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=
0
0
'
2 0 0 1
2
sin ) sin( o
) cos( cos
1
0 0 1 0
'
2
o +
=
s q
J x E x
C
Substitute (9) and (10) into (6) leads to
) ( sin
) )( ( cos
0
0 1
2
'
0
2
2
0
1
1 0 0
1
0
'
o
e
o
e e
A +
A + + = A
s
x
k E
s
k
C s
k
C C
x
J E
P
q
m q
e
(11)
Finally substitute (11) into (4), a second-order
equation describing the rotor angle dynamics can be
obtained:
0 ) (
2
) (
2
) (
0 2
= A + A + A o
e
o o
H
K
s
H
K
s
S
Dpv
(12)
where
C k J E k x E K K
s q q D Dpv
+ + = ) sin cos (
0 2
'
0 1 2
'
o (13)
C J J E K
s m q S
= )) cos( cos (
0 0 0 0
'
o (14)
Through this simpliIied model, it can be readily seen
that there is a new damping torque coeIIicient K
Dpv
.
Indeed, the associated damping ratio , and the
eigenvalues applicable to the compensated power
system can be readily obtained Irom (12) and can be
expressed as
0
2 2 e
,
H K
K
S
pv D
= (15)
2
0
4 2 4
|
|
\
|
=
H
K
H
K
f
H
K
Dpv
S
Dpv
e
(16)
Furthermore Irom (13) (16), it is readily established
that
D Dpv
K K >
when < < 90 90
0
and
< < 90 ) ( 90
0 0
o , iI one sets 0
1
> k and 0
2
> k .
Thus the damping torque coeIIicient oI the compensated
system K
Dpv
will increase once the controller gains k
1
and k
2
are set to assume positive values, regardless oI
the initial power Ilow directions. The initial rotor angle
o
0
may even exceed 90. This is a very useIul result Ior
it suggests that the PV controller would introduce
additional damping torque into the system. On the other
hand, Irom (13), (14) and (16), it is seen that the values
oI k
1
and k
2
have to be constrained iI one desires the
eigenvalues to be oI complex conjugate pair. This is to
ensure that while the PV damping system will lead to
improved system stability, it should also result in
desirable dynamic response characteristics, e.g. with
small overshoots. Thus the design oI the PV system
becomes one oI the determinations oI k
1
and k
2
to
achieve the desired damping level. The procedure can
best be illustrated by numerical examples.
IV. ILLUSTRATIVE EXAMPLES
In this Section, some numerical examples will be used
to illustrate how the PV damping system can be
designed Ior stability enhancement.
A. Selection of Controller Gains
The design oI the PV controller is to be considered
1683
Iirst. Suppose the Iollowing p.u. parametric values and
operation conditions describe the initial steady-state
condition oI the SMIB power system:
8 . 0
1
= x , 76 . 0
2
= x ,
'
d
x 0.3, H1.585, K
D
0,
Z = Z 40 1
'
o
q
E , Z = Z 2 . 25 1 ) ( o
m
J , Z = 0 1
s
J ,
24 . 0
0
=
pv
P , 167 . 0
0
=
pv
Q , and 32 . 0
0
=
e
P .
From the initial values, the determination oI the
controller gains is based on the values oI and
obtained in the resulting system. By setting k
1
k
2
10, it
is seen that 0.193 and -1.49f7.56, a design
deemed to have resulted in satisIactory response
characteristics.
OI course, one has to realize that and i.e., the
network dynamic characteristics, will be aIIected by the
power system operating conditions. For example, Fig. 4
shows how the power transIer level aIIects the damping
ratio. In obtaining Fig. 4, the generator and injected bus
M voltages (i.e. E
q
and J
m
) are assumed constant at 1
p.u.
