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Automatic Reactive-Power Control of Isolated WindDiesel Hybrid Power Systems

R. C. Bansal, Senior Member, IEEE
AbstractThis paper presents an automatic reactive-power control of an isolated winddiesel hybrid power system having an induction generator (IG) for a wind-energy-conversion system and synchronous generator (SG) for a diesel-generator (DG) set. To study the effect of the size of the wind-power generation on the system performance, three examples of the hybrid system are considered with different wind-power-generation capacities. The mathematical model of the system using reactive-power-ow equations is developed. Three different types of static var compensators (SVCs) commonly used in conventional power system along with IEEE type-I excitation are considered to compare their performance in a hybrid system. Index TermsDiesel-generator (DG) set, induction generator (IG), isolated winddiesel hybrid power system, reactive-power control, static var compensator (SVC), synchronous generator (SG), wind-energy-conversion system.

PL , QL QSVC BSVC BSVC Td T T1 , T2 , T3 , T4 , o

N OMENCLATURE [A], [B], [C] x, u, p EM EM Efd , Eq , Eq System, control, and disturbance matrix, respectively. State, control, and disturbance vector, respectively. Electromagnetic energy stored in induction generator (IG). Small change in the stored electromagnetic energy of IG. Small change in the voltages of the exciter, internal armature under steady state, and transient conditions, respectively. Voltage regulator, exciter, stabilizer, var regulator, and thyristor-ring gain constants, respectively. Proportional and integral controller gain of the var regulator, respectively. Performance index. Efciency of IG. Real power input, real power generated and reactive power required by IG, respectively. Real and reactive powers generated by a diesel generator (DG), respectively. r1 , x1 , r2 , x2

Req , Xeq , Xm

SIG s TE , TF , TR Tdo V V , Vref , Va , Vf

KA , KE , KF , KR , K

KP , KI IG Pin , PIG , QIG

xd , xd

PSG , QSG

Qc QR

Real- and reactive-power-load demands, respectively. Reactive power generated by static var compensator (SVC). Reactive susceptance of the SVC. Small change in reactive susceptance of the SVC. SVC average dead time of zero crossing in a three-phase system. Thyristor-ring delay time. Time-constant lead-lag type of SVC regulator. Thyristor-ring angle and nominal thyristor-ring angle. Small deviation in thyristor ring angle. Power angle between terminal voltage and armature internal EMF. Stator resistance, stator reactance, rotor resistance, and rotor reactance referred to the primary side of IG, respectively. Equivalent resistance, equivalent reactance, and magnetizing reactance of the IG, respectively. Apparent power delivered by the IG. Slip of IG. Exciter, stabilizer, and regulator time constants, respectively. Direct-axis open-circuit transient time constant. System terminal voltage. Small change in the voltages of terminal voltage, reference voltage, amplier output voltage, and exciter feedback voltage, respectively. Direct-axis reactance of synchronous generator (SG) under steady-state and transient-state conditions, respectively. Rating of the SVC. System reactive-power rating.

Manuscript received December 29, 2004; revised May 5, 2005. Abstract published on the Internet May 18, 2006. The author is with the Electrical and Electronics Engineering Division, School of Engineering and Physics, The University of the South Pacic, Suva, Fiji (e-mail: rcbansal@hotmail.com). Digital Object Identier 10.1109/TIE.2006.878322

I. I NTRODUCTION HE OPTIMUM utilization of the resources for providing power to the community at large has resulted in large interconnected power systems. The demand to provide power to

