2011 International Conference on Electrical Energy and Networks(ICEEN 2011)

Power Flow Control with Static Synchronous Series Compensator (SSSC)

Abdul Haleem, Project Manager,

VISION KREST Embedded Technologies, Hyderabad India haleemforyou@gmail.com

Chandra babu Nayudu

Dept. of Electrical Engineerng College of engineering, Pune Chandu.venkaiaha.n@gmail.com

Dr. N. Gopala Krishnan

Dept. of Electrical Engineerng College of Engineering Pune cbn.203@gmail.com

AbstractThe series compensation technique of long and medium transmission lines is extensively employed in many countries including India as it offers considerable advantages and better use of transmission lines. It can also be a technique in improving power system stability and power flow through the intended transmission network. However, technical problems such as reliability of capacitors and their protective equipments do exist; and more recently the problem of sub synchronous resonance (SSR) has surfaced. To remove these drawbacks, recently a series compensation technique for transmission line which uses a synchronous voltage source (SVS). The static synchronous voltage source utilizes a power electronic voltage source (VSC) converter employing GTO or IGBT depending upon power requirements. The VSC may employ a two level or multilevel converter. In this paper a static synchronous series compensator (SSSC) using a 6-pulse VSC employing sinusoidal pulse width modulation is examined. The steady state performance and P- characteristics are obtained for a given transmission network embedded with SSSC. A control circuit for the operation of SSSC is developed and the performance of the control circuit is investigated in MATLAB-SIMLINK Platform. Keywords-6-pulse VSC, SSSC, FACTS, Power Flow Control, Series compensation

There are several TCSCs are widely installed. The TCSC is used in practice to significantly improve the small disturbance and transient stability of the power system. Although the TCSC can provide the capacitive series compensation, it has several disadvantages. It injects low order harmonic components (typically third, fifth, seventh and ninth) into the power system because of phase control of the thyristors. Transient response of the circuit is rather slow, because of controlling thyristor firing pulse is available only once in each half cycle. Deriving a closed-loop model of TCSC is complicated. Furthermore, it is susceptible to parallel resonance due to the presence of inductors and capacitors in parallel paths. The SSSC is one of the most important FACTS devices for power transmission line series compensation. It is a power electronic-based VSC that generates a nearly sinusoidal three phase voltage which is in quadrature with the line current [2,3].The SSSC converter block is connected in series with the transmission line by a series coupling transformer. The SSSC can provide either capacitive or inductive series compensation independent of the line current. Unlike other series compensators, an ideal SSSC is essentially a pure sinusoidal ac voltage source at the system fundamental frequency. Its output impedance at other frequencies is ideally zero. Thus, SSSC does not resonate with the inductive line impedance to initiate sub synchronous resonance oscillations. This paper deals with a 6 pulse (two level) VSC. The objective of this paper is to analyze and investigate the steady state performance of the SSSC for providing dynamic series compensation, voltage regulation. A control circuit is proposed for the operation of the SSSC. The proposed control scheme for the SSSC is fully validated in both capacitive and inductive modes of operation by simulation. II. PRICIPLE OF OPERATION OF SSSC The SSSC is generally connected in series with the transmission line with the arrangement as shown in Fig.1. The SSSC comprises a coupling transformer, a magnetic interface, voltage source converters (VSC) and a DC capacitor. The coupling transformer is connected in series with the transmission line and it injects the quadrature voltage into the transmission line. The magnetic interface is used to provide multi-pulse voltage configuration to eliminate low order harmonics.

I.

INTRODUCTION

Series capacitive compensation is widely used in long transmission lines to maintain the overall impedance of the transmission line. The capacitive series compensation increases the power transfer capacity as well as the transient stability. The series dielectric capacitors have been installed all over the world as efficient economical way of providing capacitive series compensation [1]. With the new advances in the generation of the power electronics devices based on voltage source converter (VSC) known as flexible ac transmission system (FACTS), more flexible operation and control of the transmission networks are possible. FACTS controllers can be classified as shunt, series, or phase angle compensating devices or devices which are a combination of the above three types such as unified power flow controller (UPFC) [1]. These FACTS devices enable fast response using the phase locked loop (PLL) with minimum inherent time delay during severe disturbances, transient power swings, thus allowing the transmission system operating safely and close to the theoretical stability limit. Two FACTS devices can provide capacitive series compensation, they are :(1) thyristor controlled series capacitor (TCSC) and (2) static synchronous series compensator [2,3].

