2/2/2022

ET8304
Power Theories &
Compensation with Power Electronics

Lecture 1, February 3, 2022

Elisabetta Tedeschi

Course organization
• The course is offered at the Department of Electric
Power Engineering as ET-8304 and it will be taught by:

Prof. Elisabetta Tedeschi

(Course coordinator and lecturer)
elisabetta.tedeschi@ntnu.no
Dep. of Electric Power Engineering - Office F363

Ass. Prof. Danilo Brandao

(Course co-lecturer)
dibrandao@ufmg.br
Dep. of Electrical Engineering - Federal Univ. of Minas Gerais

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Lecture 1 - Outline

• Course practical information

• Overview of the course content
• Evolution of the energy systems
– Traditional power grid vs. Smart Grid
• Non-idealities in electric networks

Lecture time
• Regular schedule:
Twice per week until late-March:
– Mondays from 9:00 to 11:00
– Thursdays from 9:00 to 11:00 But:

- Thursday 10/2 from 9:00 to 10:00

- No lecture on 14/2
- Thursday 17/2 from 9:00, project discussion with
each PhD candidate
- Week 28/2-3/3 lectures on Monday, Tuesday,
Wednesday and Thursday in the afternoon

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Info on the course

• Updates and lecture details will be published

on Blackboard
• Preliminary lecture plan uploaded
• In case of delayed lectures, new dates will be
agreed

Course setting
Due to the persistence of uncertainties related to the
CoVID19 situation, the course will be accessible in
remote mode, through the Zoom platform:
Topic: ET8304 - PhD course "Power Theories and
Compensation with Power Electronics"
Join Zoom Meeting
https://NTNU.zoom.us/j/98851628324?pwd=dDNXZDhZVWkr
NDdZbEEwT2MvV3c2Zz09
Meeting ID: 988 5162 8324
Passcode: 992867

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Course setting
Due to the persistence of uncertainties related to the
CoVID19 situation, the course will be accessible in
remote mode, through the Zoom platform:
It may be possible to attend the course/some
lectures in person (in room F362) for the PhD
candidates who are at NTNU, depending on the
general restrictions
The lectures offered by Dr. Danilo
Brandao will be offered only
remotely, and a specific link will
be provided in due time

Course Structure
• Traditional lectures: The course lecturers will introduce the
main topics to the course participants in traditional lectures.

• Colloquia and presentations by PhD candidates: part of the

lectures will be reserved for PhD candidates to present selected
topics and for the open discussion among the course participants
• Topics for the PhD candidates' presentations will be assigned by
the course coordinator during the starting phase of the course

• Course assignment: as a part of the course each student will

work on a paper related to the course content, to be agreed with
the course lecturer(s)

• Whenever possible, the topic of the project should be selected

to help the candidate integrate the newly acquired competence
from the course into aspects relevant to his/her PhD project

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Course Evaluation
• Course Evaluation: Each student will work on a research
problem (project) about which a scientific paper should be
written (5 pages min)

• The paper should follow the IEEE structure and ideally include:
state of the art, problem identification & description, complete
analysis, model and design, proposed solution and validation
through simulations/experimental activity

• Each student is also expected to contribute to presentations

and discussion on selected topics during the course

• The final exam will be oral, and it will consist of the defense of
the paper, plus some questions on the course content. Paper
should ideally be submitted to a conference and presented
eventually

Reference Reading

1. Hingorani, N.G., Gyugyi, L., Understanding FACTS, concepts

and technology of Flexible AC Transmission Systems, IEEE
Press
2. Akagi, H., Watanabe, E. H., & Aredes, M. (2007). Instantaneous
power theory and applications to power conditioning (Vol. 31).
John Wiley & Sons.
3. Hingorani, N.G., ”Role of Power Electronics in Future Power
Systems,” Invited Paper, Proc. of IEEE, Special Issue on Power
Electronics, April 1988
4. Other scientific articles that will be decided upon the topic

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Course content overview

Evolution of Compensation Electric Power

electric energy systems Theories
systems

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Course main topics (1)

- Renewable and
decentralized
generation

- Increased power
electronics
penetration

- Emerging of non-
Evolution of electric energy systems
idealities in electric
networks

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Course main topics (2)

- Different types of
required
compensation

- Passive filters

- Static VAR
compensators

Compensation systems - Active power filters

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Course main topics (3)

- Theoretical
background to
analyze electric
networks in non-
ideal conditions

- Historical review
of power theories

Electric power theories - Current debate

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Course Objectives
• To gain a good understanding of the need for
compensation in the context of power quality and
stability of the modern power networks

