Synchronverter-based Operation of STATCOM to

Mimic Synchronous Condensers

Phi-Long Nguyen∗, Qing-Chang Zhong∗, Frede Blaabjerg† , and Josep M. Guerrero‡
∗ Department of Aeronautical and Automotive Engineering
Loughborough University, Leicestershire LE11 3TU, United Kingdom
Email: P.L.Nguyen@lboro.ac.uk., zhongqc@ieee.org.
† Institute of Energy Technology, Aalborg University (AAU), Aalborg 9220, Denmark

Email: fbl@et.aau.dk.
‡ BarcelonaTech, Department of Automatic Control Systems, 08036 Barcelona, Spain

Email: joz@et.aau.dk.

Abstract—The operating principles of static synchronous con-
denser (STATCOM) are similar to that of a rotating synchronous
condenser. However, so far, most controlling methods proposed for
STATCOM have not taken into account the internal characteri-
stics of rotational synchronous machines. In this paper, following
the idea of synchronverters, the controller for a STATCOM is
designed according to the mathematical model of synchronous
generators that are operated in the compensator mode. As a
result, no phase-locked loop (PLL) is needed. Moreover, a third
operation mode, i.e. the droop control mode (or the D-mode in
short), is introduced to the operation of STATCOM, in addition
to the conventional voltage regulation mode (or the V -mode
in short) and the direct Q control mode (or the Q-mode in
short). This allows parallel-operated STATCOMs to share reactive
power properly. The proposed control strategy is verified with
simulations in MATLAB/Simulink/SimPowerSystems.
Index Terms—STATCOM, microgrid, voltage droop control,
system strength, reactive power compensation, synchronverters,
virtual synchronous machines.
I. I NTRODUCTION
Synchronous machines have been used since long time ago
as synchronous compensators or synchronous condensers to
control the voltage profile of power systems, especially in
transient states, by consuming or generating reactive power.
The use of synchronous compensators is considered to be sim-
ple and could maintain high flexibility and reliability [1], [2].
They are nowadays still used in many applications, especially
when robust operation is required, e.g. in remote and islanded
operation of wind farms [2] and in high voltage direct current
(HVDC) transmission systems [3], [4].
Although synchronous compensators have good stable ope-
rating characteristics, the loss is usually high and can reach
1 − 2% of the rated power [5], which is mainly due to the
rotational loss and the heat caused by high reactive currents.
As a result, static synchronous compensators (STATCOM),
which are effectively voltage-source inverters (VSI) [6], [7],
have been proposed as an alternative option.
The operating principles of STATCOM are similar to those
of rotational synchronous compensators externally [6], [8]–
[10], but most of the controllers proposed to control STAT-
COM have not taken advantage of the mathematical model
of synchronous machines. Very recently, there is an emerging
trend to exploit the properties of synchronous machines to
facilitate the control of inverters [11] and grid-connected
VSIs [11]–[17]. In this paper, STATCOMs are controlled to
operate as virtual rotational synchronous condensers, following
the idea of the synchronverter proposed in [12], [13]. From
the grid side, the power system sees STATCOMs as actual
synchronous machines operated in the condenser mode. The
proposed controller does not need a PLL to provide the grid
frequency and synchronisation. A third operation mode, the
droop mode, is also introduced to the operation of STATCOM.
This allows parallel-operated STATCOMs to share reactive
power according to the voltage drop.
The rest of the paper is organised as follows. The conventio-
nal control schemes for STATCOM are reviewed in Section II
and the major principles of the synchronverter technology are
summarised in Section III. The synchronverter-based controller
for STATCOM that does not need a PLL is proposed in Section
IV and simulation results are shown in Section V, followed by
conclusions made in Section VI.
II. OVERVIEW OF THE OPERATING PRINCIPLES OF
STATCOM
Figure 1 depicts a STATCOM connected to a power system.
The equivalent circuit of the system shown in Figure 1(a)The
phase difference between e and vg is δ = θ−θg . Under normal
operations, δ is small (and negative). As a result, sin δ ≈ δ and
cos δ ≈ 1. The real power P and reactive power Q flowing
out of the STATCOM are [7]
Vg E Vg E
P =3 sin δ ≈ 3 δ, (1)
XL XL
 