978-1-4244-9569-6/11/$26.00 2011 IEEE

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2011 International Conference on Electrical Energy and Networks(ICEEN 2011)

Pq

V2 sin G Xeff

V2 X L (1

Xq XL

sin G )

Qq

V2 (1 cos G ) X eff

V2 X L (1

Xq XL

(1 cos G ) )

Figure 1. static synchronous series compensator

The VSCs are either two-level converter or three level converters. One side of the VSC is connected to the magnetic interface while the other side is connected to the DC bus. The VSC generates six-pulse voltage waveform and it is combined into multi-pulse (12 pulses) voltage waveform by Wye-Delta connection of the magnetic interface. More pulses (24 or 36 pulses) can be achieved if zigzag transformers are used as the magnetic interface. The DC capacitor is used to maintain DC voltage level on the DC bus. This DC capacitor is selected to meet harmonic and economic criteria of the SSSC and the power system. Figure.2 shows a single line diagram of a simple Transmission line with an inductive transmission reactance, XL, connecting a sending-end voltage source, and a receiving end voltage source, respectively [3].

Where Xeff is the effective total transmission line reactance between its sending and receiving power system ends, including the equivalent variable reactance inserted by the equivalent injected voltage (Vq) (Buck or Boost) by the SSSC. The compensating reactance is defined to be negative when the SSSC is operated in inductive mode and positive when SSSC operated in capacitive mode. Fig.3 shows an example of a simple power transmission system with an SSSC and the related phasor diagrams.

Figure 3. Two machine system with SSSC

X
Qq
Figure 2. an Elementary Power Transmission System

eff
s

X
r eff

VV X

(1 cos G )

Figure 4. Phasor diagram

The real and reactive power (P and Q) flow at the receiving-end voltage source are given by eq (1) and (2)
VsVr V2 sin(G s G r ) sin G XL XL VV V2 (1 cos G ) Q s r (1 cos(G s G r )) XL XL P

The SSSC injects the compensating voltage in series with the line irrespective of the line current. The transmitted power Pq therefore becomes a parametric function of the g p injected voltage and it can be expressed as follows:

(1) (2) The normalized power Pq versus angle plots are shown in Fig.4.6 as a function of Vq These values are calculated for the system whose specifications are given earlier in A Program in MATLAB has been developed to obtain these characteristics for Vq= 0, 0.353, 0.707 and these are shown in Fig.5
2 1.5 Vq=0.707

are Where Vs and Vr voltage magnitudes and the phase angles of the voltage sources. The voltage magnitudes are chosen such that Vs = Vr =V and the difference between the phase angles is

GS Gr

VS

Vr

TRANSMITTED POWER (p.u)

Vq=0.353 1 Vq=0 Vq=-0.353 Vq=-0.707

0.5

An SSSC, limited by its voltage and current ratings, is capable of emulating a compensating reactance, Xq, (both inductive and capacitive) the expression of power flow given in equation (1) and equation (2) becomes

-0.5

-1

20

40

60 80 100 120 TRANSMISSION ANGLE (DEGREES)

140

160

180

Figure 5. Transmitted power versus transmission angle as a function of the degree of series compensating voltage Vq by the SSSC.

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2011 International Conference on Electrical Energy and Networks(ICEEN 2011)

From the plots given Fig.5 we can say that the SSSC increases the transmitted power by a fixed fraction of the maximum power transmittable by the uncompensated line,independently of transmission angle and SSSC not only increase the transmittable power but also decreases it. The transmittable active power, P, and the reactive power, Q, supplied by the receiving end bus can be expressed for tTwo-machine system as functions of the (actual or effective) reactive line impedance, XL the line resistance, R, and transmission angle, as follows:

voltage source. Output voltage vector is equal to its reference 3) The three phase voltages at sending end are balanced Fig.7 shows a block diagram of the control circuit [4]. The three- to two-phase transformation obtains  and. The d-q and from the three-phase currents transformation yields and from  and the phase is generated by a phase lock-loop (PLL). information
The injected voltage is independent of the line current and controlled by using the pulse width modulation switching techniques. The voltage source converter uses PWM switching techniques to ensure fast response and to generate a sinusoidal wave form. The output of The PLL is angle, , which is used to transform the direct axis and quadrature axis components of the ac three phase voltages and current. The measured quadrature voltage is compared with the desired reference constant quadrature voltage to the input of the AC voltage regulator which is a PI controller. Thus the voltage regulator provides the quadrature component of the converter voltage. Also the Measured direct axis component voltage is compared with the reference voltage; this driven error is an input to the voltage regulator which is a PI controller to compute the direct component of the converter voltage. The injection voltage is generated by transforming these direct axis and quadrature axis components into three phase voltage and is applied to the VSC to produce the preferred voltage, with the help of pulse width modulation (PWM).

P=  Q= 

 [

sin -R (1-Cos (1-Cos

 [Rsin + 

The normalized active power P and reactive power Q versus angle transmission characteristics described by equations and are plotted as a parametric function of the XL/R ratio for 7.4, 3.7, and 1.85 in Fig.6. These values are calculated for the system whose specifications are given earlier. A Program in MATLAB has been developed to obtain these characteristics for XL/R = , 3.7, 7.4, 1.85.

