of stripline

24

designed

cable

which

has the

Resistance

1.043

at_
meter

Inductance

0.027

and
meter

Capacitance

0.003

--El-meter

The load is standard

A.C. load which will be varied from 2 kVA to 10 kVA.

maintain

power factor of 80% lagging

shows
from

a constant

the data formatted

for the harmonic

S = 0.16 + j 0.12 p.u. to

Distortion

(THD) of the bus voltage,

defined

to

generate
shown

Figure

12.

Note

conducted

by Sundberg,
al.

are

NASA
2

Test

Test
3

System

et.

graph

Figure

Examination

(vi(n))2
Vi

(I)

'

for

Paper

590

080

#899383

of

2.0e-6

the

IECEC

1.8e-6

000

exceptionally

'89

Conference,

O.Oe-O
24.0

Vol.

100.00
440.0

2.0e+4
18.0

0.0
1.Oe+4

11 - Input

Data from the GDC

20 kHz Testbed

that

of the graph

the

in Figure 12 reveals that the harmonic

results

obtained

sensitive to the impedance

the data will cause

for the Harmonic

Power

Flow.

yield results which are very close to the values obtained

be noted

Total Harmonic

15

Figure

on the

12.

The resulting

also

presented
in

The load was varied

System

1
Sourcl
08
16.0e-6
1.71e-6
3
Loadl
03
9999
4
1
3 0.54
1.75
1
0
0.0
-5305.
3
0
0.0
-5305.
3
0 266.7
200.0
1
0
0.0
64909
9999
5

in

that the results of

tests

11

the

graph

Figure

as

n-2

used

this example.

power flow program.

S = 0.80 + j 0.60 p.u.

v_+_ =

was

throughout

The load will

from

the

values.

relatively large changes

experimentally.

harmonic

power

flow

It should

also

program

are

It was found that very small changes

in the output.

25

power flow does

in

The second
switching
for this
switching

example

frequency
example

will be varied

remains

frequency.

the bus voltage

will also use the system described

the

to get the ratio fr/f=

same

This value

is compared

as that found

is varied

tO vary from

in Figure

as described

to that measure

p.f.

0.6 to 0.95.

above;

and, the resulting

et. al. in Figure

13.

lagging

10

8undl>ezg
e.

---"

i1.

--e--

0_0
v

t_zmonJ.c

_'

Flow

6
..... _.'.
......

,.'

............

powez

(Vthd)
....(.....

m,,=monic
P'low
(l chd)
Po',,e=

_'_
0

"-"e--

10

KVA
"myerS,

e:

uses

2.0

uF

8eztel

Cpcitoz

Figure 12 - Comparison of Results of Bus Voltage THD versus KVA Loading from
Harmonic Power Flow Program and Test Data from the GDC 20 kHz Testbed.
Current THD versus KVA Loading is also Included.

08,

lagging

16

Sundberg

14

_ ",
_'.

'"""

"_
\

.,-'"

-1.

eC.

.,!
........
_

i0

T1ow

(vcbd)
.... ,,.-+...

;f
6
e

_z

0
06

07

08

09

fsn
Invozcex

Figure

13

Power

Flow

- Comparison
Program

uloe

of Results
and

Test

Data

2.0

uF

Soziom

of Bus

Voltage

from

the GDC

26

Cpcitoz

THD

The data

11 with the exception

by Sundberg,

0.8,

in Figure 10. This time the

versus

20 kHz

f,.

Testbed.

from

Harmonic

of the
THD

of

9. Conclusions

This

report

development
spacecraft

and Recommendations

of software
power

adequate

for the 1990 Summer

systems.

for the intended

the results exhibited

are relatively

which

will

benefit

the

Early results indicate

goals.

in Section 8. Although

is made operational
will thoroughly

the models

analysis

documents

the

of large

A.C.

developed

are quite

correlation

of

the results are not exact, the discrepancies

and the limited test results from the

can be drawn.

in its new location, an organized

evaluate

and

by the acceptable

further comparisons

program accuracy

Program

that the models

small. Given the small discrepancies

concerning

design

This is demonstrated

GDC 20 kHz Testbed for comparison,

conclusions

Faculty Fellowship

developed

are necessary

before accurate

Once the GDC 20 kHz Testbed

set of tests should be devised which

in this report.

This evaluation

will help

refine the models.

As a result of the work cited in this report, the following areas are recommended
for further

investigation

and development:

complete

voltage

model series and parallel operation

model bidirectional

Implementation
5 was started
time constraints.
flow program,

during

control for voltage controlled

of the voltage controlled

this time frame.

The model, which

required

to implement

and

rectifier model discussed

The model, however,

is presently

configuration

voltage control

The model for this device

and not controlled

27

due to

into the harmonic

rectifier with the exception

appears

in Sections 4 and

was not completed

incorporated

is a single phase, full wave rectifier.

by the system

inverters,

receivers.

that of the single phase, voltage controlled

determined

of Mapham

rectifier,

is exactly

that the voltage is

to a desired

to be straightforward.

power

level.

