IEEE Transactions on Power Delivery, Vol. 12, No.

4, October 1997

1629

USE OF UPFC FOR OPTIMAL POWER FLOW CONTROL

L. Angquist Member Non-Member Reactive Power Compensation Division ABB Power Systems
M. Noroozian M. Ghandhari G. Anderson Non-Member Senior Member Dept. of Electric Power Engineering Royal Institute of Technology

S-721 64 Vasterh, Sweden

S-100 44 Stockholm, Sweden

Abstract This paper deals with optimal power flow control in electric power systems by use of unified power flow controller (UPFC). Models suitable for incorporation in power flow programs are developed and analysed. The application of UPFC for optimal power flow control is demonstrated through numerical examples. It is shown that a UPFC has the capability of regulating the power flow and minimising the power losses simultaneously. An algoriithm is proposed for determining the optimum size of UPFC for power flow applications. The performance of UPFC is compared with that of a phase shifting transformer (PST). Keywords: FACTS, series connected voltage source, unified power flow controller, PST, injection model, power flow control, loss minimisation, optimal powerflow 1. INTRODUCTION The possibility of controlling power flow in an electric power system without generation rescheduling or topology changes can improve the power system performance [ 11. By use of controllable components, the line flows can be changed in such a way that thermal limits are not exceeded, losses minimised, stability margins increased, contractual requirements fulfilled, etc. without violating the economic generation dispatch. Investigating the power through a transmission line shows that reactance and phase angle control of a transmission line are effective means for power flow control in AC transmission systems. In principle, thyristor-switched series capacitors (TCSC) and thyristor switched phase shifting transformer (TCPST) could provide fast control of
PE-008-PWRD-0-01-1997 A paper recommended and approved by the IEEE Transmission and Distribution Committee of the IEEE Power Engineering Society for publication in the IEEE Transactions on Power Delivery. Manuscript submitted .January 3, 1996; made available for printing January 8, 1997.

active power through a transmission line. Both devices exert a voltage in series with the line. For a series capacitor, the inserted voltage lags the line current by 90 degrees. For a phase shifting transformer, the inserted voltage is in quadrature to the voltage. Recent advances in high power technology has made it possible to implement all solid state power flow controllers using power switching converters. The unified powerflow controller (UPFC) is a new device in FACTS family which consists of series and shunt connected converters. The unified power flow controller (UPFC) can provide the necessary functional flexibility for optimal power flow control. This approach allows the combined application of phase angle control with controlled series and shunt reactive compensation. Also, the real-time transition from one selection compensation mode into another mode for handling particular system conditions in an optimum manner is attainable [2, 3,4,5]. This paper investigates the performance of the UPFC for for UPFC power flow control. A mathematical model which will be referred as UPFC injection model is derived. This model is helpful in understanding the impact of the UPFC on power system. Furthermore, the UPFC injection model can easily be incorporated in the steady state power flow model. The proposed model is used to demonstrate some of the features of UPFC for optimal power flow control applications. This paper shows that a UPFC has the capability of regulating the power flow and minimising the losses at the same time. This outstanding feature can be utilised for various power flow control applications, for example, overload relief, loop flow minimisation, etc. Since the size of UPFC has a great impact on power system performance and also in view of the device cost, the optimal dimensioning of UPFC for a specific application is quite important. Such a subject is handled in this paper and a dimensioning algorithm is proposed. This paper is organised as follows: Section 2 describes the operating principle of UPFC. Section 3 develops a steady state model for UPFC and discusses the implementation of the model for power flow studies. Section 4 demonstrates the application of UPFC in optimal power flow control through numerical examples. Section 5 is devoted to dimensioning of UPFC.

0885-8977/97/$10.00 0 1997 IEEE

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INCIPLE OF UPFC
The unified power flow controller consists of two switching converters. These converters are operated from a common dc link provided by a dc storage capacitor (Fig. 1).

The series voltage source and phase, i.e:

is controllable in magnitude

Q = rFeJy
where 0 < r < rmax and 0 < y < 276.