Vg E Vg2 Vg
Q=3 cos δ − ≈3 (E − Vg ) . (2)
XL XL XL
From Eq. (2), the reactive power Q can be controlled via
changing the voltage difference E − Vg . When the reactive
power Q is changed, the voltage vg changes slightly as well.
This can be used to regulate the voltage at the PCC. Hence,

978-1-4577-2119-9/12/$26.00 2011
c IEEE 942
 v g = Vg θ g hence the mechanical speed of the machine is the same as the
electrical speed.
Z eq ig jX L
PCC Similarly to the control of a synchronous generator, there
~ veq ~ e=E θ
are two control channels: one for the real power and the
other for the reactive power. The real power is controlled
by a frequency droop control loop, using the (imaginary)
(a) Single-phase equivalent circuit mechanical friction coefficient Dp as the feedback gain. This
Transmission line PCC
loop regulates the (imaginary) speed θ̇ of the synchronous
vg machine and creates the phase angle θ for the generated
ig voltage e. The reactive power is controlled by a voltage droop
CB control loop, using a voltage droop coefficient Dq . This loop
XL Coupling regulates the field excitation Mf if , which is proportional to
transformer the amplitude of the voltage generated. More details about the
+
C Vdc e synchronverter technology, including experimental results, can
- STATCOM be found in [13].
(b) Sketch of the physical connection
.
Dp − θr
Figure 1. STATCOM connected to a power distribution system

− .
a STATCOM mainly have two different operation modes: one Pset 1 Tm 1 θ 1 θ
θ&n
is to provide the desired amount of Q, which is called the − Js s
direct Q control mode (or the Q-mode in short), and the other
is to regulate the PCC voltage, which is called the voltage Te
Formulas
regulation mode (or the V -mode in short). Q of e, Q, Te e
Equation (1) shows the relationship between the real power Qset − Mfif
1 i
P and the phase difference δ. The real power flowing in or Ks
out forces the DC-bus voltage Vdc to increase or decrease. As Vr
Dq
a result, Vdc can be regulated via controlling δ or the phase −
angle θ of the voltage e generated by the STATCOM. Vg

III. OVERVIEW OF THE S YNCHRONVERTER T ECHNOLOGY Figure 2. The synchronverter control strategy [12], [13]
A synchronverter is an inverter that mimics a conventional
synchronous generator [13] or a virtual synchronous machine.
IV. D ESIGN OF A S YNCHRONVERTER - BASED STATCOM
Figure 2 shows the control scheme of a synchronverter, which
C ONTROLLER
includes the mathematical model of a three-phase round rotor
synchronous machine described by The synchronverter is able to control real power and reactive
power independently with a compact control structure, in
1
θ̈ = (Tm − Te − Dp θ̇), (3) which the model of a synchronous machine is embedded.
J Hence, it could be applied to implement STATCOM if the
 
 , synchronous machine is operated in the condenser mode, i.e.
Te = Mf if i, sinθ (4)
when P = 0. This leads to the proposed controller for a
STATCOM shown in Figure 3, after dealing with some special

e = θ̇Mf if sinθ, (5) aspects and making some necessary changes.
Similarly, the controller has two control channels. The
upper channel regulates the real power to control the internal
Q = −θ̇Mf if i, cosθ
 , (6) frequency θ̇ and the phase θ so that the DC-bus voltage Vdc is
maintained constant and that the STATCOM tracks the phase
where Tm , Te , e, θ and Q are the mechanical torque applied, of the grid voltage. The lower channel regulates the reactive
the electromagnetic torque, the generated voltage, the rotor power and/or the voltage. A particular property of the proposed
angle and the reactive power, respectively. if is the field STATCOM is that it can be operated in an extra mode, called
excitation current and i is the stator current vector. Mf is the droop mode or the D-mode, in addition to the conventional
the maximum mutual inductance between the stator windings Q-mode and V -mode, so that parallel-operated STATCOMs
 = and cosθ
and the field
 winding. sinθ  2π are
T defined as can share the reactive power properly. The D-mode is the
 =
sinθ sin θ sin θ − 2π sin θ + , cosθ
 = combination of the conventional Q-mode and V -mode, by
  2π
3 2π

T 3
cos θ cos θ − 3 cos θ + 3 . Here, it is assumed operating the two switches SQ and SV shown in the lower part
that the number of pairs of poles for each phase is 1 and of Figure 3. The positions of the switches SQ and SV , together

