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

4, October 1997

1635

IMPROVING POWER SYSTEM DYNAMICS BY SERIES-CONNECTED FACTS DEVICES

L. Angquist Member Non-Member Reactive Power Compensation Division ABB Power Systems S-72 1 64 Vasteris, Sweden
M. Noroozian

M. Ghandhari G. Anderson Non-Member Senior Member Dept. of Electric Power Engineering Royal Institute of Technology S-100 44 Stockholm, Sweden

Abstract This paper examines improvement of power system dynamics by use of unified power flow controller (UPFC), thyristor controlled phase shifting transformer (TCPST) and thyristor controlled series capacitor (TCSC). Models suitable for incorporation in dynamic simulation programs for studying angle stability are analysed. A. control strategy for damping of electromechanical power oscillations using an energy function method is derived. The achieved control laws are shown to be effective both for damping of large signal and small signal disturbances and are robust with respect to loading condition, fault location and network structure. Furthermore, the control inputs are easily attainable from the locally measurable variables. The effectiveness of the controls are demonstrated for model ]power systems. Keywords: FACTS, series-connected voltage source, UPFC, TCPST, TCSC, power swing, energ,y function, control strategy, local variables. 1. INTRODUCTIOIrJ
The power transfer capability of Ilong, inter-regional transmission lines is usually limited by both large and small signal stability. Such economic factors as the high cost of long lines and the revenue obtainable from the delivery of additional power give strong incentives to explore all economically and technically feasible means of raising the stability limit. The fast progress in the field of power electronics has already started to influence the power industry. In principle, thyristor-controlled series capacitor (TCSC) and thyristorcontrolled phase shifting transformer (TCPST) could provide fast control of the active power through a transmission line. The possibility of controlling the transmittable power also
PE-040-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.

implies the potential application of these devices for damping of power system electromechanical oscillations. Both a series capacitor and a phase shifting transformer 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 source voltage. By the development of thyristors with current extinguishing capability, all solid state implementation of power flow controllers could be realised. The unified power flow controller (UPFC) is a new device within the FACTS family which consists of series and shunt connected converters. The use of series-connected controllable components for power flow control in electric power systems is described in [ I ] and [ 2 ] . In 1966 Kimbark showed that the transient stability of an electric power system can be improved by a switched series capacitor [3]. Later work has explored the benefits of the controllable series capacitor for improving small disturbance stability [4]. Recent studies show that series reactive compensation is more efficient than shunt reactive compensation for damping of power swings [ 5 ] . A question of great importance is the selection of the input signals for the FACTS devices in order to damp power oscillations in an effective and robust manner. This paper develops a control strategy for the series-connected FACTS devices based on energy functions. To do this, a common structure model for series-connected devices is developed. The derived control strategy has a basic structure for the three components and it is based on the variables which can easily be obtained from locally measurable variables. The selected control strategy is shown to be very effective for increasing the stability limit of the studied power systems. This work is in the line with [6] and [7] which energy function approach are used for power swing damping. This work presents a novel model for series-connected FACTS devices for incorporation in the energy function. The outline of this paper is as follows: Section 2 describes the operating principles and modelling of series-connected FACTS devices UPFC, TCPST and TCSC. Section 3 develops a control strategy for the seriesconnected FACTS devices based on an energy function. Section 4 demonstrates the performance of the devices for damping of power oscillations for various fault scenarios through numerical examples.

0885-8977/97/$10.00 0 1997 IEEE

1636

2 .

ELLING

In this section, a general model is derived for series-shuntconnected FACTS devices (UPFC, TCPST and TCSC). This model which is referred to as the injection model, is valid for load flow and angle stability analysis, i.e., for situations where phasor based models are valid. The model is helpful for understanding the impact of these components on power system. Furthermore, the contribution of UPFC, TCPST and TCSC to the energy function can conveniently be identified. el~ing Series-Shunt-ConnectedDevices of
UPFC and TCPST inject a voltage in series with a line through a series transformer. The active power involved in the series injection is taken from the line through a shunt transformer. UPFC generates or absorbs the needed reactive power locally by the switching operation of its converters, while the reactive power injected in series with the line by the TCPST, is taken from the line and is circulated through the shunt transformer. Fig. 1 shows a general equivalent diagram o f a series-shunt-connected device (like UPFC and TCPST).

