A D-STATCOM Based On Goertzel Algorithm for Sag Detection and a Novel Current Mode Controller

E.Najafi
Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Bahru, Malaysia ehsanajafi@ieee.org
Abstract STATCOM has been widely proposed for power quality and network stability improvement. It is easily connected in parallel to the electric network and has many advantages for electrical grids. It can improve network stability; power factor, power transfer rating and can avoid some disturbances such as sags and swells. Most of STATCOM controllers are based on voltage controllers that are based on balance d-q transform. However, they are not thorough solutions for network disturbances since in most cases single-phase disturbances occur in electrical networks that cannot be avoided by the conventional controllers. This paper proposes a new current mode controller to overcome the mentioned problem. The approach uses a fixed frequency current controller to maintain voltage levels in sags and swells. This approach is also simple and can be easily implemented by digital signal processing. It has superior performance over conventional methods in terms of harmonic reduction in STATCOM output current. Another important factor for STATCOM effectiveness in sag mitigation is its sag detection method. This paper also introduces a new sag detection method based on Goertzel algorithm. The simulation results presented illustrate the superiority of the proposed controller and sag detection algorithm to be utilized in STATCOM. Keywords-: STATCOM, sag, current control, Goertzel algorithem, power quality.

A.H.M Yatim
Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Bahru, Malaysia halim@ieee.org loads can be easily interrupted by voltage sags and the resulting losses are significant. In Hsin-Chu, where most semiconductor foundries in Taiwan are located, each voltage sag event causes US$100,000 to US$1,000,000 of financial losses due to the down-time, cleanup work and crapped products [4]. In order to compensate voltage sags some mitigation devices are proposed such as D-STATCOM (distribution static compensator), DVR, flywheel, UPS, tap changing transformers, etc. The response time of both DVR and DSTATCOM is very short and is limited by the power electronics devices and the voltage sag detection time. The expected response time is about 25 ms, which is much less than some of the traditional methods of voltage correction such as tap changing transformers [5] Therefore, one of the most important issues in these devices is the sag detection time, which is influenced by the detection method. The following section discusses some of the current detection methods and proposes a new detection method. An effective control method is essential for good dynamic performances of STATCOMs. It normally controls the voltage or current feedback loop as well as the control of the switching pulses of the power electronic inverter. There are two main control modes in inverter operation that is voltage mode control and current mode control. Voltage mode control is a common control method in inverters. It controls the output voltage as set by the reference. The control loop is based on dc quantities whereas the ac voltage of the inverter is a time varying value, Therefore this control mode requires a conversion of the time varying values to fixed values. There are several methods for the conversion depending on the required parameters to be controlled. The PQ or d-q method will provide active-reactive power and direct-quadratic voltage components. These methods extract the required transformed values that are fixed by multiplying the AC instantaneous voltage values with a predefined matrix. The voltage control mode requires a complex control for gate drive and switching. These gate drive control methods are generally divided in to two main categories; which are carrier based and space vector modulation (SVM) techniques. The other control approach is the current control method that does not require complex gate control. This method is utilized in the cases where the converter current is of great importance. This method suits DSTATCOM applications since it is also

I.

INTRODUCTION

Sag can be defined as a decrease to between 0.1 and 0.9 pu in rms voltage or current at the power frequency for durations of 0.5 cycle to 1 min. [1] It is measured by the amount of the retained voltage and not by the amount of the voltage drop. Voltage sag may be caused by switching operations associated with a temporary disconnection of supply, the flow of inrush currents associated with the starting of motor loads or the flow of fault currents. These events may emanate from the customers system or from the public supply network. Lightning strikes can also cause momentary sags [2]. Voltage sags can be considered the most severe of the many power quality related problems the industrial process sector has to face [3]. As applications of power electronics in the commercial and industrial sectors grow rapidly, these sensitive

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based on controlling current that is injected to the grid [6]. The concept of a DSTATCOM application and how it works is shown in Fig. 1 As can be observed from the figure 1 the task of the device is to inject the current to the network to correct the voltage at the point of common coupling (PCC) when voltage sag or swell occurs. [7].

