Professional Documents
Culture Documents
PROEFSCHRIFT
door
geboren te Waalwijk
Dit proefschrift is goedgekeurd door de promotor:
Copromotor:
dr. J.L. Duarte
The work leading to this thesis was supported by KEMA and the
IOP-EMVT program of SenterNovem.
Copromotor:
dr. J.L. Duarte, TU/e
Core committee:
prof.dr.ir. R.W. De Doncker, RWTH Aachen University
prof.dr. E. Lomonova, TU/e
prof.dr. J.A. Peças Lopes, University of Porto
Other members:
prof.dr.ir. J.H. Blom (reserve), TU/e
dr.ir. F. van Overbeeke, EMforce
prof.dr. A.G. Tijhuis (chairman), TU/e
ir. P.T.M. Vaessen, KEMA
Contents
List of Figures v
List of Tables ix
Abstract xi
Samenvatting xv
1 Introduction 1
1.1 Changes in electrical power generation . . . . . . . . . . . 2
1.2 Changes in the organization of power systems . . . . . . . 4
1.3 Consequences for the distribution network . . . . . . . . . 5
1.4 Ongoing research . . . . . . . . . . . . . . . . . . . . . . . 6
1.4.1 Communication and automation . . . . . . . . . . 8
1.4.2 Load control . . . . . . . . . . . . . . . . . . . . . 8
1.4.3 Generation control . . . . . . . . . . . . . . . . . . 9
1.4.4 Storage . . . . . . . . . . . . . . . . . . . . . . . . 10
1.4.5 Power electronics . . . . . . . . . . . . . . . . . . . 10
1.4.6 Active distribution networks . . . . . . . . . . . . 11
1.5 Research objective . . . . . . . . . . . . . . . . . . . . . . 11
1.6 Research questions . . . . . . . . . . . . . . . . . . . . . . 12
1.7 Research approach . . . . . . . . . . . . . . . . . . . . . . 12
1.8 IOP-EMVT programme . . . . . . . . . . . . . . . . . . . 13
1.9 Outline of the thesis . . . . . . . . . . . . . . . . . . . . . 15
1.10 Publications . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2 Distribution systems 17
2.1 The network operator’s role . . . . . . . . . . . . . . . . . 17
2.2 Network topology and redundancy . . . . . . . . . . . . . 19
2.2.1 Network topology . . . . . . . . . . . . . . . . . . 19
2.2.2 Redundancy . . . . . . . . . . . . . . . . . . . . . . 20
2.3 Power quality aspects . . . . . . . . . . . . . . . . . . . . 21
2.3.1 Steady state voltage amplitude . . . . . . . . . . . 21
i
ii Contents
2.3.2 Flicker . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.3.3 Voltage dips . . . . . . . . . . . . . . . . . . . . . . 24
2.3.4 Phase angle jumps . . . . . . . . . . . . . . . . . . 25
2.3.5 Power frequency . . . . . . . . . . . . . . . . . . . 26
2.4 Voltage control . . . . . . . . . . . . . . . . . . . . . . . . 26
2.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . 27
References 147
Acknowledgements 185
v
vi List of Figures
ix
Abstract
xi
xii Abstract
side, and thus the AC side voltages are decoupled. This topology has
the ability to control power flow between its AC ports and can supply a
radial network section with a controllable voltage.
By having the ability to control the power flow it is possible to dis-
tribute redundancy over different feeders when needed. In the current
practice, every feeder must be able to supply the full load of another
feeder, and can therefore only be loaded up to around fifty percent of
its power rating. Sharing the redundancy over more feeders allows the
connection of loads and generation units beyond this limit. Since the
AC voltages on the different IN ports are unrelated, the IN can con-
nect networks with different voltage amplitudes, phase angles and/or
frequencies, which makes it possible to also share redundancy in such
situations.
Controlling the power flow in a meshed network can also be used
to optimize voltage profiles, and thus maximize the penetration level of
distributed generation units in the network. Alternatively, the power
flow can be optimized to reduce losses in the network.
During a network disturbance, the IN can prevent spreading of this
disturbance, support the disturbed network, temporarily supply part of
the network as a radial network, and restore meshed operation after the
disturbance.
To allow the Intelligent Node (IN) to perform the described tasks,
the IN converters need to be able to respond quickly to planned and
unplanned events in the power system, such as load changes, short-
circuits and the opening and closing of load-break switches. The ability
of the converters to do so, depends, besides on their ratings, mainly on
the controls that drive them. Furthermore, the protection system of the
IN needs to prevent damage to the IN components due to over-currents
and over-voltages.
At the converter level two basic operating modes exist: power flow
control and voltage control. The first operating mode is used in meshed
network operation, and called P Q control mode. The converter controls
its power exchange with the network by controlling its output current.
In the second operating mode, called V control mode, the converter de-
fines the amplitude, frequency and phase angle of the voltage on its AC
port. The converter behaves as a voltage source with a fixed frequency
and supplies or consumes the active and reactive power as required by
the connected loads and generators of a radial network section. In the
proposed IN concept, at least one of the converters of the IN is galvani-
cally connected to the ’central grid’, and operates in P Q control mode,
in order to supply the connected sections and to control the DC bus
voltage.
To fully utilize the capabilities of the interconnected converters, the
IN control concept also includes specific detection schemes and addi-
Abstract xiii
tional control and protections, which can change the operating mode
and set-points of the converters or shut down the IN in response to
power system events.
When the power system is in normal operation conditions and the
converters are in P Q control mode, the IN controls the power flow in the
meshed network according to centrally determined P and Q set-points.
During a short-circuit, and the resulting voltage dip, the IN should
no longer follow these set-points, but inject reactive power to mitigate
the voltage dip. To do so, a control scheme was developed, which is only
active when the network voltage is outside of a certain voltage band.
Although it is assumed that meshed operation is the normal situa-
tion, it might be necessary to operate some parts of the network radially
for some time. In order to perform maintenance or repair work on a
certain network section, it can be necessary for instance to isolate it by
opening the switches on each of its sides. In such a situation, the IN
can supply a resulting radial part of the network, with the applicable
converter in V control mode. To do so, the applicable IN converter
must stop controlling the power flow and start controlling the voltage
level instead, after detecting the change in the network. A control and
detection scheme was developed to implement this functionality.
After the maintenance or repair work has been finished, the radial
part of the grid is to be reconnected to the rest of grid. To maintain
IN operation and minimize voltage discontinuities after restoring meshed
operation, it is necessary that the voltage of the radial network section is
synchronized with the voltage of the rest of the network. Therefore, the
voltage amplitude, frequency and phase angle are periodically measured
at a remote location, and transmitted to the IN with a random but
limited time delay. To determine the maximum remote measurement
interval, the statistics of frequency variations in the public electricity
network have been gathered through measurements. The maximum in-
terval is determined as a function of acceptable phase angle difference
between the networks. After detecting that the meshed network has
been restored, the applicable converter must be able to change from V
control mode to P Q control mode, without disconnecting from the grid
or stopping operation.
The operation of circuit breakers is in many networks performed si-
multaneously on all three phases. In other medium voltage networks,
for example in the Netherlands, however, the phase-by-phase opera-
tion of load-break switches is common, given the wide-spread applica-
tion of manually operated, compact, epoxy resin insulated, single-phase
switchgear. Phase-by-phase connection and disconnection of grid areas
requires a different IN behavior. The control and detection schemes
were developed both for three-phase and for phase-by-phase switchgear
operation.
xiv Abstract
xv
xvi Samenvatting
Introduction
Nowadays society is more than ever dependent on energy, and thus de-
mands for a high reliability of its energy supply. At the same time
environmental concerns stimulate a reduced and more sustainable use
of energy. The construction of energy-efficient buildings, more efficient
transportation methods and the use of renewable energy sources (RES)
such as wind and sun are examples of this. Some of these energy sources
can be used directly, if they are available where and when needed in the
form it is produced, but more often an intermediate energy conversion
is required. Electricity is such an intermediate energy carrier. A char-
acteristic of electrical energy is that, once the primary energy form has
been converted into electricity, it can be transported and converted to
most other forms of energy with a high efficiency. This makes electricity
the enabler for many types of renewable developments such as electric
vehicles, heat pumps, photovoltaic cells and wind turbines.
Because of this, electrical power systems are and will continue to
be a key factor to satisfy society’s energy needs. This role of enabler
introduces however some challenges. The intermittent character of re-
newable energy sources and the unrestricted energy trading in the lib-
eralized market increase the stress on the electricity networks. On all
voltage levels, the power flow becomes less predictable and controllable.
Also the balancing of supply and demand is becoming more complicated
because of the fluctuating generation. Furthermore, increased efforts are
needed to ensure sufficient power quality as experienced by consumers.
To meet these challenges in a cost effective way, innovative ways of
operating the networks are needed [1]. International research focuses
on increasing the flexibility of electricity consumption, using storage
to smooth out power fluctuations, and on controlling the power flow
using new hardware and software technologies. This thesis is on the
control of power flow in distribution networks through power electronics
incorporated in the networks.
1
2 Chapter 1
No more fit and forget. Most studies confirm, that the local pen-
etration of distributed generation up to a level of about 20% of the
maximum load can be absorbed by the electricity distribution network
without major costs [15]. The penetration level in many networks is still
below this limit, but this will change. In situations where more DG is
being connected, measures are likely needed [8, 16].
distributed generation
electrical energy storage systems
microgrids
power electronics
smartgrids
Figure 1.2: Google Timelines results for selected search terms (vertical
scale is different for each line).
1.4.4 Storage
In any market, storage reduces price spikes due to temporary changes
in supply and demand and increases the availability and reliability of
a commodity. Currently, electrical storage is not used on a large scale,
which makes it essential to have a momentary balance between supply
and demand. Because of this, production must be capable of supplying
the peak demand instantaneously, which is costly. One way to reduce
the peak demand is to control loads, as discussed previously. Another
way is to supply the peak load from temporary energy storage installa-
tions that charge during off-peak hours. With the advancement of DG,
a part of generation units supply an amount of power, independent of
the actual balance of supply and demand, which increases the stress on
the rest of the electricity production plants, the network and therefore
the market. Storage can help matching supply and demand by providing
frequency support. Other ancillary services that storage can provide, are
voltage regulation, flicker reduction and reliability improvement. Stor-
age is also proposed to facilitate the implementation of DG, by solving
local network constraints that occur due to the intermittent nature of
the DG output [40, 47].
The most mature storage application today is pumped hydro, which
is mainly used to counteract the effect of the fluctuating output of wind
farms. The other mature, but used only very limited, technology with
this capability is compressed air energy storage (CAES). Other storage
technologies are various types of battery systems (mature: lead-acid,
sodium sulphur), redox installations and flywheels [48]. A type of storage
which may become interesting for distribution networks is formed by
electric vehicles, as mentioned already in paragraph 1.4.2.
Also secondary benefits are discussed, which can be achieved once such
a concept is applied, but which are considered to not be enough reason
to choose for the concept. Based on the defined concept, the required
functions are specified on a more detailed level.
