IEEE Transactions on Power Delivery, Vol. 9, No.

3, July 1994

1600

APPLICATIONS OF STATIC PHASE SHIFTERS IN POWER SYSTEMS

M.R. lravani (MIEEE), Paul L.'Dandeno(LFIEEE),
K.H. Nguyen, D. Zhu
Department of Electrical and Computer Enoineerina
University of Toronto
Toronto, Ontario M5S 1A4

Augmentin a conventional (mechanicall switched) phaseanale reauyator with a static converter oYsmall MVA rating,
enables f i e phase angle regulator to perform the functions of an
SPS in the context of FACTS.

A stract:

companion paper [ l ] describes different types of

semiconductor-controlled (static) phase shifters feasible for power
system applications. This paper examines various functions that
can be assigned to a Static Phase Shifter (SPS) to enhance the
performance of a power system during steady-state conditions,
small-signal dynamics, and large-signal dynamics. The
investigations are conducted on four test systems which exhibit
typical power system operational problems, e.g. torsional
oscillations, inter-area oscillations, transient instability, transient
mechanical torques and loop-flow phenomenon. An ac-dc power
flow program, an eigenvalue analysis program, an ac-dc transient
stability program, and the EMTP are used as the study tools.
The investigations show that depending upon the type and the
location of an SPS, it may be utilized for mitigation of small-signal
oscillations and/or enhancement of transient stability, in addition to
steady-state power flow regulation. The studies also reveal that
most dynamic characteristics of an SPS can be achieved by
augmenting an existing conventional (mechanical) phase-angle
regulator with a relatively small size static converter.
Keywords: Phase Shifter; Torsional Oscillations; Inter-Area
Oscillations; Transient Stability; Loop-Flow; Eigenvalue Analysis;
Transient shaft toques; Time-Domain Simulation.
1.

Four different types of SPS's, namely Type-B, Type-C, Type-D

and Type-D2 [ I ] are examined in this paper. The studies are
conducted on four test systems which exhibit torsional oscillations,
inter-area oscillations, transient instability, transient shaft stresses
and Loop-flow problem. The software tools used for the studies
are: (1) a modified version of FORCEPS [4] for power flow and
transient stability studies, ElCO [5] for eigen analysis, and the
EMTP [6] for electromagnetic transient studies.
2.

To meet the load demand in a complex interconnected power

system and satisfy the stability and reliability criteria, either the
existing transmission lines must be utilized more efficiently, or new
line@) should be added to the system. With the ever increasing
difficulties in obtaining new transmission line rights-of-way, the
latter is often impractical The first alternative provides an
economically and technically attractive solution to the problem,
particularly in view of the fact that many existing ac lines are being
operated at power levels well below their thermal power carrying
capability limits. Utilization of the unused power carrying capability
is based on implementation of semiconductor-controlled power
apparatus, which can rapidly respond to changing system
conditions to assure stable and reliable operation. Intensive
investigation and development of semiconductor based power
apparatus for power system applications have been the subject of
EPRl's recent project under the title of "Flexible AC Transmission
Systems (FACTS)" [2,3].
An SPS is a promising power system component in the context of
FACTS. A companion paper [I] describes different types of
SPS's, and explains their principles of operation, operating modes,
limitations, merits, and major component requirements. The
objectives of this paper are to demonstratethat:
An SPS can be used for (1) damping subsynchronous
resonance (SSR) phenomenon, (2) mitigation of inter-area
oscillations, (3) enhancement of transient stability, and (4)
alleviation of transient torques in addition to steady-state power
flow regulation.
When an SPS can control both magnitude and phase-angle of
the injected voltage, it performs the assigned function more
efficiently, i.e. a smaller magnitude of the injected voltage is
required. This translates into a smaller MVA rating of the device.

TEST SYSTEMS

Four different test systems described in Sections 2.1 to 2.4 are

used to demonstrate technical feasibility of SPS's for enhancement
of power systems behaviour during steady-state, small-signal
dynamics and large signal dynamics. The reason for selecting
different test systems is that a single system with realistic
parameter values cannot exhibit all power system operational
problems severely enough, to be used as the benchmark for
evaluating various technical capabilities of SPS's.
System-I

2.1

INTRODUCTION

D. Maratukulam(MIEEE)
Electrical Systems Division
Electric Power Research Institute
Palo Alto, CA 94303

Figure 1 shows a schematic diagram of System-I. System-I is the

first IEEE benchmark model for SSR studies [7] and is used in this
paper to demonstrate technical feasibility of SPS's for mitigation of
turbine-generator (T-G) torsional oscillations. System-I is
composed of a six-mass, 892.4 MVA, 26 kV T-G set which is
connected to an infinite bus through a 500 kV series capacitor
compensated line. Depending upon the level of series
compensation, the system exhibits unstable oscillations
corresponding to one or more of the T-G torsional modes.
System-ll