( 2)

Shunt transformer

Fig. 2: Representation of a series connected VSC

The equivalent circuit vector diagram is shown in Fig. 3:

Fig. 1: Basic circuit arrangement of UPFC

Converter 2 provides the main function of the UPFC by injecting an ac voltage with controllable magnitude and phase angle in series with the transmission line via a series transformer. The basic function of converter 1 is to supply or absorb the real power demand by converter 2 at the common dc link. It can also generate or absorb controllable reactive power and provide independent shunt reactive compensation for the line. Converter 2 supplies or absorbs locally the required reactive power and exchanges the active power as a result of the series injection voltage. 3. UPFC

'ij

.,P

Fig. 3: Vector diagram of the equivalent circuit of VSC

The injection model is obtained by replacing the voltage in parallel with source by the current source I, = -jb,

FLOW STUDIES

In the following section, a model for UPFC which will be referred as UPFC injection model is derived. This model is helpful in understanding the impact of the UPFC on the power system in the steady state. Furthermore, the UPFC injection model can easily be incorporated in the steady state power flow model. Since the series voltage source converter does the main function of the UPFC, it is appropriate to discuss the modelling of a series voltage source converter first. 3.1. Series Conneete Voltage Source Converter Model Suppose a series connected voltage source is located between nodes i and j in a power system. The series voltage source converter can be modelled with an ideal series voltage in series with a reactance X,. In Fig. 2,

Fig. 4: Replacement of a series voltage source by a current source The current sources

S,, and SI,, where:

7,

corresponds to the injection powers

S,, = V , ( -is )*

(3)

s,, = v/ ( I , )*
The injection power

(4)

$, and S,s

are simplified to:

si,= Q
= -b,

[ jb, r vi e j r I*

represents a fictitious models an ideal voltage source and voltage behind the series reactance. We have:

rQ2 sin y - jb, rQ 2 cosy

If we define: B i j = 8, - 8j , we have:

1631

v;. L O
I .

vj Lej

=b,rV,. V j sin 0 . , + y + j b s r V i V j c o s ( 0 o + y ) ( 6 )
( l J

Based on the explanation above, the injection model of a series connected voltage source can be seen as two dependent loads as shown in Fig. 5.

P,; = rb, y Vj sin ( 0 + ~y )

P,. = -rbs V, vj
Qs, =-rb,

sin

(e + y )
ji

QSi=rb,r/;.2cosy

V, V, cos(6,.+y)

v;. L O

vi L e ,

Fig. 6: UPFC model

3.3. UPFC Injection Model For Load Flow Studies

The UPFC injection model can easily be incorporated in a load flow program. If a UPFC is located between node i and node j in a power system, the admittance matrix is modified by adding a reactance equivalent to X, between node i and Fig. 5 : Injection model for a series connected VSC 3.2. UPFC MODEL In UPFC, the shunt connected voltage source ( Converter 1) is used mainly to provide the active power which is injected to the network via the series connected voltage source. We have:
'CONVl

node j. The Jacobian matrix is modified by addition of appropriate injection powers. If we consider the linearized load flow model as:

The Jacobian matrix is modified as given in Table 1. (The superscript o denotes the Jacobian elements without UPFC).

= 'CONV2

(7)

The equality above is valid when the losses are neglected. The apparent power supplied by he series voltage source converter is calculated from:

Active and reactive power supplied by Converter 2 are distinguished as:

PcoNvz = r b, y V, sin (0, - 0, + y)- r b, y ' sin y

(9)

&orjvz = - r b , y ?cos ( 0 , - 0 , + y ) + r b , y Z c o s y + r Z b , y 2

(10)

The reactive power delivered or absorbed by converter 1 is independently controllable by UPFC and can be modelled as a separate controllable shunt reactive source. In view of above, we assume that GoNVl = O (In Sec. 3.2, the possibility to control GoNVl is investigated). Consequently, the UPFC injection model is construcled from the series connected voltage source model (Fig. 5 ) with the addition of a power equivalent to PcoNV, + j O to node i. Thus, the UPFC injection model is shown in Fig. 6. The model shows that the net active power interchange of UPFC with the power system is zero, as is it expected for a lossless UPFC.