Inherently
Stable
Transmission
System
Self-
Optimal Manageable
Controlling
Power Distribution
Autonomous
Quality Networks
Networks
1.10 Publications
The results of the research presented in this thesis have been presented
in the following conferences and journals:
• R.A.A. de Graaff, J.L. Duarte, W.L. Kling, P.T.M. Vaessen, ”Pha-
se-by-Phase Connection and Disconnection of Grid Areas using
Multi Back-to-Back Converters”, IEEE Tr. Power Delivery (sub-
mitted for review)
• R.A.A. de Graaff, J.L. Duarte, W.L. Kling, P.T.M. Vaessen, ”Flex-
ible Framework for the Operation of Distribution Networks - Syn-
chronizing and Connecting Grid Areas using Multi Back-to-Back
Converters”, European Tr. on Electrical Power (under review)
• R. de Graaff, J. Duarte, W.L. Kling, P. Vaessen, ”Intelligent Nodes
in Distribution Systems - Transition from Radial to Meshed Op-
eration”, Proc. CIRED 2009, June 8-11, 2009, Prague, Czech
Republic
• R.A.A. de Graaff, J.M.A. Myrzik, W.L. Kling, J.H.R. Enslin, ”In-
telligent Nodes in Distribution Systems - Optimizing Steady State
Settings”, Proc. PowerTech 2007, July 1-5, 2007, Lausanne, Swit-
serland
• R.A.A. de Graaff, J.M.A. Myrzik, W.L. Kling, J.H.R. Enslin,
”Intelligent Nodes in Distribution systems - Operating Concept”,
Proc. CIRED 2007, May 21-24 2007, Vienna, Austria
• R.A.A. de Graaff, J.H.R. Enslin, ”Profitable, Plug and Play Dis-
persed Generation: The Future?”, Leonardo Energy Digest, Vol.
3, No. 1, 2007
• R.A.A. de Graaff, J.M.A. Myrzik, W.L. Kling, J.H.R. Enslin, ”Se-
ries Controllers in Distribution Systems - Facilitating Increased
Loading and Higher DG Penetration”, Proc. Power Systems Con-
ference and Exposition 2006, October 29 - November 1, 2006, At-
lanta, Georgia, USA
• R.A.A. de Graaff, J.M.A. Myrzik, W.L. Kling, J.H.R. Enslin, ”Se-
ries Controllers in Distribution Systems - Facilitating Increased
Loading”, Proc. Universities Power Engineering Conference 2006,
September 6-8, 2006, Newcastle upon Tyne, UK
• R.A.A. de Graaff, J.M.A. Myrzik, W.L. Kling, J.H.R. Enslin, ”Se-
ries Controllers in distribution systems - A survey of benefits in
relation to DG”, Proc. Conference on Future Power Systems 2005,
November 16-18, 2005, Amsterdam, the Netherlands
Chapter 2
Distribution systems
17
18 Chapter 2
• Ensure the safety and reliability of their networks and the trans-
mission of electricity in the most efficient way.
The TSO has, in addition to these tasks for voltage levels > 50 kV, also
the responsibility to take measures and perform system services needed
to ensure the transmission of electricity through all networks in a safe
and efficient manner. Also the coordination of measures after large-scale
black-outs is done by the TSO.
The power threshold of 10 MVA is higher than the power rating of
most DG units connected to distribution networks. In such situations,
the DNO has therefore only a limited time to take adequate measures
in its network, if needed. The connection of a single generator may not
require any measures, but in areas which are favorable for DG multiple
connection requests can be expected at very short notice. In such a sit-
uation, the DNO may need to take measures in the distribution network
and this can easily need more time than this period [16]. Therefore, grid
reinforcements must be made in advance, based on estimates of future
connection requests. If these connection requests do not come, grid in-
vestments turn into stranded costs. This is against the DNO’s task to
transmit electricity in the most efficient way.
It is important to note that in the current legal and regulatory frame-
work the DNO cannot oblige loads and generators to support the op-
eration of the distribution network. This control feature, also called
active demand side participation [37], for the moment can only be ap-
plied for matching generation and loads by market parties [11, 60]. This
can actually increase the coincidence of loads and thus, instead of solve
constraints, cause additional stress in the distribution system.
Distribution systems 19
MV/LV transformer
LV connection
MV cable
LV cable
only one possible supply path for each load, no redundancy exists. In
the ring and meshed topologies at least two supply paths exist, which
leads to higher reliability. Operating a network as a ring or meshed
requires distance or zone protection and more switchgear to ensure that
only the faulted section is switched off. Ensuring adequate settings for
all network conditions for large numbers of distance protection relays
complicates network operation. In radial networks the simpler maximum
20 Chapter 2
2.2.2 Redundancy
The duration of the outage experienced due to a disturbance in a net-
work (fault) is determined by the time needed to clear the fault, the
availability of an alternative supply path and on the time needed to re-
configure the network. In radial networks, no alternative supply path
exists and the supply interruption time is equal to the time needed to
repair the faulted component. In radially operated ring or meshed net-
works, there is an alternative supply path. To allow reconfiguration,
sufficient capacity must be available on the alternative supply path. To
provide this capacity, networks are normally not loaded up to their nom-
inal rating. In the symmetric situation shown in Figure 2.2 this results
50%
a
Coupling busbar
b 50%
c 50%+50%=100%
d
Sum=200%
Figure 2.2: Each feeder can supply the load of another feeder.
reclosing brings the network immediately back to situation a). This pro-
cedure is called automatic reclosing. In this thesis, the Dutch situation
is assumed, where the radially operated meshed medium voltage (MV)
and radial low voltage (LV) networks consist entirely of underground
cables [63], without automatic reclosing.
a
b
b) A permanent short-
circuit occurs on feeder
c c.
2.3.2 Flicker
Incandescent light bulbs and other electrical light sources are sensitive
to voltage variations. A change of the voltage amplitude results in a
change of the luminance of the light source, which brings annoyance to
human beings. The human brain responds in a complex non-linear way
to voltage variations of different repetition frequencies and shapes. To
quantify the annoyance observed by a human being the parameters short
and long-term flicker are used. Flicker is measured using the flickerme-
ter, which is defined in IEC61000-4-15 [69]. With the phasing-out of
incandescent light bulbs [70] and the increasing use of alternative light
sources such as energy saving lamps and LEDs, this flickermeter needs
revision [71]. Energy saving lamps and LEDs are less sensitive to volt-
age variations. As a worst-case approach, the thresholds and methods
developed for the incandescent lamp are used in this thesis.
For this, the curve that indicates the annoyance threshold can be
used. For rectangular voltage changes, this curve is shown in Figure 2.4.
101
d (%)
100
10−1
10−1 100 101 102 103
number of voltage changes per minute
Figure 2.4: Curve for Pst = 1 for rectangular equidistant voltage changes
with amplitude d [72].
1.00
0.95
0.90
2.5 Conclusion
In the current regulatory environments the distribution network opera-
tor is faced with some contradictory responsibilities. On one side, the
DNO must provide and operate a network of sufficient capacity in an eco-
nomical way. On the other side, the DNO must provide new connections
at very short notice. Anticipating these connections by strengthening
the network in advance, brings uncertainty in the return on investments.
Furthermore, the expected control of load and DG units for balancing
supply and demand, and thus reducing generation costs, stresses the
distribution system, but is out of the DNO’s sphere of control. The
application of an IN can support the DNO here, as will be explained in
Chapter 4.
The Intelligent Node can influence some power quality parameters,
such as flicker, voltage dips and phase angle jumps. Currently, for many
of these parameters no binding compatibility levels exist, but steps are
made towards this. For each of the relevant PQ indicators, the lim-
its which are used in this thesis to assess the influence of the IN are
defined. The power quality parameters steady state voltage amplitude
and power frequency are discussed as they are input for the development
and implementation of the IN concept.
Finally, the currently implemented voltage control technologies are
discussed, as well as the resulting typical voltage ranges for cable net-
works. The more advanced FACTS and D-FACTS devices to influence
power flow and voltages are discussed in the following chapter.
Chapter 3
29
30 Chapter 3
P1 , Q1 P2 , Q2
I X
G1 G2
V1 V2
(a) Single-line diagram.
jX
S1 = P1 + jQ1
V1
I δV
V2
configuration used to analyze this dependency [84]. For this analysis the
overhead line impedance is assumed to be purely inductive, which is a
good approximation. The general equation for complex power S, using
the complex quantities V for voltage and I for current, is
S = V I ∗ = P + jQ (3.1)
while the current through the line equals
V1 − V2
I= (3.2)
jX
Figure 3.1b shows the phasor diagram for arbitrarily chosen phasors V1
and V2 . The angle between the dotted lines is equal to the angle of the
impedance jX, i.e. 90 ◦ , as follows from (3.2).
It can be more intuitive to express complex voltages and currents in
polar form using amplitudes and angles. The above mentioned voltages
and current then become
V1 = V1 (cos(0) + j sin(0)) = V1 = V1 (3.3)
V2 = V2 (cos(δ) + j sin(δ)) = V2 (cos(δ) + j sin(δ)) (3.4)
FACTS in distribution systems 31
V1 (V1 − V2 · cos(δ))
Q1 = (3.7)
X
P1 , Q1 P2 , Q2
I X
G1 G2
V1 V2 ∆V V3
(a) Series voltage source.
jX jX
S,I V1 V2 V1
∆V
∆V
V2
I
(b) Quadrature voltage. (c) In phase voltage.
P1 , Q1 P2 , Q2
I X
G1 G2
V1 ∆Z V2
(a) Series impedance.
jX S
S 1
jX + jωC
V1 V1
I ∆V ∆V
V2 I V2
X1 P1 ,Q1 P2 ,Q2 X2
G1 G2
V1 P3 ,Q3 V3 V2
Parallel
Device
Sk = ∞
Xeq I
Veq P ,Q V3
Parallel
Device
jXeq jXeq
S,I V1 V1 V2
∆V
∆V
V2
S
(c) Active power injection. (d) Reactive power injection.
P1 , Q1 P2 , Q2
I R
G1 G2
V1 V2 ∆V V1
(a) Series voltage source.
I
R V1 S,I R V2 V1
∆V
S V2 ∆V
a voltage angle difference causes a P/Q ratio equal to the X/R ratio of
the line. Following these relations, shunt reactive power injection in a
resistive network influences the phase angle of the voltage, while active
power injection influences the voltage amplitude.
As described in the previous chapter, the typical distribution sys-
tem lines in the Netherlands, consist of underground medium and low
voltage cables, with mixed resistive/inductive impedances. This implies
that the use of reactive power injection for voltage control or the use of
series voltage sources that introduce a phase shift for power flow con-
trol are not efficient methods. Instead, to control power flow, (also) the
voltage amplitude needs to be changed and active power must be in-
jected to influence the voltage. This is an important aspect to consider
when analyzing the suitability of existing FACTS technologies for cable
distribution networks.
100M
PCT
10M
IGCT
1M
HV IGBT
100k
IGBT
10k
1k
SJ MOS
100
MOSFET
10
10 100 1k 10k 100k 1M
Frequency (Hz)
The diagrams for the two basic types of converters are shown in Fig-
ure 3.7. As can be seen, the two topologies are identified by the type of
38 Chapter 3
id
+
−
(a) Thyristor based current source converter.
ud
−
(b) IGBT based voltage source converter.
Figure 3.7: Basic diagrams for three-phase current and voltage source
converters.
energy storage on the DC side of the converter: a capacitor for the volt-
age source converter and an inductor for the current source converter.
