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I29
Authorized licensed use limited to: Sri Jayachamarajendra College of Engineering. Downloaded on January 18, 2010 at 00:41 from IEEE Xplore. Restrictions apply.
controllers. 'However, he has not presented a comprehensive UPFC inay also provide an independent, controllable,
approach to,obtaining optimum parameters for the power- shunt reactive compensation.
flow controller and DC-Voltage regulator. Padiyar and
Kulkami [I21 have proposed a UPFC control strategy 4 Dynamic model of the system with UPFC
based on lokal measurements, in which real power flow
through the line is controlled by reactive vohge injection 4.7 Non-linear dynamic model
and reactive power flow is controlled by regula.ting the A non-linear dynamic model of the system is derived by
magnitude of voltages at the two UPFC ports. They have disregarding the resistances of all the components of the
also included an auxiliary controller for improving the system (generator, transfomier, transmission lines, shunt
transient stability of the system. However, they have not and series converter transformers) and the transients of the
presented an approach for obtaining the optimum para- transmission lines and transformers of the UPFC. The non-
meters of the power-flow and auxiliary controllers. In view linear dynamic model of the system using UPFC is given
or the above, the main objectives of the research work below:
presented here are as follows. Firstly, to present a
comprehensive approach to designing power-flow and
DC-voltage UPFC regulators. Secondly, to deign and
study the performance of the UPFC-based ,&ing
controllers taking into account alternative UPFC: control
parameters. Lastly, to investigate the performance of
altemative damping controllers under wide variations in
loading condition and in system parameters.
2 System investigated
..
1-
It
mE dE
t t
ms dg upFc
, Aw
'"0
A6
MS+ D
1 ka
A Ed
K3 + ST& i + sr,
KS
K"" Kvd
A
t t A
1 d"dc
S + Kg
131
Authorized licensed use limited to: Sri Jayachamarajendra College of Engineering. Downloaded on January 18, 2010 at 00:41 from IEEE Xplore. Restrictions apply.
power-flow controller. The power-flow controller regulates
the power flow on this line. k,,,, and k,,, are the proportional
and integral gain settings of the power-flow controller.
The real power output of the shunt converter must be
equal to the real power input of the series converter or vice
versa. In order to maintain the power balance between the
two converters, a DC-voltage regulator is incorporated.
DC-voltage is repbated by modulating the phase angle of
the shunt-converter voltage. Thus, the DC-voltage regulator
A= forms part of the power-flow controller. A P-l type DC-
voltage regulator is considered (Fig. 5). k,,,, and k,,; are the
proportional and integral gain settings of the DC regulator.
132 I€€ Proc-Gener. Trrmmi. Dlrrrib.. Vol. 150, No. 2, March 2003
flow controller (kppand kPj)are optimised using a gradient-
type Newton algorithm [14, 151. A brief description of the
gradient-typeNewton a\gorithn is presented in Appendix 3.
The parameters of the power-flow controller are optimised
while neglecting the DC-voltage regulator. Optimum values
of the proportional and integral gain settings of the power-
flow controller are obtained as ki,jj=2 and kpj= IO.
Fig, 4 Slrucnirr of ponerJl~in.controller
The parameters of the DC-voltage regulator are now
optimised using the gradient-type Newton algorithm. When
optimising the DC-voitage regulator, power-flow Wntrokr
parameters are set at their optimum values. The optimum
gain settings of the P-I type DC-voltage regulator are
kdp=0.25 and kdj=0.35.
0.040
0.030
Y
Fig. 6 Dynumir responres f i r
Fig. 7
-2
-
-3
0 2 4 6 8 10
time,s
135
6.5 Effect of variation of loading condition on which varying the loading condition has on the dynamic
dynamic performance of the system performance of the system.