The work

Mapham
source.

inverters

The modelling

mode of operation

are operated

of this operating

can be included

The bidirectional

in series to increase
configuration

the total output voltage of the

must be investigated

so that this

in future design reviews.

receiver unit is a device

which is proposed

for use on space

vehicles.

Modelling this device in the harmonic power flow program is important for a

complete

analysis of any proposed

that work be conducted

power system.

For this reason, it is recommended

in this area as well as those mentioned above.

28

LIST OF REFERENCES

[1]

N. Mapham,

"An SCR Inverter with Good Regulation

IEEE Trans. on Industry and General Applications,

and Sine-Wave

Output,"

IGA-3, no. 2, pp. 176-187,

March/April 1967.

[2]

A. S. Brush, R. C. Sundberg,
Analysis

of

Paralleled,

Intersociety

Energy

R. M. Button,

"Frequency

Series-Output-Connected

Conversion

Engineering

Domain

Mapham

Conference,

Model

Inverters,"

for
24 th

Washington,

D.C.,

August 1989.

[3]

R. C. Sundberg,
Regulation

A. S. Brush, R. M. Button, A. G. Patterson,

Characterization

of a Mapham

Conversion Engineering Conference,

[4]

D. Xia, G. T. Heydt, "Harmonic

Solution,"

Inverter,"

Washington,

Power

"Distortion

24 th Intersociety

Energy

D.C., August 1989.

Flow Studies Part 1 - Formulation

IEEE Trans. on Power Apparatus

and

and Systems,

vol. PAS-101,

and
no. 6,

pp. 1257-65, June 1982.

[5]

D. Xia, G. T. Heydt, "Harmonic

Practical

Applications,"

101, no. 6, pp. 1266-70,

[6]

W. M. Grady, "Harmonic
West LaFayette,

[7]

F. Williamson,

R. Leskovich,

IEEE Trans. on Power Apparatus

Power Flow Studies," Ph. D. Thesis, Purdue

vol. PAS-

Computer,"

University,

1983.

G. B. Sheble, "Harmonic

Analysis of Spacecraft

Power

Systems

24 th IECEC, 1989.

I. G. Hansen, "The Effects

Station Freedom

and Systems,

and

June 1982.

IN, August

Using a Personal

[8]

Power Flow Studies Part II - Implementation

of Nonlinear Loading

20 kHz Power System, "24 th IECEC, August,

29

Upon the Space

1989.

Appendix
Derivation

of Coefficients

To find the polynomials

Ohm's Law in the frequency

of System

Responses

of the input current it is simply a matter of employing

domain,

v_= (s)
zc

When the Mapham

(s)

inverter is connected

to a power system which can be modelled as

a series R-L circuit, the equivalent input impedance of the entire network is the impedance
Zoq shown in Figure A.I.

The following steps are used to find Z,q which is connected to

the source.

sL ,

ZlsC

V in (s)

sL I

I Z e.(s)

Figure A.1 - Total System Connected to the Source.

1. Series of sLeq,

SLeq, and Req yields Z l(s ).

Z 1 ( S )

Req

30

L 1 + LW)

2.

Parallel of Zl(s ) and

sL m yields

Z2(s ).

z_ (s) (sr..)
z1(s) + sL.

za(s)

s2 L_ (LI + L_)

+ sR,qL m

s ( L I + L,_ + L m)

3. Series of Z 2(s) and

z, (s)

1 /sC,

yields

+ a_

Z 3(s).

+ z,(s)

S Cs

S2Lm

--

(LI + Leq)

sC s

s scsL

s (L l + Leq+

m(L

1 +Leq)

Parallel of Z3(s ) and

L m)

yields

(L I + Leq)

1 +Leq)

l+L,q

L m) + SR._C

+ L m ) + R_I
a

Z4(s ).

(i)

z,Cs)

sc,

S3CsL,.

+ Req

( L I + L,q+

1 /C,

z4(s)

s4CsCzLm(L

+s2R,qLmCs+S(L

s2Cs

4.

+ SReqL

+ S2ReqLmCs

+ S3ReqLmCzCs+

+ z,(s)

+ S (11 Leq+

s2Cs(L

81

l + Leq+

L m) + Req
L m)

+ SReq(C

z +c,)

5.

Series

Z 4 (s)

and

sL,

yields

Z eq (s).

z,,v(,s)

sz

mSLtLmCmCz(LI+L'q

) *B4LtLmCeCrlt'q+Js[LmCm{LJ+L'q)
B' z.aC.

Since the Laplace

- ez,_ .,. z4 (0)

'+L_r(C'*

Cz (Z.j + Lev)

transform

#*L,C,

Ca_w"

Ct)

(LI+L_+Lm)|

w# [ (Cr

of the switched

C,)

(Z.,

input

_'OS(It'NIL#(CeCz)
*Z.w*

Lm) ] * maw

voltage

+LmCa]J+m(L/'+L_4'Lm)

"&"_

( C, + C,)

is

] - 1
,
s

then

the input

current

is
3.