2012 7th IEEE Conference on Industrial Electronics and Applications (ICIEA) 943
 •
in the time domain. The time constant Td can be chosen as 5
θn
times of the system period, as a rule of thumb.
• •
Vrdc Δθ − θ Td s + 1 θ
PI
− s B. Regulation of the reactive power (the Q-mode)
Vdc In the Q-mode, the reactive power Q generated/absorbed
v g , ig
Calculate e
by the STATCOM is regulated to be the set-point Qset . To
and Q e PWM select this operation mode, SQ is on and SV is off, i.e. the
generation voltage control channel in the lower part of Figure 3 is not
M f if in operation. Therefore, Mf if is controlled according to the
1 reactive power error
Q s
Q = Qset − Q. (7)
− ΔQ
Qset 1 SQ SV 1 ΔV Vr
KQ Kv − Since Mf if is proportional to the RMS value E = √12 Mf if θ̇
Vg of e, and E is proportional to the generated reactive power Q,
the control effect can be explained as
Figure 3. A synchronverter-based STATCOM controller
Qset > Q ⇒ Q > 0 ⇒ Mf if ↑⇒ Q ↑ to Qset , (8)
Table I
O PERATION MODES OF THE PROPOSED STATCOM and
SQ SV Operation Mode
ON OFF Q-mode: Direct Q control Qset < Q ⇒ Q < 0 ⇒ Mf if ↓⇒ Q ↓ to Qset . (9)
OFF ON V -mode: Voltage regulation
ON ON D-mode: Droop control Because of the integrator in the loop, the error Q is eli-
minated and the reactive power Q tracks the set-point Qset
accurately in the steady state.
with the corresponding operational modes of the STATCOM,
are shown in Table I.
C. Regulation of the grid voltage (the V -mode)
A. Regulation of the DC-bus voltage and locking with the grid The system strength Zeq of a power system, as shown in
phase Figure 1(a), changes with every load change on the grid, which
causes Vg to drop or increase accordingly. The fluctuation of
As discussed in the previous section, the DC bus voltage
Vg reduces system stability and directly affects the normal
can be regulated by controlling the phase θ of the voltage e.
operation of other equipment on the grid. It may also increase
Tracking the grid frequency is also able to regulate θ, which
the grid loss. Therefore, regulating the voltage Vg at the PCC
eventually regulates Vdc . In Figure 3, Δθ̇ is the output of the
is an essential function of a STATCOM and the V -mode is the
PID controller used to regulate the DC-bus voltage and θ̇n is
˙ the most common operation mode of STATCOMs. In this mode,
the rated system frequency. Noting that θ̇ = θ̇n − Δθ,
the voltage Vg at the PCC is regulated to be the set-point Vr ,
regulating mechanism can be described as Vdc ↓⇒ θ̇ ↑⇒
which is usually the nominal value of the system.
θ̇ ↓⇒ θ ↓⇒ δ ↓⇒ Vdc ↑ to Vrdc and Vdc ↑⇒ θ̇ ↓⇒ θ̇ ↑⇒
In order to operate the STATCOM in this mode, SQ is off
θ ↑⇒ δ ↑⇒ Vdc ↓ to Vrdc .
and SV is on, i.e. the reactive power control channel in the
As a result, there is no need to add an extra PLL to
lower part of Figure 3 is not in operation. Therefore, Mf if is
obtain θ̇g as the reference frequency for the STATCOM. This
controlled according to the voltage error
considerably improves the performance of the STATCOM. In
order to speed up the effect of any change in the frequency θ̇ on V = Vr − Vg . (10)
the phase angle θ so that it can quickly lock with the grid phase
θg , the phase angle is obtained via Td s+1
s instead of via a pure The control effect can be explained as
integrator 1s from the frequency θ̇ as normally done, e.g., in
the case of the synchronverter in [13]. That is, a proportional- Vg < Vr ⇒ V > 0 ⇒ Mf if ↑⇒ E ↑⇒ Vg ↑ to Vr , (11)
derivative (PD) unit with the time constant Td is cascaded
with the integrator to speed up the dynamic response of the and
integrator. The PD unit only plays a role in the transient state
and does not affect the steady-state response of the integrator, Vg > Vr ⇒ V < 0 ⇒ Mf if ↓⇒ E ↓⇒ Vg ↓ to Vr . (12)
which is still
t
In the steady state, Vg = Vr because of the integrator in the
θ= θ̇dt
0
loop.