I n any power system, there is a wide variation in operating In order to examine the robustness of the UPFC-based
load. It is extremely important to investigate the effect dual damping controller in the presence of wide variations
in loading condition, the system load is varied over a wide
range. Dynamic responses are obtained for the following
Table2 Magnitude and phase angle of transfer functions three typical loading conditions for APP2,"d= 0.05 p.u.
for the system (a) P,,=1.031 p.u. Q,.=O.364 p.u. (heavy load)
(b) P,.=O.912p.u. Qt,=0.277 p.u. (nominal load)
Transfer function Magnitude Phase angle (c) P,=0.651p.u. Q,=0.135 p.u. (light load)
0.1067 -:!3.65"
Fig. 13 shows the dynamic performance of the system
with a dual damping controller for the above loading
1.5325 2.62" conditions. A critical examination of Fig. 13 reveals that the
dual damping controller provides a robust dynamic perfor-
mance in the presence of variations in loading condition.
Table 3: Optimum parameters for the damping camntrollers
6.6 Effect of variation of line reactance
X, on dynamic performance of the system w
Damping controller m, 144.67 0.5185 0.2213 ith a UPFC-based dual damping controller
Damping controller & 16.13 0.3235 0.3547 In order to examine the perbrmance of the UPFC-based
dual damping controller in the presence of variation in the
-1
v
-2
0 2 4
time, 5 - 6 8 10
Fig. 10 D~iinniicresponses for Aw irirh nnd wirhour dumping conrmllw (mu)JhAP,,,, = 0.05p.1i
a Pe=1.031 p.u.O,=O.364p.u.
b Pe= 0.912 p.u. O,= 0.277 p.u.
-12 '
0 2 4 6 8 10
equivalent line reactance, we vary X, over the range *25% revealed that these controllers also exhibit robust dynamic
from its nominal value. Fig. 14 shows the dynamic performance over a wide range of loading and of line
responses for Aw with a dual damping controller for: reactance A',. However, the performance of the dual
(a) X,=O.85Op.u. (25% increase in X , from its nominal damping controller is somewhat superior to these damping
value) controllers.
(b) X,=O.683 p.u. (nominal value)
(c) X,,=O.512p.u. (25% decrease in X,, from its nominal
value) 6.7 Performance of damping controllers under
large perturbations
It can be clearly seen from Fig. 14 that the dual damping In order to understand the dynamic performance of the
controller damps oscillations effectively for all the values of system under large perturbations. a transitory 3-phase fault
X , . However, responses deteiiorate slightly with an increase of 4-cycle duration at the generator terminals is considered.
in Xc,. Dynamic performance i s obtained using the non-linear
The above investigations reveal that the dual damping model of the system at the nominal loading condition with
controller provides the most robust performance when optimal settings of the UPFC controllers (power-Row
subject to wide variations in loading condition and in controller. DC-voltage regulator and damping controller).
system parameters. Fig. 15 shows the dynamic responses for o of the systems
Dynamic performances of the system with damping using damping controllcr Ing, damping controller 8, and
controller nig and were examined under widc variations dual damping controller, considering a 3-phase transitory
in loading condition and in line reactance X , . Investigations fault of 4-cycle duration at generator terminals.
I€€ P m . - f i ~ m r .TI-u,ts,,i. Dhirih.. Vol. 150. No. 2. Afurcli 2ooI 137
-4R lI I
b X,=O.683 p.u.
1,015
1.010
I f a
a damping controlter J E
b damping Controller mB
c dual damping c ~ n t r ~ l l e r
0.985
An examination of Fig. 15 clearly shows that the UPFC and dual damping controller) provide robust dynamic
damping controllers also perform well under large pertur- =fo?iii%mce under wide variations In loading condition and
bations. However, the performance of damping controller system parameters. The dual damping controller provides a
m B and dual damping controller are better than that of significant improvement in dynamic performance in terms
damping controller cSE. of peak deviations.
