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FACTS Controllers Kalyan K Sen
FACTS Controllers Kalyan K Sen
FACTS Controllers Kalyan K Sen
1, JANUARY 2003
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SEN AND KERI: COMPARISON OF FIELD RESULTS AND DIGITAL SIMULATION RESULTS 301
Fig. 2. Unified Power Flow Controller. threshold is exceeded. The model does represent the behavior of
the FACTS controller in the presence of negative sequence and
VSC2 and bus voltage control using the shunt-connected VSC1, harmonic line voltages and currents.
including protective limits on series voltage injection, and over- In the model, the bypass of VSC2 is a representative of an
current and overvoltage limits for both VSCs. electronic bypass on the secondary side using the VSC2 valves.
The UPFC model in EMTP is shown in Fig. 2. The The behavior of the UPFC during disturbances is in large part
model consists of two multi pulse harmonically neutralized determined by a number of threshold levels and delay times.
voltage-sourced converters, VSC1 and VSC2, two magnetic cir- These numbers determine the current and voltage thresholds and
cuits, MC1 and MC2, shunt coupling transformer, XFSHN, and timing delays associated with protective action and they are set
series coupling transformer, XFSRS, shunt breaker, SHNBRK, in the first instance to values that seem reasonable for the ac-
series breaker, SRSBRK, dc Link Switch, DCLS, bypass breaker, tual equipment. This model is well suited for system transients
BYPBRK, line breaker, LBR, current and voltage sensors, and a studies.
control and protection unit. Fig. 3 shows the modeling structure of a FACTS controller.
The model is a virtual representation of the actual UPFC at The inputs from the voltage and current measuring units, the
its terminals. Two idealized twenty four-pulse three-level VSCs, breaker status and the operator—voltage reference, voltage
each of which is rated at 160 MVA, are connected at their slope (also known as droop) and the real and the reactive power
dc link capacitor terminals. The control unit implements basic references are fed to the control & protection unit. The output
control and protection schemes. The gating signals for the pole of the control & protection unit is a set of low voltage optical
valves are generated “on the fly.” The ideal pole voltages are signals. These optical signals are fed to the Valve Interface
mathematically combined to produce two three-phase harmoni- Circuit, which converts them into electrical gating signals that
cally neutralized converter voltage sets, and . The VSC1 is turn ON and OFF the semiconductor switches of the high
operated at a fixed “dead angle” to produce a forty eight-pulse power VSC, which is connected to the power system network
voltage source and the VSC2 is operated as a twenty four-pulse through its coupling transformer. The output of the control &
variable magnitude voltage source. The coupling transformers protection block is also another set of low voltage electrical
include a lumped leakage reactance that is an equivalent of all signals that operate the interposing relays, which operate the
the leakage reactances of the intermediate magnetic circuits and high power breakers and disconnect switches that connect the
the main transformers. The lumped leakage reactance is 15% of FACTS controller with the power system network.
the converter rating and divided equally on both primary and Fig. 4 shows the control block diagram of the UPFC, which
secondary sides. The dc link capacitor is modeled by a single can be divided into two parts: the control of the VSC1 as a shunt
lumped capacitor (14.1 F, 190 kV) sized in accordance with compensator and the control of the VSC2 as a series compen-
other model parameters, including the transformer leakage reac- sator. An instantaneous 3-phase set of transmission line volt-
tance, to preserve the same dynamics in the model as in the real ages, , at BUS 1 is used to calculate the reference angle, ,
system. The voltage, , across the dc link capacitor is main- which is phase-locked to the phase of the bus voltage, .