0.0 0.2 0.4 0.6 0.8 1.0
0.1
0.2
0.3
0.4
0.5
P
pv0
=P
e0
,
P
e0
=0.52
P
e0
=0.42
P
e0
=0.32
P
pv0
|p.u.|
P
e0
=0.22
Fig. 4 Variations oI
,
with Ppv0 and Pe0
The Iigure shows the variation in as a Iunction oI
the PV injected power P
pv0
and the upstream generator
output power P
e0
. The initial power received at the
inIinite bus is P
s0
P
pv0
P
e0
. It shows that the damping
ratio, increases when P
s0
increases in the case oI P
pv0
and/or P
e0
increases. II the generator output power P
e0
is
kept constant, increases when the injected power P
pv0
increases. The reason Ior this is when this occurs, o
will increase since J
m
is assumed constant. At the same
time, will remain unchanged Ior P
e0
, E
q
and J
m
are
constant. Hence o will also increase. From (13) - (15), it
is seen that K
Dpv
will become larger while K
s
will
decrease and thus will increase. Meanwhile the
reactive power at the inIinite bus, governed by the
expression
2
/ )) cos( . ( x J J J Q
m s s s
o = , is also seen to
increase whereas Q
e
is unchanged. Thus, under such a
situation, Q
pv
Irom the PV system has to increase to
make up Ior the increase in Q
s
.
Similarly, one can also show that will increase when
P
e0
is increased Ior a given value oI P
pv0
. In this case, o,
, o will be larger iI E
q
and J
m
are assumed constant.
Q
e
has to increase under this condition in order to keep
'
q
E and J
m
constant.
Also shown on Figure 4 is the boundary curve P
pv0
P
e0
. As it is envisaged that the PV-system is oI lower
power rating than the generator, the most likely
operating condition would be to the leIt oI the boundary
curve.
In view oI the above analysis on with the changes in
the power Ilow condition, one is thereIore lead to the
conclusion that the lowest would be obtained when P
s0
is at the minimum. This corresponds to the minimum
load condition. Hence in general, a prudent way to
determine k
1
and k
2
would be to select k
1
and k
2
to yield
adequate damping Iactor , at the operating condition
when the power system is at the load transIer condition
when P
e0
and P
pv0
are at their lowest levels. As P
s0
increases which necessarily means that P
e0
and/or P
pv0
has to increase, will also increase. Thus the system
damping is expected to improve.
Another observation is that since the above results
and analysis are based on the Iact that both E
q
and J
m
are kept constant, this means that system stability will
not be compromised due to changes in the available
solar energy (which causes variations in P
pv
), provided
Q
pv
is modulated to keep J
m
constant. Indeed, Fig. 5
shows how Q
pv
is to be regulated as the real power
distribution in the network varies, while J
m
is kept
constant at 1 p.u. in these cases.
0.0 0.2 0.4 0.6 0.8 1.0
0.0
0.2
0.4
0.6
0.8
1.0
P
pv0
=P
e0
Q
p
v
0
|
p
.
u
.
|
P
pv0
|p.u.|
P
e0
=0.52
P
e0
=0.42
P
e0
=0.32
P
e0
=0.22
Fig. 5 Variations oI Qpv0with Ppv0 and Pe0 Iunction oI the PV damping
system.
One may also note that the control scheme enjoys
certain degree oI robustness in view oI the Iollowing
considerations. As no energy storage device has been
included in the design, thereIore, the PV damping
system would be unable to supply real power oI any
1684
signiIicant extent, in the event there is negligible
amount oI solar energy available at the time. This means
that the output real power will be low and the real power
Ieedback loop will be ineIIective, or equivalently, k
1
will be zero. From Fig. 4, one observes that even
without the real-power injection (i.e. with only
STATCOM action), the damping Iactor is at least 0.14,
increasing to about 0.22 Ior P
e0
0.22 to 0.52 p.u. This
corresponds to the case oI k
1
0. Indeed, iI one oI the
two control Ieedback loops proposed in (8) and (9) is
lost due to (say) internal Iaults in the PV, either k
1
or k
2
would become zero. From (13) and (15), it is noted that
the resulting damping ratio will still be higher
compared to the system without the PV damping system,
Ior in these instances,
D Dpv
K K > .
B. PJ Location
One can also use the above results to assess the eIIect
oI the PV location on system damping. Assume the line
is oI the same type across the whole length,
then
'
2 1 d l
x x x x + = + where
l
x is the total line
reactance. DeIine
l
d
x
x x
'
1
= t
(17)
t deIined this way is the ratio oI the line length between
the generator to M to that between M and the inIinite bus.