Depending on the solid-state switch, different switching strategies are
used. The output of a thyristor based current source converter is con-
trolled by changing the time between voltage zero-crossing and turning
on the thyristor, in other words by adjusting the firing angle. In Fig-
ure 3.8, the case is shown of square wave switching, where each valve is
conducting 50% of the time. Two types of voltage source converters are
shown, the 6-pulse version, which has large harmonic and requires big
filters, and the 12-pulse version, with reduced harmonic content. De-
vices with turn-off capabilities allow different switching strategies such
as pulse width modulation (PWM) and harmonic elimination technique.
In the PWM technique, the switching moments are determined by com-
paring a reference signal with a saw tooth signal of the desired switching
frequency and creating a logic control signal for the switches, as shown
in Figure 3.9. The output of the converter is a square wave voltage,
with a harmonic content that depends on the applied saw tooth fre-
quency: higher switching frequencies reduce the amplitude and increase
the frequency of the harmonics, allowing smaller, thus cheaper, filters.
Practical high power applications use more advanced topologies, such as
FACTS in distribution systems 39
1:1
VSC
1:1
VSC
VSC
√
30° 3:1
(b) 12-pulse converter.
haves as a shunt reactor. When the system voltage is lower than the
set-point the SVC behaves as a shunt capacitor and reactive power is in-
jected. Note that the maximum reactive current decreases linearly with
decreasing voltage, and thus reactive power decreases quadratically with
decreasing terminal voltage. That is to say,
V V2
IL = QL = (3.9)
jωL jωL
IC = jωC · V QC = jωC · V 2 (3.10)
STORAGE/
GENERATION
for transmission systems than for distribution systems and therefore not
considered here.
V V
capacitive
capacitive
both capacitive
1 section inductive,
n sections 1 section capacitive
0 0
1 section both inductive
inductive
inductive
I I
(c) TSSC characteristic. (d) TCSC characteristic.
stant voltage on the secondary side. This is in large contrast with the
normal situation where it decreases linearly with increasing load, since
typically the tap changers of these distribution transformers are off-load
tap changers, only being adjusted when the distribution system or the
demand changes structurally. A similar idea was proposed in [104],
where a thyristor switched tap changer is applied for the larger, discrete
voltage steps and an additional PWM controlled series controller using
GTOs or IGBTs ensures an overall continuous voltage control.
Switches
Control
Loads
Imax
3.4 Conclusion
A FACTS or D-FACTS device is used to influence voltage and loading
levels in the electrical network that it is part of. The effect that such a
device can achieve is significantly different for cable networks when com-
pared to overhead line networks. In an overhead line network reactive
power injection leads to an increased voltage, while in a cable network it
(also) causes a phase angle difference. Similarly, a series voltage source
that inserts a quadrature voltage causes a circulating active power flow
FACTS in distribution systems 53
55
56 Chapter 4
50%
a
Coupling busbar
b 50%
c 50%+50%=100%
d
Sum=200%
(a) One feeder supplies the load of an other feeder.
75%+25%=100%
a
Intelligent Node
b 75%+25%=100%
c 75%+25%=100%
d
Sum=300%
(b) All feeders share the load of the affected feeder.
a
b
b) A permanent short-
IN
circuit occurs on feeder
c c.
Figure 4.2a through g show and describe the different events and ac-
tions following a short-circuit in one of the feeder sections. To compare
with the sequence of events in situations without an IN, see Chapter 2.
Functional concept of the Intelligent Node 59
The sequence of events for planned maintenance are the same, with the
exception of steps b) until e), which are skipped, and the supply of the
loads on feeder c is never interrupted. The operation of circuit breakers
is in many networks performed simultaneously on all three phases. In
other medium voltage networks, for example in the Netherlands, how-
ever, the phase-by-phase operation of load-break switches is common,
given the wide-spread application of manually operated, compact epoxy
resin insulated, single-phase switchgear [116], of which an example is
shown in Figure 4.3.
To enable the described events and phases, the IN must be able to:
T-B1 T-B2
1.0 p.u. 1.0 p.u.
B-B T-A1
Option 1, 0.2 p.u. 1.0 p.u.
Ld-B L-BC L-AC1, 1.0 p.u.
0.7 p.u. L-AC2, 1.0 p.u.
L-AC3
B-C
T-A2
PST Ld-C 1.0 p.u.
0.9→1.2 p.u. B-A
T-A3
Option 2, 0.2 p.u.
network, it is expected that, in the future, the load Ld-C will exceed
the capacity of the redundant lines L-AC1 and L-AC2 and transformers
T-A1 and T-A2. Busbar B-B however, still has enough spare capac-
ity to feed the increasing load, but connecting busbars B-B and B-C,
would result in an overloaded line L-BC. This overloading is the result
of equalizing currents that occur due to different circuit impedances of
the two grid areas, different voltage amplitudes and/or different phase
angles. These factors depend on the power system configuration and the
network loading conditions and therefore vary during time. Counteract-
ing the equalizing currents by classical means, involves, for example, the
application of a phase-shifting transformer PST in line L-BC, which is
shown as Option 1. This option is only feasible in networks with a mainly
inductive impedance, such as overhead line networks. The other tradi-
tional method to increase the network capacity is the shown Option 2,
which consists of increasing the capacity of line L-AC and adding a third
transformer T-A3. A side effect of both options is that the maximum
short-circuit current on busbars B-A, B-B and B-C increases.
As an alternative, the application of an IN in line L-BC is proposed,
Functional concept of the Intelligent Node 61
T-B1 T-B2
L-AC2
B-C B-A
T-A2
Ld-C
as shown in Figure 4.5. The IN and line L-BC both have a power rating
of the excess load, i.e. 0.2 p.u. in the shown numerical example. The
IN actively controls the power flow and thus solves the expected power
deficit, while preventing overloading. The IN can control the power flow
independently from power system impedance and voltage differences,
and is thus feasible in both cable and overhead line networks. Depend-
ing on the IN technology, the short-circuit rating of busbars B-A, B-B
and B-C can be maintained the same. Besides the already mentioned
functional requirements, this application does not require any additional
functionality from the IN.
Whether the IN’s ability to supply a radial network area is useful
depends on local load conditions, since the IN is only able to supply a
load Ld-C up to the power ratings of the IN and the line L-BC. This
situation could, for example, occur in a N-2 contingency with both lines
L-AC1 and L-AC2 out of service. An existing back-to-back installation
at Eagle-Pass, Texas, USA, which was described in paragraph 3.3.3.4,
has the ability to supply a radial network. The ability to resume meshed
operation without supply interruption is not reported.
age rise instead of voltage drop on the concerned feeder system. If this
occurs in only some of the feeders that are fed from one busbar, the volt-
age profiles of the connected feeders can possibly no longer be kept within
a certain band by compounding (the operation of the transformers tap
changers, see also paragraph 2.4). This is illustrated in Figure 4.6. To
(a) One feeder has predominantly generation, the other mainly load.
I Loads
Generators
distance →
(b) Resulting feeder current, assuming homogenously distributed loads and DG.
Generators
Vmax
Loads
Vmin
distance →
IN P
I Loads
0
Generators
distance →
Vmax Generators
Loads
Vmin distance →
(c) Voltage profiles are within limits.
Figure 4.7: Voltage profile ’bending’ with the application of a 2-port IN.
current profiles. Power flow calculations show that the voltage profiles
are then ’bent’ towards each other, which makes it possible to bring all
voltages within the network within the required voltage band. Besides
active power, also reactive power can be injected or consumed, resulting
in a similar effect on the voltage profile. The optimal active and reac-
tive power set-points of the IN depend on the loading situation in the
network and on the ratings and impedances of the various components.
The shown example concerns a two-port IN, but the concept can be
expanded to an n-port device. In the following paragraph, a four-port
example application is described.
150/10.5 kV
2x66 MVA
20 %
6900 1900
240Al 150Al
0.08 0.32
4900 400 4600
150Al 150Al 35Cu
0.32 0.04 0.64
1 MVA 2500 500 400
150Al 150Al 150Al
0.16 0.04 0.08
1 3
6600 900 1100
150Al 150Al 150Al P1,Q1 IN P3,Q3
0.08 0.04 0.04
1300 3400 2 4
P2,Q2 P4,Q4
240Al 25Cu 600
0.16 0.04 800 35Cu 1600
35Cu 0.08 35Cu
0.16 0.32
700 3200
3200 1200 95Al 95Al
35Cu 35Cu 0.00 0.08
0.16 0.16
shown in Figure 4.8. The network consists of several cable feeders, each
supplying some loads (cos(φ) = 0.9 inductive), equidistantly connected
to their feeder (not shown). The total load per feeder is shown in the
figure. One 1 MVA generator (cos(φ) = 1.0) is connected to a busbar
in the grid. The rectangle shows the location of the IN, which does not
have storage connected. Three configurations are considered. In config-
uration I, an IN is connected in the indicated location. In configuration
II, the IN is replaced by a busbar, which interconnects the four feeders,
resulting in meshed operation of the network. In configuration III, re-
active power compensation is connected to the busbar of configuration
II.
galvanic path exists to the IN and for which this galvanic path does
not pass through the MV busbar of the HV/MV substation. The node
voltages are calculated by solving the power flow equations, a technique
which is elaborated in many text books, for example in [118]. In this
example the power system analysis tool PowerFactory from DIgSILENT
is used for this task.
In the shown example, this excludes all nodes of the radial network
section connected to the center of the MV busbar of the HV/MV sub-
station. The voltages on the k associated nodes are Van,1 until Van,k .
The optimal voltage profiles in the network occur when the voltage
band of the associated nodes has its minimum value. The objective
function is expressed mathematically as
to P4 , see Figure 4.8. In the example, we assume that the IN does not
contain storage, which reduces the degree of freedom with one, since the
sum of P1 , P2 , P3 and P4 must be equal to zero at all times. The first
three of the seven vectors, S1 until S3 , concern the active power flow
control and are chosen such that this condition is met for all possible
combinations of Si , see Equation (4.2). The remaining four vectors S4
until S7 concern the reactive power flow control and are equal to Q1 until
Q4 , which are independent variables. The resulting seven independent
vectors S1 until S7 are equal to
P1
S1 1 −1/3 −1/3 −1/3 0 0 0 0
−1/3 P2
S2 1 −1/3 −1/3 0 0 0 0
−1/3 P3
S3 −1/3 1 −1/3 0 0 0 0
P4
S4 =
0 0 0 0 1 0 0 0
×
(4.2)
0 Q1
S5 0 0 0 0 1 0 0
0 Q2
S6 0 0 0 0 0 1 0
Q3
S7 0 0 0 0 0 0 0 1
Q4
Starting from the initial condition, with zero active and reactive power
injection by the IN, successively each IN control vector Si is triggered
with a small amplitude dSi and a power flow calculation is performed.
The resulting change dVi of the voltage band is calculated. Performing
this calculation for each vector Si gives the gradient of the objective
function for each vector. Subsequently, a linear combination of S1 until
S7 is applied, where each vector Si has an amplitude that is proportional
to dVi . In this way, per iteration step, the maximum reduction of the
voltage band is obtained by applying a linear combination of the vectors.