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all by a large interconnected system in developing countries like India remains unfullled due to the nonavailability of sufcient funds, constraints on the right of way for additional transmission lines, and rapid growth in load with the developments, but on the other hand, the gap between supply and demand increases day by day. Not only to reduce the gap between generation and load, but because of the limited life of conventional sources with high pollution rate, more explorations have been carried out on alternative sources of energy during the last three decades. During this period, the assessment of the potential of the sustainable eco-friendly alternative sources and renement in technology has taken place to a stage so that economical and reliable power can be produced. Different renewable sources such as wind, mini/micro hydro, etc., are available at different geographical locations close to loads, therefore the latest trend is to have a distributed or dispersed power system [1][3]. Examples of such are the winddiesel, winddieselmicrohydro systems, etc. These systems are known as isolated hybrid power systems. In general, in any hybrid energy systems, there may be more than one type of electrical generators [4], [5]. In such circumstances, it is normal, although not essential for generator(s), usually on the diesel to be synchronous, and on wind-turbine generator(s) to be asynchronous (induction) [4]. An IG offers many advantages over a conventional SG as a source of isolated power supply. Reduced unit cost, ruggedness, brushless (in squirrel-cage construction), absence of separate dc source, ease of maintenance, self-protection against severe overloads and short circuits, etc., are the main advantages [6][13]. A major disadvantage of an IG is that it requires a reactive power for its operation. In the case of a grid-connected system, an IG can get the reactive power from the grid/capacitor banks, whereas in the case of an isolated/autonomous system, reactive power can only be supplied by capacitor banks/SG. In addition, generally, most of the loads are also inductive in nature. The mismatch in generation and consumption of the reactive power can cause a serious problem of large voltage uctuations at generator terminals. A detailed literature survey [6], [10] shows that there is a great need to improve the reactive-power-control strategy of the autonomous hybrid power system to maintain the voltage within the specied limits. SVC [14][20] is one of the exible ac transmission systems (FACTS), which is commonly used for reactive-power control in the power system. The primary purpose of SVC is to regulate the voltage of the transmission systems. In a stand-alone hybrid power system, the reactivepower device has to fulll the variable reactive-power requirements of the IG and of the load. In the absence of proper reactive device and controls, the system may be subjected to large voltage uctuations, which is not desirable. This paper presents a new innovative automatic reactivepower-control scheme that is similar to automatic generation control [21], [22] for isolated hybrid power systems. The system state equations have been derived with transfer-function block-diagram representation of the control system. The voltage deviation signal is used as the reactive-power-control error to eliminate the reactive-power mismatch in the system. To study the effect of the size of the wind unit on the system

Fig. 1. Schematic diagram of general isolated winddiesel hybrid power system.

performance, three winddiesel hybrid systems are considered with different wind-generation capacities. The mathematical model of the system using reactive-power-ow equations is developed. Three different types of SVCs [14][19] commonly used in conventional power system are considered in order to compare their performance in the hybrid system. Finally, the dynamic responses of the hybrid power systems with an optimum gain setting are presented. II. M ATHEMATICAL M ODELLING OF W IND D IESEL S YSTEM A winddiesel system, as shown in Fig. 1, is considered for mathematical modeling, where the SG considered with IEEE type-I excitation system connected on the DG set acts as a local grid for the IG connected on the wind energy-conversion system. The system also has an SVC to provide the required reactive power in addition to the reactive power generated by the SG. Winddiesel system data are given in Appendix I. Small changes in the real power are mainly dependent upon the frequency, whereas a small change in the reactive power is mainly dependent on the voltage [21]. The excitation time constant is much smaller than the prime-mover time constant, and its transient decays much faster and does not affect the load-frequency-control (LFC) dynamic. Thus, cross coupling between the LFC and the automatic-voltage-regulator (AVR) loop is negligible. The reactive-power balance equation of the system under steady-state condition is QSG + QSVC = QL + QIG (1)

where QSG = reactive power generated by DG set (per unit (pu) kilovolt-amperes reactive); QSVC = reactive power generated by SVC (per unit kilovolt-amperes reactive); QL = reactive-power-load demand (per unit kilovolt-amperes reactive), and QIG = reactive power required by generator (per unit kilovolt-amperes reactive). For the incremental reactive-power-balance analysis of the hybrid system, let the hybrid system experience a reactivepower-load change of magnitude QL . Due to the action of

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Fig. 2. Small-signal models of thyristor-controlled SVC schemes. (a) Type-I. (b) Type-II. (c) Type-III.

the AVR and SVC controllers, the system reactive-power generation increases by an amount QSG + QSVC . The reactive power required by the system will also change due to a change in voltage by V . The net reactive-power surplus in the system, therefore, equals QSG + QSVC QL QIG , and this power will increase the system voltage in two ways: 1) by increasing the electromagnetic-energy absorption (EM ) of the IG at the rate d/dt (EM ); 2) by an increased reactive load consumption of the system due to an increase in voltage. This can be expressed mathematically as QSG + QSVC QL QIG = d/dt(EM ) + DV V. The electromagnetic energy stored in the IG is given by EM 1 1 = LM IM 2 = LM (V /XM )2 2 2 (3) (2)

an increase by DV = QL /V (per unit kilovolt-amperes reactive/per unit kilovolt). The reactive-power loads can be expressed in the exponential voltage form as [23] QL = C1 V q (6)

where C1 is the constant of the load, and the exponent q depends upon the type of load. For small perturbations, (6) can be written as QL /V = q (Qo /V o ) L (7)

where Qo is the nominal value of the reactive-power-load L demand. In (2), DV can be calculated empirically using (7). Let QR be the system reactive-power rating. Using (5), (2) can be written as QSG + QSVC QL QIG = o 2EM /(V o QR )d/dt(V ) + DV V.

