Presentation Paper CEPSI 2006 Category of Paper: T-2 Transmission Systems

Title of Paper: Complex Vector Control of a Unified Power Flow Controller

Keywords: FACTS, UPFC, Complex Vectors Control, Modulus Optimum Nitus Voraphonpiput Author: Power System Analysis Department, Control and Protection System Division Electricity Generating Authority of Thailand, Thailand email: nitus.v@egat.co.th Teratam, Bunyagul Department of Electrical Engineer, Faculty of Engineering King Mongkut Institute of Technology North Bangkok (KMITNB) email: teratam@kmitnb.ac.th Somchai Chatratana National Science and Technology Development Agency (NSTDA) email: somchaich@nstda.or.th Abstract: Unified Power Flow Controller (UPFC) is the third generation Flexible AC Transmission System (FACTS) that uses solid-state devices to control active and reactive power flow on the transmission line. For high-voltage and high-current application, three-level voltage source converters are employed in both shunt and series converters. The shunt converter acts as a Static Synchronous Compensator (STATCOM) and regulates voltage at the bus where the UPFC is connected while the series converter injects a AC voltage with controllable magnitude and phase angle into the transmission line to control active and reactive power flow of the transmission line. Past studies of UPFC reported dynamically cross coupling between signal flow of active and reactive current loop. The cross coupling effect reduces dynamic performance of active and reactive power control. In this paper, the UPFC is modeled onto the synchronously rotating reference frame by space vector theory. The complex vector approach allows Modulus Optimum (MO) and Symmetrical Optimum (SO) criteria to be applied to converters. The cross coupling effect in the current control loop of shunt and series converters can be mitigated by complex pole-zero compensation. This method leads to simple controller design and the application of standard integral (I) and proportional plus integral (PI) controllers. The performance of the UPFC on simple two bus transmission system is investigated by digital simulation on PSCAD/EMTDC. Simulation results confirmed that the propose method provided satisfactory dynamic responses and cross coupling effect was significantly reduced. 1. INTRODUCTION Unified Power Flow Controller (UPFC) is a Voltage Source Converter (VSC) based Flexible AC Transmission System (FACTS) which can provide control of active and reactive power of a transmission line. The UPFC consists of shunt and series voltage source converters which operate from a common DC bus consisting of DC capacitors. The voltage source converters are three-level circuit, which can provide independent control of an AC output voltage and voltage of the common DC bus. To limit harmonic contents of the AC output voltage of both converters, interface magnetics are used to perform multi-pulse configuration. Therefore, the shunt and series converters compose set of three-level converters, which are connected to the interface magnetic to perform 24 pulses or 48 pulses output voltage. The shunt converter connects to AC system via a transformer and an interface magnetic. The transformer is connected in parallel with bus 1. The shunt converter can generate or absorb reactive power of the transmission system and can also supply active power following a required demand of the series converter through the common DC bus. The series converter connects to the interface magnetic and a transformer, which is connected in series with the transmission line. The series converter injects an AC voltage with controllable magnitude and phase angle. The injected AC voltage results in controllable of active and reactive power flow of the transmission line. The UPFC circuit is shown in Fig.1.

Fig.1: UPFC circuit The active and reactive power of the transmission line is controlled by injected voltage from the series converter. The active and reactive power are influenced by magnitude and phase angle of the injected voltage from series branch of the UPFC. Therefore, the active power flow control can affect the reactive power flow of the transmission line and vice versa. To improve the dynamic performance of the active and reactive power flow control, a control system based

on synchronous rotating reference frame or DQ-axis was applied to the UPFC. The predictive control and decoupling control have been introduced in [1], [2] and [3]. The predictive control provides stable and good dynamic response but design process is difficult and its control structure is complex. The decoupling control although requires exact system parameters and delay time of measurement signals can cause imperfect decoupling control. Therefore, effective decoupling control may be difficult to realize in practice. This paper proposes the space vector theory for the analysis and controller design of the UPFC. Space vectors of voltages and currents of the system are transformed onto the synchronously rotating reference frame. The complex vector approach allows Modulus Optimum (MO) and Symmetrical Optimum (SO) criteria to be applied to current control and voltage control loops respectively. The cross coupling effect in the current control loop of shunt and series converters can be mitigated by compensation of complex pole-zero during the control design. 2. MODELING OF A UPFC SYSTEM Single line of UPFC equivalent circuit is shown in Fig.2 where the shunt and series converters are repersented by controllble voltage sources. The injected AC voltage is presented as a complex voltage Ui. The voltage of the shunt converter is presented as a complex voltage V. The transmission system of the sending end and the receiving end are reresented by voltage sources (Us, Ur) and impedances (Rs, Ls, Rr, and Lr). Impedances of the transformer and interface magnetic of the shunt and series converters are represented by Rsh, Lsh, and Rse, Lse respectively.