Figure 1: D-Statcom operation,(a) inductive operation for swell, (b) capacitive operation for sag

Therefore, current controller is more suitable for this kind of device according to its structure and requirements. There are some traditional current control methods such as hysteresis, average current control and peak control method. In this paper a new current control method is proposed for D-STATCOM applications. This paper utilizes a new current control method to control STATCOM which has better harmonic performance and can be easily implemented by digital gates. It also uses Goertzel method as a signal processing tool to detect voltage level and sag occurrence. II. SAG DETECTION METHODS Voltage sag detection plays an important part in measuring and improving power quality. Many methods have been proposed to determine the voltage amplitude. The three main considerations when selecting the suitable method are the response time, implementation complexity and accuracy. Some of the detections methods are discussed in this paper. Peak value detection is one of the latest approaches to detect voltage amplitude. In this method the absolute peak voltage value of the sine wave is calculated and monitored. There are two approaches to find the peak value. One is to find the voltage gradient for each sample and the peak voltage is the voltage level when the gradient is zero. [3] The other method is by finding the maximum of the absolute voltage. In this method, the maximum of the absolute value of the voltage over the preceding half cycle is calculated [2]. The drawback of this method is that it takes up to half cycle for the sag depth information before the value can be calculated. It may also be affected by noise and harmonics. To improve peak value detection, a new approach is proposed based on peak value detection by 90 degree shifting of the instantaneous voltage value [8]. In 1920 Park proposed a new theory for axes transformation named synchronous reference (d-q) components to simplify the modeling of three phase machines [9]. Later on, this transformation called Park (d-q) found wide usage in three

phase applications. In the case of sag detection in three phase systems, if the voltage dip is not accompanied by any phase shift (i.e. balanced three phase sag) Vq is zero and we can monitor Vd to find voltage level variations. If balanced sag is accompanied by a balanced phase shift then the Vd relation is no longer valid since the PLL has to first track the new angle. If an unbalanced sag occur or the voltage has harmonics contents, the ability of this method to return the information regarding the individual supply phases is compromised. In this case oscillation will be seen in the Vd and Vq components and make it impossible to be used for sag detection. However; an advantage of this method is the relative ease of implementation within a practical real-time control system [3] Wavelet transform is a recent signal-processing tool used in power quality analysis. The wavelet transform provides an understandable transient signal representation corresponding to a time-frequency plane. Wavelet transform leads to accurate frequency resolution and poor time location at low frequency. Reciprocally, the wavelet transform provides accurate time location and bad frequency resolution at high frequency. This characteristic is appropriate for real signals such as voltage sag. Wavelet transform is used to extract the character vector and voltage sags are classified by using the wavelet network [10].Due to complexities of it for hardware implementation, wavelet is more utilized as an offline waveform analyzer or a power quality classification tool that will be applied on stored data. The Kalman filter is a recursive optimal estimator, well suited for on-line applications. It requires a state variable model for the parameters to be estimated and a measurement equation that relates the discrete measurement to the state variables (parameters) [11]. The performance of KF approach is greatly dependent upon initial conditions. Another shortcoming of the method is the relatively complex required mathematics and needing tremendous calculations. Another recent approach is the Least Squares Method (LSM), In this method the main harmonic of the grid is determined by finding the coefficients of Fourier transform which make the error between the Fourier series and the actual data minimum. The least square technique possesses simplicity and robustness. Owing to these features the power system harmonic estimation can be improved by this method and it has found applications such as in power quality monitoring. This process is usually done by matrix manipulation and it requires extensive calculations. So it is not suitable for practical on-line applications. In order to solve the problem an efficient least square method is proposed. [12] This method utilizes some algebraic manipulations to simplify the complex calculations of least square method. The approach manipulates the general DFT matrix and decomposes it to two matrixes and uses rotation matrix to avoid complex calculations. Therefore, the number of matrix calculations is dramatically decreased. It requires a pre-calculated matrix that