Hence t is the location Iactor oI the PV system.
Substitute the system parameters and initial values
given earlier into (15), one obtains
t
t
,
078 . 0 49 . 1
207 . 0 315 . 0
=
(18)
In this example, the vs : curve is shown in Fig. 6
Irom which it shows that will increase when the PV
damping system is located closer to the generator. As
the main Iunction oI the PV is to help the generator to
maintain synchronism with the inIinite bus, clearly the
lower the impedance x
1
, the more eIIective is the scheme.
Thus, the result shown in Fig. 6 is consistent with the
Iunction oI the PV damping system.
0.05
0.1
0.15
0.2
0.25
0.3
0 0.2 0.4 0.6 0.8 1
:
Fig. 6 Variations oI
,
with PV damping system location
C. Response Under Small Disturbance
In order to assess and demonstrate the theoretical
analysis shown in the previous section, simulation
studies based on the well-established PSCAD/EMTDC
power system simulation package have been carried out.
Apart Irom using the parametric values given earlier to
describe the power system, the solar cell is represented
in PSCAD using the models described in |3, 12|.
Consistent with the analysis, the constant voltage behind
the transient reactance generator model is used.
In this study, a small disturbance is simulated by
introducing a 0.1 p.u. step increase oI the input
mechanical power oI the generator Ior 0.1s beIore the
mechanical power is returned to its initial state.
Although this is a rather artiIicial disturbance,
nevertheless it provides a good test oI the dynamic
stability capability oI the compensated power system.
The time response will be studied under three control
modes. Mode 1 is the control strategy when P
pv
is kept
constant at P
pv0
and J
m
is kept constant at J
m0
; Mode 2
pertains to the control strategy when P
pv
is kept constant
at P
pv0
and J
m
is controlled using (9); Mode 3 represents
the control strategy when P
pv
and J
m
are controlled
using (8) and (9) respectively. Time response plots oI
P
pv
, J
m
, rotor speed c, and Q
pv
Iollowing the
disturbance are as shown in Fig 6. The corresponding
responses are shown by curves, labeled with '1, '2 or
'3 to denote the mode under which the control strategy
operates at.
From Fig. 7, it is shown that the generator rotor
oscillations Iollowing the power increase disturbance
have been suppressed to some extent when J
m
is
controlled under Mode 2, i.e. via the control law (9).
This means that the system damping is improved even
when there is no sunlight, and the PV system acts as a
conventional STATCOM. Oscillations are damped out
even more quickly and eIIectively when P
pv
and J
m
are
controlled through the Ieedback strategies (8) and (9)
respectively (i.e. Mode 3). Thus it conIirms the PV
damping system with the proposed control strategy is
eIIective in suppressing power system oscillations.
3 4 5 6 7
0.16
0.18
0.20
0.22
0.24
0.26
P
p
v
[
p
.
u
.
]
T ime [s]
1
3
2
(a)
1685
3 4 5 6 7
0.9990
0.9995
1.0000
1.0005
1.0010
R
o
t
o
r
S
p
e
e
d
|
p
.
u
.
|
Time |s|
1
2
3
(b)
Fig. 7 Power system response Iollowing a 5-cycle 10 increase oI the
generator mechanical power
V. CONCLUSION
The proposed PV damping system with simple
Irequency-Ieedback control strategy is shown to be
eIIective in enhancing network steady-state stability in a
SMIB system. Unlike the conventional PV generation
system which only harnesses energy Irom the sun, the
proposed PV scheme has the added advantage Ior it is
designed to provide damping control Iollowing
disturbance. A theoretical analysis is provided in
showing how improved damping is achieved. The
location oI the PV damping system will aIIect the
perIormance in the SMIB system. Clearly the nearer to
the generator, the more eIIective is the scheme. The
proposed PV damping system has no energy storage
Iacility but is shown to provide improved system
damping even when there is no sunlight. Under such a
condition, the PV system operates much like a
STATCOM.
VI. ACKNOWLEDGEMENT
This work was supported by BP Alternative Energy Ltd.
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