It is shown in [l] and [2] that the equivalent circuit diagram of Fig. 1 can be modelled as the dependent loads injected at nodes i and j. This model is called injection model and the general configuration is shown in Fig. 3:

Fig.3: Injection model for series-shunt connected devices

The expressions for Ps,,Qsr, P,,Q,
(6q = e i - Q j ) :

are given in Table 1

UPFC

TCPST

Y4

V"

Y'
Table 1: UPFC and TCPST injection loads (b, = I/ X , ) It is seen that = which is expected, since UPFC and TCPST do not generate or absorb active power (when losses are ignored).

ei

-ej

Fig. 1: Equivalenit circuit diagram of UPFC or TCPST In Fig. 1, X , is the effective reactance seen from the line side of the series transformer. For UPFC X , = Xseries, TCPST for X , = X,,,,,, + n2Xshunt, where X,,,,, is the reactance of series transformer, Xshunt the reactance of shunt transformer and is n depends on the phase shifter angle [ 1 [8]. 1 % is the induced series voltage, and 7, represents a current source. is a fictitious voltage behind the series reactance. Fig. 2 shows the phasor diagram of the equivalent circuit diagram.

2.2 Modelling of TCSC

For studies involving load flow and angular stability analysis, a TCSC can be modelled as a variable reactance. However, for the purpose of developing a control strategy and having a similar approach with that of UPFG and TCPST, it is useful to have an injection model representation of the TCSC. Namely, the equivalent circuit diagram in Fig. 1 is valid when 7, is set to zero, p= 4 2 in the phasor diagram of Fig. 2 and X , is considered to be as a part of the transmission line reactance. The injection model for a TCSC with compensation degree Kc is given in Table 2 [8].

I I,

Fig. 2: Phasor diagram of the equivalent circuit diagram The magnitude of we define r = ~

is controllable by UPFC and TCPST. If

~then 0 < r < r,,,. ~The angle y is~ ~ / ~ ~ , Table 2: TCSC injection loads

controllable by UPFC from 0 to 2 7c. For TCPST: y = f 4 2 .

1637

3. CONTROL STRATElGY
This section develops control strategies for damping of electromechanical oscillations for series-connected FACTS devices. First the model of the controllers are incorporated in an energy function. Then the time derivative of the energy function is determined to yield the control laws. 3.1 Energy Function The use of energy function for power systems has been analysed in [9]. The energy function has the following form: v = EKE + Ep,rj + E ,

To make V negative with maximum absolute value, sin (Oil + y ) must be kept equal to +_1 depending on the sign d of - ( O b ) . This gives the following control law: dt

Control law for UPFC:

if d -(e..)<O dt
4 20

then: r=rmax and y = - - - O . . 2 4 then: r = rmax and

y = +- - 8 . . 2 4

; n

(1 1

where E , is a measure of the system kinetic energy, E,, is a potential energy and E, is a constant such that at the postfault stable equilibrium point the energy function is zero. The impact of the series-connected FACTS devices are modelled in the energy function through injection models discussed in Section 2. To damp the electromechanical oscillations, the total value of the energy function must decrease and therefore the FACTS devices must be controlled in such a way that: V I 0 . The time derivative of energy function yields (The detailed calculations are given in Appendix 2):

For TCPST and TCSC, the control laws can be derived in the same way:
0

Control law for TCPST:

..) < 0
2o

then: r = rmax and then:

y = -2

Ir 7L

= rmax and

=+2

Control law for TCSC:

It is observed that v is dependent of the derivative of the voltage angles and magnitudes. However, simulations show d that the term Psj -(eii) has the dominant impact on the time dt derivative of energy and the influences OP the other terms are negligible. Thus, the control action for !he series-connected devices must satisfy:

d if -cos(@..) I O l d t 9 d if -cos(8 ..) > 0 1 d t 4

then: then:

K , = Kcmax K , = Kcmi"

The difference between the voltage angles across the seriesconnected FACTS devices are used as input signals.