tained by the instantaneous power balance equation at both AC An instantaneous 3-phase set of measured VSC1 currents, , is
and dc sides of the two converters. Special effort has been made decomposed into its real or direct component, , and reactive
to model the rectifier action that charges the dc link capacitor to or quadrature component, , respectively. An instantaneous
the peak of the AC bus voltage when the VSC1 gating is inhib- 3-phase set of measured line currents, , is decomposed into its
ited. At that moment, the ideal VSC is replaced by a six-pulse real or direct component, , and reactive or quadrature compo-
rectifier bridge circuit with appropriate snubber circuits. The dc nent, , respectively. An instantaneous 3-phase set of measured
link capacitor overcharges until the VSC1 gating begins, which line voltages, , at BUS 1 is decomposed into its direct com-
discharges the dc link capacitor to the normal level. The voltage ponent, , and quadrature component, , respectively. The
variation across the dc link capacitor is correctly represented and magnitude of the BUS 1 voltage, , is calculated.
also represented is the operation of the voltage clamp that dis- The control for the VSC1 works in such a way that the desired
charges the dc link capacitor partially when certain overvoltage bus voltage magnitude reference, , (adjusted by the droop
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302 IEEE TRANSACTIONS ON POWER DELIVERY, VOL. 18, NO. 1, JANUARY 2003
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SEN AND KERI: COMPARISON OF FIELD RESULTS AND DIGITAL SIMULATION RESULTS 303
and 1.02 pu. The real and the reactive power flow on the Big
Sandy to Inez line at the Inez substation bus can be varied from
293 MW to 325 MW and 0 to 132 Mvar, respectively. When the
STATCOM is operated at 1 pu capacitive current control mode,
it delivers 163 Mvar reactive power to the Inez bus. When the
STATCOM is operated at 1 pu inductive current control mode,
it absorbs 145 Mvar reactive power from the Inez bus. Fig. 6(d)
shows the corresponding test results. These test results verify
the computer simulation results on a qualitative basis.
Fig. 7 shows the changes in (a) Inez bus voltage, (b) line real
and reactive power, and (c) shunt converter reactive power due
(a)
to the operation of the 160 MVA, 138 kV rated STATCOM
and the 160 MVA, 13.33 kV rated SSSC as a UPFC. The
STATCOM is operated in “Voltage Control” mode to hold the
Inez bus voltage at 1 pu level at 50 ms. The real and the reactive
power flow on the Big Sandy to Inez line at the bus, BUS05,
change from 312 MW to 316 MW and from 68 Mvar to 101
Mvar, respectively. At 200 ms, the reactive power flow in the
line is brought to zero. While holding unity power factor load on
the line and bus voltage at 1 pu level, the real power flow in the
line was varied between 266 and 366 MW. The STATCOM ex-
changes an appropriate amount of reactive power with the line
(b)
to hold the bus voltage at 1 pu level. Fig. 7(d) shows the cor-
responding test results. These test results verify the simulation
results on a qualitative basis.
Fig. 8 shows the changes in (a) Inez bus voltage, (b) line real
and reactive power, and (c) shunt converter reactive power due
to the operation of the 160 MVA, 138 kV rated STATCOM
and the 160 MVA, 13.33 kV rated SSSC as a UPFC. The
STATCOM is operated in “Voltage Control” mode to hold the
Inez bus voltage at 1 pu level at 50 ms. The real and the reactive
power flow on the Big Sandy to Inez line at the bus, BUS05,
change from 312 MW to 316 MW and 68 Mvar to 101 Mvar,
respectively. While holding the reactive power flow in the line
(c) at 101 Mvar and bus voltage at 1 pu level, the real power flow
in the line is varied between 266 and 366 MW. The STATCOM
exchanges appropriate amount of reactive power with the line
to hold the bus voltage at 1 pu level. Fig. 8(d) shows the cor-
responding test results. These test results verify the simulation
results on a qualitative basis.