944 2012 7th IEEE Conference on Industrial Electronics and Applications (ICIEA)
 25/5 kV
Transmission Feeder B3 (PCC) 10 MVA B5
B1 B2
line 50 km 1 km

CB3 25/0.6 kV CB2 CB1

B4
3 MVA
Load 4 Load 3 Load 2 Load 1
P = 2 MW 1.5/25 kV Coupling P = 2 MW P = 0.8 MW P = 2.5 MW
Xs Q = 1 MVar 5 MVA transformer (Floating) Q = 0.3 MVar Q = 1.5 MVar
(capacitive) (capacitive) (inductive)
25 kV
100 MVA Rs +
Power source C
-
Vs ~ STATCOM
± 5 MVar
1.5 kV

Figure 4. Single-line diagram of the power system used in simulations

D. Droop control (the D-mode)

Ls , Rs i
The STATCOM is operated in this mode when both SQ and a
ib
SV are turned on. In the steady state, the input to the integrator C ic XL vga
to generate the Mf if is 0, i.e., Cf
vgb iga
Q V igb
+ = 0. (13) vgc igc
KQ Kv
Cf
Ls , Rs
Q
Hence, the voltage droop coefficient Dq = − V defined in
[13] becomes
Q KQ
Dq = − = . (14)
V Kv
In practice, the parameters KQ and Kv can be tuned as Figure 5. Detailed model of the STATCOM used in the simulations
follows. The droop coefficient Dq can be determined at first
with the specification of the STATCOM. For example, if it is
Figure 5. The STATCOM was connected to the grid via a
required to generate the rated reactive power when the voltage
1.5/25 kV transformer.
drops by 10%, then
For the real power control loop, the PI control gains were
Qn chosen as KP = 0.005 and KI = 0.1 and the time constant
Dq = , (15)
10%Vn of the PD unit was chosen as Td = 0.1s. For the reactive
where Vn is the amplitude of the nominal phase voltage of the power control loop, Dq was chosen so that 100% nominal
grid and Qn is the rated capacity. According to [13], the time reactive power increment corresponds to 10% of voltage drop,
Qn
i.e. Dq = 10%V = 2449.5 where Qn = 5 MVar is the
constant of the voltage regulation loop is n 
rated power of the STATCOM and Vn = 25 23 kV. The time
Kv Kv
τv = ≈ , (16) constant of the voltage loop was chosen as τv = 0.058s and,
θ̇ θ̇n as a result, Kv = 18.37 and KQ = 45000. The simulation step
from which the gain Kv can be determined after the time size was chosen as Ts = 50μs, with the IGBT models running
constant τv is chosen. Normally, it can be chosen as a couple in the average mode.
of system periods. Then, the parameter KQ can be obtained
A. Under different normal operation modes
from (14) as
K Q = K v Dq . (17) The normal operation of the STATCOM was tested under
different operation modes. After connecting the STATCOM
Since K1v = KQq , which is often much larger than K1Q , the
D
to the grid, the simulation was conducted in the following
voltage loop is much faster than the reactive power loop. This sequence of events:
is expected. 1) Change Qset from 0 to −3 MVar at t = 2s (in the Q-
mode);
V. S IMULATION R ESULTS 2) Switch to the V -mode at t = 3s to regulate Vg to be 1
To verify the control strategy, a power system model pu;
shown in Figure 4 was built in MATLAB/Simulink/SimPower 3) Switch to the D-mode at t = 4s;
Systems. The detailed model of the STATCOM is shown in 4) Stop the simulation at t = 4.5s.