Repeating these steps n times results in the optimal settings for the IN
to minimize the voltage band.
Functional concept of the Intelligent Node 67
perform loadflow
apply dSi
perform loadflow
find local gradient
for i=1..7
perform loadflow
respond to changes of load and DG
n iterations
1 1
0.5 0.5
Q2 (Mvar)
Q1 (Mvar)
0 0
-0.5 -0.5
-1 -1
-1 -0.5 0 0.5 1 -1 -0.5 0 0.5 1
P1 (MW) P2 (MW)
1 1
0.5 0.5
Q3 (Mvar)
Q4 (Mvar)
0 0
-0.5 -0.5
-1 -1
-1 -0.5 0 0.5 1 -1 -0.5 0 0.5 1
P3 (MW) P4 (MW)
0.04 1.5
1
Voltage band (p.u.)
0.03
ΣQi (Mvar)
0.5
0.02 0
-0.5
0.01
-1
0 -1.5
10 20 30 40 50 60 10 20 30 40 50 60
iteration n iteration n
Figure 4.11: Configuration I: Iteration path towards optimal IN settings:
active and reactive power set-points, voltage band and total reactive
power injection.
70 Chapter 4
Q
a
Intelligent Node
b Q
c Q
Q
d
Q
a
Intelligent Node
b Q
c Q
Q
d
From the calculation results it can be seen that the short-circuit cur-
rent is limited significantly by the application of the reactors. In the
situation with reactors the short-circuit has a large reactive component,
Functional concept of the Intelligent Node 73
150/10.5 kV
2x66 MVA
20 %
L2
L1 L3 6900 1900
240Al 150Al
0.08 0.32
4900 400 4600
150Al 150Al 35Cu
0.32 0.04 0.64
2500 500 400
150Al 150Al 150Al
0.16 0.04 0.08
1 3
6600 900 1100 Q Q
150Al 150Al 150Al IN
0.08 0.04 0.04
1300 3400 Q 2 4 Q
240Al 25Cu
0.16 0.04 800 600 1600
35Cu 35Cu 35Cu
0.16 0.08 0.32
700 3200
3200 1200 95Al 95Al
35Cu 35Cu 0.00 0.08
0.16 0.16
and due to this the voltage on the main 10.5 kV busbar is not signifi-
cantly different from the base case, where the short-circuit current has a
large active component. The use of reactive power to mitigate the volt-
age dip results in an increase of the remaining voltage at the medium
voltage busbar of around 0.01 p.u. on the non-faulted feeders when no re-
actors are applied. With reactor the voltage dip on the secondary side of
the reactors is mitigated with around 0.017 to 0.029 p.u. Further down
the feeders, at the terminals of the IN, higher mitigation is achieved.
The achieved voltage dip mitigation depends on the maximum amount
of reactive power injection by the IN and on the grid impedance. The
impedance of the reactor is typically not more than several percents,
which means that the maximum induced voltage across the reactor can-
not be more that a few percents either, assuming the reactive power
current stays within the nominal feeder ratings. This limits the applica-
tion of the IN to mitigate voltage dips in cable networks and therefore
it is is likely only a secondary benefit from an IN application for a dif-
ferent use. In overhead line networks, the network impedance is mainly
inductive and reactive power injection by the IN is more useful.
74 Chapter 4
Inductive Q
Inductive Q
Q0
P0/Q0 ∝ R/X
P P0 P
Capacitive
Capacitive
Q
Vac = 1.0 p.u.
Vac = 1.1 p.u.
Imax
This results in a versatile and flexible device to control the power flow.
Power electronic converters typically do not contribute to the short-
circuit current in the network.
4.5 Conclusion
In this chapter three IN applications were discussed:
• Facilitating increased network loading by controlled sharing of re-
dundancy or by controlled power exchange between grid areas.
• Controlling voltage profiles to facilitate integration of distributed
generation.
• Voltage dip mitigation.
It is concluded that facilitating increased loading is the most impor-
tant IN application and that the control of voltage profiles and voltage
dip mitigation only offer limited benefits when compared with alterative
solutions. From the mentioned applications the following functional re-
quirements were formulated:
• Inject or consume an adjustable amount of active and/or reactive
power through each of its AC ports.
• Supply a radial network from any of its AC ports.
• Improve the power quality of the connected networks.
• Optionally: store energy.
78 Chapter 4
In the next chapter, the controls for the most versatile of these topologies
is elaborated, i.e. the multiple back-to-back connected power electronics
converters.
Chapter 5
In order to allow the Intelligent Node (IN) to perform the tasks as de-
scribed in the previous chapter, the IN converters need to be able to
respond quickly to planned and unplanned events in the power system,
such as load changes, short-circuits and the opening and closing of load-
break switches. The ability of the converters to do so, depends, besides
on their ratings, mainly on the controls that drive them. Besides, the
protection system of the IN needs to prevent the IN components and
the power system from over-currents and over-voltages.
In this chapter the implemented IN control and protection algorithms
are described, starting at the converter level in paragraph 5.1, where the
AC current and voltage controllers, the DC voltage controller and the
power flow control algorithm are described. In paragraph 5.2, it is ex-
plained how the IN responds to uncontrolled power system events, such
as the occurrence of a permanent or temporary short-circuit or under-
voltage. Also the protection concept is described here. In paragraph 5.3,
the detailed description is given of the IN behavior during controlled
power system events, such as the transition from supplying a radial net-
work to controlling the power flow in meshed network operation (from
P Q to V control) upon closing of a sectionalizer, and also for the reverse
process after opening of a sectionalizer.
79
80 Chapter 5
quency and phase angle of the voltage on its AC port, and supplies or
consumes the active and reactive power as required to and from the
connected loads and generators. A converter must be operating in P Q
control mode, if it has a synchronous connection to the network that
has voltage amplitude, frequency and phase control, such as the public
power system. A converter must operate in V control mode, when con-
nected to a network that has no voltage amplitude, frequency and phase
control, such as a feeder with only loads, and/or DG that does not have
such controls and follows the grid voltage. In the proposed IN concept,
at least one of the converters of the IN is galvanically connected to the
’central grid’, and operates in P Q control mode, in order to supply the
connected sections and to control the DC bus voltage. In Figure 5.1 an
example of an IN application is given, with the operating mode indi-
cated per converter. In this chapter, it is assumed that a human oper-
Intelligent Node
PQ PQ
V V
Software Hardware
S2
0.5
Feed Forward
.. Cdc
∗ S1 I ∗ Vpwm
Vac PR PR PWM
AC AC
Voltage Current
Controller Controller Iac
Lf
Q∗ Vac
f( ) PQ Controller
P∗
∗2
Vdc DC Voltage Controller
PI
Vdc Cf
x2
1 e−sTs /2
= e−sTs = sT /2 (5.1)
z e s
Expanding the numerator and denominator into their equivalent Taylor
series results in
P∞ (−sTs /2)n
1
= Pn=0 n!
(sTs /2)m
z ∞
m=0 m! (5.2)
1 − 2 sTs + 41 (sTs )2 − 12
1 1 1
(sTs )3 + 48 1
(sTs )4 − 240 (sTs )5 + ...
=
1 + 21 sTs + 41 (sTs )2 + 12
1 1
(sTs )3 + 48 1
(sTs )4 + 240 (sTs )5 + ...
82 Chapter 5
1 + 21 sTs
z≈ (5.3)
1 − 21 sTs
-10 HP R (s)
Tustin transformation
-20
Gain (dB)
-30
-40
HP R (s)
Tustin transformation
50
Angle (degrees)
-50
function, as applied in the practical set-up. The solid line is the transfer
function in the s domain, while the dots indicate the s domain equiva-
lent of the z domain implementation. The control error introduced by
the discretization is negligible.
HP R (s)
0 Tustin transformation
-10
Gain (dB)
-20
-30
-40
HP R (s)
Tustin transformation
50
Angle (degrees)
-50
P ∗ = vα i∗α + vβ i∗β
(5.5)
Q∗ = −vβ i∗α + vα i∗β
This method only works perfectly for balanced and sinusoidal AC volt-
ages. In case of voltage unbalance, higher harmonic components are in-
troduced in the reference currents. These harmonics appear due to the
fact that voltage unbalance causes the denominator of Equation (5.6) to
be not constant in time. To inject active and reactive power that is asso-
ciated only to the positive-sequence voltage, the harmonic voltages and
the negative-sequence component are removed from the measured volt-
age, by using a low-pass filter and by substracting the negative-sequence
from the measured voltage signal, using the output of the negative-
sequence stationary αβ reference frame filter shown in Fig. 5.5. The
parameter ω1 is the grid frequency and ωb is the bandwidth of the filter.
1
vα ωb
s vα−
ω1
ω1
vβ ωb 1
s vβ−
PWM signal to 1
Hinv (s) = Vdc (5.7)
AC current sLf
AC current to 1
Hload (s) = (5.9)
AC voltage (incl. sCf + Yload
resistive load P , with
inductive load QL
and capacitive 1 QL · 100π QC
Yload = 2
(P + +s ) (5.10)
load QC ) Vac s 100π
2
Active power to Vdc 1
Hdc (s) = = (5.11)
DC bus voltage P sCdc
PI DC voltage Kivdc
HP Ivdc (s) = Kpvdc + (5.14)
controller s
88 Chapter 5
40
HP I (s)
30 Tustin transformation
20
Gain (dB) 10
-10
-20
10−2 100 102
f (Hz)
0 HP I (s)
Tustin transformation
Angle (degrees)
-20
-40
-60
-80
time delay between the start of the voltage dip and the moment that
the calculated residual voltage amplitude falls below 0.9 p.u. This delay
is calculated for synthetic dips with different amplitudes, starting at
different phase angles and with different phase angle jumps.
fs
with N = 2f 0
, fs the sampling frequency of the digitization, f0 the
grid frequency of 50 Hz and n the moment for which the r.m.s. value
is calculated. Calculations were performed for different voltage dips
and Figure 5.7 shows the resulting delay. The delay for shallow dips
0.9
0.8
0.7
Residual voltage (p.u.)
0.6
-90◦
0.5 -70◦
-50◦
-30◦
0.4 -10◦
10◦
0.3 30◦
50◦
70◦
0.2 90◦
PAJ
0.1
0 2 4 6 8 10
Detection delay (ms)
Figure 5.7: Calculation delay for single-phase r.m.s. detection method
for voltage dips of different residual voltage, starting at different phase
angles. The thick line indicates the extreme values for phase angle jumps
(PAJ) between −90° and 90°.
lasts up to 10 ms, while for deeper dips this value decreases to 5 ms.
For voltage dips that are only 0.01 p.u. deeper than the threshold, the
delay can increase up to 18 ms, depending on the phase angle jump
90 Chapter 5
during the dip. Depending on the angle at which the dip starts and the
magnitude of the phase angle jump, the detection delay can be smaller.
This method can be applied to each phase, resulting in three separate
amplitude signals, one per phase. Although this method is not fast
enough to allow the IN to control the voltage fast enough to eliminate
frag replacemen
any voltage dip completely (after 10 ms a voltage lower than 0.9 p.u.
is called a voltage dip), it is a method that provides a stable voltage
amplitude signal.
0.9
0.8
0.7
Residual voltage (p.u.)