2.2

Figure 2 shows a schematic diagram of System41 [a]. The system

is composed of two identical areas, which are connected by two
parallel transmission lines. Each area comprises two identical T-G
sets. Each T-G set is rated at 1200 MVA and 26 kV. Each T-G set
is equipped with a fast exciter. In each area, the load consists of
60% constant impedance and 40% equivalent induction motor load.
As a result of electrical disturbances, the system experiences three
low-frequencyoscillatory modes, one inter-area mode and two local
modes. Depending upon the system operating conditions and the
level of power exchange through the tie lines, the frequency of the
inter-area mode varies in the range of 0.39 Hz to 0.58 Hz. The
frequencies of the local modes vary within the range of 1 .I2 Hz to
1.93 Hz. S stem-ll is primarily used to investigate the damping
effect of an {PS on the inter-area mode of oscillations. System-ll is

o--ys-=to
xr

Figure 1: Schematic diagram of System-I

94 WM 068-7 PWRD A paper recommended and approved

by the IEEE Transmission and Distribution Committee
of the IEEE Power Engineering Society for presentation at the IEEE/PES 1994 Winter Meeting, New York,
New York, January 30 - February 3, 1994. Manuscript
submitted December 30, 1992; made available for
printing December 6, 1993.

Figure 2: Schematic diagram of System-ll

0885-8977/94/$04.00 0 1994 IEEE

1601
CB2

cB3

CB4

Figure 3: Schematic diagram of System-Ill

Figure 4: Schematic diagram of System-IV

also used to study the damping effect of an SPS on T-G torsional
oscillations when the location of the SPS with respect to the T-G
set is varied.
2.3

System-Ill

Figure 3 shows a one line diagram of System-Ill. The system is

composed of a 1370 MVA, 26 kV T-G set, which is connected to an
infinite bus through two parallel 500 kV lines. System-Ill is used to
demonstrate the feasibility of an SPS for transient stabilit
enhancement and alleviation of transient stresses of shag
segments.
2.4

System-IV

Figure 4 shows a schematic diagram of System-IV. The system is

composed of generators 1 to 7,two dc lines, ac lines and loads.
Each load is composed of 60% constant impedance and 40%
induction motor load. During steady-state conditions, primaty
direction of power flow is from "Generation" to "Load, Fi 4. Bulk
of the power is intended to be transferredthrough dc line fl)and ac
corridor "A". Power transfer through dc link (1) can be easily
adjusted; however, the system operating conditions determine
power transfer of corridor "A". In System-IV, a noticeable portion of
power which is desirable to flow through corridor "A" will flow
through corridor "B", and constitutes the undesirable phenomenon
referred to as "loop flow" [9]. An SPS is installed in corridor "B" to
prevent loop flow. System-IV is used to investigate:

IBII

the impact of loop flow prevention on the dynamic behaviour of

the system, and
the impact of an SPS on the dynamic behaviour of the system
2.5

Static Phase Shifters

Figures 5(a) to 5(d) show schematic diagrams of four SPS's used

for the studies. Preliminary investigations [l] indicate that these
four SPS configurations are the most promising SPS schemes for
power system applications. Principles of operation, modes of
operation, merits, and limitations of each scheme are fully described

T1

Figure5:

(a)
(b)
(c)
(d)

Type-B SPS
Type-C SPS
Type-D SPS
Type-D2 SPS

1602
in [l]. For ease of reference, a brief description of-each SPS
scheme is given in this section.
Type-B SPS, Fig. 5(a), controls the magnitude of the injected
voltage in discrete steps. The phase angle of the injected voltage
is either +90" or -90" with respect to the corresponding system
phase voltage. Harmonic content of the injected voltage is
negligible, and Type-B SPS does not require harmonic filters.
Type-C SPS, Fig. 5(b), also operates based on the discrete step
control principle. The phase angle of the injected voltage can be
either +60 or -120" with respect to the corresponding system
phase volta e In contrast to Type-B SPS, the electronic
converter of !ype-C SPS is at low voltage level and it does not
require high voltage platform. Harmonic content of Type-C SPS
voltage, similar to that of Type-B SPS, is negligible.
Static converter of Type-D SPS, Fi . 5(c) is composed of two
GTO based voltage source inverters fVSl's), and a dc link. TypeD SPS provides continuous control over the magnitude and phaseangle of the injected voltage. The voltage phase angle can be
adjusted between 0" to 360". Output voltage of Type-D SPS
contains harmonic components. The harmoniccontent is minimized
by elaborate pulse-width modulation (PWM) switching approaches
and/or high pulse converter arrangements [l]. Practically Type-D
SPS requires harmonicfilters.
Type-DP SPS, Fig. 5(d), is a mechanical phase angle regulator
which is augmented with a static converter for rapid phase angle
regulation. The static converter is the same as that of Type-D
SPS. Type-DP SPS is intended to enhance power s stems
behaviour during steady-state and small-signal dynamics. {teadystate power flow regulation is carried out by mechanical tap
changing. Injected voltage Vp, Fig. 5(d), is controlled by the
electronic converter for rapid phase angle control to mitigate small
signal oscillations.
3.

3.1

STUDY RESULTS

Mitigation of Subsynchronous Resonance (SSR)

.
.