Fig.3: Complex Vector of the Shunt Converter

Leq1 d I sh + jLeq1 I sh + Req1 I sh = U V dt

(1)

where f is the system frequency and = 2f. Req1 is equivalent resistance of the transmission system including resistance of the shunt transformer. Leq1 is equivalent inductance of the transmission system including inductance of the shunt transformer. Ish is complex current vector of the shunt branch. Defining: UN as the base voltage, IN as the base current, and ZN as the base impedance, which is UN/IN; the normalized equation of (1) is described in (2).
Tsh d i sh 1 + (1 + j Tsh ) i sh = ( u v) dt rsh
Leq1 Req1

(2)

where Tsh =

, rsh =

Req1 ZN

Therefore, transfer function of the shunt system is described in (3).

1 i sh ( s ) rsh = u ( s ) v( s ) (1 + j Tsh ) + Tsh s

(3)

Fig.2: Equivalent Circuit of UPFC and Transmission System Modeling of Shunt System Shunt system consists of transmission system, shunt transformer, and voltage source converter (VSC), which is modeled as shown in Fig.3. The transmission system and shunt transformer are reduced to an equivalent circuit, which is represented by a voltage source (U), a resistance (Req1), and an inductance (Leq1). The shunt system is now divided into two parts that are AC system and voltage source converter. A mathematical model of AC system on the synchronously rotating reference frame (dq-axis) can be described in (1) [5].

The VSC composes three-level VSCs and two DC capacitors. The three-level VSC generates a quais step output voltage with three voltage level. The output voltage of the VSC are +Udc, 0, and -Udc. The output voltage waveform of the three-level VSC is shown in Fig.4. The three-level VSCs are generally connected to perform multi-pulse configuration to limit harmonic content of the output voltage waveform. The three-level VSC can provide independently control of output voltage of the converter and the DC voltage of the common DC bus. The DC voltage is regulated at a set point whereas the output voltage of the VSC is controlled to regulate voltage at the bus where the shunt converter is connected. The DC voltage is controlled by phase shift

of the output voltage () and the magnitude of the output voltage is controlled by pulse width ().

PN =

3 3 * Re U N I N = U dN I dN = U dcN I dcN 2 2

(9)

where UdN is base value of the source voltage on the direct axis. IdN is base value of the shunt VSC current on the direct axis. IdcN is the base value of the DC capacitor current. The normalized DC capacitor voltage can be expressed as
Fig.4: Output Voltage Waveform of a Three-Level VSC With VN as base value of the magnitude of fundamental output voltage, UdcN as the based capacitor voltage; the normalized output of fundamental voltage waveform of the VSC in Fig.4 be expressed as.
v= V VN = u dc sin

the DC the can

du dc 1 I dcN u d = i shd dt C U dcN u dc

(10) The DC capacitor voltage on the right hand side of (11) is assumed to be constant, because the DC capacitor voltage will be regulated at a set point. The transfer function of the DC capacitor voltage can be rewritten as
u dc ( s ) 1 = id ( s ) To s

(4)

(11)

where |v| is the normalized value of the fundamental output voltage of the shunt converter. udcN is the normalized value of the DC capacitor voltage Udc is the pulse width of the AC output voltage. However, the control system of the UPFC is designed on the dq-axis and command signal (v*) is referenced to the rectangular coordinates (vd* and vq*). Thus, the rectangular coordination is necessary to converse onto polar coordination using (5) (7).
* * v * = vd + vq 2 2

where To = C

U dcN u dc I dcN u d

In this paper, the shunt system is assigned to regulate bus voltage where the UPFC is connected. The bus voltage can be controlled by reactive current of the shunt system. Using the same assumption for active power in (9), the normalized reactive power equation can be expressed as

q = u d i shq
(5) (6)

(12)

= 2 sin 1 v *
= tan 1
* vq * vd

Since ud is assumed to be constant, the reactive power is proportional to the line current on the q-axis and the transfer function is
q( s) = u d i shq ( s )

(7)

(13)

The VSC transfer function can be represented by a first order delay system, which has time constant T2 and gain udc. Therefore, transfer function of the VSC can be described in (8).