0.6
0.5
0.4 0◦
10◦
0.3 20◦
30◦
40◦
0.2 50◦
PAJ
0.1
0 2 4 6 8 10
Detection delay (ms)
Figure 5.8: Calculation delay for three-phase rectification method for
voltage dips of different residual voltage, starting at different phase an-
gles. The thick line indicates the extreme values for phase angle jumps
(PAJ) between −90° and 90°.
calculated delay, for similar conditions as above, except here the dip
is simultaneously applied to three phases. The calculations were per-
formed for starting angles in a smaller range, because of the three-phase
symmetry. The calculated delay is less dependent on the angle at which
the dip starts and is also smaller, when compared to the single-phase
r.m.s. method. The method results in one amplitude signal for all three
phases. During unbalanced voltage sags, the resulting amplitude signal
Intelligent Node control and protection 91
age dip and comparing it with a value of 0.9 p.u. results in the calculation
delay times as shown in Figure 5.9. The resulting delay is negligible for
0.9
0.8
0.7
Residual voltage (p.u.)
0.6
0.5 -90◦
-70◦
-50◦
0.4 -30◦
-10◦
0.3 10◦
30◦
50◦
0.2 70◦
90◦
0.1
0 2 4 6 8 10
Detection delay (ms)
Figure 5.9: Calculation delay for αβ domain detection method for bal-
anced three-phase voltages dips of different residual voltage, starting at
different phase angles.
voltage dips deeper than 0.85 p.u. residual voltage and very small for
92 Chapter 5
voltage dips between 0.85 p.u. and 0.9 p.u. In other words, this method
allows an almost instantaneous determination of the residual voltage of
a balanced voltage dip. The method is, for balanced dips, insensitive to
phase angle jumps. Similar to the three-phase rectification method, an
unbalanced voltage dip causes harmonics in the calculated signal, also
here intermittently exceeding 0.9 p.u. or even 1.0 p.u. during dips with
a residual single-phase r.m.s. voltage a little lower than 0.9 p.u. Strong
filtering would be required to remove these harmonics, rendering the
method too slow for adequate detection and mitigation of unbalanced
voltage dips. Also this method is rejected given the unbalanced nature
of many voltage dips.
To allow the IN to control reactive power injection during a voltage
dip it needs an adequate residual voltage magnitude signal. Since many
voltage dips are unbalanced, the αβ domain method and the three-phase
rectification method are unsuitable. In order to be able to mitigate both
unbalanced and unbalanced dips, the per-phase r.m.s. method is most
suited to determine the voltage amplitude and detect voltage dips.
V Q∗ V
Vmax
∗
V∗
Vmin
∗
Freely
Adjustable
∗
Vmax
Vac,error
Vac PI
∗
Vmin
to P Q Controller
Q∗
Figure 5.11: Proposed PI controller with deadband, for voltage dip and
swell mitigation.
Figure 5.10b. When comparing the two control types, the PI controller
with a deadband has the advantage that it allows the IN to freely control
P and Q when there is no need for local voltage control, while it offers
the most accurate voltage reference tracking. For this reason, the PI
controller with deadband is implemented in the practical set-up of this
thesis. The voltage reference values Vmin∗
and Vmax
∗
are set to 0.9 p.u.
and 1.1 p.u. respectively, which ensures maximum voltage dip and swell
mitigation. The control speed of the feedback loop, which is defined by
the PI controller constants, must be not too high because of the limited
speed at which the voltage amplitude is determined. When using the
0.5 cycle r.m.s. method, the typical delay time is 10 ms.
The proposed reactive power support method is implemented in the
practical set-up of this thesis. In the practical tests only balanced dips
are used. To mitigate unbalanced voltage dips, the reactive power injec-
tion must be controlled per phase, which is not further examined in this
research. For unbalanced reactive power support the reader is referred
to research results from simultaneously performed research at Eindhoven
94 Chapter 5
This can, in its turn, trip all converters, and thus the entire IN. During
a temporary AC under-voltage, i.e. a voltage dip, the function of the IN,
when in P Q control mode, is to mitigate the under-voltage by injecting
reactive power into the grid. If an under-voltage occurs due to a fault
that is located on the network that the IN converter is connected to,
the inverter is tripped. This situation can be recognized because the
under-voltage lasts longer than the normal fault clearing time of the
power system and because of exceeding the fault ride-through curve that
the IN must respect. If the converter is in V control mode, supplying
a radial grid area, an under-voltage indicates the presence of a short-
circuit. Since the IN converters are current controlled and the output
currents are limited, the IN only feeds a limited amount of short-circuit
current into the fault. The detection of a fault is therefore not based on
over-current, but on under-voltage lasting longer than a certain time.
After this time, the applicable converter is tripped and a power outage
occurs on the radial network. As an alterative method, which allows the
continuation of the currently implemented philosophy of short-circuit
detection by over-current, an additional device can be used, which has
as its sole purpose to supply the fault current, and thus trip the relevant
protection devices. A prototype of such a device was presented in [133].
A more elaborate discussion of networks that can become an island and
on the different adaptive protection system settings for islanded and
grid-connected operation can be found in [134].
island. This can, for example, occur after a permanent fault in one
of the IN-connected feeders. If the technical means to control voltage
amplitude and frequency are available within the resulting island, and
the role of system operator, who is responsible for the balance of load
and generation, is defined within the resulting island, the island could
remain energized. Here we assume that, in case of unplanned islanding,
de-energization of the island is required. In paragraph 5.3.2 the situ-
ation is treated where the network must stay energized after planned
islanding. In Chapter 4, these two possibilities were discussed in more
detail. For the protection against unintentional islanding the network
frequency is measured. An over- or under-frequency indicates a situation
of islanding, since the power system frequency becomes arbitrary after
it is no longer defined by the power system. This is a characteristic from
the P Q controller, which calculates the current wave shape from the
voltage wave shape. If the voltage wave shape is no longer defined, the
IN output current has no longer the normal grid frequency, causing the
converter output voltage to further deviate from 50 Hz. When islanding
is unintentional, the IN is tripped and disconnected from the power sys-
tem. In case of intentional islanding, the converter needs to change its
operating mode and must start controlling the voltage, instead of the
power flow.
L1 L2
1 Duration:
21:10h
P (|f − f0 | > ∆f )
Density (%)
40 Period:
Friday
0.5 20090207
20 16h02
until
Saturday
0 0 20090208
49.9 49.95 50 50.05 0 0.05 0.1 13h13
f (Hz) ∆f (Hz)
1 Duration:
1:36h
P (|f − f0 | > ∆f )
Density (%)
40 Period:
Monday
0.5 20090202
20 12h09
until
13h45
0 0
49.9 49.95 50 50.05 0 0.05 0.1
f (Hz) ∆f (Hz)
1 Duration:
1:58h
P (|f − f0 | > ∆f )
Density (%)
40 Period:
Monday
0.5 20090202
20 16h22
until
18h20
0 0
49.9 49.95 50 50.05 0 0.05 0.1
f (Hz) ∆f (Hz)
1 Duration:
8:24h
P (|f − f0 | > ∆f )
Density (%)
40 Period:
Wednesd.
0.5 20090204
20 9h56
until
17h30
0 0
49.9 49.95 50 50.05 0 0.05 0.1
f (Hz) ∆f (Hz)
1 Duration:
0:10h
P (|f − f0 | > ∆f )
Density (%)
40 Period:
Monday
0.5 20090209
20 7h26
until
7h36
0 0
49.9 49.95 50 50.05 0 0.05 0.1
f (Hz) ∆f (Hz)
ωt ∆φ
Vac ω PI
detect
|V | LB PLL
opening
to S1 and S2
ttr
ωnom |V | sin(ωt + φ) Vac∗
|Vnom|
φnom
ǫ
K ω0 1
v s v′
LPF
1 ω0
s
vq′
i∗c i∗αβ
PR i∗c,q f()
OSG
the OSGs, which are part of the controller, work as a band-pass filter
around 50 Hz, which ensures that the frequency of the reference current
is around that value. These controller characteristics make the positive-
sequence voltage amplitude the best parameter to detect the opening of
LB2-B. This signal is obtained from the measured voltages using the fil-
ter shown in Figure 5.17 and compared with threshold values of 0.9 p.u.
1
vα ωb
s vα+
ω1
ω1
vβ ωb 1
s
vβ+
and 1.1 p.u. Since the power system is without a reference to earth
and without a neutral conductor, the opening of phase B also interrupts
the path for current through phase A (effects associated to parasitic
impedances to ground are neglected). Therefore, the subsequent open-
ing of phase A does not change the operating conditions for the converter
and no further converter mode change is required after opening of phase
A.
Intelligent Node
Area 1 LB1 F1 LB2 F2 Area 2
L1 L2
P ∆φinv
remote comm. Q
measurements delay
|V |inv
Vac |V |LB
P φLB ωtLB ∆φ
Q tmeas. PI
ω
GPS PLL
GPS
sync. command
ttr
|Vnom | |V | sin(ωt + φ) Vac∗
ωnom
φnom
measurements are performed of the power flow situation and voltage am-
plitude, frequency and phase, and provided with a time-stamp obtained
from a GPS (global positioning system) receiver. From these measure-
ments and using the network topology, the voltage amplitude and phase
angle at the location of LB2 are calculated. This information, which is
the target voltage on the IN side of LB2, is transmitted to the IN loca-
tion, where it is received with an arbitrary, but limited communication
delay. From the locally measured active and reactive power injection,
and the target voltage amplitude at the LB2 location, the required con-
verter voltage amplitude is calculated, as well as the phase shift across
the impedance between the converter and LB2. From the received fre-
quency and phase angle information, the measurement time-stamp and
a locally received GPS signal, a sawtooth signal is reconstructed that
represents the phase angle of the voltage on the grid side of LB2. After
receiving the synchronization command, which announces the planned
closing of LB2, the amplitude and frequency of the voltage reference sig-
nal are changed from the fixed nominal values, to the calculated values
that are described above, in ttr seconds. Subsequently, the phase angle
of the reference voltage is controlled with a PI controller, resulting in a
voltage at the IN side of LB2 that is equal to the voltage on the grid
side of LB2.
with the sample time Ts =100 ms and fi the ith measured fre-
quency value. The maximum absolute angle deviation is deter-
mined for the entire time window. This time window is repeatedly
shifted one measurement sample, while the calculation is repeated,
until the end of the frequency measurement has been reached. The
100 ms sample time of the frequency measurements was chosen to
have negligible effect on the error on the calculation of the actual
angle.
0.4
0.2
0
0 5 10 15 20
Update interval (s)
PG,QG XG RG VL
VG
load
the complex voltages VG and VL on the two sides of the feeder with
impedance XG and RG and load with active and reactive power PG and
QG is
RG PG + XG QG XG PG + RG QG
VL = VG − −j (5.17)
VG VG
detect
PSfrag replacemen
Iac Irms LB
P closing
Vac Q
ttr
to P Q controller
P∗
Q∗
5.4 Conclusion
In this chapter the basic IN converter controls are given, followed by a
description of the control and protection structures that allow the con-
verter to perform its task during unplanned and planned power system
events, without being damaged or damaging power system components.