Fig. 9 shows the changes in (a) Inez bus voltage, (b) line real
and reactive power, and (c) shunt converter reactive power due
to the operation of the 160 MVA, 138 kV rated STATCOM
and the 160 MVA, 13.33 kV rated SSSC as a UPFC. The
STATCOM is operated in “Voltage Control” mode to hold the
Inez bus voltage at 1 pu level at 50 ms. The real and the reactive
power flow on the Big Sandy to Inez line at the bus, BUS05,
change from 312 MW to 316 MW and 68 Mvar to 101 Mvar,
respectively. While holding the real power flow in the line at
316 MW and bus voltage at 1 pu level, the reactive power flow
in the line is varied between 51 and 151 Mvar. The STATCOM
exchanges appropriate amount of reactive power with the line
to hold the bus voltage at 1 pu level. Fig. 9(d) shows the cor-
(d)
responding test results. These test results verify the simulation
Fig. 6. (a), (b), and (c) STATCOM simulation results—controlling voltage results on a qualitative basis.
at Inez bus—(series converter not operating). (a) Inez bus voltage, (b) line
real power and line reactive power, (c) shunt converter reactive power and
Fig. 10 shows the changes in (a) Inez bus voltage and (b) line
(d) STATCOM test results—controlling voltage at Inez bus—(series converter real and reactive power due to the operation of the 160 MVA,
not operating). 13.33 kV rated SSSC. The SSSC is operated in “Reactance
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304 IEEE TRANSACTIONS ON POWER DELIVERY, VOL. 18, NO. 1, JANUARY 2003
(a)
(a)
(b)
(b)
(c)
(c)
(d)
Fig. 8. (a), (b), and (c) UPFC simulation results—controlling real power on
Big Sandy—Inez line. (a) Inez bus voltage, (b) line real power and line reactive
(d) power, (c) shunt converter reactive power and (d) UPFC test results—controlling
real power on Big Sandy—Inez line.
Fig. 7. (a), (b), and (c) UPFC simulation results—holding unity power
factor while changing line power. (a) Inez bus voltage, (b) line real power
and line reactive power, (c) shunt converter reactive power, and (d) UPFC test
results—holding unity power factor while changing line power. lagging the line current so that a capacitive reactance is emulated
in series with the line. The real and the reactive power flow on
Control” mode [7]. First, a 0.5 pu voltage at 50 ms and an ad- the Big Sandy to Inez line increase. At 300 ms, a 0.5 pu voltage
ditional 0.5 pu voltage at 175 ms are injected in quadrature and is injected in quadrature and leading the line current so that an
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SEN AND KERI: COMPARISON OF FIELD RESULTS AND DIGITAL SIMULATION RESULTS 305
(a)
(a)
(b)
(b)
(c) (c)
Fig. 10. (a) and (b) SSSC simulation results—changing line real and reactive
power—(shunt converter not operating). (a) Inez bus voltage (unregulated),
(b) line real power and line reactive power, and (c) SSSC test results—changing
line real and reactive power—(shunt converter not operating).
IV. CONCLUSION
FACTS controllers—STATCOM, SSSC, and UPFC, have
been modeled using an EMTP simulation package. The UPFC
consists of two voltage-sourced converters—one injects an
almost sinusoidal current at the point of connection and the
other injects an almost sinusoidal voltage in series with the
transmission line. In the UPFC operation, the dc link switch
is closed. The injected voltage in series with the line can be at
any angle with the prevailing line current, thereby emulating
(d)
an impedance in series with the line. The shunt-connected
Fig. 9. (a), (b), and (c) UPFC simulation results—controlling reactive current source has two components. First, the real component,
power on Big Sandy—Inez line. (a) Inez bus voltage, (b) line real power and
line reactive power, (c) shunt converter reactive power and (d) UPFC test which is in phase with the bus voltage, carries real power that is
results—controlling reactive power on Big Sandy—Inez line. exchanged by the series-connected voltage source and losses in
the UPFC. Second, the reactive component, which is in quadra-
inductive reactance is emulated in series with the line. The real ture with the bus voltage, emulates an inductive reactance or
and the reactive power flow on the line decrease. Since, the a capacitive reactance at the point of connection. When the
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306 IEEE TRANSACTIONS ON POWER DELIVERY, VOL. 18, NO. 1, JANUARY 2003
STATCOM and the SSSC are independently operated, the dc Kalyan K. Sen (S’83–M’87–SM’01) was born in
link switch is open. A STATCOM regulates the bus voltage Bankura, WB, India. He received the B.E.E. degree
(with first-class honors), the M.S.E.E. degree, and
and, in turn, regulates the reactive current flow through it. An the Ph.D. degree from Jadavpur University, Calcutta,
SSSC injects a voltage in series with the transmission line and WB, India, Tuskegee University, Tuskegee, AL, and
in quadrature with the line current. The operation of the model Worcester Polytechnic Institute, Worcester, MA, all
in electrical engineering, in 1982, 1983, and 1987,
is verified with the model connected to a simple 2-bus network. respectively.