Transfer function of the bus voltage (uref) and the reactive power (q) is shown in (14).

u ref ( s ) q( s)

u dc = * v ( s) 1 + T2 s v( s )

(8)

K 1 + Ts s

(14)

Assuming voltage on d-axis (ud) lays on the d-axis and it is constant. Thus voltage on the q-axis is zero. By neglecting the resistance in the system, base active power (PN) of the STATCOM can be described as

Steady state gain (K) of the transfer function can be determined using (15) [6].
u = 1 q = Kq Sk

(15)

where Sk is short circuit MVA of the transmission system. Ts is voltage time constant of the power system. Therefore, transfer function between bus voltage and reactive current (ishq) can be described in (16).
u ref ( s ) i shq ( s ) = Ks 1 + Ts s

1 i se ( s ) rse = u s ( s ) + u i ( s ) u r ( s ) (1 + j Tse ) + Tse s

(19)

Assuming both converters are the same type. Therefore, the transfer function of the series converter in complex form presents in (17).

(16)

where Ks = K ud
Modeling of Series System Series system composes transmission system, series transformer, and voltage source converter (VSC). It is presented in Fig.5. The transmission system and series transformer are modeled as an equivalent circuit, which consist of sending end voltage source (Us) and receiving end source (Ur), a resistance (Req2), and an inductance (Leq2). The injected voltage which is produced by the series converter is represented by complex vector Ui. A mathematical model of the series system on the synchronously rotating reference frame (dq-axis) can be expressed in (17).
Leq 2 d I se + jLeq 2 I se + Req 2 I se = U s + U i U r dt

u i ( s) u i ( s)
*

a u dc 1 + T2 s

(20)

where a is turn ratio of the series transformer.

3. CONTROL SYSTEM DESIGN FOR SHUNT VSC Current Control Design The current control design purposes are to regulate the line current (dq axis) and to mitigate cross coupling effect between two axes. Therefore, Modulus Optimum Criterion with complex PI-controller is adopted for this purpose [5]. The open loop transfer function of the current loop is expressed in (21) where Te is summation of the converter time constant (T2) and delay of the measurement (Tm). This system has one small real pole and one large complex pole, which locates on the third quadrant. 1 rsh u dc (21) Fo ( s ) = (1 + jTsh + Tsh s ) (1 + Te s )

(17)

where Req2 is equivalent resistance of the transmission system including resistance of the series transformer. Leq2 is equivalent inductance of the transmission system including inductance of the series transformer. Ise is complex current vector of the series branch.

Therefore, the complex PI-controller is designed to have one complex zero as shown in (22).
Fc ( s ) = K Pi (1 + jTNi + TNi s ) sTNi

(22)

According to Modulus Optimum criterion, the integrator time constant of the PI-controller (TNi) and the controller gain (KPi) are in (23) and (24), respectively.
TNi = Tsh K Pi = 1 Tsh rsh 2 Te u dc

(23) (24)

Fig.5: Complex Vector of the Series Converter

The normalized equation of (17) is described in (18)

Tse d i se 1 (u s + ui ur ) + (1 + j Tse ) i se = dt rse Leq 2 Req 2

(18)

where Tse =

, and rse =

Req 2 ZN

DC Voltage Control Design The purpose of the DC capacitor voltage control is to maintain the DC capacitor voltage, which is a function of the d-axis component of line current, at a set value. The current control loop can be approximated to a first order delay system with equivalent time constant Teq equals to 2Te . In order to have fast response to disturbance,

The complex transfer function of the series converter is derived from (18) and shown in (19).

Symmetrical Optimum criterion is adopted and the controller integrator time constant (TNv) and gain (KPv) is expressed in (25) and (26).

Fig.6: Control diagram of the Shunt System

TNv = 4(Teq + Tm ) K Pv = To 1 2 Teq + Tm

(25)

(26)

AC Bus Voltage Control Design The shunt system is assigned to regulate voltage at the sending end bus (uref) at the setting value. Thus, the Symmetrical Optimum criteria are applied to the controller design according to fast disturbance rejection. The controller integrator time constant (TNu) and gain (KPu) is expressed in (27) and (28).

In order to achieve fast dynamic response and reduce cross coupling effect, the Modulus Optimum Criterion with complex PI-controller is applied to the current control design. To compensate a complex pole of the current control loop, the integrator time constant of the PI-controller (TNi) is set in (30) and the controller gain (KPi) are in (31).
TNi = Tse K Pi =

(30) (31)

1 Tse rse 2 Te a u dc

TNu = 4(Teq + Tm )
K Pu = Ts 1 2 K s Teq + Tm

(27)

(28)

Control diagram of the shunt system is presented in Fig.6.