(8)

where IM , LM , and XM are the current drawn, inductance, and reactance of the IG, respectively. Equation (3) can be further written as EM = V 2 /(4f XM ) (4)

In (8), QR divides only one term as all the other terms are o already in pu kilovolt-amperes reactive. The term EM /QR can be written as
o EM /QR = 1/(4f kR ) = HR

(9)

where f is system frequency. From (4), EM can be written as

o o EM = EM EM = 2 (EM /V o ) V

(5)

where HR is the constant of the system, which has a unit of s, and kR is the ratio of the system reactive-power rating to rated magnetizing reactive power of IG. Substituting the value o of EM /QR from (9) in (8), we get QSG + QSVC QL QIG = 2HR /V o d/dt(V ) + DV V. (10)

o where V o and EM are the nominal values of terminal voltage and electromagnetic energy stored in the IG. With the increase in voltage, all the connected reactive-power-loads experience

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Fig. 3.

Transfer-function block diagram for the reactive-power control of the winddiesel hybrid power system.

In Laplace form, the state differential equation from (10) can be written as V (s) = KV /(1 + sTV ) [QSG (s)+QSVC (s)QL (s)QIG (s)] (11) where 2HR TV = DV V o and KV = 1 . DV (13) (12)

In Laplace transform, (15) can be written as QSG (s) = K3 Eq (s) + K4 V (s) where K3 = (V cos )/Xd and K4 = Eq cos 2V /Xd . (18) (17) (16)

The reactive power supplied by the SVC is given by [20], [25] QSVC = V 2 BSVC . (19)

Under transient condition, QSG is given by [21] QSG = (Eq V cos V )/Xd .
2

(14)

For small perturbation, (19) in the Laplace-transform form can be written as QSVC (s) = K6 V (s) + K7 BSVC (s) where (20)

For small perturbation, (14) can be written as QSG = (V cos /Xd ) Eq + Eq cos 2V /Xd V. (15)

K6 = 2V BSVC

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TABLE I OPTIMUM GAIN SETTINGS OF SVCS FOR DIFFERENT HYBRID POWER SYSTEMS CONSIDERED

where TG = (Xd Tdo ) /Xd K1 = Xd /Xd K2 = {(Xd Xd ) cos } /Xd. (25) (26) (27)

IG equations for constant slip model [8], [25] for small perturbation, reactive power absorbed by IG, QIG in terms of generator terminal voltage, and generator parameters can be written as QIG (s) = K5 V (s) where 2V Xeq 2 2 RY + Xeq RY = RP Req K5 = and RP = R2 (1 s) . s (31) (29) (30) (28)

The transfer-function models of the three different SVC models considered are shown in Fig. 2. The basic difference in the transfer-function block diagrams is the type of var regulator used. In SVC type-I [14], [15], the var regulator is an amplier with a gain and time constant. The regulator in SVC type-II [16], [17] model is a twin lead-lag type for providing compensation for the time delays in the ring circuit and due to phase-sequence dead-time delay of the zero crossing. The var regulator is proportional plus integral in SVC type-III [18], [19] model. The block diagram of the system using the Laplace transfer function (11), (16), (20), (24), and (28) with SVC type-1 and IEEE type-I excitation system is shown in Fig. 3. The statespace equations in a standard form can be written as x = [A]x + [B]u + [C]p
Fig. 4. Optimization of the amplier gain of SVC type-I for the winddiesel hybrid power system. (a) System data-I. (b) System data-II. (c) System data-III.

(32)

The vectors are given as x = [Efd Va Vf Eq BSVC BSVC V ]T (33) (34) u = [Vref ] (35) p = [QL ]. The block diagrams with SVC types-II and III can be obtained by replacing the dotted portion of Fig. 3 with Fig. 2(b) and (c), respectively. The elements of the associated matrices can be obtained from the mathematical modeling of hybrid power system, and from Figs. 2 and 3 are given in Appendix II. III. T RANSIENT R ESPONSES OF THE W IND D IESEL S YSTEMS In this section, transient responses of isolated winddiesel hybrid power systems are presented. To study the effect of the size of the wind-turbine unit of the system on the transient performance, three examples of the hybrid system are

and K7 = V 2 . (21)

The ux linkage equation [24] of the round rotor synchronous machine for small perturbation is given as d/dt(Eq ) = (Efd Eq )/Tdo . In (22), Eq is given by Eq = xd (xd xd ) Eq cos V. xd xd (23) (22)

For small changes, (22), using (23) in the Laplace-transform form, can be written as (1 + sTG )Eq (s) = K1 Efd (s) + K2 V (s) (24)

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Fig. 5.