Figure 6. Transmitted real and reactive power versus transmission angle as a function of ratio of XL/R.

These plots clearly show that the maximum transmittable active power decreases, and the ratio of active to reactive power increases, rapidly with decreasing XL/R ratio. III. CONTROL CIRCUIT

Introduction An advanced control scheme is introduced by Akagi [4] used for SSSC. The development of this control scheme is discussed in this chapter. Development of Control circuit for SSSC

Figure 8. Control circuit of SSSC

Simulation results Simulation of the SSSC is performed in MATLAB SIMULINK using the Akagis control technique. Steady state characteristics of SSSC.

Figure 7. System Configuration of SSSC

The following assumptions are made in the analysis 1) The sending-end voltage is equal to the receiving end voltage 2) The SSSC device is assumed to be an ideal controllable

Figure 9. Simple system taken for simulation

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2011 International Conference on Electrical Energy and Networks(ICEEN 2011)

Inductive Compensation

Fig.9 shows the simple system taken for simulation. The main circuit of the SSSC device consists of three phase voltage-fed pulse width modulation (PWM) inverters. A PWM control circuit compares reference voltage with a triangle carrier signal in order to generate gate signals. The ac terminals of the PWM inverters are connected in series through step-up transformers because injecting voltage is very small compare to transmission line voltage. A threephase diode rectier is employed and reactor L and resistor R representing the impedance of the transmission line are inserted between sending end and receiving end. DC capacitor used for the charging and discharging purpose. The function of the control system is to keep the injecting voltage in quadrature with the transmission line current and only control the magnitude of injected series reactance to meet the desired reactance compensation level.

The emulating reactance value calculated by using .where Vq is the rms value of following relation is the injecting voltage and I is the current flowing in the line (rms value). When an SSSC injects an alternating voltage leading the line current as shown in the fig.13, it emulates an inductive reactance in series with the transmission line causing the power flow as well as the line current to decrease as the level of compensation increases and the SSSC is operating in an inductive mode. The emulating inductive reactance of 2 ohms
40 v oltage (V) current (A) 30 20

10

-10

-20

-30

-40 2.04

2.05

2.06

2.07 Time in seconds

2.08

2.09

2.1

Figure 13. SSSC Operating in Inductive Mode (Inductive Compensation)

1.5 1 x 10
4

Injected Active Power (Watt)

0.5 0 -0.5 -1 -1.5 0

0.5

1.5
Time in Seconds

2.5

Figure 10. Static Synchronous Series Compensator Model in MATLAB Figure 14. Performance of a SSSC Operating in Capacitive Mode (Capacitive Compensation) and Inductive Mode (Inductive Compensation) in the case of injected Active Power
1500

1000

Injected Reactive Power (VAR)

500

-500

-1000

Figure 11. injecting voltage

-1500

0.5

1.5 Time in Seconds

2.5

The fig.11 shows that the injecting voltage of the SSSC and this injected voltage will be in quadrature with the line current. The SSSC can provide either capacitive or inductive series compensation independent of the line current. By controlling the magnitude of injected voltage the amount of series compensation can be adjusted. When an SSSC injects an alternating voltage lagging the line current as shown in the Fig.12, it emulates a capacitive reactance in series with the transmission line causing the power flow as well as the line current to increase as the level of compensation increases and then SSSC is operating in a capacitive mode. The emulating capacitive reactance is 0.22 ohms.
100 80 60 40 v oltage (V) current (A)

Figure 15. Performance of a SSSC Operating in Capacitive Mode (Capacitive Compensation) and Inductive Mode (Inductive Compensation) in the case of Injected Reactive Power

20 0 -20 -40 -60 -80 -100 0.62

0.63

0.64

0.65

0.66 Time in seconds

0.67

0.68

0.69

0.7

Fig 14 and 15 shows the simulation results when an SSSC emulates a reactance in series with the transmission line. At the time 0 seconds, the SSSC injects no voltage. At 0.2 seconds, capacitive reactance compensation is requested. The injecting voltage lags the line current, by almost 900. Due to the capacitive reactance there is an increase in the line current and the power flow in the transmission line increases. At 0.8 seconds coming into the no injected state. The time interval between 0.8 to 1.6 seconds SSSC does not inject any voltage. At 1.6 seconds, the inductive reactance is requested. The inverter voltage leads the line current, by almost 900. Due to the inductive reactance there is a decrease in the line current and the power flow in the transmission line. At 2.5 seconds its again coming into the no injected state so it does not emulates any reactance.