The measured signal is compared with the reference value (Pref)

and the magnitude of the injected voltage (uB)is determined based
on the error signal. The delay of the converter response is included
in the control model by time delay Td Fig. 6. The auxiliary controller
utilizes terminal frequency (a,,,)as the feedback signal. The signal
is passed through a 60-Hz notch filter, a high-pass filter, and then
its gain and phase are adjusted by the compensator to damp
torsional oscillations. Similar auxiliary control structure can also be
used for damping inter-areaoscillations. However, in this case, the
high-pass filter must be replaced by a low-pass filter.
Figure 7(a) indicates that amplitude modulation index (m) and phase
angle (6)of both boosting and excitation converters of Type-D and
Type-D2 SPS's can be used for control purposes. In a PWM
switched converter, "m" is defined as the amplitude ratio of control
(modulating) signal to carrier signal, and "s'is the phase angle
between the control signal and the corresponding phase voltage of
the system. Figures 7(b) and 7(c) show the controllers designed
for Type-D and Type-D2 SPS's. Instantaneous power transfer
(pm) through the line is compared with the required power transfer
(Pref) and the error signal is used to adjust mg, Fig. 7(b). ms
determines the magnitude of the injected voltage. The auxiliary
control path uses local frequency, CO,,,, and after adequate filtering,
adjusts phase and gain of the signal for mitigating system
oscillations, e.g. torsional oscillation, through small variation of ms,
Fig. 7(b).
Dynamic voltage injection by means of the controller of Fig. 7(b) is
accompanied by exchange of power between VSI-B and the
system. Thus the dc link capacitor is dynamically charged or
discharged, and as a result its voltage varies accordingly. SE of
VSI-E is used to regulate the capacitor voltage at the required
value, Fig. 7(c). Phase angle 68 of Type-D SPS is dynamically
controlled such that for any magnitude of injected voltage Vs,
maximum power angle change Ois achieved, Fig. 5(c). Thus
variations of 6s ensures that Type-D SPS provides maximum
power modulation for any injected voltage. For Type-D2 SPS, Fig.
5(d), 6g is set equal to the phase angle of voltage phasor +ulfu2,
and as a result the converter voltage V, is always in phase with
phasorfur+&.

One approach for damping SSR is to increase the system electrical

damping with respect to the oscillatory mode@)by introducing an
electromagnetic torque in the generator air-gap to oppose the
changes in the rotor speed as a result of SSR. This can be
achieved through active and/or reactive power modulation.
Generator speed deviation or other measurable signals which
reflect the impact of SSR, e.g. frequency deviation and power
deviation ma be used as the feedback signal. Conceptually, all
and illustrated in Figs. 5(a)
the SPS conft$urations described in [I]
to 5(d) can provide dynamic power modulation and can be utilized
for damping SSR. Type-D and Type-D2 SPSs can inject voltage
in four quadrants and are also able to damp SSR by modulating
reactive power, similar to a static VAr compensator.
System-I is used for SSR studies. The generator of S stem-I
delivers 93% rated MVA at 0.83 lagging power factor. SPS kcation
is at the generator high voltage bus (Fig. 1). Under steady-state
conditions, Type-B, Type-C, Type-D and Type-D2 SPS's inject
voltages of 7%, 8.3%, 6.62% and 6.9% respectively.
Figure 6 shows block representation of the control systems used
for static converters of Type-B and Ty e-C SPS's. The main
controller uses instantaneous power (pmyas the feedback signal.

s2+b
--sz +aS

S2

+b - s z +cS+d

60 Hz

High Pass

(1+sT,)(1+sT2)
k4

(1+ sT,xl+

(b)

ST,)

Compensator

Notch

sZ+b
---

mm

SI

(1 +ST,)(I

+ST,)
Figure 7

Control block diagram of Type-D and Type-DP SPS's

(a) converter control variables
b) controller to adjust ms
IC) controller to adjust SE

1603
For studies reported in this paper, no control is exercised on phase
angle SE of Type-D and Type-D2 SPS's. SE can be controlled
such that the net reactive power exchange between the static
converter system and the network is at a pre-specifiedvalue, e.g.
zero. When an SPS is used for functions other than mitigation of
torsional oscillations, its control path should be equipped with
proper torsional filter(s), similar to power system stabilizers
(PSS's), to avoid excitation of torsional modes.
0

3.1.1 Case-1

0.5

15

25

25

Time($

0.15

Figure 8 shows the damping effect of the SPS's of Fi 5 on the

third torsional mode (25.4 Hz) of System-I. Figure 8 in8cates that
the four different SPS types can provide adequate damping for the
third mode. Figure 9 shows the simulation results obtained with the
EMTP when the series compensation level is suddenly dropped
from 53% to 50%. The simulation results closelv correlate with the
corresponding eigenvalue results of Fig. 8. For the simulation
studies, each SPS is represented by a two-source model [lo]
including the control systems described in Section 3.1. The
simulation results presented in Fig. 9 correspond to injection of
maximum 0.026 per unit, 0.038 per unit, 0.019 per unit, and 0.021
per unit voltage (in addition to the steady-state injected voltage) by
Type-B, Type-C, Type-D, and Type-D2 SPS's respectively.