7 Conclusions References
IEEE PES Task Force of the FACTS Working Group: 'Propuxd
The significant contributions of the research work presented terms and definitions for Rcxible AC transmission systems (FACTS)'.
are as follows. nm?.POW
1.m~ D&, 1997, 12, pp. 1848-1853
A comprehensive approach to designing UPFC con- GYUCYI, L.: 'Unified powr flow control concept far Rcxible AC
transmission systems', IEE PIVC C Gmer Trunsn~Di.sirih., 1992. 139;
trollers (power-flow controller, DC-voltage regulator and (4). pp. 323-331
damping controllers) has been presented. GYUCYI. L., and SCHAUDER. C.D. e , al.: T h e unified power flow
The relative effectivenessof UPFC control signals (Amma, controller: il ncw approach lo power trmsmission control'. IEEE
Trnns Power Deliu., 1995. IO. (2). pp. 1085-1093
Ad8 and AsE) in damping low-frequency oscillations has NARAVILNIAKI. A., and IRAVANI. M.R.: 'Sleady-slate and
been examined, using a controllability index. Investigations dynamic models of unified power flow ~ ~ n t r o l l (UPFC)
er Cor power
system studies'. IEEE Twns. Power Sys.. 1996. 11. (4). pp. 1937-1943
have revealed that UPFC control signal dmais inefictive in SMITH, K.S., RAN. L.. and PENMAN. 1.:'Dynamic modeling of a
damping oscillations. Dynamic-simulation results have unificd powuci flow conlroller', I€€Proc. C Gnrcr. Tranon D b l d . .
revealed that the damping controllers based on control 1997. 144. (I), pp. 7-12
MAKOMBE. T., and JENKINS, N.: 'Invesligalion of a unified
parameters mB and J E cooperate with each other. mwer How contrallcr'. IEE Pmc. C Gw<,r. Tromn. Dirrrfh.. 1999.
The dual damping controller, which modulates control 146. (4). pp. 4K-408
signals &nnB and AbE (simultaneously), has been proposed. PAPIC. 1.. and ZUNKO. P. ri 01.: 'Basic control of unified power Row
controller', /€E€ Tram P o w r Sy.sr.. 1997. 12, (4). pp. 173G1739
Our mvestlgations reveal that altemative damping MOKIOKA. Y.. and NAKACHI. Y. ci 01.: 'Imolcmeniation of
controllers (damping controller mB, damping controller unified power flow ~ ~ n l r o l l eand
r vcnliwtion cor iransmission
,,,,. ,l,l-,.L
9 Appendix
9.1 Appendix 7
The nominal parameters and the operating conditions of
the syslem are given below:
Ge"UX"r h4 = 2H
= X.OMJ/MVA
D=O q;, = 5.044s
s,,= 1.0p.u. x,= n.6p.il. x; =0.3 p.u.
En~<tatmnsystem K , = SO.0 To = 0.05 s
Transformers & = 0 . l p.u. s, =x,= 0.1 p . u
Transmissionliner STl= I.(lp.u. X>
i = 1.3p.u.
Operatinecondition P=O.9115p.u. p=O.2765p.u. Y,=1.032p.u.
I $ = I.0p.o. F=60Hr
UPFCparmmnrrs mi = I .I1 = n. i
6, = 28.1' 6" = -21.10
DClinkpiiriimetsri Kb = 2p.u. C,' = 3p.u.
I39
where the state vector x and perturbation vector p are
defined as:
x = [ A dol
~ AE:, A E ~ ; dvd, , ~ ~ P , I T ;
p = [ M n ? dP,Z(,.i)IT
A and B are matrices of compatible dimensions.
A vector A is defined as ).= [k,> k ; ] q where k,, is the
proportional gain setting and k, is the integral gain setting.
The algorithm is given as:
1 . Initialise A, i.e..
T
1 = .lo = [k,m k o l
2. Solve the system (2) to obtain I.
3. Obtain the gradient vector of cost function as:
where
9.4 Appendix 4
The procedure for calculating the controllability index is
9.3 Appendix 3 given below:
The gradient-type Newton algorithm can be given as
The cost function C i s defined as The state-space equation X = A X Bu can be rear- +
ranged in the following manner:
e= I
0
(Ao)2dt (14)
controller in state-space form is given below: The controllability index Khkican be calculated as
X=AX+B~ (15) Kbk, = (A;)= B2k +A23(&1 - A33)-'B,k