The first category, unplanned events, includes the mitigation of voltage
dips. The second category, planned power system events, consists of the
energization and de-energization of the IN and the disconnection and
(re)connection of grid areas using the IN. To support the disconnection
and (re)connection of grid areas the IN detects the opening or closing
of a remote load-break switch by observing locally measured signals.
After detection of the load-break switch operation the applicable con-
verter control structure is changed. The proposed control algorithms
support both the phase-by-phase operation of load-break switches as
well as the simultaneous opening and closing of all three poles. For the
connection of grid areas an important characteristic is the synchroniza-
tion before load-break switch closing. Since remote voltage amplitude,
frequency and phase angle information is assumed to be only period-
ically available, the level of frequency variations in the ’central power
grid’ is important. By evaluating frequency measurements in the public
network, the maximum synchronization interval was determined.
Chapter 6
Laboratory-scale demonstration
115
116 Chapter 6
Filter
Converter 1 Converter 2
Rotating
DC bus DC Source
1 I∗
I
I (p.u.)
-1
1 I∗
I
I (p.u.)
-1
1 I∗
I
I (p.u.)
0
-1
1 I∗
I
I (p.u.)
-1
1 V∗
V
V (p.u.)
0
-1
1 V∗
V
V (p.u.)
-1
this test, the rotating DC generator supplies the DC bus. The simulated
and measured AC voltages responses are shown in Figure 6.7. The load
1 V∗
V
V (p.u.)
-1
1 V∗
V
V (p.u.)
-1
connection leads to a voltage dip of around 0.15 p.u. and the voltage is
Laboratory-scale demonstration 123
0.5
Pdc (p.u.)
-0.5
-1
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35
t (s)
(a) Active power (measurement).
1.04
Vdc (p.u.)
1.02
0.98
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35
t (s)
(b) DC voltage (measurement).
6.3.1 Synchronization
The synchronization process consists of ensuring equal frequency, phase
angle and amplitude of the voltages on the grid side and on the converter
side of the load-break switch LB2, before closing it. Due to the varying
frequency of the public electricity network, a critical parameter of the
synchronization is the (constantness of the) phase angle difference be-
tween the two voltages. To minimize this parameter, a synchronization
concept was presented in the previous chapter. To verify the adequate-
ness of the proposed 4 s synchronization update interval and method, the
phase angle between the grid voltage and the reference voltage Vac ∗
of
Figure 5.19 was recorded every 10 ms during one hour while the synchro-
nization mechanism is activated. During the measurement, the network
frequency changes due to supply and demand balancing. The angle dif-
ference between the voltage reference signal and the actual voltage as
generated by the converter is considered to be negligible. During the
measurements, a remote frequency and phase angle measurement inter-
val of 2.5 s was used, and a communication delay of 1 s. Together with
the 0.5 s that it takes for the PI controller to reach steady state, this re-
sults in the proposed ’synchronism update’ interval of 4 s. A histogram
of the measured phase angle difference is shown in Figure 6.9, which
confirms that the use of a ’synchronism update’ interval of 4 s results in
a phase angle error smaller than 10°.
10
Percentage (%)
6
0
-15 -10 -5 0 5 10 15
∆φ (◦ )
1
Iabc,rms (p.u.)
0.5
PSfrag replacemen
0
0 0.05 0.1 0.15 0.2
t (s)
(a) R.m.s. converter currents (measurement).
1 Grid-side
0.5 Converter-side
Vab (p.u.)
0
-0.5
-1
0 0.05 0.1 0.15 0.2
t (s)
(b) Phase-to-phase voltages Vab on both sides of load-break
switch LB2 (measurement).
1
I (A)
-1
In Figure 6.11a the converter current is shown for the situation that
a 0.9 p.u. load is connected in Area 2. In Figure 6.11b the results are
shown for the same network conditions, but on a larger time scale, illus-
trating the gradual change of the power reference value after load-break
switch closing. The experimentally observed detection times for the
loaded Area 2 are shorter or similar to those found for an unloaded net-
work. Detection takes place within a few cycles, without visible voltage
disturbances.
Laboratory-scale demonstration 127
Iabc,rms (p.u.)
0.5
0
0 0.05 0.1 0.15 0.2
t (s)
(a) R.m.s. converter currents (measurement).
1
Iabc,rms (p.u.)
0.5
0
0 0.5 1 1.5 2
t (s)
(b) Transition to zero power exchange (measurement).
Figure 6.11: Three-phase closing of LB2, Area 2 has 0.9 p.u. load.
0.4
I − (p.u.)
0.3
0.2
PSfrag replacemen
0.1
0
0 0.05 0.1 0.15 0.2
t (s)
(a) Negative-sequence converter current (measurement).
1 Grid-side
0.5 Converter-side
Vbc (p.u.)
0
-0.5
-1
0 0.05 0.1 0.15 0.2
t (s)
(b) Phase-to-phase voltages Vab on both sides of load-break
switch LB2 (measurement).
1
0.5
I (p.u.)
0
-0.5
-1
0 0.05 0.1 0.15 0.2
t (s)
(c) Current phase A load-break switch LB2 (measurement).
ation are shown in Figure 6.13. The simulation results illustrate that
both detection signals are needed: in the unloaded network the negative-
sequence current reaches its theshold first, while in the loaded network
the r.m.s. phase currents reach the threshold value first. As a further
illustration of this, Figure 6.14 shows the results of an experiment where
only the negative-sequence current is used for detection in a loaded net-
work: the resulting detection time exceeds 2 s. The time until detection
is influenced by the frequency fluctuations in the low voltage network
and by the activated synchronization mechanism that tries to maintain
the deliberate 5° phase angle, using periodically received frequency and
phase angle information.
Laboratory-scale demonstration 129
1 I−
Iabc,rms
I (p.u.)
0.5
0
0 0.05 0.1 0.15 0.2
t (s)
(a) Converter currents unloaded Area 2 (simulation).
1 I−
Iabc,rms
I (p.u.)
0.5
0
0 0.05 0.1 0.15 0.2
t (s)
(b) Converter currents loaded Area 2 (simulation).
0.4
I − (p.u.)
0.3
0.2
0.1
0
0 0.5 1 1.5 2
t (s)
Irms (p.u.)
0.5
PSfrag replacemen
0
0 0.05 0.1 0.15 0.2
t (s)
(a) Converter phase currents (simulation).
1
Grid-side
0.5 Converter-side
Vbc (p.u.)
0
-0.5
-1
0 0.05 0.1 0.15 0.2
t (s)
(b) Load-break switch phase-to-phase voltage (simulation).
1
Irms (p.u.)
0.5
PSfrag replacemen
0
0 0.05 0.1 0.15 0.2
t (s)
(a) Converter phase currents (simulation).
1
Grid-side
0.5 Converter-side
Vbc (p.u.)
0
-0.5
-1
0 0.05 0.1 0.15 0.2
t (s)
(b) Load-break switch phase-to-phase voltage (simulation).
described how the required angle and amplitude of the deliberate volt-
age difference is determined. As an illustration of the importance of this
voltage difference, Figure 6.17 shows the measured converter currents
when no deliberate voltage angle is applied. The detection time is more
Laboratory-scale demonstration 131
Irms (p.u.)
0.5
0
0 0.5 1 1.5 2
t (s)
Load Current
51
50.5
f (Hz)
50
1 Grid-side
0.5 Converter-side
Vab (p.u.)
1 Grid-side
0.5 Converter-side
Vab (p.u.)
1 Grid-side
0.5 Converter-side
Vab (p.u.)
0
-0.5
-1
0 0.05 0.1 0.15 0.2
t (s)
(d) Area 2 with 0.9 p.u. load, P ∗ = 0.9 p.u., Q∗ = 0 (mea-
surement).
0.05
PSfrag replacemen
0
0 0.5 1 1.5 2
t (s)
(a) Negative-sequence voltage (measurement).
1 Grid-side
0.5 Converter-side
Vbc (p.u.)
0
-0.5
-1
0 0.05 0.1 0.15 0.2
t (s)
(b) Load-break switch phase-to-phase voltages (no load,
measurement).
No Load
1.1 0.94 p.u.
VC+ (p.u.)
0.9
0.8
0 0.5 1 1.5 2
t (s)
(a) Positive-sequence converter voltage (measurement).
1
0.5
Vbc (p.u.)
0
-0.5
Grid-side
-1 Converter-side
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
t (s)
voltage and the voltages at the location of the load-break switch. Again,
the observed voltage dip is a characteristic of the voltage controller.
Detection takes place within around 0.5 s. The subsequent opening of
LB2-A has no effect.
136 Chapter 6
1.2
1
V (p.u.)
0.8
No Mitigation
0.6
Mitigation
0 0.05 0.1 0.15 0.2
t (s)
(a) Voltage amplitude (measurement).
0.5
Q (p.u.)
-0.5
-1
0 0.05 0.1 0.15 0.2
t (s)
(b) Reactive power injection (measurement).
1.2
V (p.u.)
0.8
No Mitigation
0.6
Mitigation
0 0.05 0.1 0.15 0.2
t (s)
(a) Voltage amplitude (measurement).
0.5
Q (p.u.)
-0.5
-1
0 0.05 0.1 0.15 0.2
t (s)
(b) Reactive power injection (measurement).
1.2
1
V (p.u.)
0.8
No Mitigation
0.6
Mitigation
0 0.05 0.1 0.15 0.2
t (s)
(a) Voltage amplitude (measurement).
1
0.5
Q (p.u.)
0
-0.5
-1
0 0.05 0.1 0.15 0.2
t (s)
(b) Reactive power injection (measurement).
6.6 Conclusion
In this chapter, the Intelligent Node concept and controls, which were
described in the previous chapters, are demonstrated using experiments
in a laboratory-scale set-up. After a brief description of the set-up, the
138 Chapter 6
7.1 Conclusions
Background. Nowadays society is more than ever dependent on en-
ergy, and thus demands a high reliability of its energy supply. At the
same time environmental concerns stimulate the reduced and more sus-
tainable use of energy. Together with the concern over the increasing
scarcity of fossil energy sources and the wish to not be politically depen-
dent for energy needs, this leads to an increased use of renewable energy
resources, which are often dispersed by nature. In electrical power sys-
tems such distributed generation units influence the operation of existing
protection and voltage regulation systems, power quality, stability and
safety. Up to a level of about 20 % of the maximum load it is generally
possible to absorb energy from DG units in the electricity distribution
network without major costs. The penetration level in many networks
is still below this limit, but this will change.
Simultaneously with the changing generation mix, in recent years
the tasks of generation, transmission, distribution and delivery of elec-
trical energy were unbundled and the roles of network operator, supplier,
producer and trader were defined. This has resulted in increasing com-
plexity and uncertainty in the planning and operation of power systems.
139
140 Chapter 7
7.3 Recommendations
Scaling effects. Back-to-back applications in medium and high volt-
age networks already exist, so only those aspects that are exclusive to the
IN concept require practical verification. In this thesis this verification
was performed using a low voltage laboratory-scale model. A theoreti-
cal analysis was made of the scale-effect that occurs for applications at
higher voltage levels. Before application in public medium voltage net-
works, further experimental verification is needed in a controlled medium
voltage laboratory environment. The focus of such experiments must be
on power quality effects and quality of detection.
[2] ——, “Special report on climate change and the carbon economy,”
December 5-11, 2009.