(b)

0.1

0.1

0.1

3.1.2 Case-7
To investi ate the impact of an SPS Location on its torsional
dampin esfect, eigenvalue studies were conducted on System-lI
(Fig. 1 Oy. Nodes A, 8, C, and D in Fig. 10 show different locations
of the SPS, which provides damping for the torsional modes of T-G
set #I.
T-G sets #2, #3, and #4 are represented by ideal voltage
sources behind fixed impedances.
Fi ure 1 1 shows the damping effect of a Type-D SPS on the first
S8R mode (7.6 Hz) of System-ll. Table 1 shows the maximum
magnitudes of the injected voltages by different SPS's for damping
the first mode of T-G set # I , when X,varies from 0.1 per unit to 0.6
per unit. Figure 1 1 and Table 1 show that:
0

(1) When an SPS is located at point "A", it can effectively damp

the first torsional mode with the minimum magnitude of the
injected voltage.

(2)

When an SPS is located at point "B', its torsional damping

effect is noticeably reduced. Thus, a higher magnitude of
injected voltage is required to achieve the necessary damping
effect. The main reason for the reduction of torsional damping
is that the parallel path with the T-G set partiall offsets the
power modulation effect of the SPS. This ef/ect is more
pronounced when an SPS is located at Point C.

05

15

Time(s)

0.15

0.1

e
a

-0.1
-0.15

0.5

15

25

(3) When an SPS is located at point "D", it is not in the primary

ener y exchange path corresponding to torsional modes;
theresore, its damping effect is further reduced.
1.6
R
I

20

20

Figure 8

A:

40

40
60
CompmsationLevel (96)

80

100

80

100

Real part (a)of the eigenvalue of the third SSR

mode of System-I (no SPS In service)
(J of the third SSR mode of System-I
Type-8 SPS in service
Type-C SPS in service
Type-D SPS in service
Type-D2 SPS in service

Figure 10: Locations of a Type-D SPS in System-ll for damping

SSR
inn f h n i n \
1

Table 1: Maximum magnitude of the injectedvoltage for damping

the first SSR mode of System4

1604

0.4

60

..

Type-D SPS disabled

Type-D SPS in service

(a)

(b)

-0.6

0.1

03

03

0.4

0.3

0.6

No SPS In service
Type-D SPS (at Node A) in service

(a)

(b)
0.6
0.4

4-

......;.........................................................................................
'-I

do
0

-0.6

0.1

(b)

0.2

03

0.4

0.3

I
0.6

-,

03

03

0.4

05

1.2

1.4

16

1.8

Type-D SPS disabled

Type-D SPS in service

(a)

(b)
.....

..........................................................

..........

.......

0.6

(b)
I

03

02

0.4

05

0.6

No SPS in service
~ y p e - DSPS (at node D) in service

Figure 11: Real part (a) of the eigenvalue of the first torsional
mode of System-ll (Fig. I O )
3.2
Enhancement of Transient Stability
The reason for rotor swings as a result of large-signal disturbances
is the mismatch between input mechanical power and output
electric power of the generator after the disturbance inception.
Depending upon a system's parameters and its operating point, if
the mismatch is more thari a nlaximum value, the generator will lose
stability. The conceptual approach to mitigate rotor swings and
enhance transient stability is to reduce the power mismatch by
modulatin the generator output power after disturbance inception.
Since an gPS can rapidly modulate voltage phase-angle and as a
result, power transfer through the associated line, it is a natural
candidate for enhancing transient stability. An SPS can enhance
transient stabili based on either bang-bang or continuous control
strategies [iI,&
This section demonstrates technical feasibility of Type-D SPS for
enhancing transient stability of System-Ill, Fig. 3. Depending upon
the pre-disturbance operating conditions, type of fault, fault
location, and line switching process, the required phase shift to
enhance transient stability can be as high as 60'. Type-B and
Type-C SPS's provide the required voltage phase shift by
adjusting on1 the magnitude of the injected voltage. Thus, the
magnitude or the injected voltage and consequently, the MVA
ratings of Type-B and Type-C SPS's will be unacceptabty high to
enhance transient stability under extreme conditions. However, the
principles of operation of Type-D SPS also permits phase-angle
control of the injected voltage to achieve the required phase shift
based on the optimum magnitude of the injected voltage. Our
preliminary studies show that the MVA rating of Type-B SPS

......................
............. .......

. . . . .

...................

0.1

............ ....

0.4

0.8

(b)
I

0.6

(a)
(b)

No SPS in service
Type-D SPS (at node C) in service

(a)
(b)

0.6

Flgure 12: Generator angle deviation of System-Ill as a result of

a 3-15 cycles fault

-0.4
-0.6

0.4

Time(s)

...............................................................................................
2
i
(a'

0.1

0.2

_1

L 0O
-0.4
-0.6

No SPS in service
Type-D SPS (at Node B) in service

(a)

0.A

0.2

0.4

0.6

0.8

.
1

'...................................................