(a)(h) Transient responses of the winddiesel hybrid power system (System Data-I) with SVC type-I for a 1% step increase in the reactive-power load.

considered with different wind-power generation capacities. Three SVC congurations for reactive-power control are considered along with the IEEE type-I excitation control system of SGs. Transient responses are compared in terms of the rst-swing amplitude and settling time, etc. The values of the constants have been calculated using the data given in Appendix I. For the winddiesel systems, the data-I constants are given as K1 K2 K3 K4 K5 K6 K7 KV K TV = 0.15 = 0.793232 = 6.22143 = 7.358895 = 0.126043 = 1.478 = 1.0 = 0.6667 = 0.446423 = 0.000106 s.

The values of the constants for the winddiesel system data-II are given by K2 K3 K4 K5 K6 K = 0.7589468 = 5.952524 = 7.823439 = 0.1067734 = 1.3364 = 0.403279.

The other constants remain the same as for system data-I. The values of the constants for winddiesel system data-III are given by K2 = 0.673608 K3 = 5.2832 K4 = 8.906 K5 = 0.052182 K6 = 0.996 K = 0.30056. The other constants remain the same as for system data-I.

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Fig. 6. (a)(h) Transient responses of the winddiesel hybrid power system (System Data-II) with SVC type-I for a 1% step increase in the reactive-power load.

Fig. 7. (a)(h) Transient responses of the winddiesel hybrid power system (System Data-III) with SVC type-I for a 1% step increase in the reactive-power load.

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TABLE II MAXIMUM DEVIATIONS OF DIFFERENT PARAMETERS OF WINDDIESEL SYSTEMS FOR 1% STEP INCREASE IN THE REACTIVE-POWER LOAD

Fig. 8. Optimization of the amplier gain of the winddiesel hybrid power system for system data-I. (a) SVC type-II. (b), (c) SVC type-III.

The gains are optimized using the Lyapunov technique for continuous linear systems with the performance index () using an integral square error criterion (ISE) and is given as = [V (t)]2 dt.

(36)

The optimum value of the parameters corresponds to the minimum value of the . The SVC type-I amplier-regulator gain parameter KR is optimized, and the values are given in Table I. The loci for against KR for the three system examples are shown in Fig. 4. It is observed that as the unit size of the wind-power generation decreases, the value of the optimum gain setting increases. It is because of the

decrease in the SVC rating with the decrease in the unit size of the wind-power generation, therefore, higher gain is required to offset the reactive-power mismatch during the transient condition. The transient performance for a 1% step increase in the reactive-power load for system data-I, II, and III with SVC type-I are shown in Figs. 57, respectively. Table II shows the maximum deviations of the main parameters of wind diesel for a 1% step increase in the reactive-power load. It is found that the peak deviation in the terminal bus voltage decreases with the decrease in the size of the wind-power generation/IG, but the settling time of the oscillations remains the same. The deviations in the eld excitation (Efd ), internal armature voltages under steady-state (Eq ), and transient conditions (Eq ) also follow the same trend. It indicates that as the ratio of the SG size to the IG size increases, a better control of the terminal voltage is obtained. The peak deviation in the ring angle () of the thyristor-controlled-reactor (TCR) unit of the SVC increases with the decrease in the size of the wind-power generation, but the settling time of the oscillations remains the same for the three examples of the hybrid power systems. There is no steady-state error in the terminal voltage of the system with SVC control; therefore, the deviation in the reactive power required by the IG vanishes. It is observed that the increase in the reactive-power load is purely met by SVC. In all of the three examples of the system, it is found that the oscillation vanishes in about 0.25 s. The different loci for against various gain parameters are shown in Fig. 8 for the system data-I with SVC types-II and III. The transient performance for 1% step increase in the reactive-power load for the system examples-I, with SVC type-II and SVC type-III, are shown in Figs. 9, and 10, respectively. It can be seen from Table II and Figs. 5, 9, and 10 that the system performance is best with SVC type-II in terms of the minimum rst swing and damping of the subsequent oscillations in comparison to the other types of SVCs under consideration. In case of SVC type-II, the transient performance improves considerably but due to the absence of the integral action, steady-state error persists following a step disturbance. IV. C ONCLUSION A dynamic voltage stability study has been presented in this paper for the isolated winddiesel hybrid power system

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Fig. 9. (a)(h) Transient responses of the winddiesel hybrid power system (System Data-I) with SVC type-II for a 1% step increase in the reactive-power load.

Fig. 10. (a)(h) Transient responses of the winddiesel hybrid power system (System Data-I) with SVC type-III for a 1% step increase in the reactivepower load.