3.3 Influence of loading condition and network topology

Based on this control strategy, the input signal is measured at each sampling time (say 20 ms) and the controllers output are determined. This control structure is independent of the system loading, network topology and fault types.

c = P . -(eq) I o d
s J

dt

(3)

The above control law has a clear physical meaning when Prj in Fig. 3 is examined, namely: The active power injection by the controllable components must oppose the growth of the active power through the transmission line.
3.2 Control Laws

3.4 Influence of Multiple FACTS devices

The mathematical approach for deriving the developed control strategies can be extended to multiple seriesconnected FACTS devices if the requirement of the energy function are satisfied. Suppose that there are totally m seriesconnected FACTS devices in a power system. Each device is located between the nodes i,,, j,, such that n = 1,2,.. .,m ., In this case the derivative of energy function is extended to:

The control laws for the series-connected FACTS devices are concluded by substituting Psj from Tables 1 and 2, and calculating the control variables such that the absolute value of the time derivative of energy function becomes maximum. For example for UPFC, we have: PSJ = -rbs

" d v = Ccjn -(einjn)I o dt

1

6 Vj

sin

(eii + y )
I O

(4)
(5)

Equation (3) simplifies to:

V

= -rb,?

Vj sin

d (eij +y)-(Bi,) dt

A sufficient condition to make v negative is that each device fulfils the controls laws derived above. In this way, each series-connected FACTS device will contribute to the decrease of the total energy without deteriorating the impact of the other controllers.

1638

In this section, the developed control laws are applied for the model power systems. First, a two machine system is considered and the effectiveness of the control strategy for UPFC, TCPST and TCSC is studied. Next, the interaction of the controllers with each other is examined in a three machine system.

regulation, the ratings of shunt transformer and converter 1 will increase). The voltage angles at the two nodes Bus i and Bus j are taken as input variables. The difference between the two machine angles ( 6 ) with different disturbances using the proposed control strategy for the three devices are shown and compared with the case without FACTS devices. Case i: A three phase fault occurs on point F. The fault is cleared after 80 ms with opening of the faulted line. Fig. 5 shows the variation of the angle difference between the two machines.

.1 Two ~

a Systems ~

The power system shown in Fig. 4 is used to study the performance of the proposed control strategies for UPFCTCPST and TCSC. Two systems are connected via an intertie. The lengths of the lines are shown in the figure. The total power flow through the intertie is 2100MW (840 MW through the 200 km line and 1260 MW through the 300 km line). The machines are modelled with field windings and the influence of exciters are included. No damper windings are modelled.
Bus I

150

Busi

____I_

Busi

Bus2

100

6 [deg.]

TCPST

1 0 0 ~ l d e g . l TCSC' 75-

50.
a -

S=3000+j750

S=41 OO+jl025
'0

Fig. 4: 500 kV test power system

8 1 0

Fig. 5 : Variation of 6 against time for the case i The series-connected FACTS devices are used in this system in order:
e
e

To equalise the loading between the two parallel system. To improve the damping of power swings.

Case ii: A three phase faults occurs near Bus I and it is cleared after 80 ms (transient fault). Fig. 6 shows the simulation results.
50

The data for the three devices are given in Table 3:

6 [deg.]

No FACTS Device

50

I 6 [deg.]

UPFC

30
ymax

UPFC

= 0.14, = l7 MVA7

= 17 MVA, S,o,
Sseries-trans

= 160 MVA

10

Sshunt-trans

= 160 MVA

-10

-10

-0 3;

rmax O.18((bmax 10") = =

TcPST
Sshunt-trans

'

'0

Tim [SI
-30;

'

- Sseries-trans = lg3MVA

I 6 [deg.]