2012 7th IEEE Conference on Industrial Electronics and Applications (ICIEA) 945
 The results are shown in Figure 6. The Vdc was successfully
maintained at the set-point Vrdc = 2.5 kV with some dyna-
3 mics, while the real power P remained at nearly zero and the
phase difference δ was kept very small all the time. Although
Vdc [kV]

2.5 the system frequency was kept constant, the phase of the
grid voltage (the constant part) did change when the events
happened and the proposed STATCOM successfully tracked
2
1.5 2 2.53 3.5 4 4.5 the grid phase without the need of a PLL, as shown in the
Time [s] Figure 6(e). The transitions between the three operation modes
(a) DC-bus voltage Vdc of the STATCOM were very smooth with fast responses and
small overshoots. Vg was about 0.92 pu before the STATCOM
1 started regulating the reactive power. The STATCOM quickly
P [MW]

responded to the change of Qset = −3 MVar at t = 2s, which

0 caused Vg to reduce to about 0.8 pu. When the mode was
changed to the voltage regulation mode at t = 3s, Vg was
−1 quickly regulated to 1 pu with about Q = +3.5 MVar provided.
1.5 2 2.5 3 3.5 4 4.5 When the STATCOM was switched to the D-mode at t =
Time [s] 4s, the reactive power generated was reduced to about 0.42
(b) Real power MVar, which caused the Vg to settle down at about 0.932 pu,
6 i.e. with the voltage error of V = 6.8%Vn . The change of
the reactive power is Q = 3.42 MVar from the set-point
Q [MVar]

2
Qset = −3 MVar. This is in line with (14) because
−2
Q 3.42 × 106 5 × 106
= ≈ = Dq .
−6 V 6.8%Vn 10%Vn
1.5 2 2.5 3 3.5 4 4.5
Time [s] B. With a variable grid frequency
(c) Reactive power The purpose of this simulation is to demonstrate the voltage
1.1 phase tracking performance of the STATCOM under extreme
conditions with grid frequency variations. The grid frequency
1
Vg [pu]

was set to be at nominal frequency fn = 50 Hz at the

0.9
beginning. After connecting the STATCOM to the grid, the
0.8 simulation was conducted in the following sequence of events:
0.7 1) Switch to the V -mode at t = 2s and, at the same time,
1.5 2 2.5
3 3.5 4 4.5
Time [s] change the grid frequency to f = 52 Hz;
2) Change the grid frequency back to the nominal value
(d) Vg with the STATCOM connected fn = 50 Hz at t = 3s;
0 3) Drop the grid frequency to f = 48 Hz at t = 4s;
θg θ
θg, θ [ ° ]

−5 4) Change the grid frequency back to nominal value fn =

−10 50 Hz at t = 5s;
−15 5) Stop the simulation at t = 6s.
−20 The results are shown in Figure 7. The DC-bus voltage
1.5 2 2.5 3 3.5 4 4.5 shown in Figure 7(b) reflected the extreme frequency change
Time [s] but was successfully driven back to the set-point without any
(e) Voltage phase tracking problem. At t = 2s, although the operation mode and the
1 frequency were changed at the same time, the system still
responded very well. The phase tracking performance was
0.5
δ[°]

excellent under the large grid frequency variations, as can be

0
seen from Figure 7(e). It is worth emphasising that no PLL
−0.5 was used in the case.
−1 The voltage Vg with the STATCOM connected is shown
1.5 2 2.5 3 3.5 4 4.5
in Figure 7(f). Since the STATCOM was operated in the V -
Time [s]
mode from t = 2s, the voltage Vg was maintained very well
(f) Phase difference δ = θ − θg at 1pu for the whole process. The STATCOM has rejected the
Figure 6. Simulation results under different operation modes effect of the extreme frequency change and has demonstrated
excellent self-synchronisation ability without the need of an
additional PLL.

946 2012 7th IEEE Conference on Industrial Electronics and Applications (ICIEA)
 VI. C ONCLUSIONS
A STATCOM is operated as a virtual synchronous con-
53 denser has been proposed without the need to use a PLL.
The proposed STATCOM controller also introduces a third
fg [Hz]

50 operational mode, i.e. the droop control mode or the D-

mode in short, to the operation of STATCOM, in addition
47 to the conventional direct Q control mode (the Q-mode)
1.5 2 2.5 3
3.5 4 4.5 5 5.5 6 and the voltage regulation mode (the V -mode). This allows
Time [s] parallel-operated STATCOMs to share reactive power properly.
(a) Change of the grid frequency Simulation results are presented to demonstrate the excellent
3.5 performance of the proposed control strategy.
Vdc [kV]

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Figure 7. Simulation results with a variable grid frequency

2012 7th IEEE Conference on Industrial Electronics and Applications (ICIEA) 947