147
148 References
[36] F. Caleno, “The Enel Smart Info - A first Smart Grids step to
addressing in-home energy efficiency,” in Proc. CIRED, 2009.
150 References
[48] B. Roberts, “Capturing grid power,” IEEE Power & Energy Mag-
azine, vol. 7, no. 4, pp. 32–41, 2009.
References 151
[98] CIGRE WG 38.01, Task Force No. 2 on SVC, “Static var compen-
sators,” 1986.
[99] P. Dusan, “Use of HVDC and FACTS,” Proc. of the IEEE, vol. 88,
no. 2, pp. 235–245, 2000.
[108] ABB, “HVDC & SVC Light - Reference list,” Project reference
brochure, 2005.
[109] M. Weinhold, H. Werner, and M. Erath, “Power under control
with SIPLINK,” in Proc. CEPSI, 2000, pp. 1–8.
156 References
[112] Siemens, “Solution for utilities: city network Ulm ”SIPLINK for
peak load exchange”,” Project reference brochure, Germany, 2003.
[133] F. van Overbeeke, “Fault current source to ensure the fault level
in inverter-dominated networks,” in Proc. CIRED, 2009.
Abbreviation Meaning
AC alternating current
B2B back-to-back
CHP combined heat and power
DC direct current
DG distributed generation
DNO distribution network operator
DSM demand side management
DSP digital signal processor
D-FACTS distribution system FACTS
D-SSSC distributed static synchronous series compensator
DVR dynamic voltage restorer
EMC electromagnetic compatibility
EMVT elektromagnetische vermogenstechniek
(electromagnetic power technology)
ENTSO-E European Network of Transmission System
Operators for Electricity
ETP European Technology Platform
EU European Union
FACTS flexible AC transmission systems
FPGL Flexible Power Grid Lab
GPS global positioning system
GTO gate turn-off thyristor
HTS hybrid transfer switch
HV high voltage
HVDC high voltage direct current
IGBT insulated gate bipolar transistor
IGCT integrated gate commutated thyristor
IN intelligent node
Continued on next page
159
160 Abbreviations, symbols and notations
Abbreviation Meaning
IOP innovatiegerichte onderzoeksprogramma’s
(innovation oriented research programmes)
IPFC inter-line power flow controller
ITIC Information Technology Industry Council
LB load-break switch
LDC line drop compensation
LV low voltage
MCT MOS controlled thyristor
MOS metal oxide semiconductor
MOSFET MOS field-effect transistor
MV medium voltage
OHL overhead line
OLTC on-load tap changer
OSG orthogonal system generator
P proportional
PE power electronic
PI proportional integral
PLL phase locked loop
PMU phasor measurement unit
PR proportional resonant
PQ power quality
PST phase shifting transformer
PV photovoltaic
PWM pulse width modulation
QB quadrature booster (transformer)
RES renewable energy source
r.m.s. root mean square
SiC silicon carbide
SSLTC solid-state load tap-changer
SSSC static synchronous series compensator
STATCOM static synchronous compensator
STATCON static condensor
STS static transfer switch
SVC static var compensator
TCSC thyristor controlled series capacitor
TSO transmission system operator
UCTE Union for the Co-ordination of
Transmission of Electricity
UPFC unified power flow controller
Abbreviations, symbols and notations 161
Symbol Meaning
δ angle between sending and receiving end voltages (rad)
φ angle between active and apparent power vectors (rad)
ω frequency (rad/s)
C capacitance (F)
f frequency (Hz)
i time domain current (A or p.u.)
I current amplitude (A or p.u.)
I complex current (A or p.u.)
Ki integral gain
Kp proportional gain
L inductance (H)
P active power (W or p.u.)
Pst short-term flicker
Q reactive power (var or p.u.)
R resistance (Ω)
S complex apparent power (VA or p.u.)
Sk short circuit power (VA)
v time domain voltage (V or p.u.)
V voltage amplitude (V or p.u.)
V complex voltage (V or p.u.)
x distance, length (m)
Z impedance (Ω)
Notation Meaning
α,β α or β axis of stationary αβ reference frame
a,b,c phase a, b or c
ac alternating current
cc current controller
dc direct current
rms root mean square
vac ac voltage controller
0
zero sequence
−
negative sequence
+
positive sequence
∗
reference value
∗
complex conjugate
Appendix A
which results, for a sinusoidal voltage and a load with power factor
cos(φ), in a DC current equal to
1 √ √
idc (t) = 2V1 sin(ωt) 2I1 sin(ωt − φ)
Vdc
(A.2)
V1 I1
= (cos(φ) − cos(2ωt − φ))
Vdc
The DC current consists of a constant part, corresponding to the amount
of active power taken on the AC side, and a pulsating component with
a frequency that is twice the AC system power frequency.
163
164 Appendix A
We repeat the same analysis for a three-phase converter, for which with
the instantaneous power balance expressed as
vdc (t)idc (t) = v1 (t)i1 (t) + v2 (t)i2 (t) + v3 (t)i3 (t) (A.3)
with Vac and I + the r.m.s. values of the balanced phase-to-ground volt-
age and positive sequence phase current. Substituting cos(φ) = 0 (only
reactive power supply or consumption) in Equation (A.4) results in zero
current taken from the DC bus. With the mentioned assumptions, re-
active power supply or consumption does not affect the DC bus voltage
and can be controlled independently for each converter. Active power
exchange results in a constant current in the DC bus.
equal to
√ √
2V1 sin(ωt) √2I1 sin(ωt − φ)
1 √
idc (t) = +√2V2 sin(ωt − 120◦ )√2I2 sin(ωt − 240◦ − φ)
Vdc
+ 2V3 sin(ωt − 240◦ ) 2I3 sin(ωt − 120◦ − φ)
V1 I1 (cos(φ) − cos(2ωt − φ))
1
= +V2 I2 (cos(120◦ + φ) − cos(2ωt − φ))
Vdc
+V3 I3 (cos(240◦ + φ) − cos(2ωt − φ))
cos(φ) − cos(2ωt − φ)
Vac I −
= + cos(120◦ + φ) − cos(2ωt − φ)
Vdc
+ cos(240◦ + φ) − cos(2ωt − φ)
−Vac I −
= 3 cos(2ωt − φ)
Vdc
(A.5)
with Vac and I − the r.m.s. values of the balanced phase-to-ground volt-
age and negative sequence phase current. The DC current consists only
of a pulsating component with a frequency that is twice the AC system
power frequency.
with Vac and I 0 the r.m.s. values of the balanced phase-to-ground voltage
and zero sequence phase current. A zero sequence component in the AC
current does not affect the DC bus: the DC current due to this current
is equal to zero.
Appendix B
Figures
B.1 AC current and AC voltage controller responses. . . . 168
B.2 AC and DC voltage controller responses. . . . . . . . 169
B.3 Three-phase connection of unloaded Area 2. . . . . . . 170
B.4 Three-phase connection of loaded Area 2. . . . . . . . 171
B.5 Connection of phase B of unloaded Area 2. . . . . . . 172
B.6 Connection of phase B of loaded Area 2. . . . . . . . 173
B.7 Connection of phase C of unloaded Area 2. . . . . . . 174
B.8 Connection of phase C of loaded Area 2. . . . . . . . 175
B.9 Three-phase disconnection of unloaded Area 2. . . . . 176
B.10 Three-phase disconnection of loaded Area 2. . . . . . 177
B.11 Disconnection of phase C of unloaded Area 2. . . . . . 178
B.12 Disconnection of phase C of loaded Area 2. . . . . . . 179
B.13 Disconnection of phase B of unloaded Area 2. . . . . . 180
B.14 Disconnection of phase B of loaded Area 2. . . . . . . 181
B.15 Mitigation of 12, 15 and 20 % voltage dips. . . . . . . 182
B.16 Mitigation of 30 and 50 % voltage dips and 17 % swell. 183
167
1 I∗ 1 I∗
168
I I
0 0
I (p.u.)
I (p.u.)
-1 -1
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08
t (s) t (s)
(a) Step change of active power set-point (sim.). (b) Step change of active power set-point (meas.).
1 I∗ 1 I∗
I I
0 0
I (p.u.)
I (p.u.)
-1 -1
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08
t (s) t (s)
(c) Step change of reactive power set-point (sim.). (d) Step change of reactive power set-point (meas.).
1 V∗ 1 V∗
V V
0 0
V (p.u.)
V (p.u.)
-1 -1
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08
t (s) t (s)
(e) Step change of voltage amplitude set-point (sim- (f) Step change of voltage amplitude set-point (mea-
ulation). surement).
V (p.u.)
V (p.u.)
-1 -1
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08
t (s) t (s)
(a) Connection of 0.9 p.u. resistive load (simulation). (b) Connection of 0.9 p.u. resistive load (measure-
ment).
1
1.04
0.5
1.02
0
1
Vdc (p.u.)
Pdc (p.u.)
-0.5
0.98
-1
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35
t (s) t (s)
(c) Connection of 0.67 p.u. resistive load (measure- (d) Connection of 0.67 p.u. resistive load (measure-
Simulations and experimental results practical set-up
ment). ment).
1 1
0.5 0.5
Irms (p.u.)
Iabc,rms (p.u.)
PSfrag replacemen PSfrag replacemen
0 0
0 0.05 0.1 0.15 0.2 0 0.05 0.1 0.15 0.2
t (s) t (s)
1 1 Grid-side
Grid-side
0.5 Converter-side 0.5 Converter-side
0 0
Vbc (p.u.)
Vab (p.u.)
-0.5 -0.5
-1 -1
0 0.05 0.1 0.15 0.2 0 0.05 0.1 0.15 0.2
t (s) t (s)
(c) Load-break switch voltages (simulation). (d) Load-break switch voltages (measurement).
0.5 0.5
Irms (p.u.)
Iabc,rms (p.u.)
0 0
0 0.05 0.1 0.15 0.2 0 0.05 0.1 0.15 0.2
t (s) t (s)
1 1
0.5 0.5
Irms (p.u.)
Iabc,rms (p.u.)
0 PSfrag replacemen 0
0 0.5 1 1.5 2 0 0.5 1 1.5 2
t (s) t (s)
(c) Converter current, longer timescale (simulation). (d) Converter current, longer timescale (measure-
ment).
1
Grid-side
0.5 Converter-side
0
Simulations and experimental results practical set-up
Vbc (p.u.)
-0.5
-1
0 0.05 0.1 0.15 0.2
t (s)
1 I−
Iabc,rms 0.4
0.3
0.5 0.2
I (p.u.)
I − (p.u.)
PSfrag replacemen PSfrag replacemen 0.1
0 0
0 0.05 0.1 0.15 0.2 0 0.05 0.1 0.15 0.2
t (s) t (s)
1 1 Grid-side
Grid-side
0.5 Converter-side 0.5 Converter-side
0 0
Vbc (p.u.)
Vbc (p.u.)
-0.5 -0.5
-1 -1
0 0.05 0.1 0.15 0.2 0 0.05 0.1 0.15 0.2
t (s) t (s)
(c) Load-break switch voltages (simulation). (d) Load-break switch voltages (measurement).
1
0.5
0
I (p.u.)
-0.5
-1
0 0.05 0.1 0.15 0.2
t (s)
I (p.u.)
I − (p.u.)