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will be a constant coefficient for fundamental component manipulation. The size of the matrix is 2L where L represents the total number of captured samples and should be based on the Nyquist theory. This matrix is subjected to changes by altering the sampling parameters. It also requires 2L multiplications and additions for each output. The required detection time is also half a cycle. A. Goertzel method This method was first proposed by Dr. Gerald Goertzel in 1958. Later on it had found applications in Dual Tone Multi Frequency (DTMF). This algorithm is suitable for applications where only a few points in the frequency spectrum are required. Compared to a direct N-point DFT calculation, this algorithm uses half the number of real multiplications, the same number of real additions, and requires approximately 1/N the number of trigonometric evaluations. Since the algorithm processes samples in time domain, it allows the application to begin when the first sample arrives. In contrast, the DFT must have the entire frame in order to start the calculation. This algorithm requires N real multiplication and 2N real addition and 2 trigonometric evaluations [13] as opposed to DFT, which requires 2N real multiplications, 2N real addition, and 2N trigonometric evaluation per frequency component. The Goertzel algorithm can be derived from DFT equation as follows: (1) While (2) DFT component, X(k), can be written as (3)
X(k)=

(8)

After multiplication and simplifications of (8), the resultant will be: (9)

Equation (9) can be shown in z- transform block diagrams as in figure 2. According to Figure 2 and (9), a middle stage output Qn is derived as (10), (10) And the final stage output needs to be calculated just once at the last stage as (11), (11)

(3)
Figure 2: Block diagram of Goertzel method in Z- transform

Where, (4) X(k) can now be identified as an output of a filter at m=N and the filter can be written as (5) (5) Therefore, (6) This can be translated as the output of the filter yk(m) at m=N and the DFT component that is Xk(N). The z-transform of yk is yk(z) and is given in (7), (7) As illustrated in (7), the calculation requires extensive multiplications. To avoid these multiplications, equation (7) is multiplied by its complex conjugate pole and simplified as follows:

According to (11) yk(n) need not be calculated for every value of m as it only needs to be calculated at m=n. Therefore; there is only one complex multiplication for the calculation of each X(k). To implement this algorithm the feedback stage should be repeated N times and the feed forward stage to be implemented just once [13]. III.
CURRENT CONTROL METHOD

In the previous section, a new method (Goertzel method) was proposed for the voltage control loop that was efficient and simple to be implemented. However, many custom power devices used in STATCOM and active filters require a fast current control loop. In this section, a new method is proposed for current control loop implementation. Current control loop is responsible for controlling the current in a circuit such that the current will try to be the same as the reference. This controller shall be fast enough to control a circuit current within a single switching cycle. Many approaches have been proposed to achieve this goal. Among them peak current mode control (PCM), average current mode