1.2

1.4

1.6

1.8

Time(s)
Figure 13: Generator angle deviation of System-Ill as a result of
a 3-15-3 cycles fault
should be-about 35% higher than that of Type-D SPS to maintain
the stability of System-Ill for close-in faults. The MVA rating of
T pe C is always higher than that of Type-B to maintain stability
o!Sy&em-lll after various large disturbances.
3.2.1

Case.-S

Figure 12 shows the effect of Type-D SPS on the generator angle

of System-Ill, when the s stem is subjected to a 3-15 cycles
three-phase fault at point . A 3-15 cycles fault is referred to a
three-phase to ground fault which is cleared by breakers after 3
cycles, and a successful triple-pole automatic reclosure after
another 15 cycles. Initially, the generator delivers 0.9 per unit
power to the system. Lines L1 and L2 transfer 0.7 per unit power
and 0.2 per unit power, respectively. Figure 12 indicates that even
when the SPS is not in service, the system can recover from the
disturbance and return to its original steady-state condition.
However, the SPS can effectively reduce the swing amplitudes.
The SPS injects maximum 0.41 per unit voltage in the system. The
phase angle of the injected voltage varies from +90' to + I 01.54',
and from -90' to -97.63", to provide the optimum power modulation.

Figure 13 shows the transient response of System-Ill to a 3-15-3

cycles three-phase fault at point C. A 3-15-3 c cles fault is
referred to a three-phase to ground fault which is d a r e d after 3
cycles and followed by a 15 cycles reclosure. The reclosure is
unsuccessful (fault is permanent) and is followed by another 3
cycles fault clearing. Figure 13 clearly demonstrates that when the
SPS is not in service, the disturbance results in the loss of stabili
of the generator. The maximum injected voltage !or this case IS 0.42
per unit. Phase-angle of the Injected voltage vanes from +90.20" to
+112.60', and from -92.10" to -109.60', to achieve the required
power modulation.

1605
3.2.2

Case 4

AREA-2

AREA- 1

When an SPS is used to enhance transient stability after a largesignal disturbance, rapid and significant changes of the phaseangle and/or magnitude of the injected. voltage result in air-gap
transient torques, which in turn can impose severe transient
torsional stresses on T-G shaft sections.
Figure 14 shows transient mechanical stresses imposed on the
shaft segment LPB-G of the T-G set of System-Ill, as a result of a
3-25 cycles fault at point C. Figure 14 indicates that when the SPS
attempts to enhance transient stability it can adversely affect
transient shaft stresses. This effect is particularly pronounced for
the first torsional frequency which is usual1 the dominant oscillatory
mode. Figure 15 shows similar adverse egect after a 3-20-3 cycles
disturbance.
One approach to reduce the above mentioned SPS adverse effect
is to ramp (up and down) the amplitude and phase-angle of the
injectedvoltage, instead of permitting the SPS to introduce sudden
changes. The SPS controls can be specifically designed to
alleviate transient shaft stresses as a result of lar e-signal
disturbances. This concept is further explored in Section 85.

Figure 16: Locations of a Type-D SPS in System-li for damping

inter-area oscillations
transfer from Area-1 to Area-2 is increased from 180 MW to 600
MW. The SPS is located at point A, and power deviation of line L4
is used as the feedback signal for the SPS control system. The
SPS is inactive during steady-state conditions. Figure 17 shows
that the SPS can effectiiely damp the inter-area mode and its effect
on the local modes is relatively insignificant. The maximum injected
voltage by the SPS is 0.18 per unit and its phase-angle is either
within +90"to +97.6" or -90" to -98'.
3.3.2

.-

ad

0.3

ols Time(s) *:g

I
1.2

I
1.5

Case-8

Figure 18 shows the eigenvalue loci for System-ll when power

transfer from Area-1 to Area-2 is increased from 180 MW to 600
MW. The SPS is located at point B (Fig. 16), and power deviation
of line L4 is used as its feedback si nal.. Figure 18 clearly shows
that the inter-area mode can be efsectively damped, even if the
SPS is located at point B. However, companson of Figs. 17 and
18 indicates that the SPS damping effected is noticeably reduced
when it is located at point B. The reason is that line L5 papally
compensates the damping effect achieved by power modulation of
line L4. Figure 18 shows that even when the maximum magnitude
of the injected voltage is increased from 0.18 per unit to 0.26 per

Figure I 4 Transient torque of shaft section LPB-G of System-Ill

as a result of a 3-25 cycles fault
(a) Type-D SPS disabled
(b) Type-D SPS in service

-2 3

-9

%!O

I2-3

0.3

0:s Time(s) 019

I
1.2

'

-0.4

1
1.5

-0.2

0.2

Real (l/s)
Figure 17: Eigenvalue loci for System-li when power transfer
from Area-1 to Area-2 is increased from 180 MW to
600 MW
(a) SPS disabled
(b) SPS in service (at point A)

0.3

016 Timeb) o:9

I
1.2

1
1.5

Figure 15: Transient torque of shaft section LPB-G of System-Ill

as a result of a 3-20-3 cycles fault
(a) Type-D SPS disabled
(b) Type-D SPS in service