PSfrag replacemen PSfrag replacemen 0.1
0 0
0 0.05 0.1 0.15 0.2 0 0.5 1 1.5 2
t (s) t (s)
1 1 Grid-side
Grid-side
0.5 Converter-side 0.5 Converter-side
0 0
Vbc (p.u.)
Vbc (p.u.)
-0.5 -0.5
-1 -1
0 0.05 0.1 0.15 0.2 0 0.05 0.1 0.15 0.2
t (s) t (s)
(c) Load-break switch voltages (simulation). (d) Load-break switch voltages (measurement).
Simulations and experimental results practical set-up
1 1
0.5 0.5
Irms (p.u.)
Irms (p.u.)
PSfrag replacemen
0 0
0 0.05 0.1 0.15 0.2 0 0.5 1 1.5 2
t (s) t (s)
1 1 Grid-side
Grid-side
0.5 Converter-side 0.5 Converter-side
0 0
Vbc (p.u.)
Vbc (p.u.)
-0.5 -0.5
-1 -1
0 0.05 0.1 0.15 0.2 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45
t (s) t (s)
(c) Load-break switch voltages (simulation). (d) Load-break switch voltages (measurement).
0.5 0.5
Irms (p.u.)
Iabc,rms (p.u.)
PSfrag replacemen
0 0
0 0.05 0.1 0.15 0.2 0 0.5 1 1.5 2
t (s) t (s)
1 1 Grid-side
Grid-side
0.5 Converter-side 0.5 Converter-side
0 0
Vbc (p.u.)
Vbc (p.u.)
-0.5 -0.5
-1 -1
0 0.05 0.1 0.15 0.2 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45
t (s) t (s)
(c) Load-break switch voltages (simulation). (d) Load-break switch voltages (measurement).
I (p.u.)
Simulations and experimental results practical set-up
-1
51
50.5
50
f (Hz)
49.5
PSfrag replacemen
49
0 0.05 0.1 0.15 0.2
t (s)
1
Grid-side
0.5 Converter-side
Vbc (p.u.)
-0.5
PSfrag replacemen
-1
0 0.05 0.1 0.15 0.2
t (s)
1 Grid-side
0.5 Converter-side
Vab (p.u.)
-0.5
-1
0 0.05 0.1 0.15 0.2
t (s)
f (Hz)
f (Hz)
49.5 49.5
PSfrag replacemen PSfrag replacemen
49 49
0 0.05 0.1 0.15 0.2 0 0.05 0.1 0.15 0.2
t (s) t (s)
(a) Power frequency Area 2 (simulation). (b) Power frequency Area 2 (simulation).
1 1
Grid-side Grid-side
0.5 Converter-side 0.5 Converter-side
0 0
Vbc (p.u.)
Vbc (p.u.)
-0.5 -0.5
PSfrag replacemen PSfrag replacemen
-1 -1
0 0.05 0.1 0.15 0.2 0 0.05 0.1 0.15 0.2
t (s) t (s)
(c) Load-break switch voltages (simulation). (d) Load-break switch voltages (simulation).
1 Grid-side 1 Grid-side
0.5 Converter-side 0.5 Converter-side
0 0
Vab (p.u.)
-0.5 Vab (p.u.) -0.5
Simulations and experimental results practical set-up
-1 -1
0 0.05 0.1 0.15 0.2 0 0.05 0.1 0.15 0.2
t (s) t (s)
(e) Load-break switch voltages (measurement). (f) Load-break switch voltages (measurement).
Figure B.10: Three-phase disconnection of loaded Area 2 from public LV network. Load of Area 2 is supplied by converter
in figures a), c) and e) and from the public LV grid in figures b), d) and f).
177
0.1
178
0.05
V − (p.u.)
PSfrag replacemen
0
0 0.5 1 1.5 2
t (s)
1 Grid-side
0.5 Converter-side
Vbc (p.u.)
-0.5
PSfrag replacemen
-1
0 0.05 0.1 0.15 0.2
t (s)
1 Grid-side
0.5 Converter-side
Vbc (p.u.)
-0.5
-1
0 0.05 0.1 0.15 0.2
t (s)
0.05 0.05
V − (p.u.)
V − (p.u.)
PSfrag replacemen PSfrag replacemen
0 0
0 0.5 1 1.5 2 0 0.5 1 1.5 2
t (s) t (s)
1 Grid-side 1 Grid-side
0.5 Converter-side 0.5 Converter-side
0 0
Vbc (p.u.)
Vbc (p.u.)
-0.5 -0.5
PSfrag replacemen PSfrag replacemen
-1 -1
0 0.05 0.1 0.15 0.2 0 0.05 0.1 0.15 0.2
t (s) t (s)
(c) Load-break switch voltages (simulation). (d) Load-break switch voltages (simulation).
1 Grid-side 1 Grid-side
0.5 Converter-side 0.5 Converter-side
0 0
Vbc (p.u.)
-0.5 Vbc (p.u.) -0.5
Simulations and experimental results practical set-up
-1 -1
0 0.05 0.1 0.15 0.2 0 0.05 0.1 0.15 0.2
t (s) t (s)
(e) Load-break switch voltages (measurement). (f) Load-break switch voltages (measurement).
Figure B.12: Disconnection of phase C of loaded Area 2 from public LV network. Load of Area 2 is supplied by converter
in figures a), c) and e) and from the public LV grid in figures b), d) and f).
179
180
1.1
V + (p.u.)
0.9
0.8
0 0.5 1 1.5 2
t (s)
1.1
Vbc (p.u.)
0.9
0 0.5 1 1.5 2
t (s)
1
0.5
0
Vbc (p.u.)
-0.5
Grid-side
-1 Converter-side
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
t (s)
1 1
V + (p.u.)
V + (p.u.)
0.9 0.9
0.8 0.8
0 0.5 1 1.5 2 0 0.5 1 1.5 2
t (s) t (s)
1.1 1.1
1 1
Vbc (p.u.)
Vbc (p.u.)
0.9 0.9
(c) Load-break switch voltages (simulation). (d) Load-break switch voltages (simulation).
1 1
0.5 0.5
0 0
Vbc (p.u.)
-0.5
Grid-side Vbc (p.u.) -0.5
Grid-side
Simulations and experimental results practical set-up
-1 Converter-side -1 Converter-side
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
t (s) t (s)
(e) Load-break switch voltages (measurement). (f) Load-break switch voltages (measurement).
Figure B.14: Disconnection of phase B of loaded Area 2 from public LV network. Load of Area 2 is supplied by converter
in figures a), c) and e) and from the public LV grid in figures b), d) and f).
181
1.2 1
182
1 0.5
0
0.8
V (p.u.)
Q (p.u.)
No Mitigation -0.5
0.6
Mitigation
-1
0 0.05 0.1 0.15 0.2 0 0.05 0.1 0.15 0.2
t (s) t (s)
(a) Voltage during 12 % voltage dip (measurement). (b) Reactive power during 12 % voltage dip (meas.).
1.2 1
1 0.5
0
0.8
Q (p.u.)
V (p.u.)
No Mitigation -0.5
0.6
Mitigation
-1
0 0.05 0.1 0.15 0.2 0 0.05 0.1 0.15 0.2
t (s) t (s)
(c) Voltage during 15 % voltage dip (measurement). (d) Reactive power during 15 % voltage dip (meas.).
1.2 1
1 0.5
0
0.8
V (p.u.)
Q (p.u.)
No Mitigation -0.5
0.6
Mitigation
-1
0 0.05 0.1 0.15 0.2 0 0.05 0.1 0.15 0.2
t (s) t (s)
(e) Voltage during 20 % voltage dip (measurement). (f) Reactive power during 20 % voltage dip (meas.).
1 0.5
0
0.8
Q (p.u.)
V (p.u.)
No Mitigation -0.5
0.6
Mitigation
-1
0 0.05 0.1 0.15 0.2 0 0.05 0.1 0.15 0.2
t (s) t (s)
(a) Voltage during 30 % voltage dip (measurement). (b) Reactive power during 30 % voltage dip (meas.).
1.2 1
1 0.5
0
0.8
V (p.u.)
Q (p.u.)
No Mitigation -0.5
0.6
Mitigation
-1
0 0.05 0.1 0.15 0.2 0 0.05 0.1 0.15 0.2
t (s) t (s)
(c) Voltage during 50 % voltage dip (measurement). (d) Reactive power during 50 % voltage dip (meas.).
1.2 1
1 0.5
0.8 0
Q (p.u.)
V (p.u.)
Simulations and experimental results practical set-up
No Mitigation -0.5
0.6
Mitigation
-1
0 0.05 0.1 0.15 0.2 0 0.05 0.1 0.15 0.2
t (s) t (s)
(e) Voltage during 17 % voltage swell (measurement). (f) Reactive power during 17 % voltage swell (meas.).
Now that I am at the end of this PhD project, I have the pleasure to
write some words of gratitude. Many people were involved directly or
indirectly in my research. I am grateful to all of them; here I want to
address some in particular, realizing it is impossible to be complete.
The theoretical part of the work leading to this thesis was performed
at the Electrical Energy Systems research group, while the practical
part took place at the Electromechanics and Power Electronics research
group of Eindhoven University of Technology. I thank my promotor Wil
Kling for the trust he gave me to find my own way in the research,
for his scrutiny when reviewing this thesis and the papers we published
together. I want to thank my copromotor Jorge Duarte for his vital
support when starting and performing the practical part of this research
and for reviewing all my work. Thanks to Johanna Myrzik for her efforts
in the beginning of this research project. Also thanks to Jan Blom for
his support when it was most needed. I am grateful for the practical
assistance of Wim Thirion, who helped turning my ideas into a working
set-up. Thanks also to all the other colleagues of the EES and EPE
groups for the help, discussions and the pleasant working atmosphere.
I thank the students Daniel Persson, Wouter Bos and Frank van den
Bergh for helping me with the theoretical and practical work and for
the pleasant cooperation. Parts of their work have been included in this
thesis.
This project was part of the IOP-EMVT project ’Intelligent Power
Systems’. I thank all members of the IOP-EMVT supervisory committee
for the discussions and valuable feedback during the half year meetings.
I appreciated the cooperation with all the other PhD students from
Eindhoven and Delft University, and I thank them for sharing their
experiences, for the fruitful discussions and for the pleasant company.
I am grateful to all members of the PhD committee for being pre-
pared to take upon them that role and for their valuable comments and
questions which improved this thesis, and for participating in my defense
ceremony.
I thank Hans Overbeek from KEMA for challenging me to take upon
185
186 Acknowledgements
me this research project and for providing me with the time to do so.
Thanks also to André Zeijseink for continuing this support which made
it possible to finish the work. Also I want to thank all my colleagues at
KEMA for the discussions and help, and for their flexibility in dealing
with my limited availability to do ’normal work’. Especially, I thank my
coach Peter Vaessen for his valuable support, review of this thesis and
our papers and for his participation in the committee, and Johan Enslin
for being my coach in the beginning of this work.
Although less directly involved in this research project, I want to
thank my family and friends for their interest in (the progress of) my
PhD work. I do not know whether I was able to explain what it was all
about, but they remained interested anyhow, thanks for that.
Finally, a big ’thank you’ to Susana for her continuous support, en-
couragement, patience and love.
Curriculum vitae
187