Table 1: Modijication of Jacobian matrix

4. UPFC IN OPTIMAL POWER FLOW

The possibility of controlling the magnitude and angle of the series voltage source in a UPFC, makes it a powerful device for optimal power flow control applications. This section examines, through numerical examples, some applications which can be realised in a power system.

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60

A UPFC is assumed to be located on the line between NorthLake in Hale network [7]. The base active power flow through the line is about 41 MW.

Q [Mvarl
40 y=90

@@-)
y=270

r=0,09

20 -

0y=O

[MWl

-20

The UPFC is planned for:

e

Regulating the active power flow ( p in Fig. 7) by 120 MW (f50%). Minimising the total power losses.

The results of a study to achieve minimum losses are shown in Fig. 10. (The minimum losses are determined by varying rand Y for a given PI. Also, the results of a study using a phase shifting transformer (PST) is shown for comparison. The following data for PST is selected:

Based on the algorithm which is discussed in Section 4 the following UPFC data is selected (It is assumed that = 0 in this design):

rmax = 0.09p.u.,
'shunt-eans

= tan-' rmax = 5.40 = 6MVA

= 'series-trans

rmax= 0.0%. u.,

ScONVl

= 4.8 MVA, S,--NV* = 6 MVA

Figs. 8 show the influence of UPFC on active power flow of the line for variations of y from zero to 277 and r from zero

Fig. 10 shows that a UPFC can regulate the power flow and minimise the total power losses simultaneously with the properly selected control parameters. The change in the total system losses for the base loading (41 MW) is negative(3.67%) and for the variation of power flow from 26 MW to 54 MW, the trend is still remained. PST can also affect the power flow and minimise losses, but the impact is less when compared to UPFC. This is because a UPFC yields two choices of reactive power flow for any desired active power flow and a given r , while the irelation of active and reactive power flows for PST is unique.

Y
0

Ldeg.1
360

90

180

270

Fig. 8: Variation of P against rand y

. 4

20

30

40

50

60

The variation of Q against P for the same variation of r and y are shown in Fig. 9.

Fig 10: Optimum powerPow for UPFC and PST (P ~ o ois s sthe total system losses for base loading and without any FACTS device

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4.2. Use of Reactive Capacity of Conveirter 1

So far, we have assumed that the converter 1 only delivers active power flow. In this way, the dimension of converter 1 was selected, namely:

5. DIMENSIONING OF UPFC
A UPFC consists of several components and has the capability to influence the power system through three control variables. For a given requirement of power flow control, the dimensioning of UPFC needs to be determined through an iterative process. The flow chart of Fig. 11 shows how the dimension of a UPFC can be determined. The first step is to estimate rmaxand the size of series transformer (S,). The effective reactance of UPFC ( X , ) can be determined in the next step ( X , is the short circuit reactance of series transformer). The load flow solutions for the whole range of y verifies if the power flows are satisfied. From (9) and (lo), the apparent power of the converter 2 is checked to be less than the series transformer rating. If these requirements are fulfilled, the algorithm tries to minimise the series transformer rating. The iteration stops when the power flow are within the specified limits, the rating of converter 2 is less than the series transformer rating and the size of series transformer is minimised. If the parameters y and rmaxare known, the rating of converter 1 (ScoNv,) and the rating of the shunt transformer ( S p = SCONV1) are easily calculated.