3.3

Damping Inter-Area Oscillations

The studies are conducted on System-ll, Fig. 16. Points A, B and

C on Fig. 16 show different locations of an SPS which is used for
damping the inter-area mode of the System. The SPS is
represented by !he two-source equivalent model [IO] for both
eigenvalue and time-domain simulation studies, and control over
both magnitude and phase-angle of the injected voltage is
exercised. Thus, the SPS is either Type-D or Type-D2.
3.3.1

Case-5

Figure 17 shows the eigenvalue loci for System-ll when power

0.2I

-0.2

0.2

Real (l/d
Figure 18: Eigenvalue loci for System-ll when power transfer
from Area-1 to Area-2 is increased from 180 MW to
600 MW
(a) SPS disabled
(b) SPS in service (at point B. Max Vsps4.18 Pu)
(c) SPS in service (at point B, Max Vsps=O.26 Pu)

1606
unit, the SPS damping effect is less than the case when it was
located at point A (Case-5).
3.3.3

Case-?

Figure 19 shows the eigenvalue loci for S stem4 when the SPS is
located at point C, and power transfer {om Area-1 to Area-2 is
increased from 180 MW to 600 MW. Figure 19 shows that in
contrast to Case-5 and Case-6, the SPS fails to provide adequate
damping for the inter-area oscillatory mode under heavy tie line
loading conditions. The main reason is that due to the series
capacitors (Fig. 16), line L4 is transferrin most of the inter-area
power exchange and power modulation ofline L5 is not adequate
to damp inter-area power oscillations
Figure 20 shows the system transient response to a 3-15 cycles
three-phase fault on line L5. Under stead state condition, both tie
lines transfer total of 430 MW from &ea-1 to Area-2. The
disturbance does not result in transient instability of the system;
however, it excites the inter-area oscillatory mode. Similar to the
ei envalue analysis results of Fig. 19, Fig. 20 also indicates that the
S8S (located at point C) does not have any noticeable impact on
the inter-areamodeat the given operating point.
Loop Flow Control

3.4

This section demonstrates that an SPS which is installed at a

strategic location within a network, not only can alleviate loop flow
problems, but also can provide significant assistance in maintaining
the system inte ri during emergency conditions. Furthermore,
presence of an !P% in a corridor increases transient stability limits
of parallel corridors, and permits higher level of power transfer
through the corridors under steady-state conditions.

Case-8

3.4.1

desired path. Power flow analysis shows that a voltage phaseshift of 17.2" can prevent the loop flow. This is achieved by
injecting 0.31 per unit voltage at the angle 98.6", by means of a
Type-D SPS. Since speed of response is not a concern for
steady-state loop flow control, a conventional phase-angle
regulator can also perform the function. A conventional phaseangle re ulator can provide voltage phase shift in the range of -30"
to +30 ?or 0" to +60" or 0" to -SO0), in steps of 2". Although the
Type-D SPS of System-IV (Fig. 4) is primarily used for loop flow
control, it is equipped with additional controls for rapid power flow
adjustment in corridor "B"according to a predetermined strategy
during specific system transients. This mode of operations of the
SPS in this paper is referred to as "rapid loop flow control".
Rapid loop flow control can be used to maintain transient stability of
System-IV, when dc link (1) is subjected to a permanent fault.
Transient stability studies show that under a full-load operating
condition, a sudden drop in power transfer of dc link (l), from 3200
MW to 1600 MW, results in the loss of stability of T-G set number
one. Sudden power drop of dc link (1 can be a result of losing one
of the poles of the bipole system. kigure 21 shows rotor angle
deviations of T-G set number one when the power transfer of dc
link (1) is permanently reduced from 3200 MW to 1600 MW. Figure
21(a) corresponds to the case when the SPS only prevents loop
flow and does not react to the dc link disturbance. Figure 21(a)
indicates that the disturbance results in instability of T-G set
number one.
Figure 21(b) corresponds to the case when prior to the dc link
disturbance, the SPS is not in service, and the system experiences
loop flow through corridor " B . Figure 21(b) indicates that the
disturbance does not result in the instability of T-G set # l .
Figure 21(c) shows the system response to the same disturbance
when prior to the disturbance, the SPS is in service and prevents

The studies are conducted on the system illustrated in Fig. 4.

Corridor " A is the desired ac power flow path from the generation
centre to the load centre. Power delivered through corridor "A" is
3200 MW and the loop flow power through corridor "B" is 620 MW.
DC lines (1) and (2) transfer 3200 MW and 2000 MW respectively.
The loop flow problem can be resolved by installing a Type-D
SPS in corridor "B" and diverting the excessive power to the

70

0.81

imer-areamode

35

0-

-3s
-70

'

0.2

-0.2

Time(s)

10

0.2

0
Real (l/s)

Figure 19: Eigenvalue loci for System-ll when power transfer

from Area-1 to Area-2 Is increased from 180 MW to
600 MW
(a) SPS disabled
(b) SPS in service (at point C, Max Vsps=O.18 pu)
(c) SPS in service (at point C,Max Vsps-0.26 pu)