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control, hysteresis current mode control are the popular ones. Hysteresis is common because of its simplicity for implementation. Nonetheless, it suffers from wide switching frequency required for controlling the current between specified limits. Average current mode and peak current mode controls solve the mentioned problem. They work with fixed frequency. Average current mode controls the average current in a switching cycle so that the average of current is the same as the reference. However, it requires averaging the current in each cycle. Peak current mode (PCM) controls the peak current in each cycle according to the reference. However, it also suffers from instability for duty ratios greater than half [14]. A new approach has been proposed to control current with PCM without any instability. This approach adopts PCM for duty ratios smaller than half, but it changes the control strategy for duty ratios larger than half. In traditional PCM method, the circuit current is controlled in such a way that it does not become larger than the reference. When the current in each cycle crosses the reference, the control method will change the switch status to decrease current. However, this algorithm will cause instability to the current for duty ratios greater than half. The new method will control circuit current in duty ratios larger than half in such a way that it does not become smaller than the reference. Therefore, as the current in each cycle crosses the reference, the control method will change the switch status to increase the current. So depending on the duty cycle status whether it is greater or lower than half, the controller will switch to the proposed method or the traditional PCM, respectively. This will avoid the instabilities for all duty cycles [15]. In order to adopt this approach, duty cycles shall be identified whether it is greater or smaller than half. When a single phase full bridge inverter is connected to the grid via an inductor, four different regions are established. These regions are identified according to the voltage and current polarity. In a STATCOM it is required to generate a sinusoidal voltage that is almost in phase with line voltage. However, there is a small phase difference for internal power consumption of inverters. Therefore, the output voltage of the inverter used as a single phase STATCOM shall be in phase with the grid voltage. At the same time, the duty cycle shall be controlled in different modes depending on the length of duty cycle. Four regions are assumed according to voltage and current polarity. In each region the duty cycle is evaluated according to circuit characteristics. It is assumed that switches in one leg will be controlled according to voltage polarity to make the converter output voltage in line with grid voltage. The general schematic of the inverter, which is connected to the grid, is depicted in figure 3. Since the output voltage of the converter shall be in phase with the grid voltage, switches three and four will turned on according to the grid voltage polarity. Switches one and two will be turned according to the control method. In this circuit, when the grid polarity is positive, switch three is turned on and switch four will be on in the consecutive half cycle. As mentioned earlier, the other two switches (one and two) will be used to control the current level. To determine

whether the duty cycle is smaller or larger than half, a simple circuit analysis is required.
sw 1 V1 Vdc sw 2 sw4 sw3 I grid network

0
2 1 current v olt 3 4

controller

Figure 3: General schematic of a single phase grid and the STATCOM compensator

For example when both voltage and current are positive, switch three is on. In order to increase the current, switch one is connected which will impose sinusoidal voltage on the inductor. This value will define the rate of current change according to inductor voltage and current equation. On the other hand, the current will be decreased according to the voltage difference between grid voltage and dc source. Since the dc bus voltage is selected twice as the amplitude of grid voltage, the voltage imposed on the interfacing Inductor by the dc bus is larger than the grid voltage at each instant. So, whenever the switches impose dc voltage to the inductor, the status will change in less than half a cycle and vice versa. This rule will define whether the duty cycle is below or above half According to the above descriptions, two major factors control the duty cycle status i.e. voltage and current polarity. However; the current will be automatically considered and controlled by the comparator since when the current crosses zero the algebraic comparator keeps the level as depicted in figure 4.

Figure 4: Duty cycle recognition for a complete current cycle

It means that when the current is positive and the actual current is below reference, it will automatically become above reference if the current gets negative. Therefore, only the AC voltage polarity will affect the current control, and keeps the current either below or above the reference level. If this criterion is not followed, the current will not be controlled correctly and some instability in current will be observed. This instability can be detected both in time domain (inconsistent waveform) and in frequency domain (noncharacteristic harmonics).

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IV.

SIMULATION RESULTS

1 goert zel algorit hm

PI s hif t 90 degree PLL c urrent c ont roller ot u rf e c urrent

current

gt dv a re e i

I 1 n

In 2

vl ae og t

According to the above mentioned descriptions, the general circuit diagram including voltage and current loops and the full bridge inverter is depicted in figure 5. A simple network including a serial RL with a source as seen in figure 3 is modeled and simulated to illustrate the performance of the controllers.

STATCOM at the start and the end of the sag disturbance. It can be clearly seen that the controller can successfully keep the voltage within the specified limits during a step load change

Figure 7: from top: Grid voltage and STATCOM compensation current

1234
Figure 5:. General schematic of the proposed controller for STATCOM

As discussed above, current and voltage controllers are used to control a grid connected inverter to improve voltage characteristics at the point of common coupling (PCC). The network is modeled by a series R-L reactor and the load is modeled as a parallel R-L load. Simulation parameters are given in Table I.
Table I: Specifications and circuit parameters of the proposed Statcom PCC Voltage 55 DC bus voltage 120 Interfacing inductor 2*1.25mH Switching frequency 10 kHz Load change 50% Grid frequency 50 Hz Filter capacitance 2 F

It is illustrated from the figure 7 that the injected current from the STATCOM has been increased to compensate the grid voltage. It is also obvious from figure 7 that according to the STATCOM controller, the current has been changed from inductive to capacitive to compensate the grid voltage. Harmonic spectrum of the proposed current controller, injected to the grid is depicted in figure 8 during normal grid conditions.