_ --(s)
s

it(s)

#3 L.C.Cz
#SLzLmC#C_r

(LI

"+L,,_)

", mILzLmC,,CzRev

The denominator
the

natural

the

+ L,_)

* s2LmC,

of the above

of the input

the

system

power

is shown

polynomial

above,

" L._)

Cta,q
_' Lt

equation

response

When
R-L which

( j

* m_ [LBCm (LI

+ s [ ( C z + C.)
( C, "."C r)

yields

( Lj + L,q + L m) ] + a,q

(/'.1 _"Le.v * Lm) ] _' #Z('qW

the coefficients

[Lz

( C. + Cs)
( C'o" C-'r) " LmCm]

which

|'" a(l

"Lw

are necessary

Lm}

" i'oq'

to find

current.

equivalent

the method

in the denominator

Z_

is a series
outlined

of the current's

82

above

R-C

circuit

is used

function

rather

than

the series

to find the coefficients

in the frequency

domain.

of

REPORT
Public

reporting

1 hour

the

collection

o4 information.

collection
Of information,
Osvi$
HIghwey,
Suite

including
SUggestions
for reducing
this bur(_..,
to Washington
1204,
Arlington,
VA
22202-4302,
end to the Offme
of Management

Headquarters
and Budget,

1.

ONLY

and

for

this

maintaining

AGENCY

USE

collection

the

data

of

needed,

(Leave

information
and

is estimated

completing

blank)

2.

and

to

Form Approved
OMB No. 0704-0188

PAGE

average

gethenng

burden

DOCUMENTATION
reviewing

REPORT

per

response,

DATE

3.

November

including

the

Send

time

for

comments

Service-,
Directo.rate.
Papen_ork
Heouchon
REPORT

TYPE

20 kHz

burden

searching
eslimeta

DATES

existing

or

any

:ndnotR:nPO _
_
,

was

data

other

sources,

aspect

of this

1215
Jefferson
20503.

COVERED

Technical

Memorandum

S. FUNDING NUMBERS

of a Single-Phase

A.C.

instructions,
this

forinforma_o=n=.O,perationl
P'ro_ec (u/u4-u]_],
AND

1991

4. TITLE AND SUBTITLE

Development

rewewing

regarding

Power

System

Harmonic
for Large

Power

Flow

Program

to Study

the

Spacecraft

S. AUTHOR(S)

WU-506-41-41

L. Alan Kraft and M. David Kankam

8. PERFORMING ORGANIZATION
REPORT NUMBER

7, PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES)

National

Aeronautics

Lewis

Research

Cleveland,

and Space

Ohio

E-6687

44135-3191

9. SPONSORING/MONITORING

National

Aeronautics

Washington,

D.C.

11. SUPPLEMENTARY
L. Alan

Kraft,

Research
(216)

Administration

Center

and

Space

Administration
NASA

20546-0001

TM-105326

NOTES
Valparaiso

Center

10. SPONSORING/MONITORING
AGENCY REPORT NUMBER

AGENCY NAMES(S) AND ADDRESS(ES)

University,

in 1990.

M. David

Valparaiso,
Kankam,

Indiana
NASA

Lewis

46383

and NASA/ASEE

Research

Center.

Summer

Responsible

Faculty
person,

Fellow

at Lewis

M. David

Kankam,

433-6143.

12a. DISTRIBUTION/AVAILABILITY

Unclassified
Subject

12b. DISTRIBUTION CODE

STATEMENT

- Unlimited

Category

20

13. ABSTRACT (Max/mum 200 words)

This report describes the development of a software to aid in the design and analysis of AC power systems for large
spacecraft. The algorithm is an improved version of Electric Power Research Institute's (EPRI) harmonic power flow
program, "HARMFLO", used for the study of AC power quality. The new program is applicable to three-phase
systems typified by terrestrial power systems, and single-phase systems characteristic of space power systems. The
modified "HARMFLO" accommodates system operating frequencies ranging from terrestrial 60 hz to and beyond
aerospace 20 kl-Iz, and can handle both source and load-end harmonic distortions. Comparison of simulation and test
results of a representative spacecraft power system shows a satisfactory correlation. Recommendations are made for
the direction

of future

improvements

to the software,

to enhance

its usefulness

to power

system

designers

and analysts.

1. NUMBER OFPAGES

14. SUBJECT TERMS

36

Space power systems; Harmonic power flow; Power systems analysis

16. PRICE CODE

A03
17. SECURITY CLASSIFICATION
OF REPORT
Unclassified
NSN 7540-01-280-5500

18. SECURITY CLASSIFICATION

OF THIS PAGE
Unclassified

19. SECURITY CLASSIFICATION

OF ABSTRACT

20. LIMITATION OF ABSTRACT

Unclassified
Standard Form 298 (Rev. 2-89)
Prescribed
298-102

by

ANSI

Std.

Z39-18