-70

1 Time(s) k

1 Time(s) k

10

0-

-50

10

12

I
14

16

18

20

(8)

Figure 20: Power oscillations in line I2 of System-ll as a result of

a 3-15 cycles fault on line L5
(a) SPS disabled
(b) SPS in service (at node C, Max Vsps=O.l8 pu)
(c) SPS in service (at node C, Max Vsps=O.26 pu)

10

Figure 21: Rotor angle deviation of T-G set # l of System-IV

(a) SPS is in service (no loop flow)
(b) SPS in not in service (loop flow)
(c) SPS disabled after disturbance inception
(d) SPS dynamically controls corridor "B"
power flow

1607
steady-state loop flow through corridor "8". The SPS is controlled
to react to the disturbance and rapidly reduce the magnitude of the
injectedvoltage to zero, and remains inactive after the disturbance
detection. This requires communication among the SPS, the HVdc
converter station, and the T-G set #l. When compared to Fig.
21(a), Fig. 21(c) clearly illustrates that rapid response of the SPS
can prevent instability of T-G set #I. The reason is that the SPS
is rapidly disabted after the disturbance and permits loop flow,
thus, higher level of power transfer to the load centre is possible
which in turn assists transient stability.
Figure 21(d) also shows the system response to the same dc link
disturbance. Prior to the disturbance, the SPS is in service and
prevents loop flow through corridor "B". After the disturbance
inception, the SPS relinquishes its steady-state loop flow control
function, and dynamically adjusts power flow through corridor " B ,
to mitigate swings of T-G set # l . Rotor speed deviation is used as
the feedback signal and communicated to the SPS. Figure 21(d)
clearly shows that the SPS can effectively enhance the transient
response of T-G set # I . The SPS starts the steady-state loop
flow control again after the swing amplitudes subside below a
specified value.
It is interesting to note that the system transient responses
illustrated in Figs. 21(a) and 21(b) will be the same, if Type-D SPS
is replaced by a mechanicallyswitched phase-an le regulator. The
important conclusion is that loop flow controy by means of a
conventional phase-angle regulator has an adverse effect on
transient stability of T-G set # l . The instability problem can be
resolved by reducing steady-state power transfer limits of the
parallel lines of corridor A. This indicates that total power generation
of T-G set #1 should be reduced to assure stability, when loop
flow is prevented. This may not be an economically viable
strategy. However, if instead of a conventional phase-angle
regulator an SPS is used to prevent loop flow, not only does it not
result in instability (Fig. 21(c)), but it can assist in enhancing
system transient behaviour (Fig. 21(d)).
Alleviation of Transient Torques

3.5

This section demonstrates technical feasibility of T pe B and

Type-D SPS's for reducing transient shaft stresses 0YT-G sets.
The studies are conducted on System-Ill. The SPS controllers are
those of Figures 6 and 7, except that the control paths
corresponding to power feedback signals (pm) are disabled, and
generator speed (COG)is used as the feedback signal instead of
terminal frequency w.
3.5.1

Case-9

Figure 22 shows the torsional response of the T-G set to the 3-203 cycles disturbance (Section 3.2.2) with and without SPS's in
service. The maximum voltage that each SPS can inject in the
system is 0.58 per unit. SPS's are inactive during steady-state
conditions and react to the electrical disturbance only to mitigate
transient torsional oscillations. Figure 22 indicates that:
Both Type-B and Type-D SPS's can reduce peak transient
stresses of shaft sections.
For the same magnitude of injected voltage, Type-D SPS is
more effective for reducing shaft stresses than Type43 SPS.
The reason is that Type-D SPS also regulates the phase angle
of the injected voltage to maximize the required damping effect.
The impact of both SPS configurations on the first few peak
torques is relatively small.
The studies show that mitigation of transient torques by a SPS
does not have any noticeable adverse effect on the generator
swing mode of oscillations.
4.

CONCLUSIONS

This paper examines and compares technical feasibilities of

different types of static phase shifters (SPS's) for damping
subsynchronous frequency resonance, mitigation of inter-area
oscillations, enhancement of transient stability, alleviation of shaft
transient stresses, as well as steady-state loop flow control. The
studies are conducted on four test systems. Each system exhibits
one or more of the above mentioned power systems operational
problems. The investigation concluded that:

2 3
7

&
. - -3
4-6

0.3

0.3

0.3

Timeb) o!9

1.2

I
1.5

6 3

bo
c-"-3
4
I

I Time(s) I
0.6
0.9

1.2

1.5

o16

1.2

I
1.5

Timeb) o!9

Figure22: Miti ation of transient stresses of shaft section LPB-G

of &stem-Ill as a result of a 3-20-3 cvcles disturbance
No SPS in service
Type-B SPS in service
[c) Type-D sps in service

(E\

An SPS can be utilized to enhance the performance of a power

system during steady-state operating conditions, small-signal
dynamics, and large-signal dynamics,
An SPS can
simultaneously perform two or more functions, e.g. loop flow
control as well as damping inter-area oscillations or SSR
mitigation.
Damping effect of an SPS on either small-signal dynamics or
large-signal dynamics depends upon the SPS tocation within
the system.
Type-D SPS is technically the most feasible configuration for
enhancing system transient behaviour.
Type-D and Type-D2 SPS are equally effective for mitigating
small-signaloscillations.
ACKNOWLEDGMENT

5.