• To acquire knowledge of the compensation capa-

bilities and limitations of the following compensation
technologies: passive elements (C, L), line
commutated compensators (SVC) and actively
controlled compensators (VSC, Active Filters)

• To gain a solid theoretical understanding of the main

power theories, and to be able to identify the
differences between the theories discussed in the
scientific community

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Traditional power grid

Source: Wikipedia

Source: Wikipedia

Limited number of large power plants

Load characterized as being purely passive
Unidirectional power flow
Independent operation of each apparatus

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Traditional power grid

• Independently of the structure of a power system, the power
flows throughout the network are largely distributed as a
function of transmission line impedance; a transmission line
with low impedance enables larger power flows through it
than a transmission line with high impedance

• Novel power electronics equipment and techniques are

potential substitutes for conventional solutions, which are
normally based on electro-mechanical technologies with slow
response times and high maintenance cost

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Traditional power grid

• System operators intervene to try to achieve power flow re-

distribution, with limited success

• Examples of operating problems are:

loss of system stability;
power flow loops;
high transmission losses;
voltage limits violations;
transmission lines thermal limits;
cascade tripping

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Traditional power grid

• Such problems have traditionally been solved by

building new power plants and transmission lines; a
solution which is costly to implement and carries
long construction times and opposition from
pressure groups

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Traditional power grid

• Load characterized as being purely passive

• Load were mostly linear
• Limited controllability

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Drivers to change

Source: Siemens

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The transition – utility side

• Massive integration of renewable energy resources

requiring power electronics interface for full controllability

• New solutions to traditional power system problems

will rely on:
upgrading of existing transmission corridors using the latest
power electronic equipment and methods:

FACTS controllers and/or HVDC links would enable

higher power transfers with limited alteration of system
layout

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Concept of FACTS
• FACTS concept is based on use of power electronic devices and
methods into the high-voltage side of the network, to make it
electronically controllable

• FACTS, is a relatively new concept that was brought during the eighties
at EPRI in USA (1980s)
• FACTS looks at ways of increasing the control of power flows in the
high-voltage side of the network during both steady-state and transient
conditions.
• The new reality of making the power network electronically controllable,
has changed the way power plant equipment is designed and built, and
the planning and operation of transmission & distribution networks
• These developments affect the way energy transactions are conducted,
since high-speed control of the energy flow path is now feasible

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Series Capacitors or PAR

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HVDC solution

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Benefits of FACTS
• Potential benefits of FACTS controllers include:

– investment cost reduction of operation and transmission

– increased system security and reliability,
– increased power transfer capabilities and
– enhancement in quality of the electric energy delivered to
customers

• With FACTS controllers power-carrying capability may be

increased up to values that approach the lines thermal ratings

• Most FACTS controllers are fast acting, able of dynamic

reactive power control

• At distribution system level, reliability and power quality

(waveform) can be improved

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The transition – load side

• Controllability of both domestic and industrial

loads through power electronics

• New intelligent loads

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Custom Power Devices

In addition to FACTS, that are used to add electronic

control on the high-voltage side of the grid, an
additional emerging power electronic application in
power systems is:

• CUSTOM POWER DEVICES: to control the low

voltage distribution. Created in response to reports
of poor power quality and reliability of supply
affecting factories, offices and homes (Ex: active
filters, DVR).

• Aim: Power quality improvement—implemented at

distribution system level

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The transition

HVDC
transmission

Power electronics applications are growing very rapidly and will

change the landscape of future power systems in terms of generation,
compensation, role of loads, operation and control

Distributed en. systems Power quality

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The smart grid

Distribution small-scale generation

Integration of renewable en. sources

Proliferation of power electronic

interfaces

Multilateral contribution to power

balance

Bidirectional power flow

Weak grid scenario Source: CLP Hong Kong

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Smart grid advantages

Exploitation of green energy resources
• lower emissions
• energy cost reduction
Reduction of transmission & distribution losses
• power sources close to loads
Voltage support
• distributed injection of reactive power
Increased power capability of network
• deferral of investment in grid infrastructure
Potential reduction of grid non-idealities

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Smart grid and Power Quality

The definition of Voltage quality:

‘‘Power Quality’’ deals with deviation
can assume from ideal
several different (sinusoidal) voltage
meanings in terms of amplitude
and frequency
Current quality: It refers to the need of
deals with deviation delivering power to the users
keeping the waveforms as
from ideal (sinusoidal)
sinusoidal as possible, close
current in terms of
to the rated magnitude and
amplitude, frequency frequency.
and phase angle Moreover, the energy supply
must be uninterrupted

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Ideal power grid

3 phase
voltages
V, f R

Ideal
electric
consumption
Ideal generation
3 phase
currents

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Power quality problems

Some of the major power quality problems are:

- Harmonic content in the loads
- Notching in load voltages
- DC offset in load voltages
- Poor load power factor
- Unbalance in the loads
- Supply voltage distortion
- Voltage sag/swells
- Voltage flicker

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Main non-idealities in modern

electric grids

• Reactive power circulation

(phase-displacement between voltage
and current) Also in single-
phase systems
• Harmonic pollution
(non-sinusoidal regime)
• Unbalance and asymmetry In multi-phase
systems

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Non-ideality in power grids

Non-ideality: Reactive power circulation
Most equipment connected to the electricity system
will generate or absorb reactive power, i.e. are supplied
by voltages and draw currents that are phased shifted
with respect to each others
Loads Transformers Cables

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Main non-idealities in modern

electric grids

• Reactive power circulation

(phase-displacement between voltage and current)

Harmonic pollution
(non-sinusoidal regime)

• Unbalance and asymmetry

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Classification of harmonics
Integer harmonics are sinusoidal disturbances whose
frequency is an integer multiple of the fundamental
grid frequency. Such waveforms are superimposed to
voltage and/or current fundamentals
Industrial loads Office equipment Domestic appliances

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Harmonics
Source: Martinez-Velasco

Current [A]

Time [ms]

Cause: integer harmonics are caused by non-linear and time variant

loads connected to the electric grid, i.e. rectifiers, power converters etc.
Effect: harmonic pollution determines malfunctioning in electric
equipment, excessive losses and overheating, undesired vibrations up
to fatal failures. Moreover, supply voltage is used for timing purposes
(digital clocks) and for triggering pulses creation in power electronics
converters.
False triggering may result from voltage harmonic-pollution

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Classification of harmonics
Source: IEEE
Subharmonics are those
components that are below the
fundamental component, i.e., mf0
for 0<m<1
Interharmonics are those
components that are above the
fundamental component but are
not integer multiple of the
fundamental frequency, i.e. mf0
for non-integer m>1
Cause: Interharmonics and
subharmonics can be produced
by cycloconverters and arc loads
(i.e. welders, arc furnaces)

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Flicker
It is a rapid visible change of light level,
affecting light equipment. It depends on
repetitive variations of voltage amplitude.
Voltage variations in the range of 1-30 Hz can
cause nuisance and irritations on people

Voltage [V]

Source: Martinez-Velasco
Time [ms]

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Propagation of non-idealities
1.5
Harmonic propagation
1
0.5 Current harmonics
0
-0.5
-1 MT BT
-1.5
0 0.01 0.02 PCC
Grid voltage
Zcc
PCC
2
voltage tensione
and ecurrent
corrente inizialeof phase 1 1.5
tensione e corrente sul carico

1.5 0.5

1 -0.5

-1

0.5
-1.5
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035

0
Current injected
-0.5 by the distorting
-1
load

-1.5
voltage current
-2
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04

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Main non-idealities in modern

electric grids

• Reactive power circulation

(phase-displacement between voltage and current)

• Harmonic pollution
(non-sinusoidal regime)

• Unbalance and asymmetry

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Voltage unbalance
V1 I1 V2I2 I3
V3
1

0.8

0.6
Voltage of the supply are not
0.4

0.2

0
equal in magnitude or equally
-0.2

-0.4
displaced in time.
-0.6

-0.8
-1

0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04

Main cause: single phase loads
in three phase circuits (which are
however limited to few percent)

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Smart grid challenges

Weak grid
• compensation for voltage distortion
• compensation for voltage asymmetry due to unbalan-
ced loads and single-phase DER units (PV, batteries…)

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Smart grid challenges

Weak grid
• compensation for voltage distortion
• compensation for voltage asymmetry due to unbalan-
ced loads and single-phase DER units (PV, batteries…)

Bidirectional power flow

• new control and protection strategy
• stabilization of voltage profiles

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DERs and Loads providing Q

Dispersed
generation
Dispersed AC

DC

generation
DC DC

AC

Q
AC

Q Q

Q
AC
DC

Statcom

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Smart grid challenges

Weak grid
• compensation for voltage distortion
• compensation for voltage asymmetry due to unbalan-
ced loads and single-phase DER units (PV, batteries…)

Bidirectional power flow

• new control and protection strategy
• stabilization of voltage profiles

Irregular power injection by renewable energy sources

• installation and control of energy storage devices

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Remark
• The problems introduced in the course, and the
corresponding theoretical foundations relate in
general to “power conditioning”, including a
plurality of aspects (harmonic filtering,
harmonic damping, power factor correction,
power flow control, voltage regulation, load
balancing, flicker reduction etc.)
• They affect the grid broadly, from transmission
lines (power flow control) to distribution level
(grid connection of distributed generation)