TCSC

TCSC

K , is variable from zero to 34%, Mvar = 148

Time [SI
-10 -30 '
O

T i m [SI k

Table 3: Data for FACTS devices Fig. 6: Variation of 6 against time for the case ii It is to be noted that a UPFC can also be used for voltage regulation. However, in this example this feature is not exploited in order to have a basis for comparison between the three components. (Clearly, in case of provision for voltage The simulation results show that the proposed control strategies can be used to effectively damp the power swings.

1639

4.2. Multi-Machine System

The power system in Fig 8 is used to study the influence of multi-FACTS devices on damping of power swings using the proposed control strategy. Two sub-systems are connected via an intertie. The total power flow through the intertie is 2000 MW. The machines are modelled in detail and the influence of exciters are included. The data for the synchronous machines are given in Appendix 1.

SM2 and SM3) are shown. A three phase fault occurs on the bus connected to TCSC1. The fault is cleared after 100 ms. Fig. 9a, 9b, 9c, 9d show the simulation results.
. .

Time [SI

Time [SI

SM2 TCSCZ

2000 m

I20 h
Load 2
200 h

Fig. 9a: Variation of S,, and S,, against time withfixed capacitors

TCSCI
I50 h
.

Load 4
Load 3

4
Time [s]
Time [SI

Fig. 8: 500 kV test power system Following both large and small disturbances, the system exhibits power oscillations. To stabilise the power swings, two TCSCs are assumed to be located on the system. The TCSCs reactances are modelled as: Fig. 9b: Variation of
612 [deg.]

a,, and a,,

against time with TCSCI

TCSC2

1000-

where Xis the virtual reactance of the TCSC, X,, is the reactance of the TCSC capacitor and Kboost shows the degree of the voltage boost across the capacitor (In general, the virtual reactance of a TCSC can be both inductive and capacitive, however, in this example only the capacitive reactance is used). For this example, the following values are selected:
-100,

Fig. 9c: Variation of 6,, and

2oo/ 6 12 [deg.]

.L

Time [s] 2

Ib 6,, 4
I
12

814
4

I6

23

[deg.]

TCSC2

Time [s] 2

IL

against time with TCSC2

S,, [deg.]
TCSCl+TCSC2

TCSCl+TCSC2

Tim

[SI

Time [SI

Table 4: Data for the controllable s,eries capacitors

Fig. 9d: Variation of 6,, and 6,, against time with both TCSCl and TCSC2 The simulation results show the effectiveness of the control strategy. TCSCl has a better damping effect than TCSC2 because it is located on the main intertie and has a larger size. It is interesting to note that the introduction of the TCSC2 into the system, does not degrade the impact of the TCSCl on the damping of power swings. This example shows an outstanding feature of the proposed control strategy, namely:
the controllers do not affect each other adversely.

The response of the system a three phase: fault is studied with the following schemes: a. Both T c s c s act asfixed capacitors ( Ikbo,,, = 0 ). b. TCSCl is controlled and TCSC2 acts us a fixed capacitor. c.TCSC2 is controlled and TCSCl acts as afixed capacitor. d. Both TCSCl and TCSC2 are controlled. In each scheme, the variation of 6,, (angle difference between SM1 and SM2) and S,, (angle difference between

4.3. Experiment on Large Systems

The proposed control laws has been successfully tested in a 300 bus, 60 machine of Nordel system.

1640

AC
This paper has developed a general injection model for series-connected FACTS devices. The models have been incorporated in an energy function and the control laws for damping of electromechanical oscillations are concluded. The conclusions of this paper can be summarised as follows: The proposed control strategy based upon locally measurable variables can be used for series-connected FACTS devices (UPFC, TCPST and TCSC) to damp power swings. The pelformance of such a controller is robust with respect to network structure, fault location and system loading. Using the proposed control strategies, the seriesconnected FACTS devices can be used in several locations. The total effect on damping ofpower swings is larger than the impact of the individual devices.

LE

ENTS

The authors wish to thank Mr. Lars Lindquist from ABB Power Systems for his help in simulating the controllable components.

BI
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. GSran Andersson: (M86-SM9 1) 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.