Financial support under EPRl contract RP2473-42 is gratefully

acknowledged.
6.

REFERENCES

M.R. Iravani, D. Maratukulam, "Semiconductor-Controlled

(Static) Phase Shifters for Power Systems", Submitted for
presentation at the IEEE PES Winter Meeting, 1994.
EPRl TR-100504, "FACTS Conference I-The Future in
High-Voltage Transmission", Conference Proceedings,
March 1992.
EPRI, "Flexible AC Transmission Systems (FACTS 2)",
Conference Record, May 18-20, 1992, Bo.s!on.
A. Semlyen, H. Hamadanizadeh, Computational
Experiments in Power Systems", IEEE Trans., Vol. PAS104, NO. 9, pp. 2290-2295, 1985.
M.R. Iravani, "A Software Tool for Coordination of
Controllers in Power Systems", IEEE Trans., Vol. PWRS-5,
NO. 1, pp. 119-125, 1990.
EMTP Development Coordination Group, "Electromagnetic
Transients Program (EMTP), Version 2.0, EPRI-EL-f3421-L,
1989.
IEEE SSR Task Force, "First Benchmark Model for
Computer Simulation of Subsynchronous Resonance",
IEEE Trans., Vol. PAS-96, pp. 1565-1572, 1977.
M. Klein, G.J. Rogers, P. Kundur, "A Fundamental Study of
Inter-Area Oscillations in Power S stems", IEEE Trans.,
Vol. PWAS-6, No. 3, pp. 914-921, 1891
IEEE Committee Report, "Operating Problems with Parallel

1608
Flows", IEEE Trans., Vol. PWRS-6, No. 3, pp. 1024-1034,

1991.
L. G ugi, "Unified Power-Flow Control Concept for Flexible
AC fransmission Systems", IEE Proceedings, Pt. C, Vol.
139,NO. 4,pp. 323-331,July, 1992.
[ll] R. Baker, G. Guth, W. Egli, P. Eglin, "ControlAlgorithm for a
Static Phase Shifting Transformer to Enhance Transient
Stabilitv of b r a e Power Svstems". IEEE Trans.. Vol. PAS-

['01

ioil plj. 3532-9542,1982.'

[12] E. Edris, "Enhancement of First-Swing Stability Usin a

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No. 3, pp. 1113-1118,1991..

M.R. Iravani (M' 85) received his B.Sc. degree in electrical

engineering in 1976 from Tehran Polytechnique University and
started his career as a consulting engineer. He received his M.Sc.
and Ph.D. degrees in electrical engineering from the University of
Manitoba, Canada, in 1981 and 1985 respectively. Presently, he is a
Professor in the Department of Electrical and Computer Engineering
at the University of Toronto. His research interests include power
electronics, systems dynamics, and simulation.
Paul L. Dandeno (Life Fellow, IEEE) graduated from the University
of Toronto in 1943 with a B.A.Sc. in Electrical Engineering. After
wartime service in the electrical branch of the Royal Canadian Navy,
he joined Ontario Hydro in 1946, and retired from there in 1986.
Since that time, he has been an Adjunct Professor in the Power
Group of the Electrical and Computer Engineering Department at the
University of Toronto. Over the past 35 years, he has served on 3
committees and many subcommittees of IEEE-PES, including
Chairman since 1973 of the Joint Working Group on Determination

and Application of Synchronous Machine Models for Stability

Studies.
K.H. Nguyen received his B.A.Sc. in electrical engineering from the
University of Toronto in 1989. Presently he is a graduate student in
the Department of Electrical and Computer Engineering at the
University of Toronto working towards his M.A.Sc. degree. His
research interests are in the area of power system dynamics.
D. Zhu graduated from Wuhan University of Hydraulics and
Electrical Engineering in 1967. After graduation he worked as an
engineer in Bureau of Gezhouba Hydro-Electric Engineering and the
Institute of Pearl River Water Resources Commission. Since 1991
he has been with the Department of Electrical and Computer
Engineering working towards his M.A.Sc. degree. His research
interests are in the area of applications of power electronics in power
systems.
D.J. Maratukulam received the B.Tech. degree from the Indian
Institute of Technology, Madras, India. He also received M.S.
(Material Science) and M.Eng. (Electrical Engineering) degrees from
the University of Washington, Seattle (1972) and the University of
British Columbia, Vancouver, B.C. (1974), respectively. Before
joining EPRI in 1987 he worked at Bharat Heavy Electricals, Trichy,
India; University of British Columbia, B.C. Hydro, Vancouver,
B.C.; and Systems Control Inc. Palo Alto, CA. His areas of
interests at EPRI include Flexible AC Transmission Systems
(FACTS), Voltage Stability, Power System Losses, Power System
Protection, and Parallel Processing.