4. CONTROL SYSTEM DESIGN FOR SERIES VSC Current control design The open loop transfer function of the current loop is expressed in (29) where Te is summation of the series converter time constant (T2) and delay of the measurement (Tm). Characteristic roots of the series system have one small real pole and one large complex pole located on the third quadrant.
1 rse a u dc Fo ( s ) = (1 + jTse + Tse s ) (1 + Te s )

Control Design of the Active and Reactive Power Flow Voltage at the sending end bus (uref) is laid on d-axis and is regulated at a setting value by the shunt system. Assuming the current control of the series system is completely decoupled. Therefore, active power flow (pse) and reactive power flow (qse) of the transmission line are controlled by the current on d-axis (iesd) and q-axis (iseq) respectively. The d-axis and q-axis current command can be determined by (32) and (33).
* i sed = * p se u ref * q se u ref

(32) (33)

* i seq =

Diagram of the series system for active and reactive power flow control is presented in Fig.7. (29)

Fig.7: Control diagram of the Series System 5. SIMULATION RESULTS

The UPFC and a simple two buses power system was a studied system. It was simulated on digital simulator using PSCAD/EMTDC. The shunt system consists of shunt transformer and a 12-pulse VSC. The shunt system was designed to regulate voltage at the sending end bus (uref) and to maintain voltage of the common DC bus (udc). The sending end voltage was regulated at 1.0 pu and the common DC bus was set at 1.15 pu. The series system was designed to control active and reactive power flow at the sending end bus. Single line diagram of the studied system is shown in Fig.8 and parameters of the studied system are presented in Appendix I.

The forth event occurred at 2.5 second. The active power command was changed from +1.5 pu. to +0.4 pu. The reactive power command remained at +0.3 pu. during the active power command change. Response of the DC voltage (udc) and the sending end voltage (uref) were shown in Fig.9. The DC voltage was maintained at 1.15 pu. It can be seen that large fluctuation of the DC voltage appeared when the active power command (pse*) was changed, which occurred at the second and the forth events. The change of the reactive power command (qse*) also resulted in fluctuation of the DC voltage but it was smaller than the change of the active power command. The sending end voltage (uref) was regulated at 1.0 pu. It can be observed that the sending end voltage was well regulated even the active power command was changed.

200 ms

udc uref
Fig.8: Studied System

1.15 pu

1.0 pu

The studied system was tested by step command of active and reactive power flow. The first event occurred at 1.0 second. It was step change of reactive power command. It changed from +0.3 pu. to -0.4 pu. whereas the active power flow command was not changed and maintained at +0.4 pu. The second event occurred at 1.5 second. The reactive power command was not changed whereas the active power command was changed from +0.4 pu. to +1.5 pu. The third event was a step change of the reactive power command which occurred at 2.0 second. The active power command was not changed. It was maintained at +1.5 pu.

Fig.9: Response of the DC voltage and Sending end voltage

The active and reactive power (psh and qsh) of the shunt system and the active and reactive power flow at the sending end (pse and qse) were presented in Fig.10. Transient response of the shunt and series system settled within 100 ms after the command changes. Moreover, it can be observed that the cross coupling effect between active and reactive power of the series system is mitigated. The reactive power of the shunt system (qsh) absorbed and generated to regulate voltage at the sending end bus (uref). The active power of the shunt system (psh) was

consumed to maintain the voltage at the common DC bus and was transfer to the series system following its requirement.
0.5 pu

qsh psh
200 ms

They were calculated by signal of the uid* and uiq* signals from complex PI controller of the current control, which was shown in Fig.7. Voltage and current waveform at steady state of the shunt and series converters are shown in Fig.13 (a)-(d). Voltage waveform of the injected voltage of the series system (ui) is magnified by ten times. Steady state voltage and current waveforms of four events are presented in Fig.13 (a), (b), (c) and (d) respectively.
uref v ish uref v ish

psh*
0.4 pu

1.5 pu

psh qsh*
-0.4 pu

0.3 pu

uref

ui

ise

uref

ui

ise

qse
(a) The 1st Event
Fig.10: Active and Reactive Power of Shunt System and Active and Reactive Power Flow from the Sending End
uref v ish uref ui ise uref ise

(b) The 2nd Event

uref v ish ui

Response to the step command changes of Pulse Width (sh) and Phase Delay Angle () of the Shunt System are shown in Fig.11. They were calculated by signal of the vd* and vq* signals according to (6) and (7).