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Electric power definition: background

Sinusoidal conditions: Single-phase sin. voltage supplying a
resistive-inductive load 1.5

voltage +
i
1
current

v(t ) = 2 V sin(t ) i(t ) = 2 I sin(t +  )

v
0.5

0 -
T
1 2
T 0
With RMS defined as: X= x (t )dt -0.5 
with x= v, i -1

• Instantaneous power: -1.5

0 0.002 0.004 0.006 0.008

cos()= Displacement factor

0.01 0.012 0.014 0.016 0.018 0.02

p(t ) = v (t ) i (t ) = 2VI sin(t )sin(t −  ) = Phase

VI cos( ) − VI cos(2t −  ) displacement
between
p(t ) = VI cos( )[1 − cos(2t )] − VI sin( )sin(2t ) current &
1 2 voltage

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Electric power definition: background

Sinusoidal conditions: Single-phase sin. voltage supplying a
resistive-inductive load

Source: Akagi et al.

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Electric power definition: background

Sinusoidal conditions: Single-phase sin. voltage supplying a
resistive-inductive load
T
• Active power: 1
T 0
P= v (t )  i (t ) dt = V I cos( ) Ref. to 1

• Reactive power: Q = V I sin( ) Ref. to 2

Physical meaning: In a passive, linear network, reactive power is

related to the energy stored in the reactive elements of the grids as
electric or magnetic field
Power terms in basic bipoles

P = RI 2 P=0 P=0
R L C
Q = LI 2 Q = −CV 2
Q=0
RESISTOR INDUCTOR = 2WL CAPACITOR
= −2WC

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Electric power definition: background

Sinusoidal conditions: Single-phase sin. voltage supplying a
resistive-inductive load
• Apparent power:
S =V I

• Power factor:
P
PF = cos( ) =
S

Power
triangle

Source: Akagi et al.

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Electric power definition: background

3-phase case: balanced voltages
• Voltages: v1 (t ) = 2 V+ sin(t + V + )

v2 (t ) = 2 V+ sin(t + V + − 2 3)

v3 (t ) = 2 V+ sin(t + V + + 2 3)

3-phase case: symmetric currents

• Currents: i1 (t ) = 2 I + sin(t +  I + )
i2 (t ) = 2 I + sin(t +  I + − 2 3)
i3 (t ) = 2 I + sin(t +  I + + 2 3)
• Instantaneous power: p (t ) = v1 (t ) i1 (t ) + v2 (t ) i2 (t ) + v3 (t ) i3 (t )

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Electric power definition: background

Instantaneous energy flow (power) three phase
balanced system:
p(t ) = v1 (t ) i1 (t ) + v2 (t ) i2 (t ) + v3 (t ) i3 (t ) =
= V+ I + [cos(V + −  I + ) − cos(2t + V + +  I + ) +
2
cos(V + −  I + ) − cos(2t + V + +  I + + )+
3
2
cos(V + −  I + ) − cos(2t + V + +  I + − ) =
3
p(t ) = 3V+ I + cos(V + −  I + ) = 3P Constant, time
independent

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Electric power definition: background

Instantaneous energy flow (power) three phase
balanced system:

• Active power: P3 = 3P = 3V+ I + cos(V + −  I + )

• Reactive power: Q3 = 3V+ I + sin(V + −  I + ) Mathematical

definition

• Apparent power: S3 = 3S = 3V+ I +

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Electric power definition: background

• The above defined concepts, such active and

reactive power, power factor, apparent power
in ac power system under sinusoidal
conditions are well established and
accepted.
• Their extension to non-sinusoidal and
unbalanced system is not straightforward

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Lecture 1: summary

The evolution from traditional power

system to the smart grid scenario

1 – Main differences
2 – Role of power electronics
3 – Smart grid and power quality

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Lecture 1: summary

What are the main issues in

non-ideal electric grids?

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Lecture 1: summary

What are the main issues in

non-ideal electric grids?

1 – Reactive power
2 – Harmonic pollution
3 – Asymmetry and unbalance

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Lecture 1: summary

Electric power definitions

(for sinusoidal systems)

1 – Power concepts in single phase systems

2 – Power concepts in three phase systems

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Lecture 1: summary

What are the main issues in

non-ideal electric grids?

Why are non-idealities so

relevant to be investigated?

How are these issues

practically dealt with?

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Future lectures

What are the main issues in

non-ideal electric grids?

Why are non-idealities so

relevant to be investigated?

How are these issues

practically dealt with?

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Non-idealities in electric grids

What are the main issues in

non-ideal electric grids?

Why are non-idealities so

relevant to be investigated?

How are these issues

practically dealt with?

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Thanks for your attention

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