A 50% load change occurred at t=0.4(s) in the network to produce a voltage decrease (sag). Then it is resumed to its previous (normal) condition at t=0.8. The voltage at the point of common coupling is depicted in figure 6 without STATCOM operation.

Figure 8: Harmonic spectrum of the proposed current controller, injected to the grid

Figure 6: Grid voltage with step load change without compensation

As can be seen from the waveform, there is a sudden decrease in voltage at around 24%, which is harmful for many sensitive equipment. The voltage at the point of common coupling and current with STATCOM operation is depicted in figure 7. As can be seen, the controller responds fast and effectively to recover the voltage and maintain the voltage within the predefined values. The waveform in figure 7 shows the response of the

The current THD during the step load change (voltage sag) is 1.36%. THD in normal network conditions is 6.23%. The voltage THD at PCC caused by STATCOM is below 1% in all conditions with the maximum of 0.83% during step change. This voltage conditions satisfy harmonic voltage restrictions proposed by IEEE 519-92 standard which suggests 5% THD for grid voltages below 69 KV. The waveforms of the control reference and interfacing inductor current are also depicted in figure 9. It shows how the control method determines the STATCOM current based on the proposed method. The results obtained for harmonic analysis is comparable with results for hysteresis current mode control. Comparing the input current harmonic spectrum of the proposed controller with the conventional hysteresis controller, the advantages of the proposed method is more justified. The hysteresis band is selected at 1 Ampere [16] and the rest of the network is similar. The THD of hysteresis method is higher than the proposed method and increases to 10.26% in normal conditions and 1.99 % in step changes.