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TABLE III WIND-DIESEL SYSTEM DATA

considering a transfer-function model based on a small signal analysis. The automatic reactive-power-control model using reactive-power-ow equations have been developed for hybrid systems. It is observed that as the unit size of the wind-power generation decreases, the value of the optimum gain setting increases. It can be seen that the system performance is best with the SVC type-II in terms of the minimum rst swing and damping of the subsequent os-

cillations in comparison to the other types of SVCs under consideration. A PPENDIX I The data of the isolated three different winddiesel hybrid power system, SG, IG, load, reactive-power data, excitation control, and three different types of SVC are given in Table III.

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TABLE IV ELEMENTS OF MATRICES FOR WIND-DIESEL SYSTEM

A PPENDIX II See Table IV(a)(c). R EFERENCES

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[14] P. V. Balasubramanyam, A. S. R. Murthy, and P. Parameswaran, Design of variable structure controller for static VAR compensator, Electr. Mach. Power Syst., vol. 26, no. 4, pp. 431450, May 1998. [15] C. W. Taylor, G. Scott, A. Hammad, W. Wong, D. Osborn, A. J. P. Ramos, B. Johnson, D. Mc Nabb, S. Arabi, D. Martin, H. L. Thanawala, J. Luini, R. Gonzalez, and C. Concordia, Static Var compensator models for power ow and dynamic performance simulation, IEEE Trans. Power Syst., vol. 9, no. 1, pp. 229240, Feb. 1994. [16] R. M. Mathur, Stabilisation techniques in power systems static VAR compensation, in Proc. IFAC Symp., Bangalore, India, Dec. 14, 1986. [17] K. R. Padiyar and R. K. Verma, Damping torque analysis of static VAR system controllers, IEEE Trans. Power Syst., vol. 6, no. 2, pp. 458465, May 1991. [18] A. E. Hammad, Analysis of power system stability enhancement by static Var compensators, IEEE Trans. Power Syst., vol. PWRS-1, no. 4, pp. 222227, Nov. 1986. [19] A. E. Hammad and M. El-Sadek, Application of thyristor controlled Var compensator for damping sub-synchronous oscillations in power systems, IEEE Trans. Power App. Syst., vol. PAS-103, no. 1, pp. 198 212, Jan. 1984. [20] K. R. Padiyar, Power Systems Dynamics, Stability and Control. Bangalore, India: Interline Publishing, 1996. [21] O. I. Elgerd, Electric Energy System Theory An Introduction. New Delhi, India: Tata McGraw-Hill, 1982, pp. 299361. [22] A. A. F. Al-Ademi, Load-frequency control of stand-alone hybrid power systems based on renewable energy sources, Ph.D. dissertation, Indian Inst. Technol. Delhi, New Delhi, India, Jul. 1996. [23] S. M. Al-Alawi and K. A. Ellithy, Tuning of SVC damping controllers over a wide range of load models using an articial neural network, Int. J. Electr. Power Energy Syst., vol. 22, no. 6, pp. 405420, Aug. 2000. [24] T. S. Bhatti, Interactive excitation and speed governor control of power systems, Ph.D. dissertation, Electr. Eng. Dept., Indian Inst. Technol., New Delhi, India, May 1984. [25] R. C. Bansal, Automatic reactive power control of autonomous hybrid power systems, Ph.D. dissertation, Centre Energy Studies, Indian Inst. Technol., New Delhi, India, Dec. 2002.

R. C. Bansal (S99A02SM03) received the M.E. degree from Delhi College of Engineering, Delhi, India, in 1996, the M.B.A. degree from Indira Gandhi National Open University, New Delhi, India, in 1997, and the Ph.D. degree from Indian Institute of Technology (IIT), Delhi, India, in 2003. He is with the faculty of the Electrical and Electronics Engineering Division, School of Engineering and Physics and Head of the Renewable Energy Group, The University of the South Pacic, Suva, Fiji. He was an Assistant Professor in the Department of Electrical and Electronics Engineering, Birla Institute of Technology and Science, Pilani, India, from June 1999 to December 2005. He also worked for nine years with the Civil Construction Wing, All India Radio. He has published more than 50 papers in national/international journals and conference proceedings. His research interests include reactive power control in renewable energy systems and conventional power systems, power system optimization, analysis of induction generators, and articial intelligence techniques applications in power systems. Dr. Bansal is the Editor of the IEEE TRANSACTIONS ON ENERGY CONVERSION and Power Engineering Letters. He is a member of the Institution of Engineers (India) and a Life Member of the Indian Society of Technical Education.