sh
200 ms

(c) The 3rd Event (d) The 4th Event Fig.13: Voltage and Current Waveform of the Shunt and Series System at Steady State
6. CONCLUSION The system modelling and the control system design of the UPFC were based on complex vectors on the synchronously rotating reference frame. The control system design for a UPFC using the complex vector was presented. This approach leaded to complex vector transfer functions which allowed Modulus Optimum (MO) criteria applies to the current control design in both shunt and series systems. In order to compensate cross coupling between d-axis and q-axis, the concept of MO criteria can be used. The Modulus Optimum criteria provide fast and small overshoot responses. The Symmetrical Optimum criterion was adopted for the controller design of the common DC voltage and the sending end voltage control for good disturbance rejection. The active and reactive power flows from the sending end bus were controlled by current commands of the series system, which were calculated from active and reactive power flow commands. These design concepts lead to simplified control structure and simple PIcontrollers could be applied. The simulation results from typical power system on the PSCAD/EMTDC illustrate that the control design was effective and appropriate for the UPFC. The UPFC offered satisfactory dynamic response and the cross coupling effect was significantly mitigated.

Fig.11: Pulse Width (sh) and Phase Delay Angle () of

the Shunt System

se

200 ms

Fig.12: Pulse Width Angle (se) and Phase Angle of the injected Voltage () of the Series System
Response to the step command changes of Pulse Width Angle (se) and Phase Angle of the injected Voltage () of the Series System are shown in Fig.12.

Reference: [1] I. Papic, P. Zunko, D. Povh, and M. Weinhold, Basic Control of Unified Power Flow Controller, IEEE Transaction on Power System, Vol. 12, No.4, Nov. 1997. [2] S.D. Round, Q. Yu, L.E. Norum, T. M. Undeland, Performance of a Unified Power Flow Controller using a D-Q Control System, AC and DC Power Transmission, Sixth International Conference, 29 Apr-3 May 1996 [3] Zhang Yonggao, Liu Liming, Zhu Pengcheng, Liu Xiaoyuan, Kang Yong, and Gao Yanli, Double Closed Loop Control and Analysis for Shunt Inverter UPFC, Proceedings of the Eighth International Conference on Electrical Machines and Systems, 2005. [4] Yam, C.M.; Haque, M.H, Dynamic decoupled compensator for UPFC control, International Conference on Power System Technology, 2002 (PowerCon 2002). Volume 3, 13-17 Oct. 2002 Page(s):1482 - 1487 vol.3 [5] Nitus Voraphonpiput, Teratam, Bunyagul, and Somchai Chatratana, Complex Vector Control of 3Level Voltage Source Converter STATCOM International Conference on Electrical Engineering / Electronics, Computer, Telecommunications and Information Technology 2006 (ECTI-CON 2006) [6] Carson W. Taylor, Power System Voltage Stability, McGraw Hill 1994. APPENDIX I: The Sending End System System voltage 115 kV Short circuit MVA (Sk) 2000 MVA X/R ratio 15 Phase angle 0 System Frequency 50 Hz The Receiving End System System voltage 115 kV Short circuit MVA (Sk) 2000 MVA X/R ratio 15 Phase angle -5 System Frequency 50 Hz The UPFC System Shunt Transformer (Tsh1) Rated 16.7MVA x 3 Leakage reactance 0.1 pu Copper losses 0.02 pu Winding voltage 33.2/16.0 kV

Series Transformer (Tse1) Rated Leakage reactance Copper losses Winding voltage Series Transformer (Tse2) Rated Leakage reactance Copper losses Winding voltage DC capacitor Capacitance (C) Based value Base MVA (SN) Based Voltage (UN) Based Current (IN) Based Impedance (ZN) Based DC voltage (UdcN)

16.7MVA x 3 0.1 pu 0.02 pu 2.49/16 kV

16.7MVA x 3 0.1 pu 0.02 pu 2.49/9.24 kV 3,700 F

100 MVA 115 kV 0.502 kA 132.24 20.51 kV

Control System Control Parameters of the Shunt System Tm TNi KPi TNv KPv TNu KPu

3.33 ms 20.7 ms 0.06 40.0 ms 0.9 26.4 ms 60

Control Parameters of the Series System Tm 6.66 ms TNi 20.7 ms KPi 0.4

Shunt Transformer (Tsh2) Rated Leakage reactance Copper losses Winding voltage

16.7MVA x 3 0.1 pu 0.02 pu 33.2/9.24 kV