Although the simulation and field results correlate qualitatively, He is currently a Fellow Engineer with the
a proper representation of field data requires, in general, the Westinghouse Electro-Mechanical Division Tech-
nology Center, Mount Pleasant, PA. He spent three
simulation of many more buses than the 2-bus network. years as an Assistant Professor at Prairie View A&M University, Prairie
View, TX, before joining Westinghouse Electric Corporation’s Science and
Technology Center, as a Senior Engineer, where he was a member of the
FACTS development team for nine years. From 1999 to 2001, he worked at
ABB Power Systems, Västerås, Sweden, and at the Corporate Research Center,
Västerås, Sweden. He is the coinventor of the “Sen” Transformer for FACTS
applications. He is also the cofounder of SEN Engineering Solutions, where he
pursues his interests in affordable power flow controllers. His interests are in
power converters, electrical machines, control, and power system simulations
REFERENCES and studies.
Dr. Sen is an editor of the IEEE TRANSACTIONS ON POWER DELIVERY and an
IEEE Distinguished Lecturer from the Power Engineering Society.
[1] E. J. Stacey and M. B. Brennen, “Active Power Conditioner System,”
U.S. Patent 4 651 265, 1987.
[2] M. B. Brennen, “Low cost, high performance active power line condi- Albert J. F. Keri (SM’80) received the Ph.D. degree
tioners,” in Third Int. Conf. Power Quality: End-Use Applicat. Perspec- in electrical engineering from University of Missouri,
tives, EPRI, Amsterdam, The Netherlands, Oct. 24–27, 1994. Columbia, in 1972, and the M.B.A. degree from Ohio
[3] L. Gyugyi, “A unified power flow control concept for flexible ac trans- University, Athens, in 1985.
mission systems,” Proc. Inst. Elect. Eng. C, vol. 139, no. 4, July 1992. He joined American Electric Power, Gahanna,
[4] N. G. Hingorani and L. Gyugyi, Understanding FACTS—Concept and OH, in 1972 and was involved with protection
Technology of Flexible AC Transmission Systems. New York: IEEE and relaying for the first two years. He transferred
Press, 2000. to the Research Section in 1974 where he has
[5] B. A. Renz et al., “AEP unified power flow controller performance,” been involved with EMTP, insulation coordination
IEEE Trans. Power Delivery, vol. 14, pp. 1374–1381, Oct. 1999. studies, system harmonics investigation, field tests,
[6] K. K. Sen, “STATCOM—STATic synchronous COMpensator: Theory, single-phase switching techniques, loss reduction
modeling, and applications,” in Proc. IEEE Power Eng. Soc. Winter techniques, and equipment failure analysis. In 1999, he transferred to System
Meeting, 1999, pp. 1177–1183. Dynamics Analysis where he has been also involved with planning and stability
[7] , “SSSC—static synchronous series compensator: Theory, mod- calculations. He has taught for 14 years a variety of graduate and undergraduate
eling, and applications,” IEEE Trans. Power Delivery, vol. 13, pp. courses on a part-time basis. He has been a Consultant to power companies in
241–246, Jan. 1998. the U.S., Venezuela, Korea, Brazil, etc. He has authored or co-authored many
[8] K. K. Sen and E. J. Stacey, “UPFC—Unified power flow controller: technical papers and patents.
Theory, modeling, and applications,” IEEE Trans. Power Delivery, vol. Dr. Keri holds a P. E. License and is the chairman of the IEEE General Sys-
13, pp. 1453–1460, Oct. 1998. tems Subcommittee.
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