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complex calculations in order to compensate unbalance voltage disturbances. Furthermore, it can easily improve the voltage characteristics even in 3 phase 4 wire networks since it is based on single phase current control method. ACKNOWLEDGMENT The authors would like to thank MOSTI (ministry of science technology and innovation) Malaysia for his financial support of the project under VOT number 79279. REFERENCES
[1] [2] IEEE Recommended Practice for Monitoring Electric Power Quality, IEEE Std 1159-1995 Naidoo, R.; Pillay, P.; A New Method of Voltage Sag and Swell Detection , IEEE Transactions on Power Delivery,Volume 22, Issue 2, April 2007 Page(s):1056 1063. Fitzer, C.; Barnes, M.; Green, P.;Voltage sag detection technique for a dynamic voltage restorer ,IEEE Transactions on Industry Applications, Volume 40, Issue 1, Jan.-Feb. 2004 Page(s):203 212 Po-Tai Cheng; Chian-Chung Huang; Chun-Chiang Pan; Bhattacharya, S.;Design and implementation of a series voltage sag compensator under practical utility conditions, IEEE Transactions on Industry Applications , Volume 39, Issue 3, May-June 2003 Page(s):844 - 853 [5] Haque, M.H.;Compensation of distribution system voltage sag by DVR and D-STATCOM, Power Tech Proceedings, 2001 IEEE Porto, Volume 1, 10-13 Sept. 2001 Page(s):5 pp. vol.1. Huann-Keng Chiang; Bor-Ren Lin; Kai-Tsang Yang; Cheng-Chang Yang, Analysis and implementation of a NPC-based DSTATCOM under the abnormal voltage conditions, IEEE International Conference on Industrial Technology 2005,ICIT 2005.,14-17 Dec. 2005 Page(s):665 670 Giroux, P.; Sybille, G.; Le-Huy, H.; Modeling and simulation of a distribution STATCOM using Simulink's Power System Blockset, The 27th Annual Conference of the IEEE Industrial Electronics Society, 2001. IECON '01.Volume 2, 29 Nov.-2 Dec. 2001 Page(s):990 - 994 vol.2 Kai Ding; Cheng, K.W.E.; Xue, X.D.; Divakar, B.P.; Xu, C.D.; Che, Y.B.; Wang, D.H.; Dong, P, A Novel Detection Method for Voltage Sags, 2nd International Conference on Power Electronics Systems and Applications, 2006. ICPESA '06,12-14 Nov. 2006, Page(s):250 255. B.K.Bose,modern power electronics and ac drives, prentice hall of India, 2005 Gang Zheng; Xiao-Mei Yan; Hao-Wen Li; Ding Liu; Classification of voltage sag based on wavelet transform and wavelet network, Proceedings of 2004 International Conference on Machine Learning and Cybernetics, 2004.Volume 1, 26-29 Aug. 2004 Page(s):466 - 470 vol.1 Girgis, A.A.; Chang, W.B.; Makram, E.B.,A digital recursive measurement scheme for online tracking of power system harmonics, IEEE Transactions on Power Delivery, Vol 6,Issue 3,July 1991 Page(s):11531160 Manmek, T.; Mudannayake, C.P.; Grantham, C.; Voltage Dip Detection Based on an Efficient Least Squares Algorithm for DSTATCOM Application, IPEMC '06. CES/IEEE 5th International Power Electronics and Motion Control Conference, 2006.Volume 2,1416 Aug. 2006 Page(s):16 rulph chasseing,digital signal processing and applicationswith the C6713 and C6416 DSK , john wiley & sons publications,2005. Robert w. Ericson , dragam macsimovic, Fundamentals of Power Electronics, Kluwer Academic Publishers,2004 Najafi, E.; Vahedi, A.; Mahanfar, A.; Yatim, A. H. M.; A new controlling method based on peak current mode (PCM) for PFC, IEEE 2nd International Power and Energy Conference, 2008. PECon 2008. 1-3 Dec. 2008 Page(s):1103 1107 Zare, F.; Firouzjaee, J.A.; Hysteresis Band Current Control for a Single Phase Z-source Inverter with Symmetrical and Asymmetrical Znetwork, Power Conversion Conference - Nagoya, 2007, PCC '07, 2-5 April 2007 Page(s):143 148

Figure 9: Reference for current and inverter current according to the proposed control method before filtering

The frequency spectrum is also depicted in figure 10 for hysteresis controller in normal grid conditions.

[3]

[4]

Figure 10: Harmonic spectrum of the Hysteresis current controller, injected to the grid

[5]

According to the figure 8 and figure 10, the hysteresis controller generates harmonics over a wide range. Therefore, it injects harmonics (odd and even) in wider ranges, which is not easy to be filtered. On the other hand, the proposed controller generates only odd harmonics and the most dominant harmonics are the third harmonic and the switching frequency harmonics. This is an added advantage since the third harmonic can be easily eliminated by transformer configurations (delta or wye without neutral), which are quite common in electrical networks, and the switching frequency harmonics can easily be eliminated by high frequency filters which are small and light. Therefore, the harmonic spectrum is much better and the THD is less than half of the hysteresis control method. Moreover, the switching frequency of the hysteresis control method is not consistent and therefore it will make harmonic filtering very difficult. The switching frequency for the simulated conditions ranges from 4 kHz to 17 kHz which makes the filtering difficult compared to the fixed10 kHz of the proposed method. V. CONCLUSION A new STATCOM controller based on Goertzel sag detector and a new current control mode is proposed and simulated. The sag detection method is suitable for DSP implementation. It does not require extensive calculations such as in FFT nor is it prone to noise interference. The proposed current control method has also great superiority over conventional voltage control methods with respect to the response time, simplicity and reliability. It can also respond effectively to all voltage disturbances for both single phase and three phase voltage changes while most of three phase voltage controller cannot compensate zero sequence in electric grids. It also does not need extensive and

[6]

[7]

[8]

[9] [10]

[11]

[12]

[13] [14] [15]

[16]

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