Figure 12. SSSC Operating in Capacitive Mode (Capacitive Compensation)

Capacitive compensation

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2011 International Conference on Electrical Energy and Networks(ICEEN 2011)

2.5

x 10

1.5

0.5

0.5

1.5 Time in Seconds

2.5

Figure 16. Performance of a SSSC Operating in Capacitive Mode (Capacitive Compensation) and Inductive Mode (Inductive Compensation) in the case of Line Active Power
100 80 60 40 v oltage current

Voltage (V) Current (A)

20 0 -20 -40 -60 -80 -100 0 0.05 0.1 0.15 Time in seconds 0.2 0.25

IV. CONCLUSION The static synchronous series compensator offers an alternative to conventional series capacitive line compensation. Whereas the series capacitor is impedance that produces the required compensating voltage as the line current flows through it, the SSSC is a solid-state voltage source that internally generates the desired compensating voltage. However the voltage is in quadrature to line current (Leading or lagging as per requirement) independent of the line current. The voltage source nature of the SSSC provides the basis for its superior operating and performance characteristics not achievable by series capacitor type compensators. REFERENCES
N.G Hingroni and L Gyugyi. Understanding FACTS: Concepts and Technology of flexible AC Transmission System, IEEE Press, New York, 2000. [2] L.Gyugyi, C. D. Schauder, K. K. Sen. Static synchronous series compensator: a solid-state approach to the series compensation of transmission lines, IEEE Trans. on Power Delivery, vol. 12,no. 1, 1997,pp. 406-417. [3] K.K.Sen, SSSC-static synchronous series compensator: theory, modeling and applications, IEEE Trans. On Power Delivery, v.13, no.1, 1998, pp.241-246. [4] Hideaki Fujita, Yasuhiro Watanabe Hirofumi Akagi Control and Analysis of a Unified Power Flow Controller IEEE Trans.On Power Electronics vol.14, no.6, November 1999, pp. 1021-1027. [5] Hideaki Fujita, Yasuhiro Watanabe Hirofumi Akagi Dynamic Performance of a Unified Power Flow Controller for Stabilizing AC Transmission SystemsIEEE Trans.On Power Electronics Vol.14,No.6,November 1999,pp.81-87. [6] B.Geetalakshmi, A.Saraswathi, P.Dananjayan Comparing and evaluating the performance of SSSC with Fuzzy Logic controller and PI controller for Transient Stability Enhancement Proceeding of India International Conference on Power Electronics 2006. [7] M.S. El-Moursi, A.M. Sharaf, Novel reactive power controllers for the STATCOM and SSSC, Electric Power Systems Research 76 (2006) 228-241. [8] Mohammed El Mours A.M.Sharaf KhalilEl-Arroud Optimal control schemes for SSSC for dynamic series compensation Electric Power Systems Research 78 (2008) 646656. [9] Bruce S. Rigby and Ronald G. Harley An Improved Control Scheme for a Series-Capacitive Reactance Compensator Based on a VoltageSource Inverter IEEE Transactions on industry applications,vol.34,no.2, march/april1998. [10] C.J. Hatziadoniu, Member, A.T. Funk, Student Member, Development of a control scheme for a Series-Connected Solid-State Synchronous Voltage Source IEEE Transactions on Power Delivery. Vol. 11, No. 2, April 1996. [1]

Line Active Power (Watt) ]

Figure 17. injected voltage and line current

2000

Line Reactive Power (VAR)

1500

1000

500

0.5

1.5 Time in Seconds

2.5

Figure 18. Performance of a SSSC Operating in Capacitive Mode (Capacitive Compensation) and Inductive Mode (Inductive Compensation) in the case of Line Reactive Power

In the fig.16 from the time 0 seconds, the SSSC did not emulate any reactance compensation. At 0.2 seconds, capacitive reactance compensation is requested. Due to the capacitive reactance there is an increase in the line current and the power flow in the transmission line increases from 12 kW to 22 kW. At 0.8 seconds coming into the no injected state. The time interval between 0.8 to 1.6 seconds SSSC does not injecting any voltage. At 1.6 seconds, the inductive reactance is requested. Due to the inductive reactance there is a decrease in t the power flow in the transmission line from 12 kW to 2 kW. At 2.5 seconds its again coming into the no injected state so it does not emulates any reactance. Therefore, from the figures 16 and 18 when an SSSC emulates a reactance in series with the transmission line, the power flow in the transmission line always decreases if the emulated reactance is inductive. Also, the power flow always increases if the emulated reactance is capacitive. The parameters of the test system Controllable Power rating (P) =10 kW Utility line to line Voltage=200V Line inductance (L) = 1.0 mH Line resistance (R) = 0.04 ohm Frequency = 60 Hz Phase difference=100 Rms voltage of Vc =12V PI controller gains are Kp =0.5 Ki = 100 Capacitor = 200 F

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