EFERENCES
[1] M. Noroozian and G. Andersson, Power Flow Control by Use of Controllable Series Components, IEEE Transaction on Power Delivery, Vol. 8, No. 3, July 1993, pp. 12-18. [2] M. Noroozian, et al, Use of UPFC For Optimal Power Flow Control, In Proceedings of Stockholm Power Tech, Stockholm, June 1995. [3] E.W. Kimbark, Improvement of System Stability by Switched Series Capacitors, IEEE Transactions on Power Apparatus and Systems, PAS-85(2), Feb. 1966, pp. 180-188. [4] A. Olwegird, et. al, Improvement of Transmission Capacity by Thyristor Control Reactive Power, IEEE Transactions on Power Apparatus and Systems, PAS- 100(8), Aug. 1981, pp. 3933-3939. [5] M. Noroozian and 6. Andersson. Damping of Power System Oscillations by Controllable Components. IEEE Transaction on Power Delivery, vol 9, No. 4, Oct. 1994, pp, 2046-2054. [6] G.D. Galanos, et al, Advanced Static Compensator For Flexible AC Transmission. IEEE Transactions on Power Systems, Vol8, No. 1, Feb. 1993, pp. 113-121. [7] J. F. Gronquist, et al, Power Oscillation Damping Control Strategies For FACTS Devices Using Locally Measurable Quantities. Presented at IEEE 1995 Winter meeting, paper No. 95 WM 185-9 PWRS. [81 M. Noroozian, Exploring Benefits of Controllable Components in Power Systems, PhD thesis, Royal Institute of Technology, Sweden, 1994, TRITA-EES-9402. [9] M.A. Pai, Energy Function Analysis For Power System Stability, Kluwer Academic Publishers.

I x,

I 0.20

I 0.20

I 0.20

. .

0.03

I 0.06

I 0.08 I-

I 0.08

I-

Loadmodel: P=P,(V/Vo), Q = Q ,

(V/y) *

1641

APPENDIX 2
The following definitions are valid in this study: nRis the number of generators buses. The generator buses are numbered from 1 to ng. nbis the number of non-generator buses. The non-generator buses are numbered from ng 1 lo ng -1- nb .

Rearranging, we have:

n=l
ng+nb
ng

m=l+n,

n=l

ng+nb ng+nb

x b d n V m E nsinZnzn8, +

M,is the inertia constant of machine n. the angle and angular velocity of machine n. a,, and bo,,,,is the susceptance between Bus m and Bus n .

in=

n=l

nz=

n=

bLnznVmVn singmngm

I+n,

I+n,

I+n,

bdl, transient susceptance of the n th machine. is

The system equations are written in the centre-of-inertia frame with the following definitions:

m=l+n,

It "

with M = C M n ,"e,=%,-6,,, , n=nR+l,..,ng+nb

n=l

6,

-6, 0,= U " - mcol ( n = l,2,..,ng)

=6,

U), := U ,

- ,, o
I Q . . -P.O.I - p . g . - A V . SI SJ J

The energy function is selected as:

U(

W, V )= v,, ( W)+ v p , ( $, V )+ v, it

v,

Q ---"v.. .

V I

where V,,(W) is the kinetic energy of the: system:

The expressions of

can be recognised as follows:

and VpE( V ) is the potential energy: $,

n=l

n=n,+l

- The expression in the first bracket is the power swing balance and is equal to zero . - The second bracket consists the expression for the total active powers going out from all load buses and is equal to zero. - The expression in the third row is the total reactive powers going out from all load buses and is equal to zero. Thus the time derivative of the energy function simplifies to:
L Q . . c=-p.o.-p.o.-"'v.-"'y SI I

Q . .

v, J y

Assume that a series-connected FACTS device is connected between node i and j in a power system. The energy function for the power system is:
U(&,&

Consequently, the time derivative of energy function for series-connected FACTS devices is:

6, V )= V,,(W> + VP,(&ii, V )+ v,

The time derivative of energy function becomes:

2vmvm - vmvn c013om, - vmvn cos0,,

m=l+ng n=l+n,

+vmvnsin o,,o,, - V,,V, sin zinznzin

- -