However, this capacity is only utilised for a certain operating condition and for the rest of the time, there is some available capacity. This remaining capacity can be utilised if the converter 1 delivers or absorbs reactive power. In any operating point ( r ,y), the reactive power available is:

gonvi(r9 7) = [ ( S C ~ V I ) ?- (pCoNvr(r7 y,)rs

(13)

Based on this control strategy, the optimal power flow for the same example is calculated and is shown in Table 2.

and determine size of

28 30 32 34 36 38 40 42

- 1.41 - 2.12

- 2.83

I I
I

- 3.26 - 3.56 - 3.75 - 3.75 - 3.42

I I I

0.9653 0.9643 0.9663 0.9659 0.9682 0.9683 0.9687 0.9718

- 2.25 - 2.93 - 3.65

0.9681

- 4.05

I I I I
0.9709
~

7
Perform load flow
Power Flow Requiremalts

I I
I

- 4.40 - 4.54 - 4.53

Reducer,,,

-4.21

0.9745

II

j Yes

58 60

3.22 4.85

0.9732 0.9765

I I

2.83 3.98

i:;):: I

Gmv2 less

Table 2: Optimal powerjlow table when zhe reactive power through converter 1 is controlled. Table 2 shows the improvement of UPFC performance in view of loss minimisation and voltage stabilisation when the capacity of converter1 is fully utilised. Fig. 11: Flow chart for determining optimum size of UPFC

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A steady state mathematical model for the UPFC was proposed. The proposed model can easily be incorporated in existing power flow programs. The capability of UPFC in optimal power flow applications was demonstrated and compared with that of a PST. It was shown that a UPFC can be controlled in a power system to satisfy the following objectives simultaneously:

Regulating power $ow through a transmission line (over-load reliej loop $ow minimisation, contractual power$owfulfilment, etc. ). Minimisation of rescheduling. power losses without generation

[11 N.Hingorani, FACTS, Flexible Transmission Systems, In Proceedings of Fifth International Conference on AC and DC Power Transmission, London, September 1991, pp. 1-7. [2] L. Gyugyi, Dynamic Compensation of AC Transmission Lines by Solid-state Synchronous Voltage Sources, Presented at IEEE 1993 Summer Meeting, Paper No. 93 SM 434-1 PWRD. [3] R. Mihalic, et.al, Improvement of Transient Stability Using Unified Power Flow Controller, Presented at IEEE Winter Meeting, Paper 95 WM 269-1 PWRD.

Mojtaba Noroozian: (M92) He received his B.SC. in electrical engineering from Arya-Mehr (sharif) University in Tehran, M.Sc. in power systems from University of Manchester, Institute of Technology (UMIST) and Ph.D. from Royal Institute of Technology, Sweden. He has been with ASEA (ABB) since 1984. He is now with ABB Power Systems AB, Reactive Power Compensation Division. Lennart Angquist:. He received his M.Sc. degree in electrical engineering from Lund Institute of Technology, Sweden. He joined ASEA in Vasteris, working with motor drives and power electronics for industrial and traction applications. Since 1987 he has been with ABB Power Systems AB, Reactive Power Compensation Division. Mehrdad Ghandhari: He is a graduate student at the Royal Institute of Technology, Sweden. His interest is power system dynamics. Goran Andersson: (M86-SM91) He received his M.Sc. and Ph.D. degree from the University of Lund. In 1980 he joined ASEA:s HVDC-division and in 1986 he was appointed professor in Electric Power Systems at the Royal Institute of Technology, Stockholm. He is a member of the Royal Swedish Academy of Engineering Sciences and the Royal Swedish Academy of Sciences.

[4] E. Lerch, et.al, Simulation and Performance Analysis of Unified Power Flow Controller, Cigre, 1994 session, Pages 14-205. [ 5 ] L.Gyugyi, et.al, The unified Power Flow Controller: A New Approach To Power Transmission Control, Presented at 1994 IEEE Summer Meeting, Paper No. 94-SM 474-7 PWRD. [6] M. Noroozian, 6. Andersson, Power Flow Control by Use of Controllable Series Components, IEEE Transactions on Power Delivery, vol. 8, no. 3, pages 1420-1429, July 1993.

[7] G. W. Stagg and A. Abiad, Computer Methods in Power System Analysis, McGraw-Hill, New York, First Edition.